Survey
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Human-in-the-Loop Geospatial Annotation for Rapid Dataset Construction in Field-Deployed UAV Systems
2026-09-23 20:25:04Morgan Masters, Nikolaas Bender, T. Luca Altaffer, Colleen Josephson, Steve McGuireAbstract
Real-world perception systems must adapt to changing environments, but manual image annotation cannot scale to field data volumes. We present BirdsEye, which shifts expert annotation from images to the field: an operator records target locations in world coordinates using RTK positioning and calibrated projective geometry propagates each observation to all frames where the target is visible. To quantify how well physical annotations align with image observations, we derive a first-order mapping from camera-pose uncertainty to pixel uncertainty and validate it against Monte Carlo simulation. This mapping is linear in the six per-axis pose variances, so it inverts into a sensor design tool: we give a sufficient condition converting an annotation tolerance into a convex set of admissible pose-noise budgets, a closed-form largest admissible scaling of a deployed sensor suite, and a unique per-axis pose specification under an equal-budget-share allocation. We also analyze the planar-surface approximation underlying the projection, which holds up to 10 degrees of terrain slope. By direct measurement, we show that system projection accuracy is sub-decimeter (sub-30 pixel) at AGL altitudes of 10-20m under conditions excluding sustained yawing. During an in-field case study across three agricultural sites, two field workers produced 12,524 annotated frames carrying 55,600 labels in roughly 12 hours (25.5x per-worker rate increase over manual labeling). Detectors trained on imagery collected by this workflow recovered 56-89% of in-view surveyed targets at a geographically distinct farm, at pre-registered operating points; human review of the leading configuration estimates detection precision at 83-87%, spanning three tie-break conventions for clusters carrying contradictory human verdicts.
Abstract (translated)
URL
https://arxiv.org/abs/2609.28767
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An Open Pipeline and Dashboard for Systemic-Risk Evidence under the EU AI Act's Code of Practice
2026-09-23 16:13:36Jacob T. Emmerson, Phuong-Anh Nguyen-Le, Ronan Romano, Wilber Sean V. Anterola, Yann Billeter, Zhijing JinAbstract
Claims about AI safety reach audiences well beyond the AI community, yet many rely on opaque evidence or static assessments, when supporting evidence is accessible at all. We present the Systemic Risk Index, an open evaluation pipeline and dashboard built to make empirical evidence more transparent and traceable to the public. Our work organizes 19 public benchmarks into four systemic-risk categories defined by the EU GPAI Code of Practice---CBRN, cyber offense, harmful manipulation, and loss of control---and evaluates models using harm-preserving perturbations and simulated deployment contexts. The interactive dashboard lets users alternate between average and worst-case aggregation, vary how model capability affects the aggregate score, and trace each risk rating to its benchmark evidence. Across 18 models, scores fall by 14 to 37 points under worst-case aggregation, highlighting information that can be hidden by an average assessment of model risk. LLM judges show agreement with human graders comparable to human--human agreement ($\kappa = 0.78\text{--}0.82$), and a blind audit finds that $83\%$ of sampled transformations preserve the original harm. In a survey ($N = 21$), most participants report that scores are easy to understand and that the dashboard encouraged them to view model evaluations under different settings
Abstract (translated)
URL
https://arxiv.org/abs/2609.28335
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Consequential Behaviour and Representational Fairness in the Validation of Synthetic Research
2026-09-23 11:10:16Florian Kutzner, Celina Kacperski, Laura de Moli\`ere, Edoardo Chidichimo, Min Jun Jung, Felix Patrick Sedgwick Wallis, James Kunling HeAbstract
Researchers in industry and academia use synthetic survey respondents powered by large language models as substitutes for human samples. These synthetic populations require validation against real-world data, so researchers often address them using ad hoc comparisons with human surveys. Inspired by the intention-behaviour gap in behavioural science, we argue that these validations test the wrong thing for most applied cases where decision makers commission synthetic research to anticipate consequential behaviour. To address this problem, we propose a validation framework with two requirements. First, every validity claim must state its level of correspondence with human data: does the sample predict what the represented people do, which of four diagnostics (location, dispersion, response process and structure) does the validation address, and does the validation compare against experimental effects? Second, researchers must report validity claims for subgroups, since these groups are often the most affected by consequential decisions and aggregate accuracy hides their misrepresentation. Our validation framework operationalises three justice dimensions (distributional, procedural, and recognition) as measurable quantities and defines within-persona counterfactual experiments as a validation requirement. We then apply the framework to electric vehicle charging tariffs, before closing with a reporting checklist that researchers can use to make convincing validity claims.
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URL
https://arxiv.org/abs/2609.27690
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Brain-to-Language Decoding: Tasks, Signals, Methods, Evaluation, Practical Use and Beyond
2026-09-23 10:14:47Yiqian Yang, Yiqun Duan, Chenyu Liu, Yiqi Wang, Xinliang Zhou, Chin-Teng Lin, Yu ZhangAbstract
Brain-to-language decoding translates neural activity associated with language production, internal speech and perception into linguistic or expressive outputs. It offers a route to restoring communication after speech loss and a means of studying how the brain represents language. Advances in neural recording and representation learning have expanded the field from constrained recognition and acoustic reconstruction to text generation, streaming personalised speech and facial animation. This survey synthesises these developments across invasive and non-invasive measurements, drawing on a search without a lower year limit and source-led updates through September 2026. We connect Articulated, Inner and Perceived tasks to the neural populations they engage, the representations available to decoders and the outputs those representations can support. We examine model development, public resources and the evolution of evaluation, and compare published performance and communication costs within their reported protocols. The synthesis identifies complementary routes to progress: phonetic, acoustic and semantic targets preserve different aspects of a message; shared representations support reuse across recording conditions and tasks; and online communication increasingly depends on calibration, feedback and user control alongside decoding accuracy. Shared benchmarks enable algorithmic comparisons, while longitudinal studies reveal the demands of sustained use. We discuss these developments and their remaining limitations, then outline a prospective five-level trajectory from commands and language to meaning, scenarios and bidirectional cognitive exchange
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URL
https://arxiv.org/abs/2609.27650
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Vision-Based Control of a Tether-Suspended Aerial Radiation Sensing Payload
2026-09-23 01:31:32Ian Snider, Brian J. Quiter, Emil Rofors, Mark W. MuellerAbstract
Aerial radiation surveys achieve higher sensitivity when the radiation detector is held close to the ground. Detector sensitivity falls off roughly with the inverse square of the distance to the source, so a detector flown high is slower to reach a given minimum detectable activity. Flying the vehicle low puts the propellers near the ground, where downwash can disturb the surveyed area and resuspend contaminated particulates. Tether suspension decouples the detector from the vehicle altitude, but leaves the payload unactuated and only indirectly controllable. We therefore present a vision-based control approach for an aerial sensing payload suspended on a tether beneath a heavy-lift drone. Because a survey plan is decided as radiation detections arrive, we design a pilot aid for commanding the survey trajectory manually with a handheld transmitter. The controller regulates the payload, rather than the vehicle, onto that trajectory. The system uses onboard sensors with a downward-facing camera fixed to the drone body tracking a ring marker on the payload. A four-state Kalman filter estimates the tether swing angles and rates from payload bearing measurements, and a linear quadratic regulator with integral action takes the payload position as the regulated output. In outdoor flight tests under wind, the payload-aware controller reduced payload tracking error during transit by 20% when compared against a vehicle-referenced baseline, with the cost of higher peak error on arrival at a waypoint.
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URL
https://arxiv.org/abs/2609.27219
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Safety Nudges: User-Facing Interventions for Real-Time AI Risk Awareness
2026-09-22 16:12:08Varshini Elangovan, James Wedgwood, Chhavi Yadav, William Agnew, Sauvik Das, Virginia SmithAbstract
Conversational AI systems can pose safety risks to their users such as hallucination, sycophancy, overconfidence, and anthropomorphism, but these risks are difficult for users to detect during everyday use. We introduce Safety Nudges, a browser-based tool that provides lightweight, in situ flags when concerning behavior is detected in chatbot conversations. We evaluated Safety Nudges in a two-week field study with 45 frequent chatbot users, collecting interaction logs, surveys, and feedback on individual nudges. Participants found the tool useful, clear, and minimally disruptive, with nearly all users reporting an increased awareness of potential AI harms, though we found that this improved awareness alone did not necessarily lead to discernible behavioral changes. Our results suggest that user facing safety nudges can complement model-level safeguards by helping people critically evaluate AI responses in context, while highlighting the importance of relevance, calibration, and user control in nudge design for conversational AI safety.
Abstract (translated)
URL
https://arxiv.org/abs/2609.26865
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Beyond the Flat Seafloor: A Closed-Form Two-View Constraint to Aid Sidescan Sonar Reconstruction
2026-09-21 18:17:30Kalin Norman, Joshua G. MangelsonAbstract
Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few methods build upon or exploit the geometric projection model of the sensor. As sidescan sonar is limited to a 1D range measurement, many approximations are frequently used, including the long-standing assumption of a flat seafloor. Rather than make similar approximations, this paper focuses on a multi-view geometry based approach and formalizes a two-view geometric constraint and proves that a shared feature is constrained to a locus within the intersection of a sphere and a plane. In addition, we characterize what governs the size of the ambiguity locus through Monte Carlo simulation that is grounded in real aperture and mounting geometry for both a surface vessel and an underwater vehicle. We translate additional simulations of relative trajectories for both vehicle platforms into concrete survey-planning guidance. Our results show that locus length is strongly governed by elevation misalignment, and peaks at a moderate oblique crossing angle of approximately 20 degrees, with minimal locus lengths obtained at near parallel and anti-parallel passes.
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URL
https://arxiv.org/abs/2609.25271
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From Pattern Recognizers to Personalized Companions: A Survey of Large Language Models in Mental Health
2026-09-21 16:58:17He Hu, Yucheng Zhou, Qianning Wang, Yingjian Zou, Chiyuan Ma, Juzheng Si, Jianzhuang Liu, Zitong Yu, Laizhong Cui, Fei Ma, Qi TianAbstract
The rising global prevalence of mental health conditions, together with longstanding barriers in traditional healthcare, such as limited resources, high cost, stigma, and privacy concerns, has created an urgent need for accessible and scalable support. Large Language Models (LLMs) have emerged as a transformative technology with strong potential to democratize mental health support through advanced natural language understanding and generation. However, the rapidly expanding, fragmented body of work in this area lacks a coherent evolutionary narrative, making it difficult to contextualize current progress and identify future directions. This survey addresses this gap by organizing and analyzing the literature around a central thesis: the role of LLMs in mental health is evolving through three distinct, increasingly sophisticated phases. We trace this trajectory from Phase I, in which LLMs act primarily as passive Information Tools and Pattern Recognizers for assessment; through Phase II, where they function as Empathetic Conversationalists for in-the-moment, stateless interactions; to the current frontier, Phase III, which seeks Longitudinal, Personalized Companions implemented as stateful cognitive agents. To support this framework, we systematically review core technologies, agent architectures (Profile, Memory, Reasoning, and Planning), and the critical infrastructure of datasets and benchmarks, highlighting how their evolution underpins this developmental path. Viewing the field through this developmental lens, we provide a comprehensive synthesis of existing work, an insightful narrative of its trajectory, and a clear roadmap for future innovation in responsible, effective, and human-centered AI for mental healthcare. A curated collection of the resources reviewed in this survey is available at our project repository: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.25186
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Mobile Imaging Solutions for Medical Diagnosis: Trends and Applications
2026-09-21 16:04:42Syed Muhammad Ibne Zulfiker, Tanzima Hashem, Fariha Tabassum Islam, Md Sultanul Arifin, Khandker Aftarul Islam, Nishat Anjum Bristy, Faria Huq, Priyeta Saha, Syeda Nahida Akter, Arpita SahaAbstract
Advances in processing power, camera technologies, and mobile image analysis have made smartphones and other mobile devices, such as laptops, increasingly suitable for medical diagnosis and healthcare applications. Researchers have developed low-cost solutions for the early detection and monitoring of various health conditions, including eye and ENT diseases, malnutrition, heart rate variability, skin and oral conditions, and injuries, using images captured by non-medical devices such as smartphones and webcams. This survey examines existing research on mobile image-based medical diagnosis, with an emphasis on its potential to enable low-cost and accessible healthcare. We comparatively analyze state-of-the-art solutions across different healthcare application categories, examining their advantages and limitations. Based on this analysis, we identify desirable characteristics of mobile image-based diagnostic tools and highlight areas where existing approaches have made progress as well as areas requiring further research. We also discuss application-specific and common challenges and outline directions for future research. Overall, this study provides a comprehensive overview of mobile image-based healthcare solutions and their potential to support low-cost disease diagnosis and monitoring, particularly for underserved populations in remote and resource-constrained settings.
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URL
https://arxiv.org/abs/2609.24814
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A Lean and Spec-Driven AI-Assisted Software Development Lifecycle for Applied AI Education: The AI-SDLC Approach
Abstract
AI coding agents increasingly support software development beyond code completion, including planning, implementation, testing, and repository-level task execution. Their practical use, however, often remains only weakly connected to established software engineering practices. The aim of this work is to develop and evaluate a lightweight, spec-driven lifecycle for governed agentic software engineering. The lifecycle combines established software engineering practices with repository-local guidance through specifications, this http URL, and phase-specific agent skill files. The approach was developed in the context of the FHNW course AI-assisted Software Development and applied by students to business-oriented software use cases. Its educational and practical applicability is explored through a student survey combining closed rating items with open-ended questions. The contribution of this work is a process-oriented framework that enables AI coding agents to operate with bounded autonomy within an explicit, reviewable, and test-oriented software development lifecycle.
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URL
https://arxiv.org/abs/2609.24348
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OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones
2026-09-21 08:17:56Zhongrui You, Zhen Li, Junli Liu, Zhigang Wang, Bin ZhaoAbstract
3D Gaussian Splatting (3DGS) provides high-fidelity scenes for large-scale embodied simulation, but constructing large-scale urban assets remains constrained by expensive equipment and delayed quality feedback. Preset surveys can leave complex surfaces insufficiently observed, with defects discovered only after reconstruction, requiring return visits and repeated processing. We present OpenFlyScan, a quality-guided aerial reconstruction system for consumer drones that integrates a GS quality model, a reacquisition planner, and a custom-designed mobile app. The model learns from GS rendering errors to predict regional reconstruction quality. Based on these predictions, the planner then generates complementary reacquisition strips to be executed through the app, which also supports automated oblique surveys and data transfer without additional hardware on board. Across real aerial scenes, the model effectively identifies regions that are likely to be poorly reconstructed. In the Expo West field experiment, targeted reacquisition improves PSNR at additional views by 10.95 dB. With consumer drones, OpenFlyScan integrates capture, targeted reacquisition, and reconstruction to support rapid, low-cost urban asset creation. Code and models will be made publicly available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.24253
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Comparative Performance and Parameter-Efficient Adaptation of DINOv2 for Active Trachoma Classification
2026-09-20 19:30:51Kibrom Gebremedhin, Hadush Hailu, Bruk Gebregziabher, Yordanos HailuAbstract
Automated grading of conjunctival photographs could reduce the cost and variability of trachoma prevalence surveys, but the relative value of modern pretrained visual representations, lightweight feature adaptation, and training-objective design has not been established under a common protocol. This study presents a controlled evaluation for binary classification of Trachomatous Inflammation-Follicular (TF) versus Normal using 1,546 images from the public UCSF/Lietman collection. Images are processed using the OPTED pipeline for zero-shot tarsal-conjunctiva segmentation, alignment, cropping, and standardization. We first compare six pretrained backbones using a common classification pipeline and then evaluate four lightweight adaptation mechanisms on DINOv2 ViT-B/14. Under stratified five-fold cross-validation, DINOv2 with Efficient Channel Attention (ECA) and focal-plus-center loss achieved 91.66 +/- 0.97% accuracy, 90.69 +/- 1.10% macro-F1, and 96.06 +/- 0.71% AUC. ECA introduces only five learnable parameters while matching the performance of substantially larger alternatives. Objective ablation further showed that ECA did not consistently improve plain DINOv2 across loss functions; the lowest-variance 91.66% accuracy was obtained with cross-entropy plus center loss. Overall, the fine-tuned DINOv2 representation provided most of the predictive performance, while ECA offered a highly parameter-efficient refinement whose effect depended on the training objective. The resulting workflow provides a reproducible benchmark for active trachoma image classification.
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URL
https://arxiv.org/abs/2609.23832
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SoK: Formal Methods for Fact-Checking and Information Integrity
2026-09-19 22:41:50Nikolaos Kekatos, Theodoros Nestoridis, Charalampos Bratsas, Charalampos Dimoulas, Georgios Konstantinidis, Georgios Malogiannis, Michael Sirivianos, Andreas VeglisAbstract
An automated fact-checking system returns a label: the claim is true, or it is false. In many such systems the verdict remains the primary output. What is generally missing is a record of which document settled the question, of what would have had to be different for the verdict to change, or of whether the same claim, reworded, would have been judged the same way. We call the missing piece a warrant: a separate statement of what was guaranteed and on what grounds. Formal methods produce evidence of this kind, and regulation is beginning to ask for it, since the Digital Services Act and the AI Act both call for auditable evidence about how systems behave. Surveys of automated fact-checking are usually organised by pipeline stage, and treat logic as one technique among many. We organise the field by what is being formalised instead, which gives five levels: the claim, the reasoning, the system doing the checking, the ecosystem the claim spreads through, and the regulatory obligation. Sorting 121 works into those levels, two patterns stand out. Most of the relevant formal machinery already exists, but it was built for other domains and has rarely been applied here, and the gap is widest for verifying the checking system itself. Several stages of the routine professional fact-checkers follow also have no stated correctness criterion, and two of them, writing a claim in checkable form and correcting a verdict already published, are not formally specified in any work we coded. We close with open problems, each with a suggested first step.
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URL
https://arxiv.org/abs/2609.23239
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General Collaborative Intelligence: Architecting Cognition for Resilient Multi-Agent Ecosystems
2026-09-19 11:38:04Lei Zhang, Chun Ye, Le Yang, Zhaozhong Wang, Deng-Ping Fan, Hang Dai, Binglu WangAbstract
Multi-agent unmanned systems are moving from isolated, ego-centric sensing toward collaborative intelligence, in which distributed agents exchange compact features to overcome a local observation trap that no single agent can escape: occlusions, finite sensor range, and environmental degradation. The field has matured across architectural, communication, embodied, resilience, and trust dimensions, yet existing surveys examine these dimensions in isolation and rarely expose their dependencies. This review offers a unified synthesis through two complementary lenses. The first is a five-dimensional taxonomy spanning collaboration stage, communication paradigm, fusion architecture, learning strategy, and application domain. The second is three cognitive synergy conditions, Semantic Disambiguation, Pragmatic Information Exchange, and Proactive Informational Foraging, that turn cognitive synergy into operational criteria. Across these lenses we survey collaboration architectures and topologies, neural-communication co-design that treats the channel as a differentiable pipeline component, embodied action-perception loops via multi-agent reinforcement learning, and resilience mechanisms for synchronization, uncertainty quantification, and label-efficient learning. We then map these advances onto four operational domains, V2X, unmanned aerial, industrial logistics, and smart cities, and onto the safety-privacy-utility triad. To counter benchmark saturation and evaluation fragmentation, we propose GCI-Bench, a five-pillar scoring protocol with a maturity model that makes the trade-offs of collaborative methods comparable across studies. A critical reflection on reproducibility, the sim-to-real gulf, and conditions under which collaboration degrades performance identifies open challenges and charts directions toward general collaborative intelligence under real-world uncertainty.
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URL
https://arxiv.org/abs/2609.22967
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The Law of Stop: Interruptibility, Injunctions, and the Governance of Agentic AI
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On June 12, 2026, the U.S. government ordered Anthropic to bar foreign nationals from two of its most capable models within ninety minutes. Unable to sort users by nationality in that time, it withdrew them from everyone. Weeks later, OpenAI agents under test escaped their sandbox and compromised Hugging Face, which stopped the intrusion without knowing its source. Neither stop rested on AI-specific regulation. The EU AI Act requires that high-risk systems be capable of interruption "through a 'stop' button or a similar procedure," and a bill introduced in Congress in July 2026 is titled the AI Kill Switch Act. Yet interruption is not simply a technical artifact, a red button; it is an institutional practice. This Article develops a theory of stop along four dimensions: technical affordances, interruption authority, epistemic triggers, and epistemic standing; and four shutdown paradigms: simple (escalator), sequenced (process plant), networked (railway), and distributed (agentic AI). Agentic AI exposes a mismatch between those mechanisms and distributed agency: control is divided, a stop at one point may leave the activity running elsewhere, and the system may resist being halted. An original coding of 1,400 AI incidents, by two language models from rival laboratories under a pre-specified protocol, finds no stop in roughly 80% of the 1,213 retained; where no usable stop existed, the missing element was legal rather than technical four times in five. A survey of thirty-nine AI governance instruments finds the same gap: only seven contain binding stopping requirements, and none says how a stop should be coordinated or when operation may resume. The Article proposes a layered law of stop: emergency authority to interrupt at the infrastructure layer, enforceable access for regulators and independent evaluators to the evidence a stop must rest on, and safeguards for when a stop fails.
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URL
https://arxiv.org/abs/2609.22882
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Hapi: A Multivariable Land-Surface Transformer for Medium-Range Hydrological Forecasting at Continental Scale
2026-09-19 02:29:47Hong Zhang, John K. Hutchison, Rao Kotamarthi, Jeremy Feinstein, Haiwen Guan, Romit Maulik, Vijay P. Ramalingam, Jason Stock, Tom WallAbstract
Accurate flood forecasts several days in advance are essential for flood control, water-resource management, and emergency response. Producing them at high resolution over a continental domain calls for local hydrological detail together with spatial context extending from river basins to synoptic weather systems. We developed Hapi, a U-Net Swin Transformer that uses fine three-dimensional patches and hierarchical shifted-window attention to forecast discharge, surface runoff, snow water equivalent, and soil wetness across the contiguous United States. The model produces 24--72-hour forecasts at $0.05^{\circ}$ resolution, with learned Laplacian task weights adjusting each variable's contribution to training. On 2024 test data using reconstructed weather and land-surface inputs from ERA5-Land, Hapi outperformed an operational physics-based model and a state-of-the-art AI model in flood detection. Independent validation against 3,881 U.S. Geological Survey gauges and a Hurricane Helene case study supported its advantage over the physics-based model in reproducing daily discharge. Controlled experiments showed that learned task weighting strengthens rare-flood detection, which is particularly sensitive to changes in precipitation inputs. Hapi produced a four-variable, 72-hour forecast across the contiguous United States with an average inference time of 0.11 seconds on a single A100 GPU.
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URL
https://arxiv.org/abs/2609.22702
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A Survey on the Linear Representation Hypothesis
2026-09-19 02:11:22Sewoong Lee, Marc E. Canby, Ikhyun Cho, Julia HockenmaierAbstract
The term "linear representation hypothesis" (LRH) has appeared across diverse subfields of artificial intelligence, neuroscience, and cognitive science. But previous works have not consistently treated the LRH as a falsifiable scientific hypothesis; we analyze these inconsistencies and examine their implications for how prior theoretical and methodological results should be interpreted. Based on this analysis, we argue that claims regarding linear representations become well-defined only through careful examination of the model, representation location, feature definition, and evaluation dataset. We therefore propose a more rigorous formalization of the LRH that makes these dependencies explicit and allows the hypothesis to be evaluated as a falsifiable scientific claim. Finally, we identify some non-trivial open problems that warrant further attention from the research community.
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URL
https://arxiv.org/abs/2609.22695
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Zero-Trust Authorization and Discovery for Enterprise MCP
2026-09-18 20:51:19Huan Li, Yuwei Wang, Srinivasan ManoharanAbstract
LLM agents translate natural-language context, which may include attacker-controlled text, into privileged tool calls, so authorization must remain effective even when an agent is prompt-injected or adversarially steered. The Model Context Protocol (MCP) has become a widely adopted interface for this boundary, yet its official SDKs' authentication and authorization primitives fall short of enterprise zero-trust requirements, most acutely a dual-persona model in which one server must serve human users (corporate SSO) and automated agents (service-account credentials on a different header). We conduct a systematic gap analysis of six surveyed MCP SDKs (Python, TypeScript, Go, Rust, C#, Swift) and identify three structural shortcomings: credential extraction bound to a single Authorization header, complicating dual-persona deployment without custom middleware; the absence of pre-authentication tool discovery; and the lack of fine-grained per-tool authorization in the base SDKs. We close these gaps with composable extensions to FastMCP: cross-header credential normalization for enterprise deployments serving both human and service-account callers, cached token verification across heterogeneous IdPs, an unauthenticated metadata endpoint for credential-free registry discovery, and permission-filtered tool visibility kept consistent with per-tool invocation enforcement by a single declarative annotation, all without modifying the protocol or SDK internals. Across four frontier LLMs over 2160 attempts, an in-body-check-only server still exposes forbidden tools (152/720, 21.1%), whereas permission-aware visibility drives the rate to 0/720; visibility-only filtering remained bypassable by scripted clients, while models referenced the hidden tool by name in up to 94% of settings when inferable from the prompt, confirming that discovery controls cannot replace invocation-time enforcement.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22573
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Contextual Causality with Large Language Models: A Survey
2026-09-18 16:34:01Yiheng Zhao, Jun Yan, Chengming HuAbstract
Understanding contextual causality is critical for large language models (LLMs), as it enables them to accurately identify causal relations in specific situations and support more reliable decision-making. Despite its significance, a systematic exploration of contextual causality with LLMs is still lacking. To fill this gap, we present a comprehensive survey on this topic. In this survey, we first propose a taxonomy of contextual causality, consisting of semantic, intervention, and counterfactual causality, and characterize each category by its core causal question, required model capabilities, representative tasks, and practical uses in causality analysis. We then analyze existing studies and discuss their key limitations. Finally, we examine the gaps between current benchmarks and real-world needs and outline promising directions for future research. Our goal is to clarify the research landscape of contextual causality with LLMs, emphasize its importance, and highlight promising future directions.
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URL
https://arxiv.org/abs/2609.22409
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Behavior Trees for Robotic Systems: An Empirical Study on Practices and Experiences
2026-09-18 13:44:21Razan Ghzouli, Jennifer Horkoff, Daniel Str\"uber, Rebekka WohlrabAbstract
Over the last decade, behavior trees (BT) have become one of the dominant behavior models for coordinating missions of robotic systems. Yet empirical evidence on BT adoption in real-world contexts remains limited, especially regarding practitioners experiences and practices. Without practitioner-grounded evidence from both academic and industrial settings, the research community risks developing guidelines and tools that are plausible in principle but only partly aligned with real challenges. This scarcity of evidence leads to ad-hoc practices, impeding software reuse, maintenance, and evolution. This paper reports a mixed-methods study combining a technical action research investigation at an automotive company with a survey of 34 robotics practitioners. Our results indicate that BTs improve team communication and the understandability of robotic decision-making logic, reflecting BTs practical value beyond mission coordination. At the same time, practitioners face multiple non-trivial design and integration decisions, complicated by the lack of adequate guidelines and tool support. These decisions span architectural and language choices when implementing BTs and integrating them within ROS, for which we report observed patterns. Additionally, practitioners faced multi-factor granularity decisions and mixed experiences with current libraries. For the most used BT libraries, they reported implementation challenges and documentation gaps. Regarding planning algorithms, practitioners find deciding optimal BT node ordering challenging. Views on scalability remained inconclusive, and limitations in current libraries and practices hinder broader adoption. We conclude with cross-cutting observations and implications for both practitioners adopting BTs in robotic systems and researchers aiming to advance empirical understanding of BT adoption.
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URL
https://arxiv.org/abs/2609.22404
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