arXiv:2605.24037v1 Announce Type: cross Abstract: Multimodal motion forecasting is inherently under-supervised: each training scene provides only one realized future, yet multiple plausible futures exist. This sparse supervision often leads to mode collapse (redundant hypotheses and insufficient mode coverage) and unreliable confidence ranking when predicting a small set of trajectories. We propose Mode-as-Sequence, a unified decoding framework that translates an unordered mode set into an ordered mode sequence and explicitly models mode-to-mode dependency. Under this framework, we develop two complementary instantiations. ModeSeq performs recurrent mode decoding, where each mode is generated conditioned on the previously generated modes, encouraging diverse, non-redundant hypotheses with calibrated confidence ordering. To remove the mode-by-mode autoregressive bottleneck, we further propose Parallel ModeSeq, which preserves the same causal dependency using masked mode-to-mode self-attention while decoding all modes in a single forward pass, enabling efficient large-$K$ inference and scalable joint-scene prediction. To learn representative modes and calibrated confidence under sparse labels, we introduce Early-Match-Take-All (EMTA) and its joint-scene extension MA-EMTA, together with a lightweight ranking regularizer that reduces confidence inversions. Extensive experiments on large-scale benchmarks demonstrate consistent improvements in both ranking-oriented metrics and best-of-K accuracy across datasets, horizons, and object types. In the Waymo Open Dataset challenges, ModeSeq achieves 1st place in the 2024 LiDAR-free motion prediction track, and Parallel ModeSeq achieves 1st place in the 2025 Interaction Prediction Challenge, validating the effectiveness of Mode-as-Sequence for both accuracy and efficiency.

arXiv:2504.19959v4 Announce Type: cross Abstract: Verification presents a major bottleneck in Integrated Circuit (IC) development, consuming nearly 70% of the total development effort. While the Universal Verification Methodology (UVM) is widely used in industry to improve verification efficiency through structured and reusable testbenches, constructing these testbenches and generating sufficient stimuli remain challenging. These challenges arise from the considerable manual coding effort required, repetitive manual execution of multiple EDA tools, and the need for in-depth domain expertise to navigate complex designs.Here, we present UVM^2, an automated verification framework that leverages Large Language Models (LLMs) to generate UVM testbenches and iteratively refine them using coverage feedback, significantly reducing manual effort while maintaining rigorous verification standards.To evaluate UVM^2, we introduce a benchmark suite comprising Register Transfer Level (RTL) designs of up to 1.6K lines of code.The results show that UVM^2 reduces testbench setup time by up to UVM^2 compared to experienced engineers, and achieve average code and function coverage of 87.44% and 89.58%, outperforming state-of-the-art solutions by 20.96% and 23.51%, respectively.