Survey
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A Data-Centric Review of Plant Disease Datasets: Taxonomy, Critical Analysis, Environmental Variability, and Implications for Precision Agriculture
2026-10-05 12:34:24Aamir Hilal, Shabir Ahmad Sofi, Neeraj GoelAbstract
Despite rapid advances in artificial intelligence, reliable real-world plant disease detection remains a persistent challenge. Visual and deep learning approaches have shown promising results, but their deployment under field conditions remains limited. A key bottleneck is the reliance on laboratory-generated datasets that lack environmental diversity, realistic backgrounds, and balanced class distributions, resulting in poor generalization. In contrast, datasets collected directly from agricultural environments capture natural variability and better reflect challenges faced by farmers across regions. This review presents a critical analysis of visual and deep learning approaches for plant disease detection, with emphasis on plant disease datasets. It establishes a taxonomy based on acquisition setting, accessibility, plant diversity, disease composition, class structure, and imbalance severity, and examines their implications for model generalization and real-world deployment. A comparative analysis of laboratory and real-field datasets identifies critical gaps that hinder disease detection. The review further analyzes how multi-level dataset imbalance, including intra-class, inter-crop, and cross-dataset imbalance, and limited environmental variability affect model performance and robustness, an area insufficiently examined in existing surveys. Beyond image-based approaches, it highlights the importance of integrating environmental parameters such as temperature, humidity, and leaf wetness with image data to improve prediction under dynamic field conditions. Finally, the review identifies key challenges, research gaps, and future directions concerning dataset construction, environmental variability, structural imbalance, standardization, and multimodal disease monitoring. It provides a foundation for developing next-generation multimodal frameworks for precision agriculture.
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URL
https://arxiv.org/abs/2610.07087
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Right Order, Wrong Scale: Auditing LLM Judges for Occupational AI Measurement
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LLM judges are increasingly used to assess whether AI outputs meet workplace requirements, but agreement on response rankings does not establish agreement on acceptance rates or occupational aggregates. We introduce O*NET-BENCH, an audit suite derived from an existing survey of 45,796 worker ratings, and evaluate 33 pre-existing judge configurations across six model families on 4,501 test ratings. Twenty-five configurations achieve tie-aware pair accuracy of at least 0.60, although a train-fitted response-only TF-IDF baseline nearly matches the strongest judge. Despite this ordering agreement, judges estimate that 3.0%-97.9% of responses are acceptable, compared with 61.1% for occupation-matched workers. In one fine-tuned lineage, changing from pointwise scoring to a bundled few-shot/listwise protocol improves response ordering while reducing agreement with worker means at the task and occupation levels; this reversal replicates on a task- and worker-disjoint validation split under prespecified criteria. Cross-validated calibration largely removes mean bias, but calibrated scores explain at most 8.5% of individual worker-rating variance. Prediction-assisted estimation yields at most small precision gains at the studied label budgets. These results show that ranking agreement alone is insufficient for occupational measurement. Judges should be validated against the acceptance rates and aggregates their scores will be used to estimate.
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https://arxiv.org/abs/2610.02492
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SideKernel: A Usable microVM Sandbox for AI Coding Agents on macOS
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AI coding agents are untrusted system components, yet they require autonomy on the developer machines they run on. This contradiction is a security problem. Sandboxes provide an isolated environment, but for local macOS development, the existing local, open-source options for AI coding agents are few in number and cumbersome to use. I conducted a formative online user survey which indicates that fewer than 40% of AI coding agent users run their agents in a sandbox and identifies the top usability barriers hindering AI coding agent sandbox adoption. These findings are used to develop SideKernel: an open-source, local, microVM-based macOS sandbox for AI coding agents designed for usability. To evaluate SideKernel, I compiled a list of sandboxes available on the market and filtered it against five inclusion criteria. Then I performed a comparative analysis between SideKernel and the sandboxes that satisfy these criteria, across 23 capability tests derived from the usability barriers revealed by the user survey. I discovered that only a few sandboxes are similar to SideKernel, and that among those, Docker Sandboxes and SideKernel score highest on capability features related to usability. A secondary contribution of this paper is a survey of the existing solution space for local, open-source, microVM-based macOS sandboxes for AI coding agents.
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https://arxiv.org/abs/2610.02456
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Mapping the RAG Landscape: A Four Axis Taxonomy of Efficiency, Defense, Interactivity, and Reasoning
2026-10-01 16:06:05Meghana Sunil, Shravya V, Shravan Venkatraman, Joe Dhanith PRAbstract
Large Language Models (LLMs) have demonstrated remarkable fluency across many tasks but remain limited by their static, parameter bound knowledge and their susceptibility to hallucinating information. Retrieval Augmented Generation (RAG) addresses these issues by incorporating external retrieval into the generation process, grounding model outputs in verifiable and up to date sources. While prior surveys primarily focus on core RAG architectures and standard pipelines, recent research explores broader challenges and capabilities that extend beyond these foundational designs. This survey provides a consolidated and structured examination of contemporary RAG developments, organizing the field into a four axis taxonomy: improving retrieval efficiency, strengthening robustness and security, supporting user driven and interactive workflows, and enabling multi step or complex reasoning. We formalize key components of the RAG framework and review methods spanning dense and sparse retrieval, fusion strategies, embedding optimizations, and reinforcement learning based retrieval policies, highlighting how these advances influence practical deployment and system design. We also synthesize evaluation practices, domain specific applications, and architectural variants such as Naive, Advanced, and Modular RAG. Finally, we outline persistent challenges related to retrieval quality, reliability, domain adaptation, scalability, and explainability, and identify opportunities for building RAG systems that are more reliable, adaptable, and transparent.
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https://arxiv.org/abs/2610.01936
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ALFRED: Requirement-driven development of an open-source mobile manipulator for long-term plant monitoring
2026-10-01 11:15:58Ciar\'an Miceal Johnson, Christopher Quail, Garry Ellard, Alistair McConnell, Steve Tonneau, Fernando Auat CheeinAbstract
Tracking seasonal change in crops and forests requires observing the same plants repeatedly. Ground robots can do this at close range, and a manipulator gives their sensors more viewpoints. Yet the robots behind long-term field datasets are rarely released with their design files, and how a robot's own structure limits arm reach and occludes its sensors is seldom compared between builds. We present ALFRED, an open-source mobile manipulator built from commercially available components. It carries a six-degree-of-freedom arm, LiDAR, RGB-D cameras, RTK GNSS and an IMU on an Ackermann-steered base, all mounted on a reconfigurable aluminium strut frame, and runs containerised ROS software. It was developed through four builds against six requirements for repeated outdoor deployment: durability, modularity, repairability, sensing reach, endurance and reproducibility. Model-based analysis of the last three builds shows the usable share of the arm's reachable poses rising from 34.0% to 60.0% and then 66.1%, and ray casting shows that only the final build keeps the frame-mounted LiDAR's horizontal view clear both forwards and backwards. ALFRED completed a year of monthly forest surveys (528 traversals) without missing a scheduled collection. This was despite battery degradation, reconfiguration for another researcher's study, and the parallel development of ALFRED 2.0 for autonomous crop-row operation, with each switch between builds taking about six hours. The deployment also showed that mechanical modularity is only as dependable as the robot description that tracks it.
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https://arxiv.org/abs/2610.01477
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Optimal Transport Meets Reinforcement Learning: A Survey
2026-10-01 10:19:53Yujie Zhu, Charles A. Hepburn, Matthew Thorpe, Giovanni MontanaAbstract
Reinforcement learning (RL) algorithms frequently compare probability distributions, such as state visitation distributions induced by policies and experts, action distributions from learned policies and offline datasets, or transition distributions from learned models and environments. However, commonly used divergences may become ineffective when these distributions overlap weakly, which is frequently encountered in imitation learning, offline RL, and deployment under distribution shift. Optimal transport (OT) offers an alternative by measuring the cost of \emph{moving} probability mass from one distribution to another under a ground cost that encodes task geometry. This survey covers how OT is used inside RL objectives and algorithms. For each method, we identify: the role OT plays, the distributions compared, the OT formulation used, and the treatment of temporal structure. Beyond categorising existing methods, we discuss the motivations behind different OT choices, practical considerations such as cost design and computational challenges, and highlight open problems including scalable trajectory-level transport, principled handling of mass mismatch, and theoretical analysis for OT-regularised RL.
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https://arxiv.org/abs/2610.01413
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Evaluating LLM-Generated Preference Distributions
2026-10-01 03:40:05Fan Huang, Minsuk Kim, C. Tyler Diggans, Filippo RadicchiAbstract
Large Language Models (LLMs) are increasingly used as probabilistic generators for simulation, synthetic data generation, and decision support in settings where real-world data are unavailable. Yet, the structure and reliability of the distributions they produce remain understudied. Here, we systematically analyze LLM-generated distributions of preferences for air travel, restaurants, and consumer products. Encouragingly, all models considered in our analysis exhibit self-coherence, with the most probable outcomes stabilizing rapidly under repeated sampling. At the same time, we observe substantial discordance across both model families and scales, with little consensus even among their most probable outcomes. These patterns hold across nine open-weight models, three choice domains, and show robustness under temperature changes, greedy decoding, and perturbations of prompt and ordering. Our findings indicate that outcomes are influenced more by the choice of model than by the wording of the prompt, challenging the common assumption that sufficiently capable LLMs produce similar preference distributions when used as stand-ins for survey respondents.
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URL
https://arxiv.org/abs/2610.01000
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A Survey on End-to-End Autonomous Driving Training from the Perspectives of Data, Strategy, and Platform
2026-10-01 02:00:52Chengkai Xu, Yiming Cui, Jiaqi Liu, Yicheng Guo, Cheng Qin, Geyuan Zhang, Xinwei Dong, Shiyu Fang, Peng Hang, Jian SunAbstract
Autonomous driving is a cornerstone technology for the future of intelligent transportation, where end-to-end learning has emerged as a transformative paradigm that directly maps multimodal sensory inputs to driving actions through unified differentiable models. While offering advantages, the effectiveness of end-to-end autonomous driving (E2E-AD) is ultimately determined by the quality of its training ecosystem. This paper provides a comprehensive review of training methods and ecosystem for E2E-AD. We introduce a Data-Strategy-Platform taxonomy that conceptualizes training as an interdependent system. The data layer defines what can be learned, the strategy layer governs how learning aligns with driving objectives, and the platform layer supports scalability and continuous evolution. Within this framework, we survey recent advances across data-centric pipelines, learning paradigms, and training infrastructures, and analyze their interplay in shaping model performance, robustness, and deployability. Finally, we reflect on current limitations and articulate a forward-looking vision that emphasizes a shift from data quantity to data value, from isolated optimization to foundation-driven generalization, and from static training to integrated training-testing loops, aiming toward robust, scalable, and trustworthy autonomous driving systems. We maintain a continuously updated repository tracking cutting-edge literature and works at \href{this https URL}{Our Project Page}.
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URL
https://arxiv.org/abs/2610.00926
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An Educator-Guided LLM Pedagogical Agent for Scaffolded Feedback in Conceptual Database Design
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We present an educator-guided LLM pedagogical agent for scaffolded feedback in conceptual database design. Integrated into an entity--relationship diagram (ERD) editor, the system grounds feedback in the student artifact, assignment requirements, educator-authored rubrics, and instructional resources. Its architecture separates hidden, artifact-grounded diagnosis from the workflow that controls the form and disclosure level of student-facing support. We instantiate the architecture as a four-stage workflow progressing from concept checks and guided application to low-detail feedback and localized clarification. Each feedback request creates a stateful episode linked to versioned ERD states. In a deployment spanning three ERD environments and 383 feedback episodes, 71.1\% of observed target-level changes fully or partially incorporated the hidden diagnostic target, including many after Stages~1--2. Qualitative analysis showed that staged disclosure sometimes withheld inaccurate details, supported selective uptake, or allowed later recovery, though some errors still shaped revisions. Survey responses from a self-selected sample favored delayed disclosure and student agency but noted indirectness and repetition.
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URL
https://arxiv.org/abs/2610.00870
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Video Generation Models: A Survey of Post-Training and Alignment
2026-09-30 23:13:08Chaoyu Li, Xiaoyi Gu, Yogesh Kulkarni, Eun Woo Im, Mohammadmahdi Honarmand, Zeyu Wang, Juntong Song, Fei Du, Xilin Jiang, Kexin Zheng, Tianzhi Li, Fei Tao, Pooyan FazliAbstract
Video generation has rapidly progressed from short, low-quality clips to high-resolution, long-duration sequences with complex spatiotemporal dynamics. Despite strong generative priors learned through large-scale pretraining, pretrained video models often fail to reliably follow human intent, maintain temporal coherence, or satisfy physical and safety constraints. Compared with image and text generation, alignment in video generation presents unique challenges, including error accumulation over time, motion-appearance coupling, multi-objective trade-offs, and limited supervision for temporal properties. These challenges motivate systematic post-training strategies that adapt pretrained models without retraining them from scratch. In this survey, we present the first comprehensive review of post-training and alignment in video generation models. We frame post-training as a unifying framework and distinguish between implicit alignment and explicit alignment based on how alignment signals are enforced. From this perspective, we organize existing approaches into four broad categories: supervised fine-tuning methods, self-training and distillation methods, preference- and reward-based methods, and inference-time methods. This taxonomy provides a coherent view of how alignment signals shape model behavior across both training and deployment. Beyond methodological advances, we review commonly used datasets, benchmarks, and evaluation practices, and discuss open challenges such as scalable reward design, long-horizon temporal consistency, stability-expressiveness trade-offs, and safety-aware generation. This survey aims to provide a structured conceptual foundation and practical guidance for advancing controllable and reliable video generation models.
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URL
https://arxiv.org/abs/2610.00812
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MIKASA-Robo-VLA: Benchmarking Memory in VLA Models for Long-Horizon Manipulation
2026-09-30 19:10:31Egor Cherepanov, Nikita Kachaev, Aleksandr I. Panov, Alexey K. KovalevAbstract
Vision-language-action policies often see only one or a few recent frames, which makes it difficult to evaluate how they use information that disappears during a task. We introduce MIKASA-Robo-VLA, a benchmark of 90 language-conditioned manipulation tasks. All but 10 hide the cue an action depends on. Those 10 are reactive controls. MIKASA-Robo, the suite it rebuilds, has 32 tasks and uses language only in a representative VLA subset. Here every task provides an instruction, while memory-dependent tasks hide a task-relevant cue and reactive controls keep it available. For 70 tasks, environment phase timings specify an information gap, and for 28 of them the gap exceeds the 16-frame window of the widest fixed-context VLA we survey. The gap counts only the interval the cue is provably absent, not the full duration a policy must retain it, so every memory-dependent task still requires memory by construction, including the ones whose measured gap is short. We release 22,500 oracle trajectories across 10 memory types in RLDS and LeRobotDataset v3. A reference $\pi_{0.5}$ baseline with current images and proprioception, but no observation history or explicit memory module, is fine-tuned on 14 tasks and achieves 0.211 $\pm$ 0.044 mean task success. Its lower success on the evaluated Long-split tasks is confounded by open-loop chunking and the memory types represented in that subset. Project page: this https URL
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https://arxiv.org/abs/2610.00604
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Recognition of Urbanized Areas in UAV-Derived Very-High-Resolution Visible-Light Imagery
2026-09-30 17:22:28Edyta Puniach, Wojciech Gruszczy\'nski, Pawe{\l} \'Cwi\k{a}ka{\l}a, Katarzyna Strz\k{a}ba{\l}a, El\.zbieta PastuchaAbstract
This study compared classifiers that differentiate between urbanized and non-urbanized areas based on unmanned aerial vehicle (UAV)-acquired RGB imagery. The tested solutions in-cluded numerous vegetation indices (VIs) thresholding and neural networks (NNs). The analysis was conducted for two study areas for which surveys were carried out using different UAVs and cameras. The ground sampling distances for the study areas were 10 mm and 15 mm, respectively. Reference classification was performed manually, obtaining approximately 24 million classified pix-els for the first area and approximately 3.8 million for the second. This research study included an analysis of the impact of the season on the threshold values for the tested VIs and the impact of image patch size provided as inputs for the NNs on classification accuracy. The results of the con-ducted research study indicate a higher classification accuracy using NNs (about 96%) compared with the best of the tested VIs, i.e., Excess Blue (about 87%). Due to the highly imbalanced nature of the used datasets (non-urbanized areas constitute approximately 87% of the total datasets), the Mat-thews correlation coefficient was also used to assess the correctness of the classification. The analysis based on statistical measures was supplemented with a qualitative assessment of the classification results, which allowed the identification of the most important sources of differences in classification between VIs thresholding and NNs.
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URL
https://arxiv.org/abs/2609.40212
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Active Mapping of Underwater Litter Using Camera-Sonar Fusion
2026-09-30 15:00:35David Rete, Patrick Boros, Lucian BusoniuAbstract
Marine litter is a growing threat to the underwater ecosystem, driving demand for autonomous survey methods that can locate debris efficiently over large areas. Existing survey methods typically follow predefined paths or operate with a single sensing modality, typically a camera (with image quality suffering in poor-visibility conditions) or sonar (usually noisy and low-resolution). We present an active mapping framework in which a forward-looking sonar and a camera both feed into a shared Bayesian occupancy map, and an optimization problem is solved at each step to decide on the next best view. Candidate viewpoints are scored by a two-term utility that balances exploration of uncertain regions via voxel entropy against exploitation of likely objects. Each sensor is characterized by range- and bearing-dependent detection and false-alarm probability tables determined from data. We evaluate the approach in a realistic underwater simulator, demonstrating that active mapping finds objects faster than a lawnmower coverage pattern, and that the dual-sensor approach works better than using either of the individual sensors.
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URL
https://arxiv.org/abs/2609.39898
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The Evolution of Attention in Large Language Models: Mechanisms, Trade-offs, and Emerging Trends
2026-09-30 13:03:01Zhentao Tan, Jingyi Shen, Yanbo Li, Yao Liu, Yue Wu, Jieping YeAbstract
Self-attention gives LLMs fine-grained, query-dependent access to context, but dense token interactions incur quadratic prefill cost and a key--value cache growing with context length. Research thus spans explicit-memory compression, sparse access, recurrent state construction, structured state dynamics, and heterogeneous mechanism composition. This survey analyzes these developments as model-internal contextual memory. We introduce a five-dimensional lens---Memory Representation, Memory Update, Access, Readout, and Integration---describing what is represented, how it changes, what is query-eligible, how it is read, and how readouts form outputs. This lens compares overlapping research lines without imposing one computational model. We reconstruct mechanism-level developments and architectural adoption using 59 release-level records from 14 major model lineages and 11 high-performing open-weight endpoints. First, explicit-memory and recurrent-state methods retain distinct interfaces but increasingly control overlapping memory functions. Second, heterogeneous architectures increasingly coordinate across network depth: layer-wise composition distributes complementary memory processing across representational stages, while cross-layer reuse carries selected memory and routing artifacts forward. Depth thus becomes a dimension along which contextual memory is constructed and managed. Third, these developments motivate a stateful multidimensional memory-routing hypothesis: persistent memory is organized across temporal scope, network depth, substrate type, and representation granularity, while coordinated Sparse Write and Sparse Read determine what is maintained and what contributes to each query. Overall, efficient sequence architecture design increasingly concerns the organization, lifecycle, and selective use of contextual memory rather than an isolated Attention operator.
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URL
https://arxiv.org/abs/2609.39661
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KilometerVision: A New Frontier for Large-Scale Spatial Intelligence in VLMs
2026-09-30 12:14:26Aravindh Mahendran, Michael King, Matthew Koichi Grimes, Antoine Yang, Tyler Zhu, Joseph Heyward, Tengda Han, Shiry Ginosar, Chen Sun, Dima Damen, Simon Osindero, Noah Snavely, Simon Lynen, Jo\~ao Carreira, Viorica P\u{a}tr\u{a}uceanAbstract
We push the frontier of large-scale spatial intelligence in Vision-Language Models (VLMs) and introduce the first benchmark that probes geographical layout understanding from real-world videos, spanning up to 1km distances. Inspired by the cognitive science literature, we evaluate models against the hierarchical stages of human spatial awareness: anchoring via landmarks, connecting them through routes, and integrating these into global mental maps. Extensive experiments reveal a fundamental divergence in how current AI models process spatial information. Instead of utilising true path integration or forming geometric survey knowledge, we find that VLMs rely almost entirely on 2D visual recognition and text-matching to bypass complex spatial reasoning. The benchmark is publicly available at this https URL.
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URL
https://arxiv.org/abs/2609.39588
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Deep Learning for Anomaly Detection in Railway Systems: A Structured Survey
2026-09-30 06:29:59Ammar Bouketta, Smail Niar, Hamza OuarnoughiAbstract
Ensuring safe and reliable operation of modern railway systems increasingly relies on data-driven monitoring and intelligent fault detection. Deep learning has emerged as an effective paradigm for railway anomaly detection, driven by the growing availability of heterogeneous sensor data from rolling stock and infrastructure. This paper presents a structured survey of deep learning-based anomaly detection approaches for railway systems. The surveyed methods are organized using a unified taxonomy covering anomaly location, data representation and manifestation, sensing modality, and temporal characteristics. Existing approaches, including convolutional, recurrent and attention-based architectures, autoencoders, generative adversarial networks, and transformers, are structured into classification-based, prediction-based, reconstruction-based, and hybrid learning paradigms. The survey also examines data-centric challenges, evaluation practices, performance metrics, and practical deployment aspects, including edge-cloud architectures, computational constraints, and hardware-aware optimization. Finally, a decision-oriented framework links anomaly characteristics, data properties, and operational constraints to suitable detection paradigms and deployment configurations. This work provides a structured reference for selecting and deploying deep learning solutions for railway anomaly detection and highlights open challenges toward reliable and scalable intelligent monitoring systems.
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URL
https://arxiv.org/abs/2610.00363
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Characterizing Questioning Patterns and Student Engagement Through Contextual Analysis of Real-Time Classroom Interactions
2026-09-30 03:55:08Rohit Sharma, Pavani Ayinampudi, Aditya B. M. V., Jinal Gupta, Prakash Hegade, Sakshi Sharma, Meenakshi V, SRS IyengarAbstract
Real-time classroom polling is now routine, yet the data it produces is usually read narrowly, as a correctness score or a headcount. Such readings say little about what a poll is doing within a lecture or how it shapes engagement. This is particularly relevant for short-response formats such as True/False, where the same question format can be used to test recall, check comprehension, or direct students' attention to a deliberately misleading statement. This study asks whether a poll's answer and instructional function can be determined by reading it against its lecture transcript, what cognitive levels of Bloom's taxonomy and instructional-function clusters the corpus contains, and how student engagement relates to answering correctly. We analyse a naturalistic corpus of 47 live sessions over 39 days, comprising 604 poll questions and 340,668 responses from 2,807 learners, most items True/False, read against time-aligned lecture transcripts and attendance. Reading each poll in context proves essential: the answer to 89% of polls is locatable in the lecture, and a recurring attention-checking device is visible only through context. Questioning is overwhelmingly lower-order and falls into seven instructional functions, and a poll's response follows its function rather than its wording. Engagement is broad but concentrated, and the class majority answers correctly 88.5% of the time, though a small set of high-consensus yet incorrect answers cannot be detected by agreement alone. An independent survey of 579 students agrees on what the polls are and on their participation, but reveals a gap between perception and reality: students cannot judge their own correctness, and the polls they find hardest are not those they answer worst.
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URL
https://arxiv.org/abs/2609.38907
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Positive Ratings, Hidden Concerns: Employee Voice Disclosure in AI-Mediated Organizational Listening
2026-09-30 02:18:14Thilo Tamme (Technical University of Munich), Michael Saatkamp (Technical University of Munich), Alma Bonte (Technical University of Munich), Daniel Weiss (LMU Munich), Anton Hantel (Massachusetts Institute of Technology), Andrej Levin (Technical University of Munich)Abstract
Organizations started listening to employees through conversational AI agents alongside structured surveys. Little is known about what these channels change in what employees say when disclosure carries hierarchical risk. We report a field study inside a global management consulting firm whose process pairs a pre-survey with an adaptive AI voice interview on the same themes within one session. Across 44 first-session interviews (132 matched theme observations), 20-41% of sessions showed a favorable rating co-occurring with a substantive concern voiced later, depending on the favorability threshold. The Gioia analysis drew on 158 protective quotes from 65 eligible sessions. Disclosure rarely arrived unguarded: employees softened concerns, deflected accountability, and bounded how far they went, and this protective work tracked the perceived legitimacy of the listening structure. We develop a grounded model of bounded disclosure and derive four propositions for voice, channel and listening research. Silence, we argue, can persist inside expression.
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URL
https://arxiv.org/abs/2609.38788
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An Empirical Study of Architectural Shift from Traditional to AI-Enabled Simulink Controllers
2026-09-29 20:27:33Hadiza Umar Yusuf, Khouloud GaaloulAbstract
Effective AI adoption in cyber-physical systems (CPS) depends on embedding design knowledge into engineering practice. Yet as AI-enabled components increasingly replace analytically derived control laws, this occurs without a systematic understanding of how controller architectures differ or remain similar across paradigms. We address this gap with an empirical study of traditional and AI-enabled Simulink controllers, guided by a literature-derived taxonomy of ten structural categories and nine functional roles. The study analyzes 62 real-world models spanning 8 controller types and 10 application domains, and surveys 13 practitioners, identifying three architectural tensions. First, subsystem organization dominates all controller structures regardless of paradigm, occupying 68-72% of controller footprint, while core control logic occupies minimal space. Second, AI-enabled controllers rely heavily on discrete dynamics and user-defined abstraction, categories largely absent from AI literature, exposing a gap between described and implemented architectures. Third, constraint enforcement blocks largely disappear from AI-enabled models despite practitioner expectations. This reveals a misalignment where safety mechanisms shift from explicit structure to implicit training-time artifacts, breaking traceability.
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URL
https://arxiv.org/abs/2609.38504
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Draft: A Parametric Tool for Robot Design Exploration
2026-09-29 19:00:40David Nguyen, Marcelo Coelho, Sangbae KimAbstract
Robot performance is often limited by the cost of iterating on morphology and control together, since every computer-aided design (CAD) change has to be carried into a simulation-ready model before control work begins. Co-design methods attempt to close this gap, but each uses a model generator written for a single platform or lack the use of real-world data to suggest that designs are plausible. We present Draft, a parametric generation tool whose generalized engine compiles any parametric tree of serial chains into a simulation-ready MJCF model, without CAD. It allows engineers to explore design tradeoffs through easily adjustable models and evaluate how changes influence controller performance. Draft grounds the free parameters of each design using trends fitted to a survey of $114$ actuators and $49$ published robot descriptions, so that a generated robot is anchored to real-world hardware. We validate those trends wholistically by building twins of four off-the-shelf robots, whose masses agree to $1.10\times$ geometric mean fold error. Finally, we demonstrate how Draft exposes design tradeoffs by evaluating three quadrupeds through a two-stage reinforcement learning curriculum.
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URL
https://arxiv.org/abs/2609.38405
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