Survey
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Partial Identification with Multiple Nonlinear Measurements of a Latent Regressor
Abstract
We study linear regression when the regressor is latent and observed only through multiple noisy measurements, each a smooth but possibly nonlinear function of the latent variable. The problem is acute in the measurement of occupational exposure to artificial intelligence, where competing scores yield downstream estimates that differ by a factor of eleven. A regression on any single measurement recovers a source-specific coefficient rather than the structural one. We fix the latent scale by requiring the consensus measurement function to be linear and bound the remaining curvature heterogeneity across sources relative to slope. Under this bound, the structural coefficient lies in a closed-form interval centered at a symmetric cross-source estimator. The interval is invariant to unknown source loadings, and its half-width is second order in the curvature bound and sharp to the same order. With at least four measurements, the bound is estimable from the joint distribution of the sources through a split-instrument auxiliary regression, and Imbens-Manski confidence intervals with the Stoye critical value attain uniform coverage over the curvature class, including at the point-identified boundary. The application matches six exposure measures to an American Community Survey panel of 8.88 million person-year observations for 2015 to 2024. The post-2022 employment coefficient changes sign between the language-model measures and the Webb patent-text measure, and an ex ante factor-analytic rule separates the Webb measure as a distinct construct. The five retained sources yield a loading-invariant consensus coefficient of -0.239, with a partial-identification half-width of 1.23 percent of the point estimate, or 1.88 percent at the one-sided 95 percent upper bound on the curvature. We read the application as measurement reconciliation rather than as a causal estimate of AI displacement.
Abstract (translated)
URL
https://arxiv.org/abs/2607.12219
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Casting Everything to Online API Services? A Survey of Integrating Localized Speech Recognition Models in Robotic Systems
2026-07-13 16:45:19Sheng Li, Jing Li, Felix Schijve, Jun Hu, Emilia BarakovaAbstract
Automatic speech recognition (ASR) has become a critical component of modern robotic systems because it is one of the most natural and intuitive ways for humans to interact with robots. A commonly used method is to directly use API services online. But is that all we can do? This article provides an overview of how ASR technologies are integrated into various intelligent robots and machines. We discuss the evolution of speech recognition from established approaches to state-of-the-art deep learning models, such as OpenAI's Whisper. We also list large-scale datasets and open source toolkits that have been widely used in both industry and academia. We structure the survey around ASR model families, deployment strategies in robotics (especially ROS-based, cloud-based, and hybrid solutions), and several real-world robotic platforms. Finally, we outline the challenges of deploying robust speech recognition in robots and discuss future directions, including multimodal interaction in diverse and dynamic environments. This paper can help social robotics researchers better navigate the emerging domain of language-based natural human-robot interaction.
Abstract (translated)
URL
https://arxiv.org/abs/2607.11792
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Reproducing human biases in route choice using large language models: Toward scalable behavioral modeling
2026-07-13 14:48:23Jiangtao Han, Shoufeng Ma, Shuxian Xu, Geng Li, Shuai Ling, Ning Jia, Zhengbing HeAbstract
Human choice behavior, including route choice, exhibits systematic behavioral biases that deviate from the assumptions of full rationality. Cumulative prospect theory (CPT) has been widely recognized as an effective framework for characterizing such behavioral patterns. However, its large-scale application, particularly in simulation and agent-based modeling, critically depends on specifying individual-level CPT parameters, which remain a major bottleneck. Conventional approaches typically rely on surveys and controlled experiments to calibrate CPT parameters, yet these methods are difficult to generalize and often fail to capture the full diversity of human decision-making. To address this challenge, this paper investigates whether large language models (LLMs) can reproduce human behavioral biases in choice-making without explicit specification of prospect-theoretic parameters. Using route choice as a representative scenario, we design a behavioral evaluation framework and systematically compare LLM-generated decisions with established human behavioral patterns predicted by CPT. Experimental results demonstrate that LLMs are capable of reproducing non-rational human choice biases and can exhibit decision behaviors consistent with prospect-theoretic effects under uncertainty. These findings suggest that generative AI models may provide a scalable alternative for modeling human decision processes and offer a promising foundation for next-generation large-scale agent-based simulation and AI-driven behavioral research.
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URL
https://arxiv.org/abs/2607.11632
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IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection
2026-07-13 14:45:46Mauhing Yip, Mohit Singh, Kostas Alexis, Christian Schellewald, Annette StahlAbstract
Both Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are frequently deployed to acquire geometric bathymetric data. However, it is often discovered post-survey that the acquired data coverage is incomplete. Given the high operational cost associated with underwater deployments, it is essential to incrementally visualize surface coverage in real-time to support informed decision-making by both the operators of ROVs and the AUVs during data collection. In addition, traditional incremental surface reconstruction methods, such as Digital Terrain Models (DTMs), are inherently limited in expressiveness: they represent surfaces as height fields, allows only one elevation value per $(x, y)$ coordinate and thus cannot capture overhangs or vertical structures. To overcome these limitations, we adapt the original Ball Pivoting Algorithm (BPA) into an incremental, real-time, and free-form surface reconstruction method, referred to as Incremental BPA (IBPA). Our method incrementally constructs an orientable, manifold mesh from streaming point cloud data without imposing assumptions regarding point cloud overlap or spatial distribution. Furthermore, we introduce a hole detection mechanism that identifies and highlights incomplete mesh regions. Compared to existing approaches, our method supports more complex surface topologies without prior structural assumptions. The source code of our reference implementation is available: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.11627
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LP Mining with LP2Graph: A Use Case for Railway Rescheduling
2026-07-13 07:25:02J\"orn Maurischat, Nikola Be\v{s}inovi\'c, Michael F\"arberAbstract
Like many optimization-driven domains, railway rescheduling relies on Mixed-Integer Linear Programming (MILP), yet the field's modeling knowledge is scattered across hundreds of papers in incompatible notations, and narrative surveys organize it subjectively: they classify models by vocabulary rather than by structure, and reproduce neither. We present LP Mining with LP2Graph, a method that mines the structure of published LP and MILP formulations into a reproducible dataset and an induced taxonomy. Its core, LP2Graph, represents each formulation admitted by its canonical grammar as a typed variable--equation graph derived from a single canonical model; once a source is extracted into that model, everything downstream is deterministic. Each source is parsed into this model, homologized, and clustered bottom-up (over variables, then constraints and the objective, then whole-model structure) and, separately, by application domain and solution approach; the resulting groups are labeled by a rule-seeded, self-updating classifier. We validate the representation rather than assume it: per-cluster representatives are regenerated as independent LaTeX and re-solved across CBC, HiGHS and Gurobi against the optimum reported in the source paper. The outcome is an objective, repeatable taxonomy of variables, constraints and model types: the principled foundation on which our raiLPminer line of automated railway-rescheduling model development builds.
Abstract (translated)
URL
https://arxiv.org/abs/2607.11980
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Human AI Construction of Bayesian Networks for Operational Decision Support -- A Virtual Survey Approach
2026-07-13 06:15:07Kumar Rahul (Indian Institute of Management Kozhikode, Kerala, India), Shovan Chowdhury (Indian Institute of Management Kozhikode, Kerala, India)Abstract
Bayesian Belief Networks (BBNs) are powerful tools for decision-making under uncertainty. However, building their structures and estimating parameters are difficult. Currently, researchers must choose between relying on expert judgement or using large datasets to learn the structure and parameters of the network. We propose a new methodology using Large Language Models to bridge the gap between expert opinion and data-driven learning. This approach uses a panel of AI agents to estimate probabilities based on specific personas and context. We then apply a trimmed-mean rule to remove noise from these responses. We develop a six step BBN framework and illustrate it to model customer intention to consult a doctor in an alternative healthcare system. The model reveals that while self efficacy appears to be a major factor, its actual causal impact is small. In contrast, subjective norms have a much stronger effect in modelling customers' intention. The most effective strategy is to improve both confidence and community norms simultaneously.
Abstract (translated)
URL
https://arxiv.org/abs/2607.14141
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Dimensionality in Satisfaction Ratings
2026-07-13 02:45:35Andrew Hong, Jason PotteigerAbstract
We used a large language model (GPT-4.1) to annotate the text of about 9,000 support conversations at a global consumer-goods firm, decomposing customer-care satisfaction into component axes (overall, agent, outcome, product, and customer effort), and validated the LLM annotations against the satisfaction ratings customers gave themselves. Four of five axes track self-reported satisfaction closely (overall, agent, and outcome near an unadjusted 0.65; effort -0.54), while product satisfaction is weak against the available proxy. The unadjusted correlation also understates the alignment: the disagreements concentrate in a small, readable tail of divergent sessions rather than in general drift, and the overall correlation rises to 0.811 when only the severe divergences are excluded and to 0.914 when the full divergent tail is excluded. The axes are also highly collinear, and adding them to the overall score does not improve prediction of the customer's rating, the decomposition's value is not incremental prediction but attribution and coverage. And, with greater coverage the picture of the data changes. Read on every contact rather than the few that return a survey, satisfaction is markedly lower than the survey reports (a full-census 2.91 against the surveyed 3.62 on a five-point scale). The promise of decomposed satisfaction as a methodology is the ability to identify more nuanced drivers of customer experience in conversational data.
Abstract (translated)
URL
https://arxiv.org/abs/2607.11026
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Operational Evidence Gaps for LLMs in Fraud Detection and Trust-and-Safety Workflows
2026-07-12 22:34:02Keyur GabaniAbstract
LLMs are now proposed for fraud detection, scam investigation, content moderation, and other trust-and-safety workflows. Much of the public literature still evaluates them as models, with less attention to their behavior as components in operational pipelines. This creates a practical evidence question: what would justify placing an LLM inside a live workflow with latency, cost, escalation, human-review, and adversarial-risk constraints? We address this question through a fraud-first survey of deployment evidence. We code 49 operationally relevant sources on LLM use in fraud detection, investigation support, content moderation, and cross-cutting robustness (18 fraud, 14 moderation, 17 cross-cutting), supplemented by 15 contextual references that establish the survey boundaries. These sources include systems, benchmarks, frameworks, and deployment-relevant surveys, not 49 production deployments. The main finding is an evidence imbalance. Fraud supplies the largest task-specific portion of the coded corpus. The moderation papers, however, include more explicit public evidence on latency, cost, governance, and fairness. Among the 18 fraud and investigation sources, none report clean per-decision latency, per-decision dollar cost, or calibration evidence; most report offline task performance, retrieval gains, or case-study accuracy instead. The survey contributes a role-and-evidence organizing frame, FORTE, for locating LLMs as classifiers, retrieval interfaces, explanation generators, reviewer assistants, agents, feature extractors, or escalation components. It also contributes a minimum deployment-evidence checklist covering latency budget, cost per decision, decision threshold, explanation integrity, and adversarial pressure. The resulting agenda identifies studies needed to support deployment claims for LLM-based fraud and trust-and-safety work.
Abstract (translated)
URL
https://arxiv.org/abs/2607.13078
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How Do Practitioners Build SE Agents? Insights from a Mixed-Methods Study
2026-07-12 17:40:36Yunbo Lyu, David Williams, Jieke Shi, Zhensu Sun, Chao Peng, Zhou Yang, Federica Sarro, David LoAbstract
The rise of Software Engineering (SE) agents, i.e., LLM-based agents that can understand large codebases and carry out engineering tasks with limited human intervention, has been marked by rapid advances and adoption, but little is known about how developers build these systems in practice: existing studies mine repositories or examine deployment, but few investigate how SE agents are constructed. Through semi-structured interviews with 20 practitioners from 12 organizations and an online survey of 80 practitioners, this paper is the first to study how SE processes are changing in the development of SE agents and what challenges developers face. We find that as implementation becomes cheaper, bottlenecks shift rather than disappear: long-standing non-coding work such as requirements, coordination, review, and deployment becomes more visible, while reviewing and evaluating agent output becomes new and central. We characterize a seven-stage workflow and a shift toward evaluation-driven development, in which evaluation steers iteration and specifications become versioned artifacts read by both humans and agents. We further identify six challenges that teams face, together with the practices they adopt to address them, including unreliable evaluation signals, comprehension debt as code outpaces understanding, and behavioral changes introduced by provider-side model updates.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10856
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Detecting AI-Generated Video: A Vision-Language Dual-View Survey
2026-07-12 14:25:04Dylan Xinming Hou, Juntian Zhang, Xu Gu, Yichen Wu, Nils Lukas, Gus Xia, Xiuying Chen, Yuhan LiuAbstract
The evolving realism of AI-generated Videos (AIGC-V) is rapidly rendering traditional artifact-centric detection insufficient, necessitating a paradigm shift from low-level inspection to high-level semantic verification. This paper presents a comprehensive survey of AIGC-V detection, reframing the task as Factual Fidelity Verification, which asks whether the events, entities, and physical processes depicted in a video are consistent with real-world facts. To systematize this rapidly evolving field, we propose a Vision-Language Dual-View taxonomy that organizes existing methods into a hierarchical, four-layer landscape, spanning intrinsic cue analysis, spatiotemporal consistency modeling, cross-modal consistency reasoning, and language-guided world-level reasoning. This dual-view framing highlights a fundamental transition from artifact matching in traditional deepfake detection to evidence-based semantic verification enabled by vision-language models and agentic reasoning pipelines. Based on a systematic review of 221 works, we synthesize AIGC-V generation paradigms, survey the landscape of detection methods, and review evaluation metrics and benchmarks in line with proposed views. Finally, we discuss current challenges and identify promising directions toward robust, explainable, and trustworthy detection.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10787
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WattCouncil: Context-Aware Household Energy Scenario Generation With Governed LLMs
2026-07-12 11:28:02Mohannad Takrouri, Nicolas M. Cuadrado A., Martin Tak\'a\v{c}Abstract
The accelerating shift toward low-carbon power systems, together with the widespread adoption of behind-the-meter technologies such as rooftop solar and electric vehicles, is placing new operational and analytical demands on electricity grids. At the same time, smart-grid research increasingly relies on machine learning (ML), yet progress is constrained by limited access to high-resolution household energy data due to privacy concerns, regulatory barriers, and collection costs. This work presents WattCouncil, a data-generation framework in which household electricity demand is generated by a council of Large Language Model (LLM)-based agents operating in specialized roles to generate, audit, and validate structured energy scenarios under explicit cultural, temporal, and physical constraints. Rather than acting as static predictors, these agents serve as adaptive decision-makers within a governed pipeline. Motivated by studies highlighting the importance of contextual factors in energy use, our framework produces context-sensitive daily routines through a guided reasoning process that incorporates household composition, temporal factors, and environmental conditions. We evaluate the generated profiles against the detailed CER dataset, which contains over a year of load measurements for 4232 households together with survey-based socio-economic information. We further assess the consistency of the framework through ablation studies. Source code is available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.10720
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Coverage Path Planning: Classical Foundations, Recent Advances, and Future Directions
2026-07-12 08:33:42Zongyuan Shen, Shalabh Gupta, Shancheng Zhao, Dehua Zhou, Gao Wang, Zhongqiang Ren, Yaming Ou, Yikui Zhai, C. L. Philip ChenAbstract
Coverage path planning (CPP) is a fundamental problem in robot motion planning, whose aim is to produce robot trajectories that provide complete coverage of target workspaces while minimizing task-specific objectives such as path length, overlap, number of turns, and energy consumption. CPP has widespread applications in cleaning, inspection, mapping, agriculture, manufacturing, surveillance, demining, and environmental monitoring. Although classical CPP has been extensively studied, recent advances have extended CPP beyond single-robot settings to multi-robot systems, complex 3D environments, constrained platforms, learning-based coverage planning, and visual coverage tasks. This paper presents a comprehensive survey of 125 representative works published primarily between 2015 and 2026, while presenting the evolution of recent developments in light of the classical CPP methods published before 2015. The CPP methods are organized into six main categories: single-robot CPP, multi-robot CPP, 3D CPP, constrained CPP, learning-based CPP, and visual CPP. For each category, the review summarizes the main planning formulations, representative algorithms, strengths, and limitations. In addition, the review analyzes how environmental knowledge, workspace geometry, robot constraints, sensing objectives, and coordination requirements shape the CPP problem. The survey further discusses open challenges in scalable online planning, multi-robot coordination, 3D and visual coverage, unified platform-constrained and resource-aware coverage, and learning-enhanced coverage. Thus, the survey provides a structured overview of recent CPP developments and future research directions.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10649
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Anamnesis: An Open-Source Platform for Large-Scale Backstory-Conditioned Survey Simulation
2026-07-12 07:41:35Song-Ze Yu, Joseph Suh, Serina Chang, David M. ChanAbstract
We present Anamnesis, an interactive system for demographically controllable survey simulation using large language models. Open-source, and designed for non-technical users/researchers, Anamnesis enables the prototyping and stress-testing of survey instruments on virtual populations rather than real human subjects. The platform operationalizes the recently introduced Anthology and Alterity frameworks, which use structured narrative backstories to condition model responses, within a unified web interface. It supports open-ended generation, probabilistic demographic resampling, and multimodal (image and audio) surveys. We evaluate the system through two case studies: (1) replicating segments of Pew Research Center's American Trends Panel (ATP) on political typology and biomedical issues and (2) emulating human preference in the New Yorker Caption Contest. In both cases, Anamnesis produces opinion distributions that more closely match real-world survey data than standard persona-prompting baselines, offering a transparent, reproducible, and open-source alternative to proprietary simulation services.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10628
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Motif: Discovering and Automating Personal Web Workflows
2026-07-12 01:49:32Shaokang Jiang, Daye NamAbstract
Recent advances in LLMs and existing work on programming by demonstration have made it possible for end users to create automations by explicitly demonstrating their behavior to LLMs. However, these approaches rely on the assumption that users know what to automate and what is capable of being automated. Additionally, automation via LLM agents is often expensive compared with programs. We introduce Motif, a system that passively observes everyday browser activity to discover recurring interaction patterns that are programmable, makes recommendations to users whenever a pattern is discovered and generate a program to install after user confirmation. Users can review, and refine the program using natural language. We evaluated Motif in a multi-day study, comparing its ambient discoveries against automations users attempted to build via ``vibe coding.'' With eight participants, Motif discovered more automatable patterns than users recognized. Most of them matched participants' routines and were useful. Follow-up surveys showed most would continue using Motif-generated programs.
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URL
https://arxiv.org/abs/2607.10531
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Consensus vs. Dissent: Dynamic LLM Modeling of Subjective Preferences in Group Recommenders
2026-07-11 09:48:33Cedric Waterschoot, Nava Tintarev, Francesco BarileAbstract
Previous work in group recommender systems has demonstrated a sensitivity to the distribution of preferences within a group. Specifically, the selection of the preference aggregation strategy benefits from considering such group configurations. In this paper, we study whether LLMs are able to mimic this sensitivity and to select the ideal aggregation strategy (and corresponding recommendation) according to nuanced human perceptions of fairness, satisfaction, and consensus. We do this by fine-tuning Large Language Models (LLMs) on human survey data to serve as real-time judgmental models within the recommendation pipeline. Using a reasoning dataset distilled from DeepSeek-V3.1 and human ground truth assessments, we develop Judgmental Llama and Judgmental OLMo to simulate group assessments. Our pipeline successfully generates multiple recommendation candidates based on social choice-based aggregation strategies and dynamically selects the one that maximizes these predicted human-like evaluations. We further validate these suggestions in a user study (n=284) and find that our methodology achieved the highest scores for satisfaction and group consensus. Furthermore, we find that LLM judgments are most aligned with human perceptions of fairness, satisfaction and consensus when we also consider interaction effects between our LLM-based method and group configuration (e.g., minority or coalition). These findings give further support for dynamically adapting aggregation strategies to specific within-group preference distributions, and highlight the advantage of using LLMs for an adaptation that is aligned with subjective human judgments.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10235
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Dynamic Agent Skills: A Lifecycle Survey and Taxonomy of Evolving Skill Libraries
Abstract
Large language model agents increasingly store reusable procedures outside the model. These reusable procedures are often called \emph{skills}: they may be code functions, natural-language instructions, this http URL packages, workflow graphs, or learned adapters that a future agent can retrieve and invoke. This taxonomy-driven survey asks how such skill libraries change over time. Across a $124$-paper $2023$--$2026$ audit set, we synthesize dynamic skill systems as \emph{lifecycle-managed, verified, evolving artifact stores}: agents collect evidence from interaction, propose skill updates, verify and admit candidates, organize them for retrieval and composition, repair or prune stale entries, and govern sharing through provenance and rollback. We organize the literature around three survey tools. First, a $\text{six}$-sense taxonomy distinguishes the structurally different artifacts called ``skills'' in current papers. Second, an $\text{eight}$-stage lifecycle architecture identifies the recurring design decisions behind evidence acquisition, proposal, verification/admission, storage, retrieval/composition, maintenance, distillation/portability, and governance. Third, a lightweight skill-record schema and $\text{ten}$-operator vocabulary provide common terms for comparing library updates without elevating them into a separate method contribution. Using this structure, we synthesize evidence-graded patterns with explicit caveats: admission and repair are repeatedly important, verifier quality materially affects skill-aware RL, flat retrieval can degrade as libraries grow, and current benchmarks still under-report library trajectories, usage--utility gaps, and safety surfaces. We close with concrete reporting standards and open problems for evaluating dynamic skills as changing libraries rather than static prompt or tool collections.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10113
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A Survey on LLM Watermarking: Theory and Deployment
2026-07-11 03:42:17Huy Phan, Kieu Dang, Ojaswi Dulal, Aiham AL Shukairi, Abby Shine, Chase Garner, Phung LaiAbstract
Large language models (LLMs) are increasingly embedded in high-impact workflows, yet their ability to generate fluent text at scale has amplified risks of provenance ambiguity, model misuse, and large-scale content laundering. LLM watermarking, embedding invisible signatures into model outputs, has emerged as a promising technical layer for attribution, auditing, and downstream trust decisions. However, the literature has grown rapidly and unevenly: existing categorizations often mix orthogonal design choices, making it difficult to compare methods, reason about guarantees, or translate research results into deployable systems. This survey provides a systematic, deployment-oriented review of LLM watermarking. We organize the space by the core questions practitioners must answer: where a watermark is embedded (generation-time vs. training-time, token vs. representation), who can detect it (public vs. private detection authority), what is assumed (access to logits, sampling control, secret keys, model ownership), and which threat models are targeted (paraphrasing, translation, summarization, style transfer, token manipulation, and adaptive removal). We synthesize the main families of techniques-including sampling biasing, code-based schemes, representation- and training-based approaches-and analyze their security-utility trade-offs through the lens of detectability, robustness, and distribution shift. We further review attack and evasion strategies, evaluation protocols and metrics (false positive control, calibration, robustness curves), and open challenges such as cross-model transfer, multi-modal pipelines, collusion, and governance constraints. Finally, we provide practical guidance for selecting watermark designs under real operational requirements and identify research directions needed for reliable, accountable LLM deployment.
Abstract (translated)
URL
https://arxiv.org/abs/2607.10103
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CORAL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
2026-07-10 16:02:55Steven Roche, Milo Van Mooy, Nathan McGuire, Levi Cai, Jonathan P. How, Yogesh GirdharAbstract
Fine grain control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Traditional control methods for AUVs are labor intensive and are not robust to changes in the vehicle configuration or environmental conditions. Reinforcement learning (RL) promises rapid controller development while handling a range of deployment parameters via domain randomization (DR). However, DR is still limited by the capacity of the underlying simulation to model real physics. In particular, drag physics are difficult to model and are a large contributor to sim-to-real gaps. Meanwhile, computational fluid dynamics (CFD) provides high fidelity drag models but is challenging to leverage within reinforcement learning frameworks due to its computational overhead. Thus, in this paper we exploit the idea of training surrogate approximations of CFD models of a given vehicle, enabling fast inference within RL pipelines. We are the first to successfully deploy a zero-shot RL policy on a 6-DOF AUV in which policy training is performed on surrogate drag models (SDMs) trained on CFD data. We find 31% lower energy usage compared to a controller using simplified physics while traversing between waypoints 11% faster with 19% less error. Our SDM based RL controller better predicts zero-shot transfer and is more robust across reward shaping design choices. When using DR to complete a task with perturbed parameters, we find that the CFD policy is the only controller that successfully transfers. The policies are evaluated in a controlled tank environment and in the field providing extensive testing of the policies' capabilities.
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URL
https://arxiv.org/abs/2607.09557
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Empirical Pedestrian Safety Assessment in a Mobile Robot Using a Predictive Social Force Model
2026-07-10 08:33:06Alireza Jafari, Yun-Hao Tsai, Yen-Chen LiuAbstract
Mobile robots are going to share the sidewalks with pedestrians. They must ensure their objective safety and respect the walkers' subjective safety/comfort. Computationally efficient Social Force Models (SFM) present interpretable solutions for real-time robot navigation in dynamic crowds. Recent explorations of Projected Time-to-collision (PTTC) integration into SFM variants, for example, PTTC-based SFM (TSFM), improve safety metrics. But the effect of predictive variants is unclear. We introduce Predictive SFM (PSFM) and Predictive TSFM (PTSFM) by integrating predicted social force vectors over a finite time horizon. The paper implements SFM, TSFM, PSFM, and PTSFM on a nonholonomic mobile robot and performs experimental trials with volunteers attending a facing scenario. We systematically study objective and subjective safety across the variants. Minimum PTTC, average speed, minimum distance, lateral distance, and the maximum trajectory curvature benchmark the objective safety. Likert scale post-interaction surveys assess subjective safety by marking comfort, smoothness, distance appropriateness, and speed suitability. We confirm that PTTC integration improves safety metrics. The prediction contribution is limited and occasionally visible in some of the sub-metrics. Some participants perceive smoother movements and safer speed behavior with predictive methods, but Mann-Whitney tests reveal no significant differences in subjective ratings. Therefore, PTTC-based navigation enhances safety, whereas the formulated prediction offers limited additional benefits in single-pedestrian scenarios.
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URL
https://arxiv.org/abs/2607.09192
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AI, Brain Death Detection, and Islamic Law
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The deployment of machine learning systems capable of detecting covert consciousness in neurologically injured patients creates a profound challenge at the intersection of clinical medicine, AI ethics, and Islamic jurisprudence. We argue that the shift from binary clinical verdicts to probabilistic, temporally granular neural-state estimates should be addressed through three foundational constructs in Islamic legal epistemology: bayyina (clear evidentiary proof), yaqin (epistemic certainty), and the theologically mandated agnosticism about there (soul). We survey the current technical literature on AI-based consciousness detection, map it onto the landscape of Islamic brain death scholarship, and identifykey challenges. We also discuss its implications for AI surrogate decision systems.
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URL
https://arxiv.org/abs/2608.16903
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