arXiv subjects

Jonathan Cox

Publications and source records attributed to Jonathan Cox.

7 recordsLinked to original sources

arXiv2026

Semantic Landmark Particle Filter for Robot Localisation in Vineyards

Reliable localisation in vineyards is hindered by row-level perceptual aliasing: parallel crop rows produce nearly identical LiDAR observations, causing geometry-only and vision-based SLAM systems to converge towards incorrect corridors, particularly during headland transitions. We present a Semantic Landmark Particle Filter (SLPF) that integrates trunk and pole landmark detections with 2D LiDAR within a probabilistic localisation framework. Detected trunks are converted into semantic walls, forming structural row boundaries embedded in the measurement model to improve discrimination between adjacent rows. GNSS is incorporated as a lightweight prior that stabilises localisation when semantic observations are sparse. Field experiments in a 10-row vineyard demonstrate consistent improvements over geometry-only (AMCL), vision-based (RTAB-Map), and GNSS baselines. Compared to AMCL, SLPF reduces Absolute Pose Error by 22% and 65% across two traversal directions; relative to a NoisyGNSS baseline, APE decreases by 65% and 61%. Row correctness improves from 0.67 to 0.73, while mean cross-track error decreases from 1.40 m to 1.26 m. These results show that embedding row-level structural semantics within the measurement model enables robust localisation in highly repetitive outdoor agricultural environments.

cs.RO↗

arXiv2026

Patch-to-PoC: A Systematic Study of Agentic LLM Systems for Linux Kernel N-Day Reproduction

Autonomous large language model (LLM) based systems have recently shown promising results across a range of cybersecurity tasks. However, there is no systematic study on their effectiveness in autonomously reproducing Linux kernel vulnerabilities with concrete proofs-of-concept (PoCs). Owing to the size, complexity, and low-level nature of the Linux kernel, such tasks are widely regarded as particularly challenging for current LLM-based approaches. In this paper, we present the first large-scale study of LLM-based Linux kernel vulnerability reproduction. For this purpose, we develop K-Repro, an LLM-based agentic system equipped with controlled code-browsing, virtual machine management, interaction, and debugging capabilities. Using kernel security patches as input, K-Repro automates end-to-end bug reproduction of N-day vulnerabilities in the Linux kernel. On a dataset of 100 real-world exploitable Linux kernel vulnerabilities collected from KernelCTF, our results show that K-Repro can generate PoCs that reproduce over 50\% of the cases with practical time and monetary cost. Beyond aggregate success rates, we perform an extensive study of effectiveness, efficiency, stability, and impact factors to explain when agentic reproduction succeeds, where it fails, and which components drive performance. These findings provide actionable guidance for building more reliable autonomous security agents and for assessing real-world N-day risk from both offensive and defensive perspectives.

cs.CR↗

arXiv2025

Getting the Numbers Right$\unicode{x2014}$Modelling Multi-Class Object Counting in Dense and Varied Scenes

Density map estimation enables accurate object counting in heavily occluded, and densely packed scenes where detection-based counting fails. In multi-class density estimation, class awareness can be introduced by modelling classes non-exclusively, better reflecting crowded and visually ambiguous contexts. However, existing multi-class density estimators often degrade in less-dense scenes, while state-of-the-art detectors still struggle in the most congested settings. To bridge this gap, we propose the first vision-transformer-based approach to multi-class density estimation. Our model combines a Twins-SVT pyramid vision transformer backbone with a multiscale CNN decoder that leverages hierarchical features for robust counting across a wide range of densities. Further to that, the method adds an auxiliary segmentation task with the Category Focus Module to suppress inter-category interference at training time. The module improves the density estimation head without the need for constraining assumptions added by the application of the auxiliary task at inference time, as required in previous methods. Training and evaluation on the VisDrone and iSAID benchmarks demonstrates a leap in performance versus the previous state-of-the-art multi-class density estimation methods, attaining a 33%, 43%, and 64% reduction to MAE in testing evaluation. The method outperforms YOLO11 in less busy scenes, exceeding it by an order of magnitude in the most crowded testing samples. Code, and trained weights available at https://github.com/LCAS/gnr_mcdest.

cs.CV↗

arXiv2025

Semantic-Aware Particle Filter for Reliable Vineyard Robot Localisation

Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that incorporates stable object-level detections, specifically vine trunks and support poles into the likelihood estimation process. Detected landmarks are projected into a birds eye view and fused with LiDAR scans to generate semantic observations. A key innovation is the use of semantic walls, which connect adjacent landmarks into pseudo-structural constraints that mitigate row aliasing. To maintain global consistency in headland regions where semantics are sparse, we introduce a noisy GPS prior that adaptively supports the filter. Experiments in a real vineyard demonstrate that our approach maintains localisation within the correct row, recovers from deviations where AMCL fails, and outperforms vision-based SLAM methods such as RTAB-Map.

cs.RO↗

arXiv2025

Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments

Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines but remains particularly challenging in natural outdoor settings due to perceptual aliasing. We address this issue in vineyards, where repetitive vine trunks and other natural elements generate ambiguous descriptors that hinder reliable feature matching. We hypothesise that semantic information tied to keypoint positions can alleviate perceptual aliasing by enhancing keypoint descriptor distinctiveness. To this end, we introduce a keypoint semantic integration technique that improves the descriptors in semantically meaningful regions within the image, enabling more accurate differentiation even among visually similar local features. We validate this approach in two vineyard perception tasks: (i) relative pose estimation and (ii) visual localisation. Across all tested keypoint types and descriptors, our method improves matching accuracy by 12.6%, demonstrating its effectiveness over multiple months in challenging vineyard conditions.

cs.CV↗

arXiv2022

The influence of magnetic vortices motion on the inverse ac Josephson effect in asymmetric arrays

We report on the influence a preferential magnetic vortices motion has on the magnitude of the inverse ac Josephson effect (the appearance of dc current Shapiro steps) and the coherent operation of asymmetrical parallel arrays of YBaCuO Josephson junctions (JJ) irradiated with microwave (MW) radiation in the presence of an applied magnetic field B. The preferential direction of motion of the Josephson vortices is due to the asymmetry-induced ratchet effect and has a dramatic impact: for a particular positive dc bias current I when the flux-flow is robust multiple pronounced Shapiro-steps are observed consistent with a coherent operation of the array. This suggests an efficient emission/detection of MW in related applications. In contrast, when we reverse the direction of I, the flux-flow is reduced and the Shapiro-steps are strongly suppressed due to a highly incoherent operation that suggests an inefficient emission/detection of MW. Remarkably, by changing B slightly, the situation is reversed: Shapiro steps are now suppressed for a positive I, while well pronounced for a reverse current -I. Our results suggest that a preferential vortex-flow has a very significant impact on the coherent MW operation of superconducting devices consisting of either multiple JJs or a single long JJ asymmetrically biased. This is particular relevant in the case of flux-flow oscillators for sub-terahertz integrated-receivers, flux-driven Josephson (travelling-wave) parametric amplifiers, or on-chip superconducting MW generators which usually operate at bias currents in the Shapiro step region.

cond-mat.supr-con↗

arXiv2016

Silicon nanophotonics for scalable quantum coherent feedback networks

The emergence of coherent quantum feedback control (CQFC) as a new paradigm for precise manipulation of dynamics of complex quantum systems has led to the development of efficient theoretical modeling and simulation tools and opened avenues for new practical implementations. This work explores the applicability of the integrated silicon photonics platform for implementing scalable CQFC networks. If proven successful, on-chip implementations of these networks would provide scalable and efficient nanophotonic components for autonomous quantum information processing devices and ultra-low-power optical processing systems at telecommunications wavelengths. We analyze the strengths of the silicon photonics platform for CQFC applications and identify the key challenges to both the theoretical formalism and experimental implementations. In particular, we determine specific extensions to the theoretical CQFC framework (which was originally developed with bulk-optics implementations in mind), required to make it fully applicable to modeling of linear and nonlinear integrated optics networks. We also report the results of a preliminary experiment that studied the performance of an in situ controllable silicon nanophotonic network of two coupled cavities and analyze the properties of this device using the CQFC formalism.

quant-ph↗