In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mobility, and expandability of existing and future space assets. Serial robotic manipulators are particularly vital in accomplishing ISAM operations, however, the complex perturbation forces and motions associated with movement of a robotic arm on a free-flying satellite presents a complex controls problem requiring additional study. While many dynamical models are developed, experimentally testing and validating these models is challenging given that the models operate in space, where satellites have six-degrees-of-freedom (6-DOF). This paper attempts to resolve those challenges by presenting the design and development of a new hardware-in-the-loop (HIL) experimental testbed utilized to emulate ISAM. This emulation will be accomplished by means of a 6-DOF UR3e robotic arm attached to a satellite bus. This satellite bus is mounted to a 1-DOF guide-rail system, enabling the satellite bus and robotic arm to move freely in one linear direction. This experimental ISAM emulation system will explore and validate models for space motion, serial robot manipulation, and contact mechanics. This is the author's original manuscript (pre-print) of the paper AAS 25-426, presented at the 35th AAS/AIAA Space Flight Mechanics Meeting, Kaua'i, Hawaii, January 19-23, 2025.INTRODUCTION The emerging capabilities offered by In-Space Servicing, Assembly, and Manufacturing (ISAM) can vastly expand the ranges of operation for in-space assets to improve reusability, mobility, ex-pandability, sustainability, and mission lifespans. ISAM operations permit servicing of existing satellites, repurposing and recycling of satellites, manufacturing and construction in-orbit, refueling, and upgrades to existing satellites.

Surveys provide valuable insights into public opinion and behavior, but their execution is costly and slow. Large language models (LLMs) have been proposed as a scalable, low-cost substitute for human respondents, but their outputs are often biased and yield invalid estimates. We study the interplay between synthesis methods that use LLMs to generate survey responses and rectification methods that debias population estimates, and explore how human responses are best allocated between them. Using two panel surveys with questions on nutrition, politics, and economics, we find that synthesis alone introduces substantial bias (24-86%), whereas combining it with rectification reduces bias below 5% and increases effective sample size by up to 14%. Overall, we challenge the common practice of using all human responses for fine-tuning, showing that under a fixed budget, allocating most to rectification results in far more effective estimation.

In retrieval-augmented generation (RAG) question answering systems, generating citations for large language model (LLM) outputs enhances verifiability and helps users identify potential hallucinations. However, we observe two problems in the citations produced by existing attribution methods. First, the citations are typically provided at the sentence or even paragraph level. Long sentences or paragraphs may include a substantial amount of irrelevant content. Second, sentence-level citations may omit information that is essential for verifying the output, forcing users to read the surrounding context. In this paper, we propose generating sub-sentence citations that are both concise and sufficient, thereby reducing the effort required by users to confirm the correctness of the generated output. To this end, we first develop annotation guidelines for such citations and construct a corresponding dataset. Then, we propose an attribution framework for generating citations that adhere to our standards. This framework leverages LLMs to automatically generate fine-tuning data for our task and employs a credit model to filter out low-quality examples. Our experiments on the constructed dataset demonstrate that the propose approach can generate high-quality and more readable citations.

The recently published "certainty - scope" conjecture offers a compelling insight into the inherent trade - off present within artificial intelligence (AI) systems. As general research, this investigation remains vital as a philosophical undertaking and a potential guide for directing AI investments, design, and deployment, especially in safety - critical and mission - critical domains where risk levels are substantially elevated. W hile maintaining intellectual coherence, its formalization ultimately consolidates this insight into a suspended epistemic truth, which resists operational implementation within practical systems. This paper argues that the conjecture's objective to furnish insights for engineering de sign and regulatory decision - making is limited by two fundamental factors: first, its dependence on incomputable constructs and its failure to capture the generality factors of AI, rendering it practically unimplementable and unverifiable; second, its foundational ontological assumption of AI systems as self - contained epistemic entities, distancing it from the complex and dynamic socio - technical environments where knowledge is co - constructed. We conclude that this dual breakdown -- an epistemic closure deficit and an embeddedness bypass -- hinders the conjecture's transition to a practical and actionable framework suitable for informing and guiding AI deployments . In response, we point towards a possible framing of the epistemic challenge, emphasizing the inherent epistemic burdens of AI within complex human - centric domains. Keywords: artificial intelligence (AI), AI governance, algorithmic information theory (AIT), certainty - scope trade - off, complex systems, computability & operationalization, epistemic entanglement, epistemic certainty, hybrid AI systems, information theory, Kolmogorov complexity, risk - based assurance, safety - critical AI, socio - technical systems, verification and validation (V&V).

Vulnerability databases, such as the National Vulnerability Database (NVD), offer detailed descriptions of Common Vulnerabilities and Exposures (CVEs), but often lack information on their real-world impact, such as the tactics, techniques, and procedures (TTPs) that adversaries may use to exploit the vulnerability. However, manually linking CVEs to their corresponding TTPs is a challenging and time-consuming task, and the high volume of new vulnerabilities published annually makes automated support desirable. This paper introduces TRIAGE, a two-pronged automated approach that uses Large Language Models (LLMs) to map CVEs to relevant techniques from the ATT&CK knowledge base. We first prompt an LLM with instructions based on MITRE's CVE Mapping Methodology to predict an initial list of techniques. This list is then combined with the results from a second LLM-based module that uses in-context learning to map a CVE to relevant techniques. This hybrid approach strategically combines rule-based reasoning with data-driven inference. Our evaluation reveals that in-context learning outperforms the individual mapping methods, and the hybrid approach improves recall of exploitation techniques. We also find that GPT-4o-mini performs better than Llama3.3-70B on this task. Overall, our results show that LLMs can be used to automatically predict the impact of cybersecurity vulnerabilities and TRIAGE makes the process of mapping CVEs to ATT&CK more efficient. A replication package is available for download from https://doi.org/10.5281/zenodo.17341503. Keywords: vulnerability impact, CVE, ATT&CK techniques, large language models, automated mapping.

Recent studies suggest that large language models (LLMs) possess the capability to solve graph reasoning tasks. Notably, even when graph structures are embedded within textual descriptions, LLMs can still effectively answer related questions. This raises a fundamental question: How can a decoder-only Transformer architecture understand underlying graph structures? To address this, we start with the substructure extraction task, interpreting the inner mechanisms inside the transformers and analyzing the impact of the input queries. Specifically, through both empirical results and theoretical analysis, we present Induced Substructure Filtration (ISF), a perspective that captures the substructure identification in the multi-layer transformers. We further validate the ISF process in LLMs, revealing consistent internal dynamics across layers. Building on these insights, we explore the broader capabilities of Transformers in handling diverse graph types. Specifically, we introduce the concept of thinking in substructures to efficiently extract complex composite patterns, and demonstrate that decoder-only Transformers can successfully extract substructures from attributed graphs, such as molecular graphs. Together, our findings offer a new insight on how sequence-based Transformers perform the substructure extraction task over graph data.

Retrieval-Augmented Generation (RAG) improves factual accuracy by grounding responses in external knowledge. However, existing RAG methods either rely solely on text corpora and neglect structural knowledge, or build ad-hoc knowledge graphs (KGs) at high cost and low reliability. To address these issues, we propose KG-Infused RAG, a framework that incorporates pre-existing large-scale KGs into RAG and applies spreading activation to enhance both retrieval and generation. KG-Infused RAG directly performs spreading activation over external KGs to retrieve relevant structured knowledge, which is then used to expand queries and integrated with corpus passages, enabling interpretable and semantically grounded multi-source retrieval. We further improve KG-Infused RAG through preference learning on sampled key stages of the pipeline. Experiments on five QA benchmarks show that KG-Infused RAG consistently outperforms vanilla RAG (by 3.9% to 17.8%). Compared with KG-based approaches such as GraphRAG and LightRAG, our method obtains structured knowledge at lower cost while achieving superior performance. Additionally, integrating KG-Infused RAG with Self-RAG and DeepNote yields further gains, demonstrating its effectiveness and versatility as a plug-and-play enhancement module for corpus-based RAG methods.

Large language models (LLMs) have shown promising potential in persuasion, but existing works on training LLM persuaders are still preliminary. Notably, while humans are skilled in modeling their opponent's thoughts and opinions proactively and dynamically, current LLMs struggle with such Theory of Mind (ToM) reasoning, resulting in limited diversity and opponent awareness. To address this limitation, we introduce Theory of Mind Augmented Persuader (ToMAP), a novel approach for building more flexible persuader agents by incorporating two theory of mind modules that enhance the persuader's awareness and analysis of the opponent's mental state. Specifically, we begin by prompting the persuader to consider possible objections to the target central claim, and then use a text encoder paired with a trained MLP classifier to predict the opponent's current stance on these counterclaims. Our carefully designed reinforcement learning schema enables the persuader learns how to analyze opponent-related information and utilize it to generate more effective arguments. Experiments show that the ToMAP persuader, while containing only 3B parameters, outperforms much larger baselines, like GPT-4o, with a relative gain of 39.4% across multiple persuadee models and diverse corpora. Notably, ToMAP exhibits complex reasoning chains and reduced repetition during training, which leads to more diverse and effective arguments. The opponent-aware feature of ToMAP also makes it suitable for long conversations and enables it to employ more logical and opponent-aware strategies. These results underscore our method's effectiveness and highlight its potential for developing more persuasive language agents. Code is available at: https://github.com/ulab-uiuc/ToMAP.

The high inference demands of transformer-based Large Language Models (LLMs) pose substantial challenges in their deployment. To this end, we introduce Neural Block Linearization (NBL), a novel framework for accelerating transformer model inference by replacing self-attention layers with linear approximations derived from Linear Minimum Mean Squared Error estimators. NBL leverages Canonical Correlation Analysis to compute a theoretical upper bound on the approximation error. Then, we use this bound as a criterion for substitution, selecting the LLM layers with the lowest linearization error. NBL can be efficiently applied to pre-trained LLMs without the need for fine-tuning. In experiments, NBL achieves notable computational speed-ups while preserving competitive accuracy on multiple reasoning benchmarks. For instance, applying NBL to 12 self-attention layers in DeepSeek-R1-Distill-Llama-8B increases the inference speed by 32% with less than 1% accuracy trade-off, making it a flexible and promising solution to improve the inference efficiency of LLMs. The implementation is available at: https://github.com/LIONS-EPFL/NBL.

While Large Language Models (LLMs) can generate fluent and convincing responses, they are not necessarily correct. This is especially apparent in the popular decompose-then-verify factuality evaluation pipeline, where LLMs evaluate generations by decomposing the generations into individual, valid claims. Factuality evaluation is especially important for medical answers, since incorrect medical information could seriously harm the patient. However, existing factuality systems are a poor match for the medical domain, as they are typically only evaluated on objective, entity-centric, formulaic texts such as biographies and historical topics. This differs from condition-dependent, conversational, hypothetical, sentence-structure diverse, and subjective medical answers, which makes decomposition into valid facts challenging. We propose MedScore, a new pipeline to decompose medical answers into condition-aware valid facts and verify against in-domain corpora. Our method extracts up to three times more valid facts than existing methods, reducing hallucination and vague references, and retaining condition-dependency in facts. The resulting factuality score substantially varies by decomposition method, verification corpus, and used backbone LLM, highlighting the importance of customizing each step for reliable factuality evaluation by using our generalizable and modularized pipeline for domain adaptation.