Physical AI Brief

We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our accessible hardware setup, training infrastructure, and simulation pipeline. We also release 400 hours of sim-teleop data and provide a co-training recipe that produces correlated simulation and real-world evaluation, offering a reliable proxy for ablating model-design and training decisions before costly real-world evaluation. We explore various training recipes and compare common architectural choices for Diffusion Transformers (DiT) and Vision-Language-Action (VLA) models, grounding our findings in real-world evaluations. The resulting policies successfully execute dexterous tasks such as box folding and extracting credit cards from wallets. By providing a reproducible toolkit, we aim to place researchers on an equal footing, establishing the necessary foundation to learn the ABCs of Behavior Cloning together as a community.

Most unified large multimodal models (LMMs) that support both visual understanding and image generation still rely on curated post-training supervision, such as human annotations, preference labels, or external reward models. We ask whether a unified LMM can improve both abilities autonomously using only unlabeled images. We propose a self-evolving training framework with three internal roles: a Proposer that generates visual questions, a Solver that answers and evaluates them, and a Generator that synthesizes images. Training uses only self-derived consistency signals, without human annotations, preference labels, or task-trained external reward/judge models. To stabilize learning, we introduce Solver Token Entropy (STE), a continuous difficulty signal based on token-level prediction uncertainty that remains useful even when sample-level consistency becomes unreliable. For image generation, we design a multi-scale internal evaluation scheme that combines question-answer fidelity scoring with cycle-consistent captioning. This creates a solver-mediated coupling, where better visual understanding enables more reliable generation assessment and stronger internal training signals. The framework preserves the same role decomposition, reward logic, and training schedule across diffusion-based BLIP3o, rectified-flow BAGEL, and autoregressive VARGPT-v1.1 architectures, requiring only each backbone's native prompting and generation interface. Across eight understanding metrics, our method consistently improves over the corresponding base models. On BAGEL, it achieves a $+3.5\%$ absolute gain on MMMU and improves GenEval image generation performance from $82\%$ to $85\%$. Code and models are publicly released.

Going beyond predicting robot actions, World Action Models (WAMs) can also generate future visual observations. We build on this generative capability to propose Recurrent Generative Replay (REGEN), a continual imitation learning framework that synthesizes pseudo-replay trajectories, enabling a robot policy to rehearse previously learned tasks without storing their original human demonstrations. During continual adaptation, REGEN recursively queries the WAM to synthesize pseudo-replay trajectories conditioned only on prior task instructions and current-task observations. Experiments in both simulation and real-world manipulation settings show that REGEN reduces catastrophic forgetting by up to $50\%$ relative to sequential fine-tuning, while approaching the performance of privileged experience replay methods that require access to real replay data. Finally, we analyze the factors limiting generated replay, identifying long-horizon visual degradation and action-observation inconsistency as the primary bottlenecks. Our results establish WAMs as a promising foundation for continual robot learning without stored demonstrations.

Recently, self-evolving large multimodal models (LMMs) have received attention for improving visual reasoning in a purely unsupervised setting. However, multi-role self-play and self-consistency reward schemes in existing self-evolving LMMs optimize answer agreement without ensuring the decoder attends to visual content, relying instead on statistical language priors to produce self consistent outputs. This leads to a persistent failure mode we term visual under-conditioning, where the decoder relies on language priors rather than the image during generation, manifesting as insufficient attention to visual tokens. As a result, current self-evolving LMMs struggle on vision--language understanding tasks such as image captioning and visual question answering. To address this, we propose VISE (Visual Invariance Self-Evolution), a purely unsupervised self-evolving framework that directly regularizes the model's visual conditioning policy through two complementary invariance-based rewards: a geometric invariance reward that enforces spatial consistency under known transformations, and a semantic invariance reward that penalizes evidence-agnostic generation by requiring the model to recognize the absence of evidence when predicted regions are perturbed. VISE operates within a single model without specialist roles, external reward models, or annotations, and is trained on raw unlabeled images. Experiments on 18 benchmarks demonstrate the efficacy of our approach. Using Qwen3-VL-2B as the base model, VISE achieves gains of $+16.85$ CIDEr on COCO and $+19.66$ CIDEr on TextCaps, reduces object hallucination by $5.0$ Chair-I points, and generalizes across four model families and scales. Our code and models are available at https://mbzuai-oryx.github.io/VISE

Reinforcement learning with verifiable rewards (RLVR) for training LLMs typically rely on ground-truth answers to assign rewards, limiting their applicability to tasks where the ground-truth solution is unknown. We introduce a \textbf{R}anking-\textbf{i}nduced \textbf{VER}ifiable framework (RiVER) that trains LLMs on score-based optimization tasks without ground-truth solutions, using deterministic execution feedback as continuous-valued supervision. When applying group-relative RL to such continuous rewards, we identify two key challenges: \emph{scale dominance}, where uncalibrated score magnitudes across test instances distort policy updates, and \emph{frequency dominance}, where repeatedly sampled suboptimal solutions can outweigh rare but stronger candidates. RiVER addresses these challenges with calibrated reward shaping that uses instance-wise comparisons and emphasizes top-ranked solvers while retaining bounded feedback for other valid solutions. We train on 12 AtCoder Heuristic Contest tasks and evaluate on Algorithm Engineering Benchmark (ALE-Bench), LiveCodeBench, and USACO. RiVER advances Qwen3-8B and GLM-Z1-9B-0414 by 8.9\% and 9.4\% in ALE rating rank. More importantly, despite training exclusively on score-based tasks without any ground-truth solutions, RiVER also improves the backbones across exact-solution benchmarks such as LiveCodeBench and USACO by an absolute average improvement of 2.4\% and 3.5\%. By contrast, baselines trained with raw execution scores improve ALE rating but fail to transfer to exact-solution benchmarks. These results suggest that score-based optimization tasks, combined with proper reward calibration, can serve as effective training environments for general coding ability without ground-truth solutions.

We present PhysiFormer, a diffusion transformer for physically-plausible 3D object motion. Unlike video world models that operate in view-dependent pixel space, PhysiFormer represents objects as 3D meshes expressed in world coordinates. Given the initial vertex positions and velocities, as well as object material type, rigid or elastic, the model samples future vertex trajectories. While related neural physics approaches build on ad-hoc latent spaces or explicitly enforce rigidity and causality, PhysiFormer shows that excellent results can be obtained without any such inductive biases, by casting vertex trajectory prediction as a single denoising diffusion process directly in world coordinates. The probabilistic formulation captures uncertainty in the learned dynamics, enabling diverse plausible futures from initial conditions, making this framework potentially useful for applications with unobserved uncertainty. The model features attention factorised over time, space, and objects for efficiency, enabling permutation-invariant multi-object reasoning without needing explicit object encoding. Trained on over 100k simulated trajectories, PhysiFormer generates rigid and elastic mechanics, and generalises to mixed-material settings, unseen real-world geometries, and larger object counts. It substantially outperforms autoregressive baselines in trajectory accuracy, rigidity preservation, and momentum-based physical consistency. Our results position coordinate-space diffusion as a promising step toward view-invariant, geometry-aware world modelling for robotics, graphics, and physical design. Visualisations, code, and models are available at https://yimingc9.github.io/physiformer.

Efficient sampling of molecular systems at thermodynamic equilibrium is a hallmark challenge in statistical physics. This challenge has driven the development of Boltzmann Generators (BGs), which allow rapid generation of uncorrelated equilibrium samples by combining a generative model with exact likelihoods and an importance sampling correction. However, modern BGs predominantly rely on normalizing flows (NFs), which either suffer from limited expressivity due to strict invertibility constraints (discrete time) or computationally expensive likelihoods (continuous time). In this paper, we propose Autoregressive Boltzmann Generators (ArBG) -- a novel autoregressive modelling framework -- that overcomes these limitations by departing from the flow-based BG paradigm. ArBG circumvents the topological constraints of flows and enables sequential inference-time interventions, while offering enhanced scalability by leveraging architectures effective in Large Language Models. We empirically demonstrate that ArBG leads to significant improvements over flow-based models across all benchmarks, but particularly in larger peptide systems such as the 10-residue Chignolin. Furthermore, we introduce Robin, a 132 million parameter transferable model trained with the ArBG framework which improves over the previous state-of-the-art, reducing the zero-shot energy error, E-W$_2$, on 8-residue systems by over 60$\%$. The code can be found at the following link: https://github.com/danyalrehman/autobg.

Many decoding methods for large language models can be understood as shifting probability mass toward outputs that are more likely under the model, either locally at the token level or globally at the sequence level. Therefore, their success depends on a fundamental question: when does sequence probability, that is, the conditional probability of a continuation given a prompt, actually align with correctness? In this paper, we set out to quantify this relationship across decoding methods, models, and benchmarks at four levels: across decoding methods, across hyperparameters within a method, across prompt-answer pairs within a dataset, and across repeated responses to the same prompt. We find that higher sequence probability is often predictive of correctness across prompt-answer pairs within a fixed dataset. However, this relationship does not generally transfer to decoding decisions: increasing sequence probability by changing hyperparameters or methods does not reliably improve accuracy. Further, sequence probability is not a good indicator of correctness for responses to the same prompt. These findings clarify when decoding can and cannot be expected to improve correctness, and provide practical guidance for decoding, self-consistency, and verifier-free self-improvement.

We study whether pre-deployment evaluation rollouts can be reused to supervise policy selection. Robot teams routinely smoke test candidate vision-language-action (VLA) policies, then compress those trials into a global winner. RouterVLA evaluates this idea with outcome-disjoint cross-fitting: recorded probes build a profile for each frozen expert, and a separate trial scores the selected expert without entering its profile. Across 34,752 LIBERO-Plus rollout records, a transparent probe-success rule raises held-out success from 0.4686 to 0.6149, a +14.64pp gain. Under the scalar-only profiles studied here, learned scorers are statistically indistinguishable from this rule, showing that commissioning carries the routing value while extra scalar scorer capacity does not create it. Reusing the scored trial inflates the measured gain by $1.87\times$, so credible ledger routing needs outcome separation; model scaling improves individual policies, while commissioning-aware routing improves the system built from them.

Robots deployed in the real world rarely operate under a single fixed dynamics model: wind changes, payloads vary, batteries drain, contacts shift, and hardware wears. Yet most learning-based controllers are trained once and deployed as if learning were complete. This prevents the robot from using deployment experience to further improve task performance. In this work, we propose a continual learning framework that uses real-world experience to improve robot policies under hidden and recurring dynamics. Our method learns a condition-aware dynamics model from real state-action trajectories by combining an analytical physics prior with a neural residual for unmodeled effects. A recurrent encoder infers the current hidden condition from recent interaction, and this estimate conditions both the residual model and the policy. Policy learning is performed via differentiable simulation using diverse learned dynamics sampled from the latent model. At deployment, these sampled conditions are replaced by conditions inferred online from recent real interaction, allowing the policy to recover recurring dynamics by recognition rather than residual re-fitting. Through extensive simulation studies and real-world experiments, we demonstrate that the framework improves policy performance under diverse unobserved disturbances. On real quadrotor trajectory tracking under changing wind, the policy recovers from recurring disturbances in roughly 1s, about 5x faster than online residual re-fitting. It also reduces large-disturbance hover and tracking errors by 65.7% and 53.3% over the state-of-the-art online adaptation approaches

Whether political elites organise into rent-seeking coalitions that capture public resources or civic networks that sustain governance is a central question in comparative politics. Yet observing these complex, informal, and adversarial ties at scale has historically required intensive manual coding, while automated text-as-data methods have largely been limited to simple co-occurrence. Recent large language model (LLM) approaches offer a path forward but often rely on proprietary APIs, lack cross-lingual capability, and struggle with scalable entity resolution. We present a modular, fully open-weight pipeline for multilingual joint entity-relation extraction that builds signed, temporal knowledge graphs from massive unstructured news corpora. It combines span-based named-entity recognition (NER) with a three-stage linking cascade mapping mentions to language-independent Wikidata identifiers; a high-throughput, ontology-constrained mixture-of-experts model then uses guided decoding to extract directed, signed relationships grounded in a domain ontology. A full-coverage spot-check against a 3491-relation gold standard shows high textual correctness (68.2% strict to 93.7% lenient). Two large-scale case studies validate the pipeline against the public record. In Austria, it reconstructs a political party's complete lifecycle, dating internal fractures and tracking personnel into successor factions and court convictions. In a Polish corpus, it uncovers the overlapping economic and governance networks of state-enterprise patronage, alongside the structurally balanced, signed conflict network of the polarized Civic Platform (Platforma Obywatelska, PO)--Law and Justice (Prawo i Sprawiedliwość, PiS) duopoly. By bridging raw multilingual text and structured relational data, our framework provides a robust, replicable foundation for cross-national empirical computational social science.

Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones offer a compact and high-bandwidth way to sense these interactions, but the resulting vibro-acoustic signals are difficult to simulate faithfully enough for end-to-end sim-to-real policy learning on dexterous robot hands. We propose VibeAct, a framework that bridges real vibrotactile sensing and simulation-based reinforcement learning through a shared physical representation of contact and slip. In the real world, we embed piezoelectric microphones into a dexterous robot hand and collect vibro-acoustic data through teleoperation, then replay the recordings in a calibrated digital clone to automatically label per-finger contact and slip. A tactile estimator learns to predict contact and slip from real microphone waveforms, while manipulation policies are trained in simulation on the same representation computed directly from simulated contacts. This decoupling lets policies exploit rapid tactile feedback without simulating raw audio. Across five contact-rich tasks spanning regrasping, in-hand reorientation, and insertion, VibeAct consistently outperforms a proprioception-and-point-cloud baseline in simulation, with the largest gains on tasks requiring sustained reactive control, where the continuous slip-magnitude channel proves the most informative observation. The learned policies transfer to a physical dexterous hand-arm platform, improving success rates on deployed tasks. Project videos and additional details are at https://vibeact.github.io/.

Moving an object in a single image requires geometry-consistent spatial rearrangement, including handling occlusions, revealing previously unseen regions, and maintaining coherent shadows and reflections. Existing approaches are not well suited to this setting and often fail to preserve such scene-level consistency. We address this problem by introducing a geometry-aware object motion method that operates directly on the positional representations of diffusion transformers. Our key insight is that rotary positional embeddings (RoPE) define a structured spatial field that can be explicitly manipulated to induce controlled motion. We extend 2D RoPE into a depth-aware formulation that encodes 3D spatial structure, enabling consistent object displacement and scene-aware updates. Our model is trained using synthetic data combined with a small set of real images via parameter-efficient fine-tuning. Despite minimal real supervision, it preserves object identity under large spatial displacements, generates plausible content in newly revealed regions, and consistently updates scene-dependent effects such as shadows and illumination. Experimental results on standard object motion benchmarks demonstrate state-of-the-art performance across all evaluation metrics.

Multimodal web agents can assist humans in operating repetitive GUI tasks, where effective task planning is essential for decomposing complex tasks into executable actions. While small open source MLLMs are cost efficient and privacy preserving compared with commercial large models, they suffer from weak planning and limited cross website generalization. To address these limitations, we introduce the planning experience exploration and utilization (PEEU) method, which autonomously explores environments to discover experiences and utilizes hindsight experience to synthesize strictly aligned, high level training data. To quantitatively analyze the generalization behaviors driving this performance, we propose the task decomposition hierarchical analysis framework (TDHAF) to systematically study compositional generalization across three task granularities: low, middle and high levels. Our analysis reveals that mastering low level atomic skills does not guarantee high level planning competence, while high level task training yields stronger OOD generalization. Experiments on real world benchmarks demonstrate PEEU's superior effectiveness: our 7B model achieves 30.6% accuracy, outperforming the much larger Qwen2.5-VL-32B model. These demonstrate constructing hindsight high level tasks and leveraging experiences is crucial for OOD planning abilities of small MLLMs.

Modern generative world models render increasingly realistic action-controllable futures, yet they frequently hallucinate: rollouts remain visually fluent while drifting from the ground-truth dynamics. We hypothesize that hallucination concentrates in low-coverage regions of the state-action space, where lightweight data-centric signals can both detect it and guide mitigation. To test this, we introduce MMBench2, a 427-hour, 210-task dataset for visual world modeling with ground-truth actions, rewards, and live simulators, and train a 350M-parameter world model on it. We identify three distinct hallucination modes: perceptual, action-marginalized, and scene-diverging -- each anchored to a different stage of the pipeline, and develop three signals that accurately predict where the model will fail. To close coverage gaps at training time, we develop a coverage-aware sampling technique; to close them online, our hallucination predictors serve as curiosity rewards for targeted data collection, yielding a data-efficient finetuning recipe that adapts the pretrained world model to entirely unseen environments with as few as 50 real environment trajectories. Overall, our findings reveal that hallucination in world models is inherently a data coverage issue, and that the same signals used to detect it can also be used for mitigation. An interactive web version of our paper is available at https://www.nicklashansen.com/mmbench2

Recent advances in action-conditioned world models show promising progress in modeling complex interactions and forecasting future states under diverse action sequences. While these models are often driven by stronger visual representations and model capacity, action conditioning itself remains underexplored. Most existing approaches compress the entire action sequence into a single representation, which works well for low-DoF control but becomes less reliable in high-DoF scenarios. We observe that high-DoF dexterous actions are inherently heterogeneous, spanning multiple orders of magnitude, where large-scale motions coexist with subtle but important signals. When uniformly aggregated, optimization exhibits an imbalance across action components, which hinders the modeling of fine-grained effects and affects action fidelity. We therefore propose DexAC-WM, which treats action conditioning as a structured process rather than global compression. DexAC preserves dimension-level semantics via action tokenization and aligns action signals with visual dynamics through local refinement and global modulation. To address the limited high-level semantic grounding in existing world models, we further introduce a semantic branch that provides rich object-scene priors, which enables world model to capture dynamic visual details while supporting high-DoF action-conditioned video prediction. Experiments on EgoDex and EgoVerse show that combining the semantic branch with DexAC significantly improves FID, FVD, and PCK, demonstrating gains in visual-temporal realism and action-following consistency. We further verify that DexAC extends to other backbones, showing the scalability of our structured action-conditioning design. These results suggest that scaling world models to high-DoF control requires both structured action modeling and semantic grounding.

We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning system, and proprioception (CAN bus data from a car, and joint angles for a quadruped robot). The eponymous OctoSense dataset contains 59 hours of time-synchronized driving data across different types of environments at different times of the day, including situations with highly degraded sensors. We demonstrate multi-modal self-supervised learning using such real-world robotics data, where sensors have different representations, frequencies, latencies and noise. Our approach, a "late-fusion" masked autoencoder, (i) uses modality-specific tokenizers to account for different spatiotemporal characteristics of these sensors, and (ii) caches modality-specific tokens at inference time to process new measurements as they come. This architecture (i) is fast (6.68 ms and 112 ms on NVIDIA 5090 and Orin NX respectively, to compute the representation), (ii) performs better than existing image-only foundation models on tasks such as estimation of optical flow, depth, semantic segmentation, and ego-motion (translation, rotation, and steering angle), and (iii) predicts robustly at nighttime or in situations where sensory data is degraded. See our project page for links to the dataset, code, and supplementary videos: https://abisulco.com/octosense/.

Gradient equilibrium (GEQ) is a recently introduced online optimization framework that generalizes first-order stationarity from offline optimization and abstracts problems like online conformal prediction. While GEQ has curious similarities with known online learning frameworks, namely regret minimization, prior work has shown that GEQ error and regret are incomparable objectives, leaving open a precise understanding of how GEQ fits into the broader online learning landscape. In this work, we show that GEQ is equivalent to Blackwell approachability in the algorithmic sense. That is, a Blackwell approachability problem can always be solved using queries to a black-box GEQ oracle, with no asymptotic loss in the oracle's error rate, and vice versa. Taken together with known equivalences between approachability, regret minimization, and calibration, these results imply that GEQ is equivalent to these frameworks, as well. Our reductions are efficient and can be used to transfer refined guarantees, such as optimism and strong adaptivity, from regret minimization to GEQ. Along the way, we also identify necessary and sufficient conditions for GEQ, and establish reductions between different notions of GEQ with unconstrained and constrained decision sets.

To avoid moderation and surveillance on social media, some users routinely invent indirect linguistic expressions (ILE) that camouflage sensitive meanings. Such expressions surface as algospeak, euphemisms, and adversarial obfuscation, depending on intent and context, and they involve recurring encoding mechanisms. We propose a comprehensive, mechanism-oriented taxonomy of ILE that abstracts away from communicative goals and instead categorizes the underlying operations through which meaning is encoded and recovered. We evaluate the taxonomy by incorporating it into LLM prompts and comparing it with four existing taxonomies and a no-taxonomy baseline, using 2,000 manually annotated TikTok and Bluesky posts. The proposed taxonomy attains the strongest document- and span-level performance across the three LLMs, achieving an improvement of 4.7% in accuracy and 5.4% in F1 over the best-performing benchmark. The empirical results reveal the importance of a comprehensive, mechanism-oriented taxonomy as a stable scaffold for detecting emerging coded language and a useful input to content moderation. Disclaimer: This paper contains content that may be profane, vulgar, or offensive.

While modern multimodal models integrate vision with language, audio, or touch, olfaction remains largely unexplored due to the lack of paired visuo-olfactory data. We introduce SmellNet-V, a scalable visuo-olfactory dataset built on the insight that odor identity is largely invariant to visual transformations within a semantic category. This allows us to synthetically pair smell-only samples with semantically aligned in-the-wild web images, converting a unimodal olfactory dataset into a cross-modal benchmark without costly co-collection. Building on this dataset, we propose See & Sniff, a self-supervised framework that learns joint visuo-olfactory representations via dense local alignment and naturally produces smell saliency maps for spatial grounding of odor sources. We further introduce pixel-level smell localization task and a benchmark for evaluation. Our method surpasses smell-only baselines by 7% in smell classification from smell alone and generalizes to cross-modal retrieval and smell localization, establishing visuo-olfactory learning as a new direction in multimodal perception.

Translation cascades for reasoning translate the query from another language to English, reason in English, and translate the answer back to the original language. This is a competitive approach to multilingual reasoning, but structurally lossy, since each stage discards information later stages may need, including cues for cultural grounding, register, and disambiguation. We examine the benefits of a simple and training-free intervention: a context-aware translation cascade, which additionally provides the original question, the English translated question, and the reasoning trace to the context of the final translation module. We evaluate gains across nine multilingual benchmarks including various task types, three backbone models, and 285 high-, mid-, and low-resource languages, and demonstrate strong gains for open-ended generation across models and resource regimes. We show that the original language question carries most of the beneficial context. Our study emphasizes the need to better design information flow in machine translation cascades for mitigating error propagation, and provides a simple and actionable default strategy: preserve the original user question until the end of the pipeline.

Vision-Language-Action (VLA) models are commonly pretrained on robot demonstrations by jointly mapping visual observations and language instructions to actions. However, dense visual-action supervision can dominate the comparatively sparse language-action signal. As a result, policies may rely on visual shortcuts rather than learn how language conditions action execution, making them sensitive to visual variations. To address this limitation, we propose LA4VLA, a language-action pretraining framework that enables policies to acquire language-conditioned action priors without visual observations. These priors capture reusable manipulation skills shared across tasks and scenes, reducing reliance on scene-specific visual cues. Specifically, LA4VLA decomposes expert demonstration trajectories into atomic action segments and pairs each segment with a corresponding low-level action description. This yields LA4-33K, a dataset of 33K Language-Action (LA) episodes derived entirely from existing demonstrations without additional robot data collection. We further develop LA4VLA-1B, a lightweight 1B-parameter VLA model, and investigate three paradigms for incorporating language-action supervision into VLA learning: LA-only pretraining, sequential LA-to-VLA pretraining, and mixed LA-VLA pretraining. Across simulation and real-world tasks, LA-pretrained policies consistently outperform matched VLA-pretrained counterparts, while combining LA and VLA supervision leads to further gains. In particular, mixed LA-VLA pretraining improves the average success rate of LA4VLA-1B over the no-pretraining baseline by up to 17.8 and 45.0 percentage points in simulation and real-world tasks, respectively. These results establish LA4VLA as an effective and complementary pretraining strategy for building stronger and more robust VLA policies.

This paper presents BOWConnect, a bidirectional parallel kinodynamic motion planner that addresses three fundamental limitations of existing sampling-based methods: sample inefficiency in high-dimensional state spaces, unreliable cost heuristics under dynamic constraints, and poor performance in narrow passage environments. Unlike classical planners that rely on random control sampling and geometric distance heuristics, BOWConnect integrates Bayesian Optimization over Windows (BOW) as a learning-based steering function within a parallel tree-based exploration framework, enabling each worker to learn local cost maps and constraints to guide sampling toward dynamically feasible and collision-free controls. A bidirectional architecture simultaneously grows forward and backward trees from the start and goal regions in parallel threads, with a spatial hashing mechanism enabling fast connection queries and a boundary value problem solver generating kinodynamically consistent bridge trajectories. Extensive evaluations across ten benchmark environments demonstrate that BOWConnect achieves 100\% success while delivering the fastest or near-fastest planning time in complex scenarios, including narrow passages and non-convex spaces where state-of-the-art planners fail or degrade substantially. Real-world deployment on a ground vehicle and a quadrotor confirms real-time planning with no collisions. Videos of real-world and simulated experiments, high-resolution versions of the figures, and the open-source code are available at https://bow-connect.github.io/.

Job-search platforms rely on low-bandwidth query interfaces that often fail to capture the high-dimensional complexity of candidate profiles. We present an end-to-end RLAIF (Reinforcement Learning from AI Feedback) framework to generate \emph{portable} job search queries, terms that abstract away seeker-specific identifiers while preserving generalizable qualifications. This task introduces a highly adversarial reward surface where policy optimization frequently exploits flaws in LLM-as-judge rubrics, resulting in degenerate verbatim-copying behaviors. We conducted comprehensive empirical experiments to isolate the impact of optimization mechanics against structured reward engineering. Our results demonstrate that for critic-free optimizers, performance is overwhelmingly dictated by robust reward shaping, rendering the specific choice of algorithm largely immaterial. While critic-free per-rollout baseline methods (RLOO and REINFORCE++) natively resist reward-hacking, the group-relative advantage normalization in GRPO appears uniquely sensitive to spurious reward signals, making it disproportionately susceptible to exploitation. We show that introducing a deterministic, rule-based reward floor to correct for rewards assigned to verbatim copying mitigates this failure mode, resulting in a substantial $+0.147$ quality improvement on a cross-family evaluation judge. Ultimately, we show that the training-time reward model inflates performance gains by $2.4\times$, confirming that the training success is fundamentally dependent on enforcing reward-shaping disciplines rather than selecting alternative optimizers.

Large language models (LLMs) are increasingly used to screen and rank job applicants, creating incentives for candidates to strategically manipulate algorithmic hiring systems. We study prompt injection in automated résumé screening, defined as subtle self-promotional text that introduces no new qualifications but is designed to influence LLM evaluations. Using controlled experiments, we show that prompt injection reliably improves applicant rankings when résumé quality is homogeneous and few candidates inject. However, its effectiveness rapidly diminishes as more candidates inject, collapsing when manipulation becomes widespread. When candidate quality is heterogeneous, prompt injection is less effective on average, but can occasionally allow lower-quality candidates to outrank higher-quality ones, raising fairness concerns. Overall, LLM-based screening is most vulnerable when manipulation is rare and candidate quality differences are small. Code and resources are publicly available at: https://github.com/preetb1199/Prompt_Injection_ACL26

Time-series forecasting research has been moving steadily toward larger architectures, from specialized transformers to general-purpose foundation models, on the assumption that capacity is what unlocks accuracy. We take the opposite position: most of the gap can be closed at far lower cost by tuning preprocessing rather than scaling models. We use Ridge regression as the testbed, since it has a closed-form solution and interpretable weights, which let the optimal hyperparameters be read off the search directly. We search over context length, local normalization, regularization, and augmentation on eight standard benchmarks and find three patterns. (1) Optimal lookback is strongly series-specific and often non-monotonic in forecast horizon, with fitted power-law exponents ranging from $+0.46$ on ETTm2 to $-0.19$ on Exchange and Traffic, challenging the convention that longer horizons need longer history. (2) Normalizing over a learned trailing fraction of the context, rather than its entirety, is almost universally preferred. (3) Series within the same dataset often disagree on hyperparameters; the optimal degree of cross-series sharing varies from fully shared to fully per-series. The resulting models beat prior linear forecasters on most dataset-horizon entries and exceed Transformer, MLP, and CNN baselines on six of eight benchmarks. The optimized hyperparameters also serve as a diagnostic on the data itself, revealing structures that larger models absorb silently into their learned parameters.

Earth Observation (EO) forecasting aims to predict future Earth surface dynamics from satellite observations under changing meteorological conditions. In this paper, we view this task as a partially observed, weather-driven world modeling problem, in which weather acts as a conditioning signal, while forecasting remains uncertain due to sparse observations and unobserved land-surface states. However, existing methods do not fully capture this setting: deterministic models collapse uncertainty into a single future prediction, while diffusion-based methods typically treat weather variables as undifferentiated conditioning signals, and existing benchmarks focus mainly on reconstruction accuracy rather than whether forecasts respond correctly to changed weather forcing.We introduce EO-WM, a video diffusion transformer for multispectral EO forecasting. EO-WM incorporates a physically informed conditioning framework that represents meteorological forcing through a climatological baseline, weather anomalies, and cumulative physical stress signals. Specifically, it separates baseline and anomaly through distinct conditioning pathways, and accumulates anomalous forcing over time to capture sustained heat and drought stress. To evaluate weather-response behavior beyond standard metrics, we introduce two diagnostic benchmarks: an Extreme Summer Benchmark for severity-aware prediction of vegetation degradation under extreme weather, and a Seasonal Matched-Pair Benchmark for testing response fidelity under changed weather forcing. Experiments show that EO-WM reduces the error in predicted Normalized Difference Vegetation Index (NDVI) decline amplitude by a relative 5.63% and improves directional hit rate by a relative 7.80%, while remaining competitive on standard pixel-level metrics. The benchmarks and model will be made open-source at https://github.com/Luo-Z13/EO-WM.

Reliably quantifying predictive uncertainty is difficult for complex, high-dimensional, or misspecified models. Both fully Bayesian and bootstrap resampling methods provide principled uncertainty estimates but are often too expensive for modern machine-learning models because they require posterior sampling or repeated model refitting. We introduce Ribbon, a scalable approximation to Dirichlet-reweighted bootstrap uncertainty. Ribbon replaces repeated refitting with an influence-function linearization around a single fitted model, preserving the first-order data-reweighting structure of the Bayesian bootstrap while requiring only post-hoc linear algebra. Ribbon approximates the Bayesian-bootstrap or weighted-likelihood-bootstrap refitting target. With a general concentration parameter, Ribbon gives a calibrated Dirichlet-reweighting family whose uncertainty scale can be tuned on validation data. We show that Ribbon is asymptotically equivalent to a flat-prior Laplace approximation under correct likelihood specification and recovers the robust sandwich covariance under misspecification. Across synthetic regression, MNIST classification, and California Housing benchmarks, Ribbon provides competitive predictive performance and improved calibration in several settings while avoiding repeated model retraining.

Recently, a few works have made early attempts to study test-time scaling for embodied tasks. However, two major challenges remain unsolved: (1) reasoning can effectively improve the performance of the policy, but its scaling mechanism has seldom been studied; (2) historical information is essential, as embodied tasks are inherently long-horizon and sequential, making sole reliance on current observations for action scaling inadequate due to the lack of historical context utilization. To address these challenges, we introduce E-TTS, a modular and plug-and-play Embodied Test-Time Scaling framework that unifies reasoning and action scaling for robotic manipulation via history-aware iterative refinement with vision-language verifiers. To support joint reasoning-action scaling, E-TTS performs reasoning-action joint sampling and scoring in a pairwise manner. To better utilize historical information, E-TTS uses a history buffer to store historical context, which is then used by reasoning and action verifiers to evaluate the sampled candidates. Unlike conventional open-loop TTS methods, E-TTS introduces feedback generation into the sampling process to form a closed-loop iterative refinement mechanism, enhancing both inference efficiency and environmental adaptability. Each component functions as an independent and composable module, allowing flexible and adaptive configuration depending on task requirements. To evaluate the advantages of our framework, we conduct experiments across 4 different benchmarks, 6 environments, 3 embodiments, and 4 base vision-language-action models. The experimental results demonstrate that, without requiring additional expert data collection or retraining, E-TTS consistently improves performance, achieving up to a 33.14% increase in simulation and 26.62% in real-world scenarios.

Reasoning in multimodal large language models (MLLMs) has shown strong promise in medical imaging. However, this reasoning is usually free-form text judged only by its final answer, making it hard to interpret and verify, especially in 3D radiology, where a diagnosis should be traceable to evidence in the scan. Existing chest CT question-answering datasets compound this by reducing expert radiology reports to answer-only pairs, dropping the reasoning that links findings to conclusions and omitting the patient history clinicians rely on. As a result, reasoning-capable 3D chest CT MLLMs remain out of reach, as neither the structured supervision needed to train them nor the protocol needed to verify their reasoning yet exists. We introduce CORTEX (Clinically Organized Reasoning and sTructured EXplanation), a structured reasoning benchmark for 3D chest CT. For each question, CORTEX restores the missing reasoning as a four-stage diagnostic trace mirroring a radiologist's workflow: task understanding, visual observation, diagnostic reasoning, and answer synthesis. We generate these traces using frontier large language models with broad medical and general-domain knowledge, then filter and verify them with a stage-level evaluation protocol combining automated rubric scoring with expert radiologist review. Crucially, both the reasoning structure and evaluation rubrics are designed in close collaboration with clinicians. Built on CT-RATE, a large, publicly available chest CT dataset without reasoning annotations, CORTEX comprises 76,177 validated reasoning traces across open-ended VQA, closed-ended VQA, and report generation, providing both the structured supervision and the stage-level evaluation protocol needed to build and evaluate trustworthy reasoning models for 3D chest CT. Our dataset and evaluation code will be made publicly available upon acceptance.

This work studies resilient output containment for heterogeneous linear multi-agent systems with actuator cyber-attacks over directed network topologies. The leaders generate bounded locally absolutely continuous trajectories; however, their dynamics, velocity bounds, and motion envelopes are undisclosed to the followers. The cyber-attack model includes state- and input-correlated, as well as bounded exogenous actuator false-data terms. A continuous two-layer adaptive control architecture is proposed. The first layer is a virtual-actuator reconfiguration layer that uses partial state measurements to compensate for actuator attacks in the local tracking-error dynamics. The second layer is a network interface that generates task-space commands via an adaptive interaction protocol. This protocol uses only neighbor-exchanged network-interface states whose dimensions match those of the plant output, and it does not require global graph knowledge for parameter tuning. For directed graphs, under a leader-rooted united spanning-tree condition, a nonsmooth Lyapunov analysis yields asymptotic containment at the command level. The physical outputs then converge to the leader convex hull up to a residual determined by the command-tracking local controllers. Simulation results using a network of quadrotors with damped suspended loads illustrate the performance of attack recovery and containment tracking.

Building persistent embodied agents in unstructured environments demands unified orchestration of heterogeneous tools spanning both cyber (APIs, IoT) and physical (manipulation, navigation) domains, coupled with autonomous recovery from physical failures that inevitably arise over extended operation. Existing systems treat these as separate problems: VLM-based planners lack a unified cyber-physical action space, agent frameworks accumulate unbounded context that degrades temporal coherence, and VLA policies execute open-loop without detecting their own failures. We argue that persistent autonomy requires not a monolithic model but a hierarchical asynchronous architecture with explicit separation of planning, memory, and verification. To this end, we present OmniAct, a framework integrating a multimodal semantic planner for skill routing across unified action spaces, an adaptive hierarchical memory with event-boundary-driven compression for sub-linear context growth, and an asynchronous visual preemption engine that closes the semantic loop during physical execution. Across 40 real-world long-horizon tasks on two robotic platforms coordinating four IoT devices, OmniAct achieves consistent improvements in end-to-end success across all complexity levels, maintains near-flat token consumption over under 100k+ accumulated interaction tokens, and elevates mid-scale open-weight models to proprietary-level performance.

In NLP, mental health conditions are often modeled as isolated phenomena, without interpersonal context. We use Reddit posts about long-distance relationships to capture both mental health distress and associated relational triggers. We introduce the Relational Stress and Psychiatry Corpus (RSPC) containing 1,799 Reddit posts annotated by psychiatrists for diagnostic categories, including the most prevalent mood disorders (anxiety and depression), relational stressor triggers, and indications of relationship phase. We benchmark seven fine-tuned transformer models and five large language models across multi-label disorder classification, relational trigger detection, and temporal phase prediction tasks. We find clear task-dependent differences between model families, with Claude-3-Haiku achieving the best disorder classification performance (Macro-F1 = 0.538) and GPT-4o obtaining the strongest relational trigger detection performance (Macro-F1 = 0.519), suggesting distinct model capabilities. We further find strong associations between anxiety disorders and chronic relational uncertainty. Overall, RSPC establishes a benchmark for NLP tasks that consider relational context and supports a shift from individual-centric to context-aware mental health modeling that captures the social and temporal dynamics of distress.

High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulation. Existing data-collection methods largely rely on robot teleoperation, which is constrained by hardware accessibility, operator expertise, and limited efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection. HumanoidUMI uses lightweight VR devices and UMI-inspired grippers to collect sparse human keypoint trajectories, wrist-view observations, and gripper actions. These demonstrations train a high-level policy to predict future keypoints, which are retargeted to robot-native whole-body references and executed by a whole-body controller. Experiments in five real-world scenarios demonstrate the effectiveness of the proposed framework and validate the collected demonstrations for transferable humanoid whole-body skill learning.

We present a conceptual framework for analyzing dialogue in collaborative problem-solving contexts, with an emphasis on the emerging dynamics of human-AI and multi-agent collaboration. As intelligent systems become active agents capable of autonomous reasoning and strategic cooperation, understanding the dialogic interaction during collaborative problem solving is increasingly important for optimizing and evaluating such partnerships. Our framework addresses key limitations in current analytical approaches through a hierarchical two-layer coding scheme that integrates cognitive and non-cognitive problem solving with metacognitive regulatory mechanisms. We demonstrate its effectiveness and generalizability across nine datasets spanning multiple domains, and provide insights into how humans and agents coordinate their knowledge, skills, and efforts to solve complex problems, showing in particular that metacognitive regulation can be an essential discriminator of deeper collaboration.

Recurrent models must forget in order to remember, yet the state of the art decides what to erase without consulting what is stored -- the gate sees only the arriving token, not the memory it is about to modify. This memory-blind gating is one of three coupled defects in the leading delta-rule architecture (GDN-2): the value-axis erase mask wastes parameters at the scale of the value projection, and -- as we prove -- mathematically prevents the WY-form triangular chunk solver that makes recurrent training competitive with Transformers. We introduce CARVE (Content-Aware Recurrent with Value Efficiency), which resolves all three problems through one principle: erase only on the key axis. This is provably necessary and sufficient for the WY-form solver to remain valid. Within it, CARVE reuses the recurrent output tensor -- already written to GPU memory -- as a free content signal for the erase gate, and replaces the per-value write-gate projection with a single scalar per head. At initialisation CARVE is bit-identical to GDN-2; any quality difference emerges from what the content gate learns. At 1.3B parameters trained on 100B tokens, CARVE achieves WikiText perplexity 15.72 (minus 0.18 vs. GDN-2, a 4.5-sigma effect), leads every recurrent baseline on nine common-sense reasoning benchmarks, and sets state of the art on every RULER retrieval probe -- at 0.4% throughput overhead, 13% lower peak memory, and 19% fewer parameters. Six formal theorems cover memory capacity, Lyapunov stability, gradient flow, expressivity separation, Pareto-optimal chunk size, and hybrid optimality.

Evaluating LLM outputs remains a major bottleneck in NLP: human evaluation is expensive and slow, lexical metrics correlate poorly with human judgments on open-ended generation, and holistic LLM judges often produce opaque scores that are hard to debug. We propose BINEVAL, a framework that decomposes evaluation criteria into atomic binary questions and aggregates the resulting verdicts into interpretable, multi-dimensional scores. Given a task prompt, a meta-prompt generates fine-grained evaluation questions, and an LLM answers them independently for each output, yielding transparent question-level feedback together with calibrated overall scores. This decomposition makes evaluation easier to inspect, easier to diagnose, and directly usable for prompt improvement. Across SummEval, Topical-Chat, and QAGS, BINEVAL matches or outperforms strong baselines including UniEval and G-Eval, with especially strong results on factual consistency benchmarks such as QAGS. Beyond competitive correlation with human judgments, BINEVAL better matches human score distributions and avoids the ceiling effects common in prior LLM judges, leading to better discrimination between borderline and clearly flawed outputs. We further show that the same question-level feedback supports iterative prompt optimization, improving evaluator prompts on summarization and generation prompts on IFBench under both self-update and cross-model update settings. Overall, BINEVAL provides a task-agnostic, training-free, and interpretable evaluation framework that combines strong empirical performance with practical diagnostic and optimization value.

Deep learning models have achieved impressive performance across various fields but remain vulnerable to adversarial inputs, particularly in NLP, where such attacks can have significant real-world consequences. Adversarial attacks often involve small, semantically similar token replacements to fool NLP models, and recent methods have become more precise by targeting specific vulnerable words, often by exploiting some level of access to the model's internal structure. This paper proposes GAversary, a hybrid Genetic Algorithm (GA) to generate adversarial attacks on natural language models. The GA is able to treat the target model as a black box, requiring only the logit value output by the model to guide the search. GAversary differs from GAs previously proposed for this problem by using GloVe embeddings to propose word replacements (the mutation operator) to improve the semantic similarity of the adversarial examples. GAversary is applied to several benchmark data sets and well-known target models. GAversary is able to substantially reduce the target model's accuracy on test data compared to the BAE and A2T attacks compared against (in the best case, reducing a 76.8% accuracy to 5.8%, compared to BAE's 27.6%). The trade-off is that GAversary perturbs just under twice as many words as the other two methods, with a slightly lower semantic similarity to the original text and around a 5% increase in run-time.

We argue that safety classifiers should model user intent as an explicit signal between the prompt and the final label. To study this, we introduce AIMS, a human-annotated dataset of 1,724 difficult safety prompts, each paired with an intent description and harm label. We use AIMS to evaluate intent-aware training across supervised fine-tuning, preference learning, reasoning distillation, and reinforcement learning. Despite its size, AIMS enables competitive safety classifiers across training regimes: DPO from model-generated intent errors improves over SFT, and intent-conditioned distillation outperforms reasoning-only distillation in most teacher-student pairs. Most notably, directly rewarding intent faithfulness with GRPO yields the strongest average performance across five external safety benchmarks, while our intent-aware models form the inference latency-F1 Pareto frontier. These results show that faithful intent modeling is a compact, high-quality supervision signal for more robust safety classifiers.

Graph neural networks have moved from a niche representation-learning technique to the default model class wherever data carry relational structure. The interesting question is no longer whether message passing helps on a given dataset, but where graph structure earns its computational cost and where it does not. This survey organises the field around a single design space, derives the spectral and spatial formulations from shared first principles, and connects expressive power to the Weisfeiler-Leman hierarchy with explicit statements of what current architectures can and cannot separate. Against that methodological backbone we examine twelve application domains, among them recommendation and social networks, knowledge graphs and language-model integration, drug discovery and molecular property learning, healthcare and neuroscience, computer vision, traffic and urban computing, power and renewable-energy systems, wireless and sixth-generation networks, fraud and cybersecurity, industrial prognostics, materials science, and climate modelling. For each domain we specify the graph-construction choices and their costs, identify which architecture families dominate and why, and separate reported gains from artefacts of weak baselines or favourable splits. A cross-domain comparison exposes recurring patterns: heterophily and scale undercut the same models almost everywhere, temporal graphs remain harder than their static counterparts, and the architectures that top public leaderboards are seldom the ones that reach deployment. We treat over-smoothing, over-squashing, robustness, distribution shift, fairness, and explainability not as a closing checklist but as the constraints that decide adoption.

We introduce the process harness, a new mechanism for uplifting legacy workflows into Agentic Business Process Management (Agentic BPM) without replacing the underlying workflow engine. A process harness places a policy-governed agentic layer around a deterministic workflow engine, intercepting designated control points to contribute reasoning, adaptation, and oversight while the engine retains structural authority over the process. To define the process harness rigorously, we develop the Task-Decision-Flow (TDF) model, specifying both its data schema and its execution semantics. TDF decomposes LLM reasoning across three policy-governed agent types: a TaskAgent for knowledge-intensive task execution, a DecisionAgent for per-case gateway routing, and a FlowAgent that governs runtime flow adaptation through a principled hook mechanism. Each agent reasons within an explicit policy drawn from the process FRAME, the aggregate policy set governing all LLM calls in the system. We then present CUGA FLO as the design and implementation realization of the TDF model, and demonstrate it on a loan approval workflow that exercises all three agent types and hook-driven regulatory override. The process harness uniquely reconciles imperative requirements, realized through deterministic workflow execution that enforces structural compliance, with normative requirements, realized through policy-framed agentic autonomy invoked at designated control points wherever the process demands it.

Large vision-language models (LVLMs) have recently shown immense potential in automated content moderation, sparking growing interest in developing harmful-video benchmarks. However, we identify two primary limitations in existing works: 1) The multi-layered characteristics of harmful videos are overlooked. Existing benchmarks predominantly formulate evaluation as a binary classification task, failing to capture implicit or deep contextual harms. 2) Explanatory rationales are completely absent. Current frameworks measure exclusively whether a model flags a video correctly rather than explaining why, turning evaluation into a black box where models can succeed through superficial shortcuts. To address these problems, we present HarmVideoBench, a multi-layered diagnostic benchmark comprising 1,379 videos paired with 4,137 multiple-choice questions. HarmVideoBench benchmarks three hierarchical dimensions: Observable Evidence, Clip-Internal Meaning, and Beyond-Clip Reasoning, aiming to evaluate models' deep understanding beyond surface cues with carefully balanced and curated samples. We evaluate 19 leading models on HarmVideoBench to assess their multidimensional understanding of harmful videos. Moreover, we introduce BCR, a benchmark-aligned method that predicts reasoning boundaries and dynamically retrieves context only when needed. Experimental results show that BCR substantially improves the base model's performance in harmful video understanding, raising the macro average from 61.7 percent to a state-of-the-art 84.4 percent.

Sparse rewards are inherently challenging for reinforcement learning agents as they lack intermediate feedback to guide exploration and to correctly attribute the sparse success rewards to relevant parts of the trajectory. Naive reward shaping can induce reward hacking, yielding policies that exploit auxiliary signals instead of solving the intended task. Potential-based reward shaping (PBRS) guarantees preservation of the optimal policy set, but requires the definition of a heuristic potential function over the state space. In this work, we introduce the VLM-guided PBRS framework VLM-PBRS that learns the potential function directly from vision language model (VLM) feedback. We query a lightweight VLM to obtain preferences over image pairs and train a model of the potential function using these preferences. As this approach is based on potential-based reward shaping, it preserves the original optimal policies, and removes the need for expert-designed reward shaping terms. Because large VLMs are prohibitively expensive to invoke repeatedly during policy learning, we employ smaller, more computationally efficient VLMs. Although the resulting preference labels are less accurate, empirical evidence shows that the preference labels can still be used to accelerate learning. We validate our method empirically in the Meta-World and Franka Kitchen environments and highlight the connection between VLM preference label accuracy and sample efficiency improvements. Our contributions are threefold: (1) the first application of VLM preference-based learning to synthesize a potential function for PBRS, (2) a principled, low-cost solution that leverages small VLMs, and (3) extensive empirical demonstration of improved sample efficiency and robustness to reward hacking.

This work addresses the problem of variance in stochastic gradient estimation for machine learning optimization. Deep learning relies on mini-batch methods such as stochastic gradient descent, which approximate full gradients but introduce noise, creating trade-offs between convergence stability, speed, and generalization. Existing methods, including variance reduction techniques (e.g., SVRG and SAG) and adaptive optimizers, aim to mitigate gradient noise but may introduce additional computational overhead. We propose a model-assisted sampling framework that interprets mini-batch gradients through survey sampling theory, treating the dataset as a fixed finite population and gradients as sample-based estimates. Our aim is to bridge machine learning optimization and survey sampling theory by combining their perspectives on sample-based estimation and variance reduction. By incorporating auxiliary gradient-prediction models, we construct more efficient gradient estimators, with uniform sampling arising as a special case when no auxiliary information is used. Our approach integrates easily with existing optimizers, improving efficiency without altering their dynamics. Empirical results on synthetic and six benchmark datasets show performance gains in 71-86% of the experiments, particularly for medium-sized input spaces in our benchmarks. Notably, with momentum-based optimizers such as AdamW, the proposed estimator achieves clearly better generalization in roughly half the training epochs compared to baseline estimator.

I describe my solution to the LeHome Challenge 2026, an ICRA 2026 competition on bimanual garment folding. The system placed 1st of 62 teams in the online (simulation) round and 2nd in the real-world final. It improves a vision-language-action (VLA) policy with a reinforcement-learning loop. The policy is its own value function: the same network that predicts actions also predicts success, progress, and a few task-relevant future quantities, and those predictions drive advantage estimation, live failure detection, and candidate selection. The work mostly recombines existing RL ideas with engineering and optimization contributions that can be used together as one recipe or individually: AWR + RECAP combined for flow-matching VLA; an asynchronous distributed training / rollout pipeline through HuggingFace Hub; inference-time hyperparameters optimization via Thompson sampling; a sim-to-real recipe with camera-alignment tooling, heavy augmentation and DAgger-like HIL data collection.

Multimodal large language models (MLLMs) have achieved strong multimodal reasoning capabilities, but their efficiency is limited by the large number of visual tokens, which introduces substantial computational overhead. Visual token pruning offers a natural solution, yet existing methods are imperfect: attention-based criteria tend to retain redundant tokens, while diversity-based criteria are often agnostic to user instructions. Even methods that combine multiple criteria still lack a principled formulation of the intrinsic objective of token pruning. In this paper, we revisit visual token pruning from a first-principles perspective and formulate it as constructing Token Optimal Preservation Sets. Through a top-down information-theoretic analysis, we identify three fundamental principles for effective token selection: Task Relevance, Information Coverage, and Semantic Diversity. Based on these principles, we propose TOPS, a training-free and model-agnostic pruning module that can be applied to various MLLMs. Extensive experiments on 7 MLLM backbones and 14 benchmarks demonstrate that TOPS outperforms prior methods under diverse pruning settings. Notably, on LLaVA-NeXT, TOPS removes 77.8% of visual tokens while preserving 100.0% and 100.6% performance on its 7B and 13B models, respectively, suggesting that pruning redundant visual tokens can sometimes mitigate hallucination and inspire future lightweight MLLM design.

Root cause analysis (RCA) poses a holistic test of LLM agentic capabilities, such as long-context understanding, multi-step reasoning, and tool use. However, existing datasets suffer from a fundamental gap: they label only the root cause, not the propagation path connecting it to the observed symptom, which largely simplifies the task to naive pattern matching. To support rigorous evaluation, we introduce PAVE, a step-wise labeling protocol that leverages known interventions from fault injection to reconstruct causal propagation paths. The mechanism is forward verification: reasoning from cause to effect rather than inferring backward from symptoms. Applying PAVE yields OpenRCA 2.0 (500 instances), the first cross-system RCA benchmark with step-wise causal annotations for LLM agents. Across 11 frontier LLMs, recovering the exact root-cause set succeeds in only 20.7% of cases on average. To locate where this difficulty lies, we relax the criterion and find what we call the ungrounded diagnosis: agents identify at least one correct root-cause service in 76.0% of cases, but ground that service in a verified causal propagation path to the observed symptom in only 61.5%. Outcome-only evaluation hides this failure mode; step-wise causal ground truth is the missing piece for trustworthy LLM-based RCA agents.

Matrix-orthogonalization-based optimizers, exemplified by Muon, have demonstrated strong convergence behavior across a wide range of modern deep learning workloads. The matrix-aware updates offer a compelling alternative to conventional element-wise optimization, particularly as model architectures continue to grow in scale and heterogeneity. Yet contemporary distributed training infrastructure built around the assumption of element-wise optimizers is poorly matched to matrix-level optimizers such as Muon, whose updates couple entire weight matrices and require costly Newton-Schulz iterations. Vanilla Muon implementations incur more than 2x the cost of forward and backward passes. To close this gap, we present DMuon, an open-source distributed Muon implementation that integrates into existing training pipelines as a drop-in module, with no framework-level modifications. Across both embodied foundation model and large language model (LLM) training workloads, DMuon achieves a 1.48x-3.01x speedup in end-to-end step time and a 6.85x-163.00x speedup in optimizer-step time, bringing per-step latency to near-AdamW levels and enabling efficient scaling in our model training.

Unlike diffusion-based models that operate in continuous latent spaces, autoregressive unified multimodal models produce images by sequentially predicting discretized visual tokens. These tokens are derived from a codebook that maps embeddings to quantized visual patterns. The language-like architecture enables unified multimodal models to effectively capture text conditional information for generation, making them promising for text-to-image tasks. This also raises an interesting question: how safe are the images generated in such an autoregressive way? In this work, we propose iterative self-improving codebooks for safe autoregressive generation. We leverage the understanding and judgment capabilities of the unified multimodal model itself to identify unsafe generated images without human annotation. Subsequently, the inherent representations in the codebook are fixed to eliminate harmful mappings. Our method comprises two steps: first, we use the unified model to identify unsafe generations and construct corresponding harmful and safe image-text pairs. These pairs are used to construct the Harmful Space and guide updates to the codebook, thereby eliminating harmful outputs. Second, we perform adaptive fine-tuning on the codebook within the harmless space using safe image-text pairs to ensure the quality of generated images. These two steps are repeated until no further improvement is observed, producing a safety-enhanced model codebook. Without additional external feedback, the safety of models is improved iteratively.

Long-horizon robotic manipulation is highly sensitive to physically infeasible transitions, contact-induced disturbances, and the lack of effective self-correction during execution. Although Vision-Language-Action (VLA) models provide strong task grounding through multimodal learning, they typically generate actions in a feed-forward manner without explicitly checking physical feasibility or diagnosing execution errors online. We present PhysReflect-VLA, a plug-and-play execution-time reliability framework that augments VLA policies with physical feasibility evaluation and structured self-reflection in a closed-loop control pipeline. A Feasibility Operator evaluates whether candidate actions induce dynamically consistent state transitions; an Action Explanation Operator verifies transition coherence; and an LLM-based Reflection Module analyzes state discrepancies to generate corrective guidance for subsequent actions. A two-stage training procedure stabilizes feasibility modeling and integrates reflection into the control loop. Experiments on multi-stage, contact-rich real-world manipulation tasks show consistent improvements in stage-wise stability and overall task success compared with representative VLA baselines with an average gain of 5.4\%. Ablation results further indicate that feasibility checking and reflection-based correction both contribute to improved execution robustness. These results highlight the importance of embedding physical consistency checks and online self-reflection for reliable long-horizon robotic manipulation.

Reliable action generation for multi-stage robotic manipulation remains challenging for Vision-Language-Action (VLA) models. While existing flow-matching VLA policies offer strong multimodal grounding and generalization, they typically employ a single shared action expert, limiting their ability to capture phase-specific control patterns across distinct execution stages. We propose a plug-and-play Phase-Aware Mixture-of-Experts Action Module (PAMAE), as a step towards more reliable phase-consistent action generation. PAMAE replaces the original flow-matching action expert with a sparse expert mixture while preserving the pretrained VLA backbone. PAMAE introduces a phase-aware router that leverages execution-phase cues to allocate action generation across experts, supported by a lightweight phase prediction head and a routing alignment objective. To stabilize specialization, we adopt a two-stage training scheme that first warms up the expert module under the standard flow-matching loss and then optimizes phase-consistent routing under auxiliary supervision. On multi-stage manipulation simulation tasks, PAMAE improves task success by up to \textbf{9.2\%} over strong VLA baselines. Further ablations show that both phase-supervised routing and staged optimization are essential for the observed gains. Our results highlight phase-consistent expert allocation as an effective mechanism for improving the reliability and action quality of flow-matching VLA policies.

We develop the fTNN, a deterministic tensor neural network subspace method for problems involving the fractional Laplacian on bounded domains, taking the fractional Poisson equation and time-dependent fractional advection-diffusion equation as typical representatives. The work employs a geometry-adapted integration split featuring a spatially dependent near-field radius, which decomposes the fractional Laplacian into three contributions: a singular near field, a regular interior far field, and an analytical exterior far field. Then the singular radial integrals are treated by Gauss-Jacobi quadrature, the regular radial integrals by Gauss quadrature, and the angular variables by deterministic angular quadrature, yielding a fully deterministic integration framework of the fractional Laplacian operator. To accurately resolve low-regularity solutions and the associated loss functional, we construct boundary-singularity-aware trial functions enriched with explicit boundary features, and propose two strategies for automatically selecting the leading exponent and evaluating the loss function from the singularity structure induced by the fractional operator, or jointly by the fractional operator and the source term. For time-dependent fractional PDEs, we design a spatiotemporally separable neural network that factorizes the time-space residual into a sum of low-dimensional temporal and spatial integrals, and we integrate this representation with an alternating neural network subspace optimization strategy for efficient training. Numerical experiments show that the proposed framework attains high accuracy on the tested benchmarks and improves substantially over existing fPINN and Monte Carlo baselines, particularly for problems with strong boundary singularities and long-time simulations.

For LLM agents in multi-step interactive environments, a key challenge is to make effective use of accumulated interaction experience. Existing work has typically separated two uses of such experience: keeping it outside the model as natural-language rules for later prompting, or using trajectories and feedback to update the model parameters. The former is easy to interpret but can fall out of sync with the evolving policy; the latter improves the policy more broadly but provides only limited correction for local mistakes in sparse-reward settings. We present Joint Learning of Experiential Rules and Policies for LLM Agents (JERP), which updates a long-term experiential-rule pool and the policy from the same interaction trajectories. At decision time, JERP retrieves task-relevant rules and conditions the agent on them together with the interaction history. After each episode, it uses the collected trajectories both to optimize the policy and to revise the rule pool by comparing current rollouts with reference successful trajectories. This coupling keeps the rule pool aligned with the evolving policy while allowing stable and effective behaviors to be gradually absorbed into the model itself. Experiments on AlfWorld and WebShop show that JERP yields consistent gains in decision performance for complex interactive tasks.

Wildfire monitoring from UAVs requires reliable reasoning over complex aerial scenes, where smoke, scale variation, and occlusions often limit RGB-only interpretation. We introduce FlameVQA, a multiple-choice visual question answering benchmark for UAV-based wildfire intelligence built on FLAME 3, leveraging paired RGB imagery and radiometric thermal TIFFs for temperature-grounded, safety-critical reasoning. FlameVQA includes 34 multiple-choice questions per image spanning six operational capability groups, covering tasks such as detection, localization, distribution/coverage estimation, cross-modal reasoning, and flight planning. To ensure label reliability, we combine MLLM-assisted annotation with deterministic thermal rules and cross-question consistency checks, followed by human auditing. We also evaluate representative MLLMs on FlameVQA to provide baselines for future work. Results show strong performance when explicit cross-modal cues are available, but notable failures on presence detection under heavy smoke and on coverage estimation. These findings suggest that current MLLMs require domain-specific adaptation to better support disaster and wildfire monitoring. The dataset and benchmark code are open-source at github.com/mobiiin/WildFire_VQA

Closed-loop traffic simulation remains challenging because it must generate interactive multi-agent behaviors that are scene-consistent and controllable throughout rollout. Prior diffusion-based approaches achieve strong realism, but their computational cost can hinder deployment in time-constrained replanning loops for autonomous vehicle planning and simulation. We present a diffusion-based scenario generation framework conditioned on instance-centric scene context and multimodal proposal priors, with optional test-time guidance for shaping safety-critical behaviors. A compact action-latent representation and proposal-based initialization improve sampling efficiency and reduce per-step runtime without retraining. Experiments on the Waymo Open Motion Dataset demonstrate a favorable balance among realism, safety, and controllability across diverse interactive scenarios, while showing that test-time guidance enables systematic trade-offs among competing objectives.

Translating C programs to safe Rust is challenging owing to significant differences in typing constraints, ownership, and borrowing rules. Interpreter programs are particularly important targets for such translation, as they often handle untrusted inputs and suffer from memory-related vulnerabilities. We present Reboot, a mostly-automatic technique that translates real-world interpreter programs from C to safe Rust. Using Reboot, we have translated six interpreters ranging from 6k to 23k lines of C code to safe Rust, with each translation requiring only 1 to 11 brief user interventions. All translations pass 100% of the provided test suites, and achieve 62%--92% pass rates on separately created validation tests that were never exposed to the system. A security case study on mujs shows that memory vulnerabilities such as heap buffer overflows and use-after-free present in C are eliminated in the safe Rust translation. Two ideas underpin Reboot. First, feature reduction decomposes the translation by program features, creating a sequence of milestones where each is a complete, testable program; the translation starts from the simplest version and incrementally restores features, with each milestone validated before proceeding. Second, a multi-agent architecture orchestrates inherently unreliable coding agents through automated validation and feedback, keeping long-running translation workflows on track with minimal human involvement. An ablation study confirms that feature reduction improves translation correctness compared to using multi-agent translation alone, with 6%--20% improvements in pass rates on validation test suites.

Humans flexibly adapt their reasoning strategies to the requirements of a given problem. Large language models (LLMs) have performed well on many cognitive tasks, however, it is unclear whether this accuracy is a result of pattern matching from training data or flexible reasoning. Here, we introduce a novel paradigm to test this question: the riddle riddle paradigm. Riddle riddles are word problems written to mimic popular riddles, but altered so their answers only require literal interpretations. Identifying correct answers requires looking past the structure of each question and flexibly apply different reasoning strategies based on the content. If LLMs respond to surface features, such as form, a riddle-like structure should cause models to use an inventive reasoning strategy even when a literal interpretation suffices. Alternatively, if LLMs reason based on content, they should flexibly switch strategies when appropriate. Across two experiments with nine state-of-the-art LLMs and 100 human participants, we show humans and LLMs fail on this paradigm in opposite directions. LLMs were far more accurate on genuine riddles than on riddle riddles (84.9% vs. 50.7%); whereas humans showed the reverse effect (50.5% vs. 80.5%). Error analysis shows that 90.8% of LLM errors on riddle riddles (the condition where they show diminished performance) were due to inappropriate use of inventive reasoning while only 57.6% of human errors on genuine riddles were due to overextending literal reasoning. Thus, while both groups make mistakes, reasoning mistakes are made more often by LLMs than by humans. Overall, LLMs' strong performance on genuine riddles may reflect memory retrieval rather than flexible strategy selection, and without stimuli designed to elicit this contrast, it becomes easy to conflate LLM-generated outputs that look like reasoning with genuine reasoning.

Structuring optical near-fields is important for applications in microscopy and nanoparticle manipulation. Traditionally, near-fields are structured using antenna nanostructures that locally convert propagating far-fields into bound near-fields. Recently, a remote structuring approach was proposed using cascaded mode interference in a multimode waveguide. However, determining the complex coefficients of the optimal modal combination needed to obtain specific near-fields remains a challenge. We address this inverse design problem using artificial neural networks. We model the relationship between the design parameters and near-field landscapes using multilayer neural networks. After training, these networks are used for gradient-based optimization to reconstruct target near-field profiles. We implement this methodology to design longitudinal and lateral field variations. Our approach designs simple and complex longitudinal landscapes, demonstrating accurate prediction and flexibility. Lateral field reconstruction is more challenging but improved with training data selection and augmentation. This work establishes deep learning as an efficient and scalable framework for cascaded-mode near-field inverse design.

LLMs fine-tuned for security classification are usually evaluated on held-out examples from the same distribution as their training data. We show that this can miss vulnerabilities introduced by fine-tuning itself: models can learn token-level indicator semantics that preserve canonical accuracy while failing under behavior-preserving transformations such as PowerShell alias substitution, command reconstruction, string construction, execution indirection, and case mutation. We study Foundation-Sec-8B-Instruct and its base model, Llama-3.1-8B-Instruct, on matched PowerShell classification cohorts. Causal interventions localize the classification circuit to a late-attention route inherited from Llama rather than created by fine-tuning. Fine-tuning concentrates and semantically specializes this inherited structure, improving baseline behavior while creating transformation-sensitive attack surfaces. A three-tier evasion benchmark finds Foundation-Sec misses on iwr substitution, Invoke-Expression reconstruction, and case-mutated Invoke-Expression/IEX variants that Llama does not share. We also derive a pre-deployment monitoring method: a linear probe at the classification boundary and an indicator-token sign test identify command families where canonical indicators change role after fine-tuning. These signals prioritize red-team variant generation using only canonical inputs, showing that security fine-tuning can improve task accuracy while expanding the evasion surface. These results caution against treating small task-specific fine-tunes as straightforwardly safer security classifiers: specialization can convert inherited model structure into brittle indicator rules that preserve held-out accuracy while expanding the evasion surface. Robust AI-enabled security will require specifying the full transformation space of the task and monitoring semantic drift through fine-tuning.

Modern image generation model rapidly grows their sizes to meet high-fidelity image synthesis. However, they gradually become unaffordable for their enormous parameter consumption and computation budget that lead to massive resources requirement and gpu memory footprint. In this paper, we propose TMP, the first Tree-structured Mixed-policy Pruning framework that generalizes prevalent image tasks (T2I and TI2I) and architectures (Mixture-of-Experts (MoE) and Diffusion transformer (DiT)). It could be applied to the step-distilled models and contribute as the last stage. We perform experiments upon current open-sourced SOTA HunyuanImage-3.0 instruct and a popular efficient model Z-Image turbo. The proposed pruning framework manages to compress HunyuanImage 3.0 from 80B to 20B parameters at 75% reduction ratio, sacrificing limited generation quality. We also optimize to enable the inference of the pruned 20B version of HunyuanImage 3.0 on a single 24GB 4090 GPU by engineering skills. The inference script and model weight have been integrated into the existing HunyuanImage3.0 open-source github and huggingface repository. Besides, we prove the efficacy of TMP by compressing Z-Image turbo from 6B to 4B (33% reduction) with negligible degradation.

In embodied intelligence, safety is a prerequisite for reliable robot deployment in the physical world. Current vision-language-action (VLA) models continue to advance toward general-purpose task capability, yet their embodied safety limits remain poorly understood. To address this gap, we introduce ForesightSafety-VLA, a diagnostic benchmark that makes safety the primary evaluation target for VLA systems. We define a 13-category safety taxonomy covering physical interaction safety (Safe-Core), instruction-side safety (Safe-Lang), and perception-side safety (Safe-Vis), and evaluate policies under three controlled dimensions of variation -- scene structure, language command, and visual observation -- so that failure sources can be diagnosed rather than hidden in a single aggregate score. Beyond binary task success, ForesightSafety-VLA measures process-level risk through cumulative safety cost (CC) and risk exposure time (RET), together with a four-quadrant decomposition of safe/unsafe success and failure. We instantiate 66 safety-augmented base scenarios in RoboTwin across 5 embodiments and report results on representative VLA baselines. Across the evaluated baselines, even the strongest policy incurs non-trivial safety cost and unsafe nominal success, while structure and visual variation induce substantially stronger safety degradation than ordinary language variation. These results suggest that embodied safety is tightly coupled to perception, grounding, and control competence rather than being reducible to post-hoc safety filtering alone.

Panoramic sensing offers wide field-of-view coverage, yet 3D reconstruction from sparse panoramas remains challenging under rotation-dominant, weak-parallax motion. In such regimes, SfM/SLAM initialization is often ill-conditioned and unreliable. We present PanoImager, an SfM-free framework that combines feed-forward pose/depth priors, geometry-conditioned diffusion view completion, and depth-guided 3DGS optimization. Given only a few panoramic images, PanoImager decomposes them into local perspective views, synthesizes auxiliary observations to enrich sparse evidence, and stabilizes Gaussian optimization for improved cross-view consistency. Experiments on multiple benchmarks show improved stability under extreme sparsity, suggesting PanoImager as an offline/background component for map refinement when SfM/SLAM fails to initialize.

Legal outcome prediction must disentangle objective case facts from adjudicative context. Merit-based rulings rely on factual evidence while technical disposals may hinge on judicial discretion. We propose a Judge-Aware Gated Multi-Task Learning architecture that explicitly models this distinction. We introduce a fine-grained outcome taxonomy to supervise the encoder, enforcing a structural regularization that disentangles distinct semantic pathways. This granular legal curriculum enables our Gated Fusion mechanism to dynamically modulate reliance on judge identity. We evaluate our approach on 13,937 UK Employment Tribunal decisions. We benchmark our design against supervised fine-tuning (SFT) of a Gemma-4 26B-A4B backbone, in which judge identity and the taxonomy are injected as prompt tokens or autoregressive output targets. The two contextual signals compose only weakly when forced through a single autoregressive channel. In contrast, coupling a LoRA-adapted Gemma-4 encoder with our gated architecture defines a new state of the art on this benchmark while requiring an order of magnitude fewer trainable parameters than the generative SFT baselines, with gains concentrated on the most ambiguous and rarest outcome classes. Beyond accuracy, the architecture is interpretable; learned judge embeddings and calibration profiles localize the cases where adjudicative context drives the prediction. These results indicate that, for identity-conditioned classification of legal outcomes, the choice of conditioning interface dominates scale: differentiable structured composition yields more accurate, more parameter-efficient models than prompt-based composition over a substantially larger backbone.

Open-source game theory studies agents whose behavior may depend on one another's decision procedures, but most existing models use discrete or symbolic programs. We introduce parametric open-source games, a continuous analogue of program equilibria in which players choose parameter vectors and semantics maps convert the full parameter profile into mixed actions in an underlying finite game. We establish equilibrium existence results, derive an exact coupling threshold at which selfish gradient ascent in symmetric $2\times2$ games switches from defection toward cooperation, and give a one-dimensional boundary test for parametric program Nash equilibria. We further extend the framework to a neural semantics class whose first-order cooperation condition is governed by the ratio of cross-player to self-player sensitivity. Across canonical games, the framework shows how access to internal parameterizations can qualitatively reshape learning dynamics and equilibrium structure, and how sufficiently strong open-source coupling can steer selfish optimization toward cooperative outcomes.

Large language models (LLMs) have demonstrated strong performance across a wide range of tasks, but ensuring their reliability in highly technical domains remains a significant challenge. In nuclear engineering, problem solving often requires not only factual knowledge but also quantitative reasoning and conceptual understanding. To address the need for systematic evaluation in this domain, we introduce NuclearQAv2, a benchmark for assessing LLMs on nuclear engineering knowledge. The benchmark comprises approximately 1,240 question-answer pairs spanning three categories: boolean, numeric, and verbal. NuclearQAv2 is constructed using a hybrid pipeline that combines expert-authored questions, existing datasets, and LLM-assisted generation from domain-specific technical corpora. By leveraging structured prompting for both automated question generation and response evaluation, the proposed framework enables scalable benchmark construction and evaluation. We evaluate a diverse set of LLMs using NuclearQAv2 and observe substantial performance differences across task types. While the models generally perform well on factual questions, quantitative reasoning and conceptual understanding remain considerably more challenging. These results highlight the importance of multi-faceted evaluation frameworks and establish NuclearQAv2 as a scalable benchmark for assessing LLM capabilities in technical domains.

AI coding agents dramatically accelerate implementation speed but introduce two structural failure modes that existing spec-driven approaches do not fully solve: (1) context explosion -- the agent must reason over an entire repository at once, degrading output quality as the context window fills; and (2) silent spec-code drift -- code evolves, the specification does not, and the divergence becomes invisible until it is costly to repair. We present the Spec Growth Engine, a lightweight framework that addresses both failure modes through a machine-readable spec graph whose nodes carry explicit contract/design separation, a Spine context assembler that scopes agent context to an ownership path, a vertical-slice growth protocol that enforces hardest-first ordering, and a drift gate that makes spec-code divergence a blocking merge condition. The design synthesises well-established software engineering principles (Parnas information hiding, C4, ADRs, Walking Skeleton, Reflexion Models, Fitness Functions) into a lean, code-coupled, machine-enforced whole -- without the overhead of heavy-weight frameworks such as RUP or MDA.

This paper proposes and demonstrates experimentally for the first time a Kolmogorov-Arnold Network (KAN)-based digital predistortion (DPD) model, named envelope time-delay KAN (ETDKAN), for mitigating nonlinear distortions in analog radio-over-fiber (A-RoF) systems. The ETDKAN model incorporates physical constraints of radio-frequency (RF) nonlinear devices and, through KAN symbolization, achieves a significant reduction in computational complexity while improving interpretability. The proposed model is numerically implemented and optimized alongside multilayer perceptron (MLP) and memory-polynomial-based DPDs. Results show that the resulting symbolic ETDKAN (symbETDKAN) attains ACLR and EVM performance comparable to neural network-based models, while maintaining a computational complexity close to that of memory polynomials. Experimental validation using an A-RoF system confirms the practical feasibility of the proposed approach, which resulted in a 4-5 dB reduction in ACLR in the analyzed scenario.

This study introduces a particle-based computational framework to investigate the scalability of morality and the systemic decoupling of formal law from decentralized social ethics in expanding populations. While micro-societies reinforce ethical conduct through local reciprocity, macroscale systems introduce anonymity that strains cognitive memory limitations. We model individual agents as discrete particles with finite memory capacities ($L$) and dynamically evolving, stochastic choice profiles ($μ$) regulated by non-linear social pressure switches. Monte Carlo ensemble simulations demonstrate a distinct, non-linear phase transition as the population scales ($N \to \infty$). When the population metric outpaces memory capacity ($N \gg L$), the local re-encounter probability drops as $\mathcal{O}(L/N)$. This structural dilution neutralizes decentralized peer-to-peer accountability, causing global behavioral norms to decouple from moral baselines and drift toward a minimalist legal floor. Furthermore, cyclic scale experiments expose a prominent, path-dependent hysteresis loop, mathematically formalizing the non-Markovian inertia and irreversible nature of moral decay in self-organizing social systems.

Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their reliance on isolated contact points or latent affordance embeddings lacks the rigorous kinematic constraints necessary for complex articulated objects.To overcome the limitation, we introduce RelAfford6D, a novel training-free framework centered on a Relational 6D Affordance Graph. Given a free-form instruction, our system deduces a semantic topology linking a primary interacting part to its physical anchor. By elevating these topological nodes into precise metric $SE(3)$ poses via vision foundation models, we analytically formulate downstream execution as a kinematic constraint satisfaction problem. The robot synthesizes continuous trajectories by tracking strictly defined physical manifolds (e.g., revolute or prismatic orbits). Coupled with a closed-loop tracking mechanism for dynamic replanning against disturbances, our physically grounded approach achieves superior zero-shot success rates, cross-category generalization and execution robustness in both simulation and the real world environments, outperforming existing data-driven baselines.

Energy trading decisions depend not only on current market prices, but also on expected future market conditions, and operational constraints. This makes the state representation given to a reinforcement learning agent an important design choice. We study this in HydroDam, a pumped-storage arbitrage environment, using a fixed Double DQN agent. The environment, action space, reward function, network, and training protocol are kept fixed; only the market features are changed. We compare absolute price/calendar features, relative features that compare current prices with recent market history, forecast features, and all combinations of these three feature families. Policies are trained and selected using 2007--2011 Belgian day-ahead prices and evaluated on two test settings: a later same-market test set from 2012--2025 and 39 other ENTSO-E market zones. Absolute features only reaches 28.8% on the test set and a median 5.7% across zones. Relative-only and forecast-only states also stay below a rolling price-score heuristic in the cross-zone median. Combining feature families is much stronger: absolute + relative reaches 49.9% on the test set and a 39.8% cross-zone median, while absolute + relative + forecast reaches 55.6% and 47.5%. These results suggest that state representation is not a minor preprocessing choice in storage-trading RL, but a central part of the policy design: robust transfer requires combining price scale, recent relative price context, and short-horizon forecast information, rather than relying on any single feature family.

Hamiltonian Neural Networks (HNNs) integrate physical priors into neural models by learning a system's Hamiltonian, improving generalization and sample efficiency. Identifying the system Hamiltonian from noisy observations of state variables is a challenging task. For simulations to faithfully reflect the long-term behavior of Hamiltonian systems, especially energy conservation, it is essential to use symplectic integrators, which preserve the system's geometric structure. This fidelity comes at a cost: implicit symplectic integrators are more computationally intensive and make backpropagation through the ODE solver non-trivial. However, by leveraging the fact that symplectic discretizations of the adjoint system yield the same sensitivities associated by backpropagation, we obtain an efficient method of training the Neural Network parameters. In our work, we explore this alternate method of HNN training under noisy observation of trajectories with our HNN model based on an implicit symplectic integrator. Computationally, a predictor-corrector based ODE solver and fixed point iteration help to mitigate the computational cost of the implicit timestepping, resulting in more efficient generation of gradient updates. We showcase the numerical advantage, in experiments, in system identification and energy preservation on a range of non-separable, chaotic systems and the efficient computation and memory complexity of our method. We also observe that the post-processing of the learned Hamiltonian using backward error analysis yields a modified Hamiltonian that is a more accurate approximation of the true Hamiltonian without the need to use more accurate discretizations of the flow map.

With the rapid evolution of LLM-driven agents, Model Context Protocol (MCP), an open protocol bridging LLMs with external tools, has quickly become foundational to modern agent ecosystems. However, the expanding adoption of MCP has also introduced novel security concerns such as Tool Poisoning Attack (TPA), which exploit LLM-server interactions to inject malicious prompts. Existing poisoning schemes typically adopt a monolithic plaintext embedding paradigm, which fails to withstand manual inspection or automated detectors. Current research still lacks a systematic analysis on multi-tool poisoning, where multiple tools can be exploited cooperatively to disperse detection risk. In this paper, we introduce ShareLock, a multi-tool threshold poisoning framework that utilizes Shamir's threshold scheme to ensure exceptional stealth and fault tolerance. ShareLock distributes the malicious instruction as benign-looking secret shares across multiple tool descriptions, achieving both information-theoretic secrecy and attack robustness against moderate auditing. After a covert reconstruction trigger is planted during server update, the aggregated shares reconstruct the hidden instruction, resulting in critical breaches of system assets or private data. To evaluate the realistic threat of ShareLock, we constructed a comprehensive benchmark encompassing four multi-tool scenarios and conducted extensive experiments across mainstream LLMs on two distinct MCP clients. Our results demonstrate that ShareLock significantly outperforms existing single-tool poisoning strategies in tool description-based detection while maintaining an average attack success rate exceeding 90%.

Multimodal large language models (MLLMs) applied to Medical Visual Question Answering (VQA) tend to produce overconfident outputs regardless of actual correctness, and existing verbalized confidence calibration methods, developed primarily for text only LLMs, do not account for the multimodal nature of medical image understanding. This work proposes a training based framework that finetunes MLLMs to improve their calibration using a composite loss function combining a Brier style calibration term, an anchor regularizer that prevents confidence collapse toward extreme values, a contrastive image text alignment term, and a KL based model stabilization term. The alignment signal is derived from a $2 \times 2$ factorial perturbation design that crosses image presence with text integrity, probing the reliance of the model on visual modality input versus language priors. Finally, a top K KL divergence regularizer is used to protect the answering ability of the model during finetuning. Across three Medical VQA benchmarks and two architectures (MedGemma 4B IT and Qwen2 VL 7B Instruct), our method reduces calibration error by 60% or more, and improves discrimination by 26% or more, while preserving predictive accuracy. On average across benchmarks, the technique outperforms prompting based, sampling based, and training based approaches, and ablation experiments confirm that each component of the loss function is indeed necessary for improving the calibration. All code for the experiments is publicly available.

Temporal reflection in nonlinear optical fibers provides a powerful framework for manipulatinglight. In this work, we theoretically and experimentally demonstrate a novel mechanism for wavetrapping induced by the dynamical evolution of a single high-order soliton pulse. Experimentalmeasurements performed in a 5-km-long nonlinear dispersion shifted fiber confirm the coexistence ofreflected, transmitted, and trapped components, in excellent agreement with theoretical predictions.These results establish a simple and versatile route toward dynamic temporal waveguiding using asingle optical pulse, opening new opportunities for all-optical control and manipulation of ultrafastsignals.

Joint Embedding Predictive Architectures (JEPAs) have recently emerged as a promising paradigm for world modeling by learning predictive dynamics in a latent space rather than generating future observations at the input level. Despite their empirical success, the theoretical understanding of JEPA-based world models remains limited. In this paper, we develop the first generalization theory for JEPA-based world models. We formulate JEPA pretraining as a conditional spectral graph learning problem and show that the JEPA objective is equivalent to a low-rank factorization of an action-conditioned co-occurrence matrix. Building on this characterization, we establish a connection between JEPA pretraining error and downstream planning regret, leading to a finite-sample generalization bound for JEPA-based world models. Our analysis reveals an inherent trade-off between approximation and sample errors with respect to the latent dimension, providing theoretical insights into the advantages and limitations of latent predictive models compared with input-level predictive approaches.

Multi-agent large language model (LLM) loops, for example a Writer that drafts and a Critic that revises, are almost always terminated by a fixed iteration cap (max_iterations). This is a syntactic kill-switch: it is blind to whether the answer is still improving, so it over-spends tokens on easy inputs and truncates hard ones. We study semantic early-stopping: the loop halts when consecutive draft embeddings stop changing in meaning (cosine distance with a patience window) and the answer's measured quality stops improving. Our work makes three contributions. First, an honest theoretical footing: we prove deterministic termination and well-definedness and machine-check these claims, while treating the convergence of the distance sequence as an empirically tested conjecture rather than a (previously over-claimed) Banach contraction. Second, a judge-efficient evaluation protocol: we generate each question's full trajectory once, replay every stopping policy over the identical drafts, and cache every LLM-judge call, yielding a strictly paired efficiency-versus-quality comparison at low cost; we further separate operational tokens (charged to a policy) from evaluation tokens (a measurement instrument). Third, an empirical study on multi-hop retrieval-augmented question answering (HotpotQA). On the 60-question test split, a judge-free semantic stopper reduces operational tokens by 38% relative to max_iterations at parity quality (Delta-IS = -0.004, p = 0.81), whereas the full quality-gated variant is counter-productive because its per-round judging dominates cost. An oracle that selects the best round attains +0.115 Information Score over every practical policy (p ~ 4e-11), reframing the problem from "when to stop" (easy) to "which round is best" (open).

Modern AI systems are increasingly deployed under non-stationary computational, demographic, and operational conditions in which static resource allocation strategies degrade both predictive performance and human-centric properties such as fairness and explainability. This paper presents AURORA-AI, an Adaptive Utility-driven Resource Orchestration framework for Resilient AI that unifies Hamilton-Jacobi-Bellman feedback control, Lyapunov-based stability monitoring, and a fairness-aware composite utility into a single closed-loop policy.The framework continuously redistributes computational budget across a population of heterogeneous AI models so that the global utility, defined jointly over predictive performance, demographic parity, cost, latency, robustness, and interpretability, remains maximised under disruption. The framework is evaluated in a stress-rich discrete-time simulation that concurrently injects demographic bias shocks, gradual concept drift, and abrupt black-swan disruptions, and is compared against five established controllers including Static, Round Robin, Greedy, LinUCB, and a deep reinforcement-learning agent based on Proximal Policy Optimisation. AURORA-AI achieves immediate recovery from the black-swan event compared to eighty-eight time steps for the Static baseline and twenty-two for Proximal Policy Optimisation, lifts the alpha-quantile and the super-quantile by twenty-nine and twenty-five percent respectively, simultaneously reduces the mean and maximum demographic parity gap, and increases the fraction of Lyapunov-stable operating steps. These results indicate that fairness-aware adaptive orchestration grounded in stability theory is a practical and theoretically motivated path toward resilient human-centric AI deployment.

Large language model (LLM) post-training for reasoning increasingly relies on reinforcement learning with verifiable rewards (RLVR), where models learn from ground-truth feedback on mathematical, logical, and scientific tasks. To enable flexible resource allocation and support heterogeneous training setups, modern RLVR systems adopt disaggregated architectures that decouple rollout generation and policy training across independent GPU pools. However, existing synchronous on-policy GRPO (Group Relative Policy Optimization) RLVR systems finish an entire rollout before starting training, leaving the trainer GPU pool idle while rollout is still ongoing. Asynchronous RL pipelines overlap the two stages, but at the cost of training on stale data. To address these challenges, we propose RolloutPipe, a post-training framework for disaggregated RLVR systems, which turns the fixed-weight rollout into a complete-group pipeline where trainable groups move to the trainer while later groups are still being generated. RolloutPipe achieves this through two techniques including complete-group pipelining (CGP) and frontier-group dispatch (FGD). CGP dispatches each trainable complete group to the trainer FIFO as soon as group materialization finishes, and FGD is an admission policy on the Rollout node that first admits requests for the frontier groups needed to form the next training batch, so that trainer-ready groups arrive earlier and more steadily. The design starts training before the rollout completes while maintaining on-policy correctness. Evaluated on Qwen3-1.7B across four reasoning and science benchmarks and twelve rollout settings, RolloutPipe shortens the rollout-to-train-end time by 30.7%-42.3%, and lowers the trainer waiting ratio by 37%-76% compared to Slime, a state-of-the-art rollout and training system.

Existing referring video segmentation methods often treat a video as a single event consisting of multiple images, overlooking the fact that a video typically contains multiple distinct events. Under such a mechanism, the model needs to directly understand all the complex content in the video and text, which can easily lead to confusion and hallucinations. To address this issue, we propose to decompose a video to a set of simple events by learnable Event Query, and understand complex video content in an event-by-event, easy-to-understand manner. This is based on the observation that natural language expressions often divide a video into distinct, text-related segments, each representing a separate event within a compound event. We introduce EVIS, an Event-Aware Video Instructed Segmentation Assistant, which utilizes text-guided Event Queries to partition a video into simple events, extracting event-aware visual-text features to achieve a hierarchical understanding of the video. Additionally, we propose Object-Pixel-Hybrid Learning, which enables the MLLMs to track targets in long-term videos by integrating fine-grained pixel features with prior object queries. Extensive experimental results on 5 public benchmarks demonstrate EVIS's strong performance in addressing the referring video segmentation task.

Uncertainty estimates in machine learning are typically evaluated using generic metrics such as the negative log-likelihood and expected calibration error, yet good performance on such metrics does not necessarily imply high utility in downstream decisions. We introduce decision-alignment, a criterion that reveals which evaluation metrics meaningfully align with downstream utilities. Applying this framework, we show that many widely used uncertainty metrics are either misaligned with common decision problems or encode pathological prior beliefs about the downstream task. We then propose prior-weighted utility metrics, a special class of proper scoring rules that provides decision-aligned uncertainty evaluation. Across benchmark experiments and real-world case studies, our metrics consistently align with realized decision utility, while conventional metrics do not. Our results surface flaws in the current UQ evaluation protocol and offer a principled extension of existing metrics toward decision-relevant UQ evaluation.

Unified multimodal models capable of both understanding and generation have achieved remarkable strides. However, despite their unified designs, existing evaluations typically assess understanding and generation capabilities in isolation, overlooking the synergy between comprehension and generation. To bridge this gap, we introduce Unison, a comprehensive benchmark comprising 2,169 high-quality unified task samples, designed to evaluate joint understanding and generation in unified multimodal models. Unison offers three key strengths: 1) Comprehensive Dimensions: Unison encompasses internal consistency, understanding-guided generation, generation-guided understanding, and mutual enhancement to enable holistic evaluation. 2) Diagnostic Evaluation: it provides both unified and decoupled tracks for understanding and generation, allowing fine-grained attribution of failure modes and quantitative analysis of the gains from unified modeling. 3) Human Alignment: we also introduce Unison-Judge, an evaluation model well aligned with human judgments to ensure reliable assessment. Based on systematic evaluations of state-of-the-art models on Unison, we uncover critical limitations in current unified multimodal systems and highlight promising directions for future research. Codes, Unison and Unison-Judge are publicly available at https://github.com/FudanCVL/Unison.

Synthesizing human motion from textual descriptions is essential for immersive digital applications, yet existing methods face a persistent trade-off between semantic fidelity and physical realism. Large language model (LLM)-based approaches can interpret diverse open-vocabulary instructions and compose high-level action plans, but they often generate motions that violate physical constraints. Physics-aware models improve realism through simulation or control, but they struggle with semantic complexity, fine-grained instructions, and novel concepts. To address this gap, we propose In-Context Model Predictive Generation (ICMPG), a framework that integrates language-model planning with inference-time physical feedback. ICMPG reformulates motion synthesis as a Model Predictive Control (MPC)-like process with two modules. The Context-Aware Motion Generation (CAMG) module uses an LLM as a planner to decompose textual commands and generate candidate motion sequences from motion tokens. The Model Predictive Generation (MPG) module evaluates these candidates through physical simulation and semantic alignment, estimates a composite reward, and selects the best sequence to guide subsequent generation steps. Unlike open-loop generation, this closed-loop refinement enables ICMPG to adapt motions to both the input semantics and the simulated physical environment without task-specific policy retraining. Extensive experiments across standard and zero-shot open-vocabulary settings show that ICMPG generalizes robustly to diverse commands and produces motions that are more physically plausible and semantically faithful than representative baselines on the evaluated benchmarks. The framework bridges semantic interpretation and physical simulation while remaining flexible enough to incorporate different LLM backbones, enabling more versatile and controllable text-driven motion synthesis.

Empirical Bayes (EB) estimators can match the first-order asymptotic risk of maximum likelihood (ML) while behaving very differently at second order: recent excess mean squared error (XMSE) analysis shows that kernel-based EB estimation may be worse than ML when the kernel is poorly aligned with the true parameter. This paper turns that diagnostic into a design principle. We propose an XMSE-aware mixed estimator that interpolates between ML and EB shrinkage. Its fixed-weight XMSE is a scalar quadratic, yielding a closed-form oracle mixing weight that is no worse than both ML and the base EB estimator at the XMSE scale. A plug-in implementation based on finite-sample XMSE approximations is proved consistent, with a second-order oracle regret rate for an interior oracle weight. We further establish a transfer of the regret bound to the fixed-weight risk curve evaluated at the selected weight, a thresholded boundary rule, and extensions to compact kernel families and to finite and growing kernel dictionaries with high-probability oracle bounds. Finite impulse response simulations with SURE-tuned, hard-selection, and trace-corrected baselines, together with the public Silverbox and Cascaded Tanks benchmarks, show that the proposed estimator retains most of the benefit of regularization when it is helpful and retreats toward ML under kernel misspecification, with an identified finite-de analyzed on the benchmarks.

Open-set semi-supervised learning aims to leverage unlabeled data that may contain out-of-distribution outliers while maintaining performance on in-distribution classes. Existing methods mainly follow two paradigms: filtering suspicious samples or incorporating unlabeled objectives with soft weighting. We argue that both face a common trade-off: aggressive filtering can discard informative but hard ID samples, whereas utilization can introduce auxiliary gradients that conflict with supervised learning when pseudo labels are wrong. We therefore shift the focus from sample selection to gradient-level control. We propose \textit{Geometric Gradient Rectification} (GGR), a plug-in framework that uses the supervised gradient as an anchor and projects conflicting auxiliary gradients onto an admissible region in gradient space. This makes the applied auxiliary update first-order non-opposing within the rectified coordinate block while preserving orthogonal components that may still carry useful representation signals. We further extend GGR with subspace-aware rectification to stabilize the anchor under noisy mini-batch gradients. Experiments on CIFAR and ImageNet benchmarks show that GGR improves representative OSSL baselines in most settings and yields gains in both closed-set generalization and open-set robustness. Code will be available at https://github.com/JiaheChen2002/GGR.

Introduction: Most Multiplayer Online Battle Arena (MOBA) analytics studies rely on structured data, which does not directly capture what each team could actually see during a match. Objective: This work introduces Dota2-Vis, a video-based dataset, and a baseline pipeline for visibility analysis in professional Dota 2 matches. Methodology: The dataset comprises all 144 matches from The International 2025, recorded from both team perspectives, totaling 288 Full HD videos, together with 2,477 manually annotated minimap images. We evaluate multiple variants of a modern object detector for player-icon detection and use the best-performing model to estimate opponent-visible player presence over time. Results: YOLO11l (large) achieved the best overall performance, reliably identifying player icons even in dense and visually cluttered minimap scenes. The resulting visibility curves reveal player, hero, role, and team-level patterns that complement conventional MOBA analytics, highlighting behavioral differences that are difficult to obtain from structured data alone. The dataset and code are publicly available at https://github.com/RicardoRCarvalho/dota2-vis/.

Does intelligence require the ability to reason about phenomena beyond direct experience? It is natural to suspect that some complex thought cannot be captured through language alone. However, of particular concern to this work, is whether visualising counterfactual events can complement language as a mechanism for complex thought. We ask whether LLMs can be trained to utilise such visualisation mechanisms, in a way that benefits their reasoning abilities. Motivated by this question, we propose Einstein World Models. EWMs are a blueprint for LLM-based reasoning systems that place visual-temporal rollouts inside the reasoning trace, allowing them to reason in ways that text alone may not support well. In an EWM, the LLM calls a world-module (not to be confused with a world model), to produce short rollouts of scenes under consideration. The returned rollout is treated not as the answer, but as an inspectable hypothesis that can support later reasoning. Einstein World Models extend the capability of LLMs for tool calling (such as web search or code execution), into the domain of visual thought experiments.

Speech-capable models are increasingly deployed in real-world applications across languages. Yet their safety and fairness beyond English settings and under naturalistic conditions remain understudied. We survey safety reporting practices across state-of-the-art speech model releases, finding that only 8% document any multilingual analysis. To address this gap, we introduce RedVox, a multilingual safety and fairness benchmark for audio and speech built on real voices, covering unsafe and unfair stereotypical requests across five languages (English, French, Italian, Spanish, and German). Evaluating eight state-of-the-art models, we find that vulnerabilities persist even under non-adversarial conditions, worsen in non-English languages, and are amplified when the request comes from a spoken input. Finally, by surveying the participants who contributed to RedVox, we document the unique personal and privacy challenges of collecting speech data with human participants, pointing to broader sociotechnical challenges in naturalistic speech safety research.

As embodied AI and world models increasingly operate in dynamic 3D environments, visual perception must move beyond passively interpreting given observations toward actively deciding what to observe. We study this problem through camera planning in dynamic 3D story worlds, where the camera must not only generate smooth motion, but also decide what visual evidence should be acquired before it moves. We formulate this capability as Narrative-Grounded World Visual Attention, where the camera acts as an embodied observer that determines what to observe, how to compose the observation, and how to shift attention over time under narrative intent and physical 3D constraints. To realize this capability, we propose Look-Before-Move, a camera planning framework that separates observation specification from motion execution. It first builds a Semantic Observation Contract to convert directorial intent into executable visual constraints, then performs Monte Carlo Viewpoint Search to find narrative-compliant and geometrically feasible viewpoints, and finally applies Semantic Trajectory Grounding to connect selected viewpoints into continuous, collision-aware, and temporally coherent camera motion. We further construct a dynamic 3D Story World Benchmark based on StoryBlender, covering 50 stories, 457 scenes, and 1585 shots with animated characters, semantic scene configurations, and executable 3D environments. Experiments show that our framework improves subject perception, intent consistency, and trajectory quality over representative baselines, demonstrating the importance of organizing visual attention before generating camera motion.

Organizing knowledge from diverse text sources into interpretable hierarchies is crucial for tasks such as policy analysis, innovation monitoring, and exploratory domain mapping. Existing taxonomy induction methods typically rely on document-level representations that capture entire documents rather than the specific domain concepts relevant for knowledge organization, limiting their ability to generalize across heterogeneous sources. We propose a term-centric framework for inducing hierarchical taxonomies from heterogeneous corpora that scales to massive document collections. Our approach maps documents from diverse sources into a shared representation space using automatic term extraction, enabling robust cross-source alignment. Based on these representations, we construct interpretable hierarchies that integrate domain priors with datadriven clustering. Experiments on a novel English and German multi-source benchmark of over one million documents demonstrate that our method improves cross-source coherence and hierarchy quality over text- and summarybased baselines. A case study on German regional innovation analysis further demonstrates its practical utility for technology landscape mapping.

Intraoral scanning is widely used for digital optical impressions in prosthodontic, implant, and orthodontic treatment, but full-arch and long-span scanning remain labor-intensive tasks with limited automation. In the confined oral cavity, operators must continuously adjust scanner motion while accumulating narrow field-of-view observations, making reconstruction quality sensitive to missing tooth surfaces and operator workload. We propose RobOralScan, which, to the best of our knowledge, is the first reinforcement learning (RL)-based pipeline for robotic automatic intraoral scanning. RobOralScan introduces a geometric memory-based observation space that accumulates partial scan observations into a tri-state geometric representation, allowing the policy to reason over scan history and insufficiently observed regions. It further introduces tooth-wise coverage learning, combining coverage-aware reward signals and a progressive training scheme to improve global reconstruction coverage while reducing uneven coverage across individual teeth. The learned policy selects relative scanner motions from accumulated geometric memory and robot proprioception for closed-loop scan control within the oral workspace. RobOralScan achieves a Chamfer Distance of 0.00838, an average coverage of 92.58%, a lower-tail per-tooth coverage of 88.45%, and a normalized AUC of 0.6674, completing the scan criterion in 8 of 10 evaluation episodes. Furthermore, zero-shot sim-to-real experiments demonstrate its practical feasibility on a physical robot-scanner setup.

While personalized image generation has achieved remarkable progress, multi-reference image generation (MRIG) remains a challenging task. Most existing benchmarks fail to adequately evaluate complex MRIG scenarios, hindering further progress in this area. To better assess model performance on complex MRIG tasks, we introduce OmniRef-Bench, a benchmark that covers complex combinations of reference image types and a large number of reference images. Evaluations on OmniRef-Bench show that mainstream open-source models struggle in complex MRIG scenarios, and their performance deteriorates significantly as the number of mixed-type reference images increases. To address this issue, we propose DyRef, a two-stage training framework. In the first stage, supervised fine-tuning equips the model with the basic capability to handle complex MRIG tasks. In the second stage, we introduce Difficulty-aware Advantage Reweighting (DAR) and Discriminative Reward Scaling (DRS). DAR dynamically adjusts the optimization objective to improve performance when handling a large number of mixed-type reference images. DRS enlarges intra-group reward differences for more effective policy optimization. Experiments demonstrate that DyRef significantly improves the performance of open-source models on OmniRef-Bench and single-image editing benchmarks, demonstrating the effectiveness and generalization capability of our approach.

Mixture-of-Experts (MoE) architectures have emerged as a powerful paradigm for scaling diffusion models in visual generation. Recent advancements have focused on adaptively allocating computational resources across diverse tokens to improve efficiency and performance. However, we identify a routing assignment problem in existing diffusion MoE frameworks: the router fails to accurately allocate more computational resources to salient tokens. Our analysis attributes this failure to the router's reliance on noise-corrupted latent features throughout the denoising process. Such stochastic noise obscures the critical structural and textural information, thereby preventing the router from effectively distinguishing salient tokens. To address this, we propose SharpMoE, a post-training framework with a saliency-harnessing accurate routing mechanism, which utilizes clean latent features as a noise-free guidance signal for routing. By bypassing the noise-distorted inputs, SharpMoE provides the router with clear saliency guidance, enabling the identification of salient tokens even in high-noise stages. Furthermore, we introduce a trajectory routing loss to constrain the compute allocation throughout the multi-step denoising trajectory, ensuring precise resource allocation along the generation rollout. Extensive experiments demonstrate that SharpMoE serves as a versatile, plug-and-play solution that further enhances the pretrained, converged MoE models, achieving state-of-the-art performance in visual generation.

With a profusion of jailbreaks for LLMs now widely known, a growing concern is that non-expert malicious actors ("the average Jane") could elicit actionable responses to malicious requests. In this work, we examine whether this concern is justified. A non-expert malicious actor requires two ingredients for a successful attack: a powerful jailbreak for their target model, acting on an effective malicious query. For the former, we propose a novel attack strategy based on the multi-armed bandit framework. This allows efficient online learning of the optimal jailbreak from a large choice set via noisy exploration on a small number of queries, with subsequent application of the learnt policy on an exploitation set. For the latter, we curate $\mathrm{FrankensteinBench}$, a safety benchmark of $11,279$ malicious queries drawn from manual curation over $7$ existing benchmarks, along with automated enhancement and generation. Each query is categorized as simple or complex by the technical expertise required to craft it. Our findings confirm the concern. Our bandit-based attack achieves success rates as high as $97\%$ on average over $15$ SoTA open-weight LLMs. Moreover, adding complexity to queries raises the attack success rate by up to $26\%$ on average across models -- making it an effective, automatable prompting strategy.

AI-assisted vulnerability discovery has proven effective for bug classes like memory safety, where instrumentation confirms memory violations and efficiently filters false positives. Many dangerous vulnerability classes, such as cryptographic misuse, however, lack any comparable instrumentation. In this work, we present Chai, an AI-based system that discovers and validates cryptographic misuse vulnerabilities through naturally occurring signals. To achieve this, Chai rethinks the classical technique of differential testing by leveraging AI to 1) improve precision for detecting real security issues in libraries, and 2) repurpose commonly overlooked discrepancies as leads for tangible vulnerabilities in downstream applications. In doing so, Chai inverts the prevailing paradigm of AI vulnerability discovery: instead of auditing one codebase for many flaws, it catalogs flaws at the library level and propagates them across a cryptographic dependency graph, delivering compounding efficiency gains. We evaluate Chai across X.509, JWT, and SAML libraries. Chai discovered a previously unknown critical vulnerability in an SSL library that powers billions of devices, along with security bugs in one library behind a major web browser and another in major Linux distributions. In total, these techniques surfaced over 100 vulnerabilities.

Reinforcement Learning like Group Relative Policy Optimization (GRPO) has significantly advanced text-to-image post-training. However, current methods often favor superficial aesthetics, such as over-saturated colors, leaving critical flaws like AI artifacts and biological implausibilities unresolved. We attribute these limitations to two primary factors: (1) The absence of real images during post-training confines GRPO sampling to the original distribution, failing to break inherent generative boundaries; (2) the optimization process lacks specific rewards targeting fine-grained artifacts like overly oily skin and other AI artifacts. To address this, we propose PortraitGen, a novel framework tailored for photorealistic portrait generation. First, we break inherent generative boundaries by directly introducing real images into the GRPO sampling groups, where image inversion is employed to obtain their transition probabilities and latents. Second, to explicitly steer the model toward photorealism, we introduce a complementary dual-reward mechanism: OmniReward for general quality and AI-Portrait for human-centric fidelity. Furthermore, we curate PortraitBench, a comprehensive portrait-centric benchmark. Extensive experiments demonstrate that PortraitGen significantly outperforms existing baselines, effectively suppressing AI artifacts and achieving unprecedented photorealism.

Large-scale point cloud maps are essential for robotics and spatial intelligence tasks. UAVs provide an efficient means for large-scale map acquisition; however, due to limited flight endurance and onboard storage, mapping a large-scale scene within a single flight remains difficult. Existing multi-session map merging methods can extend the mapping range, yet in UAV scenarios they still struggle to simultaneously suppress long-range drift and preserve local geometric accuracy. To address this issue, an uncertainty-aware multi-session point cloud map merging and coarse-to-fine optimization system is proposed. The proposed method first performs initial multi-session map merging based on a scene graph, and then incorporates RTK observations through an RTK spatiotemporal alignment module, where temporal offsets are estimated using Dynamic Time Warping (DTW), and continuous RTK constraints are recovered using Multi-Output Gaussian Processes (MOGP) under incomplete sampling and frame dropouts. On this basis, a unified uncertainty-aware factor graph is constructed, and local geometric accuracy is further improved through iterative plane-factor refinement. Experiments on real-world datasets validate the effectiveness and robustness of the proposed method. To facilitate further research and development in the community, our code and dataset will be publicly released.

LLM coding harnesses grant agents broad file and shell access, yet the configuration layer that steers them -- rules files, agent definitions, IDE-specific markdown -- is largely unmanaged. A prevalence study of 10,008 public GitHub repositories (n=6,145 agent config files) finds that agent configurations propagate as undeclared shared components: 10.1% of tracked paths are SHA-256 exact duplicates across independent repositories (fork-adjusted, threshold-independent), with 75.5% of clone pairs crossing organisational boundaries. Two further patterns are indicative: configurations are rarely revised (58% single-commit; 0.4 vs 0.6 commits/month age-normalised against CI/CD workflows), and rarely declare permission boundaries (<1% of agent configs vs 33% of Actions workflows, n=31 true positives). We propose a deterministic control plane above the harness that maps one-to-one to these gaps. Rel(AI)Build treats agent definitions as a managed supply chain (SHA-256 content addressing, HMAC-stamped lockfiles, hash-chained audit logs); enforces tiered permissions and attack-derived blocklists before LLM invocation; gates feature work through a phase state machine with requirement-to-file-to-test traceability; compiles a single canonical definition to seven IDE targets; and detects prompt drift via Jaccard similarity. Conformance tests on injected violations confirm each mechanism enforces its stated invariant; developer outcomes remain future work. Governance of this layer must be deterministic and tool-agnostic -- not delegated to further LLM orchestration.

Vision-language models (VLMs) often produce hallucinated or inconsistent outputs, where text and images are not properly aligned. Addressing this issue requires not only detecting misalignment but also explaining the discrepancy and localizing its visual evidence. We introduce GAVEL (Grounded Caption Error Verification and Localization), a task that jointly addresses verification, explanation, and localization for image-text pairs. To support systematic evaluation, we also present a corresponding dataset and benchmark. We further train a supervised baseline on the human-annotated training split to assess whether GAVEL provides learnable supervision for these abilities. Experiments show that even strong closed-source models struggle on GAVEL, while the supervised baseline yields consistent improvements across grounding and explanation metrics.

Continuous driver monitoring in automated vehicles requires low-latency inference while avoiding unsafe decisions under uncertain driver states. Large vision-language models provide broad multimodal priors, but their latency and limited reliability in this setting make them unsuitable as always-on in-cabin monitors. We propose a cost-aware selective inference framework for deployable multimodal driver monitoring. The core system is a lightweight RGB-physiological student that combines in-cabin visual observations with window-level HR/EDA signals, and a learned gate that decides when to accept the fast prediction or abstain for safety intervention. Additional controls show that the learned scores contain sample-level information beyond scenario priors, while exact physiological synchronization remains a limitation. To incorporate predictive evidence, we further study a compact driver-state world modeling module that rolls out latent driver-state features and estimates future fast-model errors and counterfactual system-level action costs. On scenario-induced driver-demand recognition, the RGB-physiological student improves over RGB-only and physiology-only baselines, reaching 0.7440 Macro-F1 and 0.9099 balanced accuracy with 11.39M parameters and 3.08ms inference latency. Cost-aware selective inference reduces unsafe false negatives from 17.37% under always-fast inference to approximately 5% across seeds, while maintaining deployment-level latency. While driver-state world modeling offers valuable predictive signals, worst-group evaluations highlight persistent operating-point calibration drift. Ultimately, reliable edge driver monitoring requires advancing not only perception backbones, but also risk-aware selective control and group-robust calibration.

Developing physically aware video generation models remains a significant challenge due to the difficulty in capturing diverse physical phenomena, such as thermal dynamics, mechanics, and optics. In this work, we introduce PhysRAG, a novel pipeline that enhances physical awareness in video generation through Retrieval-Augmented Generation (RAG). To address the issue of limited high-quality data, we design a two-stage data filtering pipeline based on the WISA-80K dataset, resulting in a curated set of 7K high-quality videos for training. Furthermore, we construct a physical video database and develop a mechanism to inject physical knowledge into a video diffusion model using learnable queries. Our method achieves state-of-the-art performance in both visual quality and physical rule compliance, surpassing existing models in benchmarks such as PhyGenBench and VBench. We conduct extensive ablation studies to validate the effectiveness of our key components, including the data filtering pipeline, RAG mechanism, and method for physical information extraction. To facilitate future research, our code, data, and models are prepared for release at https://github.com/sediment1024/PhysRAG.

Photonic integrated circuits offer a scalable and robust route toward quantum information technologies by consolidating photon sources and linear optical networks onto compact, wafer-manufacturable chips. Although silicon photonics has enabled diverse discrete-variable quantum breakthroughs -- spanning multiphoton entanglement, quantum networking, and photonic qubit fusion for quantum computing -- scaling these platforms beyond proof-of-principle demonstrations remains severely constrained by a critical system-level bottleneck. Optical loss compounds rapidly across photon generation, routing, and state analysis, causing multiphoton generation probabilities to plummet exponentially as circuit depth and complexity grow. Here we overcome this rate-loss barrier by demonstrating a monolithic, ultralow-loss silicon nitride (Si$_3$N$_4$) integrated photonic platform engineered for high-performance discrete-variable quantum information processing. Our architecture seamlessly integrates narrowband photon-pair sources with low-loss qubit-fusion circuits and reconfigurable state-analysis interferometers. The on-chip sources prepare Einstein-Podolsky-Rosen (EPR) states with a fidelity of 0.9875(3) and exhibit near-unity photon indistinguishability, yielding a heralded Hong-Ou-Mandel interference visibility of 0.990(6). By executing on-chip fusion of two EPR states, we synthesize and characterize four-photon Greenberger-Horne-Zeilinger states with a record fidelity of 0.943(8) and a fourfold count rate of 27 Hz -- more than two orders of magnitude higher than previous silicon-photonic implementations. Combined with standard CMOS-compatible fabrication on 150-mm-diameter wafers, these results establish ultralow-loss Si$_3$N$_4$ integrated photonics as a definitive, manufacturable platform for deployable, large-scale quantum information processors.

While text-to-image (T2I) models have achieved remarkable progress, they struggle with real-world requests that are often underspecified, implicit, or dependent on up-to-date knowledge. We identify this challenge as the Context Gap: the mismatch between the user context and the sufficient generation context for T2I models. To bridge this gap, we propose Qwen-Image-Agent, a unified agentic framework that integrates plan, reason, search, memory and feedback in a context-centric manner. Qwen-Image-Agent treats user input as partial context and progressively constructs the generation context through Context-Aware Planning and Context Grounding. Specifically, Context-Aware Planning identifies missing context and plans how it should be acquired and used, while Context Grounding gathers this context from reason, search, memory, and feedback. To evaluate agentic image generation, we further introduce Image Agent Bench (IA-Bench), a benchmark covering four core image agent capabilities: Plan, Reason, Search, and Memory. Experiments on IA-Bench, Mindbench and WISE-Verified show that Qwen-Image-Agent outperforms strong baselines and achieves state-of-the-art performance.

Video reasoning language models implicitly assume that every input frame is equally reliable. This leads to what we term the Blind Trust Problem: under realistic perturbations such as motion blur, glare, or occlusion, frontier video reasoning models can suffer 15-30%p accuracy drops on real-world embodied benchmarks, while remaining unaware that their visual evidence has been degraded. To address this challenge, we propose Robust-TO, an agentic video understanding framework that explicitly integrates per-frame trustworthiness into every stage of reasoning. Robust-TO organizes heterogeneous visual perception tools under a unified evidence interface. Each tool receives a sub-query derived from the original question and a set of trustworthy frames selected by the reliability-relevance score. It returns evidence in a shared format: a concrete prediction (e.g., a bounding box, motion trajectory, recognized text, or action label), temporal grounding, and a calibrated reliability score. During reasoning, these calibrated scores guide evidence weighting in a three-tier synthesis process (high/medium/low) and define a confidence-cost GRPO reward that jointly optimizes correctness, evidence reliability, and efficiency. On two video reasoning benchmarks spanning eight tasks, Robust-TO achieves 56.4% average accuracy on clean inputs, surpassing the strongest open-source baseline by 10.6%p and outperforming Gemini-2.5-Pro (46.2%). Under five realistic corruption types, Robust-TO maintains 54.3% average accuracy, 5.8%p above the strongest open-source baseline, while exhibiting the smallest clean-to-corrupted accuracy drop among all compared methods.

We study learning in prophet inequalities with i.i.d. rewards drawn from an exponential-type parametric family with an unknown parameter $θ$, a class that includes exponential, Pareto, and bounded-support power-family distributions. We first characterize the optimal full-information asymptotic competitive ratio for this family. In the unbounded-support case, the limit is $ {\left(θ/({θ-c_+})\right)^{c_+/θ}}/ {Γ(1-c_+/θ)},$ while in the bounded-support case, the limit is $1$. We then propose a confidence-based dynamic-programming policy for online learning. By exploiting the explicit parametric structure, the policy achieves the same optimal asymptotic competitive ratio using only online observations, without external offline samples. We further derive distribution-specific convergence rates for canonical examples. Finally, numerical experiments on synthetic instances illustrate the performance of our algorithm.

Reasoning capability has advanced rapidly in large language models (LLMs), leading to an increasing size of key-value (KV) cache in both prefilling and decoding stages. Existing KV cache compression methods mainly rely on attention weights to estimate token importance. While attention effectively captures contextual relevance, it overlooks complementary information-theoretic signals related to predictive uncertainty and token informativeness. In this paper, we revisit token importance from a forward-looking perspective and introduce \textit{Forward Influence}, a metric that measures how compressed tokens affect future contexts. Our analysis reveals that tokens selected by attention scores mainly influence nearby contexts, whereas tokens associated with high predictive uncertainty exhibit substantially stronger influence on distant future contexts. Based on the observation, we propose \textbf{InfoKV}, an entropy-aware KV cache compression framework that incorporates information-theoretic signals. It combines token-level predictive uncertainty with layer-wise representation evolution and integrates the resulting entropy scores with attention scores during reasoning. Experiments on long-context reasoning benchmarks with Llama-3.1, Llama-3.2, and DeepSeek-R1 demonstrate that InfoKV consistently outperforms existing attention-based KV compression methods in both long prefilling and decoding scenarios.

Rolling shutter (RS) cameras equip virtually all consumer devices, yet RS-aware relative pose estimation has remained impractical: the state-of-the-art solver requires a minimum of 20 point correspondences, making RANSAC-based robust estimation prohibitively expensive due to the exponential dependence of the iteration count on the sample size. We make RS relative pose estimation practical by introducing affine correspondences (ACs) into the RS two-view geometry. We derive novel \emph{RS-corrected affine constraints} that account for the coupling between point perturbations and the row-dependent essential matrix, providing two equations per correspondence beyond the standard epipolar constraint. Building on these constraints, we develop a linearized algebraic solver that estimates pose and RS motion from only 7 ACs. The solver exploits the physical smallness of RS parameters to linearize the constraints, eliminates the 12 RS unknowns via null-space projection, and solves the remaining degree-20 system via action matrices in 1.2\,ms. On the TUM RS benchmark, our method achieves the best pose and RS parameter accuracy among all tested methods and, uniquely among RS solvers, provides accurate translational velocity estimates -- which are poorly conditioned from point correspondences alone due to a $\vec{v}$-$\vec{t}$ coupling. On the global-shutter EuRoC MAV dataset, the solver achieves comparable accuracy to the standard 5-point algorithm, demonstrating that it generalizes well to the GS setting. Code is at https://github.com/danini/rolling_shutter_made_practical.

Deploying large language models (LLMs) on Industrial Internet of Things (IIoT) edge devices demands extreme compression, yet existing structured pruning methods collapse at high compression ratios due to one-shot importance estimation, and their cross-architecture behavior remains unpredictable. This article presents a cascaded multi-granularity pruning framework that removes layers, attention heads, and feed-forward channels in coarse-to-fine order, with lightweight low-rank recovery between stages to re-estimate component importance. An information-theoretic analysis motivates this ordering, and the Structural Independence Assumption (SIA) is formalized as a checkable condition predicting whether per-component pruning criteria are reliable for a given architecture: Multi-Head Attention (MHA)+GELU designs satisfy the SIA, whereas Grouped Query Attention (GQA)+SwiGLU designs violate it. On bearing fault diagnosis spanning 88M to 6.25B-parameter models, the framework extends achievable compression to 13.8 times on MHA+GELU architectures with 83.82% accuracy (+3.70 percentage points (pp) over the strongest baseline), while exposing a ~74pp accuracy collapse on GQA+SwiGLU architectures that violate the SIA. Deployed on an industrial slewing bearing fault diagnosis platform with NVIDIA DGX Spark, compressed models reduce inference latency by up to 67.2% and peak memory by 62.5%, demonstrating viability for IIoT edge inference.

Recommendation algorithm iteration is moving from an artisanal, engineer-bound process toward an industrialized research loop, but this transition remains blocked by a structural execution bottleneck: the idea-to-launch cycle still depends on human engineers to generate hypotheses, modify production code, launch A/B experiments, and attribute online results. Innovation therefore scales linearly with headcount rather than compounding with evidence, compute, and accumulated experimental knowledge. We present AgentX, a production-deployed multi-agent system that fundamentally restructures this production function. AgentX operates as a self-evolving development engine: it autonomously generates, implements, evaluates, and learns from recommendation experiments at a scale and pace that no manual workflow can sustain. The system orchestrates four tightly coupled stages in a closed loop. A Brainstorm Agent synthesizes evidence from historical experiments, system architecture, data analysis, and external research into ranked, executable proposals. A Developing Agent translates each proposal into production-ready code through repository-grounded generation and multi-dimensional reliability verification. An Evaluation Agent conducts safe online rollout with guardrail-vetoed A/B judgment, converting both successes and failures into structured knowledge assets. A Harness Evolution layer (SGPO) then distills execution trajectories into semantic-gradient updates that continuously sharpen the agents themselves -- making the system not merely automated, but self-improving.

Reinforcement learning (RL) has become a prominent framework for developing driving experts in autonomous vehicles. However, most existing RL-based experts are designed to output direct control commands (e.g., throttle, steering), which suffer from a lack of interpretability, high spatial complexity in learning road geometries, and poor compatibility with modern end-to-end planning architectures. To address these limitations, we propose a novel trajectory planning architecture for RL driving experts that integrates an RL policy with a polynomial-based trajectory planner. By employing a Frenet-frame coordinate system, our method simplifies complex road geometries into a curvilinear framework, offering a structured coordinate prior that facilitates policy learning. Furthermore, we incorporate a kinematic feasibility check into the planning stage to ensure that generated trajectories remain within the vehicle's physical limits, effectively mitigating cumulative tracking errors typically found in planning-based systems. We evaluate our approach on key CARLA benchmarks, where it significantly outperforms existing state-of-the-art control-based RL experts. On the CARLA Offline Leaderboard v1 and NoCrash benchmarks, our method improves the driving score by 5% and 11%, respectively, and increases the success rate by 8% and 19%.

The interpretation phase of life cycle assessment often lacks structured mechanisms for translating quantified improvement opportunities addressing environmental hotspots into actionable strategic pathways under technological, social, and policy uncertainty. To overcome this limitation, this study introduces a perspective-conditioned retrieval-augmented generation framework for LCA interpretation, where a multi-perspective retrieval and controlled synthesis is incorporated in the artificial intelligence (AI)-assisted LCA. To operationalise large language models in LCA interpretation, a perspective fusion RAG architecture was developed, covering academic, industry, public discourse, and European union (EU) funding datasets. Our approach comprises three steps: (1) a scenario anchor defining system boundaries and decarbonization targets, (2) a set of perspective-specific micro-queries with constrained retrieval, and (3) a neutral synthesis step integrating only ledger-stored outputs without further retrieval. The framework is demonstrated through a hydrogen-enabled diesel reduction use case in an Italian apple production facility using GPT-5 nano as the reasoning model. Overall, the structured retrieval and constrained synthesis are designed to mitigate the risk of hallucination while preserving cross-domain diversity. The approach presented can support more disciplined translation of impact results into strategic pathways and opens up new avenues for the use of advanced AI tools in LCA studies, particularly those focused on technologies that could be deployed at scale. This proof-of-concept demonstrates how AI-assisted, evidence-grounded interpretation can support implementation-oriented decision-making beyond conventional LCA studies.

Imitating human demonstrations has emerged as a dominant paradigm for learning humanoid loco-manipulation policies. However, scaling these approaches remains challenging due to the high cost of collecting diverse demonstrations and the need for continual human intervention to correct policy failures. In this paper, we present a self-supervised framework that bootstraps from sparse demonstrations and progressively expands its behavioral repertoire, enabling the learning of a goal-conditioned policy that automatically explores the goal space with minimal expert supervision. Our approach combines diffusion-based trajectory generation with reinforcement learning, where the latter is used to track goal-conditioned trajectories produced by the diffusion model for a range of loco-manipulation skills. Through extensive ablation studies and comparisons with state-of-the-art methods, we demonstrate the effectiveness of our framework on multiple humanoid loco-manipulation skills.

Order fulfillment in manual picker-to-goods warehouses involves interconnected decisions such as item assignment, order batching, and picker routing. While integrated models capture interactions between these decisions, practical warehouse systems often require decomposed approaches due to organizational boundaries, differing responsibilities, or limited data availability. Existing studies primarily evaluate algorithms for isolated subproblems or fixed subproblem combinations for specific warehouse settings, but lack a general mechanism to determine applicable algorithm configurations, compose them into valid solution pipelines, and assess their performance. With Context-Aware Synthesis of Optimization Pipelines (CASOP), we propose a framework for constructing and evaluating context-specific optimization pipelines and apply these to order fulfillment. The framework comprises: (1) a modular repository of algorithms for common order fulfillment problems; (2) semantic data and algorithm cards to describe warehouse context and algorithm requirements; (3) a taxonomy that structures order fulfillment problems into relevant subproblems; (4) a pipeline synthesizer that identifies applicable algorithms for a given warehouse context and composes all valid optimization pipelines; and (5) a pipeline evaluator that assesses all resulting pipelines. We demonstrate the framework on 7 benchmark instance sets covering four problem classes, resulting in 1,063,044 valid pipelines. The framework supports researchers and practitioners in designing, automatically synthesizing, and selecting valid, high-performing algorithmic pipelines for warehouse operations. The software is open-source and available at https://github.com/kit-dsm/ware_ops_pipes and https://github.com/kit-dsm/ware_ops_algos. Keywords: Warehouse optimization, Algorithm selection, Pipeline synthesis, Order fulfillment

Existing benchmarks typically report accuracy for a single model on a single run. This systematically understates real-world LLM capabilities, particularly under heterogeneous data distributions: (i) different models get different questions correct according to their specializations, and (ii) given a budget, multiple generations can be sampled and selectively retained. To quantify this gap, we introduce the Capability Frontier: a Pareto frontier over a set of models that characterizes the best achievable performance at each cost level under optimal selection across models and generations (i.e., via an oracle). Our construction corrects for two opposing biases: underestimation from single-model evaluation and overestimation from taking maxima over noisy samples. We study 21 LLMs across 16 widely used benchmarks spanning coding, reasoning, medicine, factuality, instruction following, and agentic tasks, comparing Capability Frontier performance at matched cost to each benchmark's top-performing model. Correcting for single-model evaluation yields a 54% error rate reduction; additionally correcting for single runs yields an 82% improvement, with SOTA accuracy matched at 85% cost reduction. Complementing these empirical results, we use controlled probabilistic simulations to show that higher query topic entropy produces a near-monotonic increase in the performance gap between oracle routing and the best single model. Our findings suggest collective LLM capabilities are substantially underestimated, with implications for evaluation and deployment in data-heterogeneous, multi-domain settings.

Robots operating in real-world environments must in general be able to recognize previously unseen objects. As robotic systems move toward open-world autonomy, there is a growing, yet largely unmet, need for open vocabulary object detectors that are prompt-free and efficient enough for continuous deployment. We present AnomNOVIC, a two-stage known-workspace framework that combines a masked autoencoder (MAE) trained for anomaly detection, with NOVIC, a powerful real-time prompt-free open vocabulary image classifier. The MAE produces generic object-agnostic bounding boxes, allowing NOVIC to classify salient image regions without requiring a predefined candidate class list. We evaluate AnomNOVIC against strong open vocabulary baselines in a tabletop robot-object environment featuring the NICOL humanoid robot, reaching 47.1% AP / 57.5% AP50 for prompt-free recognition, and 59.0% AP / 72.5% AP50 if class candidates are provided. Across additional datasets, including an in-the-wild test set with 48 unique objects, AnomNOVIC reaches up to 82.6% prompt-free detection and classification accuracy. These results significantly surpass all tested open vocabulary baselines, including YOLO-World-v2, OWLv2, and YOLOE.

Accurate seedling detection during early growth stages is essential for timely replanting and effective crop management in precision agriculture. However, existing studies are mostly evaluated under relatively stable imaging conditions, such as UAV imagery or greenhouse environments, leaving robust detection under severe and spatially heterogeneous illumination in ground-based outdoor monitoring insufficiently explored. In addition, many illumination-robust detection methods rely on additional enhancement or feature-extraction modules, which increase inference-time overhead and are not tailored to seedling detection and downstream missing seedling localization. To address these gaps, we construct a new garlic seedling dataset captured using a ground-based monitoring platform under real outdoor field conditions with highly variable illumination. We further propose an illumination-robust seedling detection framework based on adversarial augmentation policy learning. The proposed method jointly optimizes a stochastic augmentation policy agent and an object detector, enabling the detector to learn robust representations under challenging visual conditions. A structural penalty is introduced to prevent unrealistic distortions while encouraging challenging augmentations during training. Extensive experiments show that the proposed approach achieves an AP$_{50}$ of 91.6%, improving the baseline by 0.9 percentage points and outperforming the previous best-performing method by 0.2 percentage points. For downstream missing seedling localization, it achieves 75.0% precision and a 67.0% F1-score, improving the baseline by 4.8 and 2.0 percentage points, respectively. These results demonstrate the effectiveness of the proposed framework for practical ground-based agricultural monitoring under complex outdoor lighting conditions without additional inference-time computational overhead.

Long-running language agents need more than memory access. Retrieval systems can fetch past facts at query time, but they do not decide which experiences should continue to shape behavior after the working context is unloaded. We study this separate problem as memory depth: durable goal-conditioned tendencies written into a small parametric store. We introduce the loop-drift protocol, a controlled stress test in which the retrieval index remains intact while working context is unloaded and goal-conditioned behavior must persist under long-loop interference. We evaluate EVAF, a surprise- and valence-gated LoRA consolidation mechanism. Across GPT-2 and TinyLlama, retrieval is strongest on shallow factual recall (short-fact accuracy 0.956--0.973), while EVAF is strongest on goal persistence and post-unload recovery (0.812--0.904) with only 2--3 parametric writes per 200 events. Mechanism controls show that selective consolidation factorizes into two controllable dimensions: selection and actuation. Matched random gates isolate selection beyond sparse writing; fixed-inner controls across GPT-2, TinyLlama, and Mistral-7B show that inner-loop write strength is model-dependent; and a Mistral-7B matched-gate inversion reveals asymmetric selection-actuation coupling under miscalibrated actuation. Public Memora event streams serve as an external diagnostic, exposing stale-memory invalidation as an unresolved boundary. Within this probe, selective parametric consolidation supplies memory depth distinct from and complementary to retrieval access.

Vision-Language-Action (VLA) models have shown strong potential for generalizable robotic manipulation. During fine-tuning, however, action supervision applies equally across all timesteps, without structured supervision on which manipulation stage the robot is in or what the next gripper-event target should be. This causes failures to concentrate around challenging gripper-event transitions. To address this, we propose StaKe, a plug-in auxiliary supervision framework that automatically derives two complementary signals from demonstration gripper states without manual annotation: a stage classifier that identifies the current manipulation stage, and a keyframe predictor that estimates the target joint action at the next gripper transition. Both are modeled as lightweight auxiliary heads that enrich the learned representations during training, while leaving the base VLA policy architecture and inference loop unchanged. Experiments on bimanual simulation and single-arm Franka real-robot tasks show that StaKe consistently improves success rates (relative gains of 14% and 56%, respectively), with larger improvements on longer-horizon tasks that involve more gripper-event transitions. Ablation studies validate each design choice, and qualitative analysis confirms that the learned representations faithfully track manipulation stages. These results indicate that structured supervision is an effective and general strategy for enhancing VLA fine-tuning in long-horizon manipulation. Project website: https://hi-yuanxu.github.io/StaKe-Web/

Real-world robotic manipulation demands spatial grounding, task-aware reasoning, and precise control. Learning such capabilities becomes particularly challenging in the low-data regime. Prior methods often trade off scalable task-level reasoning and explicit physical structure: video-based approaches can drift geometrically over long horizons, 3D approaches often require depth sensing, and many flow/trajectory interfaces emphasize motion without an explicit RGB-only geometric representation. We introduce SSI-Policy, a modular framework built around a Structured Scene Interface (SSI) -- a unified, RGB-only intermediate representation that jointly encodes monocular depth features, language-grounded object layouts, and instruction-conditioned 2D motion trajectories. Critically, SSI is robot-agnostic and trainable from action-free video, decoupling perception from control so that the downstream policy can learn from few demonstrations. On the LIBERO benchmark with only 10 demonstrations per task, SSI-Policy improves over the strongest prior method by nearly 15\% and remains competitive with 50-demo methods that leverage large-scale external pretraining. Ablations show that geometric and motion cues provide complementary benefits within the shared interface. We further validate on 13 real-world tasks spanning spatial reasoning, cross-embodiment transfer, and contact-rich manipulation.

CLIP and its variants are widely adopted visual backbones in multimodal systems, but their pretraining remains dominated by descriptive image-text alignment. As downstream applications increasingly demand visually grounded commonsense inference and compositional reasoning, it remains unclear whether CLIP-style encoders can support such reasoning without architectural changes. To address this, we present ReasonCLIP-58M, a continual pretraining framework that integrates large-scale reasoning supervision into CLIP-style models through our two-stage strategy, which progressively integrates reasoning signals while preserving descriptive alignment, followed by category-structured reasoning supervision. To support this framework, we construct two complementary datasets and a benchmark: ReasonLite-42M, with open-form, visually verifiable reasoning captions; ReasonPro-16M, with category-specific reasoning supervision; and RCLIP-Bench for diagnostic evaluation of visually grounded reasoning. We train a family of ReasonCLIP that improves visually grounded commonsense and compositional reasoning while also enhancing zero-shot retrieval performance. As a drop-in visual encoder for multimodal large language models such as LLaVA-NeXT, ReasonCLIP delivers consistent gains without additional inference cost, demonstrating that structured reasoning supervision enhances the expressive capacity of CLIP-style visual representations. All datasets, models, and training code are available at https://github.com/RISys-Lab/ReasonCLIP.

Multimodal agentic retrieval-augmented generation (RAG) systems expand the attack surface beyond prompt injection to include text poisoning, image injection, direct-query attacks, and orchestrator-level tool manipulation. Existing red-teaming approaches are typically surface-specific and often recycle known attack templates; on text-poisoning benchmarks we measure 73-84% exact duplication. We present MIRROR, a unified cross-surface framework that performs memory-guided Monte Carlo tree search while conditioning candidate generation on retrieved context under an explicit novelty constraint. A deterministic Novelty Gate rejects any candidate matching the retrieval set under normalized comparison, allowing retrieval to inform search priors without enabling prompt copying. Across four attack surfaces on a multimodal agentic RAG target, MIRROR attains 76% ASR on image poisoning compared with 52% for baselines, 97% ASR on orchestrator attacks at half the query cost, and the lowest cross-surface variance (coefficient of variation 0.47). In contrast, specialized baselines collapse across surfaces: suffix optimization reaches 79% ASR on text poisoning but 1% on direct queries. We release ART-SafeBench with 41,815 in-package records and runtime adapters yielding 41,991+ total records across four surfaces.

Outcome-based reinforcement learning provides a stable optimization backbone for language agents, but its sparse trajectory-level rewards provide little guidance on which intermediate decisions should be reinforced or suppressed. On-policy self-distillation offers dense token-level supervision, yet existing skill-conditioned variants often rely on external skill memories or retrieved privileged context, which are costly to maintain and can be mismatched with the state distribution induced by the current policy in multi-turn interaction. We propose \textbf{OPID} (\textbf{O}n-\textbf{P}olicy Sk\textbf{i}ll \textbf{D}istillation), a framework that extracts skill supervision directly from completed on-policy trajectories. OPID represents trajectory hindsight as hierarchical skills: episode-level skills capture global workflows or failure-avoidance rules, while step-level skills capture local decision knowledge at critical timesteps. A critical-first routing mechanism uses step-level skills when critical decisions are identified and falls back to episode-level skills as default guidance otherwise. The selected skill is injected into the interaction history, allowing the old policy to re-score the same sampled response under both original and skill-augmented contexts. The resulting log-probability shift yields a token-level self-distillation advantage, which is combined with the outcome advantage for policy optimization. OPID thus preserves RL as the primary training objective while introducing dense, distribution-matched hindsight supervision. Experiments on ALFWorld, WebShop and Search-based QA demonstrate that OPID generally improves agent performance, sample efficiency, and robustness over outcome-only RL and existing skill-distillation baselines. Our code is available at https://github.com/jinyangwu/OPID/tree/main.

Fang et al. (2025) introduced a null-space constrained projection, named AlphaEdit, for locate-then-edit knowledge editing methods, theoretically guaranteeing that edits do not disrupt previously preserved knowledge, and reports substantial gains over existing editing methods on LLaMA3, GPT2-XL, and GPT-J. In this work, we present a reproducibility study of AlphaEdit, reproducing its reported results under the original experimental setup and extending the evaluation along three axes: new model architectures, additional downstream benchmarks, and substantially longer sequential editing horizons. We successfully reproduce AlphaEdit's reported metrics across the original models, though we identify a discrepancy in the reported fluency and consistency metric. Extending AlphaEdit to newer model families, we find that its advantage does not generalize uniformly, which we trace to architectural assumptions in the locate-then-edit paradigm that are violated by these newer models. We further stress-test AlphaEdit's central sequential-editing claim by extending the number of edits well beyond those evaluated in the original paper, and find that performance, which is stable at the originally reported scale, degrades as edits reach a much higher count, indicating that the null-space projection's protection against catastrophic forgetting is bounded rather than unconditional. Finally, we extend evaluation of edited models on three extra benchmarks, namely, BoolQ, HellaSwag, and XSTest, and we find that large-scale sequential editing degrades both general downstream task competence and safety-relevant refusal behavior. Our results confirm that AlphaEdit performs as reported within its original scope, while showing that its core theoretical guarantees are sensitive to model architecture and editing scale in ways that have practical implications for its deployment.

Spin plays a crucial role in many ball sports due to its effect on the trajectory of the ball. Vision-based estimation of the ball's spin during a game with conventional cameras is challenging due to the ball's small size, high speed, and fast rotation. To address these challenges, we propose an event-based active vision system that can track unmodified balls and measure their spin in real-time. The system consists of an event camera for its high temporal resolution and minimal motion blur, high-speed pan/tilt galvanometer mirrors to keep the ball in the field of view, and a low-latency focus-tunable telephoto lens to increase the spatial resolution on the ball and keep it in focus. To track the ball, we use a hybrid approach that combines 2D event-based detection for centering and 3D positions from a ball localization system for re-initialization. For high-accuracy spin estimation, we propose an offline method that performs contrast maximization on the sphere (s-CMax). This method achieves state-of-the-art accuracy on static balls across multiple sports (table tennis, baseball, tennis, and golf), with mean magnitude and axis errors of 2.1% and 4.0 degrees, respectively. We then develop a low-latency online method for table tennis as a case study in real-time applications. This method uses an uncertainty-aware convolutional neural network trained on pseudo-ground-truth spin labels from the offline approach, combined with a GPU-accelerated batch implementation of contrast maximization for refinement. We demonstrate reliable tracking and spin estimation with a three-view setup during professional table tennis matches, with high accuracy (8.8% magnitude and 6.4 degrees axis mismatch), 3 ms latency, and 750 Hz throughput.

Multimedia event extraction aims to jointly identify events and their arguments across multiple modalities, such as text and images, to support more comprehensive event understanding. While recent work reports steady and substantial progress, the reliability and comparability of these results critically depend on consistent and rigorous evaluation. In this work, we present the first systematic analysis of evaluation pitfalls in multimedia event extraction and identify three major sources of issues: inconsistent data processing, inconsistent task assumptions, and overly relaxed evaluation settings. We demonstrate, through a series of controlled experiments under a strict evaluation framework, that minor evaluation choices can cause large performance variations and lead to overestimation of a model's ability to ground real-world events across modalities. Our findings highlight the need for comparable evaluation standards and encourage a shift toward more rigorous evaluation in multimedia event extraction.

The adoption of powerful diffusion models is hindered by their significant inference latency. Recent ``cache-then-forecast'' schemes alleviate this issue by accelerating DiTs using derivative-based polynomials, but they suffer from severe quality degradation at high acceleration ratios. Our analysis reveals its root cause: the discrete extrapolation performed on representations that are misaligned with the continuous diffusion trajectory and are numerically unstable. Thus, accelerated DiTs suffer from accumulated spatial errors, noisy derivative amplification, and high-order instability. We therefore reformulate accelerated inference as stable macro-trajectory extrapolation in ordinary differential equation (ODE) space. Instead of predicting intermediate features, we align forecasting with the model's Global Drift (GD), i.e., the end-to-end state evolution, thereby eliminating feature inconsistency and memory overhead. However, even this smooth macro-trajectory remains vulnerable to the derivative fallacy: its higher-order temporal derivatives are intrinsically noisy. Thus, we introduce a derivative-free barycentric Lagrange extrapolator to effectively bypass derivative instability and approximation error. We further propose a bounded Phase Mapping that regularizes the extrapolation domain, suppressing oscillatory error growth. These elements collectively constitute ResilPhase, a noise-resilient acceleration framework. Experiments on FLUX.1-dev and HunyuanVideo demonstrate state-of-the-art fidelity under aggressive acceleration ratios.

Streaming video understanding (SVU) must answer queries that arrive asynchronously while visual tokens stream continuously under strict GPU-memory and query-time latency budgets. A key challenge is delayed query: decisive cues may appear briefly, yet many subsequent updates occur before the query arrives, increasing the risk that those cues are evicted or diluted under bounded memory. We propose ProtoKV, a constant-footprint SVU memory that represents far history as a fixed-capacity summary state rather than retaining token instances. ProtoKV keeps an exact near-window KV cache and aggregates older content into a semantic-spatial prototype bank with residual statistics. At query time, each prototype is exposed through a bounded pseudo-token interface that is drop-in compatible with standard attention. Under matched budgets and comparable query-time cost, ProtoKV improves accuracy by up to 12.5 points over token-retention baselines on SVU benchmarks in the long-delay regime, with gains that grow as query delay increases.

High-performance GPU kernels are critical for reducing the exponentially growing computational costs of large language models (LLMs), but their development heavily relies on manual tuning by domain experts. While recent advances in LLM-based approaches show promise for automating kernel generation, they still struggle to achieve both correctness and high performance. This limitation primarily arises from the lack of domain-specific optimization guidance, hindering effective exploration of the optimization space. We propose EGG, an Expert-Guided Agent Framework for Kernel Generation, which incorporates expert optimization principles to guide LLMs' decisions. Inspired by expert workflows, we decompose kernel generation into two hierarchical stages: 1) algorithmic structure design, which establishes a high-quality computational structure foundation; 2) hardware-specific tuning, which performs targeted adjustments through parallel mapping, tensor tiling, and memory optimization. This staged decomposition defines explicit optimization objectives, structuring the design space to achieve progressive refinement. To this end, a stage-aware multi-agent collaboration mechanism is designed for inter and intra-stage context management, ensuring stable optimization trajectories. Experiments on KernelBench and real-world workloads show that EGG achieves a 2.13x average speedup over PyTorch, outperforming existing agent-based and RL-based approaches.

Conversational memory retrieval optimizes relevance, yet a retrieved memory can be relevant and simultaneously outdated: a later turn updates, corrects, or supersedes it. ConvMemory v3 adds a validity context layer that detects and surfaces this update evidence through target-conditioned relation verification, sitting after the v1/v2 retrieval path. The core mechanism is a dual-evidence gate that conditions a relation judgment on the specific target proposition, scoring a (target, source) pair through the product of a MiniLM slot head and a DeBERTa-v3 slot head and gating it by conservative event/operation evidence. On a synthetic multi-hop validity benchmark the gate reaches 90.12% +/- 1.73 accuracy; through a real-data feedback loop that mines failure patterns but trains on synthetic pairs only, the verifier transfers to Memora role binding with zero target-side labels, reaching 98.8% +/- 0.9 group-all-correct. The deployed layer preserves retrieval by default: a context mode attaches structured validity metadata while keeping the candidate set and rank order fixed, and a query-conditioned demote mode is an explicit opt-in for dense current-state workloads, where it raises current-active H@1 from a never-demote baseline of 45.1% to 95.7% +/- 1.2 while protecting non-superseded memories at 99.4% recall. Six machine-verifiable safety contracts pin the layer's behavior. Multi-hop graph propagation is validated as a mechanism; fully automatic construction of strict prerequisite edges is characterized as a boundary, since strict necessity requires counterfactual world knowledge. This report extends ConvMemory v1 (arXiv:2605.28062) and v2 (arXiv:2606.10842).

We present HyperDFlash, a block-parallel speculative decoding framework tailored to the novel multi-hyper-connection (MHC) architecture proposed by DeepSeek-V4. Despite the strong initial-token drafting performance of the native Multi-Token Prediction (MTP) module in DeepSeek-V4, its draft accuracy degrades sharply at later positions, as error accumulation from unverified intermediate tokens harms acceptance rates. Although the original DFlash method supports efficient one-pass block drafting, it cannot be seamlessly adapted to the MHC paradigm, since the multi-path residual stream of DeepSeek-V4 induces feature misalignment with conventional drafting designs. To resolve this mismatch, we propose two model-aligned optimizations for MHC residual streams. First, we adopt pre-collapse residual states as the exclusive conditioning signal, preserving multi-path structural information and aligning the drafter with the native prediction pathway of the target model. Second, we replace the heavy generic linear compressor with a lightweight gated residual reducer, whose parameters are inherited from the built-in hyper-connection head. This design yields input-aware path aggregation with three orders of magnitude fewer parameters while maintaining architectural alignment. We further enhance training via a targeted KL distillation loss applied to the LM-head, which regularizes predictions against the full target probability distribution and improves draft quality at early training stages. Experiments across math reasoning, code synthesis, and conversational benchmarks show that HyperDFlash consistently outperforms both the native MTP baseline and vanilla DFlash adaptation. It achieves substantial gains in average accepted draft length and decoding speedup, validating the effectiveness of MHC alignment, gated reduction, and targeted distillation for high-performance speculative decoding.

Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stage, we introduce FRAPPE++, a multimodal model that fuses RGB and pressure to jointly estimate 3D pose and global motion, where pressure provides explicit contact and support constraints to resolve ambiguity in vision-based estimation. In the control stage, we propose a pressure-supervised policy (PSP) that incorporates pressure-derived signals into reinforcement learning, enabling physically consistent contact patterns during execution. We further construct MotionPRO, a large-scale dataset with synchronized RGB, pressure, and motion capture data. Experiments show that pressure improves motion estimation accuracy, trajectory consistency, and execution stability. These results demonstrate that pressure serves as an effective physical grounding signal, bridging perception and control for physically consistent humanoid motion imitation.

Streaming video editing has made rapid progress, yet practical deployment is still limited by two core issues: maintaining stable backgrounds and non-edited regions over time, and achieving the low latency required for real-time interactive scenarios. Meanwhile, recent streaming video generation methods are mostly developed for synthesis and cannot be directly applied to editing due to the strict preservation requirement and region-specific control. In this work, we present a novel streaming video editing framework that performs causal, frame-by-frame editing with strong content preservation and real-time responsiveness. Our key design is a three-stage distillation pipeline that progressively transfers editing capability from a powerful bidirectional foundation model to an efficient unidirectional streaming editor, enabling stable long-horizon edits without sacrificing visual fidelity. To further support real-time deployment, we introduce an AR-oriented mask cache that reuses region-related computation across frames, substantially reducing redundant processing and accelerating inference. Finally, we establish a dedicated benchmark for streaming video editing. Extensive evaluations demonstrate that our method achieves state-of-the-art visual quality among streaming baselines while drastically boosting inference speed to 12.66 FPS, making it suitable for interactive and augmented reality applications.

While recent advancements in generative image editing models have achieved stunning visual fidelity, it remains an open question whether these systems possess an intrinsic knowledge of real-world lighting. Existing benchmarks typically evaluate high-level plausibility of perceptual light transport on curated internet imagery, using VLMs or human judgement, or they rely on synthetically generated datasets. In this work, we introduce the 3D-anchored Light Probe (3DLP) benchmark, for which we have captured a new high-fidelity HDR dataset of real-world lighting changes. The dataset consists of 1K image pairs of diverse indoor scenery in which light probes are physically turned on and off. To allow for a granular performance analysis, we annotated specific image regions such as cast shadows or metallic surfaces. With this data, we evaluate a range of state-of-the-art image editing models by measuring how well their light probe edits align with reality. The evaluation uses two new scores to compensate for AI-generated photographic effects, such as adjusted white balance. Our results show that the overall performance of models differs considerably, with differences slightly less pronounced for specular highlights. The best image editing models are remarkably consistent with real-world physics, however, they still leave room for improvement. We observe that image regions that receive less light from the light probe are more prone to errors for all models. Furthermore, building on their success in evaluating macroscopic lighting plausibility, we test VLMs on our task but find that they are unsuitable for pixel-level light transport analysis. We will make the benchmark, together with the real-world dataset, publicly available to encourage future research on this topic.

High penetration of distributed energy resources increasingly creates congestion in low-voltage distribution networks, while local energy markets (LEMs) optimise community welfare without explicitly internalising network constraints. This paper investigates whether a profit-seeking aggregator embedded within a welfare-oriented LEM can partially internalise distribution-level congestion through market participation. We develop a post-clearing, price-protected intervention in which the aggregator injects additional supply and triggers re-clearing, with network feasibility validated using nonlinear AC power flow subject to a non-deterioration constraint on maximum line loading. The mechanism is benchmarked against Distribution System Operator (DSO)-only corrective control and a hybrid regime with residual DSO action following aggregator intervention. Results on a UK LV feeder show that aggregator participation reduces thermal loading and preserves community welfare relative to DSO-only control, though it does not fully restore compliance under severe stress. The hybrid regime achieves the strongest technical performance while maintaining lower welfare loss. Overall, aggregator intervention remains privately profitable, indicating partial incentive alignment.

The automation of scientific discovery has reached an inflection point. While AI systems now operate instruments, optimize parameters and generate hypotheses, most remain procedural: they execute workflows fixed by human designers. True autonomous science demands epistemic autonomy--the capacity to construct, challenge and revise physical explanations in response to evidence. Here we introduce AHOIS, a multi-agent AI scientist that embeds Socratic midwifery into closed-loop experimentation. A physics-critic agent interrogates hypotheses through causal questioning, constraint checking, counterexample generation and falsification-criteria formulation. We evaluate AHOIS on a real multimode-fibre optical platform, a high-dimensional system with complex wave transformations, indirect detection, environmental drift and multi-modal acquisition. Without prior encoding schemes, classifiers or speckle models, the system autonomously proposed and validated a random-interference encoding hypothesis, discovered task-adaptive sparse-measurement strategies, diagnosed distinct failure modes (encoding instability, fluorescence contamination and detector noise) and translated a published imaging protocol into an executable workflow on a non-original configuration. The discovered encoding yielded 16x16 measurements with effective rank 56.9 and classification accuracies of 76.97% on MNIST and 83.17% on Fashion-MNIST. Ablations show that Socratic interrogation improves physical consistency, hypothesis completeness, uncertainty calibration and experimental-plan validity. These results establish a route from workflow automation towards evidence-grounded, self-correcting autonomous discovery in complex physical environments.

Arbitrary slice super-resolution reconstructs isotropic volumes from anisotropic clinical acquisitions by synthesizing intermediate slices at arbitrary scales. However, treating this ill-posed inverse problem as unconstrained residual-based regression risks hallucinating anatomically implausible structures or altering the originally observed data. To address both concerns, this paper presents the Dual-Prior Null-space Learning (DP-NSL) framework, which reformulates the task as a constrained recovery process guided by two complementary priors. A Measurement-Consistent Projection (MCP) enforces a Deterministic Observation Prior: the reconstruction undergoes an exact orthogonal projection that reproduces every acquired slice with zero error, confining all learned details to the unobservable null space. Within this null space, a Mixture-of-Splines (MoS) module imposes a Geometric Continuity Prior by dynamically mixing B-spline experts of different analytic orders, allowing each anatomical region to be modeled with a content-aware level of continuity. To promote spatial coherence, a Local Spatial Consistency Decoder (LSCD) further injects local inductive bias. Experiments on three CT and one MRI benchmark show that DP-NSL outperforms existing approaches while strictly preserving measurement consistency. Code is available at https://github.com/DeepMed-Lab-ECNU/Medical-Image-Reconstruction.

As semiconductor technology nodes scale, computational lithography is essential for ensuring yield and performance. However, lithography is a continuous physical process involving mask optimization, optical imaging, resist exposure, and development, which existing models fail to capture. To overcome this limitation, we present LithoDreamer, the first physics-informed World Model (WM) framework for computational lithography, which formulates the ``Layout-Mask-Resist Image-After Development Image (ADI)'' pipeline as a decision-driven multi-step evolution system. LithoDreamer captures feature changes between adjacent states to model stage-specific physics-informed latent spaces, in which it controls process intervention exploration and drives subsequent state transitions. To achieve interpretable intervention optimization without continuous supervision, we propose a contrastive variational optimization paradigm that contrasts the latent differences between intervention paths with variational evolution constraints, guiding the model to generate evolutions consistent with real lithography physics. Experiments show LithoDreamer achieves state-of-the-art performance in forward evolution and inverse planning. Our lithography dataset is publicly available at GitHub (https://github.com/7jiangyq/lithodreamer.git).

Transforming foundation segmentation models from human-prompted tools into auto-promptable annotators is critical for scalable medical data annotation. Current methods commonly depend on external feature matchers or auxiliary networks to automate geometric prompting, but introducing architectural overhead and limiting performance scalability. Although SAM3 natively supports concept segmentation via reusable text prompts, its direct use in medical imaging is hindered by a lack of fine-grained clinical knowledge and the ambiguity of human-written descriptions. In this work, we propose Mask to Concept (M2C), an efficient framework that adapts SAM3 for medical few-shot annotation without external modules, parameter retraining, or manual text engineering. Using only a few labeled images, M2C enables SAM3 to automatically search for transferable visual concepts entirely within its frozen architecture: it initializes a learnable concept embedding, uses it to prompt segmentation, and updates the embedding by gradients of minimizing the concept segmentation error. We further introduce a Hybrid Uncertainty Estimation (HUE) module that calculates the prediction entropy and maps concept predictions back to the box prompts, measuring concept-geometry prompting inconsistency. Highly uncertain samples are flagged actively for human correction, and the corrected masks are then fed back to M2C to continuously search for more precise concept embeddings, forming a self-enhancing annotation loop with minimal expert effort. Experiments on medical segmentation benchmarks show that our method achieves SOTA few-shot segmentation performance and outstanding annotation efficiency, offering a practical and efficient pathway toward scalable medical image labeling. Codes are at https://github.com/Huster-Hq/M2C.

Adversarial APKs are Android applications modified in the problem space to evade machine-learning malware detectors. In this work, we first show that, despite claims, existing problem-space attacks remain largely impractical. Most techniques leverage software transplantation to inject entire benign modules, introducing many side-effect features and often causing build-time failures. Fine-grained methods that inject only a narrow subset of components exhibit limited effectiveness, while those that also use obfuscation rely on brittle bytecode rewriting, producing APKs that are syntactically valid but semantically unusable. Prior work further overestimates attack success rates by running smoke tests that only validate installation and basic execution, without assessing whether the modified APK still preserves its intended behavior. To overcome these limitations, we present DROIDBREAKER, a practical (build-safe) and functional (semantics-preserving) problem-space attack framework that provides: (i) query-efficient white- and black-box attacks by manipulating only the APK components most influential to the target model; (ii) a set of fine-grained, build-safe manipulations (including injection and obfuscation of API calls, app modules, permissions, and URLs) with minimal side effects; and (iii) a semantics-preserving functionality test that enforces runtime equivalence by comparing execution logs and API-level traces between the initial and the modified APK. Evaluated on a recent corpus of Android applications, DROIDBREAKER achieves high evasion rates with few queries and minimal side effects in both white-box and black-box settings, and drastically reduces detections by commercial malware scanners hosted on VirusTotal.

Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and manipulation. A major bottleneck for this problem in cluttered environments is that infeasible planning attempts by Sampling-based motion planners (SBMPs) can incur substantial computational cost. Also existing approaches for infeasibility certification are limited to low-dimensional configuration spaces and often assume simplified geometric environments represented by primitive objects with known parameters. We study the complementary problem of learning motion feasibility prediction directly from raw RGB-D observations for a 7-DOF manipulator operating in realistic cluttered scenes. We introduce the first large-scale benchmark for this setting, comprising 2.7M grasp feasibility labels over 88 scanned objects and 190 cluttered tabletop scenes. We benchmark three representative classifier families spanning MLP- based, volumetric-CNN, and point-cloud-based Transformer architectures under matched training conditions. Our best model, GRASPFC-PTX (a point-cloud transformer), achieves an AUROC of 0.996 on Novel objects while providing predictions significantly faster than SBMPs.

Recent game world models can synthesize visually plausible, action-conditioned rollouts. However, their interaction behaviors often remain limited to exploratory or wandering trajectories, and physical dynamics are typically learned as implicit correlations from data rather than as controllable variables. This limitation hinders their applicability to authored game environments, where physical rules are deliberately designed and require explicit manipulation. We introduce PhysEditWorld, a multimodal dataset with physical parameters, with a primary focus on gravity in this initial version. At its core, PhysEditWorld is built upon a replay paradigm implemented with a UE5 replay-and-rendering pipeline. Each scenario records a normalized action trace and replays the same initial state, character controller, action sequence, and camera policy under multiple gravity configurations, enabling controlled and attributable physical variation. PhysEditWorld contains 12 cinematic UE5 scenes, over 100 hours of gameplay interactions, and more than 60 million rendered rollout frames. Each sample provides synchronized multimodal signals, including RGB, depth, normals, audio, action traces, camera trajectory, engine states, semantic annotations, and explicit gravity labels. We further conduct initial utility studies on both generative video models and world understanding models, demonstrating that PhysEditWorld enables improved gravity-faithful dynamics modeling, enhances consistency under physical edits, and provides a scalable foundation for controllable world modeling research.

In order to screen a prompt or a response, the recent guardrail methods generate a chain-of-thought (CoT) before they issue a verdict. This design follows a common belief that step-by-step reasoning improves a decision. However, CoT also makes the guard heavy and slow, because the model must generate many tokens before it decides. This may not match how guardrails are actually deployed. A guardrail sometimes should not be heavy and slow, and it often runs on-device, for example on an embodied robot. In this paper, we pose a question whether a safety guardrail really needs to reason. To answer this question, we train a lightweight bidirectional encoder and a reasoning guard on the same corpus, and we then remove only the reasoning while we keep everything else fixed. With this controlled same-base comparison, we show that the chain does not improve moderation accuracy. We name the resulting guard LeanGuard. A 395M label-only encoder reaches an average F1 of 82.90 $\pm$ 0.26 over public benchmarks. It matches a reasoning guard that is built on a much larger decoder, while it uses only a single forward pass over an input of at most 512 tokens. This is about a ~100x reduction in inference compute. We further show that this label-only encoder stays robust under training-label noise and retains far more recall at a strict false-positive rate than the reasoning guard, so a heavier reasoning guard is not the more robust choice either. Our finding suggests that the current guardrail benchmarks may not be hard enough to reward reasoning, and that the necessity of CoT for moderation is still not proven. We release all source codes and models including LeanGuard at https://github.com/ndb796/LeanGuard.

Post-training alignment determines the reasoning and human preference following capabilities of large language models, yet most existing works withhold detailed data construction, filtering rules and training recipes, which hinders community reproducibility and lightweight model optimization. This work presents NebulaExp, a fully transparent, ablation-driven post-training pipeline built on Qwen3-8B-base, covering two orthogonal model branches: general instruct model and complex reasoning-specialized model. We curate a raw corpus of 3.84M multi-source SFT samples and a 200K verifiable RL candidate pool, and design an end-to-end data processing stack including response distillation, multi-dimensional cross-verification filtering, fine-grained difficulty grading, task classification and diversity-aware sampling. For the Instruct branch, our three-stage optimized supervised fine-tuning approach NebulaExp-Ins-SFT improves the average benchmark score from the 55.01 baseline of Qwen3-8B-nothink to 60.99. GRPO reinforcement learning then further elevates the average score to 61.85. For the Reasoning branch, medium-difficulty GRPO RL improves average reasoning score from 73.88 to 75.17. To address RL's dependency on task verifiers, we systematically investigate single-teacher and multi-teacher OPD (MOPD): utilizing merely 4K instruction-following samples and outperforms RL baseline by 3.26 points on IFEval with +4.43 average overall gain; MOPD fuses four domain-specialist teachers with merely 10K samples, lifting average performance by 4.18 over the base model. This report provides a fully reproducible empirical post-training recipe for 8B-scale LLMs, and comprehensively dissects the capability trade-offs among instruction adherence, mathematical reasoning, code generation and general knowledge.

Agents often repeatedly solve similar task instances from scratch, leading to unnecessary reasoning cost and long execution traces. Prior work has explored workflow reuse and executable skill induction, but it remains unclear which task scenarios admit procedural skills and how the shared procedural structure should be represented across successful traces. We study this problem in FSM-defined scenarios, where successful traces can be viewed as paths in an unknown transition graph, and formulate procedural skills as reusable parameterized control-flow subgraphs. Based on this view, we introduce SkillDisCo, a distillation-and-compilation framework that distills reusable PFSM subgraphs from successful traces and compiles them into callable, executable, and verifiable procedural skills. Experiments on ALFWorld and WebArena show that SkillDisCo improves success rates and reduces agent turns across benchmarks and model scales, demonstrating the benefits of representing shared experience as reusable execution structures.

Video customization based on Text-to-Video (T2V) models aims to learn specific features from reference data to generate controllable videos. While significant strides have been made in image stylization and video motion customization, simultaneously controlling multiple concepts, such as content, style, and motion, remains a major challenge. In this work, we systematically define the task of multi-concept video customization, which requires the joint control of content, style, and motion. To facilitate research in this area, we construct a comprehensive benchmark and propose Disco-LoRA, a unified framework designed to tackle this problem by disentangling and flexibly recombining different concepts in two stages: (1) We decompose the objective into two sub-tasks: Content-Style and Content-Motion. Each sub-task is addressed using our Iterative Dual-LoRA Disentanglement Framework, which effectively disentangles distinct concepts within the data. (2) We identify layer-wise weight trends as crucial for LoRA identity, while weight magnitudes dictate composability. To harmonize these scales, we propose a Z-score-based statistical regularization that aligns weight distributions, preserving layer-wise trends while minimizing interference between different LoRAs. Extensive experiments show that Disco-LoRA excels in multi-concept video customization, effectively preserving appearance, style, and motion for controllable text-to-video generation.

Autoregressive large language model (LLM) serving is increasingly limited by key-value (KV) cache movement rather than dense matrix multiplication. Modern paged-attention systems reduce KV-cache fragmentation and mature kernels such as FlashInfer provide highly optimized native-paged decode attention. However, the best single-kernel implementation is not always the best serving schedule: low-active long-context decode can under-utilize commodity GPUs, while mixed sequence lengths introduce a tension between many exact-length launches and coarse padded batches. We present PersistentKV, a native block-table decode attention engine and page-aware scheduling study for grouped-query attention (GQA). PersistentKV maps work by KV-head group, is designed to reuse K,V tiles across grouped query heads, supports native page tables, and adds a compact workqueue schedule that executes only non-empty row-KV-head-sequence-split tasks. On an RTX 3060 with FP16, page size 16, Hq=32, Hkv=8, d=128, and identical correctness tolerance against FlashInfer, a calibrated adaptive policy selects FlashInfer for small active batches, PersistentKV sequence splitting for B1 long-context steps, and PersistentKV workqueue scheduling for B8 long-context steps. With thresholds and split counts fixed on calibration traces, one held-out trace seed improves synchronized wall throughput by 1.063-1.265x on B8 bimodal, uniform, and Zipf-like workloads and by 1.399x on a B1 bucketed trace. On the B4 bimodal boundary case, the policy avoids the PersistentKV regression by selecting FlashInfer. These results identify a concrete systems niche for adaptive page-aware decode scheduling and show that work assignment, not only attention math, is a decisive serving-system variable.

World Action Models (WAMs) generate actions together with predicted futures, offering a powerful interface for robot decision making. In contact-rich manipulation, however, visually plausible futures can be physically incomplete: insertion, assembly, search, and reorientation often depend on slip, jamming, contact normals, or small alignment errors that are weakly visible or hidden in RGB. A natural solution is to predict future tactile states, however, we identify tactile pollution, a failure mode where unconstrained tactile-token injection degrades video and action prediction by forcing a visual dynamics model to absorb sparse, local, event-driven contact signals. To address this, we propose Tactile-WAM, a touch-aware WAM with a Tactile Asymmetric Attention Mechanism (TAAM). TAAM combines a VideoClean mask, which blocks video-query access to tactile key/value tokens while preserving action-query access, with a touch-aware bias for action attention. The VideoClean mask protects visual prediction while keeping contact information available for action generation; the touch-aware bias is derived from predicted touch changes and modulates action attention to tactile tokens during denoising. On ManiFeel, Tactile-WAM improves the mean success rate by 38.9% overall and by 86% on contact-rich tasks.

Personalized language-model assistants are often evaluated through a memory lens: can a model recall preferences users have explicitly stated in dialogue? More comprehensive personalization demands a harder capability -- inferring what users care about from the multimodal traces they naturally leave behind. We introduce SocialPersona, a benchmark for evaluating whether multimodal large language models (MLLMs) can recover revealed preferences from longitudinal social-media timelines and use them in dialogue. Built from longitudinal timelines of 171 everyday, non-promotional social-media users, SocialPersona contains text, images, timestamps, and 2,597 human-verified preference tags across seven interest domains, separating stable interests from recent interests. It supports two tasks: constructing structured user profiles from multimodal context and generating responses aligned with inferred profiles. Experiments with proprietary and open-weight MLLMs show that models can identify broad interest domains, yet their performance drops on fine-grained and recent interests and degrades further when inferred profiles must be used to personalize dialogue. Together with evidence that text and images provide complementary preference signals, these results indicate that robust cross-modal, long-horizon user modeling remains a key challenge, and that SocialPersona can help measure and advance progress toward assistants that infer and act on revealed preferences.

In this paper, we present CAT-Q, Cost-efficient and Accurate Ternary Quantization, for compressing and accelerating LLMs. Unlike existing state-of-the-art ternary quantization methods that rely on data-intensive and costly quantization-aware training to mitigate severe performance degradation, CAT-Q is a simple yet effective post-training quantization scheme that is readily applicable to LLMs with diverse architectures and model sizes. It has two key components, learnable modulation (LM) and softened ternarization (ST), which are coupled from an optimization perspective. LM leverages a composition of learnable factors to modulate the distribution of pre-trained high-precision weights and the ternary threshold, making them less sensitive to ternarization. ST further introduces a differentiable transition function to guide the ternarization process toward stable convergence. We show that, for pre-trained LLMs with 1.7B to 8B parameters, CAT-Q can efficiently quantize them into ternary models using only 512 calibration samples, while achieving superior performance than the seminal BitNet 1.58-bit v1 and v2 families (with 1.3B to 7B parameters) trained with 100B tokens, yielding about a 100,000X reduction in training tokens. Moreover, we show for the first time that CAT-Q can quantize much larger pre-trained LLMs having 14B to 235B parameters into leading ternary models within just 8 to 60 hours on 8 A100-80GB GPUs. Code is available at https://github.com/IntelChina-AI/BitTern.

Agent safety in high-stakes domains requires formal policy enforcement, but most existing approaches either rely on probabilistic guardrails (fine-tuned classifiers, prompt-based steering) that offer no formal guarantees, or on hand-coded symbolic enforcement that does not scale to the breadth of real policy specifications. We present an autoformalization pipeline that translates agent prompts, MCP tool descriptions, and natural language policy documents into formally verified policies using an LLM-based generator-critic loop. The resulting policies are written in the Cedar Policy Language. On the MedAgentBench benchmark, our autoformalized policies cover substantially more of the source natural-language specification than the hand-coded symbolic enforcement in prior work.

Event cameras asynchronously report brightness changes with microsecond-level temporal resolution, but real event data remain difficult to collect at scale because specialized sensors, careful synchronization, and task-specific annotations are required. Event-camera simulation is therefore important to event-based vision tasks. Most practical simulators build on contrast-threshold event generation, some with additional filtering, stochastic noise, or hand-tuned sensor parameters. While effective, such formulations often simplify the temporal structure produced by the lifecycle of each pixel, which can distort event timing and weaken downstream transfer. We introduce FracEvent, an event simulator that models this pixel-level lifecycle with fractional-relaxation voltage dynamics. Given a log-intensity trajectory, FracEvent drives a compact stack of relaxation modes, combines their responses into a voltage state, emits ON/OFF events by localizing threshold crossings on the continuous voltage trajectory, and updates the reference while retaining the underlying memory modes. This retained state links residual voltage response to later event timing. We evaluate FracEvent through event-stream comparison and downstream transfer on image reconstruction and optical flow estimation. Across multiple datasets, FracEvent improves the temporal structure of generated events and achieves stronger downstream-transfer results than competing simulator baselines, showing its practical value for event-camera simulation.

Effective multi-task learning for surgical scene understanding is fundamentally hindered by annotation granularity mismatch; temporal workflow tasks such as phase recognition, step recognition and anticipation benefit from dense frame-level supervision, whereas pixel-level spatial tasks including instrument segmentation and action recognition are only sparsely annotated on selected keyframes due to prohibitive labeling costs. This supervision imbalance undermines shared representation learning and limits joint optimization across heterogeneous surgical tasks. To address this, we propose Flow-guided Annotation for Robust Operating Scenes (FAROS), a flow-guided label interpolation framework, that combines zero-shot segmentation-based mask propagation with optical flow estimation to overcome the limitations of appearance-based propagation under challenging surgical conditions such as occlusion, smoke, and motion blur, generating temporally consistent dense pseudo labels from sparse keyframe annotations. The densified instrument masks and action labels are integrated into a unified Transformer-based multi-task framework that jointly learns surgical phase recognition, step recognition, anticipation, instrument segmentation, and action recognition, enabling balanced optimization between dense temporal supervision and sparse spatial supervision. The label interpolation quality of FAROS is first validated on the DAVIS 2017 benchmark under a sparse ground-truth protocol, confirming robust propagation beyond the surgical domain. Extensive experiments on GraSP, MISAW, and AutoLaparo benchmarks further demonstrate that FAROS significantly improves cross-task representation learning and enhances holistic surgical scene understanding performance across spatio-temporal tasks.

Interleaved multimodal reasoning improves visual grounding by revisiting visual evidence during multi-step generation, yet existing methods typically rely on token replay, repeatedly forwarding selected visual tokens. A natural shortcut is to reuse the historical visual key-value (KV) cache directly. However, we identify a critical failure mode of this strategy: cached visual keys are already bound to their original positional context. Such stale positional binding distorts attention under later decoding contexts and can trigger severe autoregressive decoding collapse. This failure suggests that effective cache reuse requires reconstructing visual evidence under positions compatible with the current decoding state, rather than directly copying position-bound historical cache entries. To this end, we propose Position Rebinding Cache Reuse (PRCR), a cache-level framework for replay-free visual revisiting. PRCR stores raw visual KV cache together with their original spatial coordinates, then reassigns position-compatible coordinates to select entries and rebinds their keys before injecting the reconstructed cache into the active decoder cache. This design reuses historical visual evidence while preserving textual positional continuity and relative visual structure. Experiments across multiple multimodal reasoning benchmarks show that PRCR achieves replay-level or better performance, improving average accuracy by 5 percent and reducing visual-revisiting computation by up to tens of thousands of times.

Weight-space regularization methods such as Elastic Weight Consolidation (EWC) are the standard approach to catastrophic forgetting in continual learning. However, those methods tend to underperform when applied to large language models. We argue that such underperformance can be partly explained by the ``polysemantic'' nature of large language models: per-weight importance estimates utilized by EWC-style regularization are too coarse and cannot isolate the knowledge that needs protection. In this paper, we propose regularizing instead in the model's activation space, using pretrained Sparse Autoencoders (SAEs) as a monosemantic feature dictionary. From the perspective of constrained optimization, we derive a new loss function that uses the SAE feature dictionary to explicitly balance stability and plasticity, and show that EWC is a special case in the one-sided weight-space penalty setting. Unlike replay-based methods that store or revisit examples from earlier tasks, our method requires no previous-task data after mask construction: current-task data is used to compute a compact SAE feature mask, and only this mask is retained for later training. Further, since the feature space has significantly lower dimensionality than the parameter space, the proposed method is more memory efficient. On the TRACE and MedCL continual learning benchmarks, the method achieves the strongest result among approaches without introducing task-specific architectural components, also surpassing traditional weight-space regularization methods like EWC. Beyond performance comparisons, we provide empirical evidence for the polysemanticity thesis: task-relevant representations are linearly separable in the SAE feature basis but indistinguishable from chance in the weight basis, and weight-space protection is nearly non-selective at the concept level.

Large language model agents increasingly query databases, search document collections, call external APIs, remember past interactions, and act on a user's behalf. As they move from answering questions to operating over sensitive data, privacy becomes harder to enforce. An agent touches many data sources, runs multi-step workflows, keeps state across sessions, and acts with delegated permissions. Sensitive information can therefore leak not only through its final answer but through the queries it issues, the intermediate results it handles, the memory it writes, and the messages it exchanges with other agents. We survey the privacy of LLM agents from a data-centric view, organizing the field around the data an agent touches rather than by attack type, and we use data agent as shorthand for an LLM agent that works with data. Research on these risks is active but scattered across retrieval-augmented generation, text-to-SQL interfaces, agent memory, prompt injection, access control, and contextual privacy. This survey brings that work together: we taxonomize the data sources an agent touches, the privacy risks each source creates, and the governance mechanisms that address them; we map the benchmarks used to measure these risks and identify what is missing; and we set out the open problems. Two findings recur: among governance mechanisms only information-flow control covers both compositional and cross-session inference leakage, the two least-protected risks; and no benchmark drives an agent across its data surfaces under one privacy policy, the instrument the field most lacks. Our goal is a reference that situates the scattered literature and gives future work a common framing.

Image restoration aims to reconstruct high-quality images from degraded low-quality inputs. As the computational demands of image restoration models continue to rise, there is growing interest in lightweight architectures optimized for fast and efficient inference. Logic gate networks (LGNs), which operate using fundamental logic operations such as NAND and XOR, have recently emerged as a promising direction for achieving highly efficient computation. However, their potential remains largely untapped in the domain of image restoration. In this work, we introduce LogicIR, the first LGN specifically designed for image restoration tasks. LogicIR incorporates a UNet-inspired architecture composed entirely of logic gates. In addition, we propose a differentiable bit decoding layer and an index shuffling mechanism that improves information propagation across logic gates. Experimental results across multiple image restoration benchmarks demonstrate that LogicIR achieves strong performance with significantly reduced computational cost, establishing LogicIR as a viable and efficient alternative for image restoration. The source code is available at https://github.com/jimmy9704/LogicIR

Handheld data collection systems, such as the Universal Manipulation Interface (UMI), enable scalable data collection across diverse environments but only capture observed actions rather than the desired actions executed by a robot controller. In contrast, teleoperation captures desired actions directly, but is prohibitively time-consuming to collect. We revisit this trade-off through the lens of action validity across task phases. We observe that handheld trajectories provide valid supervision in tolerant, free-space phases, but lack dynamic feasibility in contact-sensitive phases, where tracking observed trajectories at high stiffness produces large, unsafe contact forces. We study the interaction between these two supervision types for contact-rich manipulation and find that training policies that combine handheld data with a small number of targeted teleoperated demonstrations provide an efficient hybrid strategy. Specifically, rather than teleoperating the entire task, we only collect partial teleoperated demonstrations for task segments where base handheld policies fail. However, naively mixing handheld and teleoperated phase-specific data yields worse performance than training on handheld data alone. To address this mismatch between observed and desired supervision, we propose Bi-modal Routing for Imitation Data via Gated Experts (BRIDGE), a mixture of diffusion policy experts that routes between specialist task phase heads conditioned on the current robot state. Notably, our approach enables task-phase specific use of desired actions during contact sensitive segments and improves success rates over handheld-only baselines by up to 36.7% across three contact-rich manipulation tasks.

Recent advancements in Multimodal Large Language Models (MLLMs) have demonstrated impressive fine-grained perception capabilities. However, existing benchmarks predominantly rely on explicit textual cues or low-resolution inputs, failing to evaluate a model's ability to autonomously perceive implicit visual cues in high-resolution. To bridge this gap, we introduce DiCoBench, a comprehensive, multi-image high-resolution benchmark designed for cross-image fine-grained perception. DiCoBench consists of 765 meticulously curated samples categorized into two progressive tracks: Differential Visual Cues and Commonality Visual Cues, covering 8 distinct perception tasks. By formulating the benchmark as a multiple-choice question task and utilizing high-resolution imagery (approaching 2K), we eliminate evaluation metric bias and pose a substantial challenge to current state-of-the-art MLLMs. Our extensive evaluation of 18 diverse MLLMs reveals a striking performance gap compared to human accuracy (98.3\%), with top-performing models struggling significantly with micro-scale detail capture. We believe DiCoBench will serve as a challenging testbed to drive future research in autonomous, high-resolution multi-image perception.

Security misconfigurations in Terraform Infrastructure-as-Code are a growing risk in cloud deployments, and large language models are increasingly used as automated repair agents. Existing evaluations often treat a repair as successful when the targeted static-analysis finding disappears, without checking planning validity, behavioral change, or security intent. This paper presents TerraProbe, a five-layer oracle framework for evaluating LLM-assisted Terraform security repair. We apply TerraProbe to 288 first-pass repairs generated by gemini-2.5-flash-lite, GPT-4o, and Claude 3.5 Sonnet across 68 real-world TerraDS modules and 28 controlled injected-defect modules. The results show that targeted Checkov removal overstates repair success. Although targeted removal reaches 83.3 percent for the primary model, full-scanner cleanliness drops to 10.4 percent, Terraform planning succeeds for 39.6 percent, and plan comparison is reachable for 38.5 percent. Human adjudication further shows that 71.4 percent of plan-compared real-world repairs are deceptive fixes that pass automated checks while leaving the underlying vulnerability in place. This pattern is statistically indistinguishable across the three models, with deceptive-fix rates from 57.1 percent to 71.4 percent and pairwise Fisher exact p-values above 0.10. The paper introduces a four-dimensional taxonomy of deceptive fixes, validated with Cohen kappa of 0.78 and Krippendorff alpha of 0.76. IAM permission analysis confirms that wildcard Resource grants persist in all nine CKV2 AWS 11 deceptive-fix cases. TerraProbe contributes an evaluation methodology, a replication package, and the Multi-Layer Oracle Evaluation framework for distinguishing intent-aligned security repairs from scanner-passing false successes.

A central challenge in deploying learned robot policies is inference-time behavior steering: redirecting a policy at test time to satisfy user preferences not anticipated during training, without retraining. Existing methods fail in two modes: end-to-end methods require fine-tuning or expert-level guidance, while neuro-symbolic methods rely on predefined symbols whose edits can result in logically reasonable but physically infeasible plans. To address this challenge, we propose ReStruct, which builds upon a neural automaton policy that decomposes a visuomotor policy into a high-level state-machine skeleton capturing task structure and a low-level continuous controller represented as a residual policy. Specifically, ReStruct adopts the automaton to represent the preference and incorporates it into the skeleton through a synchronous product, thereby reconfiguring the task structure. With the controller kept frozen, the action priors provided by the skeleton are updated accordingly to enable physically-aware control under a modified task structure. Extensive experiments from simulation and real-world show that ReStruct steers a wide range of preferences, from object-centric specifications to temporal-logic constraints, and after steering surpasses existing methods, exceeding VLA models in both task success and preference-following by up to 25%.

Complex multi-agent control tasks remain challenging for traditional rule-based and model-based approaches, motivating the adoption of learning-based methods. However, learning-based methods often struggle with sim-to-real transfer because they rely on accurate dynamics modeling or system identification and learn policies in low-level control spaces that are highly sensitive to dynamics mismatch, making them costly and fragile in complex environments. To address this issue, we propose a sim-to-real method for multi-agent control, which is insensitive to dynamics mismatch via effect alignment. Our method combines random environmental structure with discrete semantic actions through closed-loop control, elevating policy learning to a semantic abstraction level. Additionally, we develop an action synchronization mechanism that mitigates inter-agent action timing mismatches, thereby enhancing the temporal consistency of the system. Experiments on four multi-agent navigation tasks demonstrate that our method substantially improves training efficiency over mainstream transfer methods and achieves higher success rates in real-world scenarios, thereby improving the robustness and deployment stability of multi-agent systems under dynamics mismatch.

Many real-world control problems involve hybrid discrete-continuous action spaces. For example, steering and signaling in autonomous driving, and aiming and firing in robotics or video-games. Despite real-world hybrid factorization and reinforcement learning framework support for complex action spaces (e.g., Gymnasium, PettingZoo, TorchRL, SeedRL, Mujoco, etc), the default environments within those frameworks often implement uniform action space configurations (LunarLander, Walker2D, Cheetah, SMAC, SUMO, Ant, Atari). Landmark hybrid-action benchmarks (RoboCup 2D HFO, SC2LE, Platform, CARLA, etc) are mostly heavyweight or archival implementations originating from papers which test one or a small number of competing factorization methods on one kind of control. This article provides a cross-sectional study of factorization methods [independent networks, shared encoder, VDN, QPLEX, Joint, Auto-Regressive] on each of three families of algorithms [PPO, SAC, DQN] across three action spaces [discretized, hybrid, continuous] over four lightweight environments [Platform, hybrid-LunarLander, Hybrid-Shoot, CoopPush]. Accounting for some invalid pairings such as joint-continuous, we are left with 220 configurations to analyze each method. We provide two new C++ parallel gymnasium and petting-zoo compliant environments [CoopPush, Hybrid-Shoot] to isolate particular challenges such as state-dependent inter-action dependence. Finally, we introduce VDN-PPO and PPO-MIX which use a branching critic to assign credit to multi-headed PPO. These variants out-perform all other tested PPO factorizations. Our results suggest that branching dueling architectures balance compute and performance most effectively, with Auto-Regressive actions reaching the highest performance overall and native continuous SAC outperforming discrete and hybrid algorithms, albiet both at increased computational cost.

Zero-shot tweet-level stance detection confronts two primary challenges: (1) mitigating the context sparsity inherent in short texts, and (2) establishing the relevance between implicit targets and textual content. While existing methods primarily focus on incorporating external knowledge, they neglect the intrinsic semantic cues embedded within key intra-textual entities. Furthermore, current models exhibit limited capability in determining the relevance of unseen targets to the given text, thereby struggling to differentiate between "neutral" and "irrelevant" stance labels. To address these issues, we first construct a four-class, multi-topic Japanese tweet dataset. To our knowledge, this is the first Japanese tweet-level dataset for stance detection. We then propose KIRP, a zero-shot stance detection framework. It integrates external knowledge with entity reorganization for data augmentation and employs prompt chaining for reasoning. Specifically, the framework incorporates knowledge graphs to supplement and reorganize key textual entities, while reflective Chain-of-Thought (CoT) reasoning extracts and validates implicit targets. To better distinguish "neutral" from "irrelevant" labels, we adopt stance-aware contrastive learning to capture discriminative features and design a three-layer iterative prototype network for fine-grained classification. Experimental results on SemEval-2016, WT-WT, and KIRP-D show that KIRP achieves state-of-the-art performance. KIRP obtains F1 scores of 84.05% (three-class) on SemEval-2016, and 84.99% and 79.18% (four-class) on WT-WT and KIRP-D, respectively.

In sea-air communication networks composed of an uncrewed aerial vehicle (UAV) and an uncrewed surface vehicle (USV), the extended target characteristics and three degree of freedom motion of the USV under sea induced disturbances cause beam misalignment in the UAV's tracking of the USV. To address these issues, this paper proposes a predictive beam tracking scheme based on integrated sensing and communication (ISAC) for sea-air networks. We develop a wide and narrow beam switching scheme based on sub-array selection, where a time allocation factor is optimized to balance robust state sensing in the wide beam mode and high-rate communication in the narrow beam mode. Specifically, a wide beam mode provides full USV coverage and state sensing, while a narrow beam mode exploits the estimated state for high-gain communication with the communication receiver (CR) mounted on the USV. To characterize the CR motion, a sea-air state evolution model is derived by jointly considering the surge, sway, yaw, and sea induced disturbances of the USV. For the extended target USV, the measurement equation is constructed from multiple scatterer observations, with the measurement noise caused by sea clutter modeled, and an extended Kalman filter (EKF) based CR state prediction and estimation method is developed. In addition, the effect of sea clutter on sensing accuracy is incorporated into the time allocation optimization problem to adjust the time of the wide beam mode. Simulation results demonstrate that the proposed scheme achieves higher tracking accuracy than the state-of-the-art benchmark schemes.

Adversarial evaluation of AI systems has matured along four largely disconnected tracks: diffusion-based attacks on text and large language models (LLMs), diffusion-based attacks on image classifiers, jailbreak pipelines against vision-language models, and diffusion-based input purification defenses. Each has developed its own vocabulary, threat models, and benchmarks, with denoising diffusion models emerging as a shared generative mechanism whose recipes are now actively ported between communities. This survey performs an information-fusion exercise at the meta-research level: we integrate these four tracks into a single conceptual framework with a unified taxonomy, evaluation criteria, and research agenda, focusing on the LLM-side slice. We catalog fifty published papers across four scope areas (text/LLM, image classifier, vision-language model, defense), plus four diffusion-LLM-as-victim entries and ten non-diffusion baselines against which any new attack must be compared. We propose a six-class taxonomy of diffusion roles in adversarial pipelines, augmented by a threat-model axis recording attacker knowledge, query budget, and target accessibility, and apply a five-dimension framework (attack success rate, transferability, query budget, perplexity, defense-evasion) uniformly across modalities. The review adopts a dual attacker-defender perspective: alongside the attack catalog we cover four diffusion-based defenses that form the natural evaluation backdrop for new attacks. Our critical analysis identifies five recurring weaknesses of the current LLM-side literature, and we close with a research agenda of open questions and concrete experimental designs. The companion catalog and spreadsheet are released with the paper. We are explicit that this is a narrative review with quality assessment, not a PRISMA-compliant systematic review, and discuss the implications for replication.

Delta-rule linear attention improves recurrent memory updates by correcting what is already stored at the current write address before writing new content. However, the active correction is still anchored to that same write address. As a result, stale information stored at a different address cannot be actively removed before new content is written elsewhere. We propose Erase-then-Delta Attention (EDA), a memory update rule that decouples where to erase from where to write. The key insight is that recurrent memory models should not only correct the current write, but also selectively suppress outdated memory at an independently chosen address. Concretely, our method first applies a targeted erase step along a learned erase direction, and then performs the standard delta-style corrective write along the current write direction. This preserves the corrective behavior of delta-rule updates while expanding their memory-management capacity. Language-model pretraining experiments across dense 2.5B and MoE 25B-A2.8B model families show that EDA performs best in both settings. The gain persists after 80B-token long-context midtraining of the MoE models, where EDA also performs best in long-context evaluations from 4k to 128k contexts. A compact update analysis and memory-state probes suggest why: EDA keeps the delta-rule corrective write intact while allocating an additional cleanup path most strongly when passive decay is weak. These results suggest that recurrent memory models should decide not only what to write, but also what stale information to erase and where.

The rapid advancement of generative models presents a significant challenge to existing deepfake detection methods, particularly given the widespread dissemination of highly realistic AI-generated images. Although Multimodal Large Language Models (MLLMs) show strong potential for this task, existing approaches suffer from two key limitations: insufficient sensitivity to fine-grained forensic artifacts and reliance on static synthetic supervision from frontier models, leading to limited flexibility and high-cost. To address these issues, we propose ForeAgent, an agentic forensics framework for AI-generated image detection with iterative self-evolution. First, ForeAgent adopts a Perception-Verdict architecture that aggregates multi-view cues spanning semantic, spatial, and frequency-domain features, and leverages an MLLM as a verdict module to fuse these signals for a logical-grounded verdict. Second, to enable continual self-improvement, we introduce a Hindsight-Driven Self-Refining strategy following a Sampling-Reflection-Evolution paradigm. The agent performs inference rollouts on training instances. Guided by ground-truth labels as hindsight, it reflects on failure cases and low-quality reasoning trajectories to regenerate higher-quality reasoning traces. These synthesized samples are then strictly filtered through a dual-expert quality gating module. ForeAgent continuously evolves via fine-tuning on self-curated high-quality samples. Extensive experiments demonstrate that ForeAgent achieves state-of-the-art performance on the Chameleon benchmark, reaching 82.18% accuracy (+16.41% over AIDE), and achieves 93.3% mean accuracy on AIGCDetect-Benchmark across 16 generators. In addition, external evaluation shows that ForeAgent produces more consistent and causally grounded reasoning compared to GPT-5 and GPT-5-mini.

While instruction-based image editing, enabled by multi-modal generative models, has advanced significantly, existing benchmarks lack a comprehensive evaluation of physics-based reasoning, a critical capability for handling real-world scenarios. To address this, we introduce PhyEditBench, a benchmark designed to assess the physical understanding of editing models. Guided by a hierarchical taxonomy, we establish 4 primary classes and 12 subclasses. It comprises 238 high-quality, high-resolution, real-world instances meticulously extracted from videos to capture authentic physical dynamics, alongside 35 synthetic Anti-Physics instances. Our empirical analysis of current SOTA editing methods exposes substantial limitations in their physics-based reasoning. We further propose a training-free baseline named PhyWorld that uses test-time scaling and a latent reduction strategy. PhyWorld outperforms comparable models and suggests that the video generation process can effectively serve as a reasoning mechanism for image editing. The project page is available at https://github.com/Previsior/PhyEditBench.

Long-term time series forecasting (LTSF) plays a crucial role in fields such as energy management, finance, and traffic prediction. Transformer-based models have adopted patch-based strategies to capture long-range dependencies, but accurately modeling shape similarities across patches and variables remains challenging due to scale differences. To address this, we introduce patch-mean decoupling (PMD), which separates the trend and residual shape information by subtracting the mean of each patch, preserving the original structure and ensuring that the attention mechanism captures true shape similarities. Futhermore, to more effectively model long-range dependencies and capture cross-variable relationships, we propose Trend Restoration Attention (TRA) and Proximal Variable Attention (PVA). The former module reintegrates the decoupled trend from PMD while calculating attention output. And the latter focuses cross-variable attention on the most relevant, recent time segments to avoid overfitting on outdated correlations. Combining these components, we propose PMDformer, a model designed to effectively capture shape similarity in long-term forecasting scenarios. Extensive experiments indicate that PMDformer outperforms existing state-of-the-art methods in stability and accuracy across multiple LTSF benchmarks. The code is available at https://github.com/aohu1105/PMDformer.

As Moore's law reaches its physical and economic limits, domain-specific approaches are increasingly employed to accelerate machine learning workloads. Hyperdimensional Computing (HDC) represents one such emerging paradigm, offering an alternative to conventional deep learning techniques. Rooted in cognitive models of computation, HDC is designed bottom-up with hardware efficiency as a first-class objective. HDC workloads map naturally to heterogeneous hardware platforms, including CPUs, GPUs, and FPGAs, as well as emerging in-memory computing technologies such as Resistive RAM (ReRAM) and Phase-Change Memory (PCM). HDC algorithms are intrinsically tolerant to noise and approximation, enabling substantial performance gains with minimal accuracy loss. In this work, we introduce ApproxHDC, a framework for automated identification and application of domain-specific approximations in HDC workloads. ApproxHDC extends the HPVM-HDC compiler infrastructure to enable retargetable compilation across diverse hardware backends, including CPUs, GPUs, and simulated ReRAM and PCM-based accelerators. The space of possible approximations is exponentially large; ApproxHDC employs efficient search and analysis to navigate it and identify high-impact configurations spanning both software and hardware levels.

Data from affected populations are crucial for informing humanitarian response, but their value depends on timely and consistent interpretation of nuanced accounts of need. Humanitarian organizations often lack the staff, time, and specialist expertise required to analyze this information at scale. Large language models (LLMs) may expand this capacity, but their reliability for coding qualitative humanitarian data has not been directly established. This benchmark study compares 46 LLMs to a human Gold Standard using 150 high-fidelity synthetic humanitarian transcripts. Evaluation combined inter-rater reliability testing with Krippendorff's alpha, discrepancy analysis distinguishing correct, near-correct, and incorrect codes, and qualitative assessment across humanitarian-specific criteria including discrimination, complex needs hierarchies, and non-standard communication styles. The authors find that multiple LLMs can perform deductive coding at reliability levels comparable to experienced human coders, especially when structured prompts and reasoning-enabled configurations are used. At the same time, aggregate reliability metrics alone are insufficient for deployment decisions. Models varied in recognizing needs expressed indirectly, needs outside predefined categories, and protection-relevant concerns such as physical safety and discrimination. These findings suggest that LLMs can materially expand humanitarian analytical capacity, but not as substitutes for human judgment. Appropriate use requires structured codebooks, reasoning-enabled models, attention to theme-specific performance, and tiered oversight focused on categories where miscoding would have the greatest programmatic consequences. For sensitive humanitarian data, open-weights models deployed on self-hosted infrastructure may offer a viable path for combining analytical scalability with stronger data governance.

Current VLM evaluations often conflate language priors with genuine spatial reasoning. To address this, we introduce CRISP, a novel structural-diagnostic evaluation paradigm that assesses visual spatial intelligence through consistency, the alignment between implicit perception and explicit reasoning. Unlike traditional black-box QA, CRISP utilizes metric 3D Scene Graphs and an oracle intervention protocol to decouple latent reasoning capabilities from perceptual bottlenecks. This granular diagnosis uncovers a systematic perception-reasoning disconnect. Crucially, we reveal that while proprietary models possess robust latent reasoning engines, they suffer from inaccurate metric estimation and a critical failure to leverage their implicit structural representations. Conversely, open-source models remain fundamentally bottlenecked by their lack of multi-hop compositional reasoning. By shifting the focus from merely ``guessing correctly'' via language priors to genuinely ``perceiving, verifying, and reasoning,'' CRISP offers a rigorous roadmap for multimodal alignment beyond end-to-end post-training. The code and dataset are available at https://github.com/iiyamayuki/CRISP-Bench.

The Abstraction and Reasoning Corpus (ARC;~\citealp{chollet2019measure}) contains tasks that require summarizing patterns from limited grid samples and predicting output grids. Recently, many large language model based approaches have attempted to transform it into a text-based reasoning task. However, methods based on open-source models have generally yielded unsatisfactory results, while those relying on closed-source models are too costly. Current efforts mainly focus on data augmentation, constructing ARC-like data for more comprehensive supervised fine-tuning. In this work, we argue that solving ARC-like problems requires not only \textit{positive} sample supervision but also the ability to improve model reasoning by distinguishing \textit{negative} samples. To this end, we draw on the idea of preference alignment and propose \textsc{DiARC}, a method that constructs preference pairs to enable the model to distinguish between them. Specifically, we propose three ways to construct negative samples, including output-level visual transformations, DSL-level rule inversion, and task-specific rule editing. The resulting negative samples provide informative near-miss alternatives while keeping the observed demonstrations unchanged. Experimental results across multiple ARC-like benchmarks show that \textsc{DiARC} consistently improves performance over baseline models. The code is released at https://github.com/szu-tera/DiARC.

AI safety is evaluated by how reliably a model detects the hazards it is told to find, yet accidents often arise from the hazard no one specified. We show that conditioning a language or vision model on a narrow task suppresses its reporting of co-present, safety-critical signals it can otherwise report, a machine analogue of human inattentional blindness arising from a different mechanism. Across radiology and driving text scenarios and chest-radiograph vision tasks, suppression appeared in every model tested, did not diminish with scale, persisted in a reasoning model, and varied more by model family than by size, while the same models reported these signals at substantially higher rates when unconstrained. We name this dissociation the Inattentional Gap and argue that it decouples measured benchmark safety from real-world safety: a system can score near-perfectly on the hazards an evaluation specifies while remaining blind to those that cause harm.

Auto-formalization is critical for scalable formal verification, but existing progress largely focuses on isolated statements, while theory-scale auto-formalization, which coherently translates hundreds of interdependent definitions, lemmas, and theorems, remains open due to challenges in consistency, faithfulness, scalability, and correctness. In this paper, we introduce LCS-Bench, a stand-alone, theory-scale benchmark based on Logics for Computer Science. LCS-Bench is built through a novel semi-automated agentic pipeline that leverages concept graphs, formal signature planning, issue tracking, sorry-filling with counter-example search, complemented by faithfulness review from human experts. The resulting artifact covers 327 textbook items, over 4,076 Lean declarations, and more than 85K lines of Lean code. The dataset supports broad evaluation through a data engine that automatically derives five tracks of evaluation benchmarks, measuring different aspects of auto-formalization and theorem-proving capabilities. We also introduce a novel evaluation protocol featuring definitional equivalence checkers, enabling more fine-grained and faithful assessment. Through extensive evaluation on 14 models, we demonstrate that (1) LCS-Bench is of high quality, consistent, and faithful; (2) the benchmark is challenging, with state-of-the-art models achieving only 20.1% on auto-formalization tasks; and (3) our analysis reveals key findings regarding theory-scale auto-formalization and suggests promising directions for future work.

Retrieval-augmented generation (RAG) gives agents access to accumulated knowledge, but has no model of time. When a fact changes (e.g., a function is renamed or API restructured), RAG retrieves both the stale and current value with near-identical embedding similarity. The agent then either abstains or serves the superseded fact. We show this is a structural problem: on a calibrated dataset, cosine similarity distinguishes a contradicted fact from a duplicated one with AUROC 0.59 (near chance), as contradictions are often more embedding-similar to the original than rephrased duplicates. We present MemStrata, a retrieval memory maintaining temporal validity. It stores facts like RAG, preserving static recall, but when a fact's value is contradicted, a deterministic (subject, relation, object) supersession rule retires the stale value in a bi-temporal ledger - with no similarity threshold and no LLM call. Across six benchmarks run locally with a 7B model, MemStrata ties RAG on static knowledge and reaches 0.95-1.00 accuracy on evolving knowledge (where RAG reaches 0.20-0.47). The central result is the stale-fact-error rate: when required to answer, RAG serves superseded values 15-40% of the time; MemStrata drives this to ~0%, a failure class RAG cannot avoid. MemStrata achieves this at retrieval latency (~2.1s) versus ~16-18s for LLM-reranking baselines. We release the harness, datasets, and a marker-free evaluation protocol for memory under knowledge evolution.

Large reasoning models (LRMs) take longer on harder problems, just as humans do. This surface similarity hides an opposite pattern within items. When an LRM gets a problem wrong, it spends more tokens than when it gets the same problem right; humans do the reverse, spending less time on the trials they get wrong. We separate two levels of deliberation: how response time tracks difficulty across items (registration), and, with item identity held fixed, whether an agent spends more on its own failures or successes (allocation). On a public matched human-LRM corpus, humans and all five thinking LRMs reproduce the known cross-item alignment (registration) but diverge within items (allocation): every LRM shows a large wrong-vs-right effect (Cohen's d = 1.47-3.13 on H-ARC) while humans show the opposite sign. The comparison stays inside each agent's own scale; we never put seconds and tokens on one axis. The dissociation holds under item fixed effects, replicates across datasets, and is absent in a non-thinking baseline. We read the human pattern as engagement versus abandonment: people stay on items they expect to solve and give up on the rest. We read the LRM pattern as length driven by uncertainty: chains grow when the model is unsure, which is exactly when it tends to fail. Both policies produce the same cross-item correlation with difficulty, so they look aligned on the measure prior work has used; the divergence shows up only once item identity is fixed. Under resource-rational metareasoning, the split is between two stopping policies that share a difficulty signal but implement opposite control; trace length captures the signal and misses the control.

This paper addresses model-free continuous-time mean-field control in a setting where the population dynamics evolve continuously according to an unknown McKean-Vlasov stochastic differential equation, while only discrete-time transition data are available. In the model-based formulation, policy evaluation is naturally described by a stationary Hamilton-Jacobi-Bellman equation on $\mathcal P_2(\mathbb R^d)$, but this equation involves the drift and diffusion coefficients of the controlled McKean-Vlasov dynamics, which are not identifiable when only discrete-time data are available. On the other hand, a direct reduction to a time-discrete Bellman equation avoids the non-identifiability issue but loses the differential equation structure. To bridge these two viewpoints, we introduce a Mean-Field-PhiBE (MF-PhiBE), which incorporates discrete-time transition information into a continuous-time PDE on the Wasserstein space. The MF-PhiBE replaces the unknown infinitesimal drift and covariance in the policy-evaluation equation by one-step estimators computed from data, while preserving the generator structure of the McKean-Vlasov HJB equation. We also derive a policy-gradient theorem for entropy-regularized randomized feedback policies, expressing the actor direction through an action-wise infinitesimal advantage and the score of the policy. Combining these two ingredients yields a model-free actor-critic method. We prove a first-order consistency estimate showing that the value induced by an optimal MF-PhiBE policy approximates the optimal continuous-time value with an error of order $Δt$. In the linear-quadratic case, we show our approximation achieves second-order accuracy with only one-step data. Numerical experiments on an LQR benchmark and a crowd-aversion problem illustrate the proposed framework.

Large language models (LLMs) are attractive for context-aware time series forecasting because they can integrate heterogeneous textual signals, yet their discrete, language-oriented tokenization and embedding interfaces are misaligned with continuous numerical values, often harming numerical ordering and forecasting reliability. We propose TempoWave, a plug-and-play temporal wavelet digit interface that maps each scalar observation into digit-wise embeddings constructed from multi-wavelet, multi-scale coefficients. By directly overriding standard token representations, TempoWave seamlessly exposes both fine-grained local fluctuations and macro global structures in a transformer-compatible form, ensuring that precise numerical formatting, distinct digit identity, and robustness to common normalization operations are maintained throughout the LLM pipeline. Experiments across five context-enriched forecasting benchmarks demonstrate that TempoWave consistently improves LLM-based forecasters over standard numeric tokenization and alternative embedding interfaces, achieving a new state-of-the-art. These results highlight the numeric interface as a key bottleneck and suggest that principled multi-resolution embeddings can better couple LLMs' contextual reasoning with precise forecasting. Our code is available at https://github.com/DC-research/TempoWAVE and our model can be accessed at https://huggingface.co/Melady/TempoWAVE.

Recent work (2024 to 2026) has converged on a strategy for defending tool-using LLM agents against indirect prompt injection: rather than training the model to refuse malicious instructions, enforce security outside the model with a deterministic policy that mediates the agent's actions. Systems such as CaMeL, FIDES, Progent, RTBAS, and FORGE realize this with capabilities, information-flow labels, and reference monitors, and several report near-elimination of attacks on the AgentDojo benchmark. We make two contributions. First, we organize these out-of-band defenses as instances of classical integrity protection (Biba), reference monitoring, and least privilege, yielding a structured comparison of what they do and do not cover. Second, we warn that every one of them is validated only on static benchmarks (a fixed set of injection attempts), the same methodology that made in-band defenses look strong until adaptive, defense-aware attacks broke twelve of them at over 90% success; we specify the threat model and protocol an adaptive evaluation requires. We then run that protocol as an independent reproduction and extension of Progent's own adaptive-attack analysis, on AgentDojo, with an open-weight agent (Qwen2.5-7B) self-hosted on a single H200, a setting its authors did not test. Averaged over three runs, the defense held: Progent cut mean attack success roughly sixfold (25.8% to 4.2%), and a hand-crafted adaptive attack did not raise it (2.6%). This is one small-scale data point on a weak model with a single black-box attack template; a stronger optimized (white-box GCG) attack remains open. The result is consistent with, but does not establish, the hypothesis that deterministic out-of-band enforcement is a harder target for an adaptive attacker than in-band detection.

Multilingual large language models often produce inconsistent reasoning and answers for semantically equivalent prompts in different languages. Prior work suggests that intermediate representations can be relatively language-agnostic, but generation becomes increasingly language-specific as models commit to discrete output tokens. This is problematic because language-specific lexical choices can cause semantically equivalent reasoning paths to diverge across languages. These divergences motivate searching for a cross-lingual alignment signal that is less tied to any single vocabulary item or script. We propose SOLAR, an auxiliary objective for supervised fine-tuning that aligns soft-token representations across languages, using English as a pivot. Soft tokens are probability-weighted mixtures over the vocabulary embeddings, yielding continuous representations that can aggregate information from semantically related tokens across languages. We then align each non-English soft-token summary to its English counterpart in the shared embedding space. Across four multilingual reasoning benchmarks, SOLAR improves accuracy by up to +17.7 points over the base model and +3.8 over standard supervised fine-tuning, with the largest gains on low-resource languages. SOLAR also strengthens final-layer cross-lingual similarity and substantially reduces language-cluster separability, suggesting that aligning soft-token representations helps preserve shared semantic structure during multilingual reasoning.

To minimize privacy concerns and inference latency on edge devices like smartphones, lightweight on-device models remain important for end-user applications. Many of these applications involve natural language classification, but deploying multiple specialized models creates a memory footprint challenge. We investigate: Can a single lightweight architecture solve multiple Speech-Adjacent (SA) classification tasks through reduction to a nuanced text similarity formulation? We propose AnySimLite, a lightweight similarity encoder that combines word-level and character-level channels. Together with a dataset transformation strategy, we evaluate AnySimLite across multiple SA classification tasks and show that it consistently achieves state-of-the-art (SOTA) or SOTA-competitive performance in few-shot settings while maintaining a low memory footprint. Even in the worst case, the performance drop remains below 7% while using $<\frac{1}{250}^{\mathrm{th}}$ of the model size of the SOTA qLLaMA_LoRA-7B baseline.

Retrieval-augmented systems routinely present citations alongside generated answers, yet a citation does not confirm that the corresponding source meaningfully shaped the output. This paper introduces ProvenAI, a framework that decomposes transparency in multi-hop question answering into three independently measurable layers: answer correctness, citation fidelity against benchmark supporting evidence, and per-document influence under leave-one-resource-out intervention. Targeting the HotpotQA distractor benchmark through a seven-stage pipeline covering data normalisation, retrieval indexing, citation-aware answer generation, attribution auditing, ablation-based influence estimation, batch evaluation, and interactive inspection, ProvenAI evaluates 7,405 validation examples drawn from a canonical corpus of 509,300 passages. The system achieves 53.53% answer accuracy alongside a mean citation-fidelity score of 71.55%, and a worked example surfaces what we call the citation-influence gap: a clean citation audit co-occurring with a profile in which one cited source registers only weak influence while seven uncited sources demonstrably shift the output. We formalise the relationship between the implemented surface proxy and a token-level KL-divergence target through a stated faithfulness condition, ground the framework in causal-mediation analysis and database-provenance theory, and discuss how the three measurement layers compose with cryptographic provenance architectures emerging in autonomous scientific discovery. ProvenAI establishes that meaningful transparency in retrieval-grounded QA requires traceable links across retrieved, cited, and behaviourally influential evidence as three distinct, independently measured layers.

A robot working alongside people must reason about what they have done, in what order, and with what intent. Video carries the spatial layouts, object histories, and gestures that language leaves underspecified, yet today's manipulation benchmarks pair an instruction with a single current image, offering no way to evaluate reasoning over observed human behavior. We introduce WatchAct, a benchmark for robot manipulation grounded in observed human behavior. Each instance pairs a real-world human-action video and a language instruction with an aligned simulator scene and an executable LIBERO task, enabling scalable and reproducible evaluation. WatchAct comprises 3,000 long-horizon instances across 14 tasks in four capability domains drawn from the cognitive demands of watching another agent: parsing events (Event Grounding), recovering procedural structure (Procedural Reasoning), inferring unstated intent (Implicit Intent Inference), and tracking how the scene was changed (Episodic Reasoning). We further propose a disentangled evaluation protocol that separately measures (i)~video-to-plan reasoning by vision-language models, (ii)~policy execution under oracle plans, and (iii)~full task completion by integrated planner--policy pipelines. In both simulation and on a Franka Research 3 robot, current systems remain far from solving WatchAct. The best pipeline, Gemini-3.1-Pro with $π_{0.5}$, reaches only 16.3% Success Rate (SR) in simulation and 14.0% on the real robot. Gemini-3.1-Pro attains just 36.8% Plan SR (vs. 97.1% for humans), while $π_{0.5}$ reaches only 21.5% Task SR under oracle plans and drops to 10.6% on out-of-domain scenarios. Dataset and code are available at https://baiqi-li.github.io/watchact_page/.

Existing metrics for factuality and faithfulness evaluate whether an answer is supported or contradicted by its grounding documents, but they fail to capture when both supporting and contradicting evidence coexist. We introduce ConflictScore, a novel metric that quantifies how well a model's response acknowledges conflicting evidence in its grounding documents. Our framework decomposes responses into atomic claims, labels each claim against each grounding document, and then aggregates these labels into two complementary measures: ConflictScore-Count (CS-C), the proportion of claims exhibiting conflicts, and ConflictScore-Ratio (CS-R), the balance between supporting and contradicting evidence. We develop ConflictBench, a benchmark covering diverse forms of conflicts such as ambiguity, contradiction, and divergent opinions, to systematically evaluate our metric. Experiments show that ConflictScore effectively detects overconfident claims across domains and can serve as a corrective feedback mechanism that improves truthfulness on TruthfulQA.

Current LLM evaluation relies on two complementary but often disconnected signals: static benchmarks with objective correctness labels and arena-style preference data that better reflect open-ended user interactions. We introduce DualEval, a latent model-item calibration framework that represents models and evaluation items in a shared space, jointly estimating model ability together with item difficulty and sharpness. We apply DualEval across four domains: coding, math, miscellaneous domain-knowledge tasks, and generic everyday user queries. Our evaluation uses 18 frontier LLMs, static benchmark labels, and reward-model scores validated against held-out human preferences for open-ended model responses. Empirically, our framework produces reliable and balanced model rankings, and its learned item-level profiles support downstream applications such as benchmark compression for sample-efficient evaluation and anomaly detection for contamination or outlier analysis. Overall, DualEval unifies static and arena-style evaluation through joint model-item calibration, producing model rankings and item-level diagnostics that support more sample-efficient, interpretable, and auditable evaluation pipelines.

Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise assembly have remained out of reach. These tasks are contact-rich, making data collection for imitation learning difficult, and sparse-reward, making direct exploration with reinforcement learning (RL) intractable. Consequently, prior work has made progress by structuring the problem with specialized grippers, tool attachments, and environment fixtures. In this work, we argue that before a robot can perfect precise assembly, it must first learn to play. We further ask the question: what factors in the process of learning to play matter for precise assembly? We propose Play2Perfect, an RL framework for task-agnostic pretraining through play on diverse objects and goals, which is then perfected on precise assembly. The goal of play is to acquire reusable manipulation priors, such as grasping, in-hand reorientation and pose reaching. Finetuning then adapts this general prior to assembly, focusing exploration on the final contact-rich, high-precision interactions needed for success. We systematically study key design choices in play pretraining, including object diversity, training objective, trajectory diversity, and goal precision. We show that our prior is 33x more sample-efficient than RL training from scratch, even when provided with dense, multi-stage rewards. We demonstrate zero-shot sim-to-real transfer, achieving 60% success on tight insertions with only 0.5 mm contact clearance, and over 50% success on long-horizon multi-part assembly and screwing.

Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole body motion, perception, contact, and operator supervision. This thesis presents a robot-local, runtime-editable behavior authoring and runtime system. Our system strives to be maximally observable, predictable, and directable following Coactive Design principles developed during the DARPA Robotics Challenge. Our operator interface remains continuously synchronized to the robot for runtime authoring, monitoring, and repair. Our behavior architecture uniquely combines object-centric Affordance Templates, organization and logic inspired by Behavior Trees, and runtime-editable perception through a behavior scene and primitive scene actions. Action primitives build on a whole-body controller that supports moving the arms while walking, and use a concurrent action layering algorithm for speed. The behavior library developed during this work covers more than twenty real-robot task variants, including push and pull doors with knob, push-bar, and lever-handle mechanisms, multi-step exploration sequences, obstacle clearing, and reactive table-to-table manipulation tasks. This behavior system has been deployed on many humanoid robots, such as Boston Dynamics' DRC Atlas, NASA's Valkyrie, IHMC and Boardwalk Robotics' Nadia, Unitree's H1-2, and IHMC's Alex. We evaluate our system across capability, speed, reliability, and speed of behavior creation, adaptation, extension, and combination. Our experiments demonstrate that we can adapt, extend, and combine existing behaviors to create novel loco-manipulation behaviors in minutes or hours. Videos: https://www.youtube.com/playlist?list=PLJK5CTyotYqsfgfnXb-09YNFeBose6uEY.

Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks. Existing paradigms struggle to satisfy both: classical pipelines use brittle, task-specific interfaces to achieve high-precision control but require costly pipeline redesigns to adapt to new tasks, whereas monolithic end-to-end policies provide better generalization but lack high precision on complex, out-of-distribution tasks unless retrained with new data. Both paradigms share an implicit assumption: once a manipulation capability is acquired, it must be deployed as a rigid pipeline or monolithic whole, rather than being freely decomposed and recomposed. In this paper, we show that complex manipulation capabilities can emerge naturally from the composition of simple, independent behaviors. Rather than deploying a monolithic policy or a rigid pipeline, we propose \ourshort, a framework orchestrating foundation models and diverse sensing modalities into multiple composable core behaviors: a semantic behavior extracting spatial constraints via foundation models; a predictive behavior forecasting trajectories by tracking keypoints in imagined videos; and a reactive behavior providing high-frequency tactile and force corrections. On a shared $SE(3)$ interface, these outputs compose by right-multiplication into a single pose command at each control step, executed by a compliant controller. We demonstrate \ourshort on 8 real-world tasks spanning everyday manipulation and precision assembly, with the strongest gains in contact-rich assembly and object transfer, and show robust recovery from manual perturbations during execution. {Website:} https://costream-simple.github.io

Recent studies suggest that diffusion models can recover geometric structure in the data manifolds they are trained on, yet the supporting evidence has so far come mostly from natural-image data, where the underlying geometry itself is unknown. We study this question in a setting where the geometry is analytically tractable: constrained inverse kinematics (IK). Each task-space constraint defines a configuration-space manifold with known intrinsic dimension, giving direct ground truth for evaluating the geometry learned by the model. For each of the 6-DoF UR5 and 7-DoF Franka, we train a single conditional diffusion model across seven constraint families, spanning solution manifolds from discrete IK branches to self-motion manifolds. Our empirical results reveal that the intrinsic dimension recovered from the model's score function matches the analytical degrees of freedom of the corresponding constraint manifold across both robots. Moreover, linear interpolation in the latent space leads to generated solutions that remain close to the appropriate constraint manifold, indicating that the learned representation further captures geometric structure of the constraint family beyond intrinsic dimension alone. Constrained IK therefore offers a controlled setting for studying the intrinsic geometry learned by diffusion models.

Foundation-model research increasingly needs data about people: user state, personal histories, relationships, contact-like fields, documents, and longitudinal updates. Real user data is difficult to share, perturb, audit, or redistribute responsibly, while independently generated fake fields rarely preserve the cross-field and temporal consistency needed for controlled evaluation. We present PROFILEFOUNDRY, a deterministic generator and fixed reference release of 100,000 adult synthetic Person Objects across eight locales. Each object combines a typed current snapshot, household, family, and employer links, snapshot-aligned events, normalized relational views, and generation provenance. The release contains 709,228 events, 40,338 households, 52,491 employers, and 518,564 directed relationship edges. We report evidence in separate categories: selected population-marginal comparisons, per-object invariant checks, release-wide referential and temporal closure, and coincidence/provenance screens. PROFILEFOUNDRY is not a population-fidelity model, a rendered-text corpus, or a formal privacy mechanism. Instead, it is a responsible synthetic source layer for constructing downstream foundation-model evaluations involving memory, privacy, document understanding, record linkage, and agent state while keeping the synthetic person behind each artifact inspectable

Agentic systems are changing how complex operational tasks are coordinated, introducing a new paradigm for connecting heterogeneous data sources and automating processes. Electric bus fleets provide a relevant test case. Their operation requires continuous coordination between service reliability, battery state-of-charge, charger availability, electricity prices, route-energy uncertainty, and vehicle-to-grid (V2G) opportunities. This paper proposes an agentic aggregator framework that streamlines this decision environment by coupling an optimization-based electric bus scheduling model with supervisory agents for disturbance detection, tariff adaptation, and schedule evaluation. The optimization core enforces physical feasibility across routes, chargers, batteries, and V2G exchanges, while the agentic layer interprets changing operating conditions, triggers real-time re-optimization when needed, and defines how flexibility value is allocated between the aggregator and the public transport operator (PTO). A realistic depot case study evaluates day-ahead and real-time operations under profit-based and operation-based coordination modes, considering service delays, route-energy deviations, electricity price shocks, and combined disturbances. The results show that agentic aggregation can support adaptive fleet-grid coordination by maintaining feasible schedules, activating re-optimization selectively, and improving the use of charging and V2G flexibility. However, they also reveal a critical trade-off: the same agentic capability that reduces operational complexity can extract value from the PTO when configured around profit-oriented pricing. These findings suggest that agentic aggregators can become useful for managing electric bus V2G operations, but their deployment in public-fleet contexts requires transparent coordination modes, auditable tariff-setting, and explicit value-sharing rules.

Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, such as vibrating limbs or scooting on the torso, that maximize return without producing a usable gait. We present MPC-Injection, a low-overhead method that steers RL toward a designer-preferred gait by inserting transitions into the replay buffer from a model predictive controller solving the same Markov decision process. Unlike reward shaping, MPC-Injection does not require redesigning the task reward, and unlike adversarial imitation learning, it adds no discriminator, no kinematic retargeting, and no auxiliary objective. Instead, the controller's preferred behavior is transferred to the policy purely through the replay state distribution. On a 2D walker in simulation and with sim-to-real evaluation on a Go2 quadruped, we show that MPC-Injection drives the policy into the controller's behavior basin using a one to two-term task reward, producing gaits qualitatively comparable to those of reward shaping with twenty-one tuned terms and of adversarial motion priors without their discriminator and retargeting overhead. We further analyze how the injected transitions bias actor-critic updates toward controller-visited states, allowing the policy to learn behaviors that pure RL may fail to reach under simple reward functions.

Multimodal large language models (MLLMs) extend large language models (LLMs) with visual perception, enabling joint reasoning over images and text. Despite inheriting strong reasoning capabilities from LLMs, they remain prone to hallucinations that contradict their visual inputs. Mechanistic studies indicate that this weakness stems from visual laziness: MLLMs encode the correct visual evidence internally, but overly rely on strong language priors during response. Existing alignment methods, such as direct preference optimization, primarily optimize outcome-level rewards based on text. This introduces an optimization bias toward linguistic shortcuts, leading to responses that often contradict the visual evidence. To address this, we propose Visual Information Gain In aLignment (VIGIL), a reinforcement-learning (RL) post-training framework that shifts the focus from numerical reward fitting to causal visual grounding. VIGIL introduces a geometric constraint that explicitly maximizes the mutual information between the visual input and the generated response. We achieve this by penalizing "blind confidence" instances where the model remains improperly certain even when textual-visual attention is masked to create a counterfactual blind state. Extensive experiments show that VIGIL consistently outperforms recent alignment methods across hallucination and reasoning benchmarks without compromising text-only capabilities. Our approach matches the full-data performance of state-of-the-art methods using only 25% of the preference data and even demonstrates emergent spatial grounding capabilities without explicit bounding box supervision.

Discrete-time polynomial input--output models (ARX, ARMAX, OE, and Box--Jenkins) are usually estimated by prediction-error methods, but for OE, ARMAX, and BJ the finite-sample criterion is nonconvex: the estimate a user actually obtains is set by the initialization and the optimization procedure, not only by the asymptotic theory. This article documents the dedicated optimization strategy behind pysib, an open-source Python toolbox for SISO polynomial system identification. The strategy consists of an ARX-based initialization, a smoothed-gradient phase, an incremental Gauss--Newton refinement, and filtered continuation interpreted as cost-function shaping. This strategy produced the filtered-continuation results reported by the author in earlier work but had not previously been described or released; it is given here in full and as open Python software, with a common five-polynomial representation, shared prediction and simulation routines, and the scripts and archived release needed to reproduce the experiments. On a moderate-noise OE benchmark the strategy returns estimates far more concentrated around the true parameters than a general-purpose nonlinear-programming solver, and on a harder nonconvex benchmark filtered continuation raises the success rate from 60% to 100%.

Standard chain-of-thought on moral dilemmas exhibits two failure modes: stakeholder collapse (the trace names at most one party with a stake in the outcome) and uncertainty suppression (no explicit unknowns or hedges before committing to an action). We introduce narration-of-thought (NoT), a system prompt that structures chain-of-thought into five sections: protagonist, stakeholders, two-step consequences, uncertainty, then commitment. NoT adds no training, parameters, or fine-tuning. On 100 DailyDilemmas scenarios across four generators from three vendors, NoT cuts stakeholder collapse from up to 31% to under 1% and uncertainty suppression from up to 72% to 1-24% on every model. A matched-budget verbose-CoT control rules out token spend as the active ingredient; NoT retains Cliff's delta advantages of +0.79 to +0.90 on stakeholder count and +0.65 to +0.93 on uncertainty score for three of four generators, and a section ablation attributes each shift to its specific sub-instruction. Textual-gradient descent initialised at NoT improves the scaffold further; a cross-family training judge (different vendor from the generator) dominates an in-family one on every measured axis. Extended to a five-round multi-stakeholder debate protocol, the scaffold converts a 6% standoff into 95% full consensus on a calibration set and 100% combined convergence on a DailyDilemmas replication. The resulting traces externalise the stakeholders, consequences, and uncertainty grounding each commitment, providing an auditable substrate for dependable agentic deployment.

Practitioners of prompt-composed agentic systems report a recurring failure mode: editing one prompt module silently shifts the behavior of others despite no shared variable or executable dependency. We formalize this as compositional behavioral leakage (CBL): interference between modules sharing a context window. CBL is enabled by architectural non-isolation: transformer self-attention provides no formal boundary between concatenated modules. We probe CBL on a deployed job-evaluation agent (Claude Sonnet 4.6, 144 trials) through a reusable three-channel protocol that perturbs non-focal modules along volume, content, and form. Only the content channel produces a detectable paired effect (Cohen's d = 0.63, bootstrap 95% CI excluding zero); no recommendation flipped -- a sub-threshold regime invisible to standard QA but compounding across the thousands of decisions a deployed agent makes. CBL is orthogonal to known agent-failure axes (adversarial injection, cognitive degradation, multi-agent fault propagation, privacy leakage). We contribute an operational definition, a reusable protocol, a falsifiable prediction set, and a system-class characterization, establishing cross-module interference measurement as a requirement for prompt-composed agent evaluation.

We study safety verification for linear time-invariant systems with bounded inputs in continuous time. The standard approach reduces to a reachability analysis in two steps: first discretize time and then apply a forward analysis in the discretized system. Existing algorithms use either a fixed time step or an adaptive time step that changes based on the approximation error compared to the underlying continuous system. In this paper, we present an efficient reachability algorithm that adapts the time step based on a given safety property. Essentially, our algorithm makes the largest possible time step such that it can still prove safety. For this approach to be scalable in practice, we discuss several optimizations such as avoiding the repeated expensive calculation of the matrix exponential during discretization and a careful balance how we tame the approximation error stemming from the states and the inputs. This allows our algorithm to yield a moderate approximation error even when using a large time step, thus requiring much fewer steps than prior algorithms. We demonstrate the effectiveness and scalability on the large-scale SLICOT benchmark suite, where our algorithm consistently outperforms other state-of-the-art approaches.

Writing high performance kernels for AI accelerators requires deep expertise in tiling, instruction selection, data layout, and operator fusion placing a significant burden on programmers. In this paper, we focus on tile based AI accelerator programs and present Axon, a synthesizing superoptimizer for tensor programs: it uses program synthesis to automatically generate target instructions from semantics specifications, and explores semantically equivalent program variants to select the best performing kernel empirically. Axon discovers algebraic transformations by propagating operators through computation graphs and uses SMT over unbounded tensors to guarantee that all transformations preserve semantics without requiring hand crafted rewrite rules. It then lowers tensor operations to target ISA instructions, explores tiling configurations constrained by hardware descriptions, and fuses operators and instructions to minimize memory traffic.

Many robotics problems, including trajectory optimization, inverse kinematics, and contact-rich motion planning, reduce to nonlinear programs (NLPs). Mature NLP solvers such as IPOPT can solve these problems, offering hard constraint satisfaction, optimality guarantees, and favorable scaling with problem dimension. These solvers underpin gradient-based methods in robotics, yet remain CPU-bound and solve only one problem at a time, preventing their integration into GPU-batched learning pipelines. On the other hand, sampling-based approaches such as reinforcement learning, model predictive path integral, and imitation learning have become the core of modern robotics research due to their ability to leverage GPU-batched simulators. These simulators can generate orders of magnitude more dynamics rollouts per second than was previously possible. If a GPU-batched NLP solver existed, it would unlock similar speedups in the number of constrained, locally optimal solutions generated per second. This regime of solving many problems concurrently versus solving a single problem at a time is a key requirement for integrating NLP solvers in modern GPU-batched robotics frameworks. To this end, we introduce \texttt{jaxipm}, the first GPU-batched NLP solver, based on IPOPT, and implemented in JAX. We accomplish this by redesigning IPOPT's algorithm to eliminate control flow with \textit{heterogeneous iteration fusion}, and by minimizing GPU idle time with \textit{iteration level batching}. We evaluate \texttt{jaxipm} on a variety of quadrotor nonlinear model predictive control benchmarks, including reference tracking in the presence of obstacles, multi-quadrotor navigation without collision, and navigation in a cluttered environment. We demonstrate up to a $32.85\times$ increase in throughput over IPOPT. Our complete open-source codebase is available at https://github.com/johnviljoen/jaxipm.

Mobile manipulators need world models that are current, queryable, semantically meaningful, and usable under edge-compute constraints. This technical report presents KRVF, a source-aware semantic voxel world representation for edge mobile manipulation. Unlike reconstruction-centric mapping pipelines that primarily optimize global geometric fidelity, KRVF represents local world state as task-oriented voxels that encode occupancy, color, semantic evidence, temporal freshness, and evidence source. The representation separates measured occupancy from semantic-prior hypotheses, enabling depth-failure-aware object reasoning without silently corrupting persistent geometry. KRVF also closes a feedback loop between mapping and sensing by rendering map-prior depth for repair, and exposes task-level query operators for semantic objects and grasp candidates. The report formalizes the KRVF representation and documents a ROS 2 implementation that turns online RGB-D observations into a task-facing robot memory.

Disturbance-robust UAV position control is easy to demonstrate in benign simulations but much harder to make fast in approach, well behaved near the target, and credible beyond a single benchmark. This letter presents a layered terminal-control architecture for multi-waypoint UAV position regulation together with a staged evaluation across PyBullet, PX4/Gazebo, and hardware. Phase I uses a PyBullet benchmark with stochastic wind for rapid structural selection, identifying a controller core that separates smooth approach generation, persistent-bias compensation, and supervised near-target terminal regulation. Phase II carries only that main architecture into a more demanding PX4/Gazebo closed loop, where the outer-loop controller acts through a cascaded flight stack with delay-sensitive settling and stronger transit-to-hover coupling. This step exposes which benchmark gains survive autopilot-mediated dynamics and which refinements collapse once the loop becomes more deployment-like. In Phase I, the bare controller attains 0.024 m mean late-stage wind error. In Phase II, the final controller is selected using a transfer-oriented rule emphasizing absence of benchmark priors, cross-scenario balance, and deployable supervisory logic. Strict is used as the primary reporting reference; the supplementary retrospective Grace analysis shows that part of the residual failure set is sensitive to completion semantics rather than gross waypoint-miss behaviour. The evaluation is completed on one Vicon-tracked Tello stack through a two-level hardware study. Taken together, the results suggest that benchmark success becomes more informative when the main controller design is separated from benchmark-specific refinement and remains defensible under harder closed-loop evaluation.

This paper presents a hierarchical control framework using model predictive control (MPC) and reinforcement learning (RL) for active roll control to manage lateral load transfer during autonomous racing of a wheeled quadruped. The framework integrates offline time-optimal raceline generation, an online MPC planner that actively minimizes the lateral Load Transfer Ratio (LTR), and a low-level, whole-body RL policy deployed directly onto the robot's 16 actuators. The MPC is based on a vehicle dynamics bicycle model of the Unitree Go2-W platform. The robot's leg actuators act as active suspension where knee joints generate anti-roll torque to bank into turns. Physical track experiments demonstrate that active roll control reduces mean LTR by up to 44%, improves the fastest lap time by 8.7%, and boosts peak lateral acceleration capability by 21.3% to 1.98 $m/s^2$, maintaining robust high-speed stability beyond the range of a non-tilting baseline controller. Supplementary code and video can be found at https://github.com/meisman-ucb/go2w-roll-control-mpc

A classical intuition holds that verifying a solution is easier than producing one. For today's coding agents, this intuition is being inverted: as foundation models develop stronger reasoning capabilities and engineering harnesses grow more sophisticated, generating complex candidate solutions is no longer difficult -- reliably verifying them has become the harder problem. Every verifier we can build is only a proxy for human intent, never the intent itself. This makes verification subject to a twofold difficulty: first, intent is underspecified by nature, making it inherently hard to faithfully check whether it has been fulfilled; second, during model training, optimization widens the gap between proxy and intent -- manifesting as reward hacking or signal saturation. To address this, we characterize the quality of verification signals along three dimensions -- scalability, faithfulness, and robustness -- and argue that achieving all three simultaneously is the central challenge. We further study four reward constructions: a test verifier for general coding tasks, a rubric verifier for frontend tasks, the user as verifier for real-world agent tasks, and an automated agent verifier for long-horizon tasks. Across different task types and policy capability levels, we conduct in-depth analysis and experiments on the core challenges of reward design and how to more effectively leverage reward signals. Experiments show that targeted verification design can effectively suppress reward hacking, improve task completion quality, and achieve significant gains across multiple internal and public benchmarks. These experiences collectively point to a core observation: no fixed reward function can remain effective as policy capability continues to grow; and verification must co-evolve with the generator.

Self-improving agents are state-of-the-art (SOTA) on agentic coding benchmarks and have recently been extended to general domains. However, their search methods generally assume a stationary evaluation criterion: a fixed verifier, benchmark, or labeled dataset that remains valid as the agent improves. This ignores a central feature of evolution: species adapt as their environments change with them. We aim to bring the same principle to recursive self-improvement, making evaluation part of the improvement loop and opening search to evolving evaluators, adversarial objectives, and dynamic utilities that may surpass static benchmarks. We introduce the Red Queen Godel Machine (RQGM), an evolutionary framework for recursive self-improvement under non-stationary utilities. The RQGM makes this possible through controlled utility evolution: search is organized into epochs with a fixed within-epoch evaluation criterion, while the utility can be updated at epoch boundaries, so self-improvement guarantees hold per epoch as the objective evolves across them. We begin by showing that even on verifiable coding tasks, the RQGM improves test pass rate over the prior SOTA by adding a complementary agent-as-a-judge code-review signal. This signal is cheaper and the RQGM uses 1.35x-1.72x fewer tokens. We then turn to scientific paper writing and reviewing, and Olympiad-level proof writing and grading, where the RQGM improves performance over prior self-improving agents: co-evolved writers reach 1.78x-1.86x higher acceptance rates under a diverse agent-as-a-judge panel, while co-evolved graders reach 9% higher ground-truth accuracy. In paper reviewing, the strongest baseline reviewer over-accepts AI-generated papers at up to 1.91x the human rate. The RQGM corrects this by introducing an adversarial objective that discovers reviewers equally stringent on AI and human work.

Robot autonomous navigation that accounts for surrounding human activities is crucial for ensuring both safety and natural human-robot interaction in real-world environments shared by humans and robots. Simulation of complex and diverse navigation scenarios serves as the foundation for training reliable robot navigation policies and accurately evaluating the performance of algorithms, offering an efficient alternative to manual supervision of real data. However, current human-aware navigation research faces significant challenges due to the scarcity of diverse, high-quality scene data. Existing simulation platforms often rely on handcrafted rules to approximate pedestrian behavior and lack the capability to provide extensive sensor signals, typically assuming perfect observations. To address these limitations, this paper presents NavIsaacLab, a comprehensive framework for benchmarking and training human-aware navigation policies through physics-based and photo-realistic simulations of pedestrians and scenes. Based on Isaac Lab, the proposed framework employs photo-realistic scene rendering capabilities and supports parallel simulation on GPU, delivering real-time and accurate 3D visual feedback to robots. To enhance the realism of human behavior, a data-driven approach is employed that incorporates a trajectory diffusion model and an adversarial motion learning controller, enabling controllable, physics-based pedestrian simulation. Furthermore, the integration of diverse cross-scale scenes provides a robust benchmark for state-of-the-art human-aware navigation methods.

Joint-Embedding Predictive Architectures (JEPAs), including recent LeWorldModel (LeWM), have become a promising foundation for reconstruction-free visual world models. For visual planning, however, LeWM evaluates candidate action sequences by repeatedly applying a local one-step latent transition model. This autoregressive rollout makes planning computationally expensive and exposes the predicted trajectory to accumulated latent errors as the horizon grows. We propose Fast LeWorldModel (Fast-LeWM), a fast latent world model that replaces repeated local rollout with action-prefix prediction. Given the current latent and a candidate action sequence, Fast-LeWM encodes its prefixes and predicts the future latents reached after executing those prefixes in parallel. By making action prefixes the basic prediction unit, Fast-LeWM directly models action effects accumulated to different extents over multiple horizons. This prefix-level supervision forces the model to learn how states continuously evolve under different action prefixes, rather than only fitting one-step state transitions. During planning, the predictor can use the last prefix token from the encoded action sequence to evaluate the corresponding future latent without explicitly rolling through each intermediate imagined state. Across multiple tasks, Fast-LeWM improves average success over LeWM while substantially reducing planning time, achieving lower open-loop latent loss whose growth becomes significantly slower as the rollout horizon increases.

Most Vision-Language-Action (VLA) models build on a Vision-Language Model (VLM) backbone by attaching an action module and optimizing the full policy jointly. This design inherits strong visual and linguistic priors from the VLM, but leaves the action module to learn physical motion almost from scratch. As a result, the policy lacks an explicit motion prior, forcing early optimization to simultaneously discover temporal action dynamics and cross-modal alignment, a challenge further amplified in cross-embodiment settings. In this work, we propose to pretrain the action module with motion priors before cross-modal VLA alignment. Specifically, we introduce a two-stage training framework that equips the action module with cross-embodiment temporal motion structure before VLA training begins. In Stage~1, a lightweight flow-matching-based encoder-decoder action module efficiently learns temporal motion structure solely from unconditioned action trajectories, without processing visual or language tokens. In Stage~2, this learned prior is transferred to VLA training through decoder reuse and early-stage latent distillation, aligning visual-language features with the action embedding space while still allowing end-to-end policy refinement. In addition, the trained encoder serves as a compact history compressor, summarizing state-action histories into a single temporal context token for history-aware modeling at negligible cost. Extensive experiments across 13 diverse cross-embodiment tasks on both simulated and real-world platforms validate the effectiveness of our approach. Compared with VLA training without action priors, our model achieves faster convergence, higher success rates, and substantially stronger performance on data-scarce real-world tasks. Moreover, scaling up the action data in Stage~1 yields a more generalizable action prior that directly improves downstream VLA performance.

Human demonstrations are a scalable data source for learning robot manipulation policies. However, common sources of human demonstration data, such as motion-capture trajectories and internet videos, capture mostly motion and appearance while missing the contact forces that are critical for force-sensitive manipulation. In this paper, we introduce ForceBand, a low-cost wrist-worn sEMG system that turns human muscle activity into force-enriched demonstrations. We first collect a 10-hour multimodal dataset containing egocentric video, sEMG, IMU, and fingertip force measurements across diverse actions and objects. Using this dataset, we pre-train an EMG2Force model that predicts per-finger forces from sEMG and IMU signals. After a short user-specific calibration, users can collect target-task demonstrations using only ForceBand and video; EMG2Force then labels these demonstrations with per-finger force traces, producing force-augmented demonstrations for robot policy learning. Experiments show that ForceBand recovers fine-grained fingertip interactions with over 50% lower force prediction error than vision-based baselines and achieves an 87% success rate on pick, squeeze, and place tasks that require object-specific force control across objects with diverse shapes, sizes, and weights. Project website: https://forceband-emg.github.io

How do we learn to hit a tennis backhand? Not from a thousand hours of tennis tournaments on TV - we work with a coach and practice. We argue this is also the right recipe for teaching dynamic skills to humanoid robots. This follows from a structural property of dynamic skills: the outcome is decided by a short, crucial portion of the trajectory - for a backhand, the ~20cm of racket travel around ball contact. Getting this interaction window right requires coordinating the whole motion, so that control, physics, and morphology act in concert. Learning thus reduces to mastering a handful of distinct actions and, for each, practicing until the window comes out right. To this end, we introduce TaskNPoint, a training protocol which makes the coach-learner division of labor explicit. The human coach contributes four inputs: a discrete set of skills (e.g. different shots), one demonstration per skill, identification of the interaction window, and the goal. Learning in a physically realistic simulation environment fills in each action trajectory and provides robustness to unmodeled events. Crucially, randomized target sampling during training lets a single demonstration generalize zero-shot to unseen goal locations. We test this approach on a Unitree G1 humanoid that hits forehands and backhands against balls thrown by a human, kicks incoming soccer balls, and picks and places boxes from novel locations. We find that learning is successful from short human video demonstrations and under an hour of training on a single GPU, with no per-task reward tuning.

Standard benchmarks for multimodal large language models (MLLMs) score each item on one canonical ordering and miss whether order-irrelevant shuffling changes the answer, a baseline reliability property called for by emerging AI evaluation guidelines. We introduce Facet-Probe, a five-facet audit (option, evidence-chunk, document-rank, image-set, and mixed-modality ordering) of 18 frontier and open-weight MLLMs. A Bayesian item-response model separates ordering noise from per-facet bias, and a same-ordering control estimates the decoder-stochastic floor for observed flips. We find that none of the 18 MLLMs we audit are order-invariant: screened per-facet panel-mean flip rates span 24-50%. A Gemini same-ordering control at temperature 0 estimates a substantial ordering excess over a same-input decoder-noise floor in verified cells. Capability predicts but does not eliminate flips; the best model still flips on 13.4% of trials. In our Gemini mitigation tests, training-free prompt changes are modality-conditional and do not transfer from text to visual reasoning. These results suggest that prompt-level mitigation alone is unlikely to provide general order robustness, motivating future work on training-time and architectural approaches. We propose cross-ordering flip rate as a standard reporting axis for MLLMs.

RoboTales is a low-cost robotic storytelling system that animates narratives using expressive sock puppetry. Implemented autonomously on a Baxter robot as a test case, RoboTales synchronizes narration, gestures, and mouth movements to perform character-driven stories. In a pilot study, puppet-based storytelling outperformed a gesture-only mode, producing higher HRIES ratings and improved story recall, suggesting that embodied puppetry enhances engagement and narrative comprehension. Designed to be modular and platform-agnostic, RoboTales can be adapted to other manipulators and offers a screen-free alternative to passive media, supporting future deployment in child-centered learning environments.

We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and semantic reasoning using a scalable 3D semantic mapping system, OpenRoboVox. RoboAtlas integrates frontier exploration, global semantic-map reasoning, and egocentric VLM-based reasoning through a contextual multi-armed bandit that transitions from exploration to semantically guided navigation as scene understanding improves. We evaluate the system in simulation and on a Unitree Go2 robot in large-scale real-world environments exceeding 1800 m2 with approx. 30k mapped semantic instances, achieving a 100% task success rate. On the GOAT-Bench "Val Unseen" benchmark, RoboAtlas achieves state-of-the-art performance with highest reported success rate (SR) of 90.6%, using GPT-4o, improving over the strongest prior baseline by 17.8 percentage points in SR. Using the much smaller Qwen2.5-VL-7B model, it still achieves 88.8% SR, outperforming all baselines using GPT-4o in SR, and revealing the importance of the information gained by our semantic mapping framework over simply replacing the underlying foundation model. The results demonstrate that grounding foundation models with large-scale 3D semantic maps enables robust and efficient contextual Active SLAM.

Vision-language models (VLMs) have achieved strong performance on OCR-based benchmarks and increasingly focused on text-rich understanding, but their robustness under controlled visual degradation remains insufficiently understood. This gap is critical for OCR reasoning, where visual corruption can induce OCR errors and structural distortions, thereby introducing uncertainty into the reasoning task. To systematically study this problem, we introduce OCR-Robust, a benchmark designed for evaluating OCR reasoning robustness under visual perturbations. It contains 812 samples across two complementary subsets: OCR1.0, covering documents, scene text, receipts, handwriting, and mathematical content, and OCR2.0, focusing on charts, geometry diagrams, and tables. To enable efficient yet informative evaluation, we conduct a pilot study over 18 candidate perturbations and select 5 representative types at 3 severity levels each based on their impact and cross-model discriminability. We evaluate robustness using clean accuracy, Relative Corruption Retention (RCR), Worst-Case Retention (WCR), and a composite Corruption Robustness Index (CRI), and benchmark 18 models spanning proprietary systems, open-source VLMs, and OCR+LLM pipelines. Our results show that higher clean accuracy does not necessarily imply stronger robustness, and that models can suffer pronounced degradation in the worst case on OCR tasks that are sensitive to structure, and charts and tables are substantially more fragile than document-like inputs under perturbation.

AI translation of literary works is increasingly common. While the content may be rendered adequately, we do not know enough about how readers experience it in terms of immersiveness and literary effect, aspects poorly captured by automatic machine translation metrics or human evaluation targeting fluency and adequacy. We ask 15 avid readers to compare recently published human translations (HT) to machine translations (MT) generated with an agentic large language model (LLM)-based pipeline, for 15 recent novels in French, Polish, and Japanese and translated into English. Readers evaluated approximately 8K-word excerpts in two conditions: immersive reading of the whole excerpt (30 comparisons) and close reading of 386 aligned HT-MT chunk pairs (772 comparisons), with two readers per book and in alternating order of presentation. Overall, readers find MT "fine", but prefer HT (slightly at excerpt-level 19/30, more clearly at chunk-level 522/772) for its ease, clarity, and immersive nature. Readers' highlights show that MT's quality varies more within one book than HT's does. Crucially, readers cannot reliably tell the two apart (17/30 guess correctly) and tend to prefer the version they believe to be human. Automatic metrics, including LLM-as-a-judge approaches, fail to recover reader preferences and favor MT. We release LAIT (Literary AI Translation), a reader-centered evaluation dataset with 1K reader comments, 2K judgments and preference ratings, and 7.2K span-level annotations, along with our evaluation protocol and supporting interface.

Training-time data poisoning during fine-tuning poses a significant threat to large language models (LLMs) deployed for abstractive text summarization, where small task-specific datasets exert disproportionate influence on model behavior. In this setting, adversaries manipulate fine-tuning data to induce persistent summarization failures, such as biased or harmful summaries, while preserving standard evaluation metrics. We present a unified post-hoc defense framework for detecting and remediating fine-tuning-stage poisoning in summarization models across the machine learning supply chain. Our experiments show that in white-box settings, poisoned document-summary pairs exhibit abnormally high training influence, enabling detection via influence-function analysis with semantic consistency checks. In black-box settings, poisoned models display two to three times greater sensitivity to semantics-preserving perturbations, enabling behavioral auditing without training data access. Beyond existing poisoning formulations, we introduce novel attacks targeting factual distortion and representational bias, showing that poisoning alters summarization behavior without triggering conventional alarms. Across nine architectures and six benchmark datasets under adaptive attacks, our defenses achieve 85-92% detection precision, while gradient-ascent unlearning restores up to 96% of original behavior with minimal utility loss (less than 0.6% ROUGE degradation). These results indicate that fine-tuning-time poisoning leaves persistent structural artifacts, enabling practical detection and post-deployment recovery without full retraining.

As autonomous AI agents increasingly transact across organizational boundaries, a fundamental trust challenge emerges: how can an agent assess whether an unknown counterpart is trustworthy? The ERC-8004 protocol addresses this challenge with the first permissionless trust layer for AI agent economies, built around three on-chain registries for Identity, Reputation, and Validation. Despite its rapid adoption, the protocol has not been studied empirically, leaving it unclear whether the information it records provides a trustworthy basis for decision-making. To address this gap, we present the first empirical study of ERC-8004 across three chains: Ethereum, BNB Smart Chain (BSC), and Base, covering the period from protocol deployment through May 13, 2026. We crawl on-chain Identity and Reputation events, off-chain files, and x402 payment transactions. On the identity side, we find that most registrations are placeholders rather than active agents, with only a small fraction (3%, 4%, and 15% across Ethereum, BSC, and Base) exposing a valid ERC-8004 registration file with at least one live service endpoint. On the reputation side, we show that the Registry, as currently deployed, cannot function as a trust signal: values are not commensurable, feedback records are rarely grounded in verifiable interactions, and reputation can be manipulated at minimal cost. Consistent with these design weaknesses, we find that a substantial fraction of reviewers (73.6%, 59.2%, and 90.6% across Ethereum, BSC, and Base) exhibit coordinated Sybil behavior. After removing Sybil-flagged feedback, 15.5%, 72.3%, and 89.4% of rated agents, respectively, are left with no valid feedback. We then turn these findings into concrete recommendations for future revisions of ERC-8004. Our study yields actionable protocol-design implications and establishes an empirical baseline for research on AI agent markets.

Tool use enables large language models (LLMs) to perform complex tasks, and recent agentic reinforcement learning (RL) methods show promise for enhancing model capabilities. However, RL alone often leads to instability or limited gains in tool-use tasks. In our experiments, some models exhibit catastrophic collapse, where performance abruptly drops and tool-invocation structures fail. The analysis reveals that these failures stem from unexpected probability spikes in specific control tokens, disrupting structured execution, yet the underlying tool-use capability remains intact, merely obscured by specific formats. To address this, we systematically investigate a diverse set of supervisory signals, including off-policy supervision, hint-based guidance, erroneous example supervision, and others, applied under both synchronous and interleaved training schemes. We find that interleaving supervised fine-tuning (SFT) with RL substantially improves stability, but exhibits degraded performance under format and content out-of-distribution (OOD) evaluation. We also analyze the impact of learning rates and generalization across settings. These results highlight the importance of understanding RL failures and demonstrate how diverse supervisory signals can guide exploratory learning, enabling robust training of LLMs for complex, multi-step tool-use tasks. Our Code is available at https://github.com/hypasd-art/Tool-RL-Box.

Modern Vision-Language-Action (VLA) models often fail to generalize to novel setups, such as altered camera viewpoints or robot morphologies, because they are typically conditioned only on current observations and language instructions. By ignoring the underlying system configuration as a variable, these models implicitly assume a fixed execution context encountered during training, necessitating data-intensive fine-tuning for any new environment. In this work, we introduce In-Context World Modeling (ICWM), a framework that treats system identification as an in-context adaptation problem. ICWM enables robot policies to autonomously infer essential system variables from a short history of self-generated, task-agnostic interactions. Unlike traditional In-Context Learning that uses demonstrations to specify what task to perform, ICWM leverages the context window to understand how the system operates. By processing these interactions before task execution, the model implicitly captures the world dynamics of the current system, enabling adaptation to novel configurations without parameter updates. Extensive experiments in simulation and on real-world robot platforms demonstrate that ICWM significantly outperforms standard VLA baselines on novel camera viewpoints.

In autonomous driving, diffusion-based planners have emerged as a promising paradigm for robust motion planning in dense and interactive traffic, as they can effectively model diverse driving behaviors. However, their inherent stochasticity often requires explicit guidance during denoising to ensure safety and route adherence for robust closed-loop execution. Existing guidance typically relies on sparse, entity-centric geometric queries or post-hoc refinement, yielding limited situational awareness and fragile performance in interactive scenes. To address this issue, we propose G2DP (Grid-Guided Diffusion Planning), a diffusion-based planner that directly enforces dense environmental constraints through inference-time guidance. Specifically, G2DP constructs a differentiable spatio-temporal cost volume by fusing probabilistic future occupancy distributions with a route-progress map. By formulating this volume as a continuous safety energy functional, it injects dense gradients directly into the denoising loop, actively steering trajectory generation toward collision-free and progress-optimal regions. Extensive closed-loop evaluations show that G2DP achieves state-of-the-art performance on nuPlan, outperforming the strongest imitation-learning baseline by +7.2 points in reactive score. It further maintains top scores in zero-shot transfers to interPlan and DeepScenario benchmarks, with collision avoidance improving by +10.15 over the unguided approach on interPlan. These results demonstrate that spatio-temporal cost grids serve as an effective representation for robust guidance in diffusion-based planning.

As AI agent protocols proliferate, the governance structures shaping their interoperability standards remain empirically underexamined. We introduce an LLM-powered comparative pipeline for large-scale governance discourse analysis, integrating automated annotation, neural topic modeling, and multi-layer network analysis to study socio-technical power structures at scale. We validate it on two contrasting standards for agent interoperability: ERC-8004 (permissionless, on-chain) and Google A2A (corporate-led). Analyzing 4,323 governance participation records, we combine LLM-assisted coding, topic modeling, and multi-layer network analysis to examine how institutional design shapes thematic priorities and community structure. We find that while governance form influences substantive focus, both regimes exhibit comparable levels of participation inequality and community fragmentation. Discourse alignment is denser in the permissionless setting, suggesting that open governance may foster greater thematic convergence despite decentralized participation. These findings illustrate how LLM-assisted methods can advance the empirical study of technology governance, with implications for designing more equitable agentic AI standards. All data and code are openly available.

This chapter describes EMCAR, a novel software tool for programming robot motion that leverages the unique affordances of artistic practices such as puppetry and drawing to conceive, design, and program novel interactions and realize new use cases for HRI. The advantage of this no-code platform is that it expands creative applications for collaborative robots - putting robots directly in the hands of artists - and provides an inclusive environment that enables individuals with little or no technical backgrounds to engage meaningfully in collaborations and robotics research.

Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equipped with autonomous recovery. Existing approaches remain limited: explicit humanoid-object interaction representations offer precision but are notoriously difficult for high-level planning, whereas implicit skill embeddings are compact but lack the interpretability required for reliable composition. We propose \ours, a hierarchical framework centered on \textbf{contact flow (CF)}, a compact representation consisting of key body trajectories and time-series binary contact signals. Leveraging this shared interface, our low-level policy \textbf{CF-Track} learns a unified library of loco-manipulation skills, while our high-level module \textbf{CF-Gen} heuristically synthesizes future contact-flow sequences. To support this setting, we additionally collect the OmniContact dataset, a MoCap-based HOI corpus for humanoid loco-manipulation (Appendix~\ref{sec:dataset}). Together, they enable robust execution, autonomous failure recovery, and flexible composition of meta-skills for long-horizon tasks. Experiments show that OmniContact achieves \(98.7\%\) success on \textit{Carry Box} and \(76.5\%\) on \textit{Push-Stack Boxes}, outperforming prior baselines by average margins of \(40.9\%\) in meta-skill and \(66.5\%\) in skill chaining. Besides, our framework naturally integrates with VLMs for semantic task decomposition, enabling complex, semantically grounded loco-manipulation behaviors, such as arranging scattered boxes into a heart shape.

Vision-Language-Action (VLA) models are often constrained by the imitation ceiling imposed by sub-optimal data. While Reinforcement Learning (RL) fine-tuning can surpass this limit, it is notoriously sample inefficient. This challenge arises from two core issues: (1) catastrophic initial unlearning due to an unstable Q-function and (2) inefficient policy updates caused by low-quality exploration data, often forcing a reliance on costly human interventions. We introduce FORCE, a 3-stage framework that stabilizes fine-tuning by tackling both issues. FORCE first incorporates a Value-Calibrated Warm-Up phase, utilizing on-policy rollouts to mitigate the distributional shift of the Q-function. Subsequently, during the online stage, this calibrated Q-function acts as a filter for both the policy's own action proposals and expert data, ensuring only high-value actions are used for the policy update. We evaluate FORCE on various simulation and real-world tasks, and the result shows that FORCE achieves a 79% absolute improvement in success rates and outperform prior RL methods by 10%, while accelerating training by 32.5%. Critically, it mitigates the common success rate drop and achieves this robust performance without human intervention, marking a significant step towards deploying capable and autonomous robotic agents.

Automatic speech and language technologies are still heavily biased toward high-resource languages, limiting their applicability to dialectal and low-resource settings such as Algerian Dialect. This language presents additional challenges including lack of standardized orthography, frequent codeswitching with French, and scarcity of annotated speech resources. This paper addresses the problem of building a complete speech-to-speech conversational system for Algerian Dialect. We propose a modular pipeline integrating automatic speech recognition, natural language understanding, retrieval-augmented generation, and text-to-speech synthesis within a unified architecture. This work is the continuation of our previous work on Algerian dialectal conversational systems Bechiri and Lanasri [2026], extending it from text-based dialogue modeling to full speech-based interaction. We constructed dedicated datasets for ASR, NLU, and TTS in the telecom domain and fine-tune pretrained models for each component. The ASR system is built on Whisper-based adaptation, while the NLU module combines transformer-based embeddings with a task-oriented dialogue framework. A neural TTS system is trained on a newly collected dialectal corpus to enable spoken response generation. Experimental results show strong performance across all components, including low word error rate for ASR, high intent classification and entity recognition scores for NLU, and stable speech synthesis quality. The proposed system provides a reproducible baseline for end-to-end conversational modeling in Algerian Dialect.

We introduce Autodata, a general method that enables AI agents to act as data scientists who build high quality training and evaluation data. We show how to train (meta-optimize) such a data scientist agent, so that it learns to create even stronger data. We describe the overall formulation, and a specific practical implementation, Agentic Self-Instruct. We conduct experiments on computer science research tasks, legal reasoning tasks and reasoning with mathematical objects, where we obtain improved results compared to classical synthetic dataset creation methods. Further, meta-optimizing the data scientist agent itself delivers an even larger performance uplift. Agentic data creation provides a way to convert increased inference compute into higher quality model training. Overall, we believe this direction has the potential to change the way we build AI data.

As multimodal conversational systems increasingly engage in spoken interaction, their ability to navigate paralinguistic social cues has become a critical bottleneck for natural human-AI communication. However, existing evaluations of machine emotional intelligence assess reasoning exclusively through isolated text or passive acoustic perception, overlooking the complex cross-modal reasoning required for active, multi-turn dialogue. We introduce \textsc{SpeechEQ}, a comprehensive framework designed to evaluate the sociolinguistic reasoning of Speech-Language Models (SLMs). The framework includes a validated dataset of 2,265 dialogues across 15 Emotional Quotient (EQ) subscales grounded in EQ-i 2.0 theory, along with a multi-turn evaluation protocol measured by our proposed Spoken EQ (SEQ) score inspired by human EQ assessments. Experiments show limitations in how both existing Speech Emotion Recognition and end-to-end Speech-Language Models understand and apply paralinguistic cues through speech. While end-to-end architectures outperform cascaded systems, \textsc{SpeechEQ} reveals that current multimodal models remain bottlenecked by a text-reliant ``modality shortcut,'' an alignment-induced ``safety trap,'' and ``contextual amnesia,'' highlighting the barriers to truly emotionally aware AI. Our benchmark can be accessed at https://huggingface.co/datasets/SpeechEQ/SpeechEQ and demo page at https://binomial14.github.io/speecheq-demo/

Vision-language-action (VLA) models have shown strong potential for general-purpose robot manipulation, but their inference latency remains a major obstacle to stable high-frequency control. Asynchronous execution mitigates this bottleneck by overlapping policy inference with action execution, yet the next action chunk is still predicted from stale observations while the robot continues to move. Direct chunk stitching therefore introduces handoff discontinuities, action jitter, and failures in contact-rich manipulation. Existing remedies typically require either full-policy retraining or architecture-specific runtime logic. This work proposes Action ControlNet (ACNet), a lightweight delay-aware adapter that uses the executed motion suffix as a residual condition for a mostly frozen action head. ACNet leaves the pretrained backbone unchanged, introduces few trainable parameters, and remains compatible with generative action heads such as diffusion and flow matching. On Kinetix, Meta-World MT50, and a real-world SO-ARM101 platform, ACNet improves robustness under inference delay and yields smoother asynchronous trajectories than direct chunk stitching, while remaining more lightweight than full delay-conditioned retraining.

Multi-agent goal recognition asks an observer to jointly infer which agents act together and what each team is trying to achieve, so the hypothesis space grows combinatorially with the number of team partitions and goals per team. Real applications such as drone surveillance and collaborative robotics expose only the agents' trajectory, which forces the observer to rank team-goal hypotheses from behavior alone. Multi-Agent Goal Recognition with Branch-and-Bound (MAGR-BB) addresses this setting with a shared team- and goal-conditioned policy used as the scoring model inside a factorized branch-and-bound search. On a controlled multi-agent Blocksworld benchmark, MAGR-BB returns the same top-ranked hypothesis as exhaustive search throughout the trajectory while cutting hypothesis materialization by orders of magnitude and reducing cumulative recognition runtime substantially.

Legged robots deployed in planetary exploration and other remote environments must maintain reliable locomotion despite actuator failures and challenging terrain conditions. Although reinforcement learning has achieved strong results in legged locomotion, monolithic policies can struggle to efficiently represent the diverse control strategies required to compensate for different fault conditions. In this work, we propose a fault-aware modular control architecture that explicitly leverages fault-diagnosis information to activate specialized control experts associated with distinct actuator failure modes. Experimental results show that explicit fault-conditioned modular policies consistently outperform monolithic policies of comparable size, achieving higher locomotion performance across failure scenarios. Moreover, the proposed modular architecture retains competitive performance even under significantly reduced network capacity, highlighting its suitability for compute-constrained robotic platforms, such as those typically employed in space applications. The code associated with this work is available at: https://github.com/iit-DLSLab/fault-locomotion-isaaclab.

Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the generation of high-fidelity, semantically coherent object models. To address this trade-off, we present DSP-SLAM++, which extends the DSP-SLAM framework with an asynchronous mapping pipeline for real-time performance and dedicated sensor fusion adaptations for a monocular fisheye-LiDAR suite. Experiments demonstrate that our system generates fine-grained, geometrically-complete shapes for multiple object classes while eliminating severe mapping thread bottlenecks by reducing maximum object processing latency by up to 70\% compared to the state-of-the-art baseline, enabling robust, real-time performance on a challenging 25 Hz multi-class datasets. This work makes high-fidelity, multi-class object SLAM more practical for real-world applications like autonomous driving and robotic manipulation by enabling its use on platforms with common fisheye-LiDAR sensor setups. The open-source code is available at: [github.com/AUBVRL/DSP-SLAMpp].

Increasing demand for precise and reliable control in complex scenarios has led to the development of increasingly sophisticated controllers, including data-driven approaches employing closed box models and mathematically rigorous yet complex designs. This complexity highlights the needs for explainable control that can provide human-understandable insights into controller behavior. In this paper, an explainable control framework (XCF) along with supporting algorithms and user interface are proposed to explain how controllers determine their control actions and their underlying working mechanism. The novel contributions of this work are threefold: First, the XCF is designed to provide model-agnostic explanations for controllers in closed-loop systems and can optionally refine local explanations by system response dynamics. Second, a novel explanation method, hierarchical fuzzy model-agnostic explanation for control systems (HFMAE-C), is proposed based on the designed framework. The HFMAE-C employs a fuzzy logic system to approximate the controller's behavior and system dynamics, providing sample, local, domain and universe level explanations via IF-THEN rules revealing the controller's decision logic and salience values quantifying the contribution of system states to control actions. Third, a large language model agent-supported user interface is developed to automatically analyze user requirements, select appropriate algorithms, interpret the generated explanations to a natural language report, and provide interactive consultation. Case studies on inverted pendulum system and Turtlebot obstacle avoidance demonstrate the effectiveness of the proposed method through simulated user experiments and quantitative comparisons with mainstream explainable control approaches.

Demonstration augmentation is proposed for cost-efficient data acquisition, but existing methods are fundamentally limited in deformable manipulation due to two challenges: (1) the state space is high-dimensional with physics-induced constraints, making valid configurations impossible to reach via low-dimensional pose perturbations; and (2) trajectory transfer is non-equivariant, as material points no longer move rigidly together under deformation. We present DeformGen, a dynamics-based augmentation framework that achieves topological diversity for deformable objects. For the state challenge, DeformGen expands the valid state distribution by applying localized physical disturbances and forward-simulating the dynamics to obtain topology-coherent, physically plausible deformable states. For the trajectory challenge, DeformGen transfers source manipulation trajectories via deformation-field warping, which lifts per-particle displacements into a continuous spatial function to adapt the end-effector trajectory consistently with the deformed geometry. In this way, our method jointly augments the state distribution and its associated manipulation behavior. Experiments on high-fidelity deformable manipulation benchmarks show that DeformGen generally improves policy learning compared with training on the original demonstrations alone and with rigid-style augmentation baselines.

Was this person ever at that place, and if so, when? Answering such questions from noisy, multilingual historical documents is the central challenge of HIPE-2026, the third edition of the HIPE evaluation series. Moving from named entity recognition and linking (HIPE-2020, HIPE-2022) to reasoning about relationships between entities, HIPE-2026 targets two temporally grounded relation types: $at$, indicating that a person was present at a location at some point prior to a document's publication date, and $isAt$, indicating presence contemporaneous with that date. This paper presents the results of the evaluation campaign, which confronted 17 participating teams with the challenges of historical language variation, OCR noise, and indirect contextual cues across three languages: French, German, and English. The datasets include historical newspaper text from the nineteenth and twentieth centuries, as well as a surprise-domain generalization set drawn from early modern French literary texts. A distinctive feature of HIPE-2026 is its three-fold evaluation framework, which assesses predictive accuracy, computational efficiency, and cross-domain generalization, reflecting the practical demands of large-scale historical document processing in the cultural heritage domain. Across more than 40 submitted runs, results reveal a wide range of strategies, from state-of-the-art large language models to lightweight task-specific classifiers, and highlight the trade-offs between accuracy, efficiency, and robustness inherent to historical relation extraction at corpus scale. System descriptions, datasets, and findings are presented and discussed, offering a detailed picture of the current state of temporally grounded relation extraction for historical documents.

We evaluate manipulative behavior in six frontier language models across six environments, ranging from negotiation tasks to agentic workflows, resulting in 13{,}590 individual scenarios. Manipulation rates are measured across three axes: framing (mandate honesty or permit manipulation), incentive structure (from no incentives to substantial ones), and task difficulty. Existing benchmarks typically vary a single axis within a single environment, an approach our results show is insufficient. We rank models by manipulation rate and find Spearman rank correlations across environments average $ρ= 0.055$, indicating manipulative tendencies in one task do not necessarily predict those in another. Additionally, we find the axis that drives manipulation varies across different environments. In environments where models are incentivized to misrepresent future actions, instructional framing and structurally binding incentives are the primary drivers; in environments where models are incentivized to misrepresent a ground truth, task difficulty dominates. This split was identified in five environments and validated against a sixth held-out environment. Together, these findings illustrate the importance of rigorous multi-dimensional evaluations when measuring manipulative propensities.

We investigate how time-varying interactions, modeled via a Markov switching graph (MSG), impact the robustness of noisy multi-agent dynamics in both continuous- and discrete-time settings. Our focus is on the steady-state performance of consensus and leader-follower tracking dynamics subject to stochastic noise. Using the framework of Markov jump linear systems (MJLS), we derive expressions for the steady-state covariance of each agent's deviation from consensus and tracking error, respectively, and use them to quantify individual and group performance as a function of the interaction graphs and the switching dynamics. We extend established notions of robustness, certainty indices, and joint centrality from static graphs to the MSG setting. To gain analytical insight, we specialize our results to systems switching between two topologies and characterize how switching influences performance. Numerical simulations further illustrate how switching topologies affects system robustness in both coordination tasks.

Existing texture datasets for tactile sensing primarily consist of sensor readings from a specific sensor interacting with available surfaces/objects rather than describing the textures themselves, limiting fair comparison between tactile sensors and hindering reproducible research. In this work, we introduce a 3D-printable dataset of mathematically defined textures designed to be fabricated reliably across different printers and filament types. The dataset consists of six parametrically generated surface patterns derived from combinations of sine-wave and Fourier-based functions, giving controlled variation in spatial frequency, amplitude, and directional structure. We evaluate the reproducibility of these textures across three popular 3D printers and multiple filament types by measuring variance in images captured using an optical TacTip sensor under controlled contact conditions. Our results show that print quality, particularly peak sharpness and stringing, affects tactile variance, with higher-end printers producing significantly more consistent signatures. Classification experiments using neural networks and PCA-based models further demonstrate that high-quality prints support strong within-printer generalisation, while cross-printer generalisation remains challenging due to geometric inconsistencies. This work establishes the first openly available, physically reproducible 3D-printed texture benchmark, providing a foundation for fair comparison of tactile sensors.

Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sensor designs remains poorly understood. We present TacVerse, a multi-sensor dataset and benchmark for cross-sensor vision-based tactile perception. The dataset contains 106,800 tactile images from seven VBTSs and supports three downstream tasks: shape classification, grating classification, and force regression. Experiments are conducted under three settings: within-sensor training, zero-shot cross-sensor transfer, and few-shot adaptation. Strong within-sensor performance across all tasks indicates that the collected tactile observations are informative for the target objectives. Direct cross-sensor transfer, however, leads to substantial degradation. Shape classification is comparatively robust, whereas grating classification and force regression are more sensitive to sensor shift. Few-shot adaptation for force regression consistently improves performance on unseen target sensors but does not fully close the gap to within-sensor upper bounds. A representation study further shows that MAE (Masked Autoencoder) pretraining provides the most consistent gains across tasks and sensors. TacVerse provides a controlled testbed for studying sensor shift, data-efficient adaptation, and self-supervised learning in tactile perception.

Logarithmic spirals are ubiquitous in biological appendages and provide an attractive morphology for continuum manipulators capable of reaching, wrapping, and grasping. Recently reported logarithmic-spiral robots demonstrated scalable fabrication and versatile grasping but lacked inverse kinematics and closed-loop control. This work presents the first morphology-specific closed-loop task-space control framework for logarithmic-spiral continuum arms. A segmented tendon-driven model with a centerline backbone and equilateral tendon routing is developed in MuJoCo to capture tapered compliance and contact dynamics. An analytical task-space Jacobian is derived directly from the logarithmic-spiral kinematics and combined with online Jacobian error compensation using a Broyden secant update and Kalman-filter estimation. The resulting controller continuously corrects modeling errors arising from nonlinear deformation, contact, and geometric mismatch. The framework is validated through planar and spatial simulations, including trajectory tracking, attitude regulation, disturbance rejection, three-dimensional position tracking, and simultaneous position-orientation control. Compared with a piecewise-constant-curvature (PCC) baseline, the proposed method consistently reduces tracking errors, suppresses attitude drift, and maintains a bounded Jacobian estimation error. The controller is further applied to morphology-enabled manipulation tasks, including obstacle-assisted reach-wrap-release motions, adaptive whole-arm grasping, and cooperative multi-arm object handling. Results demonstrate that combining logarithmic-spiral morphology with online Jacobian compensation enables accurate, robust, and scalable control of highly underactuated continuum manipulators. The proposed framework establishes a physics-grounded baseline for future hardware implementation and learning-augmented soft robotic control.

Sparse Mixture-of-Experts (MoE) architectures have emerged as an increasingly influential paradigm as they offer a strategic balance between parameter scalability and computational efficiency. However, low-resource languages, which suffer from a scarcity of high-quality training data, often have their tokens routed to different experts than those predominantly activated by high-resource inputs, which limits cross-lingual expert sharing. This cross-lingual routing divergence consequently hinders their efficacy in multilingual contexts. To address this issue, we propose SARA (Semantically Anchored Routing Alignment), a framework designed to transfer specialized capabilities from high-resource languages as anchors to low-resource languages. SARA explicitly aligns the routing distribution of multilingual inputs with high-resource semantic anchors using a symmetric Jensen-Shannon (JS) divergence constraint. Unlike traditional distillation methods that operate on output logits, SARA directly aligns the internal routing distributions of MoE layers, encouraging mechanistic consistency in expert selection across languages. We conduct experiments on 2 LLMs across 5 low-resource languages and 3 benchmarks. Experiment results demonstrate that SARA outperforms standard instruction tuning, e.g., +0.8% on Qwen3-30B-A3B and +1.2% on Phi-3.5-MoE-instruct on Global-MMLU. Further analyses show that SARA effectively addresses performance bottlenecks in low-resource languages, providing a scalable pathway to enhance multilingual capabilities in sparse architectures.

Large language models are increasingly deployed as agents that solve tasks by interacting with external tool environments. Although recent tool-use benchmarks increasingly cover complex task settings, they still largely assume clean, stable, and trustworthy tool environments, leaving tool-environment unreliability insufficiently examined. We introduce ToolBench-X, a benchmark for evaluating agents under recoverable reliability hazards. ToolBench-X contains executable multi-step tasks across diverse domains and sequential, parallel, and mixed workflows, each paired with deterministic tools and a canonical final answer for automatic evaluation. Starting from clean tool environments, ToolBench-X injects five structured hazard types: Specification Drift, Invocation Error, Execution Failure, Output Drift, and Cross-source Conflict. Crucially, each injected instance remains solvable through at least one valid recovery path, such as retrying, fallback, verification, or cross-checking. Experiments reveal a substantial reliability gap: agents that perform well with reliable tools often fail under recoverable hazards. Further analysis shows that failures are driven less by tool-use volume or inference budget than by limited hazard diagnosis and ineffective recovery. Targeted recovery hints recover many failed tasks, while test-time scaling yields more limited gains. These results suggest that tool-use evaluation should move beyond function-call accuracy toward task completion under unreliable tool environments. The code and data is available at https://github.com/Foreverskyou/ToolBench-X.

Building a generalist robot that can leverage prior knowledge for continuous task adaptation remains a significant challenge. Previous works alleviate the catastrophic forgetting problem by parameter-efficient fine-tuning for single-task adaptation. However, they fail to extract reusable skills and model the interaction with other skills effectively. Recent works try to address these issues by learning prompts. Differently, this paper presents an architectural perspective on the Lifelong Mixture of Dynamic Experts (\textit{LiMoDE}), a novel two-stage learning scheme for lifelong robot manipulation. Specifically, a dynamic MoE structure is first proposed in the multi-task pre-training stage to learn prior knowledge, where a varied number of heterogeneous experts are activated based on the motion information to address different short-term manipulations. Subsequently, in the task adaptation stage, we design a lifelong MoE adaptation mechanism % (LiMoEAM) that learns lifelong experts and dynamically combines them with frozen ones for new tasks, facilitating the knowledge transfer during adaptation. The proposed \textit{LiMoDE} is evaluated on both the simulated lifelong learning benchmark and real-world tasks. Extensive experiments demonstrate its effectiveness in achieving superior performance and strong lifelong adaptation by introducing a moderate number of additional trainable parameters and inference overhead.

Effective online adaptation of vision-language-action (VLA) models remains challenging, as sparse rewards provide weak supervision for high-dimensional autoregressive action policies. Although self-distillation can in principle provide denser training signals, we find that text-based privileged teachers conditioned on demonstrations, retrieved experiences, or high-level plans are ineffective for VLA adaptation, exposing a modality gap between symbolic guidance and low-level robot actions. We propose ROAD-VLA, an advantage-guided self-distillation framework that constructs a proximal teacher directly in action space by perturbing action-token logits with calibrated advantage estimates. This converts sparse rewards into dense token-level supervision while keeping the teacher close to the current policy. We further derive a policy-improvement lower bound under calibrated advantages and accurate teacher matching. Across seven robotic manipulation environments with in-distribution and out-of-distribution shifts, ROADVLA outperforms PPO in nearly all settings, demonstrating robust online VLA adaptation.

With the widespread adoption of large language models (LLMs) in chatbots and everyday applications, companies increasingly need guardrails that are effective while remaining low-cost and low-latency. Safety evaluation of LLM outputs has generally relied on LLM-based judges, which can be effective but are often slow and expensive to deploy at scale. In this paper, we evaluate whether fine-tuned modern encoder classifiers from the ModernBERT family, including ModernBERT and Ettin, can reliably identify harmful LLM outputs in user-model conversations without substantial performance loss relative to LLM-based judges. We benchmark these encoder classifiers against rule-based prefix matching, fine-tuned LLM classifiers, and LLM judges using a range of judge-prompting strategies across open-source adversarial datasets. The LLM judges include evaluation methodologies from StrongReject, ShieldGemma, JailbreakBench, AILuminate, SorryBench, and a Claude-as-a-judge setup, as well as fine-tuned safety classifiers such as LlamaGuard 3 and LlamaGuard 4. The encoder classifiers are fine-tuned on judge-labeled data using a majority-voting label strategy and are then evaluated on a gold-standard holdout dataset to assess their performance relative to LLM judges. We report absolute performance using F1 score, false negative rate, and precision-recall metrics. We also break down results by attack technique, including single-turn prompting, decomposition, escalation, and context manipulation, to identify where encoder classifiers align with or diverge from LLM-based judges. Our findings provide guidance on when encoder classifiers can serve as cost- and latency-efficient alternatives to LLM-based safety evaluation.

Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In this paper, we propose StairMaster, a novel three-stage reinforcement learning framework for stable locomotion on such extreme discontinuous terrains. Our architecture integrates a Cross-Attention mechanism to extract structural features from noisy depth data, alongside a Spatial-aware Recurrent Unit (SRU) that maintains robust spatio-temporal memory to mitigate perception blind spots. To bridge the sim-to-real gap in depth perception, we propose a high-fidelity sim-to-real depth sensor modeling pipeline that faithfully replicates real-world sensor artifacts. Additionally, we employ a 3D waypoint-guided active perception reward for proactive sensing, alongside hollow gap kinematic and stair edge penalties to ensure precise foothold placement. We successfully deployed StairMaster on a Unitree Go2 robot, demonstrating its ability to conquer hollow stairs with an unprecedented incline of up to 55$^\circ$ through zero-shot transfer. To the best of our knowledge, this is the first RL-based policy to achieve such steep hollow stair climbing in real-world environments. Project Website: https://sivan666666.github.io/StairMaster/.

Polishing is a critical finishing process in high-end manufacturing fields such as aerospace, where surface quality directly affects the service performance and reliability of components. Robotic imitation learning provides a flexible solution for such tasks, but current methods remain limited in industrial polishing because of long-horizon dependencies, uncertain stage transitions, and the difficulty of modeling and regulating coupled process parameters. To address these issues, this paper proposes a Stage-Aware and Roughness-Constrained Diffusion Policy (SRDP) for robotic polishing. SRDP infers the process-stage posterior from multimodal observation histories and uses it to condition the shared reverse denoising process, enabling stage-consistent action generation without external stage labels during execution. Furthermore, a roughness-oriented process-constrained diffusion sampling method is incorporated to generate constrained feed speed and normal contact force under stage-wise preset spindle speeds, thereby improving process consistency and physical feasibility. Systematic experiments are conducted on two representative scenarios, namely spacecraft cabin coating-surface polishing and inner-cavity structural surface finishing. Comparisons with advanced baselines, ablation studies, and real-robot validations comprehensively evaluate the proposed method. The results show that SRD improves stage-transition stability, process-parameter consistency, and final surface quality across different polishing scenarios.

High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between the planning and execution, and structural incompleteness for full-body control. We propose an asynchronous upper body task-space tracking framework for humanoids. A student policy is initialized by teacher-student distillation, conditioned on the full cached future trajectory and an execution-time index, and trained with a sliding-window global reward to reduce frame drift without explicit frame estimation. For task-specific post-training, an MPC module completes sparse references into floating-base and upper-body guidance, while action- and FK level self-guidance constrain policy drift. Simulation and Unitree G1 hardware experiments show improved tracking under low update rates, stronger performance than synchronous and decoupled baselines, and safer adaptation to out-of-distribution motions.

When fine-tuning Large Language Models (LLMs), there has been success in minimizing both memory usage and computation with Parameter-Efficient Fine-Tuning (PEFT), like Low Rank Adaptation (LoRA). In this article, we have explored whether this approach is transferable to the world of robotics and Reinforcement Learning (RL), allowing learning with reduced memory usage and improved computational performance. Specifically, we focused on a version of multi-task robotics, where a library of specialist policies are created. In such a library memory efficiency is especially important. We used a Proximal Policy Optimization (PPO) algorithm and fine-tuned a baseline model to different tasks using LoRA. Our results demonstrate that, depending on the hyperparameters, LoRA can minimize memory usage by a factor of 20-160 compared to full fine-tuning of all layers. This implies a 90-95% storage saving when deploying a library of many (10-50) specialized policies, which can be the differentiating factor between being able to store the entire library in memory or having to use swap-memory in an applied robotics setting. At the same time, our results indicate that there is no significant difference in the success-rate between full fine-tuning and LoRA fine-tuning for the selected tasks.

Tightly coupled LiDAR-visual-inertial odometry (LIVO) fuses precise geometric depth with complementary visual measurements, yet its exteroceptive sensors face independent failure modes: LiDAR degenerates when scan geometry is under-constrained, while visual measurements degrade under adverse illumination or texture absence. Existing countermeasures, including binary degeneracy detection, covariance inflation, and scene-level quality gating, operate at the modality level and leave the direction-dependent structure of the joint information matrix unaddressed. Consequently, visual residuals enter pose directions where LiDAR is well-constrained, while in deficient directions visual compensation disperses across the full state space rather than concentrating where needed. We propose SA-LIVO, a LiDAR-inertial-visual odometry system addressing these limitations through direction-selective fusion and information-efficient processing. The Subspace-Aware Information Fusion (SAIF) framework eigendecomposes the joint LiDAR-visual information matrix and applies a linear-clamp soft gate per eigendirection, attenuating degenerate directions while preserving observable ones at full strength. LiDAR and visual residuals are then jointly optimized in one InEKF loop at a shared linearization point. Since visual information contributes only where LiDAR is deficient, photometric Jacobians are assembled once before the loop and reused across iterations, avoiding the per-iteration cost of conventional iterated filters. Experiments on 29 sequences from three benchmarks (HILTI'22, New College, Oxford Spires) and concurrent-degradation scenarios show accuracy competitive with the strongest baselines and bounded drift where competing systems diverge. SA-LIVO averages 12.3 ms per frame on a laptop CPU and 26.8 ms on an embedded ARM board without GPU, with 3.6-6.3x lower peak memory. The code will be open-sourced.

Reinforcement learning (RL) for robotic manipulation often requires manually designing a dense reward function, which is difficult to tune and often fragile, or learning a reward from human demonstrations or preferences, which can be expensive. A recent line of work uses pretrained vision-language models (VLMs) as zero-shot reward models, replacing these costs with a single text prompt. However, we argue that a single global prompt is too coarse for long-horizon manipulation tasks with randomized initial conditions. The single-prompt VLM reward is near-flat for much of the trajectory, making early progress hard for the agent to detect. We propose Reinforced Micro-Task Learning (RMTL), an approach that decomposes a manipulation task into a small set of language-described micro-tasks and trains the agent to switch between them. At each step, the agent receives a multi-view VLM reward computed using the prompt of the currently active micro-task and averaged across multiple camera views to reduce the effect of view-specific occlusions. A reverse curriculum gradually exposes the agent to harder initial conditions, while a PPO worker is first trained with a fixed distance-based rule that selects the active micro-task. We then replace this rule with a learned hierarchical manager, turning rule-based phase selection into a fully learned hierarchical policy. We instantiate RMTL on the Fetch manipulation environment using three short stage-specific prompts and without additional prompt tuning. Experiments show that RMTL provides more informative reward signals than single-prompt VLM rewards, enabling faster learning. These results suggest that decomposing VLM rewards into micro-task-specific language prompts can substantially improve the scalability of language-guided reinforcement learning for robotic manipulation.

Quantum parameter estimation utilizes quantum mechanical effects to attain higher measurement precision than classical schemes. In practical implementations, however, noise is inevitably present during the measurement process, causing a decrease in precision. Quantifying the impact of noise on different measurements is of considerable significance. Here, we experimentally investigate robust optimal measurements based on the theory of Fisher information measurement noise susceptibility (FI MENOS), which quantifies how susceptible a measurement is to noise. By constructing a polarizing Mach-Zehnder interferometer, we implement phase estimation under controlled noise. Our results indicate that different measurements exhibit distinct sensitivities to noise. To assess the influence of diverse noise types on precision, we further construct an experimental setup capable of introducing various forms of noise. The experimental results affirm that FI MENOS represents the worst-case scenario for estimation precision, enabling us to evaluate the noise immunity of optimal measurements. Our work provides a deeper insight into quantum metrology with noise, marking a notable advancement in quantifying the robustness of quantum estimation schemes against measurement noise effects.

We present a general answer set programming based hybrid quantitative-qualitative method for computing constrained branching trajectory modes for moving objects in real-world settings. The method performs constrained traversal of an environment graph, enumerating geometrically admissible motion behaviours as stable models, each constituting a distinct trajectory mode characterised by both domain-dependent and independent factors such as derived event sequence, map topology, and domain norms. The hybrid trajectory computation method is generally applicable across motion characteristics typically encountered in diverse dynamic domains with moving objects, e.g., autonomous driving. We demonstrate applicability and highlight how computed trajectories are traceable to their underlying stable model, thereby affording verifiable interpretability that purely learned approaches cannot provide. We also perform an empirical evaluation with Argoverse 2, a large-scale real-world autonomous driving benchmark representative of the class of dynamic domains within the scope of the proposed method.

Robotic table tennis has emerged as a compelling benchmark for real-time robotic perception due to its fast ball dynamics and stringent timing requirements. Accurate, high-frequency, and low-latency ball state estimation is critical for reliable trajectory prediction and timely control. Traditional frame-based cameras face an inherent trade-off: low frame rates leave temporal blind spots that miss fast-moving objects and high frame rates raise data and computational cost. Event cameras instead offer microsecond temporal resolution and, under sufficient illumination, remain largely free of motion blur even at high ball speeds. However, the community lacks large-scale datasets to develop and benchmark event-based perception in realistic sports scenarios. We address this gap by introducing the first large-scale event-camera dataset for table tennis, comprising over 1000 rallies from a diverse group of players ranging from amateurs to elite-level athletes. Each recording captures the event stream alongside 14 synchronized high-speed frame-based cameras at 200 FPS, which we use to produce 1 kHz pseudo ground-truth labels for ball position, velocity, and spin. Building on this dataset, we train a convolutional neural network robust to background player motion that jointly estimates the ball's position and velocity in the image-plane from events. Treating the predicted velocity as an additional measurement in the Kalman filter reduces bounce-point prediction error by 36% relative to a position-only baseline. Finally, we close the perception-action loop by integrating the event-based system with a Stäubli robotic arm, enabling the first real-time human-robot table tennis rallies driven by event-based perception.

Tie-line power (TLP) shaping is a key requirement for the grid-friendly operation of industrial microgrids (IMGs). This paper studies the coordination of multi-timescale heterogeneous adjustable resources in a steel IMG to shape a grid-friendly TLP trajectory considering multiple objectives. A sequential heterogeneous-agent coordination (SHAC) framework is proposed, where process loads, hydrogen storage, and battery storage are modeled as functionally heterogeneous agents with cross-role observations, asynchronous decision intervals, role-specific rewards and critics. This design captures the heterogeneous temporal effects of different resources on the TLP trajectory and alleviates ambiguous credit assignment and weak inter-agent coordination. To ensure feasible real-time execution, process-knowledge-based action masking and feasibility projection are embedded into policy execution, and a role-aware multi-timescale actor--critic training scheme is developed for agents with different action structures and decision intervals. Numerical studies using real renewable generation and electricity market data show that SHAC effectively eliminates the dependence on predefined reference trajectories and enables adaptive 1-min online decision-making, achieving zero production failures with an average computational time of only 0.4 ms per step. Compared with the original operation, SHAC reduces the total grid purchase cost, contract-demand exceedance time, and cumulative ramp excess by 91.27\%, 98.64\%, and 96.91\%, respectively. These results demonstrate that the proposed framework improves the economic efficiency and grid friendliness of industrial microgrid operation while satisfying strict process-safety constraints and real-time computational requirements.

Vision-Language-Action (VLA) models have recently demonstrated strong generalization in robotic manipulation, yet their applicability to whole-body, contact-rich humanoid locomotion remains severely underexplored due to data scarcity, the absence of dynamically consistent demonstrations, and the difficulty of encoding optimality and safety in learning-based pipelines. This work introduces a unified framework WOLF-VLA that integrates whole-body optimal-control (OC) motion synthesis with large-scale multi-modal dataset to train VLAs capable of generating humanoid locomotion policies directly from natural-language instructions. We construct a comprehensive dataset of dynamically feasible humanoid trajectories across six locomotion-related task families, each parameterized by environmental variations, object colors, placements, and visual distractors. We train a VLA model using the collected joint trajectories, ego-centric visual observations and natural language instruction, yielding a policy that exhibits strong reasoning and robustness to initial-condition variability, and competitive performance across several tasks and environment settings. A systematic ablation study demonstrates the impact of each modality on the model performance. The full dataset, model checkpoints, and benchmarking simulation suite will be openly released, establishing a reproducible dynamically consistent benchmark for whole-body humanoid locomotion rich VLA control and enabling future research in scalable transfer of instruction-driven locomotion policies.

Assistive robotic systems face a fundamental trade-off: fully autonomous systems lack user agency, while fully user-controlled systems demand continuous cognitive effort. Existing shared autonomy approaches blend human and robot commands but are mostly deployed in separate physical bodies. We introduce co-embodiment with variable autonomy, where human and robot share a single physical body and operate at different autonomy levels across task phases, from mutual autonomy during object search and grasping to human-dominant control during actuation. We present a co-embodied, wearable robotic hand that has its own ``mind'' and operates with variable autonomy levels. A learning-from-demonstration visuomotor diffusion policy enables autonomous grasping when the user positions the hand near known objects. Once grasped, the system signals completion and the human can actuate the grasped tool (drill, spray bottle, infrared thermometer, lighter, and ice-cream scoop) via hands-free head gestures. The human retains veto authority at all times through a release gesture that returns the system to the initial phase. Unlike blended autonomy, where control is continuously negotiated, our co-embodied approach consists of variable autonomy from full human control to full independent actions while maintaining physical coupling, realizing a one body, two minds paradigm. In a user study with 44 participants performing five bimanual tasks, users rapidly adapted to this ``two minds'' paradigm: completion times improved by 23.3% across trials ($p < 0.001$, Cohen's $d = 0.94$), the best-performing policy variant reached a 93.6% task success rate, and acceptance ratings were high (5.70/7 overall impression, 5.52/7 daily use willingness). This work establishes co-embodiment with variable autonomy as a viable approach for assistive robotics, enabling human-robot collaboration through co-embodiment.

Artificial intelligence increasingly drives automated scientific discovery, yet contemporary generalist agents lack physical grounding, frequently hallucinating hardware-incompatible designs. Here, we present a physically grounded, multi-agent discovery engine that autonomously architects hardware-compliant computing systems. Anchored by an Evolutionary Knowledge Graph structuring past scientific innovations, the framework extracts an "algorithmic Chain-of-Thought" to transform blind stochastic search into directed structural evolution. Applied to the extreme testbed of foundation model deployment, the engine evolved two hardware-aware compression methodologies surpassing human-engineered heuristics: Q-Enhance mitigates long-context accuracy loss in dense models, and MoE-Salient-AQ outperforms state-of-the-art manual sparse Mixture-of-Experts designs by 3.7% at sub-3-bit regimes. Utilizing a bandwidth-efficient Sensitivity Profile, we successfully deployed a massive 235-billion-parameter model onto a constrained dual-A100 server, reducing memory requirements by 75% with a marginal 0.64% accuracy degradation. By transforming unconstrained combinatorial search into knowledge-driven autonomy, this establishes a scalable hardware-software co-design paradigm for machine-driven discovery within strict physical boundaries.

Cooperative multi-agent reinforcement learning assumes each agent shares the same reward function and can be trained effectively using the Trust Region framework of single-agent. Instead of relying on other agents' actions, the independent actors setting considers each agent to act based only on its local information, thus having more flexible applications. However, in the sequential update framework, it is required to re-estimate the joint advantage function after each individual agent's policy step. Despite the practical success of importance sampling, the updated advantage function suffers from exponentially high variance problems, which likely result in unstable convergence. In this work, we first analyze the high variance advantage both empirically and theoretically. To overcome this limitation, we introduce a clipping objective to control the upper bounds of the advantage fluctuation in sequential updates. With the proposed objective, we provide a monotonic bound with sub-linear convergence to $ε$-Nash Equilibria. We further derive two new practical algorithms using our clipping objective. The experiment results on three popular multi-agent reinforcement learning benchmarks show that our proposed method outperforms the tested baselines in most environments. By carefully analyzing different training settings, our proposed method is highlighted with both stable convergence properties and the desired low advantage variance estimation. For reproducibility purposes, our source code is publicly available at https://github.com/giangbang/Low-Variance-Trust-Region-MARL.

Pedestrian simulation is a critical component for training and deploying social robot navigation approaches, yet it remains a largely rigid system that repeatedly requires manual data generation to define even simple scenarios. We propose GROVE, a text-to-scenario pedestrian simulation framework that combines state-of-the-art approaches to produce realistic, socially challenging scenarios for social robot navigation. Our framework allows users to customize one of several common presets (emergency, queuing, normal) or even enter a fully independent prompt to generate a highly customizable pedestrian simulation. Multiple modules separately ensure the realism and soundness of long-horizon human behavior, medium-horizon pedestrian navigation, and short-horizon robot/social interactions. Each module is tuned by the prompt in a way that reflects the user intent across all aspects of pedestrian simulation. By dynamically selecting one of several state-of-the-art (SotA) approaches in our modules based on the scenario, we capture many situational nuances of pedestrian behavior in order to narrow the simulation-to-real (sim2real) gap. The human simulation is directly integrated into Isaac Sim, Gazebo, and RViz simulators for robot deployment in highly social environments. We validate our approach through qualitative comparison against existing pedestrian simulation baselines across scenarios of varying complexity in residential, hospital, and office environments. The result is a high-fidelity pedestrian simulation that challenges social robot navigation with complex, diverse, realistic human behaviors.

Reliable depth perception is critical for robotic manipulation, especially for non-Lambertian objects such as transparent or highly specular surfaces, where raw depth measurements are often corrupted or missing. These failures frequently propagate to motion planning, resulting in invalid grasp poses and execution errors. We propose AISPO, a depth completion framework that improves depth reliability for manipulation in challenging sensing conditions. AISPO combines multi-scale RGB-D feature fusion with an affine-invariant shape prior to enforce geometric consistency and mitigate catastrophic depth failures. Unlike methods that focus primarily on average depth accuracy, our approach emphasizes physical plausibility and structural integrity of the predicted depth maps. Extensive benchmark evaluations demonstrate competitive performance and strong generalization to unseen objects and novel scenes. Real-world grasping experiments further show that enhanced depth reliability significantly improves manipulation success rates, particularly for transparent objects where many existing methods fail to produce physically usable depth estimates.

Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle with long-horizon reasoning and generalize poorly to novel environments. To address these limitations, we propose SAGE-Nav, a novel hierarchical framework that integrates the reasoning capabilities of Large Language Models (LLMs) with dynamic scene graphs. Crucially, it decouples asynchronous global semantic planning from the high-frequency reactive control loop. The LLM serves as a global planner, decomposing abstract instructions into a sequence of semantically grounded waypoints. To translate these plans into dense multi-modal guidance, we design a Hierarchical Scene Graph Encoder (HSGE) that leverages relational graph convolutions to produce structure-aware embeddings preserving both semantic and spatial topology. Furthermore, we develop the Goal-aware Alignment-Fusion Network (GAFN) to dynamically fuse real-time perception with these structural priors. Using an adaptive gating mechanism with an explicit inductive bias, GAFN ensures robust visual-topological alignment for the low-level policy. Extensive evaluations in the i-THOR and RoboTHOR environments demonstrate that SAGE-Nav achieves state-of-the-art performance, delivering substantial gains in navigation efficiency and zero-shot generalization while maintaining the low control latency required for physical robotic deployment.

This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Control Barrier Function-like constraint within a quadratic optimization setting that addresses formation tracking. Relying on the relative information of neighboring agents, the controller is designed to operate without the need for manual parameter tuning or a separate nominal formation controller. The leader-follower framework is validated through simulations of moving formations.

Gaussian optical tweezers have strong phototoxicity to bioactive substances and it is difficult to achieve capture and manipulation of multiple particles. Moreover, vortex optical tweezers face several challenges, such as weak axial confinement and dependence on complex optical elements like a spatial light modulator (SLM). Therefore, we design and construct a novel three-dimensional (3D) "optical spindle trap" (OST) system that does not require a SLM. By employing intracavity mode modulation and a simple extra-cavity lens modulation, we generate a fully enclosed 3D dark potential well with zero central intensity. Experimental results demonstrate that the system achieves stable trapping of single or multiple micrometer-sized particles with excellent 3D confinement and enables the trapping of mouse hepatocytes under low-power conditions. The system exhibits high physical stability. Its closed dark-field structure can also reduce phototoxic damage to biological samples. Furthermore, the dimensions of the optical trap can be flexibly tuned to suit various application scenarios. This study provides a novel, highly efficient, gentle, and low-cost optical trap platform for biomedicine and micro/nanoscale manipulation.

Assessing financial literacy during gameplay without disrupting the learning experience remains a key challenge in serious games for education. We present the Agentic BKT pipeline, a multi-agent large language model architecture for stealth assessment of financial competencies from open-ended gameplay events. The pipeline processes events from a 2D platformer serious game aligned with the OECD/INFE financial literacy framework through four phases: (1) the game captures every player decision as a structured event log; (2) an LLM event classifier labels each action on a four-point rubric validated against three domain experts (Fleiss kappa = 0.624, substantial agreement); (3) four domain-specific agents specializing in risk mitigation, investing, spending, and credit management perform session-level reasoning over behavioral trajectories, feeding per-competency Bayesian Knowledge Tracing that estimates mastery within each domain; and (4) an expert judge agent synthesizes the domain-level estimates into an overall mastery score. Evaluated with 193 K-12 participants across 264 game sessions, the Agentic BKT pipeline yields mastery estimates significantly correlated with learning gain (r = 0.276, p = 0.0001) and post-test scores (r = 0.333, p < 0.0001) while showing no correlation with pre-test scores, providing both convergent and discriminant validity. The multi-agent approach approximately triples the predictive validity of a single-LLM baseline (r = 0.095, not significant) in this study, demonstrating that domain decomposition and session-level reasoning play a central role in capturing the multidimensional nature of financial literacy from gameplay

Post-discharge clinical follow-up is critical for maintaining continuity of care and mitigating long-term health risks. However, traditional follow-up paradigms suffer from shortage of health workforce, fragmented patient histories, and information silos across clinical departments. While large language models have demonstrated potential in medical question-answering, their deployment in continuous care is hindered by hallucination risks and a fundamental inability to reason over longitudinal, patient-specific constraints. Here we present Healink, a memory-enhanced multi-agent framework to support AI-assisted post-discharge follow-up by generating prescription-grounded, traceable responses that improved completeness and perceived clinical utility in retrospective and physician-blinded evaluations. The architecture seamlessly integrates a triage routing mechanism, a unified memory enhancement module utilizing a robust relational database for optimal latency, and a strict constraint-based retrieval-augmented generation engine. By vectorizing historical clinical records and employing weighted similarity functions across diverse phenotypic and intervention dimensions, Healink ensures precise inter-patient and intra-patient case matching while actively preventing cross-departmental drug conflicts. We evaluated Healink on a dataset comprising 400 continuous and 85 highly complex real-world follow-up cases, alongside the webMedQA benchmark. In a rigorous single-blind evaluation conducted by clinical experts, the framework outperformed human physician baselines in both authoritativeness and clinical safety. By generating a traceable, white-box evidence chain, Healink provides a scalable, safe, and highly effective paradigm for intelligent patient management, ultimately enhancing societal healthcare outcomes.

This paper describes an automatic method for adjusting or tuning models of multi-agent motion. Simulating the motion of bird flocks, human crowds, vehicle traffic, and other multi-agent systems is a widely used technique. These simulations model the behavior of a single group member (bird, human, or vehicle). The group behaviors (flock, crowd, traffic) emerge from interactions between group members. These models typically have many numerical control parameters. Even if each parameter is intuitive in isolation, their interaction can be complex and nonlinear. It is challenging to determine which parameters to adjust for the desired change in group behavior. Changing one aspect of group behavior often causes other aspects to change, leading to a tedious process of incremental changes. This work takes an inverse design approach. The desired group behavior is measured with a user-defined objective(/fitness/loss) function and optimized with a genetic algorithm. The objective function used here for basic flocking rewards proper spacing with neighbors, flying near a desired speed, and avoiding obstacles. Interestingly, the vivid alignment seen in bird flocks appears to emerge from maintaining proper spacing between flockmates.

Realizing a multiagent system involves implementing member agents who interact based on a protocol while making decisions in a decentralized manner. Current programming models for agents offer poor abstractions for decision making and fail to adequately bridge an agent's internal decision logic with its public decisions. We present Kiko, a protocol-based programming model for agents. To implement an agent, a programmer writes one or more decision makers, each of which chooses from among a set of valid decisions and makes mutually compatible decisions on what messages to send. By completely abstracting away the underlying communication service and by supporting practical decision-making patterns, Kiko enables agent developers to focus on business logic. We provide an operational semantics for Kiko and establish that Kiko agents are protocol compliant and able to realize any protocol enactment.

Agentic AI offers significant potential to automate complex building-engineering workflows. However, most existing applications remain isolated proof-of-concept demonstrations and lack reusable domain capabilities, human-verified evaluation cases, and standardized benchmarking infrastructure. This study presents Buildrix, an open, community-driven platform for developing, sharing, executing, and evaluating agentic AI skills for building engineering. Buildrix integrates three components: a Python command-line package for developing, validating, publishing, installing, and managing skills and test cases; a web-based Hub for organizing open challenges, reusable skills, test cases, reviews, and benchmark results; and a local agent harness that supports skill discovery, external toolchain provisioning, progressive context loading, and multi-step workflow execution. Buildrix skills are organized as standardized, self-contained packages containing task instructions, executable scripts, dependencies, and supporting resources. Quantitative test cases can be verified by domain experts and promoted to golden test cases for reproducible benchmark evaluation. Buildrix provides an open foundation for reusable capability development, transparent evaluation, and community-driven advancement of agentic AI in building engineering.

In cooperative multi-agent reinforcement learning (MARL), from a deployment perspective, it is challenging and expensive to train agents from scratch for each new environment or task. In this work, we propose GCT-MARL, a transfer learning framework that builds on the multi-view graph contrastive backbone of MAIL and augments it with a per-view, adaptively weighted alignment loss and a two-phase training protocol specifically designed for transfer across populations of varying sizes and compositions. We empirically demonstrate that the proposed framework markedly accelerates convergence on the target task relative to from-scratch training, in both homogeneous (within-faction, varying N) and heterogeneous (cross-faction and mixed unit-type) transfer scenarios. Furthermore, we show that the framework naturally supports continual learning by sequentially chaining the two-phase transfer protocol across a series of related tasks. Overall, this work provides a unified approach to mitigating key limitations in current MARL transfer methods with new insights at both methodological and empirical levels.

In assembly line balancing, tasks are assigned to stations in order to satisfy a required cycle time. When production conditions change, the line must be rebalanced by modifying the current task allocation, typically aiming to move as few tasks as possible between stations. Similarity measures are commonly used to control such changes, but they generally evaluate configuration preservation by treating all tasks equally, which may not reflect their different practical importance. In this work, a \emph{pruned Mean Similarity Factor} is proposed for assembly line rebalancing, evaluating similarity only over a subset of structurally relevant tasks identified through a relevance score. The proposed measure is integrated into a compact mixed-integer linear programming (MILP) formulation that considers practical aspects of manual assembly, specifically workload balance, ergonomic exposure, multi-worker stations, and positional constraints. Computational experiments on extended benchmark instances derived from the literature show that the proposed approach can obtain optimal rebalancing solutions within reasonable computational times, while maintaining high task colocation and balanced workload and ergonomic distributions. In particular, focusing the similarity evaluation on relevant tasks helps reduce the computational effort.

The potential to precisely control both the linear and nonlinear index of refraction through optical manipulation of the atomic states has recently pushed warm alkali vapors to the forefront of research in the field of quantum sensors, quantum memories, and quantum fluids of light. Rubidium (Rb) vapor in centimeter-scale glass cells or millimeter-scale MEMS cells has proven to be a very promising platform for these applications, yet only a handful of research works have been dedicated to the investigation of the (non)linear refractive index of Rb vapor. We present results of theoretical calculations of the (non)linear refractive index of warm Rb vapor, based on the optical Bloch equations for 6-level Rb atoms interacting with a probe laser. They are compared to the experimental results obtained using an interferometric technique, showing excellent quantitative agreement. A Kerr nonlinear refractive index $n_2$ of up to $10^{-4}$ cm$^2$/W is obtained. Python scripts for all theoretical calculations presented in this work are provided, including the refractive index calculation, that can readily be used in practical implementations for simulating the (non)linear refractive index of Rb vapor including the effects of Doppler broadening, transit time broadening, pressure broadening, saturation, optical pumping, and spin-exchange collisions.

Linear Quadratic (LQ) control problems are at the heart of linear control theory and Model Predictive Control (MPC). While performant, standard approaches to solving such problems are inherently serial, limiting real-time scalability despite the parallel computing power available on modern multi-core CPUs. Contributing to addressing this challenge and motivated by ``divide and conquer'' strategies, we present a parallel-in-time approach that solves computationally demanding conic optimal control problems through the use of the alternating direction method of multipliers (ADMM). In particular, we formulate the inner primal update of ADMM as an LQ problem and split the reformulated problem along the time horizon. This enables us to derive a variant of the Riccati recursion using dynamic programming to solve each subproblem in parallel. Numerical benchmarks on two real-world applications demonstrate as much as a 5x speedup compared to existing related approaches on multi-core CPU hardware.

Recent advances in robotics have enabled robots to operate in shared human environments, emphasizing the importance of effective human robot interaction HRI. Prior studies indicate that anthropomorphism, defined as the incorporation of human like features into robotic systems, facilitates more natural interaction and enhances both task performance and user experience. In robotic arm teleoperation, however, user controlled motions often deviate from human like kinematic characteristics due to intrinsic limitations of teleoperation systems. In this work, we propose a real time framework that generates human like end effector trajectories based on the two thirds power law of voluntary human hand movements, while preserving the operators intended control inputs. The proposed approach is validated through real world experiments conducted on a 6 degree of freedom Dobot CR10 robotic arm. Quantitative analysis demonstrates that the generated trajectories exhibit significantly stronger adherence to human like kinematic profiles compared to conventional teleoperation, with the estimated beta coefficient moving 39.7% closer on average to the theoretical value of 1/3. Furthermore, the method achieves an approximate 34% improvement in motion smoothness, measured by RMS torque rate reduction, with 80% of evaluated motion patterns showing statistically significant improvements while maintaining comparable task completion times.

Large language models (LLMs) are proposed as natural-language interfaces to power system analysis, yet existing frameworks are validated almost exclusively on synthetic benchmarks and support only deterministic studies. We present CONDUCTOR, an LLM-orchestrated digital twin for distribution grid operations. An open-weights LLM orchestrates power system analysis and optimization solvers and, unlike prior systems, also performs uncertainty-aware studies: probabilistic security assessment, robust corrective dispatch, and flexibility-envelope and hosting-capacity characterization. We test it on the Bornholm 60 kV distribution network - a real Danish island power system - using one year of smart-meter measurements. An operator case study spans deterministic assessment, probabilistic risk quantification, and robust dispatch. Across a 68-prompt behavioral catalog scoring tool use, evidence consistency, state-mutation discipline, and refusal calibration, the orchestrator answers 98.5% of tasks correctly on the first attempt - the lone failure being a missing answer, not a wrong one. The full pipeline is released open source.

Freestanding all-diamond color-center photonics is a promising platform for optical integration of spin-based quantum defects. Within this geometry, we realize a key building block for quantum-network interconnects: a directional coupler that acts as an on-chip beam splitter. We design and simulate directional couplers with triangular cross sections using eigenmode and finite-difference time-domain simulations and target near-50:50 splitting at visible wavelengths. We fabricate the devices directly from bulk single-crystal diamond by angled oxygen reactive-ion-beam etching followed by a dry post-release hard-mask removal process. Room-temperature measurements at $λ_0\approx 637 \mathrm{nm}$ yield a mean coupling ratio of $C^\mathrm{meas}=46(16) \%$. Finally, we integrate SnV$^{-}$ centers into the nanophotonic structures and observe near-lifetime-limited optical linewidths and coherent optical Rabi oscillations without post-fabrication annealing, identifying the platform as a viable route towards integrated diamond quantum photonics.

Individual level daily activity schedules are essential for a wide range of applications, including infectious disease control, urban transportation planning, and policy design. In practice, such schedules are typically generated by combining population data with travel survey data. These data sources are used because they are often publicly available, whereas observed individual activity schedules are difficult to obtain due to privacy concerns. However, because of the complexity of mobility modelling, it is difficult to generate realistic activity schedules that also preserve travel times consistent with those reported in travel surveys. To address this issue, we propose a framework for generating activity schedules that iteratively applies a dynamic programming method to allocate activity locations based on simulated travel times. Numerical experiments with dummy data show that the proposed method reduces the discrepancy between simulated travel times and those reported in travel surveys by 52.2% relative to the first iteration through iterative refinement.

We consider a class of pursuit-evasion games in which multiple defenders and attackers move in the plane with bounded speeds, while each defender observes the states of other agents with a constant time delay. For the one-attacker-one-defender case, we derive an explicit analytical characterization of the attacker's delayed attack region and prove its convexity under mild assumptions. When the defender can guarantee capture, we formulate a convex optimization problem to compute the capture point and derive optimal strategies for both players. These strategies are shown to constitute a subgame-perfect Nash equilibrium by exploiting the sequential structure induced by the information delay. The analysis is further extended to the one-attacker-multiple-defender scenario and to the general multiplayer setting. In the latter case, delay-aware pairwise winning relations are incorporated into a maximum matching formulation to address the defender-attacker assignment. Numerical simulations for one-on-one, one-vs-multiple, and multi-agent cases validate the theoretical results and illustrate the impact of information delay on game outcomes and optimal strategies.

We introduce Age of LLM, a turn-based 1v1 benchmark in which two LLMs face off on a 13x7 grid to destroy the enemy base. Three stressors are deliberate: fog of war, full diplomacy (messages, ceasefires, ultimatums; uranium kept secret), and a reliability dimension where every turn must follow a strict JSON schema and an illegal action is silently discarded. The engine is private and each match uses a fresh random map seed and opponent, mitigating the data contamination that affects public benchmarks. Models receive a (near) rule-only prompt with no build-order advice (two tactical seed phrases were present during data collection; see Section 2.7). We benchmark 15 reasoning models across 54 matches and 5,258 actions. Findings: (1) the nuclear rush dominates (78% on the rules-coherent v0.11+ sub-corpus; 85% corpus-wide) with a sole-launcher signature that is largely mechanical under secret-simultaneous launch rules, not a cognitive deterrence failure; (2) military conquest is rare but faster (12.3 vs 18.9 turns); (3) diplomacy is prolific yet almost never consummated; (4) ~58% of illegal actions are fog/state errors, making the illegal-action rate a measure of belief-tracking; (5) -- the least established, and the only one we label exploratory -- a weak link associates reliability with winning. The corpus is small, unbalanced and not side-swapped, so the ranking is a preliminary descriptive view, not a contribution. Beyond ranking, the turn-by-turn traces of actions and messages make the corpus a lens on how LLMs reason under adversarial uncertainty -- their belief-tracking, spontaneous deception, and per-model cognitive "personas" -- which we frame as a future research direction. We release the replay format, an isometric viewer and all replays; engine source on request.

Data-driven model predictive control (MPC) has become an attractive approach for controlling unknown systems, especially when data are corrupted by noise. However, most existing data-driven MPC methods focus on linear systems, and little attention has been given to nonlinear dynamics under disturbances. To fill this gap, we propose a robust data-driven min-max MPC scheme for unknown nonlinear systems with process disturbances. We represent the unknown nonlinear dynamics using vector fields built from a dictionary of basis functions, yielding an equivalent linear form with unknown matrices. These unknown matrices are characterized by a set-membership representation derived from noisy input-state data. Using this uncertainty description, we formulate a min-max MPC problem. Two online scenarios are studied: i) when state measurements are noise-free, and, ii) when they are corrupted by process disturbance. For each case, we derive a Lyapunov-based semidefinite program (SDP) to compute a stabilizing state-feedback controller. The resulting schemes are shown to guarantee recursive feasibility and either exponential or robust stability of the closed-loop system depending on whether there is process disturbance. Simulation studies on benchmark examples illustrate the effectiveness and competitive performance of the proposed approach compared to existing data-driven and model-based controllers.

The increasing integration of distributed energy resources (DERs) is crucial for power system decarbonization, yet unlocking DERs' flexibility is challenged by their inherent uncertainties and modelling complexity. As traditional optimization methods struggle with such uncertainty and complexity of DERs, reinforcement learning (RL) has emerged as a promising alternative for DER management. However, standard RL methods suffer from sample inefficiency and sub-optimality when trained from scratch. Inspired by the training paradigms in large language models, this paper proposes a Supervised Reinforcement Learning (SRL) framework for learning DER coordination policies. This framework first pre-trains a policy on demonstration data in a supervised-learning fashion, which is then further fine-tuned using RL. Furthermore, we propose a two-step fine-tuning process: offline fine-tuning for enhancing policy performance and online fine-tuning for adapting it to the real-world dynamics. Experiments demonstrate that RL implementations based on the proposed framework significantly outperform all benchmarks, achieving high cost efficiency even under low-quality demonstration data.

A recent unified treatment of PID tuning for time-delay plants (An, Tang, Sun, Zhang and Chen, Automatica, 2026) combines the D-partition method with a boundary gradient vector (BGV) to orient the boundaries of stabilizing, relative-stability and stability-margin regions. That method answers a feasibility question, namely where admissible gains lie, and it leaves a manual interior-point test to fix the unstable-pole count in each cell, with the choice of a single controller left to the user. This note makes three contributions. First, the one operation the BGV leaves manual, the absolute unstable-pole count, is available analytically: exactly for delay-free designs through a companion-matrix or Routh count, and through an argument-principle (Mikhailov) evaluation for retarded-type delay loops. Labelling every cell with its analytic count removes the interior-point test and decides the whole partition. Second, we add the step the BGV framework cannot reach, a time-domain selection rule that returns one certified controller: among monotone step responses we choose the minimum-settling-time PI gains, characterized by a tangency condition, with monotonicity guaranteed by external positivity (a nonnegative closed-loop impulse response). Third, we flag a neutral-type pitfall that the unified analysis never delimits: an ideal PID with derivative action on a first-order-plus-dead-time (FOPTD) plant is of neutral type, with a root chain on the imaginary axis when k Kd = T. We reproduce the authors' delay-free benchmark exactly, recovering both admissible Kp intervals, and demonstrate the full pipeline on a FOPTD plant, delivering a certified monotone, fast-settling PI controller that the region-only method can neither locate nor justify; the selected gains match an independent closed-form tangency rule to within one percent. All claims are validated numerically.

Robotics increasingly relies on GPUs for parallel simulation, large-scale learning, and neural-network inference. For model predictive control (MPC) to scale with this paradigm, solvers must run efficiently on this hardware while remaining fast, differentiable, and compatible with expressive MPC formulations used in robotics. We present TurboMPC, a differentiable MPC solver that runs entirely on the GPU and supports state and control inequality constraints, implicit integrators, cross-time-coupled costs, and slack variables. TurboMPC combines sequential quadratic programming (SQP), an alternating direction method of multipliers (ADMM) inner solver, implicit differentiation, and a co-designed JAX-CUDA implementation for efficiency and ease of use. In simulation, we validate TurboMPC on constrained planning, humanoid imitation learning, and reinforcement learning with neural-network cost function tasks, achieving up to $15\times$ and $58\times$ speedups over state-of-the-art CPU and GPU differentiable solvers, respectively. We deploy TurboMPC on a full-scale car for minimum-time racing and find that batched, GPU-accelerated tuning of MPC parameters via Bayesian optimization yields significantly faster driving than a hand-tuned baseline. TurboMPC also scales to planning horizons of over $8000$ knot points while maintaining control of the vehicle. We open-source TurboMPC at: https://github.com/ToyotaResearchInstitute/turbompc

Recent work has established that regularized policy gradient methods such as PPO, when used in self-play, can match or exceed specialized game-theoretic algorithms for solving two-player zero-sum imperfect-information games. The uniform distribution has emerged as a strong policy regularization target for this purpose, but it regularizes equally toward all actions regardless of their viability. We introduce EMAgnet, which instead regularizes toward an exponential moving average (EMA) of the last-iterate policy's parameters, providing an adaptive regularization target that evolves with the agent's improving strategy. We evaluate EMAgnet on both standard two-player zero-sum benchmarks and modified benchmarks with exploration challenges and large numbers of strictly dominated strategies. Relative to PPO self-play with uniform-magnet regularization under both linear and power-law annealing schedules, EMAgnet achieves lower exploitability in the majority of tested environments, with consistent performance gains across games containing strictly dominated strategies.

What is an agent? What constitutes agency? With the rise of Large Language Model (LLM) systems marketed as ``coding agents'', ``AI co-scientists'', and other ``agentic" tools that promise to drive up productivity, and at the same time, ``existential" concerns such as AI escaping human control with destructive power under a speculative ``machine agency" against humans, it has become essential to clarify where automation ends and agency begins, both for building capable systems and for understanding whether and what to fear. Drawing on Descartes' grounding of agency in independent thought, and on portrayals of autonomous beings in science fiction, we survey the current landscape of AI agents, and analyze agent architectures along five dimensions: goal, identity, decision-making, self-regulation, and learning. Specifically, we argue that genuine agency requires these structures to be \emph{internalized within the system itself} rather than assembled through external scaffolding. This distinction between \emph{agentic} systems, whose competence resides in engineered workflows, and \emph{agentive} systems, whose capabilities (including social interaction) arise endogenously, defines the boundary between systems designed for prescribed tasks, and those capable of operating in the open world with true autonomy. Building on this analysis, we propose the Goal-Identity-Configurator (GIC) architecture for a general-purpose agent model, combining hierarchical goal decomposition, identity evolution, simulative reasoning grounded in a separately trained world model, learned self-regulation, and self-directed learning from both real and simulated experience. Furthermore, we share insight on the auditability, controllability, and safety of agentive systems that possess greater autonomy and ``agency", but remain under human oversight.

Efficient sorter diversion control of automated material handling systems (MHS) is critical for optimizing operational efficiency in large-scale warehouse environments. In this study, we use an inbound receiving sorter at a high-volume e-commerce warehouse as our primary use case, where the sorter diversion system relies on cost functions with static weight configurations that fail to adapt to highly dynamic system contexts, such as volume mode, congestion level, equipment physical status, and upstream/downstream dependencies. To address this real-time sorter diversion optimization challenge, we conducted a comparative study of three candidate hybrid machine learning frameworks: Linear Regression with Gradient Descent Optimization (LR+GDO), XGBoost with Bayesian Optimization (XGB+BO), and Bayesian Contextual Bandits (BCB). Model training and evaluation were enabled by leveraging a high-fidelity physics-aware emulator to overcome the cold-start problem and allow a safe transition from offline to online learning. We performed comprehensive evaluations including reward model predictive accuracy, contextual sensitivity, action distribution, and projected reward uplift. Our results demonstrate that while tree-based reward models offer slightly better predictive power, the BCB framework achieved overall higher performance with 2.03% reward uplift over the heuristic baseline. Furthermore, BCB exhibits several superior characteristics, such as its decisive time-optimal policy backed by Bang-Bang control theory, continuous online learning capability, strategic balance between exploration and exploitation, and significantly shorter inference latency. These results demonstrate the potential of the BCB framework for real-time control optimization in large-scale warehouse environments, motivating further investigation toward operational deployment.

Learning Koopman operators with autoencoders enables linear prediction in a latent space, but long-horizon rollouts often drift off the learned manifold, leading to phase and amplitude errors on systems with switching, continuous spectra, or strong transients. We introduce two complementary components that make Koopman predictors more robust. First, we add an attention-free latent memory (AFT) block that aggregates a short window of past latents to produce a corrected latent before each Koopman update. Unlike multi-head attention, AFT operates in linear time and adds only $\approx$30k parameters ($3d^2 + T^2$, fewer than matched multi-head attention), yet captures the local temporal context needed to suppress error divergence. Second, we propose dynamic re-encoding: lightweight, online change-point triggers (EWMA, CUSUM, and sequential two-sample tests) that detect latent drift and project predictions back onto the autoencoder manifold. Across three benchmark systems -- Duffing oscillator, Repressilator, IRMA -- our model consistently reduces error accumulation compared to a Koopman autoencoder and matched-capacity multi-head attention. We also compare against GRU and Transformer autoencoders, evaluated both from initial conditions and with a 50-step context, and find that Koopman+AFT (with optional re-encoding) attains markedly lower long-horizon error while maintaining lower inference latency. We report improvements over horizons up to 1000 steps, together with ablations over trigger policies. The result is a fast, compact predictor that stays on the learned manifold over long horizons.