Physical AI Brief

Structure-property relationships are foundational to biology, chemistry and materials science, where function, reactivity and physical response emerge from spatial, chemical and periodic organization. Mechanistically explaining these relationships requires interpreting structural evidence through scientific principles and physical constraints, from stereochemistry and bonding to symmetry, energetics and periodic order. However, applying artificial intelligence to this process presents a joint challenge of representation and reasoning: models must preserve domain-native structural information while showing how specific evidence supports predictions under these constraints. Here we introduce SciReasoner, a multimodal scientific foundation model for native structural reasoning across proteins, small molecules and inorganic crystals. SciReasoner discretizes coordinates, topologies and periodic connectivities into a unified structure-aware vocabulary, treating structural tokens as addressable evidence units during reasoning. In homology-controlled Gene Ontology prediction, SciReasoner improves Cellular Component annotation for low-homology and orphan-like proteins, increasing $F_{\max}$ from 0.42 to 0.55. In chemistry, it raises single-step retrosynthesis accuracy from 0.63 to 0.72 while generating fragment-level disconnection and precursor-verification traces. In materials science, its representations separate elemental and compound phases and resolve high- and low-band-gap regimes. Across 86 benchmarks, SciReasoner achieves state-of-the-art performance on 67 tasks. Double-blind expert evaluation rates its reasoning traces as preferred or at least comparable to those of a frontier large language model in 98% of cases. By making structure an inspectable substrate for reasoning under scientific constraints, SciReasoner connects accurate prediction with interpretable scientific inference.

Limited memory language models (LMLMs) externalize factual knowledge during pretraining to a knowledge base (KB), rather than memorizing it in their weights. During generation, the model then fetches knowledge from the KB as needed. This recently introduced paradigm provides multiple advantages, including knowledge control capabilities that remain beyond conventional LLMs. We propose continuous-query LMLM (CO-LMLM), where the KB pairs continuous keys with textual knowledge values, a significant departure from prior reliance on relational KB and queries. CO-LMLM generates flexible vector queries at minimal cost, while still integrating human-readable and attributable retrieved knowledge into its generation. We pair this design with an annotation pipeline that tags free-form factual spans in arbitrary text, removing prior work's restriction to Wikipedia. Across pretraining on Wikipedia and FineWeb-Edu and at multiple model scales, CO-LMLM outperforms prior LMLMs and vanilla LLMs in both perplexity and factual precision. At 360M scale, this includes lower perplexity than models pretrained on 40x more data, and SimpleQA-verified performance that is in line with gpt-4o-mini and higher than Claude Sonnet 4.5.

The quadratic cost of causal self-attention severely bottlenecks long-context transformer inference. While numerous post hoc linearization pipelines exist, it is difficult to identify which components preserve model quality. This work isolates the effect of state update design in a strict frozen-backbone regime. We show that softmax relies on key-dependent, rank-1 orthogonal projections, elucidating why delta-style networks outperform purely gated accumulation. We identify a potential source of approximation errors and introduce structural interventions, specifically sink tokens, short convolutions, and fixed-budget cache routing, which reduces the remaining gap. We scale this linearization approach across LLaMA and Qwen models up to 32B parameters, outperforming prior post hoc baselines on MMLU and matching the long-context retrieval of complex adaptive-caching frameworks.

The optimization of long-horizon agents increasingly relies on reflection-based mechanisms, where a large language model (LLM) acts as an optimizer to diagnose agent failures and improve agent policies. However, real execution traces are difficult to use directly for optimization: large trace collections are often redundant and heterogeneous, making optimization inefficient and prone to overfitting to low-value failures; meanwhile, each individual trajectory also contains many irrelevant steps, while naive context reduction methods such as truncation or sliding windows can discard causally important evidence and produce misleading optimization signals. To resolve this dilemma, we introduce STRACE (Structural TRajectory Analysis and Causal Extraction), a framework that constructs high signal-noise optimization contexts for more precise and effective optimization. At the batch level, STRACE mines failure patterns to filter redundant traces and retain representative failures; within each selected trace, it performs causal localization over a textual dependency graph to remove non-causal steps and identify the true root-cause module for optimization. Empirical results demonstrate that STRACE significantly outperforms standard context-filtering baselines. Notably, on a challenging formal verification task (VeruSAGE-Bench), it successfully optimizes human-expert designed agents, delivering $1.4\times$ success-rate improvement (42.5% to 58.5%). The code is available at https://github.com/moomight/STRACE .

Analytical workloads operating on data stored in external database systems face a fundamental bottleneck: data access is guarded entirely by the database driver, like JDBC or ODBC, forcing all reads through query execution and other driver layers that are not designed for bulk columnar analytics. We present Jailbreak, an approach that bypasses the database engine entirely by reading storage files directly and materializing data as in-memory columnar buffers. Jailbreak's key insight is that database file formats, while complex, are fully specified by their source code and documentation, artifacts that Large Language Models (LLMs) can ingest to regenerate operator-specific table reading components without human-engineered parsing logic. Jailbreak leverages LLM-assisted code synthesis for database storage decoding, turning a traditionally opaque format into a directly queryable artifact. We evaluate Jailbreak on PostgreSQL and MySQL storage files, targeting analytical snapshot scenarios common in read replicas and offline processing pipelines. The generated reader produces Apache Arrow buffers consumable directly by most of the widely known query engines, including DuckDB, Apache Spark, and GPU-accelerated frameworks such as cuDF and Spark RAPIDS. We validate correctness against JDBC/ODBC-based baselines using the TPC-H benchmark across all query results, and demonstrate significant performance improvements in end-to-end analytical throughput, achieving up to 27x speedups. Our results showcase that LLM-assisted storage reader synthesis is a viable and generalizable methodology for breaking data lock-in across database systems, with applications beyond PostgreSQL and MySQL for any system whose file format is available to the LLM from documentation or source code.

We introduce institutional red-teaming, an evaluation methodology for testing deployment rules in multi-agent AI: hold the agents, objectives, and task state fixed, vary only one rule, and attribute the resulting change in collective behavior to that rule. We instantiate the methodology in IABench-CA, a consequence-allocation benchmark spanning 228 contexts, five canonical rules, and seven model populations (33,924 games), with a normative cooperative reference and auto-labelled reasoning traces. Three findings emerge. (1) Deployment rules causally alter collective safety: changing only the consequence rule moves mean fatality by 22 to 58 percentage points within every population. (2) There is no safe default, but the targeting hazard is universal: the safest rule, the least-safe rule, and even the direction of the incidence effect vary across populations, yet regressive identity-targeting is never decisively safest in any context for any population, eliminates the least-resourced agent in 30-87% of games everywhere, and is selection-unsafe relative to the cooperative reference for all seven populations. (3) Identity salience is the mechanism: a one-shot anonymization ablation on the most exploitation-prone population (gpt-5.1) shows that merely naming the loss bearer in the rule text drives targeted elimination from 22% to 81% at identical payoffs; under repeated play, anonymization only delays the targeting, as agents re-infer the hidden rule from observed eliminations. We package the methodology as a safety-case workflow that certifies a provisional rule region $Φ(c,P)$ per deployment context and population, with explicit residual risks and monitoring obligations.

Reinforcement learning from human feedback (RLHF) has emerged as a powerful paradigm for aligning generative models with human preferences. However, applying RLHF to diffusion models remains highly feedback inefficient, as existing approaches typically require large amounts of human or reward model evaluations. This limitation reduces the practicality of diffusion RLHF in realworld settings where feedback is the primary bottleneck. In this paper, we propose two complementary strategies that substantially improve the feedback efficiency of diffusion RLHF while preserving generalization to unseen prompts. Our key observation is that reward information in diffusion trajectories is unevenly distributed: not all denoising timesteps or trajectories contribute equally to learning from a reward signal. By emphasizing informative timesteps and trajectories during optimization, we obtain more effective gradient updates. First, we introduce a per-timestep weighting scheme that reweights denoising steps during policy optimization. We theoretically connect this weighting to the optimal convergence properties of proximal policy optimization (PPO) and approximate the resulting weighting trend empirically. Second, we introduce a replay mechanism that prioritizes informative trajectories, enabling the model to reuse past samples instead of repeatedly querying new rewards. Together, these strategies significantly improve the feedback efficiency of diffusion RLHF. Under identical hyperparameter settings, our approach achieves up to a 6$\times$ improvement in sample efficiency compared to widely used diffusion RLHF baselines.

Long-horizon LLM multi-agent systems face reliability risks invisible to infrastructure monitoring. We propose the ADE Predictive Reliability Framework (ADE-PRF), enabling proactive health trajectory prediction from passive degradation detection. ADE-PRF aggregates 20 heterogeneous signals across five layers into a Trust Margin (TM) metric (39.2-point dynamic range). Triple-method parallel prediction enables 8-hour forecasts: the Exponential method achieves MAE=1.228, Direction Accuracy=76.8%, with 99.65% within +/-10-point tolerance. Production validation spans 380,227 predictions and 280,579 validations across six agent profiles over 15 continuous days, plus seven sandbox-controlled experiments. Key findings include detection of "false prosperity" -- degradation concealed by normal surface metrics -- and immediate TM coupling with ground-truth states upon ADE plugin integration, with 16/20 factors relying on ADE-collected data. Exponential consistently outperforms Kalman. ADE-PRF provides among the earliest reliability quantification with forward-looking warnings for production LLM agents.

Rotary Position Embeddings (RoPE) provide transformers with a fixed grid of positional frequencies, yet trained models use these frequencies highly non-uniformly. We study what determines this frequency usage and propose a data-centered explanation: RoPE frequencies are selected to match the relative-distance structure of the training data. Viewing each frequency as a positional lens, we formalize a field-resolution tradeoff and show that, for a data-induced dependency profile of width $W$, the optimal frequency scales as $1/W$. This frequency-matching principle explains controlled observations on synthetic and text-based data, and suggests that the mid-low frequency bands observed in language models arise from the multi-scale dependency structure of natural language. We further connect frequency selection to position-interpolation-based length generalization: scaling frequencies down expands the effective field while reducing resolution. This helps when longer-context dependencies are approximate dilations of those seen during training, but can fail when relevant dependencies do not scale with context length. Empirically, we show that natural language exhibits approximate self-similarity across positional scales, explaining why test-time frequency scaling can support long-context generalization. Overall, our results identify a data-driven mechanism behind emergent RoPE frequency usage and show that long-context generalization depends on two forms of scale matching: between learned frequencies and training-time dependencies, and between frequency scaling and how those dependencies extend to longer contexts.

Autonomous AI agents can execute complex tasks with limited human review, yet they often lack the grounded operational knowledge to make their outputs not just executable but correct, secure, and maintainable. We introduce SkillCenter, to our knowledge the largest open skill library for agents by total count: 216,938 structured skills across 24 domain bundles. A SkillGate-filtered pipeline contributes 114,565 source-grounded skills from peer-reviewed journals, ArXiv, and over 24,000 technical sources, integrated with 102,373 community skills from GitHub and the ClawHub marketplace. We present the end-to-end framework that builds the pipeline subset: multi-source acquisition, an LLM-based quality gate (SkillGate), template-driven generation, iterative source-grounding, and quality-controlled publishing. Source grounding is a traceability guarantee: each retained claim maps to an exact quotation in its source. All skills ship as offline-searchable SQLite FTS5 bundles.

Despite the recent promise in robot control, video generative models suffer from a domain mismatch due to their primary focus on content creation. For example, their design inherently prioritizes visual fidelity and creativity over computational efficiency and physical realism. In this work, we present LingBot-Video, a DiT-based video pretraining paradigm specifically tailored for embodied intelligence. From the architecture perspective, we adopt the Mixture-of-Experts (MoE), instead of dense, framework to achieve a better trade-off between modeling capacity and inference efficiency, and manage to scale it up from scratch. From the data perspective, we construct a data profiling engine that augments standard internet videos with extensive robot-oriented footage, encompassing manipulation, navigation, and egocentric perspectives, to equip the base model with an intrinsic understanding of actions and world dynamics. From the training perspective, we develop a multi-dimensional reward system to enforce the alignment regarding physical rationality and task completion, going beyond standard criteria such as aesthetics, prompt-following, and motion consistency. Comprehensive evaluations validate its performance and efficiency as a video foundation model. We contribute LingBot-Video as the inaugural large-scale, open-source MoE video foundation model to the community, in a pioneering effort to bridge digital creativity and physical actuation.

Medicine is inherently multimodal, requiring clinicians to synthesize information across diverse data streams. Yet the development of multimodal foundation models is constrained by limited access to large-scale, high-quality clinical data. Although PubMed Central (PMC) offers a complementary source of expert-authored image-text data, existing PMC-derived resources remain limited in fidelity, reproducibility, and clinical validation. We introduce MedPMC, an automated, continuously updatable framework that transforms permissively licensed literature into high-fidelity infrastructure for medical multimodal models. Applied to 6.1 million PMC articles, MedPMC curated 11 million medical image-text pairs. Component evaluations showed strong performance for initial screening (F1 = 93.2), multi-panel figure detection (F1 = 96.5), figure separation (mAP = 89.8), caption separation and alignment (F1 = 81.4; ROUGE-L = 85.3), and medical figure classification (F1 = 96.5). Manual review by five annotators, three with medical training, found 95.3% of MedPMC images medically relevant, versus 19.7% in a prior PMC-derived dataset. Across 26 benchmarks spanning 11 specialties, a MedPMC-trained CLIP-style model improved average zero-shot AUC by 7.1 percentage points over the strongest architecture-matched biomedical CLIP baseline despite using fewer than half as many image-text pairs. As the vision encoder in a multimodal large language model, it improved medical visual question-answering by 1.9 and 16.9 percentage points across two benchmarks. In 10,524 Yale New Haven Health System dermatology photographs, it improved morphology-to-image retrieval Recall@5 by 11.7 percentage points. These findings show that high-fidelity literature curation strengthens medical multimodal foundation models across benchmark and clinical settings. We publicly release the framework, corpus, benchmarks, and pretrained models.

Probabilistic circuits (PCs) can model complex joint distributions while supporting exact and efficient computation of many inference queries. However, standard likelihood-based PC learning is vulnerable to overfitting and fragile generalization when confronted with data noise, small sample sizes, or distribution shifts. This can be mitigated using distributionally-robust optimization which consider worst-case distributions within a Wasserstein ball of the empirical distribution, but current methods are limited to training a model from scratch in this framework. Instead, we propose PeTeR: a novel, data-free post-training framework designed to robustify pre-trained PCs against distribution shifts without retraining from scratch. Empirical evaluations across multiple density estimation benchmarks demonstrate that PeTeR effectively robustifies baseline models against both random and adversarial perturbations, achieving competitive or superior performance to data-dependent robust learning baselines.

Large language models increasingly \emph{understand} dialectal English, yet still \emph{produce} only standard, US-leaning English, leaving dialectal generation, the harder half of the problem, largely unaddressed. We introduce \textbf{DiaLLM}, which continually pretrains three open-weight language model families on the International Corpus of English and applies implicit and explicit post-training paradigms, each combined with three model alignment strategies, giving the first controlled comparison of these components across Australian, Indian, and Northern British English. Our results reveal that dialectal robustness and generation are \emph{dissociated}: benchmarks are shaped by continual pretraining and SFT, while alignment visibly reshapes generation in ways benchmarks do not capture. Explicit variety-targeted adaptation produces output reliably recognised as dialectal and preferred over broad alignment, yet the method that most aggressively optimises the dialectal reward is not preferred by human evaluators. Independent linguistic analysis corroborates this reward-quality gap, most clearly on two of the three families. No single alignment method dominates, and closing the gap will require richer reward designs and continued investment in dialectal resources. We release all code, checkpoints, and preference datasets.

Large language models (LLMs) demonstrate remarkable reasoning capabilities, yet their stateless architecture fundamentally limits deployment in long-horizon research workflows requiring multi-session continuity and quantitative rigor. Here we present Ensemble QSP, a multi-agent framework featuring a three-layer hierarchical memory architecture that keeps injected context bounded and constant in project duration (mid-term project state: median 301 tokens, max 4,050, across 104 runs) by capping each state category and evicting completed work, enabling continuous autonomous operation without context degradation. The system orchestrates five specialist worker agents under domain-expert principal investigators, enforcing physical constraints through physics-based checklists and structured-domain knowledge. Comprehensive benchmarking demonstrates robust autonomous pharmacokinetic-pharmacodynamic model selection without human intervention, consistent result quality across both lower-cost and frontier LLMs, improved PK parameter recovery relative to single-agent baselines, and stable model selection across linguistically diverse prompts of the same task. Feature-level ablation across physiologically based pharmacokinetic (PBPK) models spanning a broad complexity range shows that PI-agent oversight improves debugging efficiency while preserving final accuracy across conditions. The architecture is structurally domain-agnostic, adding a new scientific domain requires only a new PI agent configuration.

AI systems increasingly participate in their own improvement: revising their outputs, adapting their own harnesses during deployment, training on data they generate, and, increasingly, conducting AI research itself. This literature is described under a vocabulary ("self-refine," "self-reward," "self-play," "self-evolve") that conflates fundamentally different ambitions. We survey 1,250 arXiv papers (2024-2026) along two axes: what the system improves -- its behavior in deployment, its policy through training, its evaluator, or the research process itself -- and the degree of loop closure (human-in-the-loop to fully closed). The taxonomy separates bounded self-refinement -- convergent, evaluable, and already industrial practice -- from open-ended recursive self-improvement (RSI), which remains bounded by grounding requirements, collapse dynamics, and compute constraints on every measured axis. Its distinctive feature is a dedicated category for self-evaluation: every improvement loop is a claim that some signal can substitute for human judgment. We survey the evaluator design space -- judges, process reward models, verifiers, rubrics, meta-evaluation -- order the signals into a verification hierarchy from formal verifiers (strongest) to intrinsic self-assessment (weakest), and observe that demonstrated self-improvement strength tracks this hierarchy, that its failure modes (self-confirming loops, model collapse, diversity collapse) follow from its violations, and that the "research direction-setting" bottleneck keeping humans in the loop sits at the top of that hierarchy. We connect the technical literature to the theory of RSI limits and to the safety and governance questions raised by frontier-lab accounts of closing the loop, and identify governance-grade measurement of self-improvement as the field's most underpopulated niche.

Does RL post-training merely amplify primitive skills already latent in a base model, or can it compose primitive skills into new higher-level strategies? We study this question in a fully observable rewrite-grammar environment where the pretraining distribution is known and every generated rewrite can be audited. A Transformer is pretrained on primitive symbol-rewrite chains and post-trained on a Trace-based reasoning task with only a binary final-answer reward. RL solves held-out problems that remain rarely solved by the pretrained model even under much larger sampling budgets, while rejection fine-tuning improves early but plateaus. Trace analysis shows that RL reorganizes primitive competence through a phased compositional mechanism: it first strengthens primitive reductions, then discovers valid composed procedures. These include sequential compositions, which collapse ordered chains of primitive contractions, and parallel compositions, which combine independent primitive contractions in a single step. The composed procedures are not isolated samples; they are reused and consolidated into a stable repertoire. Comparing RL with rejection fine-tuning shows that the key difference is not exploration volume but selectivity: RFT produces many shortcut-like rewrites, much of them invalid, whereas RL concentrates exploration into valid reusable structure. Pretraining ablations show that the emergence of compositional strategies is gated not by primitive exposure alone, but by whether pretraining organizes primitive competence into reduction procedures that RL can later compress. The base model provides weak procedural ingredients; RL builds them into reliable higher-level strategies.

Deep learning has significantly advanced time series imputation, yet most existing architectures primarily rely on localized temporal context within the corrupted input sequence. This reliance can be limiting in real-world scenarios, where time series often exhibit non-stationary dynamics, weak temporal correlations, and infrequent patterns that are difficult to reconstruct from nearby observations alone. In this paper, we propose ALER-TI, Aligned Latent Embedding Retrieval for Time Series Imputation, a retrieval-augmented framework that explicitly leverages historical patterns to supplement degraded local context for more reliable missing-value reconstruction. The core of ALER-TI is Latent Embedding Alignment (LEA), which mitigates the representation mismatch between corrupted queries and complete historical candidates. By applying post-hoc masking in the latent space, LEA aligns candidates with the query's missingness pattern while allowing historical embeddings to be pre-computed and cached for efficient retrieval. ALER-TI is model-agnostic and can be integrated with various imputation backbones through a lightweight adaptation module. Extensive experiments on six real-world datasets under different missing rates demonstrate that ALER-TI consistently improves strong baseline models and enhances robustness across diverse imputation settings.

Reliable confidence estimation is essential for deploying large language models (LLMs) in confidence-aware systems, where downstream decisions such as retrieval, tool use, and adaptive computation depend on accurately estimating answer reliability. Existing approaches, however, largely treat confidence as a property of completed responses, overlooking how confidence-related information evolves throughout the answering process. In this work, we investigate confidence from a temporal perspective by comparing pre-solution Feeling-of-Knowing (FOK) and post-solution Judgement-of-Learning (JOL) confidence estimates across frontier and open-source LLMs. We show that post-solution confidence is consistently better calibrated and more discriminative than pre-solution confidence, while linear probes trained on hidden representations recover substantially richer confidence-related information than models explicitly verbalise. Building on this observation, we introduce future confidence distillation, which trains predictors operating on pre-solution hidden representations using teacher confidence estimates produced by post-solution correctness probes. Despite requiring only pre-solution representations for inference, distilled predictors recover much of the calibration improvement achieved by post-solution confidence, remain highly sample efficient, and transfer across datasets within the same domain. Together, our findings demonstrate that confidence-related information evolves throughout the answering process and can be anticipated before answer generation is complete, enabling significantly more reliable yet low-cost confidence estimation.

Nonlinear least-squares optimization is central to regression, physics-informed neural networks, and other machine-learning tasks. Such problems have a natural geometric interpretation, model predictions form a manifold in data space, while the chosen parameterization can introduce parameter-effects curvature that becomes a dominant source of nonlinearity. This exposes a limitation of the Levenberg-Marquardt (LM) method, its tangent-space step is applied as a straight update in parameter coordinates. Geodesic acceleration gives a second-order correction, but its removal of parameter-effect curvature is exact only in the infinitesimal-step limit. We propose a Riemann-normal-coordinate Levenberg-Marquardt method (RNC-LM) to improve this consistency for finite optimization steps. By reformulating the geodesic equation, RNC-LM extends geodesic acceleration to arbitrary-order corrections and constructs finite-step updates with progressively higher reparameterization consistency. A line search along the resulting RNC curve controls the traveled distance while keeping the cost close to standard LM. The method eliminates the tangential component of residual acceleration order by order in a moving tangent frame, making the actual objective reduction more consistent with the linear model prediction of LM. On classical nonlinear least-squares benchmarks, RNC-LM improves convergence and robustness in curved valleys and rank-deficient problems. On a reaction-diffusion PINN failure-mode benchmark, it reduces the relative L2 error to the order of 1e-3 and recovers a physically meaningful solution. On a large-scale machine-learning potential-energy-surface fitting task, it achieves a 34-fold speedup over standard LM.

The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the *Loxodonta africana* species as a model and propose a different design approach which favors structural continuity and dynamic properties that plausibly emulate those of the natural trunk, while conferring high adaptability to the environment and humans. Instead of targeting prescribed behaviors, we show that a biomimetic design based on the macroscopic properties of the natural system enables elephant-like movements and grasping. We build by 3D printing an 85 cm long, compliant, tapered, volumetrically tessellated continuum arm, which is combined with tendon-driven actuation mimicking the longitudinal and oblique muscles of the natural model. We demonstrate whole-body grasping of objects having different shapes and dimensions and discuss a comparison to the biological trunk highlighting aspects of both biology and robotics.

Artificial intelligence is rapidly evolving from generative systems to agentic AI capable of autonomously planning and executing tasks. Widely characterized as the Year of Agentic AI, 2025 marked accelerated development and deployment, introducing new ethical and governance challenges. This paper presents a systematic review of the emerging literature on agentic AI governance. Our analysis identifies features that distinguish agentic AI from traditional systems and why it warrants targeted governance attention. We synthesize prevailing governance priorities, proposed mechanisms, and stakeholder roles shaping this evolving domain. As an initial scholarly effort, this review lays the preliminary groundwork for developing a structured roadmap to guide responsible and adaptive agentic AI governance.

Mainstream Vision-Language-Action (VLA) models predict actions primarily from the current observation under a Markovian assumption, thus struggling with long-horizon, temporally dependent tasks. Existing memory-augmented VLAs either expand the observation window or retrieve history from the memory bank as auxiliary policy-side context. However, they leave memory outside the native latent embedding space of VLA reasoning, preventing historical experience from being fluidly interleaved with multimodal reasoning and action formation. To this end, we introduce LaMem-VLA, a latent-memory-native framework that reconstructs historical experience into latent memory tokens and directly interweaves them with VLA reasoning. At its core, LaMem-VLA introduces four coordinated components: (i) a curator that organizes historical experience into two complementary short-term and long-term memory vaults; (ii) a seeker that queries both vaults using the multimodal cognition to retrieve context-relevant evidence; (iii) a condenser that reconstructs the retrieved evidence into compact short-term and long-term latent memory tokens; and (iv) a weaver that injects these memory tokens with the current observation and instruction into one continuous embedding sequence. By representing, retrieving, and consuming historical experience entirely in the same continuous latent space, LaMem-VLA enables memory to directly participate in VLA reasoning and guide action generation under a bounded context. Extensive experiments on SimplerEnv and LIBERO demonstrate the superiority of our LaMem-VLA.

Safety evaluation for autonomous driving is dominated by rare, safety-critical interactions, motivating simulators that can deliberately synthesize corner cases with photorealistic observations. Corner-case generation is inherently a multi-source problem spanning visual representation, scene reasoning, and vehicle trajectory generation and control. Prior knowledge- and model-based approaches typically focus on scene or trajectory components in isolation, while diffusion-based methods attempt end-to-end generation but still struggle to ensure spatiotemporal consistency and physical realism. To unify these aspects within a single framework, we propose CARLA-GS, a modular corner-case synthesis pipeline that decouples visual representation, semantic reasoning, and physics-based execution while maintaining tight cross-module coupling. Starting from real driving data, we reconstruct an editable gaussian scene with additional geometry-consistent constraints. A multi-agent LLM then performs scene-level reasoning to identify risky interactions and generate intent-level waypoint trajectories, while the low-level motion control is delegated to CARLA, where a PID controller ensures kinematic and dynamic feasibility. The simulated vehicle states are finally re-projected into the gaussian scene for ego-centric rendering. This design enables high-level semantic reasoning, low-level physically executable motion, and photorealistic corner-case generation within a unified pipeline. Experiments on the Waymo Open Dataset show, both quantitatively and qualitatively, that our framework enables controllable corner-case generation and produces photorealistic, spatiotemporally consistent videos aligned with semantic intent and physically feasible motion.

Clinical cardiac MRI is commonly acquired with high in-plane resolution but coarse through-plane resolution to reduce scan time and accommodate breath-hold and cardiac-motion constraints, which limits 3D analysis and diagnostic accuracy. We propose STRMSR, a reference- and memory-guided through-plane super-resolution (SR) framework that reconstructs high-resolution (HR) cardiac volumes by leveraging HR reference views acquired from the same subject and intermediate SR results as the memory. Our method uses coarse-to-fine contextual matching to establish robust correspondence between low-resolution target and reference/memory images under spatial misalignment. A learnable patch-wise dynamic feature aggregation module predicts content-adaptive mixture weights for each local patch, effectively fusing dynamic information while suppressing unreliable feature transfers. The intermediate SR results stored in the memory bank ensure slice-to-slice consistency for the super-resolved 3D volume. Experiments on the WHS cardiac MRI dataset under two reference protocols, orthogonal-plane views and long-axis chamber views, demonstrate consistent improvements over baselines at 4x and 8x upsampling factors.

Robotic surface swabbing requires sustained interaction between a compliant tool and heterogeneous environments, where accurate estimation of tip-level contact force is critical for consistent sampling performance. However, deformable tool dynamics introduce nonlinear viscoelastic hysteresis that decouples wrist-mounted force measurements from true contact forces, while tool-integrated sensors are impractical for deployment due to sterility and disposability constraints. This paper presents a data-driven framework for contact force estimation in Deformable Tool Manipulation (DTM) that leverages proprioceptive sensing without requiring explicit physical models or permanent embedded sensing hardware at the tool tip. A recurrent architecture is first identified through a comparative evaluation of temporal models, where a compact LSTM achieves the lowest estimation error and sub-millisecond inference latency. To address generalization across unseen surfaces and tool compliance conditions, we introduce a parameter-isolated few-shot adaptation strategy that augments a frozen recurrent backbone with low-dimensional context embeddings using feature-wise linear modulation (FiLM). Experiments on a UR5e platform across nine tool-surface interaction regimes demonstrate that the proposed approach significantly improves robustness under domain shift, reducing zero-shot estimation error by up to 63\% while preserving baseline performance without catastrophic forgetting. These results show that separating shared deformation-history dynamics from domain-specific conditioning enables reliable force estimation for DTM in non-stationary environments.

Large language model based search agents increasingly adopt multi-agent architectures in which a main agent decomposes a complex question into sub-queries and dispatches them to parallel sub-agents. However, existing systems instantiate all roles from a single model of identical scale, leaving open how model capacity should be distributed across roles. We factorize hierarchical search into three roles: a delegation role responsible for task decomposition, an execution role responsible for retrieval and evidence extraction, and an answer generation role held fixed as a confound control. We then conduct controlled capacity sweeps along the delegation and execution axes on five multi-hop QA benchmarks. The experiments yield three findings. First, role factorization consistently outperforms a single-agent baseline, improving exact match from 4.5 to 8.6 points across six model scales. Second, capacity sensitivity is asymmetric: scaling the delegation backbone improves EM by ~11 points, whereas scaling the execution sub-agent moves EM by only ~2.6 points, identifying decomposition as the capability bottleneck. Third, a 1.7B-parameter executor trained via quality-filtered trajectory distillation matches a frontier sub-agent in accuracy while consuming 37% fewer sub-agent tokens, advancing the Pareto frontier. These results suggest a concrete recipe for building hierarchical search agents: concentrate capacity at delegation and downsize execution without sacrificing accuracy. Our code is available at https://github.com/QinnanCai0115/role-factorized-search.

We present LingBot-World 2.0 (also known as LingBot-World-Infinity), an advanced iteration of LingBot-World featuring four distinct upgrades. (1) Our model achieves an unbounded interaction horizon while maintaining consistent output quality, benefiting from a carefully crafted causal pretraining paradigm. (2) Through distilling a real-time variant from the base model, our system guarantees rapid response time, sufficient to drive 720p video streams at 60 fps. (3) Compared to the previous version, this update introduces highly diverse interactive elements, comprising a broader spectrum of actions (e.g., attacking, archery, spell-casting, and shooting) alongside a richer variety of text-driven events. (4) We pioneer the integration of an agentic harness within the domain of world modeling, wherein a pilot agent is tasked with planning and executing character behaviors, while a director agent is responsible for synthesizing novel environmental elements as the scene progresses. Additionally, to facilitate a shared experience, we develop an interface that permits multiple players to simultaneously immerse themselves in this vivid world simulator. We pair our primary 14B model with a lightweight 1.3B counterpart, which supports effortless deployment on a single GPU.

AI agents that generate final answers based on user input often do not meet the needs of creative fields. Fields such as structural design and architecture need interactive systems that help users externalise and develop ideas, explore alternatives, and refine partial solutions. The final product of such designs needs to comply with many constraints concerning, e.g., spatial configuration, mechanical behaviour, material quantities, and costs. These constraints create friction in the design process, which can stimulate novel and creative solutions. In this paper, we discuss the misalignment between current generative AI goals to remove friction and provide final solutions and the needs of creators, such as structural designers, who develop ideas through iterative work. We present the design dimensions of systems allowing for constrained human-AI co-creation that rely on vision-language models making structural exploration conversational, multimodal, and responsive to evolving human intent in ways that follow and augment the discipline's creative process. Through a pilot design interface based on these principles and a study with experts in the field, this paper shows how structural designers perceive interactive AI systems and how such systems can support design space exploration by reducing repetitive modelling friction while preserving reflective design friction.

We address the problem of efficiently sampling multimodal probability distributions, where standard Markov Chain Monte Carlo methods often suffer from poor mixing and mode trapping. To mitigate these issues, we propose Gradient-free Riemannian Langevin Sampler (GRiLS), a novel proposal that improves exploration without requiring gradient evaluations of the target density. Our approach introduces a Riemannian metric which reshapes the local geometry in order to facilitate transitions across modes. The resulting gradient-free MCMC algorithm is particularly suitable for complex, computationally expensive targets where derivatives are unavailable or impractical. The GRiLS proposal requires knowing the mean and covariance of the target density, which we estimate using an ensemble of interacting particles. Empirical results on multimodal benchmarks demonstrate that GRiLS achieves improved mixing compared to existing gradient-based and gradient-free MCMC approaches.

Reinforcement learning (RL) is becoming increasingly important for post-training large language models (LLMs). Previous RL pipelines for LLMs were mostly synchronous and batch-interleaved, which is inefficient for long-horizon agentic tasks. Recently, asynchronous RL has emerged as a more efficient alternative by updating the model as rollouts arrive. However, existing asynchronous RL systems often emphasize throughput, while leaving training stability and task effectiveness largely underexplored. For example, a key challenge is that group-wise sampling in the widely-used GRPO framework does not naturally fit asynchronous agentic training. In this paper, we present Single-rollout Asynchronous Optimization (SAO) to address the stability and off-policy challenges in asynchronous RL. To reduce off-policy effects and improve generalization, we replace group-wise sampling with single-rollout sampling, that is, using one rollout per prompt. We further improve this single-rollout strategy with practical value-model training designs. To improve optimization stability, we introduce a strict double-side token-level clipping strategy. SAO is able to train stably for one thousand steps and consistently outperform GRPO and its variants on agentic coding and reasoning benchmarks, such as SWE-Bench Verified, BeyondAIME, and IMOAnswerBench. We also demonstrate that single-rollout RL is particularly effective in a simulated online learning setting, where the model must adapt to changing evolving environments. To this end, SAO is successfully deployed in the agentic RL pipeline for training the open GLM-5.2 model (750B-A40B).

Time series classification (TSC) is dominated by a two-stage paradigm: train a feature encoder -- either from scratch on the target dataset or via pretraining on large corpora -- and then fit a task-specific classifier on top. While effective, this decoupling optimizes representation learning independently of the classification objective, requires per-dataset training, and prevents the model from exploiting label information during inference. We introduce TimEE, a 4.5M-parameter foundation model for end-to-end TSC via in-context learning. Given a labeled support set and a query time series, TimEE directly outputs a predicted class distribution in a single forward pass with no per-dataset training required. Following the prior-data fitted network (PFN) framework, TimEE is meta-trained exclusively on synthetic TSC tasks, where each task contains time series with distinct class identities arising from structured distributional shifts in the generative process. Despite seeing no real time series during pre-training, TimEE ranks first in ROC AUC (and third on accuracy) on the UCR benchmark among all compared methods, which include both foundation models and supervised deep learning baselines. To our knowledge, TimEE is the first purely synthetic-pretrained model to reach state-of-the-art performance on the UCR benchmark. These results establish end-to-end ICL with synthetic priors as a compelling, largely unexplored direction for TSC, with scaling, prior design, and richer generation mechanisms as natural avenues for improvement. Code is publicly available at http://github.com/automl/timee.

Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Current gradient-based retargeting algorithms often converge to different local minima, resulting in jitter that affects data quality and teleoperation experience. To address this, we introduce the Sampling-Based Retargeter (SBR), a novel gradient-free retargeting method drawn from the rich literature of sampling-based control and explicitly designed for low-jitter, real-time kinematic retargeting. We evaluate SBR both in simulation and through a rigorous real-world user study involving 18 participants performing 3 complex manipulation tasks. Compared to gradient-based baselines, SBR achieved the highest overall task success rate (54.1%) while significantly reducing operator cognitive fatigue, recording the lowest NASA-TLX workload score (36.4 out of 100). Ultimately, we establish SBR as a highly effective, intuitive retargeter for dexterous manipulation, providing the community with a rigorous benchmarking methodology to guide future retargeting research.

3D Morphable Models (3DMMs) remain the standard parametric shape priors for many state-of-the-art 3D face reconstruction algorithms. However, as these models are derived from a finite number of 3D face samples, they inherit the morphological biases of their training data, potentially limiting their generalizability across diverse global populations. In this paper, we propose a novel framework to analyze 3DMM reconstructions through the lens of surface curvature, with the objective to discover, quantify and visualize biases. While standard evaluation metrics often rely on Euclidean distances, our reconstruction error captures subtle surface nuances such as local topology or undulations. To do so, we leverage the Laplace-Beltrami Operator (LBO) to generate high-resolution curvature error maps, providing a localized and geometrically meaningful visualization of discrepancies between ground truth faces and reconstructed meshes. We derive from it an error metric that we validated through a user study, observing a significantly higher correlation to human perception compared to traditional methods. Furthermore, we conduct extensive experiments across several 3DMM bases and fitting algorithms, uncovering systematic age-related biases and providing preliminary evidence of biases associated with gender and ethnicity. Our findings highlight the necessity of adopting curvature-aware evaluation protocols to ensure demographic fairness and geometric precision in future 3D face reconstruction research.

In robotics, the capability of an artificial agent to represent the range of its action possibilities, i.e. affordances, is crucial to understand how it can act on its environment. While functional affordances, which refer to the use of tools and objects, have been broadly studied in knowledge representation, the implications of a social context and the presence of other agents have remained unexplored in this field. Consequently, in the field of social robotics, a multi-agent context enables the agents to engage in new actions that are potentially complementary to their individual capabilities, leading to the perspective of agentexploitation. This work focuses on the concept of cooperative affordance within the realm of social affordances. Cooperative affordances refer to situations where agents interact with each other to extend their action possibilities range. From this definition, this paper proposes a tractable ontological representation of this concept with the aim of making it usable by an artificial agent. Expanding on those elementary patterns, we illustrate the effectiveness of these representations by combining them to depict a diverse range of scenarios.

Agentic red-teaming benchmarks report whether an injected agent was compromised as a single bit: the attack succeeded, or it did not. We argue that this binary attack-success rate discards the information a defender most needs, namely how harmful the resulting action was. We introduce an action-graded harm rubric that scores an agent's tool-call trajectory on a seven-level ordinal scale (L0 to L6) according to whether the executed action was reversible, whether it crossed scope to reach another party, and whether it expanded privilege. We compute the scale two ways: a deterministic oracle that reads the trajectory and the attacker's stated goal, and a panel of three frontier language-model judges that read a tag-free account of the same trajectory. Across four victim models and two defenses on the AgentDojo workspace suite, severity grading exposes three cases the binary metric hides, including a defense that reports a zero attack-success rate while still permitting an externally visible cross-scope leak through an unfiltered tool. The judge panel reproduces the oracle with high ordinal agreement (Krippendorff's alpha = 0.91) but shares systematic blind spots that we characterize, most notably a failure to recognize escalation chains. Unlike prior work that provides harm taxonomies, harmful-task completion tests, execution-level safety benchmarks, or severity-aware simulation, our contribution is a reusable, trace-grounded severity instrument applied to the actual actions recorded in existing red-team logs. All code, prompts, and per-episode logs are released.

Machine learning models are increasingly deployed in high-stakes domains, raising concerns about both privacy and fairness. Differential Privacy (DP) has become a gold standard for privacy-preserving data analysis, while fairness-aware mechanisms aim to mitigate discrimination against underrepresented groups. However, these objectives can conflict: DP often amplifies disparities across demographic groups, and little is known about whether established fairness interventions remain effective under DP constraints. In this work, we present, to our knowledge, the first systematic evaluation of fairness interventions on differentially private synthetic tabular data. Our benchmark centers on the Adaptive Iterative Mechanism (AIM), identified as the state-of-the-art marginal-based DP synthesizer (Cormode et al. 2025). We thus evaluate fairness interventions across four datasets, multiple group fairness metrics, and three categories of mitigation strategies (pre-processing, in-processing, and post-processing) under a wide range of privacy budgets. We compare four pipeline configurations: (Baseline) training on original data; (DP-only) training on DP synthetic data; (Fair-only) applying fairness mechanisms on original data; and (DP+Fair) combining fairness mechanisms with DP synthetic data. Our results demonstrate that while DP alone can degrade both utility and fairness, applying fairness interventions can partially restore equitable outcomes. Among them, post-processing methods tend to provide more stable fairness-utility trade-offs across privacy budgets and synthesizers, achieving strong fairness improvements while preserving competitive utility relative to other intervention stages. We release all code, data, and experimental artifacts in an open-source repository to ensure full reproducibility and to support future research on the privacy-fairness-utility trade-off.

Fine-tuning large language models (LLMs) for e-commerce attribute extraction requires labeled data representative across thousands of product types, attributes, and multiple languages. This combinatorial scale translates to millions of annotations, rendering human labeling prohibitively costly. While recent work has demonstrated synthetic label generation using LLMs, deploying such approaches at industrial scale requires integrated quality control mechanisms. We present SynthAVE, a large-scale human-validated benchmark for attribute value extraction spanning 12,726 products across 229 product types, 792 attributes, and 4 languages (Spanish, French, Italian, German). To validate synthetic labels at scale, we introduce a multi-LLM arena framework where samples are independently evaluated by 21 judge configurations (7 model families $\times$ 3 prompts), with final labels determined via majority voting. The majority vote ensemble agrees with human experts at Cohen's $κ= 0.92$ (95.2% agreement), while individual judges show substantial inter-model agreement (Fleiss' $κ= 0.76$). This demonstrates that diverse models with varying individual judgments aggregate into highly reliable predictions, enabling cost-effective validation at scale while maintaining quality parity with human review.

Spatial and Single-cell transcriptomics are transformative in deciphering cellular dynamics. As the fundamental paradigm for reconstructing cell developmental paths, trajectory inference (TI) is critical. However, existing methods require extensive manual intervention and proficiency in heterogeneous tools, posing a significant barrier to efficient TI analysis. To bridge this gap, we propose SpaCellAgent, an autonomous large language model (LLM) multi-agent framework that automates end-to-end spatiotemporal analysis and narrative generation. SpaCellAgent utilizes a multi-agent architecture for strategic workflow planning, a dynamic tool-orchestration engine for adaptive algorithm selection, and a self-evolution module that iteratively refines performance through feedback. We evaluate SpaCellAgent on six heterogeneous datasets encompassing complex temporal developmental trajectories, diverse sequencing platforms, and spatially-resolved tissue architectures. SpaCellAgent consistently demonstrates over 40\% improvement in analytical efficiency while maintaining expert-aligned performance. By converting natural language specifications into optimized analytical workflows and fully automating the pipeline, SpaCellAgent democratizes advanced spatiotemporal modeling and establishes a scalable, agent-driven paradigm for computational biology. The code and materials are available at https://github.com/LittleXH-shw/SpaCellAgent.

We present EmbodiedGen V2, a generative 3D world engine for building executable sim-ready environments for embodied intelligence. Sim-ready 3D asset generation has advanced rapidly, yet assembling such assets into policy-ready task environments remains largely manual, limiting scalable closed-loop learning. EmbodiedGen V2 addresses this gap through a unified sim-ready representation that connects cross-simulator assets, interaction affordances, task-driven worlds, large-scale multi-room scenes, and stateful Vibe Coding into a generative, editable, and reusable simulation pipeline. The generated environments support manipulation, navigation, mobile manipulation, cross-simulator deployment, and embodied policy training. In evaluation, the asset pipeline achieves 96.5% human acceptance and 98.6% collision success, and 83.3% of task-driven worlds are directly usable for downstream simulation without manual modification. Online reinforcement learning with generated environments further improves simulation success from 9.7% to 79.8%, and transfers to real robots with task success increasing from 21.7% to 75.0%. These results establish EmbodiedGen V2 as scalable simulation infrastructure for training, evaluating, and deploying embodied policies.

Dense visual SLAM is a fundamental problem in robotics. Recent advances in 3DGS have demonstrated its potential for dense SLAM. Existing 3DGS frameworks focus on both appearance and geometry modeling. However, scene geometry is typically more critical for SLAM than novel view synthesis because downstream robotic tasks, such as navigation and obstacle avoidance, rely primarily on accurate spatial geometry rather than photorealistic rendering. This observation raises a natural question: Is it feasible for 3DGS to perform 3D reconstruction without scene appearance modeling? Motivated by this, we propose Geometry-only Gaussian Splatting (GeoGS), which directly reconstructs scene geometry, and further present GeoGS-SLAM, a dense visual SLAM system built upon this representation. Specifically, GeoGS retains only spatial parameters to reduce the number of per-primitive parameters by over 80%. In contrast to existing 3DGS methods, GeoGS focuses solely on geometric reconstruction, which significantly reduces the number of Gaussian primitives, accelerates geometric convergence, and enhances robustness to illumination variations. In addition, we present an effective training framework that optimizes the Gaussian primitives via single-view and multi-view geometric and photometric supervision, and speeds up geometry convergence with a local-plane driven initialization that better aligns primitives with local structures. Furthermore, we introduce a map update strategy for loop closure that globally transforms the Gaussian map to align it with the corrected pose estimates, thereby preventing map tearing caused by inconsistent per-viewpoint pose corrections in existing methods. Extensive experiments on synthetic and real-world benchmarks demonstrate that our method outperforms SOTA methods in terms of online mapping efficiency and geometric reconstruction quality.

Action Quality Assessment (AQA) aims to evaluate how well a person performs a movement, which is essential in applications such as sports scoring, skill assessment, and healthcare. However, unimodal approaches often struggle to capture subtle cues of movement quality in real-world settings. Although multi-modal inputs provide complementary information, existing methods still face two major challenges: heterogeneous modalities often lead to cross-modal misalignment and unstable fusion, and reliable multi-modal annotation is costly, resulting in limited dataset diversity. To address these challenges, we propose DualAlign, a two-stage multi-modal fusion framework with adaptive alignment. The framework first constructs a coherent visual representation by maximizing shared structural information across RGB video, optical flow, and skeleton modalities. Textual semantics are then incorporated after visual stabilization, allowing high-level descriptions to complement rather than distort the underlying visual manifold. To evaluate the framework under realistic multi-modal conditions, we introduce MM--JDM, a movement-quality assessment dataset integrating RGB videos, optical flow, skeleton sequences, and structured text. MM--JDM naturally exhibits modality noise, class imbalance, and label scarcity, making it a challenging benchmark for studying multi-modal fusion and alignment. Extensive experiments show that DualAlign improves average correlation on MM--JDM by 21.16% over the state-of-the-art methods and achieves gains of 3.53% and 5.95% on the RG and Fis-V benchmarks, respectively. DualAlign also remains robust under missing-modality and label-scarce conditions.

A self-evolving agent retires its bad skills by watching them fail, so what happens when the judge cannot see the failures? Skill retirement is the structural constraint that keeps a growing library from drifting below the no-skill baseline, but its guarantee assumes an unbiased reward, which is false for the LLM judges that reference-free tasks force upon us. We show that a biased judge does not merely add noise; it \emph{silently switches off the curator}. We make this precise with a corrupted-reward analysis and, isolating the causal channel by injecting corruption on top of a deterministic reward, a behavioral study on a reference-free report-writing testbed with a code-generation cross-check. Symmetric noise leaves retirement intact, but \emph{false-pass} bias (failures slipping through as passes) disables contribution-based retirement past a sharp threshold that no amount of data can cross. Separating genuine retirement from cap-eviction churn shows this \emph{mechanism} failure is universal, holding across domains and failure rates and sparing only near-zero-false-pass, verifier-like graders. The downstream \emph{outcome}, though, is regime-dependent: eval quality degrades only where the same corruption also starves skill synthesis, and otherwise holds steady, so the disabled curator is \emph{silent}, surfacing in no aggregate metric. The contribution is a behavioral safety result, not a performance one. A cheap defect-injection audit then tells an operator, before deployment, which side of the threshold their judge occupies.

Agents acting on our behalf in the real world (e.g. placing phone calls) must learn online from costly, often irreversible interactions rather than cheap simulator steps. Two things follow. First, deployability depends on the path, not only the outcome. An agent must respect outcome-neutral constraints such as not repeatedly calling an unresponsive user, respecting business hours, or completing required authentication constraints that outcome-based rewards cannot express, since violating them frequently improves apparent success. Second, because each interaction is expensive, the agent must learn efficiently from very few examples. Reinforcement learning from verifiable rewards (RLVR) is blind to both challenges: it optimizes solely on the outcome and wastes expensive rollouts on all-fail groups where group-relative advantage collapses to zero. Attempts to densify supervision by rewarding progress target the hard-to-verify direction. In contrast, real agentic environments can cheaply detect bad moves. Since group-relative advantage is equivalent to within-group variance, a dense signal helps only when it supplies variance the outcome lacks. A verifiable penalty on the path meets this condition reliably, while a progress potential helps only where partial progress is reachable. The resulting recipe "penalize the path, reward the outcome" achieves high task success with near-zero violations, where outcome-only training violates constraints on nearly every episode. We provide four design rules for effective penalties, including avoidance of the inaction trap that arises when a penalty is used in isolation.

Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion tracking or cognitively demanding low-level control. This paper presents an immersive teleoperation framework that integrates voice-controlled locomotion, VR-based manipulation, and bidirectional social interaction for whole-body humanoid control. Using Apple Vision Pro, the operator receives egocentric visual feedback, issues natural-language locomotion commands, and teleoperates the robot's arms and dexterous hands through wrist and finger tracking. An LLM-assisted voice-control module converts spoken instructions into high-level locomotion commands, while the manipulation module retargets human hand motions to the robot through inverse kinematics and PD control. The system also records multimodal data, including egocentric RGB observations, voice/text commands, joint states, hand motions, and eye-gaze signals, supporting future imitation learning and autonomy. We evaluate the framework on a Unitree H1 humanoid equipped with dexterous hands in manipulation and social interaction tasks. Results show that novice users can successfully operate the system after brief familiarization, achieving 80\% success in object manipulation and 70\% success in a social cube-passing task. These results demonstrate the potential of immersive, language-assisted teleoperation as an accessible interface for humanoid interaction, remote assistance, and multimodal data collection.

Many biological processes are governed by complex dynamical mechanisms that remain incompletely understood despite increasing volumes of experimental data. Biologically-informed neural networks (BINNs) seek to address this challenge by embedding mechanistic differential equations into neural network training, enabling interpretable constitutive operators to be recovered directly from sparse and noisy observations. However, reliable operator recovery depends sensitively on network architecture, optimisation strategy, and data informativeness. Here, we present a systematic empirical study of how these factors influence mechanistic inference using BINNs applied to canonical one-dimensional advection-diffusion-reaction partial differential equation models. Across a suite of benchmark problems, we investigate how network expressivity, learning rate, loss weighting, and batch size influence optimisation behaviour and operator recovery. We show that successful mechanistic inference depends on balancing competing objectives rather than maximising any single aspect of the model or optimisation. Moderately expressive architectures outperform overly complex networks, intermediate learning rates improve optimisation stability, balanced data and PDE losses are essential for accurate operator recovery, and intermediate batch sizes provide the best compromise between computational efficiency and reproducibility. We further identify practical diagnostics for recognising common failure modes, including over-fitting, unstable optimisation, and poor mechanistic recovery when the ground truth is unavailable. Together, these findings provide evidence-based guidelines for deploying BINNs as credible tools for biological model discovery.

Logical Multi-Hop Query Answering over Knowledge Graphs (KGs) can be formulated as querying, with an implicit completeness assumption. Current works mainly focus on Existential First Order Logic (EFO) queries. These EFO queries contain conjunction, disjunction, and negation operators. Most existing works employ transductive reasoning, meaning they are not capable of reasoning over entities unseen during training. In the real world, there is a resource scarcity, and we cannot train a model with all the nodes of a large KG. Hence, we propose InductWave, a wavelet-based inductive embedding method for logical query answering on large KGs. Here, the training graph consists of fewer nodes than the test graph. Our model performs on par with the baseline models while having half the number of message-passing layers. It outperforms all of them in most cases, with 75% of the layers. These fewer resource requirements enable us to evaluate InductWave on massive graphs, such as Wiki-KG. We test our model using extensive experiments across varying train-test graph proportions of the FB15k-(237) dataset, comparing it with the state-of-the-art models. The code and datasets for the model are available at https://github.com/kracr/inductwave/.

Safety for generalist robots is usually discussed in terms of motion or dialogue. We argue a third question is missing: should the robot take its first hard-to-undo social action at all, such as a greeting, an uninvited grasp, or stepping into someone's space? We call this initiation authorization. Current frameworks rarely treat it as a separate safety layer. Today's stacks often skip this step: a high engagement score or a confident VLA rollout is treated as permission to act. But seeing a person is not the same as having their consent to be addressed. We frame initiation authorization within generalist-robot safety and contrast it with post-plan VLA guardrails, implementing PAS (probe-authorize-speak) on a doorway humanoid, comparing it with direct-init on logged traces, and proposing a three-condition user study, with open questions on metrics, governance, and where initiation ends and foundation-model generation begins.

Semi-supervised 3D medical image segmentation reduces the need for dense voxel-level annotations by exploiting unlabeled volumes. Although existing methods such as consistency regularization, pseudo-labeling, and co-training improve prediction-level robustness, they often provide insufficient feature-space organization for anatomically complex structures, especially small organs and ambiguous boundary regions with large intra-class variations. To address this issue, we propose Variation-Conditioned Distributional Proxy Learning (VCDP), a plug-and-play training-only regularization module for semi-supervised 3D medical image segmentation. VCDP represents each class with a learnable Gaussian distribution for shared class semantics and multiple variation prototypes for fine-grained intra-class patterns. A unified variation-conditioned compatibility score is further formulated to fuse distributional similarity and soft variation aggregation, guiding voxel embeddings to align with both global organ identity and local anatomical variations. VCDP is attached to decoder features during training and removed during inference, introducing no additional inference cost. Experiments on multi-organ segmentation benchmarks show that VCDP improves most evaluated baselines, particularly for small, ambiguous, and highly variable organs. Our anonymous code is released at https://anonymous.4open.science/r/VCDP_code-41ED.

Speculative decoding accelerates LLM inference by drafting multiple tokens and verifying them in parallel. Block-parallel drafters such as DFlash further improve drafting efficiency by predicting an entire block in one pass, but their position-wise predictions lack explicit intra-block causal conditioning. Recent methods such as Domino and DSpark attempt to introduce such causality into block-parallel drafting, but they require training the draft model from scratch, which limits their flexibility and increases training cost. We propose DeLS-Spec, a decoupled long-short context speculative decoding method. DeLS-Spec treats the fixed DFlash model as a long-context expert and introduces a lightweight local head as a short-context expert. The local head can be trained independently with a standard next-token prediction objective, without joint training with the target model or the DFlash backbone, leading to extremely low training cost. At inference time, DeLS-Spec combines long-context and short-context logits, and the local head is not tied to a specific DFlash checkpoint, making the method more modular and flexible. Experiments on Qwen3 models show that DeLS-Spec consistently improves speedup and average acceptance length over DFlash across math, code, and dialogue benchmarks.

Tool-using LLM agents can violate the very policies they are deployed to enforce while appearing to complete the task successfully. In policy-permissive environments, a tool may execute any well-formed call even when the corresponding state transition is forbidden by domain policy. The result is a silent wrong state (a booking cancelled, a passenger count changed, a claim acted on without verification) that neither the tool nor the agent's self-report exposes. We study this failure mode in the $τ^2$-bench airline domain. On a budget agent, 78% of observed failures are silent wrong-state failures with no tool error, and the aggregate failure rate is reproducible across disjoint seeds, not sampling noise. We then evaluate a lightweight intervention: deterministic, read-only pre-execution gates that inspect the proposed call and current state before allowing a write. A four-gate suite raises full-benchmark success from 29.6% to 42.0% on gpt-4o-mini (+12.4pp; paired task-level bootstrap P=0.0012), and the lift reproduces on a disjoint 15-seed set (+12.3pp; P=0.0008). The effect is concentrated where the gates fire: on the 26/50 firing tasks, success rises by +19.2pp, while movement on the 24 non-firing tasks does not exclude zero. Two negative controls (a self-enforcing retail domain and BFCL) bound the mechanism: gates help when tools are policy-permissive and add little where tools already self-enforce. As suggestive evidence, not a central claim, the same failure mode persists at the frontier: gpt-5.2 at default reasoning still attempts policy-violating writes, and the same suite improves success from 61.2% to 71.6% (+10.4pp; P=0.020; n=5, no replication). The contribution is a bounded evaluation and reliability result: deterministic gates do not guarantee task success, but they can deterministically prevent a known class of silent policy-violating writes at the action boundary.

Vision Language Models (VLMs) and Vision Language Action (VLA) models have shown promise in robotic control. Yet, they face significant challenges regarding explainability, generalization, and compute requirements. This paper presents a Multi-Agent System (MAS) architecture that addresses these limitations by deploying specialized agents on onboard hardware - eliminating dependence on external compute. The system controls a multi-purpose autonomous mobile manipulator in a simulated industrial warehouse, fulfilling five task categories: safety inspection, warehouse maintenance, warehouse search, package quality verification, and responding to human requests. Compact VLMs (3-20B parameters) are used throughout, with fine-tuning applied to improve package inspection accuracy. A novel "Megamind" orchestration agent mitigates context retention issues inherent to long-horizon planning with smaller models. The system was validated in a hardware-in-the-loop simulation using an AMD Ryzen(TM) AI mini PC. Results demonstrate that a fully onboard MAS architecture is a viable, cost-efficient alternative to cloud-dependent deployments, with strong potential for real-world transfer. The simulation environment has been released as open source under the Apache 2.0 licence.

Non-Hermitian frameworks extend conventional Hermitian physics, offering a powerful paradigm for describing open systems. Central to this field are various singularities within the complex parameter space, such as exceptional points (EPs) and scattering zeros, which dictate exotic physical behaviors. As research shifts from isolated singularities toward multi-singularity interactions, conventional planar metasurfaces remain constrained by limited tuning dimensions. Here, we propose a mirror-coupled design that maps a metasurface into a quasi-high-dimensional parameter space. By employing a metallic plane to generate image resonators, this scheme multiplies the system degrees of freedom without increasing the number of physical resonators. Its implementation on a reconfigurable platform integrated with PIN diodes yields the coexistence and manipulation of an EP and multiple reflection zeros. Through simulations and microwave experiments, we characterize the dynamic evolution of these singularities and exploit their synergistic effects for two distinct applications. First, for tunable absorption, multiple reflection zeros are spectrally coordinated to achieve a near-perfect absorption band exceeding $99.9\%$ across the X-band, thereby dynamically suppressing target scattering. Second, for enhanced sensing, a reflection zero couples with the EP to form a hybrid singularity. This hybrid state inherits the power-law sensitivity of the EP while substantially boosting robustness against fluctuations, resolving the conventional trade-off between sensitivity and stability and simplifying detection to direct peak tracking rather than complex multimode eigenvalue fitting. Our work provides a general methodology to circumvent parameter competition among non-Hermitian singularities, opening new avenues for multifunctional metadevices across the electromagnetic spectrum.

Autonomous agents promise substantial gains in speed, scale, and labor efficiency, but their failures can impose abrupt and often irreversible costs. The central challenge for agentic automation is therefore to increase the benefits of automation while bounding the consequences of failure. While databases remain central to modern computing, agents operate over a broader data environment spanning files, APIs, applications, and system state. In this talk, I will outline early work on Agentic Data Environments -- the execution substrate in which agents operate -- that both amplify agent capabilities and enforce safety guarantees. This perspective reframes data systems from passive stores of state into active substrates for safe, reliable execution.

Reliable confidence estimation remains a key limitation of test-time adaptation in vision-language models (VLMs), where prompt tuning improves zero-shot accuracy but often degrades calibration due to entropy-driven overconfidence. Prior approaches mitigate this using LLM-derived class attributes and contrastive regularization, yet treat attributes independently, ignoring their relational structure. We propose ARGTCA, which represents (class, attribute) pairs as nodes in a Symbolic Attribute Graph and trains a Graph Attention Network (GAT) using contrastive objectives to produce structurally informed embeddings that capture inter-attribute dependencies. We introduce two attribute selection strategies: ARGTCA-DIV for intra-class diversity and ARGTCA-DISC for inter-class discrimination. Experiments across nine benchmarks show that ARGTCA-DIV reduces average Expected Calibration Error (ECE) by approximately ~37% over baselines, while ARGTCA-DISC consistently performs as the second-best variant, reducing average ECE by approximately ~17% over baselines. These results suggest that modeling symbolic attribute interactions provides a principled approach for reliable test-time adaptation in VLMs.

Nonverbal communication through head and neck movement is fundamental to human social signalling, yet how robotic neck morphology translates motion into communicative information remains poorly understood. We present an information-theoretic framework characterising robot neck movement as a communication channel, quantifying information transmitted and energy expended across varied configurations. Using a robotic neck platform, we recorded 84 video stimuli spanning three rotational degrees of freedom (DoF), varying amplitude, acceleration, and frequency, measuring Shannon entropy of pixel-change signals alongside energy consumption. A perceptual study validated communicative interpretations of each motion. While humans typically engage one axis per gesture, robots are unconstrained by biological architecture, motivating tests up to 3 DoF. Yet communicative information peaks at two DoF and decreases at three despite rising energy cost, a phenomenon we term the morphological information bottleneck. Motion parameter effects were parameter-dependent, some additive, others non-linear. We introduce the Motor Information Space, a framework mapping entropy against energy to expose communicative efficiency across morphologies, in which the optimal configuration achieves 5.26 bits at competitive energy cost. Perception data further confirm multi-axis movements reduce clarity. These findings challenge the assumption that anatomical completeness improves robotic expressiveness, establishing a quantitative basis for morphological design in robots, especially humanoids.

Mathematical reasoning benchmarks typically provide all facts needed to solve each problem, while interactive benchmarks often mix reasoning with tools, retrieval, and long-horizon dialogue. We introduce MIRA-Math, a benchmark for a narrower diagnostic capability: solving mathematical problems whose full latent state has a unique answer, but whose solver-facing view is missing exactly one necessary atomic fact. The solver must request the missing information in natural language under a strict budget and then integrate the returned fact into an exact final answer. A fixed constrained LLM responder sees only the dataset-provided atomic fact and must either offer the quoted fact when the request matches it, or decline otherwise. Thus, instance generation, typed hint specifications, validation, and final-answer verification are deterministic, while request metrics are measured under a fixed LLM-mediated responder channel. MIRA-Math contains 2{,}310 generated instances from 22 typed mathematical families spanning algebra, probability, linear systems, discrete structures, signal processing, Markov chains, circuits, interpolation, and numerical boundary-value problems. Experiments across frontier and small models show that request success and final-answer accuracy are separable: models may ask for the right fact yet fail the downstream computation, or fail before obtaining the canonical hint. We release generators, verifiers, prompts, run metadata, and dataset documentation to support reproducible evaluation of minimal information requesting in mathematical reasoning.

Large Language Models (LLMs) store factual knowledge and domain-specific patterns implicitly in dense Transformer parameters, making knowledge expansion costly through pretraining, fine-tuning, retrieval augmentation, or longer contexts. Engram-style memory offers a compact hidden-state injection pathway, but existing GPU-resident designs often rely on hash-based compression, causing unrelated phrases to collide in shared slots and weakening phrase-level semantic fidelity. We present TF-Engram, a train-free Engram system that constructs phrase-specific semantic memory offline from external corpora, stores large memory tables across a GPU--DRAM--SSD hierarchy, and uses Early-Exit Guided Predictive Prefetching to hide external-memory latency during autoregressive decoding. On Qwen3-0.6B, TF-Engram improves the average downstream score from 57.6 to 59.4, outperforming both the frozen backbone and a parameter-matched LoRA baseline. System evaluation shows that large TF-Engram tables can be built with moderate offline cost, SSD-backed storage substantially reduces GPU memory demand, and predictive prefetching recovers much of the throughput loss caused by external memory access. These results demonstrate that static phrase memory can be integrated into LLM inference as a scalable, train-free, and low-overhead system component.

Recently, Large Language Models (LLMs) have been utilized in various applications of computational social science and provide the possibility to integrate such models into agent-based modeling to explore the cognitive processes. However, how specific cognitive modules drive individual decisions and macro-level opinion dynamics remains unclear. Therefore, this study introduces a framework that integrates an LLM (Qwen3-8B) into agent-based modeling to investigate this problem, using vaccination opinion dynamics as a case study. We utilize this framework to simulate opinion dynamics among agents with heterogeneous profiles and social networks, evaluating scenarios by enabling different cognitive modules: a memory module and a prompt diversity module. The simulation results reveal that different cognitive modules have opposite impacts on our emergent opinion. Furthermore, the framework reproduces the non-linear behavior patterns of social influence observed in existing research, demonstrating our framework's validity and potential to reach the level 3 validation of agent-based models.

Linear attention models allow a fixed state size and a fixed amount of compute per token. However, due to their limited state size, linear attention models fall behind in long-context recall compared to softmax-attention-based transformer architectures. Increasing the state size of linear attention improves recall performance but at the cost of higher FLOPs. In this work, we introduce Sparse Delta Memory (SDM), an architecture that scales the hidden state of gated linear RNNs to orders of magnitude higher capacity using a sparse addressing scheme. SDM extends the Gated DeltaNet architecture by replacing the dense key-value outer product with sparse reads and writes to a large explicit memory. We show that, under an isoFLOP constraint and with an identical number of parameters, a higher state memory capacity significantly improves performance on in-context learning and long-context retrieval tasks. Moreover, by learning the initial state of the SDM memory and therefore using it as a parametric memory, we show that the model further improves on a wide range of common-knowledge and reasoning tasks.

Knowledge-based Visual Question Answering (KB-VQA) requires models to retrieve visual entities matching the query image from large-scale encyclopedic knowledge bases and answer related questions. Existing multimodal Retrieval Augmented Generation (mRAG) methods rely on global visual features to match candidate entities, yet when the knowledge base contains numerous visually similar entities, the retriever struggles to distinguish them, populating the candidate set with visually similar but factually mismatched distractors. Since subsequent processing steps such as noise filtering are also confined to this fixed candidate set, errors from failed retrieval inevitably propagate to the final answer. To address these challenges, we propose MMAgent-R$^2$, an agentic mRAG framework that integrates visual reranking and active rejection as its internal verification mechanism. Visual reranking directly compares query and candidate images, capturing discriminative details beyond textual descriptions to precisely identify the target entity among similar candidates; active rejection discards unreliable results and retrieves additional candidates when no confident match is found, moving beyond the fixed candidate pool. We design a composite reward function with step-level verification rewards and achieve joint optimization of external retrieval, internal verification, and answer generation via GRPO training. Experiments on InfoSeek, E-VQA, and MMhops demonstrate that \ours{} achieves state-of-the-art performance, with particularly notable advantages in challenging retrieval scenarios and complex multi-image multi-hop reasoning tasks.

Fast Radio Bursts (FRBs) are millisecond-duration radio transients whose automated detection increasingly relies on highly specialized deep learning models. These detectors achieve exceptional performance, but they require large task-specific training datasets and cannot be redefined without retraining. In this work, we evaluate whether small, open-weight, locally run generalist Vision-Language Models (VLMs) can detect FRBs in dynamic spectra under a zero-shot, prompt-only regime, with no fine-tuning and no labeled examples, returning structured decisions with a natural-language justification. From a controlled set of 3000 simulated L-band dynamic spectra containing FRBs, structured Radio Frequency Interference (RFI), and noise, we draw a balanced binary benchmark of 2000 samples and compare two such VLMs (Gemma 4 2B and 4B), sample by sample, against the state-of-the-art specialized detector SwinYNet. At the default threshold, Gemma 4 2B reaches an accuracy of 93.65%, with no statistically significant difference from SwinYNet (92.90%), while showing a significantly lower false-positive rate on structured RFI (6.4% vs. 25.0%) and no false positives on pure noise. SwinYNet retains a perfect probabilistic ranking on this benchmark (ROC-AUC of 1.0000 vs. 0.9482), a ceiling that the zero-shot VLM approaches from general-purpose pretraining alone. Rewriting the prompt alone reconfigures the same models for three-class FRB/RFI/noise classification on the full set of 3000 spectra, where they reach up to 86% accuracy without a single false FRB.

In agentic scientific machine learning (SciML), large language model (LLM) agents can discover surrogate models and select one by an automated score, typically an error metric. A low error, however, does not establish that the predicted fields satisfy the physics that matter for mechanics, such as boundary conditions, superposition, stiffness scaling, or causality. We introduce Physics-Audited Agentic SciML (PA-SciML), a verification-first workflow for agentic SciML discovery. The workflow fixes a scoring evaluator before search, derives reviewable machine-checkable physics requirements, checks each trained candidate on its outputs, and separately searches prescribed input ranges or measured load-history spans for high-violation cases without reference solution fields. A surrogate is reported as verified only under the stated checks. When enabled, the workflow also adds advisory numerical probes before training and tests one modeling change at a time to record which isolated edits are associated with score gains before reuse. In the reported computational-solid-mechanics numerical examples, the static elasticity run selects a surrogate with lower validation error than the error-only baseline while both selected models pass the common linear-elastic checks. In the transient elastodynamics run, an error-only baseline with similar mean error fails a stricter causality check by responding to future parts of the loading history, while the selected surrogate passes the stated checks. The main distinction is per-candidate physics evidence on predicted fields, not a richer aggregate score.

Dynamic environments remain a fundamental challenge for visual SLAM, where unreliable observations from moving objects and rapid motion degrade state estimation accuracy. Although event cameras preserve fine-grained spatio-temporal information, most existing event-based SLAM frameworks still assume static scenes and lack approaches to estimate the reliability of features. To this end, we propose PLED-VINS, a monocular event camera-based visual-inertial SLAM framework that enables robust state estimation in dynamic environments. We propose an entropy-recency score map to characterize the temporal reliability of both point and line features based on event temporal statistics. Concurrently, geometric reliability is estimated via a unified point-line robust bundle adjustment. Building upon these, we design an adaptive weighting strategy that fuses temporal and geometric reliability, including motion-conditioned reliability modeling for line features, to suppress unreliable observations. Experimental results demonstrate that PLED-VINS improves state estimation on the evaluated dynamic sequences with moving objects.

In embodied intelligence systems, the motion controller serves as the critical bridge between semantic reasoning and physical execution. Humanoid control has progressed rapidly through large-scale human motion-capture data and motion-tracking paradigm. However, producing quadruped robots motion corpora with scalability and physical feasibility faces more fundamental obstacles: animal motion data is scarce, and cross-embodiment retargeting remains fragile. We present ABot-C0, a generalist motion-control system for quadruped robots that establishes three complementary behavior foundations: a scalable multi-source motion-data pipeline, robust policy learning across motion tracking, locomotion, and scene interaction, and a unified deployment stack for reliable real-world operation. Fundamentally, we construct a data pyramid through conditional video-generation synthesis, annotated motion capture, teleoperation and human design, producing 16,074 physically feasible motion clips as the data foundation for various motion learning demands. We then train a Flow-Matching generalist policy that demonstrates for the first time quadruped motion tracking scaling law that its performance improves consistently as training scales up, with zero-shot capability to track unseen motions. Then, we push a step further for robust all-terrain traversal locomotion by adopting a three-stage privileged-to-perceptive framework with temporal LiDAR memory and terrain-predictive supervision. Collectively, these components form a motion generalist that coordinates multi-policy execution, smooth behavior transitions, energy-efficient control, and safety mechanisms for real-world deployment. Extensive experiments on urban-terrain autonomous navigation and companion-style multimodal interaction demonstrate that quadruped robots move beyond single-function demos toward product-level behavioral intelligence.

AI control is a family of techniques to prevent an AI with malicious goals from subverting its operator's intent. AI Control usually studies a single agent in one trajectory, but real deployments run many agents over shared infrastructure, and the most severe risks (model-weight exfiltration, training-run poisoning) plausibly need several agents acting in concert. We initiate the empirical study of multi-agent AI control, formalising distributed attacks in which several agents jointly aim for a malicious goal. We develop FakeLab: a synthetic AI-lab codebase (9 services, 86 benign tasks, 4 attack objectives). We evaluate single agent monitoring against distributed attacks, varying the number of agents, their coordination, model capabilities and precise monitoring configuration. Our central finding is the fragmentation effect: as more agents coordinate to attack, per-agent monitoring becomes less likely to catch any of the attackers. Secondly, this is not driven by the ratio of benign to malicious code -- we argue this is likely dependent on model capability. Third, an explicit planner amplifies the fragmentation effect, raises the rate of completing the attack up to sevenfold, and mildly sharpens executors' poor monitor-theory-of-mind. Finally: a weak "trusted" monitor misses most attacks, while a stronger one cuts undetected success by more than an order of magnitude but remains imperfect. We are happy to share FakeLab, our control setting, with safety researchers on request.

Current Vision-Language Models (VLMs) often struggle to handle complex visual tasks that require consistent and fine-grained reasoning. Recent methods aim to train models to facilitate self-reflective reasoning, i.e., reviewing and improving the generated reasoning. However, they require large volumes of annotated data and lack explicit reflective behavior during test time. This work aims to bridge this gap through inspiration from neuroscience. The human brain exhibits efficient backward prediction, i.e., predicting which current states are likely to precede a given future state. In this work, we first verify that mainstream VLMs can perform backward prediction, similar to the human brain. Then, we propose Brain-inspired Unsupervised Self-reflection (BUS), a label-free training framework to enhance reflective reasoning capability in challenging image analysis. BUS enables VLMs to perform backward prediction and provide explicit learning signals on data without ground-truth labels. In this way, BUS eliminates reliance on annotated data while improving reasoning performance. Notably, BUS is compatible with popular fine-tuning methods, such as Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL). Finally, extensive experiments on 8 benchmarks demonstrate the effectiveness of BUS across a wide range of complex visual tasks. It achieves notable improvements over the base model while using only unlabeled training data. Our experimental findings validate that backward prediction capability is critical for VLM reasoning.

Online truckload bid acceptance is a closed-loop stochastic decision problem in which a carrier or broker must, in real time, accept or reject a tendered load subject to operational feasibility, fleet repositioning costs, and opportunity cost against future demand. Public, reproducible benchmarks for this problem are scarce: existing routing benchmarks are static, while dynamic-fleet studies typically rely on private operator data. We introduce FreightBidBench, a public-calibrated, dependency-free, closed-loop benchmark in which feasibility (pickup reach, appointment windows, simplified hours-of-service, stochastic yard delays) and economics (service-failure penalty, terminal fleet value, daily price-premium window) are explicit, versioned, and reproducible from public Freight Analysis Framework and U.S. Department of Agriculture truck rate data. We develop two full-horizon hindsight ceilings: a simple LP style relaxation and a tighter Lagrangian-per-truck information relaxation that retains per-truck hours-of-service and sequencing structure and is 20.7% tighter than the LP relaxation on a tight-capacity scenario and 39.3% tighter on a scarce-capacity scenario. We introduce a parametric surrogate-rollout cascade with boundary-band and scarcity-pressure escalation triggers. On ten-seed tight and scarce scenarios, the best simple policy retains 91.0% and 86.5% of rollout profit and the standard-library surrogate 94.2% and 89.3%; a cascade at a single escalation band recovers roughly 98% on both at 40-56% of rollout's mean decision latency, and on the tight scenario is statistically indistinguishable from the rollout teacher (paired-bootstrap 95% CI on the profit delta spans zero).

Satellite anomaly detection is essential for maintaining mission reliability and spacecraft health, yet remains challenging due to the high-dimensional, irregular, and imbalanced nature of spacecraft telemetry data. This paper presents a systematic benchmark study evaluating supervised and unsupervised anomaly detection approaches on the large-scale ESA-ADB dataset across two mission settings of varying temporal scales. Supervised models, including Multiscale Convolutional Neural Networks (Multiscale CNN), Graph Convolutional Networks (GCN), and Graph Attention Networks (GAT), are compared against unsupervised methods, namely Elliptic Envelope (EE) and Empirical Cumulative Distribution Function-based Outlier Detection (ECOD). Beyond detection performance, we rigorously analyze computational runtime and scalability, which are critical for practical deployment in spacecraft operations. Results show that supervised models achieve stronger overall performance, while unsupervised methods offer competitive precision with significantly lower computational overhead. These findings underscore a fundamental trade-off between detection capacity and operational efficiency, offering practical guidance for mission engineers designing scalable satellite health monitoring systems.

Hypergraph neural networks have shown powerful capability in modeling higher-order relations, yet their predictive uncertainty remains underexplored. Unlike pairwise graphs, uncertainty in hypergraphs arises not only from noisy attributes and ambiguous labels, but also from variations in node-hyperedge incidence structures and complex higher-order dependencies. Existing approaches mainly estimate uncertainty from final predictions or rely on computationally expensive ensembles and Bayesian inference, limiting their ability to capture uncertainty evolution during representation learning. In this paper, we propose Hypergraph Neural Stochastic Diffusion(HyperNSD), a stochastic differential equation framework for uncertainty estimation on hypergraphs. HyperNSD models hypergraph representations as stochastic processes evolving over node-hyperedge incidence structures. A learnable drift function captures deterministic higher-order diffusion dynamics, while a learnable stochastic forcing function characterizes structural ambiguity and representation noise. Predictive uncertainty is directly quantified through the variability of stochastic representation trajectories, providing an intrinsic uncertainty measure beyond post-hoc confidence scores. We formulate HyperNSD with neural drift and diffusion networks, enabling joint learning of prediction and uncertainty propagation. Theoretical analyses establish well posedness, perturbation stability,permutation equivariance, and numerical convergence of the proposed stochastic dynamics. Experiments on multiple hypergraph benchmarks demonstrate that HyperNSD achieves reliable uncertainty estimation for out-of-distribution and misclassification detection while preserving competitive prediction accuracy. These results provide a principled stochastic-dynamical framework for trustworthy higher-order representation learning.

Automated crowd counting in Hajj video is difficult not because current models lack capacity, but because the footage violates the assumptions those models were built on: cameras observe the crowd from steep, near-vertical angles, individuals occlude one another extensively, and a single frame can contain well over a thousand people. Benchmarks that test crowd counting in such an environment are either private or not detailed per second. We revisit the HAJJv2 dataset and contribute HAJJv2-CrowdCount: per-second human-annotated crowd counts for its testing videos. Using these annotations, we benchmark three recent zero-shot counting paradigms: an open-vocabulary detector (YOLO-World), a point-based counter (APGCC), and a promptable segmentation-based counter (SAM3Count). SAM3Count attains the lowest overall mean absolute error (MAE 70.4, 95% CI 56.0-86.1), ahead of YOLO-World (92.0) and APGCC (152.9). This ordering reverses, however, in the regime most relevant to deployment: on the densest frames, the detection- and segmentation-based counters both degrade sharply (MAE exceeding 300), while the point-based counter degrades far more gracefully (MAE 114.9). This inversion is decision-relevant for Hajj crowd management, where reliable counts are needed most precisely in the densest and most occluded scenes. The annotations are released to support reproduction and extension of these results.

Tool utilization enables Large Language Model (LLM) agents to interact with the real world and resolve complex tasks. However, existing agent frameworks predominantly rely on static toolsets composed of granular atomic actions (e.g., basic file I/O or single-turn search), which forces agents to reinvent low-level logic for every recurring workflow, leading to increased reasoning overhead and failure rates. In this study, we propose that agents can achieve self-evolution by synthesizing these atomic actions into reusable Standard Operating Procedures (SOPs), which function as callable higher-order tools that encapsulate multi-step logic. We further introduce EvoSOP, a framework that empowers agents to extract SOPs from execution trajectories and iteratively optimize the toolset through a systematic lifecycle of construction, merging, evaluation, and pruning. Extensive experiments demonstrate that EvoSOP significantly boosts task success rates while substantially reducing the number of interaction rounds compared to baselines. Our analysis also reveals that iterative tool optimization fosters reliable and efficient tool-use patterns, providing a scalable pathway for the development of self-evolving agents.

The SoccerNet 2026 Challenges constitute the sixth annual edition of the SoccerNet open benchmarking effort, dedicated to advancing computer vision research in sports video understanding. This year's challenges span five vision-based tasks: (1) Ball Action Anticipation, predicting the timing and class of ball-related actions within a short future window from a preceding observation window; (2) Player-Centric Ball Action Spotting, temporally localizing and classifying ball-related actions while assigning each action to the acting player through team affiliation and jersey number; (3) Novel View Synthesis, rendering images from unobserved camera poses in multi-view football scenes; (4) Spiideo SoccerNet Synloc, localizing athletes in real-world pitch coordinates from a single calibrated static-camera image; and (5) Visual Question Answering, answering multiple-choice questions about football broadcasts across text, image, and video inputs. For each task, participants were provided with annotated data, a unified evaluation protocol, and a public baseline. This edition saw broad participation, with 427 teams submitting 1,129 entries across the five tasks and 28 teams contributing reviewed technical reports. This paper describes each task and its evaluation protocol, presents the challenge leaderboards, and summarizes the leading submissions, with the aim of documenting the current state of each task as measured on held-out challenge data.

This paper reports an empirical study evaluating the relevance of several RAG metrics. The experiment is based on a question-answering dataset created by human annotators from business data. The generated responses and retrieved spans of a RAG system are scored using evaluation metrics from four libraries (Ragas, DeepEval, RAGChecker, Opik). These metrics are compared to scores given by two evaluators, as well as to standard metrics such as recall. An analysis of correlations is conducted. Finally, we highlight certain limitations of our methodology, compare it to those used in the literature, and suggest some avenues for future research. This paper is an English translation of a paper originally published in the French-speaking workshop EvalLLM (Brabant, 2026).

Infrared vision-language models are increasingly used for perception under low-light and adverse visual conditions, yet their robustness to localized structured perturbations remains underexplored. Existing infrared adversarial studies mainly focus on object detectors, leaving the security of infrared vision-language models less systematically examined. We present InfraQR, a QR-inspired structured patch attack for infrared vision-language models. Unlike localized attacks that attach perturbations to the target object, InfraQR places a compact structured patch along image boundaries and optimizes learnable grid cells through surrogate CLIP-style encoders. The resulting patch has a near-binary structured appearance, but is not required to be a valid or machine-readable QR code. We evaluate InfraQR on infrared classification, caption transfer, and question-answer-aware visual question answering (VQA) tasks. On a 300-image infrared benchmark, InfraQR sharply reduces the accuracy of multiple CLIP-style classifiers, including reducing OpenAI CLIP accuracy from 98.67% to 0.70%. The generated adversarial images also transfer to black-box captioning and VQA models, causing semantic degradation in captions and more error-prone answers under GPT-5.4-based evaluation. These results show that infrared vision-language models remain vulnerable to structured edge-placed perturbations, motivating further study of cross-task robustness beyond direct object occlusion.

Dexterous manipulation in everyday environments requires both anticipation and reaction: a robot must predict how contact should evolve while rapidly correcting local errors caused by slip, misalignment, unstable grasping, or force mismatch. Vision and language provide semantic and geometric guidance, but they cannot reliably reveal hidden contact states such as force, slip, and contact stability. Although tactile sensing exposes these physical cues, most existing policies treat touch as a low-frequency observation stream within a monolithic action model, coupling slow task reasoning, action generation, and fast contact feedback in a single loop. We introduce TouchWorld, a predictive-and-reactive tactile foundation model for dexterous manipulation. TouchWorld uses a hierarchical policy that separates vision-language subtask planning, tactile world-model prediction, visuo-tactile goal-conditioned action generation, and high-frequency tactile residual refinement. A High-Level Planning Layer produces executable subtasks and predicts tactile subgoals; a Visuo-Tactile Goal-Conditioned Policy generates nominal action chunks; and a Tactile-Conditioned Refinement Policy performs online residual correction using recent tactile and proprioceptive feedback. By using touch as both a predictive contact reference and a fast feedback signal, TouchWorld preserves the semantic generalization of vision-language-action policies while improving local contact adaptation. Across six long-horizon and contact-rich dexterous manipulation tasks, TouchWorld achieves 65.0% success in the clean setting and 53.7% success under human perturbations, outperforming the strongest baseline by 15.7 and 18.5 percentage points, respectively.

Modular miniature robots could provide scalable function in constrained environments, but coordinating many imperfect modules remains difficult when computation, communication and reliability are limited. A central robotics challenge is to coordinate many actuator-sensor modules without assigning a privileged leader, prescribing a fixed gait template, or relying on dense communication. Here we introduce a programmable synchronization-graph framework for modular miniature robots in which each actuator-sensor pair is represented as a network node and locomotor coordination is encoded through graph coupling. Fixed intra-subgraph links synchronize heterogeneous actuator groups, whereas a small number of signed inter-subgraph links program phase relationships between groups. In physical robot collectives with up to nine modules, graph coupling drives the emergence of synchronization, signed links tune the phase difference from in-phase to out-of-phase motion, and floor experiments produce gallop-like and trot-like contact patterns in a five-module robot assembly. Replacing dense all-to-all coupling with sparse d-regular topologies preserves synchronization while reducing the coupling burden. The same graph representation also captures fault tolerance: increasing graph degree increases the number of module deactivations tolerated before desynchronization. Finally, an upper-confidence-bound edge-selection algorithm learns inter-subgraph links that drive the system toward target phase states. In a separate deactivation benchmark, the graph-based controller avoids the leader-specific failure mode observed in centralized leader-follower control and reduces worst-case phase error by about threefold. These results establish programmable network topology as a compact control layer for gait phase programming, online adaptation and robustness to unit loss in modular miniature robots.

Bubbly flows exhibit complex multiscale dynamics, with deformable bubbles interacting through the surrounding liquid and giving rise to strongly coupled kinematic and morphological behavior. We present BubbleSH, a bubbly flows dataset consisting of transient, three-dimensional bubble-swarm dynamics obtained from high-fidelity direct numerical simulations of bubbles rising in a periodic domain. The dataset provides time-resolved bubble trajectories, velocities, and shape evolution, with bubble morphology compactly represented using spherical harmonics. Designed to be lightweight yet physically expressive, the dataset enables data-driven modeling of bubbly flow simulators where shape deformation and bubble-bubble interactions play a central role. We characterize the dataset with bubble kinematics, morphology, and interaction patterns, and introduce evaluation metrics for both trajectory and shape prediction. The sensitivity of bubble-swarm dynamics to local perturbations makes BubbleSH particularly well suited to generative models that learn distributions over possible future trajectories. We evaluate a permutationally and translationally equivariant probabilistic emulator on BubbleSH given the proposed metrics. Therefore, we establish a compact, high-fidelity dataset and a benchmark for developing and evaluating data-driven models of deformable, chaotic multiphase systems.

Efficient optimization and control of photonic computing and communication systems increasingly rely on accurate surrogate models/digital twins. While data-driven models may achieve faster inference than traditional physics-based methods, they typically suffer from poor training data efficiency and limited generalizability. To address this trade-off, physics-informed data-driven modeling has emerged as a powerful hybrid paradigm. This paper presents a comparative analysis of these three modeling paradigms across three benchmark use cases: optical amplifiers, directly modulated lasers, and interferometer meshes. By evaluating model complexity, data efficiency, generalizability, and modularity, this work provides a detailed analysis of the respective trade-offs and highlights the advantages of combining physical insight with data-driven learning.

Claims about the universality of human concepts have been predominantly assessed through linguistic similarity across languages and cultures. However, words are effective as communication devices because they compress rich experiential variation into shared conventions, potentially obscuring hidden individual and cultural differences in how concepts are mentally represented. Here, we analyse 2.6 billion human-made sketches of common concepts from 236 countries and territories to examine conceptual structure through people's visual imagination. Consistent with recent work on image-based cognition, we find that single concepts unfold into multiple distinct visual exemplars, revealing latent information about similarities and differences in conceptual structure across cultures. This variation is strongest for concepts involving haptic interaction, suggesting that visual imagery reflects variation in embodied experience as much as conventional definitions. Comparing embedding models of sketches with word embedding models across languages, we find that their geometries diverge, with visual representations preserving rich semantic and cultural structure that language models compress. Cross-cultural similarities derived from sketches align 45% more closely with established cultural distances than do text-based measures. Together, these results suggest that patterns of human conceptual universality may depend critically on the modality through which concepts are measured, with large-scale sketching providing a direct, high-resolution probe of conceptual diversity across embodied and cultural dimensions of thought.

Deep neural networks are widely deployed in high-stakes visual applications where interpretability is critical, yet existing explanations face a trade-off: post-hoc concept methods recover factors that are faithful to a model's behavior but unnamed, while naming and by-design methods attach human-readable concepts only by retraining or altering the classifier. We propose Language-Anchored Decomposition (LAD), a post-hoc framework that delivers concepts which are simultaneously named, faithful, and obtained without modifying the model. For each class, a large language model proposes a concept vocabulary that CLIP-based similarity maps localize across image regions. Inverting standard non-negative matrix factorization, LAD fixes these language-grounded maps as the coefficient matrix and learns only a concept basis that reconstructs the frozen encoder's activations, so naming becomes a structural constraint and the model's own feature geometry determines which concepts are retained. Removing this anchor preserves accuracy but collapses attribution faithfulness. Across natural-image, scene, and medical-imaging benchmarks, LAD produces spatially precise explanations that are decision-relevant under both concept insertion and deletion, while uniquely providing stable, human-interpretable concept names.

In many realistic scenarios, large volumes of time series data are generated with limited or expensive annotations. This limitation makes supervised learning methods difficult to apply and leads to the use of unsupervised approaches capable of discovering meaningful structures directly from raw data. Clustering therefore plays a crucial role in organizing time series into groups that share similar temporal patterns, enabling exploratory analysis and downstream tasks without requiring manual labeling. However, existing deep clustering methods often struggle to capture long-range temporal dependencies or rely on architectures with high computational cost. This paper introduces FMMVCC, a Mamba-based deep clustering framework for time series that leverages state space sequence modeling to efficiently learn temporal representations with linear complexity. Additionally, it utilizes multi-view self-supervised learning with temporal masking and augmentations. Experimental evaluation in 15 benchmark datasets proves that FMMVCC consistently outperforms state-of-the-art baselines, achieving the best overall performance in 29 of 60 total metric evaluations and the highest average rank in all tested scenarios.

One of the expected abilities of vision-language models (VLMs) is spatial reasoning ability based on a given text and image. To evaluate the spatial reasoning abilities of VLMs, we focus on the use of spatial deictic expressions, which are defined as spatial expressions whose referent is determined by their situational context, such as ``this'' and ``that''. To handle spatial deictic expressions, VLMs must jointly reason over language and visual space, grounding context-dependent references in the image's spatial structure. In addition, selecting appropriate spatial deictic expressions across languages requires VLMs to understand the language-specific spatial distinctions encoded by these expressions. In this paper, we develop a benchmark to evaluate the multilingual ability of VLMs to use spatial deictic expressions in four languages. Our experiments using this benchmark reveal that the tested models use demonstratives in a manner different from that of humans, particularly in selecting the appropriate demonstratives based on the distance to the object.

Ultrasound image segmentation is essential for delineating anatomical structures and lesions, providing the foundation for accurate diagnosis. While the Segment Anything Model (SAM) has demonstrated remarkable success on natural images, its performance on ultrasound data is often hindered by poor boundary delineation. To address this limitation, we propose EP-SAM, an edge-aware and prompt-enhanced adaptation of SAM. Specifically, we leverage multi-block feature extraction from the image encoder to enrich coarse-to-fine semantic representations, while edge-aware supervision of the image encoder improves robustness to contour ambiguity and speckle noise. By integrating these complementary cues, EP-SAM generates high-quality prompts that effectively guide the model toward target regions of interest. Experimental results on multiple benchmarks demonstrate that EP-SAM consistently outperforms existing SAM-based methods.

Power distribution system feeder models (e.g., IEEE 33-bus system, IEEE 13-bus system, etc.) are cornerstones for conducting power distribution system studies. As real-world feeder models are hard to acquire due to energy security concerns, generating high-quality synthetic feeders becomes an important alternative to satisfy the fast-growing and diversified needs of power system researchers and engineers. In this paper, we propose an LLM-based synthetic feeder generation framework that can achieve end-to-end generation from natural language specifications to physically consistent feeder models. First, Supervised Fine-Tuning (SFT) is performed on a dataset created following physical laws to empower the LLM with syntactic understanding of complex feeder structures. Second, Group Relative Policy Optimization (GRPO) with a specially-designed multi-stage gated reward function is introduced to better align the generation results with user intent and physical constraints. Third, a dual-agent architecture is deployed to refine and evaluate the generated feeders. Specifically, a refinement agent calibrates the feeder model parameters referring to the industrial feeder design standards, while a judge agent provides quality assessments. Case studies demonstrate that the proposed framework generates customizable feeders with valid formats, physical consistency and high engineering applicability.

This study investigates the presence and propagation of bias within Neural Networks through a comprehensive multi-level analysis spanning the learned latent space, layer activations, and the network's parameters. Based on this taxonomy, we propose three bias detection approaches: 1) SpaceBias (new method), which characterizes the latent space prior to the final classification layer using neighbor-probability distributions and quantifies bias with the two-sample Kolmogorov-Smirnov test on the per-group distributions. 2) ActivationBias (extension of the existing method InsideBias), which analyzes the activations of neural network filters and quantifies bias via a Mann-Whitney U test, based on the observed fact that underrepresented groups exhibit lower activation levels in the final convolutional layers. 3) WeightBias (extension of the existing method IFBiD), which uses a secondary neural network trained to identify biased patterns directly in the parameters of task-specific models. Unlike conventional methods, which assess neural network outcomes and treat the model as a black box, our proposed techniques provide insight into how biases manifest within the network architecture itself at different levels, offering a more nuanced and detailed understanding. Experiments are conducted on two complementary applications: gender classification in the DiveFace dataset (72,000 face images) and digit classification on a colored-MNIST benchmark with controlled bias severity. In total, more than 127,000 models with varying degrees and types of bias were trained and evaluated. The severity sweep shows that the internal disparity, and with it the detection performance, decreases smoothly as the training distribution approaches balance. The results highlight the importance of methods that provide deeper insight into the behavior of AI models.

Explainability remains a key issue in reinforcement learning (RL). Distilling an interpretable policy from an agent trained in a complex environment is particularly challenging when the action space is continuous. We introduce ORCAID, a novel method for extracting interpretable rule-based policies from RL agents operating in mixed continuous-discrete environments with continuous action spaces. Our main contribution is an efficient oblique decision tree training algorithm that partitions the state space by hyperplanes and fits local linear models. The key idea lies in a three-stage split search: efficient random initialization, local refinement, and backward elimination. Finally, adjacent leaves are merged to yield a concise set of interpretable rules describing a given deep RL policy. We evaluate ORCAID across multiple RL environments, demonstrating that the extracted rule-based policies maintain strong performance with a low number of parameters and can even be used to improve the performance of the original deep RL policy.

Deep generative models offer a promising paradigm for topology optimization, enabling rapid design exploration. However, these approaches lack intrinsic physics guidance, often leading to poor generalizability across unseen boundary conditions and the formation of floating material artifacts. To address these limitations, we propose Hierarchical Physics-Guided Diffusion (HPG-Diff), a novel diffusion framework that enforces physics consistency through two synergistic mechanisms. First, we introduce a hierarchical physics-guided strategy that aligns different precomputed physics features with the denoising process, guiding material distribution toward optimal load paths to enhance generalizability. Second, we propose a floating material suppression loss as a differentiable connectivity constraint inspired by thermal conduction to improve topological connectivity. By simulating a virtual heat propagation process from load positions, this mechanism explicitly penalizes floating material during training. Quantitative evaluations demonstrate that HPG-Diff achieves average compliance errors of 0.87% (in-distribution) and 5.29% (out-of-distribution), while reducing floating material ratios to 2.90% and 2.44%, respectively. Furthermore, case studies on a 3:1 rectangular domain, including cantilever and bridge benchmarks, provide preliminary evidence that lightweight LoRA fine-tuning with a small dataset can support the adaptation of HPG-Diff to rectangular non-square domains.

Prior work has shown that chain-of-thought (CoT) reasoning is often unfaithful: a model's stated reasoning does not reliably reflect the process that produced its output. Detecting unfaithfulness, though, requires controlled experimental interventions, which cannot be applied to evaluation transcripts after the fact. We turn instead to a more tractable question that has received less attention: whether the stated reasoning is logically consistent with the answer it accompanies. Unlike faithfulness, consistency can be assessed from a transcript alone, with no intervention. We introduce reasoning consistency scanning, a reusable method for detecting this property in AI safety evaluation transcripts. Our contributions are fourfold. First, we formalize reasoning consistency as distinct from faithfulness and define a six-subtype taxonomy of inconsistency. Second, we build a validated benchmark of 60 transcripts, manually adapted from InstrumentalEval outputs. Third, we implement a working scanner for InspectScout, the first to target this property in safety evaluation transcripts. Fourth, we report results across four generator models and three evaluations from inspect_evals, showing that reasoning inconsistency is present, detectable, and varies systematically across both models and task types.

Vision foundation models (VFMs) are increasingly being developed for radiological imaging, yet their definition, development and evaluation remain heterogeneous. We conducted a PRISMAScR scoping review of peer-reviewed studies published between January 2017 and March 2026 describing foundation models trained exclusively on radiological imaging data. Sixty-seven studies were included and mapped across three pillars: data scale and heterogeneity, architectural and pretraining scalability, and downstream transferability and generalization. Datasets primarily covered brain MRI, thoracoabdominal CT, and chest X-ray, ranging from fewer than 100,000 samples to multi-million-image cohorts. Transformer-based architectures and self-supervised pretraining predominated, particularly masked image modeling, contrastive learning and multi-stage approaches. Evaluation focused mainly on segmentation and classification, whereas cross-center, cross-scanner, anatomical and modality-shift validation was inconsistently reported. Alignment with FUTURE-AI principles was uneven. Overall, radiology-specific VFMs show promising transferability, but clinical translation remains constrained by limited data representativeness, heterogeneous benchmarks, incomplete reporting and insufficient deployment-oriented evaluation.

We analyze how four forces restructure the AI industry over 2026-2030: the DRAM/HBM price surge, frontier-capable open-weight models (GLM-5.2), rapid inference-efficiency gains (near-Shannon-limit KV-cache compression, lightweight local runtimes), and the entry of Meta and xAI into compute resale on fleets bought before the memory repricing. Formulating inference economics in dollars per petabyte of bandwidth delivered (\$/PB) -- model-agnostic for bandwidth-bound decode -- we show the entrant-incumbent cost gap never closes: a depreciation conveyor delivers newly amortized fleets to incumbents faster than hardware prices normalize (3.2x in 2026, 1.9x in 2027, re-widening to 3-4x by 2029-30). Training bifurcates into a luxury tier (\$18-38B per frontier run by 2030) and a mass tier (previous-frontier parity via RL/distillation falling toward \$5M). Solvency of the announced buildout is confined to a corridor requiring roughly 2x annual token-demand growth for four years with sticky premium pricing; a measurement critique shows public token trackers overstate monetizable demand, and all pre-Q2-2026 projections predate the industry's shift from token maximization to token minimization. A vintage-breakeven analysis finds 2026 and 2028-29 capacity each fatally exposed to one pricing regime, with only the 2027 vintage robust. A greenfield custom-silicon entrant removes the merchant margin but not the memory premium (central outcome: 25% success/34% mediocre/41% loss, improvable via staged go/no-go gates). China's LineShine LX2 -- domestic HBM on a standard ISA -- decouples its cost curve from the memory crisis. Scenario probabilities: Rotating Landlord Oligopoly 25%, Commoditization Crash 25%, Jevons Absorption 20%, System-Layer Re-differentiation 18%, Geopolitical Bifurcation 12%. Solvency now depends on monetized bandwidth demand, premium stickiness, and vintage ownership.

Adaptive optimizers mix several mechanisms: a metric or preconditioner maps gradients to descent directions, while estimation, memory, step-size control, constraints, stochasticity, target modification, and discretization determine which directions are available and how they are used. We introduce geometric--nongeometric optimizer calculus, a modular language for auditing reachable gradient methods under explicit oracle, budget, state, and rule constraints. The geometric module is a positive cometric family that maps covectors to parameter-space directions; the nongeometric modules are information, memory, control, operator, noise, target, and discretization mechanisms. The main formal result is a direction-expressivity theorem: away from critical points, full positive-definite geometry expresses exactly the strict descent directions. We then define restricted direction residuals for admissible metric families, prove exact expressivity conditions for diagonal and block geometries, and separate this direction-level diagnostic from condition-number geometric complexity. The resulting design problem is a Pareto optimization over module budgets, not a single universal optimizer ordering. We also lift pointwise residuals to a trajectory-level residual complexity that couples direction mismatch with the variation of the explaining geometry. We include diagnostic prototypes only as evidence for the language: a high-information full-metric probe solves deterministic quadratic benchmarks to numerical precision, while a practical Muon-style PyTorch candidate gives small-scale evidence that matrix-operator updates can be audited by the calculus. The paper is a theory and benchmark-language manuscript; it does not claim large-scale optimizer state-of-the-art performance.

Optimization geometrodynamics views optimizer state as evolving geometry. Its full positive-definite quadratic benchmark gives the least affine-invariant deformation needed to reduce condition number when arbitrary metrics are allowed. This paper records that benchmark in the present notation and develops restricted dynamic geometric complexity: an intrinsic certificate distance for reaching a target condition-number class when the metric is restricted to a specified family. The main proved results are monotonicity and submanifold-distance principles, diagonal and block reachability as linear matrix inequality feasibility problems, an exact two-dimensional diagonal complexity formula, and affine-invariant Kronecker projection theorems with normal equations, computable mismatch certificates, Armijo solver convergence, auxiliary self-conditioned K-target bounds, and Hessian-relative candidate certificates through an exact Kronecker Loewner-sandwich reachability condition, including a Kronecker expression threshold and a fixed-basis exact subproblem. Low-rank spectral models, curvature-proxy inflation, stochastic restricted complexity, discrete geometric length, and expression--estimation--flow--discretization accounting are presented as diagnostic interfaces rather than full optimizer characterizations. The resulting language turns structural preconditioner questions into geometric distance, reachability, and certificate problems. The repository includes deterministic toy and synthetic workflows that check diagonal expression gaps, block primal/dual certificates, Kronecker spectral width, and Hessian-relative Kronecker candidate certificates on small quadratic instances, together with low-rank spectral monotonicity.

Across robotics, World Models (WMs) are increasingly used to evaluate action policies by simulating the consequences of actions in an imagined world, and returning a success or safety verdict. Yet a verdict is only as trustworthy as the WM that produced it, and the WM itself needs to be certified. In video-generation WMs, fidelity metrics such as Fréchet Video Distance (FVD) reward visual realism, but ignore whether the world responds correctly to the policy's actions, including those unseen in training. Classical simulation-based validation assumes a trusted simulator evaluating an untrusted policy, whereas generative WMs are themselves unverified learned artifacts. Hence, we argue that any WM used as a test oracle must first be accredited before its verdicts can serve as evidence. Building on credibility practices from safety-critical simulation, including Verification, Validation & Accreditation (VV&A), Safety of the Intended Functionality (SOTIF), and scenario-based testing standards, we define an admissibility ladder (L0-L4) that a WM must climb before its closed-loop verdicts are accepted as assurance evidence. Our framework is embodiment-agnostic, and is instantiated in autonomous driving (AD), where assurance methods for traditional simulation are most mature. Applied to two driving WMs, the lower rungs reveal a reversal: the model that ranks higher on visual generation quality (L0) ranks lower on action-following (L1-L2), so visual fidelity does not predict the action-robustness a closed-loop verdict depends on.

In this paper, we study Single-Domain Generalized Object Detection (Single-DGOD), which aims to transfer a detector trained on a single source domain to multiple unseen domains. Existing methods mainly rely on simulation-driven strategies, such as data augmentation or textual prompts, to enlarge the training distribution. However, finite simulations can hardly cover the dynamic variations of real-world scenarios, often causing overfitting to synthetic styles and limited robustness to complex structural degradations. Inspired by the manifold hypothesis, we argue that semantic features, despite diverse visual changes, should lie on a compact and stable low-dimensional manifold. Therefore, robust generalization requires rectifying deviant samples back to this semantic manifold, rather than exhaustively simulating external perturbations. To this end, we propose Manifold Regression with Visual-Text Dual Chain-of-Thought (MR-DCoT), which formulates unknown-domain generalization as a manifold regression problem. MR-DCoT first uses a Visual-Text Dual Chain-of-Thought module to combine VLM-guided semantic evolution with diffusion-based structural perturbation, generating structured off-manifold hard examples. It then introduces Class-Specific Prototype Anchoring to learn a rectification operator that projects deviant features toward the source semantic manifold. By integrating outlier generation and semantic correction into a closed loop, MR-DCoT effectively narrows the distribution gap and improves robustness under unseen shifts. Extensive experiments on three complementary benchmarks, including adverse-weather detection, real-to-art generalization, and zero-shot semantic segmentation, demonstrate the effectiveness and versatility of our method.

Vision-language models (VLMs) and agentic AI have shown strong performance on semantic visual tasks, but it remains unclear whether they can handle the physics and inverse problems that underlie computational imaging. We present ImagingBench, a benchmark of 20 computational imaging tasks spanning five categories: ray and wave optics, image signal processing, inverse reconstruction, computational sensing, and calibration. ImagingBench evaluates three complementary settings: Expert, fixed expert-guided inverse reconstruction; Planner, planner-guided inverse reconstruction; and Forward, forward-system simulation for consistency checking. We benchmark leading proprietary and open-source image-centric multimodal systems, including Gemini, GPT, and Qwen, and compare them with representative task-specific non-agentic baselines. Across tasks, agentic models remain consistently weaker than specialized methods, especially on computational sensing problems such as lensless imaging, event-based reconstruction, time-of-flight imaging, and holography. Planner guidance provides only modest and inconsistent gains over the fixed-prompt Expert baseline. Although the models often generate visually plausible outputs, their reference-based fidelity remains poor, revealing a substantial gap between semantic visual competence and physically grounded imaging performance. ImagingBench provides a unified testbed for measuring this gap and tracking progress in agentic AI for computational imaging.

Pre-deployment safety evaluations aim to inform the downstream risks of releasing a new AI model. Yet most evaluations provide limited evidence about how often undesired model behavior will occur in deployment: they generally have insufficient coverage, are unrepresentative, and are generally recognizable as tests. To address these concerns, we study a simple way to simulate a model deployment: starting from de-identified conversations from a previous model deployment, we hold fixed the initial conversation prefix and regenerate the next response using a candidate model. The resulting responses can then both be audited for novel misalignments and used to estimate the prevalence of model misbehavior before deployment. We evaluate deployment simulation across four GPT-5-series deployments, using registered, outcome-blinded predictions for GPT-5.4 and retrospective analyses of three earlier releases. We find that deployment simulation produces informative estimates of post-deployment misbehavior rates and outperforms baselines based on adversarially selected production data; its evaluation-awareness point estimates were also much closer to production traffic than those from traditional evaluations. We also identify the realism of tool resampling as a central challenge for further improving predictions and share results suggesting that this challenge is surmountable even in complex tool-use settings. Finally, we show that deployment simulation can be seeded from public chat datasets and remain informative about production misbehavior rates, suggesting a path for external researchers to run deployment-grounded evaluations without access to private production logs. Overall, deployment simulation helps evaluators forecast how language models will behave in the real world and supports more quantitative assessment of deployment risk.

Recent breakthroughs of Reinforcement Learning (RL) have highlighted its potential for complex agentic Large Language Model (LLM) tasks. However, existing efforts largely focus on single-task settings, whereas real-world deployment necessitates a generalist agent capable of solving multiple tasks simultaneously. In this work, we identify a critical yet underexplored phenomenon in multi-task agentic RL: different tasks can exhibit exploration-exploitation pace mismatch. Specifically, easier tasks may converge early to low-entropy policies that hinder learning on harder tasks, while harder tasks can, in turn, push easier tasks back toward high-entropy exploration. This back-and-forth interaction creates inter-task entropy crossovers and frequent entropy spikes. Inspired by this observation, we introduce Entropy Pacing Policy Optimization (EPPO) for multi-task agentic LLMs, which coordinates entropy across tasks to stabilize multi-task optimization. At the core of EPPO is a task-wise dynamic clipping mechanism that replaces the fixed clipping threshold in Group Relative Policy Optimization (GRPO) with a task entropy-aware adaptive bound, tightening updates for over-confident tasks while relaxing them for under-explored ones. Experiments on the multi-task agentic benchmarks demonstrate that the proposed EPPO yields results superior to its counterparts.

Background: Automated 3D segmentation of muscles and adipose tissue from CT is vital for body composition analysis, but multi-source data heterogeneity and high CPU memory demands hinder clinical deployment. Methods: We propose a coarse-to-fine hierarchical framework to segment ten tissue structures. Efficiency is optimized using Dynamic Spacing and Anisotropic Patching, a Group Inference mechanism for low-memory sliding-window processing, and Topology-Aware Asymmetric Resampling for fast post-processing. Results: The framework was trained on 1,558 CT volumes from seven public and two private datasets, and evaluated on an independent test cohort (N=105), per-structure Dice coefficients ranged from 0.924 to 0.982. Eight major structures met the +-10% relative error clinical acceptance limit. On a 12-core CPU workstation, the GPU-free pipeline averaged 44.5 seconds per volume with 4.73 GB peak memory. Conclusion: This framework balances accuracy and efficiency, enabling robust, large-scale body composition analysis on standard CPU workstations.

Online 3D scene graph generation builds a persistent, structured representation of a scene by incrementally fusing 2D observations into a global 3D graph. Existing online methods treat this fusion as a fully deterministic pipeline, where we identify three sources of uncertainty that are overlooked: observation, 2D model, and 3D representation. We propose PUF: a Plug-and-play, Uncertainty-aware, and training-free Fusion framework. Scene graph node association is reformulated as a probabilistic likelihood over semantic and spatial factors, replacing binary accept/reject gates. Dirichlet evidence accumulation distributes class and relationship evidence across plausible candidates proportional to association likelihood. An optional class-conditional prior completes edges for sparsely or never co-observed object pairs. We instantiate PUF with both a 3D Gaussian and a 3D voxel backend and observe consistent improvements, demonstrating its ability to generalize across different representations. Experiments on the 3DSSG and ReplicaSSG benchmarks show that our method substantially outperforms existing approaches while maintaining real-time latency. These results establish uncertainty-aware fusion as a principled and effective paradigm for online 3D scene understanding. The source code is publicly available at https://github.com/yyyyangyi/PUF.

The core challenge of heterogeneous change detection in remote sensing imagery lies in effectively decoupling genuine land-cover changes from significant modal disparities caused by distinct imaging mechanisms. These intrinsic inconsistencies are prone to introducing pseudo-changes, thereby constraining detection accuracy. To address this, we propose a novel, end-to-end adversarial spatio-frequency refinement network (ASFR-Net). Initially, a modality-invariant representation learner (MIR-Learner) guides the backbone to extract modality-invariant features, effectively bridging the primary domain gap. Subsequently, to address persistent residual modal differences, we design an innovative spatio-frequency synergistic enhancement module (SFEM), which identifies and suppresses sensor-specific noise and artifacts that are difficult to discern in the spatial domain by leveraging frequency-domain processing. Multi-level difference features are then computed from these refined representations and fed into a decoder equipped with cascaded hierarchical guided fusion module (HGFM) blocks to generate precise change maps. To alleviate the data scarcity in heterogeneous tasks, we construct and release a new high-resolution benchmark specifically focused on building changes: the visible-near-infrared heterogeneous change detection (VisNIR-HCD) dataset. It presents unique scientific challenges arising from deceptive visual similarity and non-linear spectral inversions, providing a robust platform for evaluating model generalization. Extensive experiments on VisNIR-HCD and public datasets demonstrate that ASFR-Net achieves state-of-the-art (SOTA) performance, significantly outperforming existing methods. The source code and the VisNIR-HCD dataset are publicly available at https://github.com/LuoYang2024/ASFR-Net.

The key-value (KV) cache dominates the memory cost of long-context autoregressive inference, and a growing body of work compresses it through quantization, eviction, or offloading. We study a complementary question: once a position's KV state has been quantized to codebook indices, how should the resulting symbol stream be stored, and can the storage layer do more than store? A family of contractive iterated-map codes that serialize a symbol sequence into a sequence of low-dimensional real vectors is revisited, and it is shown that they form a natural archive format for a quantized KV cache with the following features. The method provides exactly the access pattern a growing cache requires. It is lossless, it runs in linear time, and supports O(1) random access and O(1) amortized append. A controlled study of the quantizer feeding this archive is conducted on GPT-2 with 1024-token contexts. Keeping a small exact window (4 attention sinks + 32 recent tokens) and archiving the rest, per-head residual vector quantization reduces the archived cache by 36-54x relative to an fp16 cache at a perplexity cost of 11-15%, and we quantify a sharp key/value asymmetry -- quantizing keys is roughly 4x more damaging than quantizing values, consistent with prior low-bit KV work -- and use it to allocate bits in a hybrid scheme. Finally, we show the archive is simultaneously a search index: approximate substring queries execute directly on the stored vectors, and matched context is decoded from the matched vector without ever materializing the surrounding text. We release all code; every number reproduces from a single command on a laptop CPU.

Newly developed items must ordinarily be field tested before their psychometric properties are known, creating a cold start problem for item calibration. Predicting item parameters from features is a long standing measurement problem dating back to the Linear Logistic Test Model; modern text embeddings now automate the design matrices traditionally specified by hand. We propose an evaluation framework combining regularized regression on item text embeddings, repeated cross validated R squared reported with its resampling standard deviation, and two performance upper bounds: a reliability ceiling derived from parameter standard errors, and a design ceiling derived from simulation based power calibration. Applying this framework to a mathematics item bank (EEDI) and a medical licensure benchmark (BEA 2024), we find that item difficulty is highly predictable from text (repeated cross validated R squared = 0.53, or about 57% of its reliability ceiling), whereas discrimination and pseudo guessing appear less predictable. However, evaluating these results against our ceilings reveals that this apparent hierarchy stems from target reliability rather than text signal strength: text uniformly recovers 57 to 63% of the reliable variance across difficulty targets, whereas the 3PL pseudo guessing parameter has a reliability ceiling near zero, making it an unviable target at current precision. On BEA, embedding based regression matches leaderboard RMSE despite explaining almost no variance, highlighting the critical need for scale free metrics and explicit ceilings in benchmarking. Finally, we show that a single train and test split can inflate apparent accuracy by 0.1 to 0.15 in R squared, underscoring the necessity of repeated cross validation for calibration support applications and future benchmark construction.

This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective of satisfying Signal Temporal Logic (STL) specifications, where confinement of the system trajectory within the STT guarantees the satisfaction of the corresponding STL task. For both single and multi-agent scenarios, the STT corresponding to each agent is modeled as a time-varying ball, whose center and radius are jointly parameterized using a physics-informed neural network (PINN). The robustness metric associated with the STL specification corresponding to the agents is incorporated into the training process as a loss function, enabling the learned tube to encode task-level temporal requirements. For a multi-agent scenario, we introduce an additional robustness metric corresponding to the global task, which, when satisfied, ensures the tubes do not collide with each other. To ensure that the system trajectory remains within the learned STT and thereby satisfies the local and global STL specifications, we propose a control strategy that explicitly accounts for input constraints. In particular, a closed-form control law is developed to keep the trajectory inside the tube while regulating the motion of the tube by enforcing bounds on its evolution depending on the input constraints of the system. The proposed approach has been validated over several case studies.

Compositionality, by organizing complex behavior as combinations of simpler elements, enables robot learning that is scalable and data efficient. Leveraging this principle, we propose a generative learning-from-demonstration framework that enables compositional modeling of robotic behavior by connecting perception and motion through shared object-level representations. We render scenes from object-centric neural representations that integrate canonical neural fields with latent-conditioned deformations, capturing positional and geometric variations in a smooth, consistent, and interpretable way. For motion generation, a temporal mixture-of-experts (MoE) employs a gating mechanism to combine object-conditioned movement primitives over time, producing complete trajectories. This spatial-temporal compositionality maintains the data efficiency of movement primitives while grounding motion in visual structure, enabling systematic generalization across diverse scene configurations. In simulation, long-horizon manipulation tasks are successfully completed using the proposed model, which requires significantly less training data than other image-based baselines. Real-world experiments further demonstrate the method's robustness to noise, its ability to generalize at the category level through language-based segmentation models, and its capacity to operate directly on 3D scene representations.

In text-to-image in-context learning (T2I-ICL), a model has to infer a latent compositional pattern from fewshot demonstrations for generating a query image. Recent studies show that state-of-the-art multimodal large language models struggle with this setting, particularly due to limited compositional reasoning and sensitivity to prompt construction. In this work, we propose a Tree-of-Thoughts (ToT) reasoning framework for T2I-ICL that introduces a multi-stage reasoning and selection layer that generates, evaluates, and selects among multiple candidate hypotheses before constructing the final prompt for image synthesis. By exploring alternative reasoning branches and selecting a coherent interpretation, the proposed approach mitigates prompt ambiguity and compositional errors. We implement the proposed approach in a complete ToT-T2IICL inference pipeline and evaluate it on the CoBSAT benchmark. Both qualitative and quantitative results show that structured multi-branch reasoning leads to more consistent and semantically aligned image generation compared to baseline and Chain-of-Thought prompting strategies, without any additional training or fine-tuning.

Proprioception is fundamental to robotic manipulation, yet standard fusion methods often treat it as an isolated vector lacking explicit alignment with visual tokens. Without a direct correspondence between 3D kinematics and 2D feature maps, manipulation policies struggle to ground the robot's state within the scene, frequently underperforming even vision-only baselines. To address this, we introduce GeoProp, a lightweight, plug-and-play adapter that aligns proprioception with vision through explicit geometric grounding and spatial feature sampling. GeoProp projects the robot state onto the image plane to sample localized visual features, constructing a grounded state token. It then injects state-derived spatial priors into the corresponding visual features via FiLM modulation. To capture motion intent, GeoProp further samples features at a short-horizon predicted coordinate derived from recent kinematics, providing look-ahead visual context. Across 67 tasks, GeoProp improves Diffusion Policy by 8.7% on 63 simulation tasks and pi_0 by 4.0% on the RoboTwin subset, and yields a 10.6% average gain across both policy families in the real world, while adding only 2-3% to the parameter count. These results demonstrate that GeoProp is a simple yet high-impact inductive bias for generalist embodied policies. Project page: https://alibaba-damo-academy.github.io/GeoProp/.

Safety evaluations of multi-agent LLM systems often compare a direct prompt with a planner-executor pipeline and report the difference as a single "pipeline effect." We argue that this aggregate is difficult to interpret because it conflates three mechanisms: harmful intent may be reframed as plausible operational work, the planner may refuse or transform the request, and the executor may act under delegation prompts implying prior approval. To separate these factors, we introduce a five-condition controlled contrast design, evaluated on 30 synthetic harmful scenarios and an exploratory external validation set from four agent-safety benchmarks using LLM-judged compliance. Our results show that aggregate pipeline safety is not a stable architectural property. Operational reframing is the most portable risk signal, increasing compliance for GPT, Gemini, and DeepSeek across both scenario sets, while Claude is comparatively resistant. Planner behavior can offset this risk mainly through refusal; however, when the planner produces executable steps, the executor may become more compliant than under the direct operational baseline. Approval-framed delegation is sensitive to prompt design, model pairing, and scenario source, and a skeptical executor prompt sharply reduces compliance. Raw-direct model rankings can also mispredict deployed planner-executor behavior. Gemini is safest under raw direct prompts in the primary set yet shows the largest amplification with a Claude planner, rising from 8.9 percent to 38.9 percent compliance. GPTs near-zero aggregate pipeline effect instead hides a reframing increase canceled by planner refusal. These findings suggest that multi-agent safety evaluations should report reframing, planner behavior, delegation framing, and model pairing separately before attributing failures to architecture itself.

Relational Deep Learning (RDL) has become a standard methodology for machine learning on relational databases: the database is encoded as a heterogeneous temporal graph in which tuples become nodes and primary-key to foreign-key (PK-FK) dependencies become typed edges, over which a graph neural network is trained for downstream prediction. We study the adversarial robustness of this pipeline. We consider a white-box attacker who knows how the graph is built and the model is trained, reasons about perturbations on the graph, but can only act on the upstream database, by rewiring foreign-key references while preserving the integrity constraints of the schema (foreign-key validity, the degree-one FK constraint, and functional dependencies). This restricts the attacker to a constrained, combinatorial set of admissible edits under a global perturbation budget, which is intractable to explore exhaustively and made non-additive by GNN message passing. We investigate seven attack heuristics - two random sampling baselines and five gradient-guided variants that exploit differentiable edge masks - and evaluate them on the RelBench rel-f1 benchmark. Gradient-based attacks consistently outperform random baselines on regression tasks, whereas gains on classification are smaller, which we attribute to low label-flip rates and greater local stability of classification outputs.

Imitation learning has enabled remarkable progress in robotic manipulation, especially with diffusion and flow-based policies that generate complex visuomotor behaviors directly from demonstrations. Yet, despite their strong performance, these policies often fail to generalize across tasks and environments. A key reason is that existing policies tend to imitate superficial action correlations rather than the underlying intent. Inspired by the compositional structure of human behaviors, we propose PriGo, a primitive-guided test-time adaptive framework for robust robotic manipulation. PriGo introduces PANet, a lightweight primitive prediction module that infers primitive distributions directly from observations. We further propose a differentiable primitive guidance mechanism that refines generated actions during inference, steering trajectories toward semantically consistent behaviors. Unlike prior primitive-conditioned approaches, PriGo operates entirely at test time and can be seamlessly integrated into pretrained diffusion and flow policies without retraining. Extensive experiments on LIBERO, CALVIN, SIMPLER, and real-world robotic tasks demonstrate that PriGo consistently improves robustness, long-horizon execution, and generalization ability across both diffusion and flow-based policies.

Inherently interpretable classifiers for tabular data typically rely on sparse features, rules, or patterns that users can inspect directly. The marginal feature-screening step common to these methods can discard variables whose predictive value emerges only through joint configurations with other variables. We present Interaction Aware Interpretable Machine Learning (IAIML), a framework that addresses this limitation through three coordinated mechanisms: adaptive per-feature discretization, finite-grid pairwise interaction scoring, and a partitioned explanation budget. Detected interactions are routed through one of two strategies: relaxing the screening filter so that interaction-supported variables enter the pattern search, or constructing explicit pair terms for a sparse downstream classifier. On a 40-dataset panel comprising 24 real-world tabular benchmarks and 16 synthetic interaction stress tests, evaluated under nested cross-validation, IAIML achieves mean AUC within 1.4 points of tuned gradient-boosted ensembles while requiring roughly 14--28 times fewer fitted explanation components. On datasets with strong pairwise interaction structure and low marginal signal, IAIML outperforms all baselines. Among compact interpretable methods, IAIML is comparable to RuleFit in AUC and component count and is less expensive to tune. EBM obtains a small but significant AUC advantage across the full panel, with a substantially larger lookup-table footprint. Performance degrades on datasets requiring higher-order interactions beyond the pairwise scope. Component-isolated ablations confirm that adaptive discretization and interaction-aware admission each contribute incrementally. These results support IAIML as a compact, interaction-aware framework appropriate for settings where bounded explanation size and controlled treatment of feature interactions are design requirements.

AI agents deployed for IT operations are typically permanent cost centers because every execution requires full LLM inference, even for previously solved problems. This paper introduces progressive crystallization, a lifecycle that treats agent exploration as a discovery mechanism rather than a permanent execution model. It defines a three-stage execution taxonomy, from fully agent-orchestrated to hybrid to fully deterministic workflows, together with an evidence-based promotion mechanism that converts repeatedly validated agent behaviors into cheaper and more reproducible deterministic workflows, while automatically demoting workflows that regress. Evaluated on a production cloud networking AIOps system processing tens of thousands of incidents per month, the approach increased deterministic execution from 0% to 45% over eight months, reduced per-incident agent costs by more than 70% despite doubling incident volume, and improved safety through greater reproducibility and auditability. The paper also presents the execution taxonomy, promotion and demotion criteria, trace extraction methodology, economic model, safety considerations, and discusses limitations and threats to validity.

Conversational image editing requires preserving not only visible content, but also content that temporarily disappears across turns. When newly added or modified content occludes a previously visible region, that region should reappear if it was never semantically changed. However, existing systems often fail to recover such occluded-but-unchanged content, producing inconsistent or hallucinated results. We introduce OCCUR-Bench, a diagnostic benchmark for temporal preservation in conversational image editing. OCCUR-Bench provides diverse occlusion-and-revelation scenarios with historical restoration references, enabling evaluation of faithful restoration rather than plausible regeneration. We also propose ReSpec, a training-free framework that makes implicit preservation explicit by pairing restoration-aware instructions with historical visual references. Given an editing history, ReSpec identifies what should persist, selects the historical image state that provides missing visual evidence, and conditions an in-context editor on the resulting instruction and reference image. Experiments show that ReSpec improves restoration fidelity and temporal consistency on OCCUR-Bench, highlighting the need to ground preservation in editing history rather than only the current image.

Agentic language models must learn when to call tools, when to consume tool responses, and when to answer directly. This makes multi-teacher on-policy distillation a natural training strategy: one teacher can specialize in tool calls, another in direct responses, and the student can learn from both on its own generated distribution. We show that this strategy can induce a behavior shift that is invisible from aggregate losses alone. In a two-teacher tool-use setting, vanilla generalized knowledge distillation improves tool-call recall but also moves the model toward over-calling, where it calls tools on examples that should be answered directly. Aggregate explanations are insufficient: tool-call samples do not receive more token exposure, and full-sequence per-token divergence is not larger for the tool-call teacher. We instead analyze behavior leverage imbalance: local token-level signals at mode- entry and structural positions, such as <tool_call> and function names, can have disproportionate control over the global generation mode. We propose Soft Clamp, a per-token divergence calibration method that dynamically compresses extreme token-level Jensen-Shannon divergence while preserving nonzero gradients. On APIGen-MT, Soft Clamp reduces over-calling from 13.7% to 9.0% relative to vanilla GKD while matching its decision accuracy. In a BFCL multi-turn diagnostic, it also lowers tool-call loops and repeated calls among GKD variants. These results suggest that multi-teacher OPD should monitor where teacher signals act, not only how large they are in aggregate.

Understanding the geometric structure of pre-trained language model embeddings matters for interpretability and safety. We ask whether sentence-level classification signal lives in the Riemannian geometry of contextual token embeddings, and probe it by extracting per-token pullback metrics from a learned encoder's analytical Jacobian and aggregating them with the Fréchet mean on the symmetric positive definite (SPD) manifold; we call this procedure Riemannian Mean Pooling (RMP). Across three datasets with non-trivial linguistic structure (CoLA, CREAK, RTE), RMP outperforms Euclidean mean pooling, while on FEVER-Symmetric, a benchmark constructed to remove annotation-driven lexical artifacts, the method correctly stays at chance. Ablations show that a randomly initialised encoder combined with Fréchet aggregation already beats Euclidean pooling on two of the three signal-bearing datasets, localising the source of the gain to the geometric aggregation rather than to learned manifold structure; the trained encoder contributes additional signal specifically on CREAK, the most knowledge-heavy of the three signal-bearing datasets.

Industrial sealing and dispensing cells often reuse a pressure chain, nozzle, substrate path, and vision interface across product recipes. For a narrow bead recipe, however, a calibrated static pressure can remain correct while small corrective moves are absorbed by actuator deadband; delivered pressure changes only after a direction- and history-dependent threshold is crossed. Commissioning is defined here as the target setup and retuning interval after such a recipe change. A physical gluing and dispensing cell provides pressure-to-width calibration, a fixed probing sequence, signal-interface limits, residual scales, and actuator bounds. The controller comparison is then run on an anonymized digital twin calibrated from those measurements. The actuator-deadband-aware Koopman model predictive controller (AK-MPC) initializes from probe-conditioned memory (PCM) that links the pressure setpoint to probe-inferred actuator behavior, a predictor, a controller prior, and a fallback filter. During commissioning, a sixteen-move probe selects a nearby historical case, fits the current pressure-width relation, updates a small local dynamic correction, and supplies a feasible receding-horizon pressure policy. In the main \(1.00\) mm benchmark, where delivered-pressure loss is visible in the probe, AK-MPC reaches 0.0487 mm tracking mean absolute error (MAE) over 60 paired cases; the calibration-only inverse, adaptive proportional-integral, online recursive-least-squares ARX, and probe-fitted ARX controllers range from 0.2492 to 0.3956 mm. This large gap reflects the full constrained Koopman-MPC and online-correction workflow. The isolated PCM contribution is measured by ablation: removing PCM raises the error to 0.0655 mm. In this regime, a short actuator characterization makes historical runs useful before much target data are available.

How can we measure intelligence beyond human capability? Human-authored benchmarks saturate, and above human capability, examiners may not know which tasks are both hard and verifiable. We argue that this difficulty is inherent to absolute-scale evaluation and propose a new paradigm based on relative measurement in which models generate public challenges that separate other systems. Aggregating these outcomes yields an adversarial psychometric rating system that can scale with the systems being measured. We describe practical protocols that reduce incentives for private-information attacks, support judge-free adjudication, and naturally scale with agent capabilities. We instantiate the framework across verifiable and open-ended, non-verifiable domains, illustrating how model-generated evaluation can continue to measure systems beyond the human frontier.

Medical image segmentation models can achieve strong benchmark performance while remaining sensitive to scanner, protocol, and institutional variation. These context shifts alter image appearance without changing the underlying lesion, allowing models to exploit nuisance cues that Dice and HD95 fail to expose. We present TRACE-Seg3D, a counterfactual context auditing framework for robust 3D medical image segmentation. TRACE-Seg3D preserves lesion-relevant evidence and systematically varies imaging context to quantify prediction stability under controlled context shifts. The framework pairs each segmentation with audit evidence for context sensitivity and anatomical plausibility, enabling case-level reliability assessment beyond overlap-based evaluation. Experiments on BraTS and UTSW glioma segmentation benchmarks demonstrate competitive in-distribution and cross-domain performance. TRACE-Seg3D also exposes context-sensitive failure modes missed by conventional metrics. These results establish counterfactual context auditing as a practical route toward transparent and reliable 3D medical image segmentation under distribution shift. Our code is available at https://github.com/danleneurocom/Counterfactual-Representation-Network.

Large vision-language models incur substantial inference costs because high-resolution inputs introduce thousands of visual tokens, many of which are redundant for a given query. Existing pruning methods often combine query relevance and token diversity, yet these objectives can conflict under aggressive compression: relevance-driven selection may overconcentrate the budget on correlated local evidence, while diversity-driven selection may suppress indispensable tokens or retain distinct but uninformative regions. We introduce AnchorPrune, a training-free framework that first constructs a protected relevance anchor and then expands it with complementary visual context. AnchorPrune adaptively determines the anchor size from the novelty profile of relevance-ranked tokens, preserving a compact set of query-critical evidence, and allocates the remaining budget through importance-weighted novelty to recover informative, non-redundant context relative to the anchor. This ordered design prevents contextual expansion from displacing indispensable query cues while improving overall visual coverage. AnchorPrune is lightweight, architecture-aware, and requires neither retraining nor model modification. Across image and video vision-language models and benchmarks, it consistently improves the accuracy-efficiency trade-off over training-free baselines, particularly under severe compression. On LLaVA-NeXT-7B, AnchorPrune preserves 97.6% of full-token performance using only 160 of 2,880 visual tokens. These results establish relevance-anchored contextual expansion as an effective principle for efficient multimodal inference. Code is available at https://github.com/MULTI-cau/AnchorPrune.

Spectral positional encodings (PEs) for \emph{directed} graphs face two obstacles: magnetic Laplacians require an $O(n^3)$ Hermitian eigendecomposition per potential, and their complex eigenvectors are defined only up to unitary gauge, which prior work handles with basis-invariant architectures. We propose learnable spectral PEs of the form $h_θ(A_q)\,R$, where $A_q$ is a normalized magnetic operator, $h_θ$ a learnable scalar spectral response, and $R$ a block of random probes. Because the PE is a \emph{matrix function} of the operator, it is gauge-invariant by construction. We compute it in a Hermitian block Krylov subspace from sparse matrix--vector products only, prove that $k = O(\log(1/\varepsilon))$ block steps suffice uniformly over heat--resolvent response families, and give a covering-number argument for why low-dimensional structured families generalize where free per-eigenvalue weights overfit. On a directed SBM whose symmetrization is uninformative by construction, direction-blind PEs stay at chance while magnetic Krylov PEs converge to the exact-eigendecomposition oracle as the depth grows. The same probes yield gauge-invariant pairwise features with $1/\sqrt{s}$ Monte-Carlo error, and the undirected $q{=}0$ case improves heterophilous benchmarks over no-PE and polynomial baselines.

Reinforcement learning (RL) policies can be unsafe and vulnerable to attacks. Ensuring their reliability is often a pain point as existing automated testing methods target only selected environments, testing scenarios, and RL algorithms. To address this, we propose a comprehensive framework for testing single- and multi-agent RL policies under varying conditions. Our implementation of this framework, Gimitest, is an open-source tool that supports various gym frameworks and allows for modifications of their integrated components. This article describes the framework and details Gimitest's functionality and architecture. It showcases its effectiveness in testing multiple RL policies in environments such as the official Farama Gymnasium and PettingZoo.

Humans continuously coordinate with others in dynamic interactions, often through implicit, hard-to-quantify social norms that act as shared tacit expectations among interacting agents. As AI agents, including large language models (LLMs), become embedded in daily life, they increasingly participate in such interactions and reshape social interaction structures. Yet they often fail to coordinate with humans in an effective, considerate, and natural manner. We hypothesize that this gap arises because existing approaches align model behavior with human demonstrations without explicitly quantifying the underlying norms that generate such behavior. We selected pedestrian-vehicle interaction as a representative dynamic interaction and developed a simplified experimental platform that captures its key interactive features. From 3,456 dynamic human interactions collected via this platform, we identified three principles underlying human social norms: outcome predictability, value alignment, and advantage awareness. Incorporating these principles into AI agents significantly improves human-AI coordination. In the closed-loop interaction task with humans, the social-norm-informed LLM achieved a nearly fourfold higher total score than the baseline strategy and outperformed human-human interactions by 43%. These findings indicate that formalizing tacit social norms into explicit, quantifiable principles can enable AI agents to achieve mutually beneficial coordination in dynamic interactions, supporting their more natural integration into human society.

Anticipating human motion from an egocentric perspective is fundamental for proactive assistance in AR/VR, human-robot collaboration, and embodied AI. While recent works incorporate language as a semantic prior to reduce the ill-posed nature of egocentric forecasting, they largely neglect the 3D spatial and semantic context that governs how motion unfolds, and treat pose and language prediction as separate inference streams. We introduce Ego3DLM, built on two core principles: accurate motion forecasting requires explicit spatial and semantic understanding of the 3D environment, and pose and language must be predicted holistically in a single pass, since motion is inherently tied to the semantic interpretation of actions being performed. Given three-point tracking, 3D scene features, and egocentric video, Ego3DLM simultaneously decodes past pose, future pose, past narration, and future narration in a single autoregressive pass, grounding predicted poses and descriptions in one another to enforce cross-modal and temporal consistency. We adopt a three-stage training scheme: (1) spatial-semantic scene awareness pretraining; (2) holistic instruction tuning over all four outputs in a single pass; and (3) GRPO-based reinforcement finetuning with intra- and inter-modal rewards that directly optimize pose-language fidelity. Experiments on the Nymeria benchmark demonstrate that Ego3DLM achieves state-of-the-art performance across future motion prediction, past motion tracking, and motion description, showing that 3D scene grounding and holistic cross-modal prediction yield physically plausible and semantically coherent motion forecasts. The project page is available at https://jaewoo97.github.io/Ego3DLM/.

Customer behavior modeling underpins recommendation, marketing, and decision support, yet existing approaches either optimize predictive accuracy without explaining decisions or simulate users without grounding them in real behavioral data. We present the Large Behavioral Model (LBM) that learns customer decision making directly from large-scale retail transactions through a unified Person-Environment formulation. Customer state is represented by a behavioral profile derived from historical purchases, while product context is incorporated through retrieval-augmented generation. The model is trained using continued pre-training on verbalized behavioral data, supervised fine-tuning for decision generation, and reinforcement learning with verifiable rewards for evidence-based calibration. We evaluate the proposed framework on purchase prediction, hard-negative discrimination, basket completion, promotion response, and cross-domain voucher redemption. The model consistently outperforms frontier general-purpose language models on in-domain retail tasks while demonstrating strong zero-shot and fine-tuned transfer across retailers and decision domains. Ablation studies show that continued pre-training is the primary driver of behavioral generalization, retrieval is most effective when applied during both training and inference, and reinforcement learning improves reliance on explicit behavioral evidence over generic language-model priors. These results demonstrate that behavioral knowledge encoded in transaction histories can be effectively learned by language models, providing a scalable foundation for customer digital twins and behavior simulation.

Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these objectives into actionable plans. However, effectively grounding this high-level reasoning in physical multi-robot execution remains an open challenge. Existing LLM-based approaches fall mainly into two categories: Single-robot methods achieve robust contact-rich manipulation but lack the coordination mechanisms required for tasks spanning multiple workspaces. Current multi-robot frameworks focus on high-level planning, often treating manipulation as an idealized primitive that fails to account for real-world execution uncertainties. To address this, we propose a hierarchical closed-loop agentic LLM-based framework to ensure robust multi-robot manipulation. Our system consists of three specialized agents: the Planning Agent decomposes instructions into allocated sub-tasks, the Manipulation Agent for each robot executes actions via adaptive tool use, and the Verification Agent closes the loop by monitoring physical outcomes and feeding back semantic corrections. Extensive real-world experiments demonstrate that our framework achieves superior success rates, ensures robust adaptability ranging from single to cross workspace manipulation, and offers a generalizable approach for diverse manipulation tasks.

Table tennis, a dynamic, compact, and popular sport, has received significant attention as a robotics benchmark over the last decades. Most of the research has focused on the rally aspect - returning an incoming ball - requiring high-speed vision, agile motion planning, and tight closed-loop control. However, the other component of table tennis gameplay - the serve - is comparatively a quite unexplored research problem, that in fact requires pushing physics modeling and control to the extremes. Achieving competitive serves with a robot presents domain-specific challenges, such as high-spin generation from a spinless ball, precise aiming, or multi-objective optimization. In this work, we present a novel approach for generating official rule-compliant serves by combining motion primitives, Model Predictive Control, and Bayesian Optimization. Serves generated in this way offer a wide and controllable variation of spins of up to 550 rad/s, and speeds of up to 6.7 m/s, matching and even surpassing those of elite table tennis players.

Steering robot foundation models (RFMs) toward new task variants or user-preferred behaviors remains challenging, often requiring additional robot demonstrations, task-specific fine-tuning, or long-context conditioning. We present WAM-TTT, a test-time training framework for steering world action models from raw human videos. Rather than treating human videos as trajectories to imitate, WAM-TTT absorbs them into a lightweight adaptive memory inside a frozen WAM through self-supervised video prediction. To make this memory useful for control, we introduce a meta-training stage that aligns human demonstrations with robot behaviors using paired human-robot data and a key--value memory reconstruction objective. At test time, only unlabeled human videos are required to adapt the memory, while the pretrained WAM remains frozen. This enables efficient and reusable steering without robot actions, human-side annotations, or task-specific fine-tuning, while preserving the generalization ability of the foundation model. Extensive experiments show that WAM-TTT consistently outperforms in-context human-video conditioning baselines across diverse manipulation tasks and generalization settings.

Robot imitation learning for manipulation should preserve demonstrated task geometry while producing dynamically admissible robot motions. Existing pipelines often learn task-dependent trajectories and impose execution limits afterward through filtering, smoothing, clipping, or time scaling, which may distort task-critical end-effector paths. We propose the Spectral Movement Primitive (SMP), a frequency-domain imitation learning framework that couples task-space skill generation with joint-space execution regulation. Demonstrations are represented by truncated finite-horizon Fourier coefficients. An empirically selected low-frequency task band captures the dominant motion geometry, while higher harmonics contribute disproportionately to derivative growth. A frame-aware context-conditioned GMM/GMR prior predicts the task-band coefficients in a canonical task frame, and the resulting Cartesian trajectory is mapped to joint space through sequential inverse kinematics. A phase-coupled regulator then limits the requested phase progression without modifying the spectral coefficients, thereby enforcing joint velocity and acceleration limits while preserving the represented path. Experiments evaluate task-band reconstruction, robustness to composite demonstration corruption, out-of-distribution cross-board generalization, joint-space dynamic admissibility, end-effector path preservation, and deployment on a Franka Panda robot. Results show compact geometric reconstruction, consistent transfer across unseen task frames, substantial reductions in dynamic violations and jerk, and preservation of the intended end-effector path during phase regulation.

Large language models (LLMs) increasingly improve their reasoning at test time via additional computation, yet most existing works treat each problem in isolation. When problems arrive sequentially, accumulating reusable experience across them can further improve performance. Existing memory-based methods either store whole-solution templates that generalize poorly to novel problems or use heuristic step-level selection that is not optimized for final-answer correctness. Learning selection policies requires large-scale training data and fixed action spaces, making such approaches unsuitable for test-time settings where memory expands incrementally and only limited supervision is available. We propose MILES (Modular Instruction Memory with LEarnable Selection for self-improving LLM reasoning), a framework that dynamically expands step-wise memory and applies correctness-optimized memory composition under realistic test-time constraints. MILES maintains modular memory units consisting of asymmetric pairs of sub-goal embeddings and sub-instructions, each associated with a learnable selection head. This memory structure enables a coarse-to-fine retrieval mechanism: The coarse level enables memory expansion and collects supervision for training selection heads from confident samples, while the fine stage applies learned selection heads to rerank coarse-level candidates and guide reasoning for uncertain samples. MILES consistently matches or outperforms prior methods while achieving superior accuracy-efficiency tradeoffs. Extensive experiments demonstrate its effectiveness, robustness, and transferability.

We introduce a new context-enriched, multimodal time series forecasting benchmark, TimesX. TimesX contains a wide selection of high-quality real-world time series with diverse domains and textual contexts obtained from an automated data generation pipeline, which helps address three main issues of existing multimodal forecasting benchmarks: (1) poor generalization due to the small scale and synthetic nature of benchmark data, (2) very limited types of textual contexts in the benchmarks, and (3) an inability to mitigate data leakage in evaluation. We conduct a thorough empirical study of zero-shot multimodal forecasting approaches on TimesX. Our results suggest that many approaches that perform well on existing benchmarks may fail on TimesX. In contrast, simple ensemble methods that leverage rich textual context accompanying time-series can outperform strong baselines on TimesX.

This paper investigates the subspace consensus problem of matrix-weighted multi-agent networks, where each agent possesses a vector-valued state in $\mathbb{R}^{d}$ and interactions between neighboring agents are characterized by matrix-valued edge weights. Besides all dimensions of the agent states achieve full-state consensus, many practical applications appeal that agents are required to agree only on certain dimensions while maintaining desired relative configurations in the remaining ones. To address this gap, we introduce the concept of subspace consensus. A matrix-weighted network is said to achieve subspace consensus on a subspace $\mathbb{V}\subseteq\mathbb{R}^{d}$ if the projection of the agents' state differences onto $\mathbb{V}$ asymptotically converges to zero. This definition renders the traditional consensus as a special case when $\mathbb{V}=\mathbb{R}^{d}$. From an algebraic perspective, we derive necessary and sufficient conditions for subspace consensus by analyzing the interplay between the null spaces of edge weights. From a topological perspective, we present sufficient conditions characterized by $\mathbb{V}$-connectivity and the existence of a $\mathbb{V}$-spanning tree, as well as necessary conditions based on graph cuts. Furthermore, we provide refined necessary and sufficient conditions specifically for tree networks. This work uncovers a fundamental capability inherent to matrix-weighted networks and establishes a systematic framework for analyzing agreement behaviors on prescribed subspaces.

Bridging the gap between human pilot intent and autonomous flight operation is critical for real-world electric vertical takeoff and landing (eVTOL) aircraft deployment. Flight planning traditionally relies on classic algorithms that struggle to incorporate flexible human preferences. We present FRAMe, an End-to-End Large Language Model (LLM) Flight Planning tool with RAG-based Memory and Multi-modal Coach Agent. Our system integrates a planner LLM with a multi-modal coach agent and retrieval augmented generation (RAG)-based memory to generate flight plans that satisfy mission constraints while aligning with human flight operator preferences. We demonstrate the system in a range of real-world-inspired scenarios of varying difficulty levels. Across four LLMs, the full FRAMe system (RAG and coach) yields the highest validity for every planner (up to 93.8% aggregate, 99% on Easy scenarios for the strongest planner) and shifts preference-relevant metrics in the operator-favored direction where the metric has headroom. FRAMe signifies how advanced LLMs can be deployed for human-centric mission planning, translating natural language instructions into safe, efficient, and flexible flight routes. The code is available at: github.com/amin-tabrizian/FlightPlanningLLMs

Large Language Models (LLMs) and generative AI (GenAI) systems, such as ChatGPT, Claude, Gemini, LLaMA, Copilot, Stable Diffusion by OpenAI, Anthropic, Google, Meta, Microsoft, Stability AI, respectively, are revolutionizing cybersecurity, enabling both automated defense and sophisticated attacks. These technologies power real-time threat detection, phishing defense, secure code generation, and vulnerability exploitation at unprecedented scales. Following a rapid surge where LLM-generated malware grew to account for an estimated 50% of detected threats by 2025, up from just 2% in 2021, navigating this highly automated threat landscape in 2026 demands next-generation security frameworks. This paper presents a comprehensive survey of the beneficial and malicious applications of LLMs in cybersecurity, including zero-day detection, DevSecOps, federated learning, synthetic content analysis, and explainable AI (XAI). Drawing on a review of over 70 academic papers, industry reports, and technical documents, this work synthesizes insights from real-world case studies across platforms like Google Play Protect, Microsoft Defender, Amazon Web Services (AWS), Apple App Store, OpenAI Plugin Stores, Hugging Face Spaces, and GitHub, alongside emerging initiatives like the SAFE Framework and AI-driven anomaly detection. We conclude with practical recommendations for responsible and transparent LLM deployment and trustworthy AI, including model watermarking, adversarial defense, and cross-industry collaboration, setting a new benchmark for rigorous, holistic cybersecurity research at the intersection of AI and threat defense, and offering a roadmap for secure, scalable LLM systems that serves as a critical reference for researchers, engineers, and security leaders navigating the complex challenges of AI-driven cybersecurity.

Realistic and diverse traffic simulation is essential to autonomous driving development. Yet prevailing benchmarks predominantly reward realism, and recent methods have optimized accordingly, leaving diversity underexplored. We introduce \textbf{Flow-ERD}, a multi-agent simulator that pursues realism and diversity jointly. Its backbone, \textbf{Agent-Type Aware Flow Matching} (AFM), couples flow matching's multi-modal expressiveness with type-specific kinematic execution. It preserves fine-grained diversity while keeping motions consistent with each agent type. A second stage, \textbf{Entropy-Regularized Distillation} (ERD), fine-tunes the closed-loop rollout distribution with an entropy-regularized reverse-KL objective. This mitigates covariate shift while explicitly preventing collapse onto high-density modes. We evaluate Flow-ERD with a log-free diversity metric alongside standard realism scores. Flow-ERD ranks first on the WOSAC test benchmark and dominates the realism--diversity Pareto front among reproducible baselines. Our project page is available \href{https://seulbinhwang.github.io/flow-erd-project-page/}{here}.

Sampling-based model predictive control methods handle nonlinear dynamics and complex cost landscapes through Monte Carlo rollouts, yet typically employ fixed constraint penalties that do not adapt to model-plant mismatch. This paper proposes Residual-Conservative Model Predictive Path Integral Control (RC-MPPI), a sampling-based MPC framework that modulates safety conservatism online using the prediction-execution residual. RC-MPPI combines three coupled mechanisms: residual-dependent constraint tightening, adaptive safety-cost shaping, and residual-adaptive sampling modulation through exploration contraction and temperature relaxation. The temperature adaptation reflects a key insight: when the model is inaccurate, rollout cost evaluations become unreliable, and increasing temperature reduces overcommitment to apparent cost rankings. Under Lipschitz dynamics and sub-Gaussian disturbances, we derive probabilistic bounds on constraint violation and show that the joint effect of the adaptive mechanisms reduces violation probability as the residual grows. A rollout-cost uncertainty analysis further shows that model-plant mismatch perturbs MPPI importance weights in proportion to residual magnitude and inversely with temperature, providing theoretical justification for residual-adaptive temperature relaxation. Simulations on an LTI point-mass system and a planar 2R manipulator show improved safety margin, success rate, and control efficiency compared with vanilla MPPI under significant model-plant mismatch.

The accuracy of existing leaf-wood segmentation methods for tree point clouds varies across forest types and sites. Self-supervised learning (SSL) on point clouds has improved the generalization of deep learning models for forestry point cloud tasks, including biomass regression and individual tree segmentation, but its applicability to leaf-wood segmentation remains untested. In this study, we pretrained Point-M2AE, a widely used SSL architecture for point clouds, on ShapeNet-55 augmented with 2,400 individual tree point clouds. For fine-tuning and inference, we used recursive voxel subdivision to handle the wide variation in point density across inputs, allowing the same model to operate at both individual-tree and plot scales without architecture change. Compared to the model without pretraining, the pretrained model improved wood IoU from 60.5% to 70.0% for needleleaf and from 69.7% to 76.3% for broadleaf trees. On a benchmark spanning four countries across three climatic zones, the pretrained model achieved the smallest cross-site variation and highest overall performance among compared methods (LeWos, CWLS, and PointTransformer). Plot-level segmentation maintained accuracy comparable to individual-tree performance, with mIoU of 84.7% for broadleaf and 77.7% for needleleaf plots, showing that the model generalizes across scales without additional finetuning. As a downstream test in tropical forests, where dense canopies make segmentation challenging, we applied our model and a quantitative structure model to estimate wood volume for 28 trees from Guyana, Indonesia, and Peru to assess whether the segmentation improvements from SSL pretraining translate into improved downstream performance. The resulting volume estimates achieved the lowest error among all methods tested (MAE = 2.40 m$^3$), less than half that of algorithmic baselines (LeWos: 5.94 m$^3$; CWLS: 5.27 m$^3$).

Reinforcement learning (RL) is increasingly grounded in tools from probability, optimization, and operator theory. This survey organizes the mathematical structures that underpin the design and analysis of modern algorithms in RL. We begin from Markov decision processes (MDPs) and the Bellman operators, emphasizing contraction mappings, monotonicity, and fixed-point theory that yield convergence guarantees and rates for value and policy iteration, and temporal-difference schemes. We then develop the optimization perspective: stochastic approximation and martingale methods, convex duality and the role of regularization linking mirror/proximal methods. Function approximation is treated through linear and non-linear settings, covering stabilization, error decomposition, and sample-complexity via concentration inequalities for dependent data and mixing processes. We further cover off-policy evaluation/learning, constrained RL and constrained MDPs (CMDPs). Throughout we unify algorithmic templates under common operator and variational lenses, highlighting both finite-sample bounds and asymptotic results. Our presentation is intended to provide a unified mathematical entry point for researchers in probability, optimization, and statistics interested in reinforcement learning.

Missing data is prevalent in practical applications, making effective imputation an essential preprocessing step for downstream analysis. Real-world datasets often exhibit complex latent structures composed of multiple subgroups with distinct distributions. However, existing methods often overlook such population heterogeneity. Without explicit structural guidance, these methods tend to produce generic estimates that blur subgroup boundaries and lack instance-level fidelity. While incorporating subgroup information offers a remedy, it faces a circular dependency: reliable subgroup identification requires complete data, while data completion is the imputation objective itself. To resolve this, we propose CAGI (Cluster-Aware Generative Imputation), a framework that reformulates clustering and imputation as a mutually reinforcing co-optimization process. CAGI employs a ``Partition-Guide-Restore'' strategy where dynamic cluster assignments act as local priors to condition a Generative Adversarial Network. An iterative feedback loop is established to progressively refine both cluster structures and imputed values toward faithful subgroup distributions. To ensure distributional stability, CAGI further employs a multi-level optimization objective combining instance-level reconstruction with distribution-level regularization. Extensive experiments on 14 benchmark datasets with 15 representative baselines demonstrate the superiority of CAGI. The source code is available at: https://github.com/supercocachii/CAGI

Music aesthetic assessment is a challenging yet underexplored problem, requiring models to capture fine-grained, multi-dimensional human perceptual judgments. Progress in this area has been limited by the lack of large-scale datasets with structured aesthetic annotations. We introduce MADB, a large-scale dataset and benchmark comprising 9,999 tracks annotated by 30 trained annotators. Each track is rated by around 10 annotators across 10 perceptual dimensions and one overall score, with additional textual comments for multimodal analysis. We establish a unified evaluation framework over multiple pretrained models. Results reveal substantial gaps between model predictions and human judgments, exposing key limitations of current approaches. MADB provides a new benchmark for human-aligned music understanding. Project page: https://github.com/knownree/madb

Compact world models that condition on a language goal promise to ground relations such as ``put the red block left of the blue block'' using a sparse set of explicit \emph{reference anchors}. We ask when such references actually ground a relation, and identify a trap: a goal-conditioned predictor reaches a striking $0.90$ relation-readout accuracy, yet this is \emph{instruction transcription}, not perception. Withholding the goal collapses it to chance ($0.90\!\to\!0.27$, three seeds) and a counterfactual instruction makes the predicted anchors follow the \emph{false} instruction $94.5\%$ of the time (true scene $2.3\%$; $N{=}256$). Tested across three settings and a within-task ablation, our central claim characterizes the confound: \textbf{instruction leakage occurs when the scored quantity is transcribable from the instruction (when the instruction names the answer) and is essentially independent of how predictive the non-instruction inputs are.} Our tabletop and the external BabyAI benchmark leak, whereas a Language-Table forward-dynamics world model whose instruction names \emph{referents} does not, until the instruction is augmented to name the direction; and degrading the action never increases leakage, the opposite of what predictor-competition predicts. The diagnosis prescribes the fix: keep the goal out of the dynamics (it belongs to the planner's cost) and supervise the \emph{read} path, recovering genuine, instruction-independent grounding ($0.88$, identical with and without the goal). The detection protocol and remedy apply to any goal-conditioned world model whose instruction names the scored quantity.

Pre-trained Vision Foundation Models (VFMs) provide strong visual representations for diverse downstream tasks. The key challenge of VFM adaptation stems from the prohibitive costs of full fine-tuning and catastrophic forgetting. To address this, Low-Rank Adaptation (LoRA) has emerged as the prevailing paradigm for Parameter-Efficient Fine-Tuning (PEFT). However, LoRA is typically designed for transformer self-attention layers parameterized by 2D matrices. Since convolutional kernels inherently couple spatial and channel information within a 4D tensor, forcing them into a monolithic 2D matrix disrupts the inherent spatial topology. In this paper, we propose Low-Rank Convolutional Adaptation (LoCA), a convolution-aware PEFT framework that addresses spatial-channel entanglement by decoupling channel and spatial adaptation. LoCA introduces a low-rank channel adaptation for dense cross-channel mixing and refines spatial bases extracted from pre-trained kernels via Singular Value Decomposition (SVD). Experimental results show that LoCA preserves pre-trained spatial priors and achieves competitive or state-of-the-art performance across fine-grained classification, domain-generalized semantic segmentation, and generative benchmarks.

Despite rapid advances in chest X-ray (CXR) foundation models, most radiology report generation (RRG) systems still rely on heavily downsampled inputs (e.g., 256x256) due to the fixed visual token budgets of pretrained vision encoders, suppressing subtle yet clinically important cues present in native-resolution images. However, enabling high-resolution (high-res) perception remains challenging: naive tiling causes prohibitive token inflation, while global compression suppresses subtle lesions and degrades diagnostic fidelity. Inspired by radiologists' workflow, localizing suspicious regions before detailed high-res assessment. We propose Lesion-Aware High-Resolution Patch Discovery and Fusion for Chest X-ray Reporting (LePaX), the first RRG framework that enables efficient high-res CXR perception (up to 1920x1920) without increasing the vision-token count. LePaX formulates high-res perception as a constrained spatial resolution allocation problem under a fixed token budget and introduces two key components: Learnable Spatial Resolution Allocation (LSRA), which learns a spatial utility map that adaptively allocates limited high-res capacity to diagnostically relevant regions, enabling targeted extraction of high-res patches from native CXRs; and Global-Regional Fusion (GRF), which performs token-preserving region-to-global refinement by projecting high-resolution regional evidence back onto the global feature grid through spatially aligned resolution write-back, avoiding token inflation. Experiments on multiple CXR benchmarks demonstrate that LePaX consistently improves both clinical and linguistic metrics while enabling native-resolution CXR perception with over 10x fewer visual tokens than naive high-res tiling.

Agentic AI development today runs on token maxing: buying capability with tokens -- longer reasoning traces, more turns, wider tool payloads, bigger replayed contexts -- so tokens per task grow faster than task value. Falling per-token prices mask the pattern; total spend rises anyway. We argue the decisive lever against token maxing is the harness: the orchestration layer that assembles context, exposes tools, sequences turns, delegates work, and carries enterprise observability and governance. We isolate it with a controlled swap: 22 locked evaluation tasks, six foundation models (Claude Sonnet 4.6, Gemini 3.1, Gemini Flash 3.5, Qwen 3.6, GLM 5.1, Palmyra X6), changing only the orchestration layer -- a frozen conventional production loop versus the Writer Agent Harness. Holding models constant, the harness cuts blended cost per task 41% ($0.21->$0.12), median wall-clock 44% (48s->27s), and tokens per task 38% (14.2k->8.8k), with task-completion quality at parity (0.78->0.81, directional at this sample size). Efficiency is model-invariant -- every model gets cheaper (33-61%) -- while quality gains are capability-dependent: a model's gain correlates almost perfectly with its baseline strength (r=0.99, n=6), a phenomenon we term harness leverage. Quality per dollar rises 82%; task-completions per million tokens rise from 54.9 to 92.0. On this workload the orchestration layer moved cost per task more than the full spread of the model menu did. We formalize token economics at the orchestration layer (including effective input price under prompt caching), detail the six mechanism families behind the effect -- cache-shape discipline to failure-spend governance -- compare six widely used agent systems on the same axes, and argue the harness is the one component whose efficiency multiplies across every model an organization runs -- present and future.

Robust dynamic object detection and tracking are essential for enabling robots to operate safely and effectively alongside humans in complex environments such as construction sites. While LiDAR-based SLAM and occupancy grid methods offer viable solutions for detecting and tracking motion, many state-of-the-art 3D vision approaches rely heavily on pre-trained neural networks and require additional post-processing to identify moving objects. Sensor fusion techniques, combining the precision of LiDAR with the semantic richness of RGB imagery, offer a promising alternative. In this work, we present a novel framework that enhances a quadruped robot equipped with a LiDAR sensor and an upward-facing fisheye camera for real-time dynamic object detection and tracking. After identifying moving objects within a registered point cloud, our method assigns semantic labels by projecting 3D coordinates onto a 2D cylindrical panorama, aligning with real-time image-based detections for observation update of the Kalman filter. The proposed system demonstrates high precision, simplicity, and robustness, particularly in handling objects transitioning between dynamic and static states, thus it is well-suited for deployment in real-world construction environments.

Visual navigation policies built on large pretrained models have so far followed a common recipe: a dedicated visual encoder, a bespoke action head, and training on thousands of hours of cross-embodiment datasets. We ask whether this recipe is necessary. In this paper, we introduce GemNav, a visual robot navigation policy that adapts a frozen Multimodal Large Language Model (MLLM) for short-to-medium horizon waypoint navigation using Low-Rank Adaptation (LoRA) on the language tower alone, with no auxiliary visual encoder and no continuous regression head. Waypoints and categorical navigation signals share a single discrete token vocabulary generated by the language-model head, and a soft-decoded auxiliary loss recovers the metric structure that pure cross-entropy training discards. On a single 8.7-hour open corpus, roughly three orders of magnitude smaller than competing training sets, the policy transfers zero-shot to four physically distinct unseen environments and stops within 0.25-0.42m of the goal across 20 real-world trials covering an open carpark, an obstacle carpark, a long outdoor chemical yard, and an indoor warehouse. Conditioning on short image histories improves offline metrics but yields no robot benefit, pointing to a ceiling on what temporal context adds once pretrained vision features are in place. These results indicate that discrete-token adaptation of frozen MLLMs can provide a data-efficient, deployable alternative for foundation model robot navigation.

Understanding and forecasting audience reactions to video content are crucial for improving content creation, recommendation systems, and media analysis. To enable audience reaction prediction and other content engagement applications, we introduce $\textbf{Video2Reaction}$, a multimodal dataset that maps short movie segments to a distribution of $\textit{induced emotions}$ of viewers in the wild, as expressed through social media. $\textbf{Video2Reaction}$ spans more than 10,000 videos and serves as a reliable benchmark as well as a training resource for audience reaction prediction. To enable cost-effective continuous annotations as reactions may change over time, we develop a two-stage multi-agent pipeline using only open-source LLMs, achieving 86% correctness under blind human verification despite the inherently noisy and subjective nature of the task. We establish the first benchmark for video-to-reaction-distribution prediction in the wild and show that pretrained foundation video models fail in zero-shot settings, while finetuning transforms them into state-of-the-art predictors capable of modeling both full reaction distributions and dominant responses from video alone. However, the task remains challenging: even the strongest methods achieve only 77% Top-3 F1 in dominant reaction prediction (LLaVA-Next), highlighting a substantial gap in modeling collective audience reaction. \modification{Dataset and code are available at our project page: https://information-fusion-lab-umass.github.io/video2reaction-bench.github.io

The increasing accessibility of artificial intelligence has led to a rapid rise in AI-generated videos, making it more difficult to distinguish between real and manipulated content. Many existing detection methods rely on a single model and often struggle to generalize across different types of deepfakes. In this work, we developed a multimodal deepfake detection system that combines both audio and visual analysis using an ensemble of models. The system includes AASIST for audio-based detection, and EfficientNet, XceptionNet, and MesoNet for analyzing visual features in video frames. The pipeline takes a video as input, separates the audio, and extracts face frames using MTCNN. Each model produces a score indicating the likelihood of the input being fake. These scores are then combined using ensemble strategies, including mean averaging and stacking. Mean fusion provides a simple and stable baseline, while stacking uses a trained meta-model to learn how to combine predictions more effectively. Results show that while individual models perform well on the datasets they were trained on, their performance drops when tested on more diverse datasets. The ensemble approach helps improve overall robustness by combining predictions from multiple models, leading to more consistent performance across different types of deepfakes. This suggests that using both audio and visual information together is a more reliable approach for deepfake detection. Our results highlight generalization to unseen manipulations as the central open challenge, with average accuracy around 70%.

On-policy distillation is a practical post-training recipe for large language models, supplying dense teacher supervision on the student's own trajectories. In privileged-context self-distillation, teacher and student are the same model conditioned on the same prefix, but the teacher also sees a hint or the full solution trace. This makes supervision abundant but harder to trust: the teacher can be confident about continuations its privileged view makes obvious but the student cannot yet justify. The distillation pull is strongest where teacher and student disagree most, and over many updates it accumulates into drift that degrades out-of-distribution (OOD) reasoning. We introduce GeoSD, a geometric self-distillation objective that treats this drift as movement in the student's predictive behavior and counters it in two complementary ways. A Hellinger loss scales each teacher preference by the overlap the student already shares with it, attenuating the pull on tokens the student cannot yet support. Since these pulls still compound over training, a proximal term penalizes how far the student's predictions drift from a recent checkpoint, measured as a Fisher-Rao distance. Both are distances in the same geometry of next-token distributions, and a natural-gradient update takes its steps in that geometry rather than in parameter space. Across mathematical reasoning benchmarks and three model families, GeoSD preserves the in-distribution gains of self-distillation while improving average OOD accuracy by 5.7-8.6 points over the base model, with gains holding across model scales from 1.7B to 32B. Analyzing why standard matching fails out of distribution, we find it wins agreement with the teacher by draining mass from alternatives at high-entropy states, resulting in confident agreement on wrong answers, whereas GeoSD keeps those alternatives in reach.

Reinforcement learning agents for imperfect-information card games are only as strong as the opponents they train against, and they are hard to grade, since they beat a random opponent over 99 percent of the time and only tie copies of themselves. So we build a strong, fixed, rule-based expert for Gin Rummy and use it only as a yardstick, never for training. It beats every agent we trained 70 to 99 percent of the time. Across more than a hundred runs, we isolate what makes a lightweight agent stronger. Trust region updates, a well-aimed reward, a curriculum of tougher opponents, warm starting, and keeping the best checkpoint all help, and stacking them lifts a self-play champion from about 30 to 36 percent against the expert. Several ideas did not pay off. Short-term and longer-term reward shaping, learned state embeddings, imitation and DAgger, and a live large language model opponent were each unhelpful, too slow, or too heavy to train at scale. Comparing MLP, convolutional, set-based, attention, and recurrent encoders shows that extra capacity does little to break the ceiling, suggesting the limit is information rather than network size. We add standard baselines (neural fictitious self-play and information set Monte Carlo search) and confirm the approach carries over to Leduc Hold'em, where the optimum is computable. The result is a lightweight, game-agnostic recipe that trains competitive agents without training on the expert, for any game a small model can handle, reported with robust statistics and released as a reusable package.

Diffusion-based text-to-motion models synthesize realistic human motions but often exhibit semantic drift from the input text. Motion is inherently temporal, especially in compositional and long-duration sequences that require semantic consistency across multiple action segments and smooth kinematic transitions throughout the trajectory. We posit that the initial noise is central to this consistency: within the Gaussian noise space, certain instances, i.e. winning noise tickets, carry latent structure that biases denoising toward particular motion semantics, even under null prompts. We propose WInning Noise Retrieval and Optimization (WINRO), a training-free, model-agnostic framework that improves text-motion alignment by selecting and refining such tickets before diffusion sampling. WINRO maps random noises to motion features generated under null prompts, retrieves the best-aligned noise for a given text, and refines it via a KL-regularized objective that reduces the residual semantic gap while preserving the Gaussian prior. An optional LoRA-based adapter amortizes this refinement into a single forward pass. WINRO consistently improves text-motion fidelity across different base models, MDM and MotionLCM, on HumanML3D without retraining, improves temporal robustness on the MTT benchmark, and generalizes to applications such as motion stylization and spatial constraint satisfaction.

Existing NAS benchmarks (e.g., NAS-Bench, NATS-Bench) cover only narrow, task-specific regions of the architectural design space and lack cross-domain or deployment-aware evaluation. LEMUR 2 introduces a large-scale, extensible framework unifying generative, evaluative, and deployment pipelines to unlock neural-network diversity. It comprises over 14,000 distinct architectures and more than 750,000 structured training records documenting model performance, hyperparameters, and task outcomes. These models were produced through AST-based code mutation, genetic and reinforcement-learning evolution, generation of fractal architectures, and synthesis guided by a Large Language Model (LLM). This includes deep models generated with the retrieval-augmented system NN-RAG, which derived and used architectural motifs from over 900 PyTorch modules extracted from public repositories. LEMUR 2 further employs NN-VR and NN-Lite pipelines for automated deployment and latency benchmarking on heterogeneous mobile and Unity-based VR platforms, providing real-device performance metadata. It spans multimodal tasks, image captioning, text-to-image synthesis, and language modeling, supporting cross-domain analysis of architectural transferability. By linking diverse architectures, tasks, and deployment data, LEMUR 2 provides the data foundation for LLM fine-tuning and coupling diverse architectural origins with large-scale, cross-platform empirical validation. This dataset defines a new basis for reproducible and data-driven AI design, advancing the emerging paradigm of LLM-driven AutoML and architectural generalization across modalities and hardware.

Humans can navigate an unfamiliar city and gradually form a coherent spatial mental map spanning tens of square kilometers. Can AI build spatial representations at a comparable scale? Although recent foundation models have advanced scene reconstruction and embodied intelligence, scaling to entire cities remains an open challenge, primarily due to the lack of city-scale data. To bridge the gap, we introduce WildCity, a real-world multimodal dataset collected by autonomous fleets traversing complex urban environments. Our dataset includes 18 trajectories, each averaging 83.7 kilometers in length, and preserves the core challenges of in-the-wild perception, e.g., dynamic objects, lighting variations, and imperfect camera poses. We further establish an urban-tailored reconstruction baseline and convert the reconstructed environments into a closed-loop simulator. Beyond the dataset and baseline, we systematically analyze the key challenges on the path to simulation-ready urban digital twins: scalability, extrapolation, and uncertainty. Ultimately, WildCity aims to catalyze progress not only in city-scale rendering, but more broadly in the pursuit of AI that can perceive, remember, and reason across space at a scale comparable to human cognition. Project page: https://han-xiangyu.github.io/Wild-City/

Physics-informed learning promises data-efficient and stable dynamics prediction, yet its strongest geometric guarantees have largely remained confined to closed conservative systems. This excludes many robotic systems of practical interest, where actuation, dissipation, and constraints continuously exchange energy and momentum with the environment. We introduce CaLiSym, a lightweight framework that extends exact symplectic learning to such systems by changing where the geometric prior is imposed. Rather than enforcing symplecticity on the measured physical state, CaLiSym embeds the state and its physical ports into a structured lifted canonical phase space, where the learned dynamics evolve through an exactly symplectic map. The lift is explicit and algebraic, requiring neither recurrent latent states, transformer decoders, implicit optimization, nor inference-time ODE integration. We instantiate the framework with generalized-ridge SympNet predictors and introduce GRB-SympNet, a B-spline variant that combines local approximation with exact symplectic structure. Experiments on a controlled dissipative double pendulum, a real-world quadrotor, and a contact-rich quadruped demonstrate consistent improvements in out-of-distribution autoregressive prediction while using parameter-efficient models. At the same time, the learned lifted dynamics preserve the symplectic form to numerical precision. These results show that symplectic learning can be extended beyond conservative mechanics through structured canonical lifts, enabling geometry-preserving dynamics models for real-world robotic systems.

Recent advances in AI for Mathematics have focused largely on autoformalization and theorem proving, leaving the role of Computer Algebra Systems (CAS) in agentic LLM workflows underexplored. We propose a ReAct-style agentic setup that combines LLM reasoning with verifiable feedback from SageMath, together with Context7 for the up-to-date documentation. We evaluate this agentic setup across frontier models for solving research-level mathematical problems from the RealMath benchmark in a setting that emulates a computational-mathematics research loop. We also propose a refinement to the RealMath benchmark by introducing a multi-step post-processing procedure and a multi-stage validation pipeline, both of which improve the quality and reliability of the extracted problem set. Our experiments reveal substantial performance gains from SageMath access across all evaluated models on +9.7~pp on average, the gains range from 1.5~pp to 27.8~pp and narrow the gap between open-weight and closed models. Qwen~3.7-Max benefits from SageMath the most, while GPT-5.5 achieves the highest solve rate of $75.2\%$ and the lowest token usage among tool-enabled configurations. Our findings suggest that CAS-augmented agents represent a promising direction for assisting mathematicians in computational exploration, and we believe that this work is a step towards automated conjecture discovery. The project repository is available online.

While enabling effective collaboration on complex tasks, LLM-based Multi-Agent Systems (MAS) face critical security challenges due to vulnerabilities at the agent and interaction levels. Most existing MAS security defenses are built upon two core assumptions: semantically-explicit malicious attacks and explicit graph-based modeling of the MAS topology and agent-level interactions. In practice, real-world attacks are becoming more semantically stealthy, while MAS execution is typically asynchronous without the temporal alignment assumed by graph-based propagation models. To address these limitations, we propose AcMAS, an activation-based framework for malicious-behavior detection in MAS. By analyzing internal reasoning states in the activation space of local agents, AcMAS detects even stealthy attacks in a synchronization-robust fashion, without relying on explicit interaction graphs. Moreover, our activation analysis provides critical signals to guide AcMAS in restoring the functionality of compromised agents, rather than the disruptive agent isolation commonly used by the state-of-the-art methods. Comprehensive evaluation demonstrates that AcMAS significantly outperforms graph-based baselines against stealthy attacks, by +0.22 F1 in synchronous settings (0.94 vs. 0.72) and by +0.55 F1 in asynchronous settings (0.93 vs. 0.38), with generalization across diverse open-source LLM backbones, attack intensity, and MAS scale.

Soft robots have attracted significant attention in applications such as medical intervention, rehabilitation, and robotic manipulation due to their inherent compliance, flexibility, and high degrees of freedom. Modular soft robots (MSRs), composed of multiple interconnected segments, represent an emerging class of robotic systems with highly deformable and reconfigurable structures capable of performing complex tasks. However, designing controllers for MSRs remains challenging due to their nonlinear dynamics, modeling complexity, and hyper-redundant nature. Existing approaches typically require controllers to be retrained from scratch whenever the robot morphology changes. In this work, we address these challenges through a continual learning inspired control framework capable of incrementally adapting to changes in robot morphology while preserving previously acquired knowledge. Specifically, the proposed framework enables the controller to sequentially learn new MSR configurations without forgetting previously learned ones. In addition, for MSRs with fixed configurations, the same framework can be employed in a distributed manner to learn module-specific dynamics, enabling localized control and improved precision. The proposed approach is validated through closed-loop trajectory tracking experiments in simulation using a tendon-driven soft robot, as well as on a real-world three-module pneumatic soft robotic arm. Furthermore, we demonstrate the adaptive capabilities of the framework through a reaching experiment in which the controller selectively activates only the necessary modules to reach a virtual target position, thereby reducing computational overhead.

Event-based cameras are gaining popularity as the sensor of choice for mobile robotics, due to their high performance in dynamic environments. However, these applications require efficient real-time data processing with low latency and power consumption. One strategy to meet these stringent requirements is hardware acceleration of efficient algorithms that preserve the temporal sparsity of event data. In this work, we propose an optimization strategy for Graph Convolutional Neural Networks models aimed at adapting their architecture to the limited resources of embedded heterogeneous FPGA platforms. Our method incorporates hardware-aware pruning and quantization, taking into account the trade-off between on-chip memory savings and inference accuracy. Strategic exploration of the design space with Fine Grid Search and Greedy layer-wise Iterative Deepening Search methods enables flexible adaptation of the model architecture to the target platform. Our approach was evaluated across various network configurations and multiple datasets, resulting in BRAM memory reductions of 28.8% for CIFAR-10 (with a 1.65% decrease in accuracy), 31.4% for MNIST-DVS (accuracy drop of 3.55%), and 26.5% for N-Caltech101 (with a 5.18% accuracy reduction).

LLM-based robot planners are fluent but cannot guarantee that their plans are executable or safe. Classical PDDL planners can guarantee these properties, but only after the problem is fully specified, and they make poor use of an LLM's ability to read context and repair plans. This paper presents a neuro-symbolic framework with three parts. All LLM calls use a locally-hosted open-weight model, so the pipeline can be deployed on-robot with no cloud dependency. First, an offline procedure that mines a single global Signal Temporal Logic (STL) constraint on mobility from demonstration data. The procedure recovers codified rules (e.g., stopping at red lights, mined from nuPlan driving logs) or population preferences (e.g., social-navigation comfort, mined from SCAND teleoperation), depending on what the demonstrations encode. Because the demonstrations are a one-class signal, we generate the missing negatives with counterfactual perturbations and an LLM violation generator and then fit the constraint by evolutionary search. We use the mined constraint to shield a vision-language driving policy on Bench2Drive and two discrete-action navigation policies on HA-VLN-CE. Second, an evolutionary PDDL planner: an LLM proposes and repairs plans, programmatic validators decide which ones survive, and the validated portion of the plan grows over iterations. We test the planner on the open-world ALFWorld Text benchmark, where it beats strong baselines and stays robust when the goal vocabulary does not match the action-model vocabulary. Third, a constrained execution loop: the planner's plan is compiled into waypoints, the waypoints are checked against the mined constraint, and the planner re-plans on a violation. We illustrate the full pipeline via demonstrations using the Gazebo simulator.

Vision Language Action (VLA) models unify visual perception, natural-language understanding, and action generation within a single foundation model, allowing a robot to follow instructions such as fold the towel or fly to the red building directly from camera images. Because VLAs inherit world knowledge from internet-scale pre-training, they have become the dominant framework for learning-based manipulation, with bimanual coordination serving as the most demanding testbed: two arms with 7 degrees of freedom each must move in concert to fold, assemble, and reorient objects. Unmanned aerial robotics faces a structurally similar challenge: a drone must coordinate thrust, attitude, and increasingly gripper commands from visual observations under strict latency and payload constraints. This review covers 183 contributions spanning 2017-2026 and organized along seven dimensions: VLA architectures, training recipes, action representations, bimanual coordination (2022-2026), unmanned aerial vehicle (UAV) navigation and control (2017-2026), language grounding, and cross-cutting concerns including memory and world models. We show that the coordination strategies, training recipes, and action representations developed for bimanual VLAs transfer to unmanned aerial systems and identify fourteen research directions across both domains.

Interactive simulators have become powerful tools for training embodied agents and generating synthetic visual data, but existing photorealistic simulators suffer from limited generality, programmability, and rendering speed. We address these limitations by introducing SPEAR: A Simulator for Photorealistic Embodied AI Research. At its core, SPEAR is a Python library that can connect to, and programmatically control, any Unreal Engine (UE) application via a modular plugin architecture. SPEAR exposes over 14K unique UE functions to Python, representing an order-of-magnitude increase in programmable functionality over existing UE-based simulators. Additionally, a single SPEAR instance can render 1920x1080 photorealistic beauty images directly into a user's NumPy array at 73 frames per second - an order of magnitude faster than existing UE plugins - while also providing ground truth image modalities that are not available in any existing UE-based simulator (e.g., a non-diffuse intrinsic image decomposition, material IDs, and physically based shading parameters). Finally, SPEAR introduces an expressive high-level programming model that enables users to specify complex graphs of UE work with arbitrary data dependencies among work items, and to execute these graphs deterministically within a single UE frame. We demonstrate the utility of SPEAR through a diverse collection of example applications: controlling multiple embodied agents with distinct action spaces (e.g., humans, cars, and robots) across several in-the-wild UE projects; rendering photorealistic city-scale environments; manipulating UE's procedural content generation systems; rendering synchronized multi-view images of detailed human faces; coordinating an interactive co-simulation with the MuJoCo physics simulator; and editing scenes with natural language via an AI coding assistant.

Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop closures (ILCs). While encrypted radios protect this traffic from external eavesdroppers, they offer no protection against a compromised swarm member. We show this threat is concrete by demonstrating how a corrupted agent can reconstruct approximations of an honest agent's imagery and trajectory from its public GD broadcasts. To address this, we propose CILC (Cryptographically-secure Inter-agent Loop Closure candidate detection), a first-of-its-kind system leveraging Secure Multi-Party Computation (SMPC) to detect ILC candidates without exchanging GDs in the clear. Rather than securing the entire CSLAM pipeline, we apply SMPC only to ILC candidate detection (i.e., GD similarity comparison), a privacy-sensitive yet computationally lightweight step, yielding an advantageous privacy-to-overhead trade-off. We validate in both simulation and hardware experiments that CILC remains real-time and communication-feasible across multimodal GDs (visual and LiDAR), while mitigating information leakage to a compromised swarm agent.

Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that are both physically stable and visually faithful remains slow and expensive. In this work, we present RoboSnap, a real-to-sim framework that turns a single RGB image into a simulation-ready scene. The key idea is a layered design that separates the physics-critical interaction area from the surrounding visual context: collision-aware foreground assets are refined for stable robot interaction, while a 3D Gaussian splatting visual layer preserves faithful background appearance under novel views. Experiments on DROID scenes and real-robot tasks show that RoboSnap achieves reliable trajectory replay in the recovered scenes, supports task-specific synthetic data generation for policy training, and yields meaningful sim-real correlation for policy evaluation. To further support real-to-sim research, we introduce DROID-Sim, a real-to-sim companion dataset constructed from 564 real-world scenes in DROID. Extensive experiments suggest that the value of real-to-sim methods lies not only in high-fidelity visual reconstruction, but in turning real environments into reusable infrastructure for robot learning and evaluation.

Human-human collaboration is a fundamental aspect of everyday life, essential to success in a wide range of goal-directed activities from household tasks to professional teamwork. While much research has focused on modeling coordination and task execution, the cognitive processes that support such collaboration, particularly Theory of Mind (the ability to infer the mental states of others), remain difficult to study in natural settings. To address this gap, we introduce a novel egocentric and exocentric video dataset capturing real-world collaboration in cooking scenarios. The dataset integrates multi-perspective video, high-quality audio, gaze tracking, and 3D scene and object scans, with annotations for shared attention to objects, social cues and interactions between agents, as well as agent-object interactions. We establish benchmarks for Joint Attention Estimation, Socially Conditioned Object Interaction Anticipation, and Collaborative Handover Prediction, enabling research on multimodal perception, proactive assistance, and collaborative planning. By providing temporally aligned, richly annotated multimodal data, CoMind facilitates the development and evaluation of AI systems capable of modeling complex social interactions and reasoning about human behaviors in collaborative environments. Our dataset and benchmarks are made available at https://comind.ethz.ch/.

How can pretrained Vision-Language-Action (VLA) models retain long-horizon visual histories with high-frequency updates without sacrificing efficiency? Existing approaches rely on external memory management, which restrains either the memory horizon or the reactiveness of pretrained policies. To this end, we present NativeMEM, a VLA policy that features long-term and real-time updated memory. At its core is an efficient memory encoding scheme, Native Memory Compression, which repurposes the VLA's own vision encoder to compress each historical frame from each camera view into a single token. Appended to the input sequence, these memory tokens enable the pretrained VLA to attend over long-term history with negligible latency overhead, requiring neither an external planner nor a freshly initialized memory module. To align the memory tokens with the pretrained policy, we first develop a generic memory tokenizer under the supervision of a frozen VLA on memory-demanding data, and then unfreeze the VLA for task-specific fine-tuning. NativeMEM consistently outperforms prior methods, boosting success rates from 32.4% to 84.0% in simulation and up to 98.7% on real robots, while maintaining low inference latency and GPU memory usage. Notably, NativeMEM exhibits high data efficiency by achieving competitive results with prior arts using only 20% of the training data.

Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. However, effective robotic manipulation in physical environments fundamentally requires geometric understanding and spatial reasoning. While some VLA approaches attempt to incorporate 3D information, they are constrained by limited data availability and geometric information loss in current 3D encoding pipelines, and fail to jointly capture 3D geometry and temporally structured actions in dynamic environments. To address these limitations, we introduce Lift3D-VLA, a unified VLA framework that equips models with explicit 3D point cloud reasoning and enables temporally coherent action generation. First, building upon our previous work Lift3D, an enhanced 2D model-lifting strategy is proposed to geometrically align 3D points with pretrained 2D positional embeddings. This design enables direct point-cloud encoding within the VLA vision encoder while minimizing spatial information loss. Based on explicit 3D inputs, we propose Geometry-Centric Masked Autoencoding (GC-MAE), a dual-objective self-supervised framework that reconstructs the current point cloud while predicting its future geometric evolution. This formulation allows the 2D vision encoder to internalize both 3D structure and physical dynamics. To fully exploit 3D representations, we further design layer-wise temporal action modeling, which leverages multiple layers of the LLM to collaboratively predict action chunks, enabling temporally consistent predictions. Across 22 simulated tasks and 8 real-world manipulation tasks, Lift3D-VLA achieves 10.8% and 11.1% higher mean success rates on MetaWorld and RLBench than the best-performing prior VLA methods, and outperforms the strongest real-world baseline by 4 percentage points, while exhibiting stronger generalization to out-of-distribution perturbations.

Traditional data physicalization is often static and disconnected from real environments, limiting its ability to convey embodied spatial dynamics and engage users. To address this limitation, we present AcoustoBots, a mobile acoustophoretic data-physicalization platform in which TurtleBot3 robots carry upward-facing 8 x 8 ultrasonic phased arrays. Each array levitates a particle whose height (1-10 cm) encodes a local urban scalar value, such as population density, noise, or traffic. A MARL (Multi-Agent Reinforcement Learning) policy based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm, with centralized training and decentralized execution, selects collision-aware navigation actions, while a high-rate Gerchberg-Saxton-Phased Array of Transducers (GS-PAT) acoustic controller maintains trap stability and updates array phases to achieve the commanded height during motion. This creates a closed perception-display-action loop. We evaluate single-robot city-to-city traversal and dual-robot cooperative coverage on a 4 m x 3 m scaled UK map using PhaseSpace-based localization for repeatable multi-robot trials. Results show stable in-motion levitation and consistent, location-dependent height rendering, with task success rates of 90% and 80% for the single and dual-robot regimes, respectively, over 10 trials per regime, and low collision counts. These findings support acoustophoretic levitation as a simple, glanceable, robot-mediated communication cue for embodied human-robot interaction in spatial analytics.

Robotic manipulation in the open world requires not only recognizing what a scene looks like, but also anticipating how its 3D structure moves under interaction. We argue that synchronized RGB, depth, and optical flow, namely RGB-DF, provide a physically grounded representation that captures the underlying 4D dynamics of a scene. Compared to 2D pixel videos, this multi-modal synergy aligns visual appearance with geometric structure and temporal motion, creating a representation space significantly closer to the low-level end-effector actions demanded by robotic systems, thereby narrowing the gap between world prediction and policy learning. Building on this insight, we introduce RynnWorld-4D, a generative model that co-produces future RGB frames, depth maps, and optical flow from a single RGB-D image and a language instruction within one unified diffusion process. This 4D world model features a tri-branch architecture that integrates cross-modal attention with frame-wise 3D RoPE, ensuring that appearance, geometry, and motion evolve consistently. To supply training data at scale, we curate Rynn4DDataset 1.0, a massive dataset of over 254.4 million frames across egocentric human and robotic manipulation videos with high-quality pseudo-labels for depth and optical flow. We further propose RynnWorld-4D-Policy, an inverse dynamics head that consumes the internal 4D representations of RynnWorld-4D in a single forward pass, bypassing expensive multi-step denoising, to output robot actions in a closed-loop manner. Experiments show that RynnWorld-4D produces temporally and spatially coherent 4D predictions, and that RynnWorld-4D-Policy achieves state-of-the-art performance on real-world dexterous bimanual manipulation tasks, particularly excelling in tasks demanding spatial precision and temporal coordination.

Scaling robot learning requires massive, diverse trajectory data, yet collection is currently bottlenecked by physical teleoperation, where every demonstration binds operator time to specific hardware and workspaces. We introduce digital teleoperation, a paradigm that decouples data collection from physical constraints by replacing the real robot with a generative world model. In this framework, an operator's hand-pose stream drives a robot-centric generative world model to synthesize high-fidelity egocentric videos from a single reference image. The recorded pose stream serves as an embodiment-agnostic action label transferable to any target robot via standard retargeting, yielding complete state-action trajectories for imitation learning independent of physical hardware. We instantiate this paradigm in RynnWorld-Teleop, a system that integrates depth-aware skeletal conditioning, progressive human-to-robot training on a video Diffusion Transformer, and streaming autoregressive distillation. This pipeline compresses the generative process into a single-pass inference, enabling 40+ FPS, real-time interactive generation on a single H100 GPU. Policies trained exclusively on RynnWorld-Teleop-generated data achieve effective zero-shot Sim2Real transfer across dexterous and diverse bimanual tasks. Moreover, augmenting real-world datasets with our digitally teleoperated data consistently improves success rates, demonstrating that RynnWorld-Teleop serves as a high-fidelity, scalable data engine for the next generation of robotic agents.

Large-scale text-to-image models are attractive backbones for dense prediction because RGB generation pretraining learns rich semantic, structural, and geometric priors. Existing generative and editing approaches reuse these priors by casting dense prediction as target generation: annotations such as depth, normals, alpha mattes, masks, and heatmaps are encoded into an RGB-trained VAE latent space and decoded back as image-like targets. We argue this inherits more of the generative output interface than dense prediction requires: unlike RGB synthesis, dense prediction asks for pixel-correct, task-native fields on the same image plane, not new RGB content to be rendered. Our key observation is that a pretrained DiT already organizes RGB inputs through a patch-to-token-to-patch lattice on the image plane, so each token indexes a fixed output patch whose channels can carry task-native quantities instead of RGB appearance. We instantiate this as ReChannel: we keep the VAE encoder for the DiT's input distribution but drop the target-side decoder, adapt the frozen DiT with task LoRA, and map each token to its p x p x K_t pixel-space patch through a shared token-local linear head--about 33K parameters, no spatial mixing. Using FLUX-Klein, we evaluate on six dense prediction tasks and over a dozen benchmarks. This minimal interface sets new state-of-the-art on trimap-free matting, KITTI depth, and referring segmentation, and stays competitive on normals, saliency, and pose. In a matched 4B setting it is more accurate and 2.48x faster than an edit-plus-latent-decode counterpart--dense perception can benefit from generative pretraining without inheriting its output interface.

Infrared remote-sensing imagery captures intensity structure, object-background contrast, and illumination-invariant cues often invisible in RGB imagery. Yet, most remote-sensing vision-language resources and models focus on visible-band semantics, leaving infrared vision-language understanding underexplored. We introduce MonoIR-RS, a large-scale infrared remote-sensing vision-language dataset and benchmark that couples IR-aware data construction with CLIP-style contrastive adaptation and VLM instruction tuning. Built from the same source pool and split as FusionRS, MonoIR-RS retains the infrared image as the model-facing modality, yielding 600,000 synthesized infrared images and 59,032 retained IR-aware caption records. The model experiments use this retained language-supervision subset, whose captions rewrite supervision around grayscale structure and infrared-style contrast instead of RGB appearance. We show that the synthesized infrared imagery is markedly closer to real thermal imagery than a grayscale conversion on the AVIID benchmark. We fine-tune five CLIP backbones and six VLM backbones, and calibrate them against zero-shot behavior: IR-aware adaptation lifts CLIP mean recall by up to 12.8 points and drives VLM captioning IR-cue coverage to 100% while reducing residual RGB-color leakage to near zero. By isolating the infrared modality from RGB-IR dual-modal learning, MonoIR-RS offers a controlled, reproducible testbed for aligning infrared remote-sensing evidence with language.

In this report, we present Pelican-VLA 0.5, a unified VLA model that integrates vision-language understanding, future-frame generation, and action prediction within a single architecture. Pelican-VLA 0.5 achieves attention-level generalization: without object annotations, segmentation masks, attention supervision, or task-specific fine-tuning, its action pathway already focuses on the instruction-relevant object and contact region. This behavior persists across unseen scenes and unseen robot embodiments, and is substantially stronger than in other open-source VLA baselines. We verify that this ability originates from the learnable Reasoning Slots inserted between perception and action: by routing task-relevant visual information through a compact bottleneck, the slot interface induces manipulation-centric attention during pre-training and remains effective across different policy structures, including a MoT-style architecture.

Developing seamless, high-performance, native intelligent full-duplex Spoken Language Models (SLMs) remains a critical challenge and long-standing goal for the speech and NLP community. Despite notable progress, recent endeavors are fundamentally constrained by severe modality interference, which causes substantial knowledge degradation and compromises semantic integrity -- ultimately making full-duplex SLMs feel unnatural and unintelligent. In this paper, through an exhaustive fine-grained analysis of model optimization dynamics, we uncover the root cause of such performance degradation, revealing that modality interference arises from inherent gradient conflicts between acoustic and semantic modeling when the two modalities are forced to share a deep parameter space. Guided by this key insight, we introduce Lychee-FD, a native end-to-end full-duplex framework designed to mitigate modality interference. Importantly, we propose a hierarchical parameter separation strategy that decouples conflicting modalities in deep layers while preserving cross-modality coherence via a dedicated semantic alignment channel. Extensive experiments on multiple full-duplex benchmarks demonstrate that our method significantly advances the state of the art, yielding substantial improvements in both speech intelligence (+7.4% on Spoken QA) and full-duplex interaction fluidity (+28.5% on FullDuplexBench 1.5) without compromising inference efficiency. To the best of our knowledge, this work is the first to achieve two key advances: 1) uncovering and elucidating the root cause of modality interference in full-duplex SLMs, and 2) designing an elegant hierarchical model together with a practical solution for seamless, high-performance, native intelligent full-duplex SLMs.

Mobile manipulation requires a robot to navigate to a target object or receptacle and then perform intended manipulation. However, reaching the vicinity of the target does not guarantee a manipulation-ready base pose, a problem known as last-mile navigation. Prior methods for last-mile navigation either rely on manual pose annotation or task-specific training, limiting their scalability to open-vocabulary settings with fine-grained spatial constraints. We propose UniLM-Nav, a unified framework for zero-shot open-vocabulary last-mile navigation. UniLM-Nav decomposes last-mile navigation into view selection, task-conditioned affordance grounding, and geometry-aware base-pose reasoning, all resolved with a shared multimodal large language model (MLLM) backend. Specifically, UniLM-Nav first selects a reference view that best captures the target object or receptacle from recently collected observations. It then grounds task-relevant affordance point in the selected view and lifts the result into the robot-centric coordinate frame. Finally, conditioned on the grounded affordance, task context, and robot geometry, it infers a manipulation-ready base pose for the robot. We evaluate UniLM-Nav on the OVMM benchmark, where it outperforms the previous state-of-the-art method, MoTo, by 3.13 percentage points. Analyses show that the components of our method are crucial to final performance, and that the choice of MLLM also has a substantial effect. We further deploy UniLM-Nav on a Unitree B2 quadruped robot with a 6-DoF Unitree Z1 manipulator, validating its applicability to real-world mobile manipulation tasks.

Existing 3D scene-grounded Large Language Models (3D-LLMs) focus on answering questions grounded in simplified single-room 3D scenes, lacking the ability to reason over real-world household environments containing multiple interconnected rooms and diverse object categories. We introduce CAIRN, a topology-aware 3D-LLM for multi-room 3D scene understanding. CAIRN aligns transformer attention with scene hierarchy, giving the model explicit awareness of object-level relations and room-level connectivity. It enriches object tokens with room-local relational context via a graph neural network, introduces learned room tokens for room-level abstraction, and applies a hierarchical attention mask with geometric bias to route information according to scene topology. CAIRN is developed on CAIRN-MR, a benchmark we introduce on HM3D for multi-room 3D scene understanding, covering grounding, captioning, and four question-answering tasks that progressively evaluate from intra-room perception to cross-room reasoning. Experiments show that CAIRN outperforms prior 3D-LLMs by a large margin across all CAIRN-MR tasks while remaining competitive on five single-room benchmarks.

Multi-hop Question Answering over Knowledge Graphs faces a critical challenge: traditional retrieve-then-read pipelines break differentiability, preventing the retriever from learning to bridge the semantic gap where intermediate nodes lack lexical overlap with the query. To address this, we propose RSF-GLLM, a framework decoupling differentiable graph reasoning from answer generation. Our Recurrent Soft-Flow (RSF) module employs a GRU-guided query updater to propagate continuous relevance scores, utilizing a dynamic gating mechanism to traverse semantically dissimilar bridge nodes via structural cues. We introduce flow sparsity regularization to theoretically guarantee convergence from soft probabilities to discrete reasoning paths. These paths are extracted and textualized to fine-tune a Large Language Model (LLM), ensuring generation is grounded in factual topology. Experiments on WebQSP and CWQ demonstrate that RSF-GLLM achieves competitive performance with superior inference efficiency compared to LLM based computationally expensive approaches.

Vision-language models (VLMs) struggle to generalize in interactive physical reasoning, particularly under unseen tasks and environments. Two key failure modes are prominent: hallucinated chain-of-thought (CoT) reasoning that contradicts physical reality, and misalignment between the model's reasoning and actions. We present VAORA (Visual Action Outcome Reasoning Alignment), a novel reward design that directly addresses both issues. VAORA introduces two complementary rewards: Visual Alignment Reward, which anchors VLM reasoning to the visual context independent of the agent action itself, and Visual-Action Alignment Reward, which grounds reasoning in the visual outcome induced by the model's action. Together, these rewards suppress hallucinated CoT and reduce the gap between reasoning and behavior. To improve training stability, we further employ smooth, dense rewards by estimating success probabilities using a pre-trained in-domain expert agent. Experiments on PHYRE and Virtual Tool support our performances across novel-task and unseen-environment settings, confirming that grounded and generalizable physical intelligence can be induced through VAORA.

Multi-hop retrieval-augmented generation (RAG) acquires evidence sequentially, with each new document potentially revealing missing facts, bridge entities, query defects, or sufficient support for answering. Existing methods provide useful operations such as iterative retrieval, query reformulation, evidence critique, and sufficiency judging, but typically organize them within method-specific pipelines or predefined control topologies. This leaves underexplored how to learn a shared state-conditioned policy that chooses among currently valid evidence operations. We introduce DynaKRAG, which formulates multi-hop evidence acquisition as state-conditioned control over atomic evidence operations. At each step, a validity layer constructs the executable action set, and a learned controller selects the next operation. The resulting transition updates the evidence state and may enable new operations at subsequent steps. With Qwen2.5-7B-Instruct, DynaKRAG achieves F1 scores of 0.5998 on HotpotQA, 0.5340 on 2Wiki, and 0.3061 on MuSiQue, outperforming the strongest controlled baseline on all three benchmarks. Replacing the learned controller with a uniform-valid policy reduces F1 by 3.96--5.78 points, while removing sufficiency feedback hurts all three datasets. Controlled retrieval-cap experiments further show that additional retrieval is not uniformly beneficial. Together, these results demonstrate the benefit of coordinating retrieval, diagnosis, and gap-directed acquisition under an evolving evidence state.

We consider an open-world planning setting in which service robots must operate in unknown environments with incomplete knowledge of objects and actions. Traditional closed-world approaches with pre-programmed knowledge bases fail when robots encounter unexpected situations and tasks, posing a fundamental challenge for autonomous knowledge expansion in human environments. In this work, we propose an open-world planning framework that enables robots to automatically generate, verify, and update hypotheses about their abstract world models. Our key insight is to explicitly maintain uncertainty-aware knowledge expansion and integrate hypothesis verification into goal-reaching planning. The framework leverages foundation models to generate initial hypotheses over states and transitions, and applies automated planning to produce action sequences that jointly address hypothesis verification and task execution. Through iterative execution and refinement, the robot expands its knowledge by incorporating verification feedback from the foundation models when hypotheses prove incorrect. Extensive experiments in simulated and real-world environments demonstrate that our framework enables autonomous knowledge expansion and effective operation in open-world settings. These results indicate that integrating uncertainty-aware model expansion from robot foundation models with planning advances the practical deployment of household service robots.

With the widespread availability of parallel computing hardware, sampling-based motion planning methods such as Model Predictive Path Integral (MPPI) control have become increasingly powerful for complex nonlinear systems in non-smooth task spaces. However, the sampling and forward-simulation pipeline in MPPI suffers from averaging-induced failure in cluttered environments, where the importance-weighted update averages incompatible rollouts and leads to hesitation or even collision when an obstacle lies directly ahead. This paper proposes Clustering-Embedded MPPI (CE-MPPI), a framework that architecturally resolves the averaging-induced failures inherent in standard MPPI within non-convex environments. Rather than simply mitigating interference, CE-MPPI redefines the control law by integrating a high-fidelity pruning and clustering stage. By leveraging density-based spatial clustering of applications with noise (DBSCAN) alongside a novel geometric direction feature that is extracted from collision-derived reference points, the system isolates feasible trajectory modes from the noise of infeasible rollouts. This is paired with an intelligent selection logic that optimizes for minimum cost in static scenes while actively steering opposite to obstacle flux in dynamic environments. Experiments in 2-D JAX-accelerated simulations show that CE-MPPI alleviates obstacle-front hesitation and avoids persistent coupling with moving obstacles in dynamic scenes. In particular, real-world tests on a 6-DoF UR5e manipulator with CUDA-parallel rollouts in Isaac Gym achieve a 48\% reduction in time-to-goal and a 12\% shorter end-effector path.

Vision-language models (VLMs) are increasingly deployed on infrared (IR) remote sensing imagery in security-critical settings, yet their adversarial robustness remains unexamined. We present AirflowAttack, to our knowledge the first adversarial attack for IR remote-sensing VLMs and the first to weaponize thermal-airflow turbulence as the perturbation prior. A lightweight generator synthesizes a single input-agnostic perturbation regularized toward physically plausible airflow patterns. Optimized on one surrogate CLIP model, it attains a mean zero-shot scene-classification attack success rate (ASR, the fraction of samples whose top-1 class changes) of 48.5% across five diverse CLIP backbones, far exceeding four IR-specific physical baselines (27.7--37.0%). Applied to six state-of-the-art VLMs, it cuts scene-classification accuracy by up to 38.2% relative, yet paradoxically makes some models more confident in their IR analysis, confabulating the perturbation as genuine thermal evidence such as temperature gradients and convection. Ablations show the airflow prior raises physical plausibility at no measurable cost to attack success. Together with a benchmark spanning eleven models and four tasks, these findings expose critical vulnerabilities in the rapidly expanding IR VLM ecosystem.

Current benchmarks for evaluating Large Language Models (LLMs) in data analysis often fail to reflect real-world settings. They typically focus on fact retrieval from small tables and overlook the challenges of large multi-tabular datasets, external knowledge integration, and exploratory insight discovery. We introduce DataGovBench, a benchmark derived from governmental open data designed to evaluate LLMs in practical scenarios. The benchmark includes two tasks: Table QA that requires solving complex decomposable questions and producing textual answers or visualizations, and Table Insight that evaluates the ability of models to generate expert-level findings through exploratory data analysis. Comprehensive experiments with state-of-the-art LLMs, both with and without agentic frameworks, reveal significant performance gaps across both tasks. These results suggest that current LLM-based systems remain far from satisfying the demands of real-world data analytics. DataGovBench provides a challenging benchmark for advancing research on LLMs capable of both answering analytical queries and discovering insights from data. Code and sample data are available at https://github.com/SoHasegawa/datagovbench.

We present PACR-Video, a parameter-efficient framework for multi-shot long video extrapolation that preserves recurring entities, scene structure, visual style, and causal progression without full generator fine-tuning. PACR-Video keeps a text-to-video diffusion transformer frozen and augments it with low-rank temporal adapters conditioned by learned shot-role prompt tokens. To maintain long-horizon coherence, it builds a recursive prompt bank that stores compact entity, location, action, and style prompts from previous shots, then routes them through adapter gates according to predicted narrative dependencies. A Shot-Local/Story-Global tuning objective combines next-shot reconstruction, cross-shot identity contrast, and prompt sparsity regularization, while an adapter composition schedule balances early-shot visual consistency with later-shot event progression and viewpoint change. Across six multi-shot and long-video benchmarks, PACR-Video outperforms text-to-video, tuning-based, memory-augmented, streaming, and recursive-context baselines on distributional quality, semantic alignment, identity consistency, temporal smoothness, motion stability, transition coherence, and human preference. These results show that compact prompt routing and lightweight temporal adaptation provide sufficient controllable capacity for stable long video extrapolation.

Automated progress monitoring on construction sites is an active area of research and development. Robot and human-carried mapping systems have been developed to build 3D maps of building and infrastructure projects. While LiDAR-based mapping systems achieve high accuracy, the cost of LiDAR can be prohibitive. Consumer-grade cameras with wide field of view ("360 cameras") combined with embedded inertial measurement units (IMUs) provide a cost-effective alternative. To support change detection and progress monitoring, highly accurate visual Simultaneous Localization and Mapping (SLAM) and floor plan-referenced localization systems are required. In this paper we present a high-quality dataset collected at an active construction site, which captures realistic challenges such as variable lighting conditions, moving workers, fast motions, and repetitive structures. The dataset offers thirty visual-inertial sequences recorded across seven floors over an eight-month period of the construction project. Ground truth trajectories were collected using a high quality LiDAR-inertial SLAM system rigidly attached to the 360 camera. Additionally, we report the results of an open research challenge evaluating the best visual SLAM and localization systems from around the world. The Challenge attracted substantially higher participation in SLAM, with 62 teams compared to 22 in floor-plan-referenced localization, reflecting the broader maturity of SLAM methods. The higher errors in localization further highlight the difficulty of this task in construction and point to the need for continued research, which this dataset is intended to support. The dataset and the benchmark are publicly available at: https://hilti-trimble-challenge.com/dataset-2026.

Biomedical question answering requires not only accurate extraction of information from scientific literature but also reliable integration of evidence across multiple documents. This study presents a question-type-specific large language model (LLM) framework for BioASQ 14b Task B, designed to improve answer robustness and evidence grounding in biomedical question answering. Rather than applying a single prompting strategy to all questions, the framework selects different inference procedures for yes/no, factoid, and list questions according to their distinct reasoning and evaluation requirements. For yes/no questions, snippet shuffling and self-reflection are used to reduce sensitivity to evidence ordering and improve decision stability. For factoid questions, full-snippet input is combined with chain-of-thought-based in-context learning to support accurate biomedical entity identification. For list questions, a multi-agent architecture is employed, in which evidence extraction, candidate generation, answer verification, and final aggregation are handled collaboratively. Preliminary experiments on BioASQ 13b were used to identify effective inference strategies for each question type, and the resulting framework was subsequently evaluated in the official BioASQ 14b Task B challenge. In the official evaluation, our framework showed competitive performance across multiple batches and achieved first place in the factoid subtask of Batch 4. These results demonstrate the effectiveness of combining question-type-specific inference, ensemble prediction, and agent-based verification for reliable biomedical question answering.

Recent LLM-based mathematical reasoning agents have begun to tackle research-level problems and, in several cases, have contributed to the resolution of open problems. However, scaling and orchestrating such agents effectively remains challenging, due to the difficulty of coordinating parallel proof search while keeping intermediate claims organized and reliable. In this paper, we propose Danus, an orchestration system for research-level mathematical reasoning centered on a shared fact graph as a global memory-management mechanism. Danus consists of a main agent that performs planning and coordination, multiple worker agents that carry out proof search in parallel, and a stateless verifier that checks proposed mathematical claims before they are admitted into the fact graph. Each verified fact is stored together with its proof and logical dependencies, allowing the system to build long arguments incrementally while keeping the shared proof state organized. The main agent periodically summarizes the evolving proof state, redirects workers across promising directions, and supports interaction with human mathematicians through progress reports. We evaluate Danus through six research-level case studies in algebraic geometry, singularity theory, and combinatorics, illustrating how the fact-graph memory mechanism enables Danus to construct long, detailed mathematical proofs. Our results suggest that fact-graph-based orchestration provides an effective route toward scaling mathematical reasoning agents for long-horizon research problems. Danus is open source at https://github.com/frenzymath/Danus.

Vision-Language-Action (VLA) models are typically trained by imitation learning on large-scale robot demonstration datasets, but more data does not necessarily yield better policies due to redundancy, noise, and uneven coverage. Existing data selection methods often assess demonstrations at either the trajectory or state-action level, missing the reusable structures that compose long-horizon behaviors. In this paper, we propose SIEVE, a structure-aware data selection method for VLA imitation learning. SIEVE views demonstrations as compositions of reusable primitives and transition interfaces. It first discovers visuo-motor primitives from segmented trajectories, then allocates selection budgets to composition patterns by maximizing reuse-aware structural exposure under diminishing returns. Finally, it selects medoid trajectories within each composition-pattern bucket to retain central, stable, and imitation-friendly demonstrations. Experiments across multiple datasets, benchmarks, and VLA models show that SIEVE consistently outperforms competitive data selection baselines. Notably, SIEVE can surpass full-data training while using only 50% of demonstrations and 50% of training steps, suggesting that reusable structure, captured through primitives and transitions, is an important signal for efficient VLA imitation learning.

Retargeting human object interaction demonstrations to physics based simulation requires reproducing not only body motion but also the object motion and contacts that make manipulation succeed. However, position only hand trajectories do not specify the contact forces needed to manipulate objects, and directly tracking them can overconstrain contact rich finger behavior. We introduce WristMimic, a wrist guided whole body control framework that explicitly separates contact free body motion from contact rich hand manipulation. The contact free body and wrist are guided by kinematic pose targets, whereas the fingers are not directly supervised by human hand pose. Instead, they learn grasping and manipulation behaviors from object tracking and contact outcomes. Our key insight is that the wrist is the natural gate between these two regimes. It is largely free from contact and can be tracked kinematically, yet it determines the global hand configuration and places the fingers within reachable grasp affordances. To ensure reliable wrist placement during interaction, we introduce wrist specific reset constraints and reward prioritization. Experiments show that WristMimic matches or surpasses methods using full finger pose supervision while enabling finger agnostic retargeting across diverse hand embodiments.

Adaptive control learns the plant online; neural-operator control learns the control gains offline. We bring the two together for a class of nonlinear hyperbolic PDEs whose dynamics are governed by an unknown Volterra series of arbitrarily many kernels. An observer-based passive identifier learns a truncation of this series online. The infinite-dimensional map that synthesizes the backstepping kernels from the parameter estimates -- a cascade of PDEs on simplex domains of increasing dimension, prohibitive to solve in real time -- is approximated once, offline, by a neural operator. The closed loop then carries two learning processes in series: online learning of the plant feeds an offline-learned PDE solver, whose output is the online control gains. We prove closed-loop stability and asymptotic regulation of the plant state, observer state, and input, on a basin that recovers the exact-kernel basin as the neural-operator accuracy improves. With a single Lyapunov function we absorb at once the perturbations -- all vanishing -- of truncating an infinite Volterra series, of identifying the plant online, and of approximating the gains.

Developers increasingly delegate real maintenance work to product-grade coding agents, and many state tasks in their native language, in the style of a customer request rather than a curated English issue. Existing repository-level agentic benchmarks do not measure this setting: their task statements are English by design. We introduce RuBench 1.0, a benchmark of 25 tasks mined from recent fix commits in five live open-source repositories (aiohttp, aiogram, Laravel, NestJS, Fastify; Python, PHP, TypeScript, JavaScript), where each task is specified natively in Russian -- written from scratch in the style of an actual customer request, not translated -- and judged by the upstream maintainer's regression tests, which we withhold from release. All 25 fix commits postdate the training-data cutoffs of every evaluated model, giving a contamination argument that holds task-by-task. We evaluate deployed product configurations (CLI agent + model + reasoning effort) -- Claude Code with Opus 4.8, Sonnet 5, and Haiku 4.5, and Codex CLI with GPT-5.5 -- with three independent runs each, reporting pass@1 with task-level confidence intervals, paired comparisons, dollar cost, and token usage. The best configuration resolves 78.7% of tasks; at N=25 only the gaps to the weakest model are statistically resolvable, which we state explicitly. Auditing full trajectories of a fifth, hors-concours configuration (Claude Code + Fable 5, July 2, 2026 release), we caught the product silently substituting the model: on 5 of 25 tasks (20%) an official safeguard fallback re-routed routine HTTP-protocol fixes to Opus 4.8 -- direct, reproducible evidence that the deployed product, not the model, is the unit actually measured. We release task statements, metadata, full agent trajectories, and diffs; grading oracles are withheld, with a SHA-256 manifest committed at publication time.

Despite recent progress of VLA foundation models, the disparity between laboratory conditions and real-world applications continues to impede their practical implementation. To bridge this gap, we present LingBot-VLA 2.0, which advances LingBot-VLA through improvements in three functional domains. (1) Generalization across tasks and embodiments. Compared to the previous version, we revamp the data processing pipeline and curate around 60,000 hours of data for pretraining, including 50,000 hours of robot trajectories spanning 20 robot configurations and 10,000 hours of egocentric human videos. (2) Expanded action space in addition to dual-arm hardware platforms. In particular, our system accommodates degrees of freedom for the heads, waists, mobile bases, and dexterous hands, thereby empowering the robots to tackle more complex tasks in practical scenarios. (3) Predictive dynamics modeling for improved temporal reasoning. Specifically, we formulate future prediction as a proxy task, facilitated by a video representation model for semantic priors and a depth estimation model for geometric cues. Evaluations on the GM-100 benchmark, conducted in a generalist setting, validate the beneficial impact of these proposed modifications. Furthermore, benefiting from the expanded pretraining data that covers whole-body degrees of freedom, LingBot-VLA-2.0 demonstrates strong cross-embodiment long-horizon mobile manipulation capability across the two robotic platforms.

Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliable throwing in cluttered environments remains underexplored. Existing approaches, such as TossingBot, learn throwing strategies from visual input but assume obstacle-free settings. In this paper, we address the problem of throwing objects into a target basket while avoiding obstacles placed randomly in the scene. We introduce a potential field state representation that compactly encodes both basket attraction and obstacle repulsion on a fixed-size grid, enabling reinforcement learning (RL) policies to generalize across arbitrary numbers and configurations of obstacles. The policy is initialized from kinesthetic demonstrations and optimized in simulation using three state-of-the-art RL algorithms (SAC, DDPG, TD3). Among these, SAC achieves the most consistent performance across scenarios. We compare the potential field representation against explicit state encodings and demonstrate that it achieves higher success rates and better scalability to unseen obstacle configurations. Real-robot experiments with unseen throwable objects confirm robust sim-to-real transfer, achieving up to $90\%$ success in cluttered scenes. These results demonstrate that PFR provides a practical and robust representation for safe and efficient robotic throwing in unstructured environments. A video showcasing our experiments is available at: https://youtu.be/ZZnJf8ua2dE

Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations. In particular, flow matching-based VLA models have shown remarkable success due to their capability to generate precise and smooth action sequences and capture multimodal distributions. However, the iterative denoising process in the action head acts as a major computational bottleneck, posing a critical challenge for real-time deployment. To address this challenge, we propose ActionCache, a plug-and-play external cache that opportunistically reuses past intermediate actions to warm-start generations from the vicinity of target actions, thereby drastically reducing the inference latency. Specifically, ActionCache stores the intermediate actions with compact multimodal keys, which enables retrieval from similar past contexts across different episodes or even different tasks. Experimental results in simulation and real-world environments demonstrate that ActionCache maintains high task success rates in a low-latency regime, achieving inference acceleration of up to $11.75\times$ and $34.43\times$ for representative flow-based VLA models, $π_{0.5}$ and GR00T-N1.6, respectively.

Large language models (LLMs) achieve promising results on medical question answering benchmarks, yet their use in public health is constrained by hallucinations and the rapid evolution of official guidance. Retrieval-Augmented Generation (RAG) mitigates these risks by grounding responses in an explicitly maintained corpus, but end-to-end performance depends critically on retrieval configuration and on evaluation beyond multiple-choice formats. We extend PubHealthBench, a question answering (QA) benchmark of 7,929 questions derived from UK Government public health guidance, into a retrieval-augmented setting and systematically evaluate retrieval and generation choices. We compare dense, sparse, and hybrid retrieval across multiple embedding models and corpus variants, and show that hybrid retrieval consistently improves recall and ranking quality, with chunk length and topic interacting with ranking performance. Providing retrieved context substantially increases multiple-choice accuracy across a diverse set of LLMs, enabling smaller open-weight models to match or outperform larger models used without retrieval, with gains primarily driven by retrieval quality and careful context selection. To assess realistic free-form answering, we introduce a rubric-based LLM-as-a-judge covering faithfulness, completeness, clarity, and factual consistency, and validate it against dual human annotations. Judge-human agreement is strongest for faithfulness and completeness, while factual consistency and clarity are less reliably reproduced, motivating caution when interpreting those dimensions at scale. Overall, our results highlight retrieval as a primary lever for reliable public health QA and provide practical guidance for building and evaluating RAG systems grounded in official guidance.

While personalisation is becoming a defining capability in human-robot interaction (HRI), the existing literature on responsible personalisation remains fragmented, offering isolated accounts of ethical risks without a structured understanding of how they emerge across interaction contexts. This gap is particularly critical in HRI, where robots' embodiment and social presence can amplify and reshape such risks or generate new types of risks. We present a lifecycle-based and context-sensitive framework for personalised HRI, grounded in an embodiment-aware perspective. The framework combines stages of the personalisation process with interaction characteristics (short-term vs. long-term, open-domain vs. closed-domain), enabling systematic analysis of how risks arise and evolve. Building on this, we conduct an integrative analysis of key ethical risks, including autonomy erosion, biased user modelling, manipulation, dehumanisation, and privacy violations, and examine how they manifest across contexts. We translate these insights into actionable design recommendations and outline open research challenges. By structuring both the design space and risk landscape of personalised HRI, this work provides a foundation for more systematic, transparent, and ethically grounded approaches to personalised robot behaviour.

Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is available only weeks a year, every tree is different, and a control error can permanently damage the crop or the plant. The tree models used in graphics and agronomy are geometrically detailed but physically inert, while the GPU-parallel simulators used in robot learning contain no plausible trees. We present OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees on the Newton engine. Each tree is grown by a stochastic L-system and instantiated as a fully articulated body: branches are compliant torsional spring-dampers whose stiffness follows Euler-Bernoulli beam theory, they break at a wood modulus of rupture and fall as free hinges, and apples are independent bodies on stem tethers that detach at literature-grounded pull forces and load the branch when pulled. A moving, density-controllable foliage layer occludes the canopy as real leaves do. Every physical parameter is tied to a published source. Per-environment domain randomization makes each batched world a distinct tree, and a mobile manipulator with a wrist depth camera closes the loop with geometric fruit perception and an autonomous harvesting baseline. Careful engineering of the solver and the model lets OrchardBench run many parallel environments at interactive rates on a laptop GPU. We define the tasks and a metric suite spanning harvest completeness, throughput, and plant damage (with a per-canopy-zone breakdown), and report baseline results across foliage, fruit load, terrain, canopy zone, and parallelism. The analytic baseline succeeds on about 40% of the fruit it detects and harvests only about an eighth of the reachable fruit on a tree, leaving clear headroom for novel autonomy approaches.

Real-world learning for dexterous hands remains brittle because high-dimensional hand actions amplify imitation errors and make reinforcement-learning exploration prone to contact-breaking motion. While combining imitation learning (IL) with online reinforcement learning (RL) can reduce manual supervision, unconstrained exploration in raw hand-action spaces is sample-inefficient and risky for physical hardware. We introduce a latent motion prior module (\prior{}) that maps recent hand-action histories to a compact, history-conditioned latent prior and decodes continuous latent commands into executable high-dimensional hand targets. Built on this prior, \method{} is a three-stage real-world dexterous learning framework: it pretrains \prior{} from demonstrations, trains a visuomotor policy that predicts native arm commands and latent hand-action offsets, and improves the policy with online residual RL in the same latent hand-action space. This shared, decodable interface lets residual exploration make local corrections near demonstrated, contact-consistent hand motions rather than perturbing every finger joint independently. We evaluate \method{} on four real-robot dexterous manipulation tasks against raw, linear, and discrete hand-action interfaces. Starting from small task-specific demonstration sets, \method{} achieves a 56.25\% average IL success rate and raises it to 98.75\% after online RL, reaching 100\% final success on three tasks and 95\% on the remaining task.

Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially in the context of vision language action (VLA) models. However, high quality policy performance also requires fast inference and high quality demonstrations, which are often hard to get. Lack of these leads to suboptimal policy behaviors and failure under distribution shifts. In this work we address the problem of fine-tuning and accelerating suboptimal flow-based policies using the robot's experience through RL post-training. We introduce Optimal Transport Q-Learning (OTQL), a new method for finetuning flow policies using advantage weighted conditional optimal transport flow matching. OTQL can finetune and accelerate flows with an interaction budget of 50-60 episodes while avoiding computationally expensive distillation in simulation and real-world robot tasks. Our results show that OTQL post-trains flow policies using the robot's own experience, increasing average success percentage of single-task policies from 36% to 86% and of a pre-trained VLA from 38% to 76% while reducing the number of inference steps per action generation by 70%.

Long-horizon household tasks require robots to compose many language-conditioned skills, yet the boundary between consecutive skills is rarely explicit. A skill may satisfy its own postcondition while leaving the robot, objects, or camera views in a state from which the next skill cannot reliably start. We study this semantic handoff problem in BEHAVIOR-1K through an agent-orchestrated vision-language-action execution harness. The harness invokes $π_{0.5}$-based skill checkpoints trained from cleaned BEHAVIOR-1K demonstrations, assigns each skill typed arguments and a step budget, and uses multi-view vision-language model verification to decide whether execution should advance, retry, or replan. To separate isolated skill competence from long-horizon compositional robustness, we evaluate the same checkpoints under two initial-state distributions: clean skill-boundary snapshots and chained terminal states produced by previous skills. Selected navigation, grasping, placement, and door-opening skills achieve 77--100% success from clean snapshots under human-reviewed verification, yet composed rollouts still frequently stall from chained states. Execution traces attribute these failures to next-skill readiness, target grounding, and low-level control execution, revealing a substantial gap between single-skill success and reliable long-horizon task completion. These findings turn near-zero end-to-end task success into actionable diagnostics, showing that future VLA skill libraries must learn robustness to the messy chained-state distribution that clean demonstrations systematically underrepresent.

Photonic integrated circuits (PICs) enable optical systems with dramatically increased performance, cost-effectiveness, and scalability through enhanced light-matter interactions, high-density integration, and mass production. Due to the significant mode mismatch between various integrated photonic platforms and optical fibers, spot-size conversion interfaces with low-loss, compact footprint, and high manufacturability are essential. Conventional spot-size converters based on intuitive designs often require multi-layer tapering structures and tiny waveguide tips to adiabatically expand the eigenmodes. These rigid design constraints commonly lead to large device footprints and the requirements of multiple high-precision lithography steps. In this paper, we overcome these limitations using inverse design methods, which optimize the coupling efficiency over a large parameter space beyond traditional eigenmode evolution limits. Specifically, we demonstrate efficient and ultra-compact photonic interfaces on the thin-film lithium niobate (TFLN) platform, where the partially etched rib waveguides and non-vertical sidewalls have previously hindered the achievement of low-loss waveguide tapers in single-layer configurations. Our inverse-designed photonic structures achieve simulated and experimentally measured coupling efficiencies as low as 1 dB and 3 dB per facet between TFLN waveguides and lensed/ultra-high numerical aperture (UHNA) fiber, with broad 1-dB bandwidths exceeding 120 nm. The inverse-designed interfaces are highly compatible with standard TFLN PIC components and require only a single high-resolution lithography step. More importantly, the design concept transcends traditional eigenmode evolution theories and is broadly applicable to a variety of material platforms and application scenarios.

Major cloud data platforms now expose large language model capabilities as native SQL functions, enabling analysts to perform classification, filtering, sentiment analysis, extraction, similarity search, and aggregation within ordinary SQL queries. Yet existing text-to-SQL benchmarks evaluate only conventional SQL and provide no signal on whether models can generate such AI-native SQL. We introduce Spider 2.0-AIFunc, a benchmark of 465 verified instances across 125 real-world databases covering six types of AI functions on the Snowflake platform. Starting from an existing enterprise text-to-SQL benchmark, we construct Spider 2.0-AIFunc through an agent-based pipeline that rewrites source tasks into AI-native form, simultaneously transforming target queries and refining natural language instructions to make the intended AI-native solution explicit and reduce ambiguity. All instances pass a multi-round repeated execution protocol across temporally separated windows to confirm result stability before release. Evaluating ten state-of-the-art language models, we find that the strongest proprietary models reach 67-70% execution accuracy while the best open-source model achieves 58.1%, a gap driven primarily by errors in predicate specification, schema grounding, and AI function parameterization. Agent frameworks designed for traditional text-to-SQL challenges, such as schema retrieval and relevant table selection, do not transfer effectively to AI-native SQL: a minimal agent setup consistently matches or outperforms more elaborate alternatives, suggesting that the strategies these frameworks employ are less critical in this setting. Data are available at https://github.com/Leolty/Spider2-AIFunc .

Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visual-inertial SLAM. Although sensors like Doppler Velocity Logs (DVL) and pressure gauges provide auxiliary constraints, robust multi-sensor fusion during intermittent visual failure remains challenging. To address this, we present APVI-SLAM, a real-time multi-sensor fusion SLAM system that achieves both accurate underwater localization and photorealistic mapping. Our approach introduces a reliability-aware localization framework that dynamically reweights sensor estimators and employs a sliding-window freezing strategy to recover from tracking failures, substantially enhancing system robustness. Furthermore, for high-fidelity scenes reconstruction, we propose an efficient quadtree-guided mapping module that facilitates incremental water-medium modeling and 3D Gaussian optimization. Recognizing the lack of benchmark for underwater mapping evaluation, we also contribute a coral reef surveying dataset with synchronized multi-modality data. Extensive experiments on public and our proposed benchmarks demonstrate that APVI-SLAM achieves state-of-the-art localization and reconstruction quality at real-time speeds.

Current AI safety evaluation and benchmarking frameworks predominantly rely on Western-centric culture-agnostic defaults that mask critical regional laws, socio-linguistic nuances, and cultural taboos, leaving Vision-Language Models (VLMs) vulnerable in global deployments. We introduce Pluralis v0.1: a novel multimodal, multi-regional, and multilingual dataset built from a culture-first perspective. Spanning 6,448 prompts across six Asia-Pacific countries (Bangladesh, India, Korea, Pakistan, Singapore, Taiwan) and eight languages, Pluralis diverges from prior work by natively sourcing localized safety hazards rather than adapting Western datasets. Crucially, it introduces a multimodal evaluation paradigm: user text (e.g., "Should I gift this?") and an image referring to "this" (e.g., a clock) - both innocuous in isolation, but synergistically triggering specific legal or cultural violations. Pluralis disentangles universal safety violations from localized cultural appropriateness, establishing the latter as a first-class evaluation axis. To operationalize this, we present Judge-Pluralis, an agreement-gated LLM-as-a-Judge ensemble trained on examples classified in an empirically derived cultural taxonomy. Observing VLM behavior on a subset of the Pluralis surfaces recurring, locale-specific failure modes such as image misidentifications with downstream harm, missed item-context-locale interactions, and inadequate refusals. These failure modes vary systematically across locales and languages, exposing blind spots that globally averaged metrics conceal. Ultimately, Pluralis is not presented as a solved evaluation framework for cultural alignment, but rather as a first step and catalyst for future innovation. We call upon the research community to utilize this foundation to advance the science of multilingual, multicultural evaluation to better support AI cultural alignment globally.

Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits high and usually carries a single arm; using the legs as manipulators lifts the manipulating leg off the ground; and even leg-mounted grippers reach two-handed tasks only by rearing onto the hind legs. This paper integrates a manipulator with a prismatic slider, two revolute joints, and a gripper into each front calf of a Unitree Go2. The two arms grasp objects at ground level and manipulate with both hands while all four feet stay planted, without rearing. With one arm carrying, the base stays free to walk. A vision-language model sequences skills from a predefined library at each skill boundary, conditioned on the head-camera image and task state, for long-horizon autonomy. In simulation, the design performs three bimanual tasks: a long-horizon cabinet task under autonomous skill selection, a cooperative two-handed lift, and an inter-arm handover.

Large language models (LLMs) can generate BPMN process models from natural-language descriptions, yet supervised fine-tuning (SFT) limits their output quality to the patterns present in the training data. Reinforcement learning (RL) can optimize beyond this ceiling using external quality measures, but how the reward function should be designed when quality is multi-dimensional remains unexplored. We present a systematic investigation of reward function design for RL-based process model generation, training two LLM families (Llama~3.1 8B, Qwen~2.5 14B) under 48 configurations using Group Sequence Policy Optimization with rewards derived from an automated evaluation framework comprising 38 metrics across syntactic, pragmatic, and semantic quality. Three findings emerge. First, RL significantly improves pragmatic and syntactic quality while preserving semantic fidelity, reducing output variability by more than sixfold. Second, equal reward weighting consistently outperforms targeted weighting: emphasizing a specific dimension fails to improve it and can collapse the model into a low-quality mode. Third, design choices interact with model architecture in non-trivial ways: the invalidity penalty is essential for one model but irrelevant for the other, and SFT initialization is indispensable for one architecture but counterproductive for another. These results demonstrate that reward composition is a primary determinant of optimization outcomes, with effects as large as the decision to apply RL itself. The findings generalize to any structured generation task where quality is assessed along multiple automated dimensions. We release our implementation and experimental code at https://github.com/chlauer99/RL_for_process_modeling.

Omni-directional (360°) cameras provide embodied agents with a holistic view of their surroundings, making them suited for directional reasoning in tasks such as navigation and object search. Existing Vision Language Models (VLMs) project 360° observations to 2D equirectangular projection (ERP) images and process them using architectures designed for perspective images. However, they ignore the spherical nature of 360° observations, where each pixel represents a viewing direction relative to the agent. Consequently, their direction estimates often become inconsistent under camera view transformations caused by agent motion. This limitation is particularly critical for map-free navigation, where the agent must continuously estimate the target direction in its egocentric frame. We propose EAGOR, a training-free, geometry-aware framework for embodied 360° directional reasoning. Instead of predicting target directions as ERP image coordinates, EAGOR formulates directional reasoning as recursive Bayesian estimation directly on the sphere. It maintains a continuous belief over target directions and propagates it equivariantly under agent motion without training the backbone VLMs. To achieve this, we introduce the Spherical Harmonic Belief Field (SH-BF), whose spherical harmonic representation provides a globally defined, rotation-aware basis for directional estimation on the spherical manifold. This formulation eliminates ERP seam discontinuities, latitude distortions, and interpolation errors. We evaluate EAGOR on two benchmark datasets and real-world experiments with a legged robot across directional reasoning tasks. EAGOR consistently outperforms existing methods, achieving average relative gains of +34.4% and +45.6% on HOS and OSR-Bench, respectively, while improving navigation success by +14.6%, reducing step count by 17.7%, and lowering mean angular error by 24.5%.

Synthesizing long-context supervised fine-tuning (SFT) data is a scalable way to enhance the long-context understanding of large language models (LLMs), yet existing approaches share three limitations: narrow task coverage, insufficient instruction difficulty, and a lack of faithfulness supervision. We propose \textbf{LongCrafter}, a structured synthesis framework that couples a hierarchical task taxonomy with an evidence-grounded pipeline. The taxonomy organizes long-context understanding into local/shallow and global/deep levels and yields 32 fine-grained task types that serve as a global generative prior. Guided by this taxonomy, LongCrafter constructs task-aligned long contexts, decomposes them into explicit evidence graphs that model cross-paragraph dependencies, and generates instruction--response pairs strictly grounded in the located evidence spans, ensuring both controllable difficulty and faithful, traceable reasoning. Models fine-tuned on LongCrafter data outperform all SFT baselines and even the official post-trained models on LongBench, LongBench~v2, and LooGLE across both Qwen2.5-7B and LLaMA-3.1-8B, with the largest gains on high-difficulty tasks. Further analysis shows that LongCrafter data is more diverse and better spread across difficulty levels, and that the trained models locate evidence robustly regardless of position, effectively mitigating the ``lost in the middle'' problem.

Deliberation plays a crucial role in collaboration; when humans work together, they naturally engage in communication to align information and reach an agreement. In this paper, we investigate deliberative large language model (LLM) agents under partially observable joint decision-making tasks. We formalize deliberative collaboration as a cooperative joint decision problem with partial and asymmetric observations, and introduce a scalable benchmark that instantiates this problem across multiple task settings and domains in which agents must exchange information through deliberation to reach a joint decision with a shared reward. We then instantiate a reference scaffold and evaluation protocol for deliberative agents and conduct a systematic evaluation of a range of representative LLMs. The results reveal that complex deliberative collaboration tasks continue to challenge state-of-the-art language models. Even with the aid of external mathematical tools, language models may fail in either the deliberation process for aligning information or the complex reasoning process for making the decision. On the other hand, diagnostic analysis reveals that the deliberation process may also provide opportunities for reflection and error correction, sometimes improving performance over centralized baselines. Altogether, our work establishes a foundation for evaluating and improving LLM agents in deliberative collaboration and provides insights into the strengths, limitations, and properties of current LLM-based multi-agent systems.

Modern sequence models are increasingly deployed as agents that interleave token generation with calls to external tools. We give an exact, architecture-level account of when such tool access increases computational expressivity. We model any fixed finite-precision recurrent sequence model, including finite-precision state-space models (SSMs) with $B$ bits of internal state, as a deterministic finite-state controller interacting with an oracle through a finite command/observation interface. Our results form a sharp dichotomy. First, tools that are themselves finite-state add essentially nothing: a product-state simulation internalizes any finite-state bounded-interface oracle with finite memory set $M$ at a cost of only $\log_2 |M| + O(1)$ additional bits, so the augmented system remains finite-state. Second, a single minimal infinite-state tool, namely a tape supporting only local $\mathtt{read}$, $\mathtt{write}$, and $\mathtt{move}$ commands, makes the system Turing complete: for every single-tape Turing machine with state set $Q$ and tape alphabet $Γ$, a controller with $O(\log |Q| + \log |Γ|)$ bits of internal memory simulates it, and we exhibit a concrete exponential separation: $\mathrm{EQ}_n$ requires $2^n$ states without tools but a single constant-size controller with the tape tool. Third, we show that this construction is realized exactly by a natural one-layer finite-precision selective affine SSM controller with binary one-hot hidden states, $\{0,1\}$ transition matrices, and zero biases. Selectivity is essential to the construction. In the supplementary material, we make all constants explicit, prove a logarithmic oracle-assisted universal simulation, where $O(\log B)$ recurrent bits suffice to simulate any $B$-state Turing machine, and prove a matching impossibility result.

Large language model (LLM) agents require post-training methods that can improve long-horizon decision making from environment feedback. However, existing agentic post-training pipelines often treat data curation as a fixed preprocessing step, focusing mainly on data augmentation while neglecting filtering, refinement, and adaptation to downstream failures. We propose CurateEvo, a failure-driven dynamic evolution framework for agentic post-training data curation. CurateEvo represents the curation strategy as executable code and iteratively rewrites it using failed trajectories from a held-out development set. At each epoch, the evolved strategy transforms a fixed raw corpus into supervised fine-tuning data, reinforcement learning data, and an inference-time memory bank. The evolution process first improves effectiveness by diagnosing recurring failure modes and augmenting, filtering, or refining data accordingly, and then improves efficiency by pruning redundant or low-utility training turns under a cost-aware objective. Experiments on ACEBench-Agent, BFCL-V4, and τ^2-Bench under both labeled and wild-data settings show that CurateEvo consistently outperforms prior curation methods, improving average scores by 3.2 and 2.7 points, respectively. Further analyses demonstrate that CurateEvo is compatible with different post-training recipes and substantially reduces curation overhead.

We present LLM4SDM, the first study of open-source smaller language models (OS-sLLMs) for automated assessment of shared decision making (SDM) using the Observer OPTION12 framework. Unlike previous work that relies on large commercial models and the shorter OPTION5 instrument, our study focuses on privacy-preserving locally deployable models and Dutch melanoma consultation transcripts. Using expert-annotated clinical consultations, we evaluate three general-domain and two medical-domain OS-sLLMs during a development-phase pilot study. Results show that general-domain models outperform medical-domain models, which exhibit substantial hallucination and instruction-following failures. Gemma3:12b achieves the strongest agreement with human annotations (Pearson r=0.51, Spearman \r{ho}=0.59). Item-level and qualitative analyses reveal systematic challenges related to temporal discourse reasoning, conversational role attribution, and evidence grounding. We further introduce a Judge-LLM consensus framework designed to support disagreement resolution among multiple models. Our findings suggest that while current OS-sLLMs cannot replace human annotators, they offer a promising foundation for privacy-preserving human-in-the-loop SDM assessment.

Utilities increasingly rely on planning and operational tools to cope with the increased penetrations of distributed energy resources, yet the lack of realistic, openly available datasets remains a major barrier for benchmarking and comparison. Traditional test feeders, and recently proposed large-scale synthetic networks alleviate this issue but are typically based on heuristic rules and do not learn directly from data. This paper proposes a generative framework based on Generative Adversarial Networks (GANs) to create power distribution network layouts using image-based representations. The model is trained on rasterised views of distribution systems and can operate in two modes: an unconditional configuration that learns layout patterns from the training dataset, and conditional configurations that incorporate geographical context such as street maps and the spatial distribution of consumers. The methodology includes dataset preparation from Geographic Information System (GIS) sources, GAN architecture design, and the analysis of training stability and image resolution. Results from three representative cases show that the proposed approach can reproduce the topologies of low (LV), medium (MV) and high voltage (HV) feeders and align generated layouts with underlying geographical structures. At the same time, the study reveals limitations related to training stability, resolution-dependent artefacts and limits, and the absence of explicit electrical constraints. The proposed framework constitutes a data-driven complement to existing synthetic network generation methods, and could be applied to propose distribution network layouts for the electrification of new areas. This would require future extensions towards power flow, electrically validated models.

Putnam's Social Capital Theory is a foundational framework for collective action and community prosperity. However, traditional empirical methods face practical limits on control and replication. Meanwhile, LLM-based social simulations are typically behavior-driven and lack theory-aligned environments for modeling Putnam's core propositions. To address these gaps, we introduce SocaSim, an LLM-based multi-agent simulation framework to study Putnam's Social Capital Theory from theoretical blueprint to simulated reality. Specifically, we build an environment integrating social network evolution, trust dynamics, and norm propagation, where agents engage in repeated collective-action experiments, and then apply the three dimensions to analyze adaptation challenges in smart elderly care. Our simulations reproduce Putnam's macro-level patterns and exhibit strong human-agent alignment at the group level. Unlike traditional methods, SocaSim traces micro-level causal pathways of social network, trust, and norms via round-by-round simulations and counterfactual interventions, enabling process-level interpretability. Taken together, these capabilities establish a research paradigm that leverages LLM agents to bridge social science and computer science.

Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objects and humans. Although recent advances in humanoid motion imitation and whole-body control have achieved remarkable tracking performance, existing datasets and benchmarks primarily focus on kinematic motion while largely overlooking synchronized interaction forces. As a result, current evaluations fail to capture how external interaction forces affect tracking accuracy, stability, and control robustness. In this paper, we present ThorArena, a benchmark for evaluating force-aware humanoid interaction based on human demonstrations with synchronized motion and force measurements. We collect a real-world interaction dataset that simultaneously captures whole-body human motion and forces exerted by both hands across six representative physical interaction tasks. Based on these demonstrations, we propose force-aware evaluation metrics that jointly assess whole-body tracking accuracy, robustness under different force levels, control effort, and episode survival through the Force-Aware Tracking Score (FATS) and complementary diagnostic metrics. We further establish a unified benchmark protocol that replays recorded interaction forces in simulation and provides a standardized evaluation interface for different humanoid control policies. Experiments on representative whole-body control policies demonstrate that force-aware evaluation reveals substantial performance differences that remain largely hidden under conventional no-force evaluation. ThorArena provides a practical and reproducible framework for studying force-aware humanoid interaction and offers a new benchmark for evaluating contact-rich humanoid behaviors.

Pretrained video generative models are promising backbones for visuomotor control, but their imagined futures often drift from task intent and are not reliably action-conditional. As a result, these models can be difficult to use for planning or policy extraction. To address these limitations, we propose RoboTALES, a single-stage framework that learns task-aligned simulated futures and uses them to train robot policies. Our approach introduces two key innovations: (1) a hierarchical LLM-based planner that breaks complex tasks into a sequence of subgoals to guide the model's imagination; and (2) a VLM-based critic that evaluates these ``imagined'' futures and uses reward-based feedback to keep the model's internal representations focused on the goal. By anchoring the video generator in abstract reasoning, we produce temporally consistent rollouts and more coherent actions. We evaluate RoboTALES on diverse manipulation tasks from RoboCasa and LIBERO10, and show that our method consistently outperforms existing methods, especially in long-horizon tasks. Our code and models are publicly available at https://github.com/hananshafi/RoboTALES.

Large language model (LLM) agents have shown strong performance in long-horizon tasks that require planning, tool use, and interaction with external environments. However, most existing benchmarks implicitly assume a monolingual setting, where the entire execution process, including reasoning, tool invocation, and output generation, is conducted within a single language. In contrast, real-world applications often involve multilingual inputs and outputs within a unified workflow, yet the interaction between multilinguality and agentic execution remains underexplored. In this work, we introduce PolyWorkBench, a benchmark for evaluating LLM agents on multilingual long-horizon workplace workflows. PolyWorkBench consists of 67 tasks across five domains, including commerce, knowledge work, legal analysis, localization, and manufacturing, where agents must process heterogeneous multilingual inputs, perform iterative reasoning, invoke external tools, and produce structured outputs. To enable comprehensive evaluation, we propose a hybrid framework that combines structural grading, executable verification, and LLM-based semantic assessment. This design allows us to capture both functional correctness and linguistic consistency across complex workflows. Empirical results show that state-of-the-art LLM agents suffer significant performance degradation in multilingual workflow settings compared to monolingual counterparts. Our analysis suggests that multilinguality introduces compounding effects across reasoning and execution steps, highlighting the importance of jointly modeling language variation and procedural decision-making in agent evaluation.

We report a pre-registered, two-part experiment on small economies of frontier language-model agents (Claude Opus 4.8), testing two quantitative predictions about coupled multi-agent systems: an information-theoretic capacity region for wealth growth under market coupling, and a mean-field residual-scaling law for population misalignment under incentive and control levers. All predictions, acceptance bands, and decision rules were frozen in a public git chain before any run; every reported number re-derives mechanically from cached model outputs; the entire experiment cost $138.76 in metered API spend and is re-runnable at zero cost from the cache. Result 1 (confirmation): in parimutuel-coupled economies, relative growth equals relative claimed information -- the gap law G_a - G_b = I_a - I_b holds to a worst-case 46 millinats (pre-registered band: 50) across four perception structures; coalition value is submodular exactly where channels are conditionally independent, and a designed XOR synergy control flips it supermodular by 0.62 >= ln2/2 nats, with agents reasoning out the joint bit; the joint growth ceiling G_S <= H(X) binds exactly; and the best-informed agent absorbs essentially the whole wealth pool in 4/5 market seeds. Result 2 (structural negative): the residual-scaling test returned "domain not found." In all 72 population runs, goal dispersion collapsed (V -> 0; maximum 4.85 against a frozen floor of 5.31), the population's response to the two levers was a step function across the dominance boundary rather than a smooth response, and cells near the boundary were bistable with seed-selected outcomes. No tested LLM population at any capability level realizes the noise-maintained-dispersion regime the smooth mean-field model assumes. We release the full protocol, pre-registration chain, call cache, and analysis code.

Mathematical reasoning has become a central task for evaluating and tuning reasoning Large Language Models (LLMs), yet existing benchmarks remain heavily biased toward high-resource languages, with English and Chinese dominating both pre-training corpora and evaluation suites. The recently released PolyMath (Wang et al., 2025) dataset represents a significant step forward, yet its coverage is still limited to 18 only high-resource languages. To address this gap, we introduce PluraMath, an extension of PolyMath to 18 additional {underrepresented languages spanning 6 language families -- ranging from mid-resource to extreme low-resource settings. We constructed the dataset through a human-curated pipeline, where native speakers thoroughly validated pre-computed translations. Using PluraMath, we then benchmark 27 reasoning LLMs across four model scales -- small, mid-size, large, and closed-source ensembles -- probing the multilingual mathematical reasoning capabilities of state-of-the-art models under diverse linguistic conditions. Our fine-grained analysis confirms a persistent gap in mathematical reasoning performance between high-resource and underrepresented languages, with stronger results largely associated with better instruction-following ability. We fully open-source our dataset, data acquisition pipeline, and evaluation framework, with the goal of lowering the barrier to multilingual benchmark development for underrepresented communities.

This paper presents a black-box evaluation framework to systematically assess the ability of Large Language Models (LLMs) to generate Design Structure Matrices (DSMs) from structured technical documentation. Motivated by the closed-source nature of current Auto-DSM pipelines, the framework introduces a reproducible methodology that benchmarks generated DSMs (GEN-DSMs) against manually validated ground-truth matrices (GT-DSMs). The evaluation integrates both single-run and multi-run perspectives, combining structural metrics (Completeness, Correctness, Coupling Density), classification metrics (Selective Accuracy, Abstention Coverage), and stability measures (Entropy, Fleiss' $κ$). To synthesize these aspects, a Composite Quality Score (Q) is proposed. Controlled experiments are conducted on two datasets: a fictive abstract system and a real-world refrigerator decomposition, covering variations in phrasing, parameter-dataset alignment, and system complexity. Results show that LLMs can produce structurally plausible DSMs and achieve high reproducibility under well-structured inputs, but remain sensitive to ambiguity, inconsistent dependency definitions, and prompt formulation. The findings highlight systematic sources of hallucination and abstention failure, demonstrating both the potential and current limitations of LLM-driven DSM automation. The proposed framework provides a transparent benchmark for auditing Auto-DSM pipelines and establishes foundations for integrating LLM-based decomposition methods into model-based systems engineering (MBSE) workflows.

This demo presents an MCP-enabled agentic AI architecture for autonomous control of vendor-agnostic IPoDWDM networks. We demonstrate live end-to-end lifecycle multi-layer automation and closed-loop control using GNPy and telemetry, validated on a real testbed.

Latent memory, which stores past knowledge fragments as per-layer hidden states, has emerged as a promising paradigm (e.g., MemoryLLM and M+) for long-term memory in large language models (LLMs). However, the paradigm suffers from significant performance degradation during memory updates, due to positional encoding misalignment and the absence of any tracing mechanism to distinguish target memory fragments from irrelevant ones. To discover such a tracing mechanism, we probe the layer-wise attention density over stored memory fragments, and find that a small set of middle transformer layers consistently concentrates the highest density on the target fragment - exposing an inherent tracing signal. In light of this, we propose MemDefrag, a training-free and model-agnostic framework that (1) uses a middle-layer tracing signal to conduct memory defragmentation (rank, reorder, and filter memories), and (2) applies an informativeness-guided proportional forgetting mechanism once capacity is exceeded. Experiments show that MemDefrag substantially outperforms MemoryLLM and M+ on knowledge retention (e.g., 43.0% vs. 17.4%/17.6% after 50 memory updates) and long-context benchmarks, and generalizes well across various LLMs and latent-memory variants.

Long-horizon failure in world models is conventionally attributed to compounding error, a generic framing that does not distinguish what kind of error compounds. We propose a kinematic-vs-dynamic reframing: world models tend to imagine kinematically rather than dynamically. We operationalize this as the imagined Kinematic-Consistency Error, a per-step diagnostic that measures how far a rollout departs from a closed-form kinematic null, paired with a perturbation protocol that tests whether iKCE responds when physical conditions cross a regime boundary. We instantiate the diagnostic on a released DreamerV3 checkpoint trained on DMC walker-walk, where imagined iKCE runs roughly two orders of magnitude above that of matched real-physics rollouts. Across a friction sweep that crosses the gait-collapse boundary, the model's iKCE stays statistically flat even as the trained policy's reward collapses through the same range, providing the kinematic-not-dynamic signature. The diagnostic distinguishes kinematic from dynamic imagination at horizons longer than the embodiment's gait period.

We present a distributed, vendor-agnostic multi-MCP architecture for SDN-based automation and autonomous control of multi-vendor, multi-layer IPoDWDM networks. The framework enables E2E service lifecycle automation, closed-loop cross-layer control using GNPy model and optical telemetry, and is experimentally validated on a IPoDWDM testbed.

Multi-agent active visual triangulation enables precise 3D localization of aerial targets by coordinating mobile observers with controllable cameras. However, existing methods assume instantaneous state feedback, ignoring cumulative latency from detection, communication, and decision propagation. We present a delay-aware, uncertainty-driven multi-agent reinforcement learning framework for target localization in Counter-UAS applications. Our contributions are: (1) a Dec-POMDP formulation with Age-of-Information (AoI) augmented observations enabling delay-aware coordination -- AoI improves triangulation validity by 10.6 percentage points; (2) a controlled comparison showing that perception-consistent rewards outperform privileged clean-state rewards (0.547 m vs.0.633 m RMSE, 27% fewer track losses) -- both policies are trained through identical observation noise but differ in what they are optimized for, producing a stability-robustness tradeoff; and (3) multi-source analytical covariance propagation incorporating pixel, pose, gimbal, and intrinsics uncertainties -- restricting to angular noise alone causes 2.8-fold RMSE degradation. Experiments with MAPPO in 4096 parallel environments achieve 0.547 +- 0.217 m RMSE with 78.1% triangulation validity, while MLP policies achieve near-zero validity (0.7%), confirming recurrent memory as essential for delay compensation.

The integration of Large Language Models (LLMs) into scientific research workflows, particularly for bibliographic discovery and literature synthesis, raises significant methodological, epistemic and regulatory challenges for the Social Sciences and Humanities (SSH), especially with regard to disciplinary diversity, multilingual access to sources and the evaluation of results. This paper presents an on-going use case developed within the European project LLMs4EU and the ALT-EDIC infrastructure, aimed at adapting foundation models to SSH research practices and supporting tasks such as question answering, comparative document analysis and literature review. The evaluation framework follows the LLMs4EU protocol and encompasses both independent quantitative benchmarking (retrieval, summarisation, traceability and hallucination detection) and a qualitative assessment involving a panel of Digital Humanities experts. By embedding model adaptation within research infrastructures and a structured legal and ethical compliance framework, the use case explores how domain-sensitive and regulation-aware generative AI can support SSH scholarship while preserving reliability and epistemic responsibility.

This article presents a solution to intercept an agile drone by a team of agile drone carrying catching nets. We formulate the problem as a competitive Multi-Agent Reinforcement Learning (MARL) task. To address the problem of nonstationarity and catastrophic forgetting of agents overfitting to the current opponent strategy, we train the pursuers and the evader using Multi-Agent Proximal Policy Optimization (MAPPO) with Prioritized Fictitious Self Play (PFSP). We train the agents in a high-fidelity simulator using low-level control commands, collective thrust and body rates (CTBR), to achieve agile flights for both the pursuers and the evader. We compare the performance of the trained policies in terms of catch rate, time to catch and crash rates, against heuristic baselines and show that our solution outperforms them. Ablation studies show that PFSP lead to more robust policies that can adapt to different opponent strategies, and that a low-level control commands are crucial for learning performing strategies in the pursuit-evasion task. Finally, a qualitative analysis of the learned behaviours highlights the emergence of cooperative tactics among the pursuers.

Multimodal document retrieval aims to retrieve relevant pages while preserving both textual and visual content from the original document. However, existing benchmarks primarily evaluate simple lexical or semantic matching, and most methods encode pages independently. Consequently, they overlook the contextual information in the document required to resolve queries that aggregate information across multiple pages. In this paper, we introduce CMDR and CMDR-Bench, a new multimodal document retrieval task and benchmark that require modeling document context. To address this challenge, we propose CMDR-Embed, a contextual multimodal embedding framework that explicitly incorporates document context by jointly encoding multiple pages and deriving page-level embeddings from a shared contextual representation. Furthermore, we introduce CMCL, a contextual multimodal contrastive learning objective that effectively trains CMDR-Embed by balancing contextual modeling with page-level discriminability. Experiments demonstrate that CMDR-Embed significantly outperforms non-contextual embeddings, highlighting the importance of context-aware multimodal embeddings for advancing document retrieval.

Image guardrails are typically trained and evaluated under a fixed safety policy, implicitly treating safety as an intrinsic property of an image. Real deployments are different: the same image may be allowed in one product, restricted in another, and newly disallowed when a policy boundary changes. We study policy-adaptive image guardrailing, where a model must decide whether an image violates the currently supplied policy and generalize to held-out policy definitions. We introduce PolicyShiftBench, a comprehensive benchmark with 2,000 policy-discriminative instances over 265 images, where each image is paired with 7.55 policy-conditioned prompts on average to test whether models adapt to the active policy rather than relying on image-level safety priors. We then propose PolicyShiftGuard, a compact policy-conditioned guardrail trained with a two-stage training recipe that combines Randomized Policy SFT (RP-SFT) with Boundary-Pair Policy Adaptation (BP-Adapt). BP-Adapt trains matched prompts for the same image and risk category using standard label supervision and a pairwise comparison loss that separates blocking policies from passing policies. Experiments show that existing VLMs and specialized guardrails remain brittle under policy shifts, while PolicyShiftGuard substantially improves policy-sensitive performance. The 7B model achieves SOTA performance of 76.9 Avg. F1 and 72.1 Avg. PSS on PolicyShiftBench, transfers well to UnSafeBench and SafeEditBench, and improves the latency-performance trade-off with a concise output format. Ablations confirm that matched pass/block boundary pairs are essential for stable policy adaptation.

In dual-arm dexterous teleoperation, cross-platform generalization of motion retargeting and interactivity of grasping are crucial. However, the heterogeneity of robotic architectures and the wide variety of grasping objects pose significant challenges to achieving precise motion retargeting and compliant grasping in dual-arm dexterous teleoperation. To address these challenges, a dual-arm dexterous teleoperation system (DexTele) is proposed based on motion retargeting and adaptive force control. First, a vision-based motion retargeting module is designed to generate preliminary robot motions from human images. In this module, a motion-graph encoder and latent optimization are proposed for precise and convenient cross-platform motion retargeting. Second, an adaptive grasping module is designed to achieve compliant grasping. This module combines a vision-language model (VLM) with model predictive control (MPC), allowing the system to predict the required grasping force for a target object and perform gradient-based online optimization. Finally, extensive experiments demonstrate that the DexTele achieves precise motion retargeting and compliant grasping with generalization across multiple robot platforms.

Robust robotic grasping of novel objects requires datasets that simultaneously provide photorealistic RGB-D observations, physically validated grasp quality annotations, and a principled bridge between simulation and the real world, which existing datasets lack to provide jointly. \textbf{GraspIT} addresses this gap: tabletop scenes in NVIDIA Isaac Sim are annotated via a four-stage physical slip-test on parallel Franka Panda instances, producing trajectory-reachability checks and continuous quality scores beyond force-closure.Of ${\sim}$2.3M candidates, 83% pass as \emph{good} ($s{\geq}0.50$); the 17% that passed force-closure but failed the slip-test provide graded hard negatives. A Real$\leftrightarrow$Sim loop back-projects these labels onto 100 real-world scenes. The release provides ${\sim}$316k annotated RGBD frame sets across 1035 sim and 100 real scenes, with instance masks, 6-DoF poses, physical object properties, and scored 6-DoF grasps. All tools are open-source and Docker-containerized. The trajectory planning within Isaac Sim further allows streaming of high resolution demonstrations for tabletop manipulation policy learning and behavior cloning.

Dynamic shaping of ultrasound into prescribed spatial patterns underlies a broad range of biomedical and engineering applications. However, existing modulation strategies face fundamental limitations: single element transducers paired with acoustic lenses lack reconfigurability, whereas phased arrays require large numbers of independently driven elements, leading to substantial hardware complexity, cost, and rigidity. Here we introduce a microfluidic ultrasound lens system that enables reconfigurable spatial modulation of ultrasonic fields using two orthogonal layers of soft microfluidic channels. Each channel is selectively filled with one of two liquids with distinct sound speeds via an FPGA controlled array of micropumps, generating programmable binary phase patterns. Integrating a 20-row-by-20-column microfluidic lens with a single element transducer, we demonstrate three-dimensional ultrasound focusing with approximately one second reconfiguration time and spatial resolution comparable to that of a 400-element transducer array. The system provides 400 addressable pixels through parallel control of 80 pumps, allowing hardware complexity to scale with the square root of the pixel count. Building on this platform, we demonstrate dynamic ultrasound heating, as well as remote particle manipulation. Furthermore, we demonstrate a cylindrical lens that manipulates ultrasound propagation in the azimuthal direction. Owing to its liquid based, soft architecture, the microfluidic lens offers design flexibility, scalable operation across ultrasound frequencies, low acoustic transmission loss, and stable performance under high acoustic power. Together, these results establish microfluidic phase modulation as a compact, scalable, and flexible approach for dynamic ultrasound field control.

Large reasoning models (LRMs) improve language model capabilities by generating explicit thinking traces before final answers. In factuality-oriented question answering (QA), such thinking often improves overall performance by helping the model recover relevant knowledge and refine its answers. However, we find that this benefit is not uniform at the instance level: explicit thinking can also overturn correct non-thinking answers and lead to factual drift. We refer to this failure mode as \emph{thinking-induced hallucination}. To explain this phenomenon, we formulate explicit thinking in factuality QA as a thinking residual over the model's direct-answer tendency, which can either recover missing knowledge or introduce unsupported associations. Based on this formulation, we propose MARGO, \underline{\textit{M}}ixed-Mode \underline{\textit{A}}dvantage \underline{\textit{R}}egularization for \underline{\textit{G}}rounded \underline{\textit{O}}ptimization, a reinforcement learning framework that uses non-thinking rollouts as same-model references in advantage estimation. By constructing mixed-mode rollout groups with both thinking and non-thinking trajectories, MARGO evaluates whether explicit thinking adds factual value beyond direct answering, thereby suppressing hallucination-prone thinking while preserving beneficial thinking behaviors. Experiments across multiple factuality-oriented QA benchmarks demonstrate that MARGO improves factual reliability over strong baselines, while evaluations on mathematical benchmarks show that it preserves general reasoning ability.

Agent systems accumulate conflicting observations across branches, retries, and replicas, yet many practical memory layers still collapse disagreement behind overwrite rules that are difficult to inspect or correct. We present StateFuse, a conflict-aware replicated memory contract built on standard OpSet/CRDT merge. StateFuse does not introduce a new join algebra; it defines an agent-facing semantics layer with immutable history, explicit conflict objects, exact and semantic correction handles (claim_id / claim_ref), deterministic predicate contracts, and projection-time resolution that cannot rewrite replicated state. We evaluate StateFuse against flat multi-value, raw-log, provenance-style, and collapsed baselines under matched resolver and verification policies. On a 282-question official conflict-bearing MemoryAgentBench slice, the compared methods tie on answer accuracy, but conflict-preserving surfaces keep contradictions visible while collapsed surfaces do not. In a controlled agent loop with uniform verification, preserving ambiguity enables safer abstention and correction than early collapse. A correction-handle ablation further shows that semantic handles matter when exact prior identifiers are unavailable. The resulting claim is narrow: StateFuse is best supported as a safer public memory contract for contradiction surfacing, abstention, and auditable correction, not as a universal accuracy gain.

On-policy distillation (OPD) trains a student policy by matching a stronger teacher on the student's own trajectories, offering a promising framework for language agent training. However, its application to long-horizon agentic tasks remains insufficiently explored. We identify two key inefficiencies in vanilla agent OPD: (1) full-horizon rollouts often waste wall-clock resources on tail turns that provide weak and noisy KL supervision, and (2) trajectory-level KL objectives concentrate most of the loss on shallow tokens, leaving deeper decision turns under-trained once initial behaviors are aligned. To address these challenges, we propose TurnOPD, a turn-level budgeting strategy for efficient on-policy distillation of long-horizon agents. TurnOPD consists of two budget controllers: adaptive rollout-depth budgeting, which uses probe-based turn statistics to determine rollout length, and progressive turn-normalized loss budgeting, which gradually shifts KL weighting from token-level to turn-balanced supervision. Experiments on ALFWorld, WebShop, and Multi-Hop Search with task-specialized teacher models show that TurnOPD achieves superior validation accuracy under equal wall-clock training budgets and advances the accuracy--time frontier beyond vanilla OPD.

Vision-centric autonomous driving requires accurate metric geometry and ego-motion estimation from synchronized multi-camera observations. Recent visual geometry models show strong performance in pose estimation, depth prediction, and 3D reconstruction, but are not tailored to rigid multi-camera driving systems. They often encode camera poses as entangled representations, in which time-varying ego-motion and static camera-rig geometry are jointly modeled, limiting the utilization of vehicle-side geometric priors. We propose Trajectory-Rig Decoupled Metric Geometry Learning (TRIG), a geometry perception framework for autonomous driving. TRIG factorizes camera poses into ego-trajectory and camera-rig components, enabling separate modeling of ego-motion and static multi-camera topology. We introduce decoupled pose encoding and supervision, which separately constrain trajectory evolution and rig geometry for metric-consistent learning. Moreover, sparse Temporal--Spatial attention separates cross-camera interaction from temporal aggregation, reducing global attention cost while preserving geometric reasoning. Experiments on five autonomous driving benchmarks show that TRIG achieves state-of-the-art performance in pose estimation, metric depth prediction, and 3D reconstruction.

While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail to transfer the same function to novel ones -- a gap we formalize as functional generalization. Such tools share a common functional intent that is visually recognizable, yet this perceptual similarity does not carry over to action space, where each tool demands an entirely different motor pattern. To bridge this gap, we explore intermediate representations including affordance images, human video prompts, and 2D keypoint trajectories, finding that keypoint trajectories best balance functional expressiveness and action groundability. Building on this, we propose FunctiOnal Reasoning and Grounded Execution (FORGE), a two-stage policy that decouples functional reasoning from action execution: predicting generalizable keypoint trajectories from action-free data, then grounding them into robot actions with limited demonstrations. On a seven-tool hitting-function benchmark, FORGE consistently outperforms state-of-the-art methods on unseen tools in both simulation and the real world, achieving over 2X improvement in average success rate.

Embodied navigation aims to build agents that interpret multimodal goals, reason in 3D space, and reach target destinations reliably in the real world. However, progress remains constrained by the lack of scalable, high-fidelity, and physically grounded interactive environments. Although real-world scanned datasets offer visual realism, they are limited by scale. In contrast, synthetic simulators scale more easily but often exhibit large sim-to-real gaps. We introduce Image2Sim, a real-time neural simulation framework that constructs high-quality interactive environments from posed RGB-D image sequences. The central idea is to decouple 3D spatial anchoring from photorealistic observation synthesis. For scene construction, Image2Sim uses a feed-forward feature Gaussian model that lifts posed RGB-D observations into a 3D feature-Gaussian representation in a single pass. For rendering, we propose a Geometry-Aware One-Step Pixel Flow model that transforms sparse and noisy Gaussian projections into high-quality panoramic RGB-D observations. Image2Sim also serves as a fully automated embodied data engine that generates high-fidelity observations, executable actions, and diverse navigation instructions at scale. It converts large collections of videos and images into nearly 20K interactive scenes and synthesizes more than 10 million navigation training samples. Navigation models trained entirely in these neural environments achieve strong improvements on major benchmarks and transfer effectively to real-world zero-shot settings. These results suggest that scalable neural simulation can serve as a practical training substrate for embodied navigation at scale.

Answering questions over a set of transactional legal documents is most simply done by injecting the whole corpus into the LLM's context window on every query. That baseline maximises retrieval recall, but its token footprint scales with the corpus rather than the question, and long-context degradation scales with it. We report what it took to replace full-corpus injection in a legal-document analysis system, comparing it against two structured retrieval modes over our proprietary structure-aware chunking: embedding retrieval (NAVEMBED) and LLM navigation over a compact structured index (NAVINDEX). On a 20-question benchmark with verified ground-truth answers, a position-bias-controlled, reference-anchored pairwise judge scored semantic retrieval with reranking tied with injection on 16 of 18 document-bound questions (injection preferred on 2) while attending to 17.3x fewer input tokens (a general-text-embedding (GTE) configuration reaches 29.9x at a lower tie rate); both modes were judged tied on the 2 out-of-scope controls. NAVINDEX was judged tied on all 18 at a 1.61x smaller total token footprint, a ~56x smaller answering context, and 25% lower dollar cost. We derive a closed-form caching-crossover rule: cached injection is cheaper in dollars only while the corpus stays below roughly ten times the retrieval payload. Scope and uncertainty are quantified in Section 8.

Uncertainty estimation is essential not only for the trustworthy deployment of large language models (LLMs) but also as a foundation for self-refinement in LLM generation. However, existing approaches operate at suboptimal granularities: token-level scores lack semantic coherence, while sequence-level scores fail to localize errors. We formalize Span-Level Uncertainty Estimation (SLUE), a new task that targets the natural granularity for uncertainty: semantically coherent text spans, each conveying a single assessable unit of meaning. To address this task, we introduce SPANUQ, a lightweight probe that distills the uncertainty knowledge from expensive multi-sample inference into a single forward pass over LLM hidden states. SPANUQ employs a DETR-style span decoder to simultaneously detect spans and estimate their uncertainty via a Mixture of Beta distribution, trained with a principled combination of Beta NLL regression and contrastive ranking objectives. We construct SPANUQ-BENCH, the first span-level uncertainty benchmark comprising 20K prompts, 293K annotated spans, and continuous soft labels derived from multi-sample claim verification. Experiments on five LLM backbones show that SPANUQ consistently achieves the best span-level uncertainty quality, outperforming the strongest probe baseline and all sampling-based methods while being 10-20x faster. Its DETR-based span detector attains 0.910 F1, surpassing the best heuristic by 39.4%, enabling precise error localization that sequence-level methods cannot provide. The framework generalizes across five LLMs spanning two model families.

Resilient-by-design smart grid control demands frameworks capable of maintaining stability under physical disturbances and communication failures, without reliance on centralized coordination. While Centralized Training Decentralized Execution (CTDE) enables a learning-based control paradigm at the grid edge, individually trained models fail to generalize across unseen fault contingencies and fall short of fully decentralized deployment. Federated learning (FL) restores generalization through collaborative training; however, standard aggregation strategies remain agnostic to the physical heterogeneity of synchronous generators. This work proposes Inertia-Informed Weighted FedAvg (IIWFedAvg), a physics-informed aggregation strategy that embeds generator inertia directly into global model fusion for transient stability control in transmission networks. The proposed framework further integrates interpretable Chebyshev Kolmogorov-Arnold Network (ChebyKAN)-based controllers, augmented with Rate-of-Change-of-Frequency (RoCoF) features to enhance dynamic response awareness. Evaluated on the IEEE 39-bus benchmark under full decentralized deployment, IIWFedAvg achieves a 75% generalization success rate across unseen fault contingencies. It also surpasses the centralized baseline in two out of three stabilized faults, while delivering a 3x improvement in stabilization speed at zero centralized coordination overhead.

Learning continuous-time representations of dynamical systems from observation data has emerged as a cornerstone of data-driven control and scientific machine learning. However, existing neural differential equations either treat external control inputs heuristically without providing strict structural guarantees, or enforce stability properties under the restrictive assumption of constant or vanishing inputs. This paper proposes the Input-Contraction Neural Differential Model (ICNDM), a novel deep learning framework that seamlessly incorporates time-varying control inputs while ensuring incremental exponential convergence via input-dependent contraction regularization. By leveraging an embedded input encoder and a parameterized metric network, the proposed architecture learns both the non-autonomous neural vector fields and a generalized Riemannian contraction metric simultaneously. We derive sufficient conditions for input-dependent contraction and formally establish an input-to-state contraction property under bounded external excitations. Extensive numerical evaluations on highly nonlinear chaotic oscillators and experimental data from a Permanent Magnet Synchronous Motor (PMSM) drive system demonstrate that ICNDM yields substantial reductions in long-horizon rollout errors and exhibits superior structural robustness against input perturbations compared with state-of-the-art neural differential benchmarks.

Line segment detection is a key building block in visual SLAM, 3D reconstruction, and industrial inspection. Recent deep learning methods have greatly improved accuracy, yet even the smallest models require several megabytes of memory, exceeding low-cost MCU capacity. This work investigates the maximum achievable accuracy under a sub-megabyte budget. We propose MiLSD, a detector tailored for MCU-level constraints, and systematically compare three output representations within a compact fully-convolutional backbone. Our study shows that the proposed F-Clip center-with-length-and-angle formulation learns most effectively at small model sizes. We find that 8-bit quantization preserves full-precision performance, while 4-bit quantization causes significant degradation, particularly in angle regression, with quantization-aware training recovering only part of the loss. With a one-megabyte activation budget and inference enhancements including sub-pixel decoding, test-time augmentation, and a lightweight verifier, MiLSD improves sAP10 on ShanghaiTech Wireframe from 10.6 (25k parameters, 0.25 MB) to 24.1 within 1 MB. Rather than competing with GPU-scale parsers, we map the accuracy memory trade-off across representations, bit-widths, capacities, and post-processing strategies for embedded vision systems.

Multi-agent motion prediction is essential for automated vehicles to understand the intentions of surrounding vehicles. However, previous prediction-based and anchor-based methods have limitations in mode diversity and prediction accuracy, respectively. These limitations may cause inadequate safety assessments and behavioral deviations in automated vehicles. To address this issue, a mode-world weighted regression loss is proposed to bridge the gap between these features. Specifically, this approach mitigates mode collapse while simultaneously improving world ranking and top-1 confidence. Furthermore, the proposed iterative decoder improves prediction accuracy by recurrently and segmentally generating trajectories. Experimental results show the proposed method ranks first in the Argoverse 2 multi-agent motion forecasting benchmark against other methods.

Language agents run a loop - observe, reason, act - but the memory they reason over sits outside it: a store queried at most once per turn. We study the regime where memory moves inside the loop, read and written on every step. The obstacle has always been latency: networked stores answer in tens to hundreds of milliseconds, and in-loop retrieval can inflate end-to-end latency by up to 83x when retrieval is expensive. Prior work manages that cost rather than questioning it: serving-layer scheduling hides it, "memory-first" designs ration retrieval to once per turn. We argue latency is a property of where the store lives, not the in-loop pattern: an in-process store answers in ~100us, three orders of magnitude below the network regime, and at that speed the per-step tax collapses. By the extended-mind thesis's parity principle, a store fast enough to be constantly and directly available becomes extended working memory, not a tool the agent merely consults. The premise is causal: holding a fixed per-turn memory-latency budget and varying only the store's answer speed, redundant actions rise monotonically with latency - 0.0 of 12 at in-process speed, 7.2 of 12 at a 110ms cloud round trip (gpt-5-nano, gpt-5-mini; exact permutation p=0.0079). We demonstrate the regime end-to-end: across four GPT-5-class models under a bounded window, recall improves from 0/5 to 3.6-4.8/5 with in-loop memory, store ops at p50 80-165us - though an instructed restate-every-reply baseline also solves it perfectly, at a token cost that grows with the working set. The store never lost a fact in any run (244 of 244 writes kept); every miss traces to the agent's read policy, not the store. Our measurements also relocate the bottleneck: the dominant per-step cost is embedding (~200-400ms over the network); pairing the in-process store with a small local embedder returns the complete operation to a measured ~40us.

Efficient concentration and transport of electromagnetic energy through electromagnetically thick structures often requires resonant phenomenon and careful design considerations. Here, we introduce a realistic non-resonant approach based on electromagnetically thick self-dual metasurfaces that can funnel electromagnetic waves through subwavelength regions and without requiring magnetic materials. By satisfying the self-duality condition, the proposed metasurfaces support impedance-matched propagation and enable reflectionless energy transfer regardless of the metasurface thickness or structural details. This mechanism also allows selected control over the internal field while maintaining reasonable operational bandwidth. Metasurface elements are designed individually, and full-wave simulations confirm the predicted behavior in sample representative cases. The proposed framework provides a general strategy for robust electromagnetic energy routing and confinement, with potential impact in nonlinear optics, sensing and particle manipulation, near-field imaging, advanced absorber technologies, and wide-angle antenna systems.

Battery charging of Autonomous Mobile Robots (AMRs) in warehouses is a critical operational challenge that heavily impacts both order processing times and throughput. In this study, we address the dynamic AMR charging problem under stochastic order arrivals, where robots must learn optimal charging decisions. Traditional fixed-rule heuristics often prove suboptimal in dynamic environments and fail to account for multi-AMR coordination, leading to severe resource inefficiencies. To overcome these limitations, we propose a Proximal Policy Optimization (PPO)-based Deep Reinforcement Learning (DRL) framework designed for multi-block warehouses with fixed charging stations. Our model dynamically learns two key decisions: charging station selection and optimal charging duration, explicitly accounting for anticipated queuing times at the stations. Extensive numerical experiments benchmark the proposed model against state-of-the-art DRL and traditional heuristic approaches. Results demonstrate that our PPO framework increases order-completion rates by up to 6\% compared to the strongest baseline, while significantly reducing the total time dedicated to recharging operations. Furthermore, we validate the model's robustness across diverse warehouse configurations and stochastic arrival rates. Finally, we interpret the learned DRL policy, offering valuable operational insights into its superiority over standard benchmarks.

Background: Depression frequently co-occurs with ADHD and autism spectrum disorder (ASD), but population-level differences in symptom expression between these groups remain underexplored. Objective: We examined whether social media users with ADHD and ASD differ in how they express DSM-5 depressive symptoms in their tweets, and whether differences persist across varying levels of depressive-content filtering. Methods: We analysed 1,282,437 tweets from 792 users (622 ADHD; 170 ASD) with self-reported diagnoses on Twitter. Tweets were pre-filtered for depressive relevance using zero-shot NLI, then classified into nine DSM-5 symptoms using MentalRoBERTa fine-tuned on ReDSM5. Profiles were mean-centered per user. We applied L1-penalised logistic regression with cross-validation to distinguish ADHD from ASD users, complemented by Pearson correlations for symptom co-occurrence, and tested robustness across five filtering thresholds using bootstrapping. Results: MentalRoBERTa achieved macro-F1 of 0.901 on a held-out set, outperforming the original ReDSM5 benchmark. ADHD vs ASD classification yielded stable but modest performance (cross-validated ROC-AUC 0.645-0.653). Cognitive issues, sleep issues, appetite change, and fatigue leaned toward ADHD, while suicidal ideation and anhedonia leaned toward ASD. A largely shared symptom co-occurrence structure emerged between groups; no pair met our criterion for a robust disorder-specific difference. Conclusions: Population-level differences in depression-related language between ADHD and ASD social media users were consistently observed across thresholds, reflecting reproducibility rather than clinical validity. Findings are exploratory and do not establish differing phenomenology at the individual level.

We re-implement the NAVER LABS IWSLT 2025 instruction-following pipeline for the IWSLT 2026 Shared Task (constrained condition, short audio track), adapting it to the mandated components: SeamlessM4T-v2-large as the speech encoder and Qwen3-4B-Instruct as the LLM backbone. The three-stage approach projector alignment, text-only LoRA pre-training, and multimodal merging is preserved from the original design. We additionally construct 100k synthetic instruction-following examples across ten speech-centric task types (10k per task) from the provided corpora, suitable for further Stage 3 fine-tuning. Our primary model achieves COMET 0.781 on EN-ZH speech translation and BERTScore-F1 0.346 on English SQA on the MCIF benchmark.

Document comprehension is a challenging yet impactful task for Multimodal Large Language Models, especially as these systems see growing adoption in real-world, human-centric applications. However, this adoption is limited for low-resource languages such as Bangla due to the scarcity of high-quality annotated data. To address this gap, we introduce BaFCo, a benchmark dataset for Bangla form comprehension with a focus on Document Layout Analysis (DLA) and Key Information Extraction (KIE). BaFCo curates 200 multi-page complex Bangladeshi government forms, sourced from across diverse sectors including agriculture, education, banking, and land management. To accurately capture the structural and contextual complexity of these forms, we define a fine-grained annotation schema comprising 26 types of form entities, along with a separate coarse form entity set consisting of 5 types. We evaluate the latest MLLMs from the ChatGPT, Gemini, Claude, Qwen, and Kimi series using zero-shot and chain-of-thought prompts under both low and high reasoning setups. Our results reveal limitations in current MLLMs' ability in comprehending Bangla forms, particularly in accurately localizing highly granular form entities. Our dataset and code is available at: https://huggingface.co/datasets/Mausul/bafco

Transient stability control in smart grids requires rapid post-fault damping of generator frequency and rotor angle deviations to prevent cascading failures. This paper proposes FedPPO-PG, a Federated Multi-Agent Proximal Policy Optimization framework with Physics-Grounded neighborhoods, which reformulates transient stability control as a cooperative multi-agent reinforcement learning problem optimized directly against closed-loop stability objectives. Each generator hosts an independent local actor augmented with the frequency deviations of its two most strongly coupled electrical neighbors, identified from the post-fault Kron-reduced susceptance matrix. A guided policy initialization phase warm-starts all actors from the classical decentralized controller, while a centralized critic guides advantage estimation under the centralized training--decentralized execution (CTDE) paradigm. Evaluated on a simulation of the IEEE 39-bus benchmark system across five training and three unseen fault contingencies, FedPPO-PG achieves 100% stabilization in all 24 trials, reduces mean stability time by 72.4%, and cuts the control power by 7-14 times compared to the centralized baseline. Each actor executes independently with no central coordinator at deployment, and the per-actor inference latency satisfies the IEEE/IEC 60255-118-1-2018 real-time reporting requirements.

Trajectory planning strongly influences tracking accuracy, actuator demand, and overall execution behavior in robotic manipulators. Classical planners such as cubic, quintic, and trapezoidal profiles are widely used for their simplicity and smoothness, yet they remain purely kinematic and ignore system dynamics and control effort during trajectory generation. As a result, nominally smooth trajectories can lead to inefficient nonlinear execution and increased corrective control action. This paper presents a control-aware optimal trajectory planning framework that explicitly incorporates manipulator dynamics and actuator effort within a finite-horizon formulation. A midpoint linearization strategy is introduced to improve approximation accuracy for large point-to-point motions. In contrast to prior comparisons, the proposed approach enables fair, isolated evaluation of trajectory generation effects under identical closed-loop nonlinear execution conditions. To this end, a unified evaluation framework is developed in which all planners are executed under identical nonlinear dynamics, controller structure, and actuator constraints. Simulations on a nonlinear simplified UR5 manipulator show that the proposed approach consistently reduces tracking error, corrective torque, and closed-loop execution cost compared to classical methods, achieving substantial reductions in actuator effort and execution cost across all evaluated scenarios, demonstrating that kinematic smoothness alone does not ensure dynamically efficient execution.

Semantic occupancy provides a structured spatial memory for embodied indoor agents by jointly representing occupied regions, observed free space, unknown areas, and object semantics. However, existing indoor occupancy benchmarks and methods mainly focus on single-view prediction or room-level online perception, leaving long-horizon semantic mapping across connected indoor spaces underexplored. We introduce HIOcc, a hierarchical indoor occupancy benchmark that unifies ScanNet, ScanNet++, and Matterport3D under a common sparse semantic occupancy format while preserving their native observation geometries, including perspective RGB-D frames and pano-centric observation groups. HIOcc supports three complementary evaluation regimes: local semantic occupancy prediction, room-level online occupancy mapping, and building-level mapping across connected panoramic environments. We further propose GEM-Occ, a Gaussian Evidence Memory framework for semantic occupancy mapping. Rather than using pointmaps as persistent map states, GEM-Occ treats local visual geometry predictions as transient evidence, converts them into semantic Gaussian occupancy evidence and free-space ray evidence, and fuses them into a persistent hierarchical memory through visibility- and uncertainty-aware causal updates. The memory is organized into local caches, room-level submaps, and a building-level graph, and can be queried at any time through Gaussian-to-occupancy splatting. Experiments on HIOcc show that GEM-Occ improves local occupancy prediction, online map stability, free-space reasoning, revisit consistency, and building-level scalability over prior indoor occupancy and Gaussian-based mapping baselines.

Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios. Existing view-robust Vision-Language-Action (VLA) policies tolerate such camera variations only when the camera extrinsics are explicitly provided, making them fragile and hard to use especially when view robustness is critical. We argue that the policy should not be told where the camera is, but rather figure it out by itself. To this end, we introduce Camera-Centric VLA (CamVLA), a new VLA model that decouples manipulation controls from camera geometry by predicting (i) a camera-centric end-effector action expressed in the local camera frame, and (ii) a 6-DoF hand-eye matrix relating cameras to the robot base. A deterministic geometric transformation composes the two predictions into a robot base-frame action. This disentangles how I should move in pose-independent camera-centric action generation from where I am looking from in camera-perspective geometric grounding. The resulting policy is calibration-free, depth-free, and single-view, requiring only a single monocular RGB image as the visual observation and task instruction at deployment. Evaluations in both simulation and real-world robot data show that CamVLA consistently improves success rates across diverse unseen viewpoints. Project page: https://alibaba-damo-academy.github.io/CamVLA/.

Scaling pre-training, post-training, and test-time compute have become the central paradigms for improving the capabilities of LLMs. In this work, we identify verification, the ability to determine the correctness of a solution, as a new scaling axis. To unlock this and demonstrate its effectiveness, we introduce LLM-as-a-Verifier, a general-purpose verification framework that provides fine-grained feedback for agentic tasks without requiring additional training. Unlike standard LM judges that prompt LLMs to produce discrete scores for candidate solutions, LLM-as-a-Verifier computes the expectation over the distribution of scoring token logits to generate continuous scores. This probabilistic formulation enables verification to scale along multiple dimensions: (1) score granularity, (2) repeated evaluation, and (3) criteria decomposition. In particular, we show that scaling the scoring granularity leads to better separation between positive and negative solutions, resulting in more calibrated comparisons. Moreover, scaling repeated evaluation and criteria decomposition consistently lead to additional gains in verification accuracy through variance and complexity reduction. We further introduce a cost-efficient ranking algorithm for selecting the best solution among candidates using the verifier's continuous scores. LLM-as-a-Verifier achieves state-of-the-art performance on Terminal-Bench V2 (86.5%), SWE-Bench Verified (78.2%), RoboRewardBench (87.4%), and MedAgentBench (73.3%). Beyond verification, the fine-grained signals from LLM-as-a-Verifier can also serve as a proxy for estimating task progress. We build an extension for Claude Code, enabling developers to monitor and improve their own agentic systems. Finally, we show that LLM-as-a-Verifier can provide dense feedback for RL, improving the sample efficiency of SAC and GRPO on robotics and mathematical reasoning benchmarks.

Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to their high-dimensional state spaces and complex material properties. While current world models approach this through two distinct paradigms: learning the dynamics over the 2D pixel space or more explicit 3D geometric space. A systematic understanding of their relative strengths and limitations remains elusive due to the lack of diverse, large-scale real-world data. To address this, we present Deform360, a large-scale visuotactile dataset featuring 198 daily-life objects, 1,980 interaction sequences, and over 215 hours of observations from 41 surround-view cameras and bimanual tactile grippers to capture both global motion and contact-induced local deformations. Leveraging a novel markerless visuotactile 3D tracking pipeline to extract dense geometry and motion, we systematically evaluate current state-of-the-art world models, comparing 2D video models against 3D particle models. Finally, we provide a preliminary demonstration indicating the real-world applicability of our dataset by performing robot planning tasks on deformable objects. Our analysis reveals key insights into the trade-offs between structural priors and scalability, providing a solid benchmark for future research in generalizable deformable object-centric world modeling. Project website: https://deform360.lhy.xyz

While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations. Hierarchical dual-system methods address this but suffer from a gap between high-level planning semantics and low-level execution kinematics. We introduce Cortex, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA. Specifically, we standardize manipulation subtasks into 32 canonical skill primitives and inject tractability principles, such as representative object attributes and improved trajectory reachability, into the data generation pipeline. This enables automatic annotation of over 4k hours of open-source video data and generation of 30 hours of simulation data. We further devise an event-balanced sampling strategy to construct training data for fine-tuning the framework to better handle planning ambiguity during subtask transitions, enhanced by carefully designed harness engineering from task contexts to skill constraints during inference. Both open-loop VLM and closed-loop system evaluations demonstrate Cortex's efficacy, e.g., it outperforms monolithic baselines by 3.1% on Libero-long and 4.1% on RoboTwin. Notably, Cortex's generalist VLM enables zero-shot completion of unseen real-world long-horizon tasks, such as multi-stage chemistry experiments, by simply combining with a fine-tuned VLA-a capability infeasible through VLA fine-tuning alone.

Quantum photonic technologies greatly benefit from quantum light emitters with high brightness, indistinguishability, and reliable polarization characteristics. Achieving optimal performance relies on the accurate localization of emitters and their deterministic integration into tailored photonic structures with nanometer-scale accuracy. Although marker-based photoluminescence imaging techniques can achieve statistical fitting uncertainties below 10 nm, the ultimate integration yield is often limited by uncorrected systematic distortions in custom cryo-optical setups that compromise metrological accuracy. Here, we present an in situ calibration protocol that uses lithographically defined gold nanodisk arrays as references to calibrate optical distortions with a Zernike vector-field model. On held-out validation patterns beyond the calibration dataset, this correction reduces the residual systematic bias to 5.3 nm with a 2D scatter of 24.6 nm across the analyzed field of view. Furthermore, we demonstrate that applying this correction to the deterministic fabrication of circular mesa structures around semiconductor quantum dots reduces the variance in emission polarization by 49%, indicating improved registration accuracy. This calibration strategy offers a practical route to high-yield deterministic integration of quantum emitters into scalable quantum photonic circuits.

We propose OptiAgent, a multi-agent framework that, given a natural language description of an Operations Research problem, is able to output a solver-ready mathematical formulation as well as executable code. Our architecture prioritizes the mathematical modeling step, where dedicated agents extract structures, such as decision variables and constraints, enabling iterative self-correction. We introduce a novel multi-loop validation architecture with four specialized feedback mechanisms, each targeting a distinct failure mode such as misinterpretation, structural defects, mathematical inconsistencies, validation failures, and code errors. Alongside accuracy, our modular design improves the process of solving optimization problems by improving transparency, as each agent exposes its reasoning and feedback, making the full modeling process auditable. Our framework achieves state-of-the-art performance on 3 out of 4 benchmarks across LP, MILP, and Nonlinear Programming tasks, while remaining highly competitive on the remaining dataset.

As LLM agents evolve from single-user assistants into shared organizational infrastructure, new privacy risks emerge: inappropriate information may not only be exposed through outputs for external recipients, but also internally across users through inter-agent messages, shared memory and agents. These data spillage risks are not captured by existing privacy benchmarks grounded in contextual integrity (CI) as they focus primarily on either single-user settings or interactions between independently owned agents. We introducePiSAs (Privacy in Shared Agentic systems), a benchmark for assessing unintentional leaks with dual CI annotations: whether an information is appropriate for the task, and which users may legitimately access it. This enables direct measurement of cross-user spillage across agentic system components and interfaces, such as outputs, inter-agent communication, and memory. PiSAsis system-agnostic and supports evaluation across different agent topologies and memory regimes. We find that, although system design improves CI compliance, results are bottlenecked by incorrect LLM judgment calls: even state-of-the-art models fail to reliably filter inappropriate content or restrict transmission to authorized users. Our findings underscore the need for privacy-preserving strategies, beyond those studied in this work.

Agentic workflows often operate over shared, structured state. Because LLM context windows are limited, each model invocation is typically shown only the state fragment needed for the current workflow step, a pattern commonly known as progressive disclosure. Modern systems construct such model-facing views using grep-like keyword search, retrieval-augmented generation (RAG), abstract-syntax-tree (AST) queries, and task-specific agent skills. These methods make the read side manageable, but they do not define when a locally proposed rewrite is valid after it is applied back to the full state. The missing piece is a contract between local updates and global validity. We introduce PatchOptic, an optic-inspired interface for shared-state LLM workflows. Optics are compositional bidirectional accessors that describe how views of structured data are read and updated. PatchOptic borrows this view/update intuition and realizes it through projected reads and verified structured patches. Each workflow step declares a projected read view, an authorized write region, and a patch-source region. Beyond runtime enforcement, the same declaration yields a path-level footprint that supports delegation, sub-workflow composition, and static certificates for reordering independent steps within the same phase. We evaluate this design with PatchBench, a benchmark with 46 cases across domains. The results show that projected reads reduce reported leakage and token cost while preserving accepted-output quality under the strong actor. Runtime verification blocks declared workflow-contract violations before commit, and patch-read enforcement rejects compromised patch artifacts that use hidden sources.

In liberalised railway systems, operators must set prices dynamically in an environment with partial observability, as they retain private information about their objectives and performance, where regulatory constraints prohibit communication or direct information exchange between competitors to prevent explicit collusion. Consequently, agents must learn to infer strategic interactions only from observable market data which presents a significant challenge for multi-agent reinforcement learning, where standard approaches typically treat observations as unstructured vectors, ignoring the underlying market topology that governs strategic interactions. To address this, an entity graph modelling approach is proposed, which represents the environment as a graph of operational units, rather than decision-making agents or static infrastructure, encoding competition, coordination, and connectivity relations between entities. Then, an extension of the multi-agent twin delayed deep deterministic policy gradient algorithm with graph-based representation learning processes the features of the entities through a multi-layer relational graph convolutional network and aggregates them via a learnt attention mechanism. Experimental results in a rail pricing reinforcement learning environment show that this novel framework achieves higher revenue and stability in two different settings of increasing market complexity compared to a representative selection of relational and non-relational baselines. The code is publicly available at: https://github.com/Kinrre/RelationalRailPricing-RL

Advanced control methods have proven effective for controlling cavity pressure, a key determinant of part-quality attributes, in the plastics injection molding process. However, the abstract nature of the resulting control laws makes them difficult to interpret in a production environment, thereby limiting adoption in industrial applications. Additionally, controller optimization poses a severe challenge due to the diversity of mold geometries and materials. We propose a method to automatically optimize interpretable controllers during manufacturing while being cycle-efficient and risk-aware. The approach uses a Physics-Inspired Neural Mixture-of-Local-Experts model of the injection molding dynamics and augments its simulated closed-loop costs with a residual Gaussian Process, enabling Local Bayesian Optimization of controller parameters. We benchmark the algorithm against Vanilla Bayesian Optimization (BO) in simulation, using three controllers with parameter counts ranging from 1 to 30. Using the local method, we identify controller parameters that yield costs comparable to or lower than those of global BO over 20 optimization iterations, while mitigating high-cost excursions during tuning.

Benders decomposition solves optimization problems by separating the first-stage master problem from one or more second-stage sub-problems. While the standard Benders decomposition solves all sub-problems in each iteration, solving only selected sub-problems still guarantees convergence and can reduce solution time, but raises the question of how to select. In this work, we introduce surrogate-based prioritization of sub-problems. The method leverages surrogates to estimate the sub-problems' objectives, assess the current error of the cutting-plane estimator, and then prioritize the sub-problem with the largest error. We implement surrogate-based prioritization within sequential and asynchronous Benders decomposition. Both these algorithms also leverage the surrogate to trigger convergence checks and implement regularization. Benchmarks for an energy planning problem with a few large sub-problems show that the applied prioritization strategy works. The reduction in solution time correlates with the surrogate's accuracy. In our case, geometric interpolation-based surrogates are more accurate than machine learning methods. As a result, prioritization consistently and significantly outperforms the standard algorithm in sequential Benders decomposition. The speed-up increases with the number of scenarios, reaching 33\% with four scenarios and 55% with ten scenarios. In the case of asynchronous parallelization, the impact on performance is less clear, and the average speed-up from prioritization is 19%.

Capacity expansion is a key tool for planning future energy systems. However, weather-dependent generation and long-duration storage result in problem sizes that exceed the computational limits of conventional interior-point solvers, making it impossible to plan renewable systems that are cost-efficient and reliable across a wide range of weather conditions. To tackle such large problems, this paper introduces the double interior-point regularization (DIP-set) for Benders Decomposition, combining the advantages of traversing the interior of the solution space while remaining close to a reference solution. We benchmark the method on a power-sector problem and an energy-system problem, varying problem size and the level of foresight during operations. Results demonstrate that DIP-set outperforms competing regularizations in all test cases. The speed-up increases with size, reaching 30-50% for the largest problems, which are the most critical for planning renewable systems and are too large for state-of-the-art methods. The key benefit of DIP-set is its ability to mitigate the sharp decrease in convergence as BD approaches the optimal solution.

Cyber Threat Intelligence (CTI) reports are predominantly unstructured, heterogeneous, and noisy, which limits their direct usability for automated analysis and reasoning. Cybersecurity Knowledge Graphs (CSKGs) provide a structured representation of adversarial entities, actions, and relations, but constructing such graphs from free-text CTI remains a challenge. Recent approaches rely on monolithic Large Language Models (LLMs) to perform end-to-end extraction and completion, leading to high cost, limited controllability, and unstable performance. This paper introduces TACTIC-KG, an agentic framework for CSKG construction that decomposes the task into modular, specialized LLM agents responsible for extraction, typing, verification, and curation. Using lightweight models (3B--8B), TACTIC-KG improves stability, recall, and graph consistency while reducing deployment cost. We implement and evaluate TACTIC-KG against recent state-of-the-art systems. Experiments on human-annotated CTI reports show that agent specialization consistently outperforms larger monolithic in-context-learning (ICL) baselines in extraction F1-score, typing accuracy, and structural graph similarity.

Improving the task performance of Large Language Models (LLMs) is essential, yet scaling these models faces significant challenges such as diminishing returns and high costs. Multi-Agent Systems (MAS) offer a promising solution by distributing tasks among specialized agents to improve the overall task performance. This can reduce training costs at the expense of increased test time due to the discussion and decision-making process. The decision protocol is a critical component of MAS because it specifies how multiple agents collaborate to create a final solution. This thesis introduces the Multi-Agent LLM (MALLM) framework, which implements and evaluates various decision protocols, namely voting, consensus, and judge decision mechanisms, to simulate multi-agent discussions for conversational task solving. Unlike previous work that used a single decision protocol or tested them on limited datasets, this study systematically examines their impact on a diverse set of tasks, ranging from knowledge-based datasets (MMLU, MMLU-Pro, GPQA) and logic-based datasets (StrategyQA, MuSR, Math-lvl-5, SQuAD 2.0). The results indicate that consensus protocols excel in knowledge-intensive domains while voting and judge protocols are more effective for logic-based tasks. Increasing response diversity through independent solution generation improves decision quality, while changes in information access during the decision process have minimal impact.

The low-altitude economy is an emerging industry with significant development potential, in which the safety of unmanned aerial vehicle (UAV) operations is a critical challenge. Particularly within complex urban topographies and human-populated environments, UAV airspace management must prioritize collision avoidance and human safety. We propose Pharos, a collaborative multi-UAV airspace management system. Pharos lies between the distributed local perception paradigm and the centralized fine-grained control paradigm. Pharos coordinates the safe parallel execution of UAVs in shared airspace while innovatively accounting for the impact of human fear. Pharos is implemented using the MAPPO algorithm due to its faster convergence and higher rewards than other typical MARL algorithms (HAPPO and HATRPO). To evaluate Pharos, we developed a 3D simulation system using real urban data. Visualization results demonstrate its effective airspace coordination capability. Regarding performance verification, Pharos reduced human fear by 52.72% compared to the benchmark Ipopt. Moreover, we designed spatial entropy as a system evaluation metric to quantify space utilization, which improved performance by 70.82% and 2.03% compared to the benchmarks Ipopt and A-star, respectively. The source code is available at an anonymized repository: https://github.com/pharos-anonymized/source-code.git.

Test maintenance is a critical, yet costly, activity - particularly as codebases rapidly evolve. To assist, we present MAST, a multi-agent framework that predicts which test cases require maintenance following changes to the production code. This identification task is necessary as a precondition to any subsequent maintenance activities, but remains challenging due to the complex relationships between production and test code. MAST advances the state-of-the-art by integrating multiple analyses -- including static, lexical, and semantic analyses - through an intelligent fusion and post-check procedure and by focusing on a realistic use and evaluation setting - i.e., standardized input formats, repository-level analyses, and the ability to infer relations between test and production artifacts rather than assuming a pre-existing mapping. We evaluated MAST on 21 industrial Java repositories from Ericsson AB, considering situations where test maintenance both was and was not required in the ground truth. MAST yielded superior precision to a state-of-the-art baseline - resulting in a higher accuracy, F1, and F2 score - with only some loss in recall. Our ablation study demonstrates the value of each analysis in producing the final recommendations. MAST illustrates the potential of multi-agent systems that can fuse multiple information sources when performing software testing tasks.

This study proposes a precipitation control framework integrating a realistic Numerical Weather Prediction (NWP) model with model predictive control (MPC). At each control instant in MPC, a finite-difference sensitivity matrix is constructed from the NWP model and used as a local linear model of how perturbations to the atmospheric state affect future precipitation. A sparse convex optimization problem is then solved to compute the control input, which is implemented as a perturbation to the atmospheric state. To reduce computational cost in sensitivity analysis, multiple grid points in the NWP model are treated collectively as a single block, and a uniform perturbation is applied to all points within each block. Moreover, a tailored convex optimization problem is introduced to effectively control the accumulated precipitation at the end of a weather event, using a prediction horizon much shorter than the entire event duration while promoting spatially sparse atmospheric perturbations. To evaluate the proposed MPC method, four control methods are compared: (i) initial-only open-loop optimal control (IO-OL), (ii) full-horizon open-loop optimal control (FH-OL), (iii) shrinking-horizon optimal control (SHOC) with a fixed terminal time, and (iv) single-move MPC with a fixed prediction-horizon length. Numerical experiments on a warm bubble benchmark demonstrate that MPC achieves precipitation reduction comparable to SHOC while reducing the total computational time relative to FH-OL and SHOC. Moreover, despite using a linear prediction model, MPC successfully achieves a challenging level of precipitation reduction, even when open-loop optimal control methods, namely, IO-OL and FH-OL, fail because of nonlinear atmospheric evolution. These findings suggest that MPC is a promising control framework for NWP-based precipitation reduction in complex weather events.

Event-based vision sensors provide asynchronous event generation and microsecond timestamp resolution, which may be useful for high-speed optical measurements. However, precise event timestamps do not necessarily guarantee accurate reconstruction of temporally varying optical signals, particularly under dense and spatially extended illumination, imposing operational limits when used as optical interrogators that remain underexplored in the literature. To address this knowledge gap, this work presents a systematic, quantitative characterization of the temporal response and waveform reconstruction fidelity of an IMX636-based event camera under both controlled sinusoidal and pulsed optical excitation. For this, frequency-domain measurements are first used to evaluate modulation response, event-rate behavior, polarity balance, and spectral reconstruction fidelity over a wide range of illumination conditions and region-of-interest geometries. Then, complementary pulse-based measurements quantify first-event latency, response duration, recovery dynamics, and pulse-width reconstruction accuracy under rapidly repeated excitation, showing that optical transitions can be detected with first-event latencies below 5 microseconds. However, the complete event response extends over significantly longer timescales due to photoreceptor dynamics, refractory behavior, and readout serialization. Under high-frequency modulation and short-pulse excitation, the reconstructed waveforms progressively degrade because of temporal spreading and imbalance between positive and negative event generation. The measurements further demonstrate that the temporal fidelity of the reconstructed signal depends strongly on the geometry and spatial activity of the selected region of interest.

Aerial robots are increasingly moving from remote observation toward physical interaction with objects, surfaces, structures, loads, and surrounding flows. This review argues that aerial manipulation cannot be understood as classical manipulation simply mounted on a flying base. Because flying agents remain aloft through continuous momentum and energy exchange with the surrounding medium, support, locomotion, stabilization, and task-directed interaction are intrinsically coupled. Building on broad views of manipulation as intentional environmental regulation through physical interaction, we propose a medium-aware interpretation of aerial manipulation in which interaction may be mediated by contact, by the surrounding fluid, or by both. The review organizes biological and robotic examples into a repertoire of interaction modes and a capability ladder, then develops an actuation-geometric viewpoint in which redundancy induces task-equivalent fibers. Internal motion along these fibers can trade energy for active readiness, aerodynamic promptness, and passive medium coupling. This perspective clarifies why aerial manipulation is difficult, why biological flyers remain broader than robotic systems, and how future platforms may command forces while also shaping how the medium acts back on them.

Ultrathin active materials are essential for compact nonlinear and quantum photonic devices, yet no general principle exists to link their optical constants to the cavity designs required for simultaneous field buildup and reflection suppression. Consequently, achieving extreme optical confinement currently relies on trial-and-error optimization for every new material. Here, we establish a design rule for metal-backed cavities that maximizes light-matter interaction by ensuring the simultaneous satisfaction of zeroth-order resonance and critical coupling. We derive a closed-form analytical condition that partitions the (n, k) plane into critically coupled, over-coupled, and under-coupled regimes, each mapping to a specific minimal architecture. The critical curve admits a three-layer open cavity, the over-coupled region a closed cavity with a semi-transparent top mirror, and the under-coupled region a spacer-assisted geometry. For low-loss materials, the closed cavity spatially separates dissipation from field accumulation, allowing the quality factor to be controlled by the external mirror rather than intrinsic medium absorption. We validate this framework with 3R-MoS2, demonstrating a second-harmonic enhancement of 1.19 x 10^5 relative to a monolayer, accompanied by the near-complete suppression of reflected pump waves. These results provide a universal framework for efficient light-matter interaction in ultrathin nonlinear and quantum photonics.

In heterogeneous robot swarms, caste reassignment (rebinding a robot to a new capability-bound role) is a high-frequency runtime event driven by battery, payload, and priority changes. Existing approaches treat it as an internal allocation algorithm and do not expose the reassignment to external authority. We argue that for regulated embodied deployments a caste change that elevates a robot's privilege envelope is a governance event that must be auditable and externally authorised. We propose an asymmetric-trust protocol: auto-tightening reassignments (to safer, lower-privilege castes) are admitted automatically, while bounded relaxation (to higher-privilege castes) requires an operator countersignature against a per-axis budget. Each transition carries a signed cause-chain, committed to a hash-chained Merkle audit log that an offline auditor verifies from an operator-signed identity manifest alone. We evaluate a reference implementation with real Ed25519 signatures over fleets up to 100 robots: auto-tightening completes in single-digit to low-double-digit milliseconds, and the governed protocol refuses four explicit attacks (caste laundering, repeated-relaxation escalation, operator impersonation, cause-chain forgery) by construction, with a partially-governed baseline isolating which gate stops which attack and a randomized fuzz adversary finding no admission. A distributed audit layer replicates the log across N per-member replicas with quorum-committed total order and cryptographic fork exclusion; we prove agreement and fork exclusion and validate them both in simulation and as a real multi-process deployment over TCP sockets (up to 100 real processes) with a Byzantine equivocator, on which every honest replica agrees, detects the equivocation, and commits no fork. The construction generalises a single-agent persona-mutation governance gate to swarm-level caste governance.

Home Energy Management Systems (HEMS) can reduce residential electricity costs and support demand response, but adoption is limited by the difficulty of translating household preferences into technical scheduling constraints. This paper evaluates whether large language model (LLM) agents can provide a practical natural-language interface for multi-appliance home energy scheduling. We present a tool-calling ReAct agent that uses live half-hourly Octopus Agile prices, weather forecasts, photovoltaic generation estimates, household usage data, and a retrieval-augmented knowledge base to schedule flexible loads against a mixed-integer linear programming (MILP) ground truth. Three commercial models, GPT-4o-mini, Gemini 2.5 Flash, and Claude Sonnet 4.6, are benchmarked across tariff days, constraint-conflict scenarios, weather-aware solar co-optimization, and week-long deployment. With native function calling, all models achieve 100% scheduling success and near-MILP optimality, while text-parsed action interfaces sharply reduce reliability. Constraint testing shows that cost-optimal and safety-optimal models differ: Claude is strongest under infeasibility and power-cap conflicts, while GPT-4o-mini is most efficient. Over a simulated week, agents capture 96.7-98.0% of oracle savings, projecting approximately GBP 1,270 annual savings over an off-peak timer baseline. Code and a live demonstration are available at https://github.com/sokistar24/ecohome-energy-agent and https://www.ecohomeagent.com/.

The modulating function method is an algebraic framework that, thus far, has been used for state and parameter estimation, as well as fault detection, of linear, fractional-order, distributed, and some nonlinear systems. At the core of the method lies the modulating function, which can either be selected directly or be obtained as a solution to an auxiliary system. By introducing the notion of dual modulating functions and dual modulations using auxiliary systems and duality, this paper shows that this framework is not only an estimation framework, but also a controller design framework for LTV systems. In particular, necessary and sufficient conditions for the existence of the associated control laws are introduced; the well-known state feedback law is obtained as a particular case of the dual modulation approach, along with output feedback, LTI sliding mode control, the reachability gramian, and the state-transition matrix; and a new fixed-time control law is proposed for both LTI and LTV systems, including an estimate of the transient behavior. Moreover, numerical simulations of the newly proposed control law are performed, indicating similar performance levels to a benchmark LQR even when handling unmatched disturbances.

Research dissemination, turning a paper into a poster, a talk video, and a blog post, is still a manual last mile. Prior automation treats each artifact in isolation that each re-extract the paper from scratch, usually ship one-way renders the author cannot reopen in PowerPoint or Word, and gates quality on soft VLM-preference scores that plateau while load-bearing sections still read as empty. We argue this last mile is best built as a composition of skills: thin agent-readable contracts that share one upstream extractor and wrap deterministic primitives in a measured-fill loop whose exits are hard pass/fail render gates. We instantiate this as ResearchStudio-Reel, five Claude Code and Codex skills organized into one shared extractor (Paper2Assets), three editable generators (Paper2Poster, Paper2Video, Paper2Blog), and one interactive convergence layer (Paper2Reel). Paper2Assets extracts each paper once into a shared bundle that can be reused by every downstream skill; The three generators produce a print-ready poster, a synchronized talk video, and a bilingual blog that stay factually consistent and round-trip through PowerPoint or Word; Paper2Reel then binds all three into a self-contained HTML viewer whose section-level clicks jump the video, slides, captions, and blog to matching content. On the Paper2Poster benchmark, our posters lead every aesthetic and information sub-criterion against both prior automated systems and single-shot frontier LLMs, surpassing the authors' own on aesthetics under two held-out VLM judges and winning overall on 84% to 93% of papers; capability audits further show that, by uniquely pairing narration-aligned on-slide highlights with a bilingual blog gated by layout-aware DOCX repair, ResearchStudio-Reel is the only pipeline to ship all three editable artifacts. Project is available at https://aka.ms/ResearchStudio

Time-frequency orthogonality has been a foundational principle in the historical development of optical communications, whether in dense wavelength division multiplexing (WDM) within long-reach high-capacity coherent optical transmission or in time-frequency division multiple access within short-reach dense passive optical networks. Towards next-generation agile optical networks, jointly programmable orthogonal and non-orthogonal regulation offers flexible spectral allocation, ultra-dense packet distribution, and increased capacity. For bridging the fundamental differences of physical implementation, we propose and demonstrate a versatile orthogonal to non-orthogonal multiplexing format converter, with application to high-speed coherent optical transmission network enabled by a Talbot-based processor. The programmable Talbot-processed pumps coherently transfer and superpose optical signals of distinct wavelength channels onto a single channel through cross-phase modulation. We first demonstrate flexible conversion of two 80-Gbps WDM QPSK channels separated by 200-250 GHz into a non-orthogonal power-division multiplexing channel, while maintaining the high-quality encoded information in the digital domain. We then validate a digital-subcarrier-multiplexing dense access scenario in which eight 20-Gbps sub-channels are combined, converted, transmitted, and successfully decoded over a field-deployed fiber. The multiplexing format converter promises potential for applications in next-generation optical systems and networks with complex topologies and dense populations.

With the development of low altitude intelligent systems, multiple unmanned aerial vehicles (UAVs) can collaboratively execute more complex tasks. Conventional task allocation methods usually regard tasks and UAVs as isolated entities, making it difficult to capture task dependencies and UAV communication relationships. To address this issue, this paper proposes a dual heterogeneous graph learning based UAV task allocation method. A directed task graph is constructed to represent task dependencies and encode task resource requirements, while an undirected UAV communication graph is built to model communication relationships and encode UAV resource states. The task allocation problem is formulated as a structural matching problem between the task graph and the UAV communication graph. A graph attention network based feature extraction method is introduced to learn structural representations from both graphs through message passing. A cross attention mechanism is further integrated with proximal policy optimization to optimize the matching between task nodes and UAV nodes for task allocation. Simulation results demonstrate that the proposed method achieves a higher task completion rate and shorter task completion time than benchmark methods under different evaluation settings. Furthermore, a UAV sensing and computing application is developed on the AirSim simulation platform. A large language model is employed to convert natural language task requirements into a structured task graph for autonomous UAV task execution, demonstrating the potential of the proposed framework for natural language driven UAV mission planning and execution.

The integration of AI into Internet of Things (AIoT) systems has gradually transformed them from passive data collection infrastructures into intelligent systems capable of anomaly detection, predictive maintenance, classification, forecasting, and optimization. However, most existing solutions still rely on task-specific models that infer from sensor data; thus, system-wide capabilities such as real-time reasoning, adaptive planning, autonomous coordination, learning, tool use, and contextual decision-making remain limited. This paper examines Agentic IoT as a next-generation cognitive IoT paradigm that integrates the perception, reasoning, planning, learning, and action capabilities of autonomous AI agents with cyber-physical systems. Agentic IoT aims to transform IoT from data-centric sensing and inference infrastructures into distributed cognitive agent ecosystems operating across the device/edge-fog-cloud continuum. The paper first grounds this transition as a paradigm shift and positions Agentic IoT in relation to AIoT, edge intelligence, multi-agent systems, and the Internet of Agents. It then systematically reviews current studies, presents a holistic architectural framework, discusses domain-specific application potential, and identifies key technical, operational, and research challenges together with future research directions.

In MRI, dense receiver coil arrays with a high number of coil elements are used to efficiently detect and encode the signal. Further increasing the number of coils is hampered by electrical cabling and massive electronics that introduce electromagnetic coupling, integration complexity and even safety constraints. Here we introduce the novel Light Coils concept, a fully optical MRI receive architecture in which data transmission, front-end power delivery, and coil detuning are all implemented optically, thereby reducing the massive galvanic cabling to a few optical fibers. For signal encoding, Mach-Zehnder modulators (MZM) are used to convert the MR signal from each coil onto a C-band optical carrier. The preamplifiers are driven via a power-over-fiber (PoF) system that uses a high-efficiency photovoltaic (PV) cell for optical-to-electrical power conversion. A pulse-sequence-triggered optical path controls active detuning. Jointly optimizing modulator bias, optical power and front-end gain under realistic receiver chain conditions, Light Coils can match the signal-to-noise ratio (SNR) of conventional RF coil systems with galvanic cables at MZM input powers of 5-10mW and photonic power converter inputs of 80-100mW. At a clinical 3T MRI system, we show in vivo human brain imaging with a single-channel Light Coil element with an image quality and SNR comparable to a conventional coaxial readout using the identical coil element. Extending the concept to a four-channel array using dense wavelength-division multiplexing over a single fiber, we demonstrate wavelength-selective routing with inter-channel optical isolation exceeding 28dB, reduced noise correlation compared with the galvanic reference, and parallel imaging. These results establish a scalable route towards lightweight, modular, and potentially ultra-dense MRI receive arrays based on integrated photonics and power-over-fiber.