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A Survey of Real-Time Support, Analysis, and Advancements in ROS 2

Authors: Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper

Published in: LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1

Abstract

The Robot Operating System 2 (ROS 2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS 2 has drawn increasing attention from the real-time systems community and industry. This survey presents a comprehensive overview of research efforts that analyze, enhance, and extend ROS 2 to support real-time execution. We first provide a detailed description of the internal scheduling mechanisms of ROS 2 and its layered architecture, including the interaction with DDS-based communication and other communication middleware. We then review key contributions from the literature, covering timing analysis for both single- and multi-threaded executors, metrics such as response time, reaction time, and data age, and different communication modes. The survey also discusses community-driven enhancements to the ROS 2 runtime, including new executor algorithm designs, real-time GPU management, and microcontroller support via micro-ROS. Furthermore, we summarize techniques for bounding DDS communication delays, message filters, and profiling tools that have been developed to support analysis and experimentation. To help systematize this growing body of work, we introduce taxonomies that classify the surveyed contributions based on different criteria. This survey aims to guide both researchers and practitioners in understanding and improving the real-time capabilities of ROS 2.

Cite as

Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper. A Survey of Real-Time Support, Analysis, and Advancements in ROS 2. In LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1, pp. 1:1-1:37, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{casini_et_al:LITES.11.1.1,
  author =	{Casini, Daniel and Chen, Jian-Jia and Li, Jing and Reghenzani, Federico and Teper, Harun},
  title =	{{A Survey of Real-Time Support, Analysis, and Advancements in ROS 2}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{1:1--1:37},
  ISSN =	{2199-2002},
  year =	{2026},
  volume =	{11},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.11.1.1},
  URN =		{urn:nbn:de:0030-drops-257914},
  doi =		{10.4230/LITES.11.1.1},
  annote =	{Keywords: ROS 2, middleware, real-time, timing predictability, publish-subscribe}
}

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Research

DOI: 10.4230/TGDK.4.1.1

On the Computational Cost of Knowledge Graph Embeddings

Authors: Victor Charpenay, Mansour Zoubeirou A Mayaki, and Antoine Zimmermann

Published in: TGDK, Volume 4, Issue 1 (2026). Transactions on Graph Data and Knowledge, Volume 4, Issue 1

Abstract

Over a decade, numerous Knowledge Graph Embedding (KGE) models have been designed and evaluated on reference datasets, always with increasing performance. In this paper, we re-evaluate these models with respect to their computational efficiency during training, by estimating the computational cost of the procedure expressed in floating-point operations. We design a cost model based on analytical expressions and apply it on a collection of 20 KGE models, representative of the state-of-the-art. We show that dimensionality or parameter efficiency, used in the literature to compare models with each other, are not suitable to evaluate the true cost of models. Through fixed-budget experiments, a novel approach to evaluate KGE models based on cost estimates, we re-assess the relative performance of model families compared to the state-of-the-art. Bilinear models such as ComplEx underperform with a low computational budget while hyperbolic linear models appear to offer no particular benefit compared to simpler Euclidian models, especially the MuRE model. Neural models, such as ConvE or CompGCN, achieve reasonable performance in the literature but their high computational cost appears unnecessary when compared with other models. The trade-off between efficiency and expressivity of both linear and neural models is to be further explored.

Cite as

Victor Charpenay, Mansour Zoubeirou A Mayaki, and Antoine Zimmermann. On the Computational Cost of Knowledge Graph Embeddings. In Transactions on Graph Data and Knowledge (TGDK), Volume 4, Issue 1, pp. 1:1-1:30, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{charpenay_et_al:TGDK.4.1.1,
  author =	{Charpenay, Victor and Zoubeirou A Mayaki, Mansour and Zimmermann, Antoine},
  title =	{{On the Computational Cost of Knowledge Graph Embeddings}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{1:1--1:30},
  ISSN =	{2942-7517},
  year =	{2026},
  volume =	{4},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.4.1.1},
  URN =		{urn:nbn:de:0030-drops-256863},
  doi =		{10.4230/TGDK.4.1.1},
  annote =	{Keywords: Knowledge Graph Embedding, Parameter Efficiency, Computational Budget, Green AI}
}

Document

DOI: 10.4230/OASIcs.NG-RES.2026.5

SEKHMET: Hash-Chained Perception Contracts for Heterogeneous Real-Time Edge Clusters

Authors: Mohamed El-Hadedy

Published in: OASIcs, Volume 140, 7th Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2026)

Abstract

Real-time perception pipelines on edge clusters are often scheduled as ordinary latency-sensitive pods, even when safety depends on sustained throughput and stable model outputs. This paper presents SEKHMET (Scheduling Edge Kubernetes with Hash-chained Monitoring of End-to-end Telemetry), a perception-aware orchestration layer for lightweight Kubernetes (K3s) clusters that exports window-level perception status as a control-plane signal. SEKHMET evaluates a perception-integrity contract (PIC) once per fixed-duration window and commits each window outcome into a hash-chained perception root that is published to an otherwise unmodified K3s control plane. The prototype uses a Raspberry Pi 5 perception-root node with a Hailo-8L accelerator, USB camera, and GPS receiver running a YOLOv8s detector, while up to five additional nodes generate elastic interference via swarm-stress. Under contract-unaware scheduling with multi-node interference, the end-to-end perception loop delivers ∼0.8-2.2 FPS and violates the PIC timing requirement in most of 214 windows, despite apparently healthy CPU and memory metrics. Under the same and heavier interference, SEKHMET sustains 27-30 FPS with contract_ok = True across 400 protected windows while publishing one 96-byte record per T=5s window (19.2 B/s control-plane payload). These results show that making perception requirements control-plane-visible can turn fragile best-effort perception into a protected cluster-level resource on commodity edge hardware.

Cite as

Mohamed El-Hadedy. SEKHMET: Hash-Chained Perception Contracts for Heterogeneous Real-Time Edge Clusters. In 7th Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2026). Open Access Series in Informatics (OASIcs), Volume 140, pp. 5:1-5:12, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{elhadedy:OASIcs.NG-RES.2026.5,
  author =	{El-Hadedy, Mohamed},
  title =	{{SEKHMET: Hash-Chained Perception Contracts for Heterogeneous Real-Time Edge Clusters}},
  booktitle =	{7th Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2026)},
  pages =	{5:1--5:12},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-415-4},
  ISSN =	{2190-6807},
  year =	{2026},
  volume =	{140},
  editor =	{Ali, Hazem Ismail and Kurunathan, Harrison},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2026.5},
  URN =		{urn:nbn:de:0030-drops-254239},
  doi =		{10.4230/OASIcs.NG-RES.2026.5},
  annote =	{Keywords: edge clusters, K3s, Kubernetes, real-time perception, scheduling, integrity contracts, hash chaining, Hailo-8L}
}

Document

DOI: 10.4230/LIPIcs.STACS.2026.39

Planting and MCMC Sampling from the Potts Model

Authors: Andreas Galanis, Leslie Ann Goldberg, and Paulina Smolarova

Published in: LIPIcs, Volume 364, 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)

Abstract

We consider the problem of sampling from the ferromagnetic q-state Potts model on the random d-regular graph with parameter β > 0. A key difficulty that arises in sampling from the model is the existence of a "metastability" window β ∈ (β_u,β_u'), where roughly the distribution has two competing modes, the so-called disordered and ordered phases. This causes classical Markov-chain algorithms to be slow mixing from worst-case initialisations. Nevertheless, Helmuth, Jenssen and Perkins (SODA '19) designed a sampling algorithm that works for all β, when d ≥ 5 and q = d^{Ω(d)}, using polymers and cluster expansion methods; more recently, their analysis technique has been adapted to show that a Markov chain (random-cluster dynamics) mixes fast when initialised appropriately, in the same regime of q,d,β. Despite these positive algorithmic results, a well-known bottleneck behind cluster-expansion arguments is that they inherently only work for large q, whereas it is widely conjectured that sampling on the random d-regular graph is possible for all q,d ≥ 3. The only result so far that applies to general q,d ≥ 3 is by Blanca and Gheissari who showed that the random-cluster dynamics mixes fast in the "uniqueness" regime β < β_u where roughly only the disordered mode exists. For β ≥ β_u however, a second subdominant mode emerges creating bottlenecks and giving rise to correlations which have been hard to handle, especially for small values of q and d. Our main contribution is to perform a delicate analysis of the Potts distribution and the random-cluster dynamics that goes beyond the threshold β_u. We use planting as the main tool, a technique used in the analysis of random CSPs to capture how the space of solutions is correlated with the structure of the random instance. While planting arguments provide only weak sampling guarantees generically, here we instead combine planting with the analysis of random-cluster dynamics to obtain significantly stronger guarantees. We are thus able to show that the random-cluster dynamics initialised from all-out mixes fast for all integers q,d ≥ 3 beyond the uniqueness threshold β_u, all the way to the optimal threshold β_c ∈ (β_u,β_u') where the dominant mode switches from disordered to ordered. A more involved analysis also applies to the ordered regime β > β_c where we obtain an algorithm for all d ≥ 3 and q ≥ (5d)⁵, improving significantly upon the previous range of q,d by Carlson, Davies, Fraiman, Kolla, Potukuchi, and Yap (FOCS'22).

Cite as

Andreas Galanis, Leslie Ann Goldberg, and Paulina Smolarova. Planting and MCMC Sampling from the Potts Model. In 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 364, pp. 39:1-39:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{galanis_et_al:LIPIcs.STACS.2026.39,
  author =	{Galanis, Andreas and Goldberg, Leslie Ann and Smolarova, Paulina},
  title =	{{Planting and MCMC Sampling from the Potts Model}},
  booktitle =	{43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)},
  pages =	{39:1--39:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-412-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{364},
  editor =	{Mahajan, Meena and Manea, Florin and McIver, Annabelle and Thắng, Nguy\~{ê}n Kim},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.STACS.2026.39},
  URN =		{urn:nbn:de:0030-drops-255280},
  doi =		{10.4230/LIPIcs.STACS.2026.39},
  annote =	{Keywords: approximate sampling, Glauber dynamics, Potts model, random cluster model}
}

Document

DOI: 10.4230/LIPIcs.STACS.2026.71

Broadcast in Almost Mixing Time

Authors: Anton Paramonov and Roger Wattenhofer

Published in: LIPIcs, Volume 364, 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)

Abstract

We study the problem of broadcasting multiple messages in the CONGEST model. In this problem, a dedicated source node s possesses a set M of messages with every message of size O(log n) where n is the total number of nodes. The objective is to ensure that every node in the network learns all messages in M. The execution of an algorithm progresses in rounds, and we focus on optimizing the round complexity of broadcasting multiple messages. Our primary contribution is a randomized algorithm for networks with expander topology. The algorithm succeeds with high probability and achieves a round complexity that is optimal up to a factor of the network’s mixing time and polylogarithmic terms. It leverages a multi-COBRA primitive, which uses multiple branching random walks running in parallel. A crucial aspect of our method is the use of these branching random walks to construct an optimal (up to a polylogarithmic factor) tree packing of a random graph, which is then used for efficient broadcasting. We also prove the problem to be NP-hard in a centralized setting and provide insights into why lower bounds that can be matched in expanders, namely graph diameter and |M|/minCut, cannot be tight in general graphs.

Cite as

Anton Paramonov and Roger Wattenhofer. Broadcast in Almost Mixing Time. In 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 364, pp. 71:1-71:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{paramonov_et_al:LIPIcs.STACS.2026.71,
  author =	{Paramonov, Anton and Wattenhofer, Roger},
  title =	{{Broadcast in Almost Mixing Time}},
  booktitle =	{43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)},
  pages =	{71:1--71:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-412-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{364},
  editor =	{Mahajan, Meena and Manea, Florin and McIver, Annabelle and Thắng, Nguy\~{ê}n Kim},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.STACS.2026.71},
  URN =		{urn:nbn:de:0030-drops-255603},
  doi =		{10.4230/LIPIcs.STACS.2026.71},
  annote =	{Keywords: Distributed algorithms, Expander Graphs, Random graphs, Broadcast, Branching random walks, Tree packing, CONGEST model}
}

Document

DOI: 10.4230/LIPIcs.STACS.2026.56

A Practical 73/50 Approximation for Contiguous Monotone Moldable Job Scheduling

Authors: Klaus Jansen and Felix Ohnesorge

Published in: LIPIcs, Volume 364, 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)

Abstract

In moldable job scheduling, we are provided m identical machines and n jobs that can be executed on a variable number of machines. The execution time of each job depends on the number of machines assigned to execute that job. For the specific problem of monotone moldable job scheduling, jobs are assumed to have a processing time that is non-increasing in the number of machines. The previous best-known algorithms are: (1) a Polynomial Time Approximation Scheme (PTAS) with time complexity Ω(n^{g(1/ε)}), where g(⋅) is a super-exponential function [Jansen and Thöle '08; Jansen and Land '18], (2) a Fully Polynomial Time Approximation Scheme (FPTAS) for the case of m ≥ 8n/(ε) [Jansen and Land '18], and (3) a 3/2 approximation with time complexity O(nmlog(mn)) [Wu, Zhang, and Chen '23]. We present a new practically efficient algorithm with an approximation ratio of ≈ (1.4593 + ε) and a time complexity of O(nm log 1/(ε)). Our result also applies to the contiguous variant of the problem. In addition to our theoretical results, we implement the presented algorithm and show that the practical performance is significantly better than the theoretical worst-case approximation ratio.

Cite as

Klaus Jansen and Felix Ohnesorge. A Practical 73/50 Approximation for Contiguous Monotone Moldable Job Scheduling. In 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 364, pp. 56:1-56:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{jansen_et_al:LIPIcs.STACS.2026.56,
  author =	{Jansen, Klaus and Ohnesorge, Felix},
  title =	{{A Practical 73/50 Approximation for Contiguous Monotone Moldable Job Scheduling}},
  booktitle =	{43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)},
  pages =	{56:1--56:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-412-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{364},
  editor =	{Mahajan, Meena and Manea, Florin and McIver, Annabelle and Thắng, Nguy\~{ê}n Kim},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.STACS.2026.56},
  URN =		{urn:nbn:de:0030-drops-255453},
  doi =		{10.4230/LIPIcs.STACS.2026.56},
  annote =	{Keywords: computing, machine scheduling, moldable, polynomial approximation}
}

Document

DOI: 10.4230/LIPIcs.STACS.2026.50

A Polynomial Kernel for Face Cover on Non-Embedded Planar Graphs

Authors: Thekla Hamm, Sukanya Pandey, and Krisztina Szilágyi

Published in: LIPIcs, Volume 364, 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)

Abstract

Given a planar graph, a subset of its vertices called terminals, and k ∈ ℕ, the Face Cover Number problem asks whether the terminals lie on the boundaries of at most k faces of some embedding of the input graph. When a plane graph is given in the input, the problem is known to have a polynomial kernel [Valentin Garnero et al., 2017]. In this paper, we present the first polynomial kernel for Face Cover Number when the input is a planar graph (without a fixed embedding). Our approach overcomes the challenge of not having a predefined set of face boundaries by building a kernel bottom-up on an SPR-tree while preserving the essential properties of the face cover along the way.

Cite as

Thekla Hamm, Sukanya Pandey, and Krisztina Szilágyi. A Polynomial Kernel for Face Cover on Non-Embedded Planar Graphs. In 43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 364, pp. 50:1-50:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{hamm_et_al:LIPIcs.STACS.2026.50,
  author =	{Hamm, Thekla and Pandey, Sukanya and Szil\'{a}gyi, Krisztina},
  title =	{{A Polynomial Kernel for Face Cover on Non-Embedded Planar Graphs}},
  booktitle =	{43rd International Symposium on Theoretical Aspects of Computer Science (STACS 2026)},
  pages =	{50:1--50:18},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-412-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{364},
  editor =	{Mahajan, Meena and Manea, Florin and McIver, Annabelle and Thắng, Nguy\~{ê}n Kim},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.STACS.2026.50},
  URN =		{urn:nbn:de:0030-drops-255392},
  doi =		{10.4230/LIPIcs.STACS.2026.50},
  annote =	{Keywords: Kernelization, Planar Graphs, SPQR-tree}
}

Document

DOI: 10.4230/LIPIcs.CSL.2026.18

A Modular Framework for Proof-Search via Formalised Modal Completeness in HOL Light

Authors: Antonella Bilotta, Marco Maggesi, and Cosimo Perini Brogi

Published in: LIPIcs, Volume 363, 34th EACSL Annual Conference on Computer Science Logic (CSL 2026)

Abstract

We extend the existing HOL Light Library for Modal Systems (HOLMS) to support a modular implementation of modal reasoning within the HOL Light proof assistant. We deeply embed axiomatic calculi and relational semantics for seven normal modal logics (K, T, B, K4, S4, S5, GL) and formalise modal adequacy theorems for these systems. We then leverage those formalisations to implement a mechanism for automated reasoning via proof-search in the associated labelled sequent calculi, which we shallowly embed in HOL Light’s goal-stack mechanism. This way, we equip the general-purpose proof assistant with (semi)decision procedures for these logics that, in case of failure to construct a proof for the input formula, return a certified countermodel within the appropriate class for the logic under consideration. On the methodological side, we propose a precise measure of the modularity of our approach by systematically adopting Christopher Strachey’s distinction between ad hoc and parametric polymorphism throughout the library.

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Antonella Bilotta, Marco Maggesi, and Cosimo Perini Brogi. A Modular Framework for Proof-Search via Formalised Modal Completeness in HOL Light. In 34th EACSL Annual Conference on Computer Science Logic (CSL 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 363, pp. 18:1-18:29, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{bilotta_et_al:LIPIcs.CSL.2026.18,
  author =	{Bilotta, Antonella and Maggesi, Marco and Perini Brogi, Cosimo},
  title =	{{A Modular Framework for Proof-Search via Formalised Modal Completeness in HOL Light}},
  booktitle =	{34th EACSL Annual Conference on Computer Science Logic (CSL 2026)},
  pages =	{18:1--18:29},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-411-6},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{363},
  editor =	{Guerrini, Stefano and K\"{o}nig, Barbara},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CSL.2026.18},
  URN =		{urn:nbn:de:0030-drops-254427},
  doi =		{10.4230/LIPIcs.CSL.2026.18},
  annote =	{Keywords: Modal logic, HOL Light, Labelled sequent calculi, Logical verification, Interactive theorem proving, Automated proof-search}
}

Document

DOI: 10.4230/LIPIcs.CSL.2026.47

Useful Call-by-Value: A Semantic Interpretation via Quantitative Types

Authors: Pablo Barenbaum, Delia Kesner, and Mariana Milicich

Published in: LIPIcs, Volume 363, 34th EACSL Annual Conference on Computer Science Logic (CSL 2026)

Abstract

Useful evaluation is an optimised evaluation mechanism for functional programming languages. It relies on representing terms with sharing and imposing a restricted notion of useful substitutions, that intuitively disallows copying subterms that do not contribute to the progress of the computation. In particular, useful call-by-value evaluation optimises the standard call-by-value strategy by preserving its original semantics. This preservation result has been shown by means of syntactical rewriting techniques, difficult to adapt to alternative variants of the calculi at play. In this work, we present the first semantic model of useful call-by-value evaluation through the non-idempotent intersection type system 𝒰. Our first contribution is a characterisation of termination for useful call-by-value evaluation via system 𝒰. That is, a term is typable in system 𝒰 if and only if it terminates in the useful call-by-value strategy. As a second contribution, we show that system 𝒰 provides a quantitative interpretation for useful call-by-value evaluation, offering exact step-count information for program evaluation. Our third contribution is that termination in call-by-value and useful call-by-value are equivalent. This ensures in particular that call-by-value, which is (potentially) erasing, and useful call-by-value, which is non-erasing, are observationally equivalent. Even though the specification of the operational semantics of useful evaluation is highly complex, system 𝒰 is notably simple. As far as we know, system 𝒰 is one of the scarce quantitative type systems capturing exactly the substitution step-count for variables and abstractions in an open call-by-value strategy.

Cite as

Pablo Barenbaum, Delia Kesner, and Mariana Milicich. Useful Call-by-Value: A Semantic Interpretation via Quantitative Types. In 34th EACSL Annual Conference on Computer Science Logic (CSL 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 363, pp. 47:1-47:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{barenbaum_et_al:LIPIcs.CSL.2026.47,
  author =	{Barenbaum, Pablo and Kesner, Delia and Milicich, Mariana},
  title =	{{Useful Call-by-Value: A Semantic Interpretation via Quantitative Types}},
  booktitle =	{34th EACSL Annual Conference on Computer Science Logic (CSL 2026)},
  pages =	{47:1--47:24},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-411-6},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{363},
  editor =	{Guerrini, Stefano and K\"{o}nig, Barbara},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CSL.2026.47},
  URN =		{urn:nbn:de:0030-drops-254721},
  doi =		{10.4230/LIPIcs.CSL.2026.47},
  annote =	{Keywords: Lambda calculus, Evaluation strategies, Call-by-Value, Useful Evaluation, Intersection types, Quantitative models}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.40

A Simple and Robust Protocol for Distributed Counting

Authors: Edith Cohen, Moshe Shechner, and Uri Stemmer

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

We revisit the distributed counting problem, where a server must continuously approximate the total number of events occurring across k sites while minimizing communication. The communication complexity of this problem is known to be Θ(k/(ε)log N) for deterministic protocols. Huang, Yi, and Zhang (2012) showed that randomization can reduce this to Θ((√k)/ε log N), but their analysis is restricted to the oblivious setting, where the stream of events is independent of the protocol’s outputs. Xiong, Zhu, and Huang (2023) presented a robust protocol for distributed counting that removes the oblivious assumption. However, their communication complexity is suboptimal by a polylog(k) factor and their protocol is substantially more complex than the oblivious protocol of Huang et al. (2012). This left open a natural question: could it be that the simple protocol of Huang et al. (2012) is already robust? We resolve this question with two main contributions. First, we show that the protocol of Huang et al. (2012) is itself not robust by constructing an explicit adaptive attack that forces it to lose its accuracy. Second, we present a new, surprisingly simple, robust protocol for distributed counting that achieves the optimal communication complexity of O((√k)/ε log N). Our protocol is simpler than that of Xiong et al. (2023), perhaps even simpler than that of Huang et al. (2012), and is the first to match the optimal oblivious complexity in the adaptive setting.

Cite as

Edith Cohen, Moshe Shechner, and Uri Stemmer. A Simple and Robust Protocol for Distributed Counting. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 40:1-40:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{cohen_et_al:LIPIcs.ITCS.2026.40,
  author =	{Cohen, Edith and Shechner, Moshe and Stemmer, Uri},
  title =	{{A Simple and Robust Protocol for Distributed Counting}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{40:1--40:24},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.40},
  URN =		{urn:nbn:de:0030-drops-253272},
  doi =		{10.4230/LIPIcs.ITCS.2026.40},
  annote =	{Keywords: Distributed Streaming, Adversarial Streaming}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.50

On the PTAS Complexity of Multidimensional Knapsack

Authors: Ilan Doron-Arad, Ariel Kulik, and Pasin Manurangsi

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

We study the d-dimensional knapsack problem. We are given a set of items, each with a d-dimensional cost vector and a profit, along with a d-dimensional budget vector. The goal is to select a set of items that do not exceed the budget in all dimensions and maximize the total profit. A polynomial-time approximation scheme (PTAS) with running time n^{Θ(d/{ε})} has long been known for this problem, where {ε} is the error parameter and n is the encoding size. Despite decades of active research, the best running time of a PTAS has remained O(n^{⌈ d/{ε} ⌉ - d}). Unfortunately, existing lower bounds only cover the special case with two dimensions d = 2, and do not answer whether there is a n^{o(d/({ε)})}-time PTAS for larger values of d. In this work, we show that the running times of the best-known PTAS cannot be improved up to a polylogarithmic factor assuming the Exponential Time Hypothesis (ETH). Our techniques are based on a robust reduction from 2-CSP, which embeds 2-CSP constraints into a desired number of dimensions. Then, using a recent result of [Bafna Karthik and Minzer, STOC'25], we succeed in exhibiting tight trade-off between d and {ε} for all regimes of the parameters assuming d is sufficiently large. Informally, our result also shows that under ETH, for any function f there is no f(d/({ε)}) ⋅ n^{õ(d/({ε)})}-time (1-{ε})-approximation for d-dimensional knapsack, where n is the number of items and õ hides polylogarithmic factors in d/({ε)}.

Cite as

Ilan Doron-Arad, Ariel Kulik, and Pasin Manurangsi. On the PTAS Complexity of Multidimensional Knapsack. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 50:1-50:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{doronarad_et_al:LIPIcs.ITCS.2026.50,
  author =	{Doron-Arad, Ilan and Kulik, Ariel and Manurangsi, Pasin},
  title =	{{On the PTAS Complexity of Multidimensional Knapsack}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{50:1--50:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.50},
  URN =		{urn:nbn:de:0030-drops-253377},
  doi =		{10.4230/LIPIcs.ITCS.2026.50},
  annote =	{Keywords: d-dimensional Knapsack, Multidimensional Knapsack, PTAS, CSP}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.98

Weighted Chairman Assignment and Flow-Time Scheduling

Authors: Siyue Liu and Victor Reis

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

Given positive integers m, n, a fractional assignment x ∈ [0,1]^{m × n} and weights d ∈ ℝⁿ_{> 0}, we show that there exists an assignment y ∈ {0,1}^{m × n} so that for every i ∈ [m] and t ∈ [n], |∑_{j ∈ [t]} d_j (x_{ij} - y_{ij})| < max_{j ∈ [n]} d_j. This generalizes a result of Tijdeman (1973) on the unweighted version, known as the chairman assignment problem. This also confirms a special case of the single-source unsplittable flow conjecture with arc-wise lower and upper bounds due to Morell and Skutella (IPCO 2020). As an application, we consider a scheduling problem where jobs have release times and machines have closing times, and a job can only be scheduled on a machine if it is released before the machine closes. We give a 3-approximation algorithm for maximum flow-time minimization.

Cite as

Siyue Liu and Victor Reis. Weighted Chairman Assignment and Flow-Time Scheduling. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 98:1-98:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{liu_et_al:LIPIcs.ITCS.2026.98,
  author =	{Liu, Siyue and Reis, Victor},
  title =	{{Weighted Chairman Assignment and Flow-Time Scheduling}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{98:1--98:15},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.98},
  URN =		{urn:nbn:de:0030-drops-253858},
  doi =		{10.4230/LIPIcs.ITCS.2026.98},
  annote =	{Keywords: prefix discrepancy, flow-time scheduling, unsplittable flow}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.6

Model-Generic Incrementally Verifiable Computation from Updatable BARGs

Authors: Eden Aldema Tshuva and Rotem Oshman

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

Incrementally verifiable computation (IVC) is a computationally sound proof system that allows a prover to certify the correctness of a long or ongoing computation in an incremental manner, by repeatedly updating a proof certifying the computation so far. Updating the proof does not require access to the entire trace of the computation, which makes the IVC-prover memory efficient. Recently, such schemes were constructed for deterministic Turing machines from standard cryptographic assumptions (Paneth and Pass, FOCS 2022, and Devadas et al., FOCS 2022). In this work we generalize and extend IVC to support incremental certification and verifiability of a large set of computation models, focusing on distributed and online computation. This allows distributed algorithms to efficiently certify their own execution using low memory and communication overhead. We construct IVC for a variety of computation models by proving one generic lifting theorem from a classical (non-incremental) delegation scheme (also known as SNARG) into full-fledged IVC, while preserving the delegation scheme’s succinctness properties (up to an additive factor which is polynomial in the security parameter and independent of the size of the computation). Using this lifting theorem, we obtain IVC for the following computation models: - RAM and exclusive-read exclusive-write (EREW) PRAM algorithms, using existing delegation schemes for these models. - Streaming algorithms, using the natural memory-efficiency properties of the model. - Massively parallel computation (MPC). Notably, in this model, memory efficiency is a critical bottleneck: the machines participating in an MPC algorithm usually cannot store the entire trace of their computation. Thus, certifying MPC algorithms naturally benefits from IVC. Moreover, since prior to our work, no delegation scheme for this model was known, we also construct a delegation scheme for one-round massively parallel computations, and then apply our lifting theorem to it. - Distributed graph algorithms, using existing distributed delegation schemes (also known as locally verifiable distributed SNARGs). Here, in order to use our lifting theorem we have to first make some observations about the verification procedure of these existing schemes. At the heart of this work is a new abstraction, updatable batch arguments for NP (UpBARGs), which we define and construct. Standard BARGs allow one to prove a batch of k NP-statements using a proof whose length barely grows with k; however, the statements and their witnesses must all be known in advance. In contrast, UpBARGs support adding statements and witnesses on the fly, making them a flexible tool for constructing IVC across different computational models.

Cite as

Eden Aldema Tshuva and Rotem Oshman. Model-Generic Incrementally Verifiable Computation from Updatable BARGs. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 6:1-6:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{aldematshuva_et_al:LIPIcs.ITCS.2026.6,
  author =	{Aldema Tshuva, Eden and Oshman, Rotem},
  title =	{{Model-Generic Incrementally Verifiable Computation from Updatable BARGs}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{6:1--6:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.6},
  URN =		{urn:nbn:de:0030-drops-252931},
  doi =		{10.4230/LIPIcs.ITCS.2026.6},
  annote =	{Keywords: incrementally verifiable computation, massively parallel computation, streaming, parallel RAM, batch arguments, SNARG}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.80

FPT Approximations for Connected Maximum Coverage

Authors: Tanmay Inamdar, Satyabrata Jana, Madhumita Kundu, Daniel Lokshtanov, Saket Saurabh, and Meirav Zehavi

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

We revisit connectivity-constrained coverage through a unifying model, Partial Connected Red-Blue Dominating Set (PartialConRBDS). Given a bipartite graph G = (R∪ B,E) with red vertices R and blue vertices B, an auxiliary connectivity graph G_{conn} on R, and integers k,t, the task is to find a set S ⊆ R with |S| ≤ k such that G_{conn}[S] is connected and S dominates at least t blue vertices. This formulation captures connected variants of Maximum Coverage [Hochbaum-Rao, Inf. Proc. Lett., 2020; D'Angelo-Delfaraz, AAMAS 2025], Partial Vertex Cover, and Partial Dominating Set [Khuller et al., SODA 2014; Lamprou et al., TCS 2021] via standard encodings. Limits to parameterized tractability. PartialConRBDS is W[1]-hard parameterized by k even under strong restrictions: it remains hard when G_{conn} is a clique or a star and the incidence graph G is 3-degenerate, or when G is K_{2,2}-free. Inapproximability. For every ε > 0, there is no polynomial-time (1, 1-1/e+ε)-approximation unless 𝖯 = NP. Moreover, under ETH, no algorithm running in f(k)⋅ n^{o(k)} time achieves an g(k)-approximation for k for any computable function g(⋅), or for any ε > 0, a (1-1/e+ε)-approximation for t. Graphical special cases. Partial Connected Dominating Set is W[2]-hard parameterized by k and inherits the same ETH-based f(k)⋅ n^{o(k)} inapproximability bound as above; Partial Connected Vertex Cover is W[1]-hard parameterized by k. These hardness boundaries delineate a natural "sweet spot" for study: within appropriate structural restrictions on the incidence graph, one can still aim for fine-grained (FPT) approximations. Our algorithms. We solve PartialConRBDS exactly by reducing it to Relaxed Directed Steiner Out-Tree in time (2e)^t ⋅ n^{𝒪(1)}. For biclique-free incidences (i.e., when G excludes K_{d,d} as an induced subgraph), we obtain two complementary parameterized schemes: - An Efficient Parameterized Approximation Scheme (EPAS) running in time 2^{𝒪(k² d/ε)}⋅ n^{𝒪(1)} that either returns a connected solution of size at most k covering at least (1-ε)t blue vertices, or correctly reports that no connected size-k solution covers t; and - A Parameterized Approximation Scheme (PAS) running in time 2^{𝒪(kd(k²+log d))}⋅ n^{𝒪(1/ε)} that either returns a connected solution of size at most (1+ε)k covering at least t blue vertices, or correctly reports that no connected size-k solution covers t. Together, these results chart the boundary between hardness and FPT-approximability for connectivity-constrained coverage.

Cite as

Tanmay Inamdar, Satyabrata Jana, Madhumita Kundu, Daniel Lokshtanov, Saket Saurabh, and Meirav Zehavi. FPT Approximations for Connected Maximum Coverage. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 80:1-80:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{inamdar_et_al:LIPIcs.ITCS.2026.80,
  author =	{Inamdar, Tanmay and Jana, Satyabrata and Kundu, Madhumita and Lokshtanov, Daniel and Saurabh, Saket and Zehavi, Meirav},
  title =	{{FPT Approximations for Connected Maximum Coverage}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{80:1--80:24},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.80},
  URN =		{urn:nbn:de:0030-drops-253674},
  doi =		{10.4230/LIPIcs.ITCS.2026.80},
  annote =	{Keywords: Partial Dominating Set, Connectivity, Maximum Coverage, FPT Approximation, Fixed-parameter Tractability}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2026.73

Quantum Advantage from Sampling Shallow Circuits: Beyond Hardness of Marginals

Authors: Daniel Grier, Daniel M. Kane, Jackson Morris, Anthony Ostuni, and Kewen Wu

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract

We construct a family of distributions {𝒟_n}_n with 𝒟_n over {0, 1}ⁿ and a family of depth-7 quantum circuits {C_n}_n such that 𝒟_n is produced exactly by C_n with the all zeros state as input, yet any constant-depth classical circuit with bounded fan-in gates evaluated on any binary product distribution has total variation distance 1 - e^{-Ω(n)} from 𝒟_n. Moreover, the quantum circuits we construct are geometrically local and use a relatively standard gate set: Hadamard, controlled-phase, CNOT, and Toffoli gates. All previous separations of this type suffer from some undesirable constraint on the classical circuit model or the quantum circuits witnessing the separation. Our family of distributions is inspired by the Parity Halving Problem of Watts, Kothari, Schaeffer, and Tal (STOC, 2019), which built on the work of Bravyi, Gosset, and König (Science, 2018) to separate shallow quantum and classical circuits for relational problems.

Cite as

Daniel Grier, Daniel M. Kane, Jackson Morris, Anthony Ostuni, and Kewen Wu. Quantum Advantage from Sampling Shallow Circuits: Beyond Hardness of Marginals. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 73:1-73:14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{grier_et_al:LIPIcs.ITCS.2026.73,
  author =	{Grier, Daniel and Kane, Daniel M. and Morris, Jackson and Ostuni, Anthony and Wu, Kewen},
  title =	{{Quantum Advantage from Sampling Shallow Circuits: Beyond Hardness of Marginals}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{73:1--73:14},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.73},
  URN =		{urn:nbn:de:0030-drops-253607},
  doi =		{10.4230/LIPIcs.ITCS.2026.73},
  annote =	{Keywords: Shallow circuits, sampling, quantum circuits}
}

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