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PA-LVIO: Real-Time LiDAR-Visual-Inertial Odometry and Mapping with Pose-Only Bundle Adjustment

Tang, Hailiang; Zhang, Tisheng; Wang, Liqiang et al.

arXiv · 2026 · English · arXiv

Real-time LiDAR-visual-inertial odometry and mapping is crucial for navigation and planning tasks in intelligent transportation systems. This study presents a pose-only bundle adjustment (PA) LiDAR-visual-inertial odometry (LVIO), named PA-LVIO, to meet the urgent need for real-time navigation and…

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Fractional parts of powers of negative rationals

Lu, Qing; Zheng, Weizhe

arXiv · 2026 · English · arXiv

We prove that for any real number $ξ\neq 0$ and any coprime integers $p>q\ge1$ such that $ξ$ is irrational or $q>1$, the image in $\mathbb{R}/\mathbb{Z}$ of the sequence $(ξ(-p/q)^n)_{n\ge 0}$ is not contained in any interval of length less than $(1+q/p-q^2/p^2)/p$.

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PRISM: Demystifying Retention and Interaction in Mid-Training

Runwal, Bharat; Agrawal, Ashish; Roy, Anurag et al.

arXiv · 2026 · English · arXiv

We present PRISM, a comprehensive empirical study of mid-training design choices for large language models. Through controlled experiments across seven base models spanning four families (Granite, LLaMA, Mistral, Nemotron-H), two architecture types (dense Transformer and attention-Mamba hybrid)…

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Cascade-Aware Multi-Agent Routing: Spatio-Temporal Sidecars and Geometry-Switching

Di Gioia, Davide

arXiv · 2026 · English · arXiv

Advanced AI reasoning systems route tasks through dynamic execution graphs of specialized agents. We identify a structural blind spot in this architecture: schedulers optimize load and fitness but lack a model of how failure propagates differently in tree-like versus cyclic graphs. In tree-like…

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Design and implementation of a modular laser system for AMO experiments

Theophilo, Klara; Thomas, Scott J; Croft, Georgina et al.

arXiv · 2026 · English · arXiv

Robust laser delivery and stabilization are key components in atom-based quantum technologies, such as quantum computing. Moving these technologies towards product-like deployment requires scalable, compact, cost-effective, and upgradable modules. Here we describe laser systems consisting of…

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EVA: Aligning Video World Models with Executable Robot Actions via Inverse Dynamics Rewards

Wang, Ruixiang; Liu, Qingming; Deng, Yueci et al.

arXiv · 2026 · English · arXiv

Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the generated frames into executable robot actions. However, current…

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CodeT5-RNN: Reinforcing Contextual Embeddings for Enhanced Code Comprehension

Rahman, Md Mostafizer; Shiplu, Ariful Islam; Watanobe, Yutaka et al.

arXiv · 2026 · English · arXiv

Contextual embeddings generated by LLMs exhibit strong positional inductive biases, which can limit their ability to fully capture long-range, order-sensitive dependencies in highly structured source code. Consequently, how to further refine and enhance LLM embeddings for improved code…

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Relationship-Centered Care: Relatedness and Responsible Design for Human Connections in Mental-Health Care

Shukla, Shivam; Chen, Emily; Roshanaei, Mahnaz et al.

arXiv · 2026 · English · arXiv

There has been a growing research interest in Digital Therapeutic Alliance (DTA) as the field of AI-powered conversational agents are being deployed in mental health care, particularly those delivering CBT (Cognitive Behaviour Therapy). Our proposition argues that the current design paradigm which…

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myMNIST: Benchmark of PETNN, KAN, and Classical Deep Learning Models for Burmese Handwritten Digit Recognition

Thu, Ye Kyaw; Oo, Thazin Myint; Supnithi, Thepchai

arXiv · 2026 · English · arXiv

We present the first systematic benchmark on a standardized iteration of the publicly available Burmese Handwritten Digit Dataset (BHDD), which we have designated as myMNIST Benchmarking. While BHDD serves as a foundational resource for Myanmar NLP/AI, it lacks a comprehensive, reproducible…

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NeuroGame Transformer: Gibbs-Inspired Attention Driven by Game Theory and Statistical Physics

Bouchaffra, Djamel; Ykhlef, Faycal; Azzag, Hanene et al.

arXiv · 2026 · English · arXiv

Standard attention mechanisms in transformers are limited by their pairwise formulation, which hinders the modeling of higher-order dependencies among tokens. We introduce the NeuroGame Transformer (NGT) to overcome this by reconceptualizing attention through a dual perspective: tokens are treated…

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Tursio Database Search: How far are we from ChatGPT?

Jain, Sulbha; Tripathi, Shivani; Qiao, Shi et al.

arXiv · 2026 · English · arXiv

Business users need to search enterprise databases using natural language, just as they now search the web using ChatGPT or Perplexity. However, existing benchmarks -- designed for open-domain QA or text-to-SQL -- do not evaluate the end-to-end quality of such a search experience. We present an…

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Authority-Level Priors: An Under-Specified Constraint in Hierarchical Predictive Processing

Palejova, Marcy

arXiv · 2026 · English · arXiv

Hierarchical predictive processing explains adaptive behaviour through precision-weighted inference. Explicit belief revision often fails to produce corresponding changes in stress reactivity or autonomic regulation. This asymmetry suggests the framework leaves under-specified a governance-level…

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Geometric Dynamics of Turbulence: A Minimal Oscillator Structure from Non-local Closure

Sevilla, Alejandro

arXiv · 2026 · English · arXiv

Turbulence remains one of the central open problems in classical physics, largely due to the absence of a closed dynamical description of the Reynolds stress. Existing approaches typically rely either on local constitutive assumptions or on high-dimensional statistical representations, without…

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A Dynamic Bayesian and Machine Learning Framework for Quantitative Evaluation and Prediction of Operator Situation Awareness in Nuclear Power Plants

Chen, Shuai; Jia, Huiqiao; Qing, Tao et al.

arXiv · 2026 · English · arXiv

Operator situation awareness is a pivotal yet elusive determinant of human reliability in complex nuclear control environments. Existing assessment methods, such as SAGAT and SART, remain static, retrospective, and detached from the evolving cognitive dynamics that drive operational risk. To…

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MemReward: Graph-Based Experience Memory for LLM Reward Prediction with Limited Labels

Luo, Tianyang; Feng, Tao; Hua, Zhigang et al.

arXiv · 2026 · English · arXiv

Recent advances in large language models (LLMs) have been driven by reinforcement-learning-based post-training, which requires multiple rollouts with rewards. However, obtaining ground truth labels for the calculation of rewards on a scale often requires expensive human labeling or time-consuming…

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Four Fermi Theory in Four Dimensions is Renormalisable

Cresswell-Hogg, Charlie; Litim, Daniel F.

arXiv · 2026 · English · arXiv

We demonstrate the renormalisability of quantum field theories in four dimensions with elementary self-interacting Dirac fermions and to leading order in the limit of many fermion flavours $N_{\rm f}$. Starting from the underlying divergence structure and using Gross-Neveu-type interactions as a…

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Focal matroids of covers and homological properties of matroids

Mantero, Paolo; Nguyen, Vinh

arXiv · 2026 · English · arXiv

In this paper we prove that the Stanley--Reisner ideal or cover ideal $I$ of a matroid is minimally resolvable by iterated mapping cones. As a technical tool for this purpose, we introduce and study focal matroids, which are submatroids of a matroid $\mathcal{M}$ that are constructed relative to…

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Ultrastrong Coupling and Coherent Dynamics in a Gate-Tunable Transmon Qubit

Iglesias, I. Casal; Matute-Cañadas, F. J.; Steffensen, G. O. et al.

arXiv · 2026 · English · arXiv

Ultrastrong light-matter coupling (USC) gives access to exotic quantum phenomena and promises faster quantum gates, yet coherent time-domain control in this regime remains largely unexplored. Here, we realize USC in a hybrid system consisting of an InAs nanowire-based gatemon qubit coupled to a…

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PhyUnfold-Net: Advancing Remote Sensing Change Detection with Physics-Guided Deep Unfolding

Lei, Zelin; Ren, Yaoxing; Chang, Jiaming

arXiv · 2026 · English · arXiv

Bi-temporal change detection is highly sensitive to acquisition discrepancies, including illumination, season, and atmosphere, which often cause false alarms. We observe that genuine changes exhibit higher patch-wise singular-value entropy (SVE) than pseudo changes in the feature-difference space…

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LoD-Loc v3: Generalized Aerial Localization in Dense Cities using Instance Silhouette Alignment

Peng, Shuaibang; Zhu, Juelin; Li, Xia et al.

arXiv · 2026 · English · arXiv

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it suffers from two key limitations: poor cross-scene…

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