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Beyond Binary Edits Robust Multimodal Knowledge Editing with Adversarial Subspace Alignment Agentic Proving for Program Verification MemAudit: Post-hoc Auditing of Poisoned Agent Memory via Causal Attribution and Structural Anomaly Detection OpenSkillEval: Automatically Auditing the Open Skill Ecosystem for LLM Agents One Policy, Infinite NPCs: Persona-Traceable Shared RL Policies for Scalable Game Agents How Human-Like Are Large Language Models? A Register-Aware Linguistic Evaluation Framework Benchmarking Google Embeddings 2 against Open-Source Models for Multilingual Dense Retrieval and RAG Systems Structure-Guided Entity Resolution: Fine-Tuning LLMs for Robust Name Matching in Complex Linguistic Contexts Solving the Aircraft Disassembly Scheduling Problem Co-ReAct: Rubrics as Step-Level Collaborators for ReAct Agents CP or DP? Why Not Both: A Case Study in the Partial Shop Scheduling Problem Asking For An Old Friend: Diagnosing and Mitigating Temporal Failure Modes in LLM-based Statutory Question Answering EDGE-OPD: Internalizing Privileged Context with Evidence Guided On-Policy Distillation ARES: Automated Rubric Synthesis for Scalable LLM Reinforcement Learning SSDAU: Structured Semantic Data Augmentation for Joint Entity and Relation Extraction Naturalistic measure of social norms alignment Articulatory strategy as a source of variation in acoustic vowel dynamics When Planning Fails Despite Correct Execution: On Epistemic Calibration for LLM-Based Multi-Agent Systems EquiSumm : A Gender Bias-Aware Framework for Inclusive Tweet Summarization Metacognition as Reward: Reinforcing LLM Reasoning via Knowledge and Regulation Signals From Correctness to Preference: A Framework for Personalized Agentic Reinforcement Learning Cultural Adaptation in Large Language Models for Political Discourse Emotion Recognition in Sign Language Conversation ClimateChat-300K: A Multi-Modal Facebook Dataset for Understanding Diverse Perspectives in Climate Communication AraHopeCorpus: Annotation Guidelines and Dataset for Hope Speech in Arabic Social Media Crisis Discourse Human-in-the-Loop Multi-Agent Ventilator Decision Support with Contextual Bandit Preference Learning Convergence Without Understanding: When Language Models Agree on Representations but Disagree on Reasoning DART: Semantic Recoverability for Structured Tool Agents Ontological Knowledge Blocks: Executable Compliance and Profile-Based Validation for Trustworthy AI Systems Parallel Context Compaction for Long-Horizon LLM Agent Serving
Convex-Neural RRT*: Fast and Reliable Learning-Guided Sam...
Hichem Cheriet, Badra Khellat Kihel, Samira Chouraqui, Bara J. E · 2026-05-24 · via cs updates on arXiv.org

Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many iterations to obtain high-quality solutions. This paper proposes Convex-Neural RRT*, an enhanced RRT* variant that incorporates neural guidance to predict informative waypoint regions near high-quality paths. Convex candidate regions are extracted from these predictions, enabling the planner to concentrate exploration on geometrically relevant areas while preserving global exploration. The proposed algorithm is evaluated against Neural RRT*, Neural Informed RRT*, classical RRT*, and LTA* across three environment types and 18 benchmark maps. Experimental results show that Convex-Neural RRT* reduces computation time by 30-75% compared to neural-guided variants and up to 88-98% relative to LTA*, while achieving an average path length reduction of approximately 5% compared to classical RRT*, with larger improvements observed in complex environments. The method also maintains an overall success rate above 99% across varying obstacle densities. These findings indicate that convex-guided neural sampling provides an effective balance between computational efficiency and solution quality, supporting its applicability to time-sensitive robotic navigation tasks.