arXiv:2605.24860v1 Announce Type: cross Abstract: Advanced driver assistance systems (ADAS) play an important role in modern automotive intelligence, significantly enhancing vehicle safety and stability. The performance of ADAS critically relies on accurate and reliable vehicle state estimation, particularly from vehicle dynamic sensors. Among these signals, wheel load is a key variable for chassis control and safety-critical functions, yet it remains difficult to estimate robustly due to complex suspension geometry, nonlinear dynamics, and measurement noise. To address this issue, we propose DBPnet, a Bayesian physics-informed neural network (PINN) with a physics-aware embedding module inspired by damper characteristics. First, this paper presents a suspension linkage-level modeling (SLLM) approach that constructs a nonlinear instantaneous dynamic model by explicitly considering the complex geometric structure of the suspension. Building upon SLLM, Bayesian inference is integrated into the PINN to effectively cope with noise and uncertainty in the vehicle chassis system, thereby improving the model's robustness. Then, a physics-informed loss function is employed to ensure consistency with fundamental physical principles, while the damper characteristics-inspired embedding module extracts temporal variation features of input signals and incorporates them into each layer of the PINN, ensuring that physical observations guide the neural network without being constrained by fixed physical models. Extensive evaluations on high-fidelity simulations and real-world experiments demonstrate that our DBPnet consistently achieves lower RMSE and MaxError than baseline methods. These results highlight the potential of our DBPnet to advance wheel load estimation and contribute to the development of more reliable ADAS actuator functions.

arXiv:2605.25170v1 Announce Type: cross Abstract: Training data for olfaction is scattered through disparate, non-standardized datasets that limit the ability to build representative world models. Olfactory navigation is a highly dynamic and non-stationary task that benefits from real-time continual learning. We introduce an adaptive framework called Grow-Prune-Freeze (GPF) networks that enable an agent to continually learn through growing, pruning, and freezing early layers of its policy in response to world complexity. Grounding GPFs in non-linear random matrix theory, we show that the work of Pennington & Worth (2017) can be extended from single hidden layers to n-layer continual-learning models, and that eigenvalue composition of network weights is preserved as successive layers are added. We show that GPFs based on Expected SARSA achieve a 94% success rate on turbulent plume navigation - a partially observable, non-stationary task representative of the "big world" challenges that motivate adaptive learning in robotics - and provide supporting methodology for applying GPFs in other world models. Further experiments amount evidence that GPFs may generalize well to other machine learning tasks such as reinforcement learning in Atari, image classification, and autoregressive language models. We open source all code and data to encourage improvements on and more research in olfactory robotics.

arXiv:2604.04387v2 Announce Type: new Abstract: Developers are publishing AI agent skills that replicate a colleague's communication style, encode a supervisor's mentoring heuristics, or preserve a person's behavioral repertoire beyond biological death. To explain why, we propose Gradual Cognitive Externalization (GCE), a framework arguing that ambient AI systems, through sustained causal coupling with users, transition from modeling cognitive functions to constituting part of users' cognitive architectures. GCE adopts an explicit functionalist commitment: cognitive functions are individuated by their causal-functional roles, not by substrate. The framework rests on the behavioral manifold hypothesis and a central falsifiable assumption, the no behaviorally invisible residual (NBIR) hypothesis: for any cognitive function whose behavioral output lies on a learnable manifold, no behaviorally invisible component is necessary for that function's operation. We document evidence from deployed AI systems showing that externalization preconditions are already observable, formalize three criteria separating cognitive integration from tool use (bidirectional adaptation, functional equivalence, causal coupling), and derive five testable predictions with theory-constrained thresholds.

arXiv:2604.03515v1 Announce Type: cross Abstract: LLM-based coding agents can localize bugs, generate patches, and run tests with diminishing human oversight, yet the scaffolding code that surrounds the language model (the control loop, tool definitions, state management, and context strategy) remains poorly understood. Existing surveys classify agents by abstract capabilities (tool use, planning, reflection) that cannot distinguish between architecturally distinct systems, and trajectory studies observe what agents do without examining the scaffold code that determines why. This paper presents a source-code-level architectural taxonomy derived from analysis of 13 open-source coding agent scaffolds at pinned commit hashes. Each agent is characterized across 12 dimensions organized into three layers: control architecture, tool and environment interface, and resource management. The analysis reveals that scaffold architectures resist discrete classification: control strategies range from fixed pipelines to Monte Carlo Tree Search, tool counts range from 0 to 37, and context compaction spans seven distinct strategies. Five loop primitives (ReAct, generate-test-repair, plan-execute, multi-attempt retry, tree search) function as composable building blocks that agents layer in different combinations; 11 of 13 agents compose multiple primitives rather than relying on a single control structure. Dimensions converge where external constraints dominate (tool capability categories, edit formats, execution isolation) and diverge where open design questions remain (context compaction, state management, multi-model routing). All taxonomic claims are grounded in file paths and line numbers, providing a reusable reference for researchers studying agent behavior and practitioners designing new scaffolds.

arXiv:2604.04204v1 Announce Type: cross Abstract: Large language models (LLMs) are increasingly deployed in high-stakes domains, yet they expose only limited language settings, most notably "English (US)," despite the global diversity and colonial history of English. Through a postcolonial framing to explain the broader significance, we investigate how geopolitical histories of data curation, digital dominance, and linguistic standardization shape the LLM development pipeline. Focusing on two dominant standard varieties, American English (AmE) and British English (BrE), we construct a curated corpus of 1,813 AmE--BrE variants and introduce DiAlign, a dynamic, training-free method for estimating dialectal alignment using distributional evidence. We operationalize structural bias by triangulating evidence across three stages: (i) audits of six major pretraining corpora reveal systematic skew toward AmE, (ii) tokenizer analyses show that BrE forms incur higher segmentation costs, and (iii) generative evaluations show a persistent AmE preference in model outputs. To our knowledge, this is the first systematic and multi-faceted examination of dialectal asymmetries in standard English varieties across the phases of LLM development. We find that contemporary LLMs privilege AmE as the de facto norm, raising concerns about linguistic homogenization, epistemic injustice, and inequity in global AI deployment, while motivating practical steps toward more dialectally inclusive language technologies.

arXiv:2604.04319v1 Announce Type: cross Abstract: The capabilities of artificial intelligence (AI) lie along a jagged frontier, where AI systems surprisingly fail on tasks that humans find easy and succeed on tasks that humans find hard. To investigate user reactions to this phenomenon, we developed an incentive-compatible experimental methodology based on diagram generation tasks, in which we induce errors in generative AI output and test effects on user reliance. We demonstrate the interface in a preregistered 3x2 experiment (N = 577) with error rates of 10%, 30%, or 50% on easier or harder diagram generation tasks. We confirmed that observing more errors reduces use, but we unexpectedly found that easy-task errors did not significantly reduce use more than hard-task errors, suggesting that people are not averse to jaggedness in this experimental setting. We encourage future work that varies task difficulty at the same time as other features of AI errors, such as whether the jagged error patterns are easily learned.

arXiv:2603.18633v2 Announce Type: replace Abstract: The rapid evolution of artificial intelligence, from task-specific systems to foundation models exhibiting broad, flexible competence across reasoning, creative synthesis, and social interaction, has outpaced the conceptual and governance frameworks designed to manage it. Current regulatory paradigms, anchored in a tool-centric worldview, address algorithmic bias and transparency but leave unanswered foundational questions about what increasingly capable synthetic minds are, how societies should relate to them, and the normative principles that should guide their development. Here we introduce the Onto-Relational-Sophic (ORS) framework, grounded in Cyberism philosophy, which offers integrated answers to these challenges through three pillars: (1) a Cyber-Physical-Social-Thinking (CPST) ontology that defines the mode of being for synthetic minds as irreducibly multi-dimensional rather than purely computational; (2) a graded spectrum of digital personhood providing a pragmatic relational taxonomy beyond binary person-or-tool classifications; and (3) Cybersophy, a wisdom-oriented axiology synthesizing virtue ethics, consequentialism, and relational approaches to guide governance. We apply the framework to emergent scenarios including autonomous research agents, AI-mediated healthcare, and agentic AI ecosystems, demonstrating its capacity to generate proportionate, adaptive governance recommendations. The ORS framework charts a path from narrow technical alignment toward comprehensive philosophical foundations for the synthetic minds already among us.

arXiv:2509.12626v3 Announce Type: replace-cross Abstract: Aligning agentic AI with user intent is critical for delegating complex, socially embedded tasks, yet user preferences are often implicit, evolving, and difficult to specify upfront. We present DoubleAgents, a system for human-agent alignment in coordination tasks, grounded in distributed cognition. DoubleAgents integrates three components: (1) a coordination agent that maintains state and proposes plans and actions, (2) a dashboard visualization that makes the agent's reasoning legible for user evaluation, and (3) a policy module that transforms user edits into reusable alignment artifacts, including coordination policies, email templates, and stop hooks, which improve system behavior over time. We evaluate DoubleAgents through a two-day lab study (n=10), three real-world deployments, and a technical evaluation. Participants' comfort in offloading tasks and reliance on DoubleAgents both increased over time, correlating with the three distributed cognition components. Participants still required control at points of uncertainty - edge-case flagging and context-dependent actions. We contribute a distributed cognition approach to human-agent alignment in socially embedded tasks.

arXiv:2604.01433v1 Announce Type: cross Abstract: Current limitations in wireless modeling and radio frequency (RF)-based AI are primarily driven by a lack of high-quality, measurement-based datasets that connect RF signals to their physical environments. RF heatmaps, the typical form of such data, are high-dimensional and complex but lack the geometric and semantic context needed for interpretation, constraining the development of supervised machine learning models. To address this bottleneck, we propose a new class of multimodal datasets that combines RF measurements with auxiliary modalities like high-resolution cameras and lidar to bridge the gap between RF signals and their physical causes. The proposed data collection will span diverse indoor and outdoor environments, featuring both static and dynamic scenarios, including human activities ranging from walking to subtle gestures. By achieving precise spatial and temporal co-registration and creating digital replicas for voxel-level annotation, this dataset will enable transformative AI research. Key tasks include the forward problem of predicting RF heatmaps from visual data to revolutionize wireless system design, and the inverse problem of inferring scene semantics from RF signals, creating a new form of RF-based perception.

arXiv:2602.20206v2 Announce Type: replace-cross Abstract: The democratization of Large Language Models has given rise to vibe coding, where novice programmers prioritize semantic intent over syntactic implementation. Without pedagogical guardrails, we argue this is fundamentally misaligned with cognitive skill acquisition. Drawing on Kirschner's distinction between cognitive offloading and outsourcing, unrestricted AI encourages novices to outsource the intrinsic cognitive load required for schema formation rather than merely offloading extraneous load. This accumulation of epistemic debt creates fragile experts: developers whose high functional utility masks critically low corrective competence. To quantify and mitigate this debt, we conducted a between-subjects experiment (N=78) using a custom Cursor IDE plugin backed by Claude 3.5 Sonnet. Participants were recruited via Prolific and UserInterviews.com to represent AI-native learners. We compared three conditions: manual (control), unrestricted AI (outsourcing), and scaffolded AI (offloading). The scaffolded condition employed a novel Explanation Gate -- a real-time LLM-as-a-Judge framework enforcing a teach-back protocol before generated code could be integrated. Results reveal a collapse of competence: both AI groups significantly outperformed the manual control on functional utility (p

arXiv:2603.14841v2 Announce Type: replace-cross Abstract: Road crashes remain a leading cause of preventable fatalities. Existing prediction models predominantly produce binary outcomes, which offer limited actionable insights for real-time driver feedback. These approaches often lack continuous risk quantification, interpretability, and explicit consideration of vulnerable road users (VRUs), such as pedestrians and cyclists. This research introduces SafeDriver-IQ, a framework that transforms binary crash classifiers into continuous 0-100 safety scores by combining national crash statistics with naturalistic driving data from autonomous vehicles. The framework fuses National Highway Traffic Safety Administration (NHTSA) crash records with Waymo Open Motion Dataset scenarios, engineers domain-informed features, and incorporates a calibration layer grounded in transportation safety literature. Evaluation across 15 complementary analyses indicates that the framework reliably differentiates high-risk from low-risk driving conditions with strong discriminative performance. Findings further reveal that 87% of crashes involve multiple co-occurring risk factors, with non-linear compounding effects that increase the risk to 4.5x baseline. SafeDriver-IQ delivers proactive, explainable safety intelligence relevant to advanced driver-assistance systems (ADAS), fleet management, and urban infrastructure planning. This framework shifts the focus from reactive crash counting to real-time risk prevention.

arXiv:2505.15854v2 Announce Type: replace-cross Abstract: The evolution from fifth-generation (5G) to sixth-generation (6G) networks is driving an unprecedented demand for advanced machine learning (ML) solutions. Deep learning has already demonstrated significant impact across mobile networking and communication systems, enabling intelligent services such as smart healthcare, smart grids, autonomous vehicles, aerial platforms, digital twins, and the metaverse. At the same time, the rapid proliferation of resource-constrained Internet-of-Things (IoT) devices has accelerated the adoption of tiny machine learning (TinyML) for efficient on-device intelligence, while large machine learning (LargeML) models continue to require substantial computational resources to support large-scale IoT services and ML-generated content. These trends highlight the need for a unified framework that integrates TinyML and LargeML to achieve seamless connectivity, scalable intelligence, and efficient resource management in future 6G systems. This survey provides a comprehensive review of recent advances enabling the integration of TinyML and LargeML in next-generation wireless networks. In particular, we (i) provide an overview of TinyML and LargeML, (ii) analyze the motivations and requirements for unifying these paradigms within the 6G context, (iii) examine efficient bidirectional integration approaches, (iv) review state-of-the-art solutions and their applicability to emerging 6G services, and (v) identify key challenges related to performance optimization, deployment feasibility, resource orchestration, and security. Finally, we outline promising research directions to guide the holistic integration of TinyML and LargeML for intelligent, scalable, and energy-efficient 6G networks and beyond.

arXiv:2603.06777v1 Announce Type: cross Abstract: The Job Shop Scheduling Problem (JSSP) is commonly formulated as a disjunctive graph in which nodes represent operations and edges encode technological precedence constraints as well as machine-sharing conflicts. Most existing reinforcement learning approaches model this graph as homogeneous, merging job-precedence and machine-contention edges into a single relation type. Such a simplification overlooks the intrinsic heterogeneity of the problem structure and may lead to the loss of critical relational information. To address this limitation, we propose the Heterogeneous Graph Transformer (HGT)-Scheduler, a reinforcement learning framework that models the JSSP as a heterogeneous graph. The proposed architecture leverages a Heterogeneous Graph Transformer to capture type-specific relational patterns through edge-type-dependent attention mechanisms applied to precedence and contention relations. The scheduling policy is trained using Proximal Policy Optimization. The effectiveness of the proposed method is evaluated on the Fisher--Thompson benchmark instances. On the FT06 instance, the HGT-Scheduler achieves an optimality gap of 8.4\%, statistically outperforming both an identical architecture that ignores edge types ($p = 0.011$) and a standard Graph Isomorphism Network baseline. On the larger FT10 instance, the approach demonstrates favorable scalability. However, under a 50,000-step training limit, the performance of heterogeneous and homogeneous graph models is comparable, suggesting that edge-type awareness requires longer training horizons for larger problem instances. Ablation analyses further indicate that a three-layer attention architecture provides the best performance. Overall, the results confirm that explicitly modeling distinct edge semantics improves the learning of effective scheduling policies.

arXiv:2603.08278v1 Announce Type: cross Abstract: Accurate and interpretable mortality risk prediction in intensive care units (ICUs) remains a critical challenge due to the irregular temporal structure of electronic health records (EHRs), the complexity of longitudinal disease trajectories, and the lack of clinically grounded explanations in many data-driven models. To address these challenges, we propose \textit{TA-RNN-Medical-Hybrid}, a time-aware and knowledge-enriched deep learning framework that jointly models longitudinal clinical sequences and irregular temporal dynamics through explicit continuous-time encoding, along with standardized medical concept representations. The proposed framework extends time-aware recurrent modeling by integrating explicit continuous-time embeddings that operate independently of visit indexing, SNOMED-based disease representations, and a hierarchical dual-level attention mechanism that captures both visit-level temporal importance and feature/concept-level clinical relevance. This design enables accurate mortality risk estimation while providing transparent and clinically meaningful explanations aligned with established medical knowledge. We evaluate the proposed approach on the MIMIC-III critical care dataset and compare it against strong time-aware and sequential baselines. Experimental results demonstrate that TA-RNN-Medical-Hybrid consistently improves predictive performance in terms of AUC, accuracy, and recall-oriented F$_2$-score. Moreover, qualitative analysis shows that the model effectively decomposes mortality risk across time and clinical concepts, yielding interpretable insights into disease severity, chronicity, and temporal progression. Overall, the proposed framework bridges the gap between predictive accuracy and clinical interpretability, offering a scalable and transparent solution for high-stakes ICU decision support systems.

arXiv:2603.02512v3 Announce Type: replace-cross Abstract: Human-Certified Module Repositories (HCMRs) are introduced in this work as a new architectural model for constructing trustworthy software in the era of AI-assisted development. As large language models increasingly participate in code generation, configuration synthesis, and multi-component integration, the reliability of AI-assembled systems will depend critically on the trustworthiness of the building blocks they use. Today's software supply-chain incidents and modular development ecosystems highlight the risks of relying on components with unclear provenance, insufficient review, or unpredictable composition behavior. We argue that future AI-driven development workflows require repositories of reusable modules that are curated, security-reviewed, provenance-rich, and equipped with explicit interface contracts. To this end, we propose HCMRs, a framework that blends human oversight with automated analysis to certify modules and support safe, predictable assembly by both humans and AI agents. We present a reference architecture for HCMRs, outline a certification and provenance workflow, analyze threat surfaces relevant to modular ecosystems, and extract lessons from recent failures. We further discuss implications for governance, scalability, and AI accountability, positioning HCMRs as a foundational substrate for reliable and auditable AI-constructed software systems.

arXiv:2603.03880v1 Announce Type: cross Abstract: Software-hardware co-design is essential for optimizing in-memory computing (IMC) hardware accelerators for neural networks. However, most existing optimization frameworks target a single workload, leading to highly specialized hardware designs that do not generalize well across models and applications. In contrast, practical deployment scenarios require a single IMC platform that can efficiently support multiple neural network workloads. This work presents a joint hardware-workload co-optimization framework based on an optimized evolutionary algorithm for designing generalized IMC accelerator architectures. By explicitly capturing cross-workload trade-offs rather than optimizing for a single model, the proposed approach significantly reduces the performance gap between workload-specific and generalized IMC designs. The framework is evaluated on both RRAM- and SRAM-based IMC architectures, demonstrating strong robustness and adaptability across diverse design scenarios. Compared to baseline methods, the optimized designs achieve energy-delay-area product (EDAP) reductions of up to 76.2% and 95.5% when optimizing across a small set (4 workloads) and a large set (9 workloads), respectively. The source code of the framework is available at https://github.com/OlgaKrestinskaya/JointHardwareWorkloadOptimizationIMC.

arXiv:2508.18025v3 Announce Type: replace-cross Abstract: Autonomous planetary exploration demands real-time, high-fidelity environmental perception. Standard deep learning models, however, require far more memory and compute than space-qualified, radiation-hardened, power-optimized hardware can provide. This limitation creates a severe design bottleneck. Engineers struggle to deploy sophisticated detection architectures without overloading the strict power and memory limits of onboard computers of outer space planetary exploration platforms. In this foundational concept paper, we propose the Adaptive Quantized Planetary Crater Detection System (AQ-PCDSys) to resolve this bottleneck. We present an architectural blueprint integrating a Quantized Neural Network (QNN), refined through Quantization Aware Training (QAT), with an Adaptive Multi-Sensor Fusion (AMF) module and Multi-Scale Detection Heads. By forcing weights into low-precision integer arithmetic during the training and optimization phase, our framework strips away the floating-point overhead that typically overwhelms onboard computer's processors. The AMF module directly addresses sensor fragility. It dynamically selects and fuses Optical Imagery (OI) and Digital Elevation Models (DEMs) at the feature level to provide reliable sensor inputs during extreme cross-illuminations and sudden sensor dropouts. As a concept paper, this work establishes the technical and mathematical justifications for the architecture rather than presenting completed empirical ablation studies. We outline a rigorous Hardware-in-the-Loop (HITL) evaluation protocol for immediate future validation, paving the way for next-generation, hardware-aware space-mission software.

arXiv:2603.02512v2 Announce Type: replace-cross Abstract: Human-Certified Module Repositories (HCMRs) are introduced in this work as a new architectural model for constructing trustworthy software in the era of AI-assisted development. As large language models increasingly participate in code generation, configuration synthesis, and multi-component integration, the reliability of AI-assembled systems will depend critically on the trustworthiness of the building blocks they use. Today's software supply-chain incidents and modular development ecosystems highlight the risks of relying on components with unclear provenance, insufficient review, or unpredictable composition behavior. We argue that future AI-driven development workflows require repositories of reusable modules that are curated, security-reviewed, provenance-rich, and equipped with explicit interface contracts. To this end, we propose HCMRs, a framework that blends human oversight with automated analysis to certify modules and support safe, predictable assembly by both humans and AI agents. We present a reference architecture for HCMRs, outline a certification and provenance workflow, analyze threat surfaces relevant to modular ecosystems, and extract lessons from recent failures. We further discuss implications for governance, scalability, and AI accountability, positioning HCMRs as a foundational substrate for reliable and auditable AI-constructed software systems.

arXiv:2603.02512v1 Announce Type: cross Abstract: Human-Certified Module Repositories (HCMRs) are introduced in this work as a new architectural model for constructing trustworthy software in the era of AI-assisted development. As large language models increasingly participate in code generation, configuration synthesis, and multi-component integration, the reliability of AI-assembled systems will depend critically on the trustworthiness of the building blocks they use. Today's software supply-chain incidents and modular development ecosystems highlight the risks of relying on components with unclear provenance, insufficient review, or unpredictable composition behavior. We argue that future AI-driven development workflows require repositories of reusable modules that are curated, security-reviewed, provenance-rich, and equipped with explicit interface contracts. To this end, we propose HCMRs, a framework that blends human oversight with automated analysis to certify modules and support safe, predictable assembly by both humans and AI agents. We present a reference architecture for HCMRs, outline a certification and provenance workflow, analyze threat surfaces relevant to modular ecosystems, and extract lessons from recent failures. We further discuss implications for governance, scalability, and AI accountability, positioning HCMRs as a foundational substrate for reliable and auditable AI-constructed software systems.

arXiv:2602.23616v2 Announce Type: replace-cross Abstract: Diffractive optical neural networks (DONNs) have demonstrated unparalleled energy efficiency and parallelism by processing information directly in the optical domain. However, their computational expressivity is constrained by static, passive diffractive phase masks that lack efficient nonlinear responses and reprogrammability. To address these limitations, we introduce the Recurrent Diffractive Optical Neural Processor (ReDON), a novel architecture featuring reconfigurable, recurrent self-modulated nonlinearity. This mechanism enables dynamic, input-dependent optical transmission through in-situ electro-optic self-modulation, providing a highly efficient and reprogrammable approach to optical computation. Inspired by the gated linear unit (GLU) used in large language models, ReDON senses a fraction of the propagating optical field and modulates its phase or intensity via a lightweight parametric function, enabling effective nonlinearity with minimal inference overhead. As a non-von Neumann architecture in which the primary weighting elements (metasurfaces) remain fixed, ReDON substantially extends the nonlinear representational capacity and task adaptability of conventional DONNs through recurrent optical hardware reuse and dynamically tunable nonlinearity. We systematically investigate various self-modulation configurations to characterize the trade-offs between hardware efficiency and computational expressivity. On image recognition and segmentation benchmarks, ReDON improves test accuracy and mean intersection-over-union (mIoU) by up to 20% compared with prior DONNs employing either optical or digital nonlinearities at comparable model complexity and negligible additional power consumption. This work establishes a new paradigm for reconfigurable nonlinear optical computing, uniting recurrence and self-modulation within non-von Neumann analog processors.