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AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection
arXiv:2609.20965v1 Announce Type: new Abstract: Close-proximity pipeline inspection is challenging for standard drones due to high hovering power consumption, airflow sensitivity, and propeller wash interference with gas sensing. To address this, we present AeRove, a compact bimodal aerial-terrestrial robot. AeRove uses its propeller guards as wheels to roll along pipes and employs a spring-loaded bistable mechanism to reconfigure between ground and flight modes in 200 ms without continuous actuator power to maintain either state. The converging propeller-guard geometry also improves measured thrust efficiency. By reserving flight for obstacle hopping and using ground rolling for continuous traversal, current draw is reduced 14x compared to continuous flight (0.7 A vs. 10 A), extending estimated travel distance from 144 m to 2057 m. Autonomous trials on a 51 cm diameter steel pipe demonstrated navigation on straight and curved sections, obstacle jumping, and leak detection of simulated
WM-VS: Progress-Aligned World Models for Closed-Loop Visual Servoing
arXiv:2609.20892v1 Announce Type: new Abstract: Closed-loop visual servoing requires predictions that indicate whether an action reduces task error, not only whether the action is plausible. We call this gap the prediction-control mismatch and introduce WM-VS, a target-centric progress-aligned world-model framework for closed-loop visual servoing. Offline target-region DINOv2 correspondences define a signed four-dimensional servo coordinate for translation, scale, and in-plane rotation. Stage 1 aligns action-conditioned latent transitions with this coordinate; Stage 2 freezes the world model and trains a reactive joint-velocity policy with action imitation, consequence supervision, and short imagined rollouts that favor error contraction. Deployment is RGB-only and reactive, without online trajectory optimization. On a real 7-DoF eye-to-hand system, WM-VS reaches a corner RMSE no larger than 10 percent of its initial value in 30/30 trials and retains this criterion at the final valid f
BI-Agent and BI-Bench: Towards Automating End-to-End Business Intelligence
arXiv:2609.20886v1 Announce Type: new Abstract: Business intelligence (BI) is a cornerstone of enterprise decision-making and is widely used by enterprise users in software such as Power BI and Tableau. In traditional BI workflows, users need to prepare data by (1) identifying relevant tables, (2) performing data transformations, and (3) building join relationships, before they can (4) answer their business questions. These steps can be complex and time-consuming, making BI challenging. Given the strong capabilities of large language models (LLMs) in working with data, we study their ability to answer BI questions end-to-end, without requiring users to manually perform the tedious preparation steps. To do this, we harvest a large collection of real-world BI projects from public sources, and manually extract pairs of (questions, ground-truth answers) from real user dashboards. The resulting benchmark, BI-Bench, is the first benchmark to systematically study LLMs' ability on end-to-end B
Attention-Aware Routing: Coupling Routing and Attention in MoEs
arXiv:2609.20974v1 Announce Type: new Abstract: In Mixture-of-Experts language models, the router typically selects and weights experts based on the token's hidden state, utilizing limited contextual information. We propose Attention-Aware Routing (AAR), which augments the router with temporal and spectral features extracted from a sliding window of attention weights that represent a summary of the model's contextual state, disentangled from the hidden state. Keeping the base transformer entirely frozen, we train only the routing parameters, isolating routing as the sole variable. AAR improves GSM8K by +3.37 pp over a routing-only SFT baseline on OLMoE. Beyond performance, we show that routing and attention form a coupled circuit: routing changes at layer l propagate through the residual stream to amplify attention sinks at layer l+1, reshaping attention without any direct update to the attention mechanism itself. Further, AAR reduces long diverging generation, with incorrect answers g
Sparse Priors for Efficient Distribution Learning
arXiv:2609.20883v1 Announce Type: new Abstract: Despite the widespread use and success of generative AI techniques today, theoretical guarantees on learning a distribution supported in $d$ dimensions from $n$ samples degrade as $O(n^{-1/\Theta(d)})$, though shown to be minimax optimal. We hypothesize that present bounds are too pessimistic because smoothness assumptions are not enough to capture the structure of distributions that often appear in real applications. Consequently, we introduce the class of sparse priors and define the "Sparse Dimension" as a measure of sparsity of a prior over the space of all distributions. We show that distribution learning under a $k$-sparse prior achieves a Bayesian risk lower bound of $\Omega(\sqrt{k/n})$ under common distance metrics, and show a matching (up to logarithmic terms asymptotically in $n,k$) upper bound for the TV distance under mild additional assumptions. We show the statistical equivalence of distribution learning and learning to sam
RBS-Attention: Radius-Bounded Sparse Prefill for Long-Context Large Language Models
arXiv:2609.20971v1 Announce Type: new Abstract: Long-context large language model inference is increasingly limited by prefill, where dense self-attention processes the entire prompt before generation begins. Sparse block selection can reduce this cost, but a block centroid may hide a highly relevant token among many irrelevant ones. We call this failure mode mean dilution and propose RBS-Attention, a training-free sparse-prefill method with two complementary selection branches. A centroid base branch captures average relevance, while a rescue branch uses the maximum key-block radius and its prompt-, layer-, and head-dependent distribution to identify blocks at risk of underestimation. Independently thresholding the two branches and combining their masks controls the contribution of rescue blocks while preserving regular block-sparse FlashAttention execution. On H100 GPUs, RBS-Attention achieves 20.65$\times$ standalone prefill-attention speedup, 11.92$\times$ vLLM prefill-attention sp
GraphRAG: A Practitioner's Guide to 6 Advanced Architectural Patterns
Beyond basic graph retrieval: six production-oriented architectures for combining semantic search, knowledge graphs, and LLM reasoning. The post GraphRAG: A Practitioner's Guide to 6 Advanced Architectural Patterns appeared first on Towards Data Science.
CBAM Paper Walkthrough: The Double-Attention Mechanism
Understanding and implementing CBAM (Convolutional Block Attention Module) from scratch with PyTorch The post CBAM Paper Walkthrough: The Double-Attention Mechanism appeared first on Towards Data Science.
One Vendor, Four Spellings: How Deterministic Stages Beat Similarity Scores
Deduplicating a 10,000-row supplier list in Python, where the hard part is deciding what a similarity score of 91 means The post One Vendor, Four Spellings: How Deterministic Stages Beat Similarity Scores appeared first on Towards Data Science.
AI Made Me 5x Faster. It Also Made Me 5x Worse at My Job.
One near miss, four months of running agents, and the question almost nobody is asking: what are you supposed to do while the AI writes the code? The post AI Made Me 5x Faster. It Also Made Me 5x Worse at My Job. appeared first on Towards Data Science.
Coding Agents Keep Shipping Silent Failures — Here Is How to Catch Them
How to verify your app aligns with your intent without ever reading a line of generated code. The post Coding Agents Keep Shipping Silent Failures — Here Is How to Catch Them appeared first on Towards Data Science.
We Pinned Our Model Version to Stay Safe. The Provider Deprecated It Anyway.
The recurring cost of production AI is not inference. It is re-qualification: the eval reruns, prompt retuning, and regression testing you owe every time a model changes under you. Here is what that tax actually covers, and how to budget for it before it surprises you. The post We Pinned Our Model Version to Stay Safe. The Provider Deprecated It Anyway. appeared first on Towards Data Science.