arXiv:2604.03278v1 Announce Type: cross Abstract: As power systems advance toward net-zero targets, behind-the-meter renewables are driving rapid growth in distributed energy resources (DERs). Virtual power plants (VPPs) increasingly coordinate these resources to support power distribution network (PDN) operation, with EV charging stations (EVCSs) emerging as a key asset due to their strong impact on local voltages. However, in practice, VPPs must make operational decisions with only partial visibility of PDN states, relying on limited, aggregated information shared by the distribution system operator. This work proposes a safety-enhanced VPP framework for coordinating multiple EVCSs under such realistic information constraints to ensure voltage security while maintaining economic operation. We develop Transformer-assisted Lagrangian Multi-Agent Proximal Policy Optimization (TL-MAPPO), in which EVCS agents learn decentralized charging policies via centralized training with Lagrangian regularization to enforce voltage and demand-satisfaction constraints. A transformer-based embedding layer deployed on each EVCS agent captures temporal correlations among prices, loads, and charging demand to improve decision quality. Experiments on a realistic 33-bus PDN show that the proposed framework reduces voltage violations by approximately 45% and operational costs by approximately 10% compared to representative multi-agent DRL baselines, highlighting its potential for practical VPP deployment.

arXiv:2604.03282v1 Announce Type: cross Abstract: Generative AI is envisioned to have a crucial impact on next generation mobile networking, making the sixth generation (6G) system considerably more autonomous, flexible, and adaptive than its predecessors. By leveraging their natural language processing and code generation capabilities, AI agents enable novel interactions and services between networks and vertical applications. A particularly promising and interesting use case is the customization of connectivity services for vertical applications by generating new customized processing blocks based on text-based service requests. More specifically, AI agents are able to generate code for a new function block that handles user plane traffic, allowing it to inspect and decode a protocol data unit (PDU) and perform specified actions as requested by the application. In this study, we investigate the code generation problem for generating such customized processing blocks on-demand. We evaluate various factors affecting the accuracy of the code generation process in this context, including model selection, prompt design, and the provision of a code template for the agent to utilize. Our findings indicate that AI agents are capable of generating such blocks with the desired behavior on-demand under suitable conditions. We believe that exploring the code generation for network-specific tasks is a very interesting problem for 6G and beyond, enabling networks to achieve a new level of customization by generating new capabilities on-demand.

arXiv:2604.03605v1 Announce Type: cross Abstract: We study online task allocation for multi-robot, multi-queue systems with asymmetric stochastic arrivals and switching delays. We formulate the problem in discrete time: each location can host at most one robot per slot, servicing a task consumes one slot, switching between locations incurs a one-slot travel delay, and arrivals at locations are independent Bernoulli processes with heterogeneous rates. Building on our previous structural result that optimal policies are of exhaustive type, we formulate a discounted-cost Markov decision process and develop an exhaustive-assignment actor-critic policy architecture that enforces exhaustive service by construction and learns only the next-queue allocation for idle robots. Unlike the exhaustive-serve-longest (ESL) queue rule, whose optimality is known only under symmetry, the proposed policy adapts to asymmetry in arrival rates. Across different server-location ratios, loads, and asymmetric arrival profiles, the proposed policy consistently achieves lower discounted holding cost and smaller mean queue length than the ESL baseline, while remaining near-optimal on instances where an optimal benchmark is available. These results show that structure-aware actor-critic methods provide an effective approach for real-time multi-robot scheduling.

arXiv:2604.03883v1 Announce Type: cross Abstract: Effective ride-hailing dispatch requires anticipating demand patterns that vary substantially across time-of-day, day-of-week, season, and special events. We propose a regime-calibrated approach that (i) segments historical trip data into demand regimes, (ii) matches the current operating period to the most similar historical analogues via a similarity ensemble combining Kolmogorov-Smirnov distance, Wasserstein-1 distance, feature distance, variance ratio, event pattern similarity, and temporal proximity, and (iii) uses the resulting calibrated demand prior to drive both an LP-based fleet repositioning policy and batch dispatch with Hungarian matching. In ablation, a distributional-only metric subset achieves the strongest mean-wait reduction, while the full ensemble is retained as a robustness-oriented default that preserves calendar and event context. Evaluated on 5.2 million NYC TLC trips across 8 diverse scenarios (winter/summer, weekday/weekend/holiday, morning/evening/night) with 5 random seeds each, our method reduces mean rider wait times by 31.1% (bootstrap 95% CI: [26.5, 36.6]; Friedman chi-squared = 80.0, p = 4.25e-18; Cohen's d = 7.5-29.9). P95 wait drops 37.6% and the Gini coefficient of wait times improves from 0.441 to 0.409. The two contributions compose multiplicatively: calibration provides 16.9% reduction relative to the replay baseline; LP repositioning adds a further 15.5%. The approach requires no training, is deterministic and explainable, generalizes to Chicago (23.3% wait reduction using the NYC-built regime library without retraining), and is robust across fleet sizes (32-47% improvement for 0.5x-2.0x fleet scaling). Code is available at https://github.com/IndarKarhana/regime-calibrated-dispatch.

arXiv:2604.04225v1 Announce Type: cross Abstract: Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we present a formal framework that leverages Temporal Behavior Trees (TBT), an extension of Signal Temporal Logic (STL) with Behavior Tree semantics, to repair suboptimal trajectories prior to their use in downstream policy learning. Given demonstrations that violate a TBT specification, a model-based repair algorithm corrects trajectory segments to satisfy the formal constraints, yielding a dataset that is both logically consistent and interpretable. The repaired trajectories are then used to extract potential functions that shape the reward signal for reinforcement learning, guiding the agent toward task-consistent regions of the state space without requiring knowledge of the agent's kinematic model. We demonstrate the effectiveness of this framework on discrete grid-world navigation and continuous single and multi-agent reach-avoid tasks, highlighting its potential for data-efficient robot learning in settings where high-quality demonstrations cannot be assumed.

arXiv:2604.04743v1 Announce Type: cross Abstract: Large language models (LLMs) hallucinate: they produce fluent outputs that are factually incorrect. We present a geometric dynamical systems framework in which hallucinations arise from task-dependent basin structure in latent space. Using autoregressive hidden-state trajectories across multiple open-source models and benchmarks, we find that separability is strongly task-dependent rather than universal: factoid settings can show clearer basin separation, whereas summarization and misconception-heavy settings are typically less stable and often overlap. We formalize this behavior with task-complexity and multi-basin theorems, characterize basin emergence in L-layer transformers, and show that geometry-aware steering can reduce hallucination probability without retraining.

arXiv:2411.18235v3 Announce Type: replace-cross Abstract: We study the problem of learning verifiably Lyapunov-stable neural controllers that provably satisfy the Lyapunov asymptotic stability condition within a region-of-attraction (ROA). Unlike previous works that adopted counterexample-guided training without considering the computation of verification in training, we introduce Certified Training with Branch-and-Bound (CT-BaB), a new certified training framework that optimizes certified bounds, thereby reducing the discrepancy between training and test-time verification that also computes certified bounds. To achieve a relatively global guarantee on an entire input region-of-interest, we propose a training-time BaB technique that maintains a dynamic training dataset and adaptively splits hard input subregions into smaller ones, to tighten certified bounds and ease the training. Meanwhile, subregions created by the training-time BaB also inform test-time verification, for a more efficient training-aware verification. We demonstrate that CT-BaB yields verification-friendly models that can be more efficiently verified at test time while achieving stronger verifiable guarantees with larger ROA. On the largest output-feedback 2D Quadrotor system experimented, CT-BaB reduces verification time by over 11X relative to the previous state-of-the-art baseline using Counterexample Guided Inductive Synthesis (CEGIS), while achieving 164X larger ROA. Code is available at https://github.com/shizhouxing/CT-BaB.

arXiv:2603.13343v2 Announce Type: replace-cross Abstract: Predictive maintenance for connected vehicles offers the potential to reduce unexpected breakdowns and improve fleet reliability, but most existing systems rely exclusively on internal diagnostic signals and are validated on simulated or industrial benchmark data. This paper presents a contextual data fusion framework integrating vehicle-internal sensor streams with external environmental signals -- road quality, weather, traffic density, and driver behaviour -- acquired via V2X communication and third-party APIs, with inference at the vehicle edge. The framework is evaluated across four layers. A feature group ablation study on a physics-informed synthetic dataset shows contextual features contribute a 2.6-point F1 improvement; removing all context reduces macro F1 from 0.855 to 0.807. On the AI4I 2020 benchmark (10,000 samples), LightGBM achieves AUC-ROC 0.973 under 5-fold stratified cross-validation with SMOTE confined to training folds. A noise sensitivity analysis shows macro F1 remains above 0.88 at low noise and degrades to 0.74 at high noise. Most critically, the pipeline is validated on real-world telemetry from five vehicles across three countries (India, Germany, Brazil), comprising 992 trips and 11 evaluable service events identified from component wear resets in the trip logs. Across six wear-driven events spanning four vehicles, the model achieves 100% detection with mean MAE of 12.2 days. A fine-tuning ablation shows the base synthetic model already achieves 6/6 binary detection; per-vehicle adaptation reduces wear-driven MAE from 25.9 to 12.2 days. SHAP analysis confirms contextual and interaction features rank among the top 15 predictors. Edge-based inference reduces estimated latency from 3.5 seconds to under 1.0 second relative to cloud-only processing.

arXiv:2603.24324v3 Announce Type: replace-cross Abstract: Designing effective auxiliary rewards for cooperative multi-agent systems remains challenging, as misaligned incentives can induce suboptimal coordination, particularly when sparse task rewards provide insufficient grounding for coordinated behavior. This study introduces an automated reward design framework that uses large language models to synthesize executable reward programs from environment instrumentation. The procedure constrains candidate programs within a formal validity envelope and trains policies from scratch using MAPPO under a fixed computational budget. The candidates are then evaluated based on their performance, and selection across generations relies solely on the sparse task returns. The framework is evaluated in four Overcooked-AI layouts characterized by varying levels of corridor congestion, handoff dependencies, and structural asymmetries. The proposed reward design approach consistently yields higher task returns and delivery counts, with the most pronounced gains observed in environments dominated by interaction bottlenecks. Diagnostic analysis of the synthesized shaping components reveals stronger interdependence in action selection and improved signal alignment in coordination-intensive tasks. These results demonstrate that the proposed LLM-guided reward search framework mitigates the need for manual engineering while producing shaping signals compatible with cooperative learning under finite budgets.