We study the problem of generating a compositional 3D representation of a cluttered scene containing hundreds of objects. The goal is to represent the scene as a collection of individual object meshes placed in a shared world frame, as required by downstream applications such as gaming, AR/VR, simulation, and robotics. This task is challenging in densely cluttered scenes, where objects heavily occlude one another and each view reveals only a fraction of their geometry. Geometry-based approaches typically reconstruct the scene as a single representation and leave incomplete geometry in occluded regions, while existing compositional methods with generative priors are largely limited to relatively simple scenes. We show that complex scenes with hundreds of objects can instead be generated compositionally by adapting a strong single-object 3D generative prior to multi-view observations. We instantiate this paradigm with Pixal3D, extending it with a multi-view conditioning pathway that grounds object generation in multiple posed observations. Although the model is finetuned entirely on single objects in canonical space, it generalizes to large scenes with severe occlusion without any scene-level training, demonstrating the feasibility and scalability of this paradigm. We further introduce UE-MeshyScene, a photorealistic benchmark of densely cluttered scenes with hundreds of objects, per-object annotations, and ground-truth meshes. Across single-object, controlled multi-object, and UE-MeshyScene evaluations, our method consistently outperforms prior approaches, with larger gains as scene complexity and occlusion increase. Finally, we demonstrate broader applicability by converting generated 3DGS worlds, such as Marble and HY-World 2.0, into compositional mesh scenes.

Recent advances in automatic rigging now deliver animation-ready 3D assets at scale, yet generating the motion to drive them remains a bottleneck. Existing learned animators are topology-constrained: they rely on category-specific templates or require per-skeleton fine-tuning and reference motions at inference. We present UniMate, a unified foundation model that synthesizes articulated motion for arbitrary skeletons from a rigged 3D asset and a text prompt, with no test-time optimization or per-skeleton retraining. UniMate introduces a topology-aware diffusion transformer, which integrates skeletal topology into attention via three mechanisms: (1) a graph-aware attention bias from pairwise joint relations and geodesic distances; (2) a spectral rotary position embedding generalizing RoPE to arbitrary kinematic trees via the graph Laplacian; and (3) a global topological conditioner attention-pooled from the rest-pose skeleton. We also curate UniML3D, 13,006 motion sequences spanning bipedal, quadrupedal, avian, marine, insectoid, serpentine, and articulated rigid objects with unified canonicalization and text pairing. Trained on this dataset, UniMate outperforms state-of-the-art baselines in quality, generalization, and efficiency, and supports zero-shot cross-topology transfer, in-betweening, expansion, and text-guided editing. Our project page is available at https://linzhanmou.com/unimate/.

We give a randomised algorithm for Equal Subset Sum that, on n arbitrary integers of at most m≤2^n bits, runs in time O((5/3)^npoly(n)+n^2m), never outputs a non-solution, and outputs a solution with probability 1-2^-Ω(n) whenever one exists.

Recent advances in wearable sensing enable continuous monitoring of physiological and behavioral signals, yet existing benchmarks rarely evaluate whether AI systems can reason over a real user's longitudinal wearable record. We introduce WearableQA, a benchmark comprising 4,084 10-option multiple-choice questions constructed from the wearable time series, blood biomarkers, and demographics of 200 real users, each with up to 500 days of daily measurements. WearableQA preserves authentic wearable distributions that include device noise and inter-individual variability. To evaluate distinct reasoning capabilities, we introduce 16 question types organized along two complementary axes: data versus health reasoning, which distinguishes computation over longitudinal measurements from physiological interpretation; and single- versus cross-signal reasoning, which separates reasoning about individual signals from the integration of multiple signals. To construct reliable questions at scale, we adopt a dual-grounding framework that combines literature-grounded physiological findings with statistically validated population-grounded physiological patterns. This enables the capture of meaningful relationships observed in real-world wearable data. Evaluation of 14 proprietary and open-source LLMs demonstrates that WearableQA effectively differentiates model capabilities, with performance ranging from 19.6% to 72.9% against a 10% chance baseline. Moreover, WearableQA remains far from solved: most models achieve accuracies below 60%. Overall, WearableQA provides a realistic and diagnostic benchmark for evaluating LLM reasoning over real-world wearable data.

Diffusion TV is an interactive AI art installation that offers a tangible and embodied experience of diffusion models through a modified CRT TV. By physically manipulating the TV's antenna, audiences control the clarity of AI-generated images and sounds, metaphorically enacting the denoising process that underlies diffusion-based generation. Using the tuning knob, participants switch between three channels featuring AI-generated animals from the Past (extinct species), Present (endangered species), and Future (speculative creatures), situating the interaction within a temporal and ecological narrative. Through continuous audiovisual feedback and physical interaction, Diffusion TV foregrounds the generative process over final outputs, allowing audiences to explore intermediate states as experiential material. Rather than providing explicit technical explanation, the work presents an alternative, embodied mode of explainable AI that invites exploratory engagement with and reflection on generative technologies.

Retail search systems serve diverse geographic regions with distinct query patterns, vocabularies, and product preferences, creating significant data heterogeneity that challenges both privacy-preserving training and model personalization. Federated learning offers a natural solution for privacy, but standard FL methods produce global models that sacrifice regional performance, while existing personalized FL approaches operate at the parameter level and catastrophically collapse on modern transformers (below 10% accuracy on T5) due to tied embeddings and LayerNorm interactions. We introduce RegionFed, an architecture-robust federated learning framework that sidesteps this failure by operating entirely at the gradient level. RegionFed uses the ℓ_2 conflict between regional and global gradients as a unified signal that (i) diagnoses heterogeneity, (ii) routes each region to the cheapest sufficient personalization strategy, and (iii) adaptively controls personalization strength. Because it treats models as differentiable black boxes, RegionFed deploys on T5-Small, T5-3B, RoBERTa, and CNN with zero code changes, providing large gains on transformers (where parameter-level methods collapse) and consistent improvements on CNNs. Across three public datasets (Amazon ESCI, Amazon Reviews, LEAF-FEMNIST) and four architectures, RegionFed-Meta achieves 92.27%, closing the gap to the privacy-violating centralized upper bound (Centralized + Regional Weighting: 92.04%, Δ=0.23pp, within 1σ) while providing (ε≈0.60)-differential privacy and 𝒪(1/√(T)) convergence.

Vision-language models are increasingly used as reward functions for robotic learning, but this role requires paraphrase invariance: the same trajectory should receive the same reward under semantically equivalent goal descriptions. We show that current VLM reward models often violate this property. Paraphrasing the instruction alone can substantially change predicted progress scores, and can even flip identical robot behavior between failure and success. To measure this failure mode, we introduce ROBORMBENCH, a benchmark with 2,390 real-robot trajectories, ground-truth progress labels, and 21,673 verified paraphrases spanning lexical, syntactic, and action-goal rewrites. Across proprietary and open-source VLMs, paraphrase-induced instability is widespread and severe, grows under more divergent rewrites, and is not reliably reduced by scale or explicit reasoning. Dedicated reward models trained with trajectory-grounded supervision are substantially more stable. These results show that paraphrase robustness is a core requirement for reliable VLM-based reward modeling in robotics.

When there is not enough labeled data to properly train deep learning models, transfer learning can help. We still do not fully understand how effective it is in neuroimaging, especially for Alzheimer's disease research. It is also not clear if these transferred models can work on new datasets without being retrained for each specific task. We evaluate whether a compact, supervised pretrained model can serve as a reusable foundation model for downstream neuroimaging tasks. We freeze the 7.18 million weights of a 3D CNN previously trained for brain-age prediction, and adapt it to each task using Low-Rank Adaptation (LoRA), requiring only ~1% additional trainable parameters. We evaluate generalizability in six experiments. Adapting the model to classify cognitively normal versus Dementia on ADNI gave an AUC of 0.964 on held-out folds (Experiment #1). Applying that adapted model unchanged to OASIS-3, with no retraining, gave an AUC of 0.871 (Experiment #2). Reusing its output logit together with age and a cognitive score distinguished stable from progressing MCI with an AUC of 0.828 (Experiment #3). Adapting the same backbone to predict amyloid positivity from structural MRI gave an AUC of 0.804 (Experiment #4). Finally, the same approach estimated ICV-normalized hippocampal and white matter hypointensity volumes directly from the T1w image, with R^2 of 0.80 and 0.91 respectively, tasks normally addressed with much larger U-Net networks (Experiments #5 and #6). A compact model supervised on brain age can therefore serve as a reusable backbone, adapting to each task with ~1% additional parameters and transferring to an unseen cohort without any training. Our findings suggest that a carefully trained brain age model can serve as an effective foundation model for Alzheimer's related tasks, even under strict data constraints.

More than a decade in, explainable AI (XAI) for computer vision has assembled a mature toolbox: attribution, feature visualization, concept-based, and circuit-based methods. Yet almost all of the field's effort has gone into building and comparing these methods, and little into the question they were meant to answer---how interpretable are our models, and are we making progress as they evolve? We argue for shifting the field's focus from methods to models, along two complementary lines. One is already within reach: existing tools let us characterize and compare what different models represent and compute. The other is harder, and largely neglected: whether a model can actually be understood by the humans who rely on it---the independent evaluators on whom trust and certification depend, not the experts confirming what they already expect. It can only be measured, not inferred. We review why the toolbox is mature enough to support both, survey the thin body of work comparing models, draw a parallel to systems neuroscience, and close with a model-centric XAI agenda.

Continuum robots offer key advantages in navigating unstructured environments, but their safe operation requires accurate estimation of the external contact forces acting anywhere along the robot body. Estimating these forces at unknown locations is an ill-conditioned problem, particularly for multiple contacts. We propose a unified shape and force estimation framework formulated on a factor graph. By incorporating a Gaussian mixture force parameterization into a discretized probabilistic Cosserat rod model, we reduce the dimensionality of the unknown external forces and mitigate the ill-conditioning of node-wise force estimation. The framework fuses strain, tendon tension, and pose measurements to simultaneously estimate the robot's shape and external forces while accounting for modeling and sensor uncertainties. Numerical simulations demonstrate that the proposed method outperforms existing methods in terms of force location and magnitude estimation for both single and multi-contact scenarios. We further present a progressive variant that introduces basis functions on demand to estimate contact forces sequentially during a simulated confined-navigation task.

Reliable 3D understanding of the surrounding environment is a core requirement for autonomous driving. Multi-view surround camera rigs provide broad scene coverage, but the spatially adjacent images typically overlap only minimally. Consequently, the depth of most pixels must be inferred from monocular appearance cues. These cues can appear differently across images and may therefore be interpreted differently by the depth estimation model. We target two main sources of cross-image inconsistency: differences in camera intrinsics and the limited receptive field of each image. We address the former by conditioning the features on per-pixel camera-aware ray embeddings, enabling the network to account for camera-dependent variations in monocular cues. We address the latter by extending each pixel's context beyond its own image through cross-image attention constrained to geometrically plausible regions, derived from the calibrated rig setup. The model is trained in a fully self-supervised manner based on photometric consistency. Evaluations on DDAD and nuScenes show improved overall depth accuracy and cross-image depth consistency over state-of-the-art self-supervised methods under in-domain and cross-domain evaluation. Code is available at https://abualhanud.github.io/CrossDepthPage/.

Wireless signals with position-related labels are pivotal for both performance evaluation and model training in the realm of wireless sensing. However, acquiring real-world datasets is often challenged by significant measurement and labeling costs. Traditional methods for synthesizing labeled wireless signals typically rely on environmental models, leading to extensive hyper-parameter tuning and inadequate realism for comprehensive model training purposes. To address these limitations, we introduce a novel deep learning (DL)-based method, namely Inter-Instance Generative Adversarial Networks (IIns-GAN), to generate realistic labeled wireless signals. The generated signals are particularly adaptive to different environment scenarios and well-suited for various model training tasks, including distance estimation and environment identification. We have conducted extensive experiments on public Ultra-Wideband (UWB) datasets to evaluate the realism and utility of the generated signals. The results demonstrate that the signals generated by IIns-GAN mirror the physical characteristics of real-world measurements, and significantly contribute to the improvement of model training in diverse wireless sensing tasks.

Data-sovereignty regulations increasingly require public institutions to deploy open-source, on-premise LLM agents that chain multiple tool-calls across live government APIs. However, open-source models consistently underperform in this multi-step setting, and no existing benchmark measures the gap. We introduce the Korean Open Public API Benchmark (KOPA-Bench), comprising 145 real-world tasks. To close this gap, we present EDGE, an Execution-grounded Dynamic Graph for tool-calling data synthEsis driven by live execution. EDGE builds a graph of how each tool's output can feed another's input, keeps only the links that succeed when actually called against the live APIs, and traverses these verified links to synthesize executable multi-step trajectories. Fine-tuned via GRPO on the resulting dataset, our 9B model nearly matches the untuned 27B model from the same family, improving substantially not only on KOPA-Bench but also on the BFCL benchmark.

Visual reasoning tasks require a system to jointly perceive visual content and apply formal relational constraints---a combination that neither pure neural nor purely symbolic approaches handle well in isolation. This paper proposes a Neuro-Symbolic (NeSy) framework that closes this gap by tightly coupling a Vision-Language Model (VLM) for automatic First-Order Logic (FOL) rule induction with a Dynamic Logic Tensor Network (D-LTN) for differentiable rule verification, in a closed iterative feedback loop. The VLM receives a small set of labelled visual examples and proposes candidate FOL rules conforming to a strict grammar (Think); the D-LTN is automatically assembled from these rules at runtime and evaluates them grounding on CNN-produced visual embeddings (Verify); and verification failures are fed back to guide the VLM's next hypothesis (Revise). Evaluated on the ViSudo-PC benchmark across four visual domains (MNIST, EMNIST, KMNIST, FMNIST), the system induces valid Sudoku constraint rules using only three training examples as visual context. The proposed method achieves AUC scores matching or outperforming previous methods (NeuPSL, LTN), showing the potential for automatic rule discovery through VLM. Code is available at https://github.com/homayoun-afshari/nesy.

LLM decision components that can operate within agent workflows often produce action-relevant recommendations or judgements together with explanations. Operators may use the named factors to monitor a system, diagnose errors, or decide when to escalate an output. Such use assumes that the explanations agree with the component's observable decision behaviour. We test two interpretations of the named factors: necessity, meaning that changing a factor would change the output, and sufficiency, meaning that retaining it while removing other changeable information would preserve the output. We evaluate these interpretations in two synthetic use cases: recommending advisors to clients and judging prompts for harmfulness or risk. Models return an output and the top three factors that most influenced it. Controlled black-box interventions estimate a necessity score for each factor by measuring how often changing it changes the output, and a sufficiency score by measuring how often retaining it preserves the output. Across eight models from the Claude, GPT, and Gemini families, the mean Spearman correlations between the cited ranking and the necessity and sufficiency scores are 0.349 and 0.354 for advisor recommendation, and 0.431 and 0.580 for prompt monitoring. Furthermore, an uncited factor scores above the lowest-scoring cited factor in 57.6% of advisor responses under necessity and 58.1% under sufficiency; the corresponding prompt-monitoring rates are 25.8% and 8.9%. The cited top three contain useful information but do not reliably identify the three factors with the strongest measured influence under necessity or sufficiency. The framework provides a black-box reliability check for explanations used in agent oversight while remaining scoped to individual LLM decisions.

We propose Ref-GeNVS, a training-free, reflection-aware method for generative novel view synthesis (NVS) in mirror scenes. Existing multi-view diffusion models often fail to recognize the mirror in the scene and cannot exploit reflected content for scene generation. To fix this issue without additional training, our key idea is to treat a mirror image as two complementary views. From input images, we estimate the mirror plane and reflect camera poses to form virtual views. Based on this virtual view setup, we propose a two-stage generation method consisting of Mirror-gated attention and Reflection injection, which enables reflection-consistent NVS by explicitly leveraging reflection relationships in a multi-view diffusion model. Ref-GeNVS inherits the strong generalizability of the multi-view diffusion backbone, while it does not require finetuning. On synthetic and real scenes including mirrors, Ref-GeNVS outperforms recent generative NVS methods by generating reflection-consistent and contextually coherent novel views, revealing scene structure visible only through mirrors. Project page: https://kim-geonu.github.io/Ref-GeNVS/

Large language models (LLMs) are increasingly evaluated on molecular property benchmarks, but accuracy cannot distinguish a model that predicts a property from one that retrieves a published number. We audit 22 frontier models on 12 regression benchmarks for verbatim retrieval and find that it is widespread but relatively benchmark-specific: on five datasets more than 50% of the LLMs show verbatim retrieval, while on the remaining datasets it appears only in isolated cells. We run our experiments at two reasoning levels and find that reasoning changes retrieval. The same experiments, on the same molecules and with the same prompt, are flagged 89% more often at the higher reasoning level than at the lowest one. Finally, we test a way to interrupt retrieval in our most contaminated cases, and find that the strongest models in some cases still recognise a combination of transformed SMILES strings and original labels. Furthermore, suppressing retrieval moves the prediction errors of the different models closer together in relative terms, while their differing use of verbatim retrieval spreads them apart. This indicates that the general predictive capability of an LLM is not determined solely by the amount of memorised values. This work provides an overview of the amount and depth of verbatim retrieval in molecular regression benchmarks using LLMs.

Large language models (LLMs) rely on static pretraining corpora, causing their knowledge to become outdated over time. Existing approaches for evaluating knowledge edits either suffer from rapid contamination or rely on counterfactual edits that conflict with rigid existing knowledge. In this work, we propose a synthetic, simulation-driven framework for studying knowledge insertion in LLMs. We introduce {\sc ParallelEvents}, a benchmark of fictional yet realistic future worlds that generates coherent event trajectories for controlled evaluation, avoiding contamination while preserving consistency. Building on this dataset, we develop {\sc Synapse}, a training framework that uses model-generated data to update model parameters via mid-training and instruction tuning. This synthetic pipeline enables scalable knowledge integration without costly human-curated data. Empirically, {\sc Synapse} outperforms existing methods by 14.23\%, demonstrating that simulation-based synthetic training leads to robust and coherent knowledge insertions.

Visuomotor imitation policies can achieve high performance under in-distribution visual conditions yet fail when visually similar objects or receptacles are introduced. We study this behavior as a problem of conditional visual grounding: the visual target required for successful control changes with the manipulation phase and, in more complex tasks, with the observed task state. Using Action Chunking with Transformers (ACT), we systematically introduce distractor objects and receptacles with controlled color and shape similarity and localize failures to picking and placement. We find that distractor sensitivity is specific to both the type of visual similarity and the manipulation stage. Guided by this diagnosis, we evaluate distractor augmentation, phase-dependent attention regularization, and appearance-based visual prompting as complementary interventions for improving target selection while preserving spatial information required for control. These interventions substantially improve robustness in simulation and on a physical UR3e. We further examine the same failure pattern in a pretrained vision-language-action policy on a state-conditioned instrument-handling task, where the observed state of a medical instrument determines the correct destination. Together, the results show that visual distractors can cause incorrect object or destination selection even when the underlying manipulation skill remains intact, and that explicitly improving target selection can substantially recover performance across distinct visuomotor policy-learning regimes.

Computer-use agents have advanced on benchmarks like OSWorld and AndroidWorld, but still act mostly through the GUI, often producing inefficient trajectories. Real-world computer work is hybrid, combining visual-state inspection with precise, high-throughput command-line operations, so capable agents must coordinate both modalities over shared application state. Yet scalable hybrid environments remain scarce because supporting both GUI and CLI over real applications typically requires substantial manual engineering for each application. Existing agents also struggle to use the two interfaces complementarily: CLI-native agents lack visual perception for tasks involving interface state or layout, while GUI-native agents are inefficient for operations better executed through commands. We introduce CUA-Universe, a scalable environment-to-data pipeline that turns real desktop software into hybrid GUI+CLI environments. App-Forge adapts applications into reproducible VMs and command-line surfaces it discovers, wraps, or generates, scaling to 16 applications; Task-Weave synthesizes diverse hybrid tasks of controllable difficulty from reusable operations over seed files; and Path-Steer steers rollouts along efficient hybrid paths and harvests verified trajectories for post-training. Training on this data shifts behavior from inefficient GUI interaction and brittle CLI scripting toward effective GUI+CLI orchestration. Our 9B model improves both success and efficiency on CUA-Verse (Score +39.3 pts; -37% steps, -60% tokens), OSWorld (SR +16.8 pts; -57% steps, -44% tokens), and OSWorld-MCP (Score +7.84 pts; -27% steps, -30% tokens). CUA-Universe provides a scalable path toward more capable and efficient computer-use agents.

Large language models (LLMs) achieve state-of-the-art generative ranking quality, but the ranking they produce must be decoded, and autoregressive decoding spends one sequential forward pass per emitted token. We observe that the only tokens a ranker must emit are the N ordinal values naming the items in ranked order, and that this narrow, permutation-structured output format admits decoding strategies which are much more efficient than left-to-right generation. We introduce SPD (Single Forward Pass), a format-specialized decoding strategy that decodes all N ordinals in O(1) forward passes. SPD reads an N × K item-position score matrix off the LLM's prefill hidden states with a lightweight self-attention head, then decodes the ordinals as the optimal bipartite assignment of that matrix via the Hungarian algorithm, yielding a valid permutation by construction rather than by repair. Through a systematic study of training signals and backbone adaptation, we show that LoRA-based fine-tuning combined with auto-regressive LLM ranking distillation reaches 28 ms end-to-end inference, a speed-up of 64x while maintaining ranking quality on par with the teacher. We provide a complete ablation decomposing the contributions of architecture, training signal, and backbone adaptation. Our framework connects generative ranking to combinatorial optimization, opening a path toward other O(1)-decode mechanisms for real-time ranking.

Hypergraph is a data structure that enables us to model higher-order associations among data entities. Conventional graph-structured data can represent pairwise relationships only, whereas hypergraph enables us to associate any number of entities, which is essential in many real-life applications. Hypergraph learning algorithms have been well-studied for numerous problem settings, such as node classification, link prediction, etc. However, much less research has been conducted on anomaly detection from hypergraphs. Anomaly detection identifies events that deviate from the usual pattern and can be applied to hypergraphs to detect unusual higher-order associations. In this work, we propose an end-to-end hypergraph neural network-based model for identifying anomalous associations in a hypergraph. Our proposed algorithm operates in an unsupervised manner without requiring any labeled data. Extensive experimentation on several real-life datasets demonstrates the effectiveness of our model in detecting anomalous hyperedges.

Decompilation recovers high-level source from compiled machine code and serves as a foundation for security tasks such as vulnerability detection and malware analysis. Traditional decompilers like Ghidra and Hex-Rays expose whatever they cannot resolve as visible placeholders and often emit pseudocode that will not compile or execute; LLM-based decompilers produce clean, idiomatic C and are now judged almost entirely by recompilability and re-executability: whether the output builds and passes its shipped input/output tests. We show that these metrics can reward the wrong path: a function may recompile and pass every shipped test yet diverge on other legitimate inputs, and a disclosed vulnerability may disappear from the recompiled code with no visible trace of the crash. Neither failure is caught by existing suites. To address this gap, we propose Decompile-Diverge, a behavioral comparison oracle not relying on fixed or hand-crafted tests: for each function it synthesizes a driver, grows a fuzzing corpus from the reference, and reruns the decompiled code on the same inputs to detect changes in the function's behavior. Across eight systems in nine configurations on established LLM decompilation corpora, candidates that pass every shipped test still diverge from the original on our input corpus: 4.9% overall, and as many as 13% for a single system. On 300 real GitHub library functions and 287 CVE-grounded functions, recompilability and behavioral agreement can come apart: the strongest refinement LLM lifts Ghidra's build rate from 75% to 90%, while its Matched rate falls from 74% to 62%; on disclosed vulnerabilities, up to one tenth exhibit Crash Absence in its output. Source-level analysis traces this divergence to introduced fields, types, callees, and guards that replace the visible unknowns traditional tools leave behind.

Vision-language-action (VLA) models can execute short manipulation skills, but remain brittle in long-horizon procedures requiring persistent task state, dependency-aware reasoning, conditional decisions, and reliable grounding. We investigate a neuro-symbolic framework that combines learned VLA control with explicit task graphs and multimodal procedural memory. Task graphs encode action dependencies, valid transitions, and branch conditions, while memory maintains the active step, completed actions, textual context, and task-relevant visual evidence. Together, these structures guide object selection, destination grounding, subgoal dispatch, and verification of expected state transitions. Human demonstrations provide additional spatial and temporal guidance through gaze or saliency cues. To isolate their effect on policy learning, our initial study bypasses cross-view gaze transfer and directly annotates pseudo-gaze in robot-view teleoperation videos. The resulting guidance is used during VLA fine-tuning and inference. We study two long-horizon manipulation domains, workspace clearing and surgical-instrument handling, which require ordered execution, visually grounded decisions, and conditional branching. We evaluate correct-object and destination selection, subtask completion, task progress, step-order consistency, complete-task success, and procedural or execution mistakes. This work positions structured symbolic reasoning and demonstration-derived visual guidance as complementary mechanisms for reliable long-horizon VLA manipulation.

In the uniform sparsest cut problem we are asked to find a vertex set that cuts few edges relative to the number of vertex pairs it separates. The Goemans-Linial SDP coupled with the Arora-Rao-Vazirani rounding gives an 𝒪(√(log n)) approximation on arbitrary graphs on n vertices. We study this relaxation on finite Abelian Cayley graphs. First we show that when the second normalized Laplacian eigenvalue of G= Cayley(Γ, S) is realized by a Fourier character with image size at most four then λ_2(G)=SDP_GL(G)=ψ(G). Geometrically, a character maps the vertices onto a regular polygon where the squared chord distance satisfies the triangle inequalities exactly when the polygon has at most four vertices. Grouping equal character fibers gives a cyclic quotient where the optimal cut can be found exactly and so the relaxation is exact on finite Abelian Cayley graphs on groups of exponent at most four. Second, we replace each generator s of S by a uniformly random element of its cyclic subgroup (including identity). If r_s is the order of s, we let α(r_s) to be the average number of ± s steps needed to simulate such a move, and let ρ(S)=max_s∈ Sα(r_s) be its worst case. Full cyclic averaging eliminates character phases and choosing a nontrivial character χ^* minimizing the auxiliary eigenvalue and taking K=kerχ^* gives ψ(G)_G(K)≤q^*/q^*-1(S)·SDP_GL(G)≤ 2ρ(S)·SDP_GL(G), where q^*=|χ^*(Γ)|. If all generator orders are at most R, this is an R/2 approximation. Finally, we construct an infinite family of finite Abelian Cayley graphs with Goemans-Linial integrality gap exactly 16/15.

Machine-learning performance modeling is a uniquely hostile terrain for long-lived software: the assumptions baked into today's abstractions are invalidated by tomorrow's models and systems, forcing perpetual refactoring of performance-modeling frameworks. Meanwhile, AI coding agents have become fast and capable enough that regenerating an entire library is cheaper than paying down the tech debt of incrementally patching it. We describe SMART, a rigorous symbolic performance-modeling library for ML systems whose main branch contains almost no code: the repository is a DAG of self-contained natural-language design docs, coding sub-agents regenerate the implementation from only the docs on new version updates, and every human change is a natural-language edit to a doc--self-documenting by construction. Two ingredients make regeneration reliable: (i) a design-doc style built around step-by-step worked examples that act as in-context demonstrations for the generating agents, and (ii) a minimal, recursively defined operator IR with symbolic (SymPy) cost expressions, a fast analytical roll-up mode for large sweeps, and a slow modulo-scheduling mode for fine-grained schedule studies. Regenerated implementations reproduce hand-audited reference models--including DeepSeek-V3 serving on a TPU pod slice--to round-off precision, suggesting that design docs--not code--can be the durable artifact for ML-systems co-design tools.

Trade-up recommendation identifies higher-quality alternatives that preserve a customer's purchase intent while offering upgraded benefits. Large language models (LLMs) can reason about such distinctions, but applying them directly to hundreds of millions of product pairs is operationally impractical. We introduce a two-level framework that distills LLM reasoning into an efficient non-generative student and adapts its decision boundary to product-type-specific trade-up criteria. At Level 1, a retrieval-augmented few-shot LLM teacher generates structured relation labels and natural-language rationales. These rationales supervise a compact embedding-pair classifier through alignment and contrastive objectives; at inference, the student uses only two precomputed 768-dimensional product embeddings, with no LLM calls or text generation. On a fixed human-annotated benchmark of 8,352 pairs, a 15.5M-parameter four-class reasoning-distilled student achieves AUC 0.924 (95% CI [0.918, 0.929]), compared with 0.912 for the four-class label-only student. At Level 2, product-type test-time training (PT-TTT) uses few-shot demonstrations to optimize lightweight category-specific adapters over the frozen student. PT-TTT improves AUC from 0.924 to 0.941 and average precision from 0.920 to 0.940. On a 100K-pair proxy catalog, the distilled student on a single eight-GPU machine is approximately 5,000x faster and 10,000x lower in estimated cost than direct LLM inference.

For overparameterized neural networks, many solutions can fit the training data equally well while behaving very differently on unseen samples. Grokking separates training fit from visible generalization, providing a window for studying how this selection develops during training. We sweep short, fixed-duration weight-decay (WD) perturbations across the pre-generalization plateau and measure how they shift later generalization time. Across three grokking tasks, these shifts are unordered early in the plateau but later form a stable dose ordering, with stronger WD increases leading to earlier generalization and stronger WD decreases leading to later generalization. This ordering emerges before visible generalization in all three tasks. Meanwhile, test-loss barriers between perturbed and baseline generalization checkpoints collapse toward zero while the ordered timing effects persist. Drawing on Waddington's developmental landscape as an analogy, we call this combination of increasingly constrained solution selection and persistent dose-ordered shifts in generalization timing the canalization of grokking solution selection.

Human-robot interaction (HRI) enables intuitive and intelligent collaboration between humans and robots in real-world environments. This paper introduces a humanoid robot prototype designed as a flexible testbed for developing and integrating artificial intelligence (AI) modules in HRI tasks. The system features a 12 degree-of-freedom (DOFs) dual-arm mechanism and a 2 DOFs head with an expressive LCD screen to express facial emotions. All hardware components are controlled by a custom-designed controller board with real-time AI processing supported by an onboard Jetson module. The system incorporates three AI modules: (1) gesture recognition using MediaPipe Pose and an LSTM classifier, (2) object detection with YOLO and 3D localization, and (3) voice-command processing through speech recognition and large language model(LLM)-based semantic parsing. The platform is validated through experiments on positioning accuracy, with results showing average manipulation errors of approximately 1.83 cm. To demonstrate its versatility, experimental results show over 90% task accuracy, with gesture recognition reaching 96%, speech recognition reaching 92%. The results confirm the effectiveness of the proposed system as a reproducible and accessible humanoid platform for research and prototyping in HRI.

We investigate whether Large Language Models (LLMs) exhibit conspiratorial tendencies, whether they display socio-demographic biases in this domain, and how easily they can be conditioned into adopting conspiratorial perspectives. Conspiracy beliefs play a central role in the spread of misinformation and in shaping distrust toward institutions, making them an important testbed for assessing the social and psychological fidelity of LLMs and their potential to reproduce or reinforce harmful narratives. Although LLMs are often used as proxies for studying human behavior, it remains unclear whether they reproduce higher-order psychological constructs such as generalized conspiratorial beliefs. To bridge this research gap, we administer validated psychometric surveys measuring conspiratorial mindset to multiple models under different prompting and conditioning strategies. Our findings reveal that LLMs show partial agreement with elements of conspiracy belief, and conditioning with socio-demographic attributes produces uneven effects, exposing latent demographic biases. Moreover, targeted prompts can easily shift model responses toward conspiratorial directions, underscoring both the susceptibility of LLMs to manipulation and the potential risks of their deployment in sensitive contexts. These results highlight the importance of critically evaluating the psychological dimensions embedded in LLMs, both to advance computational social science and to inform possible mitigation strategies against harmful uses.

Visual aliasing, also known as the doppelganger problem, remains a key challenge for structure-from-motion (SfM): visually similar but physically distinct surfaces can produce incorrect image matches and degrade reconstruction quality. Previous work mitigates this issue with geometry-aware foundation-model features, but places a heavy transformer classifier on top of the backbone, making large-scale disambiguation expensive. We introduce XDG, an efficient visual disambiguation model designed for scalable SfM. Our key observation is that a 3D foundation model already performs the cross-view geometric reasoning necessary for visual disambiguation, so doppelganger classification should adapt the backbone representation directly rather than relearn pair reasoning in a separate heavy decoder. XDG fine-tunes Depth Anything 3 with lightweight LoRA adapters and repurposes its camera tokens as compact pair-level classification tokens. A compact MLP head predicts whether a candidate image pair observes the same 3D surface. Extensive experiments show that XDG provides a favorable accuracy-efficiency tradeoff: it remains competitive with the state-of-the-art disambiguation method across pairwise and reconstruction benchmarks and delivers more than a 3x inference speedup. On individual LaMAR scenes containing thousands of images, XDG saves more than 10 hours of visual disambiguation processing. Code is available at https://github.com/xtcpete/xdg.

Facial expression recognition (FER) in videos requires model personalization to capture considerable variation across subjects. Vision-language models (VLMs) offer strong transfer through image-text alignment, but their performance can degrade under inter-subject distribution shifts. Test-time adaptation (TTA) can mitigate this challenge, yet most state-of-the-art methods rely on unsupervised parameter optimization, introducing computational overhead that limits real-world deployment. This paper introduces TTA through Cache Personalization (TTA-CaP), a gradient-free, cache-based method for cost-effective personalization of VLMs in video FER. Unlike prior cache-based TTA methods that rely solely on dynamic memories of test samples and may drift because of noisy pseudo-labels, TTA-CaP employs three complementary caches: a personalized static cache constructed through feature-statistics matching, a positive target cache containing reliable subject-specific samples, and a negative target cache containing low-confidence cases as negative evidence. A tri-gate mechanism prevents cache corruption by controlling updates according to temporal stability, confidence, and consistency with the personalized static cache. The caches jointly provide subject-matched positive and negative evidence for robust personalization. TTA-CaP further refines predictions through embedding fusion, supporting temporally stable video-level predictions. Experiments on BioVid, StressID, and BAH show that TTA-CaP outperforms state-of-the-art TTA methods under subject-specific and environmental shifts while maintaining low computational and memory overhead. Our code is publicly available at https://github.com/MasoumehSharafi/TTA-CaP.

As the world of agentic artificial intelligence applied to robotics evolves, the need for agents capable of building and retrieving memories and observations efficiently is increasing. Robots operating in complex environments must build memory structures to enable useful human-robot interactions by leveraging the mnemonic representation of the current operating context. People interacting with robots may expect the embodied agent to provide information about locations, events, or objects, which requires the agent to provide precise answers within human-like inference times to be perceived as responsive. We propose the Embodied Light Graph Retrieval Agent (EmbodiedLGR-Agent), a visual-language model (VLM)-driven agent architecture that constructs dense and efficient representations of robot operating environments. EmbodiedLGR-Agent directly addresses the need for an efficient memory representation of the environment by providing a hybrid building-retrieval approach built on parameter-efficient VLMs that store low-level information about objects and their positions in a semantic graph, while retaining high-level descriptions of the observed scenes with a traditional retrieval-augmented architecture. EmbodiedLGR-Agent is evaluated on the popular NaVQA dataset, achieving state-of-the-art performance in inference and querying times for embodied agents, while retaining competitive accuracy on the global task relative to the current state-of-the-art approaches. Moreover, EmbodiedLGR-Agent was successfully deployed on a physical robot, showing practical utility in real-world contexts through human-robot interaction, while running the visual-language model and the building-retrieval pipeline locally.

Recent advances in Earth Observation representation learning accommodate heterogeneous sensors and missing observations, often through larger architectures. We present MEOX (Multimodal Earth Observation with eXperts), a multimodal masked autoencoder with a 2.939 million-parameter encoder and 3.115 million parameters in total. Sensor-specific adapters, explicit validity signals, and a shared sparse-expert block preserve modality-dependent processing before a learned patch-wise fusion. Four metadata tokens then accompany a single spatial sequence through fourteen further encoder blocks. Shared expert projections with private low-rank residuals constrain parameter growth, while rotary attention supports downstream spatial grids different from pretraining. The model is pretrained on 1.228 million MMEarth64 samples using modality-balanced masked reconstruction and structured sensor dropout. Frozen transfer is evaluated on six GEO-Bench tasks at both 64 and 224 pixels. The model reaches 64.42% mean intersection-over-union on cashew segmentation at 64 pixels and 90.56% average accuracy on EuroSAT at 224 pixels, exceeding the corresponding reported CSMoE results. BigEarthNet finetuning reaches 72.95% micro-average precision. Routing diagnostics distinguish expert participation, spatial dependence, modality association, and functional contribution. A held-out WorldCover probe measures a 0.64-percentage-point benefit from metadata, while retrieval separates same-sensor semantics from cross-sensor alignment. These results demonstrate sensor-flexible representation learning and strong task transfer using a compact parameter budget.

This work investigates the ``small-vs-large gap'', where repeating on fewer samples can lead to compute saving during training compared to using a larger dataset. This is observed across algorithmic tasks, architectures and optimizers and cannot be explained using prior theory. We argue that the speedup comes from appropriate layer-wise growth enabled by sampling biases, which is more pronounced when the dataset size is smaller. We provide both theoretical analysis and empirical evidence from various interventions. Our results suggest that using a smaller dataset with more repetitions is not just a fallback strategy under data scarcity, but can be proactively leveraged as a favorable inductive biases for optimization, particularly in reasoning tasks.

Generative AI is transforming how people access information, challenging traditional advertising mechanisms built around predefined slots. Towards generation-native advertising, we propose the Latent Advertiser Mixture Auction (LAMA), a token-level advertising mechanism that embeds advertiser influence directly into the generation process. Advertisers report local continuation values that induce advertiser-specific next-token policies, from which the platform decodes through a latent mixture while updating an allocation posterior. We show that LAMA satisfies Markov DSIC and IR, and achieves near-optimal KL-regularized welfare. We further develop a learning-based implementation that reconstructs the required reports online from learned local advantages and root values. Proof-of-concept experiments on real-world commercial-search query splits show that LAMA improves platform welfare and revenue while maintaining user-facing response quality, providing initial evidence for the feasibility of generation-native advertising.

Competitive programming has become a key test of large language model reasoning, with international competitions such as IOI and ICPC representing its most challenging settings. We present an end-to-end specialization pipeline combining large-scale problem curation, synthetic reasoning traces, supervised fine-tuning (SFT), and reinforcement learning (RL). Using 22,000 curated problems, we train Nemotron-3-Nano-CC (30B-A3B) with SFT and RL and Nemotron-3-Ultra-CC (550B-A55B) with SFT alone. We further introduce GenCorrect, a feedback-driven test-time compute strategy that iteratively generates, evaluates, and refines diverse solutions. On IOI 2025, Nano-CC improves from 130 points to 291 after post-training and to 468 with GenCorrect, exceeding the gold threshold of 438.3 while Ultra-CC reaches 502. Guided by these results, we develop a competition-specific Ultra-CC system and evaluate it prospectively during IOI 2026. Under the same time, internet-access, and submission constraints as human contestants, it scores 535.4 out of 600, exceeding both the gold threshold of 361.12 and the top human score of 498.27. To our knowledge, this is the first AI system to outscore the highest-scoring human contestant on an IOI problem set.

The integration of GenAI tools into higher education assessment raises important questions about how students understand, interpret, and respond to AI-mediated evaluation. As instructors increasingly explore AI tools for providing feedback, prior research has examined whether GenAI-generated feedback improves writing performance and how students perceive its usefulness; comparatively little is known, however, about how students interpret such evaluation when they are explicitly informed that an AI system, rather than a human instructor, produced the feedback and the score. This study reports findings from a qualitative pedagogical inquiry conducted in an undergraduate technical communication course for computing students at a Saudi public university. Thirteen male undergraduate computing students completed an in-class handwritten writing task; the scanned submissions were evaluated by ChatGPT using a rubric-based prompt aligned with the task objectives. Students were then explicitly informed that ChatGPT had generated the score and feedback and were invited to reflect on the evaluation in writing. Inductive thematic analysis of these reflections identified four themes: perceived usefulness of feedback; awareness of AI's contextual and pedagogical limitations; conditional trust, distinguishing feedback utility from evaluative authority; and reflection on the institutional and pedagogical role of the human instructor. Participants accepted GenAI feedback as useful for surface-level revision but consistently positioned the human instructor as the appropriate authority over grading decisions. The study identifies this as a distinction between feedback utility and evaluative authority, two judgments that students treat as analytically separate rather than as opposite ends of a single approval scale...

In medical imaging, the clinical value of Computed Tomography (CT) lies not only in depicting current disease status, but crucially in enabling longitudinal comparison of serial scans to determine disease evolution, a process that underpins response assessment, recurrence detection, and ongoing patient management. Yet, despite this central role of temporal comparison in clinical decision-making, existing medical foundation models remain largely confined to single-study understanding, leaving temporally grounded cross-examination insufficiently addressed. To address this gap, we study longitudinal imaging difference reporting, a task in which a model takes two temporally separated scans from the same patient and generates a clinically meaningful report describing interval changes between them. We introduce CT-ΔBench, a dedicated benchmark for this task with patient-level splitting to prevent information leakage. To better evaluate this task beyond surface-level text similarity, we further develop change-aware metrics specifically designed to capture clinically meaningful longitudinal changes, and conduct an independent physician validation to assess the reliability of the synthesized references and event extraction pipeline. We also compare direct paired-CT reasoning with an indirect two-stage pipeline that first generates single-timepoint reports and then performs textual differencing. Finally, we propose DeltaMed, a baseline model for direct paired-CT difference reporting, and train it on the benchmark training set. Together, these contributions lay the groundwork for temporally aware medical foundation models that better reflect real-world longitudinal clinical reasoning.

Disease spread represents an increasing challenge in refugee and internally displaced person (IDP) settlements. The movement and interaction of people within camps is influenced by their layout, which therefore has the potential to significantly affect disease spread. This work aims at creating a methodology to explore the potential effects of different camp layouts as mitigating factors in the spread of diseases within settlements. We showcase proof-of-concept experiments by leveraging the JUNE agent-based epidemic model, discuss the kind of operational insights this methodology can facilitate, and provide a framework for future investigations.

Agent based systems are increasingly deployed in information critical systems including healthcare management systems, and smart grids. In this paper, we consider a multi-agent system where each agent has a latent goal that needs to be kept hidden from observing adversaries. More specifically, this paper studies privacy-preserving consensus in networked multi-agent systems under goal inference attacks. We propose a Trust-Aware Privacy Control framework that adapts message disclosure based on the dynamic trust relationships between agents. The proposed method controls information release using a trust-dependent stochastic policy. This enables a tradeoff between consensus performance and privacy preservation. Experiments demonstrate that the proposed method reduces adversarial goal inference accuracy compared to representative baselines, while maintaining competitive consensus utility, thereby highlighting the effectiveness of trust-aware mechanisms in privacy preservation of the agents in multi-agent systems.

Model upgrades are routine; memory migrations are not. An agent can keep the same memory store and still forget: a new model may interpret old notes differently, mixed embedding versions may break retrieval, and repair may fail without the original evidence. We compare memory as the same history is preserved verbatim for long-context reading (LC-RAW), divided into chunks for retrieval-augmented generation (RAG), compressed by a model into natural-language notes (NOTES), or normalized into a fixed-schema knowledge graph (KG-fixed). The study uses 48 synthetic histories with randomized answer codes, exact scoring, and two open-weight models with sub 10 billion parameters. Our measurements show that fixed-schema structures transfer reliably, with KG-fixed accuracy changing by only +0.0004 ± 0.0020 following a writer swap. Conversely, compressed NOTES exhibit high model coupling, with accuracy shifting asymmetrically by +9.91 or -13.28 percentage points depending on the specific migration direction. In RAG systems, partial embedding migrations using a 50/50 mixed index capture only a 4.96-point accuracy improvement, forfeiting the majority of the 11.90-point gain achieved through full re-embedding. Diagnostic decomposition attributes 80

We present a Hessian-based approach to numerically continue periodic orbits in dynamical systems. A loop (periodic orbit candidate) is parametrized as a Fourier series; a loss function is defined based on the deviation of the loop from the physical differential equations. Unlike previous work relying on hand-derived Jacobians, our method automates the process by leveraging automatic differentiation, a common machine learning technique. The continuation direction can be determined by the flat directions of the loss landscapes (directions with zero eigenvalues), making the search of periodic orbits efficient and guided. Our method is integrator-free, precisely initializes oscillations around unstable fixed points, and efficiently detects orbit family intersections and subharmonic bifurcations. As a demonstration, we present full continuations of periodic double pendulum oscillations from fixed points, showing bifurcations along orbit families and categorizing branches of periodic orbits. In particular, we find periodic orbits where both pendulum masses are never simultaneously at rest, which to our knowledge has been missing in the literature.

Public vulnerability databases collect rich information about known software flaws, including their weakness types, affected components, and related patches. Fixing commits provide the exact code changes that removed these flaws. While these records capture why the original code was unsafe, they are documented mainly for human inspection rather than automated reuse. Consequently, the same unsafe conditions may still exist elsewhere in code without a known advisory, leaving much of this detection knowledge unused. We present BUGSTONE-E2E, a framework that transforms vulnerability history into executable detection rules and validates their findings. First, BUGSTONE-E2E mines reusable rules from verified fixing commits, capturing scan anchors, fix semantics, and CVE provenance and organizing them by CWE and language. Second, detection follows a funnel-shaped pipeline: early stages process a large pool of candidates using lightweight analysis, while later stages apply increasingly capable and expensive models to a shrinking set of targets. Specifically, BUGSTONE-E2E first enumerates call sites matching rule anchors using Tree-sitter, then removes benign sites using lightweight heuristics without LLM calls. Next, LLM-based agents inspect the remaining candidates guided by the rule. Following this inspection, the system re-triages surviving candidates and builds runtime verifications, then generates scope-checked patches validated via two-sided differential tests. Using 19,325 high-severity CVEs from 2022 to 2026, BUGSTONE-E2E identifies 2,710 fixing commits and constructs 1,033 detection rules across 56 CWE families, packaged into 172 skills. When applied across 14 programs, it produced runtime evidence for 644 findings. These results demonstrate that CVE history can be turned into an executable workflow, transforming past vulnerabilities into reproducible detection and repair.

Chilli (Capsicum annuum) is one of India's most economically significant crops, yet its productivity is persistently threatened by diseases that are difficult to identify without expert intervention. While Vision Transformers (ViTs) have achieved high classification accuracy, their large computational footprint makes deployment on resource constrained devices challenging. Existing compression approaches typically address pruning, quantization, and knowledge distillation in isolation, leaving the potential benefits and interactions of their combined application insufficiently explored. We propose a unified Vision Transformer compression framework that combines Hessian-Balanced Adaptive Block Pruning (H-BAC), guided by second-order sensitivity estimation, with quantization and attention-based knowledge distillation. To systematically identify the most effective configuration within each compression family, each technique is first evaluated independently through controlled ablation studies, after which the best-performing components are integrated into a sequential deployment pipeline tailored to real-world agricultural constraints. On a chilli 3-class village-split dataset with a genuine cross-village, cross-device out-of-distribution test split, the resulting compressed models match or exceed the 95.13% FP32 baseline's accuracy, alongside 74-98% model size reduction, and the fully integrated compression pipeline achieves a 54.5x size reduction (327.42 MB to 6.01 MB) at 95.13 +/- 2.32% accuracy across four tested configurations. A direct comparison further reveals that, on this dataset, a directly-trained student of the same final size, without pruning or distillation, reaches comparable accuracy of 94.87%, at the same 6.01 MB INT8 size, indicating where H-BAC and knowledge distillation are, and are not yet shown to be, worth their computational cost.

A transformer language model assigns a single, context-independent vector to a word type at its embedding layer, yet is widely believed to individuate that word's occurrences by context in its later layers. Testing this belief cleanly requires a construct that holds the word form fixed while its context and intended sense vary in a controlled, labeled way. This manual documents an open toolkit built around such a construct, which we call a bridge form: a single written word that recurs, unchanged, across two or more subject domains with a different sense in each. We describe, and justify, every stage of the pipeline: the declarative specification of bridge forms and their source domains, corpus acquisition from Wikipedia, occurrence localization, layer-wise representation extraction, a domain-pairwise silhouette measurement of separation in the model's representation space, and a paired visualization protocol. Each design choice is presented together with the methodological failure mode it is meant to avoid (sense contamination from overly broad category labels, the multi-group bias of the silhouette coefficient, subword-tokenization misalignment, and axis-comparability artifacts in dimensionality-reduced plots, among others). This manuscript is a methodological and implementation reference: it does not report or interpret empirical outcomes of running the toolkit on any particular model or bridge-form set. The toolkit, its full source, and the corpora used to exercise it are archived separately (Section 9) under a persistent identifier, and are intended to be cited as an instrument by studies that use it to produce and interpret empirical results.

Robotic systems increasingly operate in dynamic, uncertain, and open-ended environments, where design-time assumptions may no longer hold, and adaptation becomes necessary to maintain effective and safe operation. Behavior Trees (BTs) are widely used in robotic control architectures due to their modularity, readability, and reactivity. This raises a central question: are BTs sufficient to meet the adaptation needs of modern robotic systems? This paper investigates this question through a literature-driven study complemented by empirical validation. First, we derive a classification of robotic adaptation needs from the literature, organizing them into six categories: Knowledge, Perception, Actuation, System, Mission, and Environment. Then, we analyze the capabilities and limitations of classical BTs with respect to these needs. Then, we characterize BT-based approaches for adaptation from the existing literature and organize them into four primary families, i.e., generation, extension, evolution, and refinement, including approaches that combine multiple families. Our analysis shows that the modularity, flexibility, and reactivity of classical BTs are insufficient for adaptation needs involving runtime restructuring, reasoning under uncertainty, mission reinterpretation, learning, or integration with external knowledge and planning mechanisms. Enhanced BT approaches address several of these limitations, but to different extents and often with limitations of their own. Our findings relate adaptation needs to both the capabilities and limitations of classical and enhanced BTs, providing guidance on when classical BTs are sufficient, when enhanced mechanisms are needed, and which challenges remain or emerge for adaptive robotic control architectures.

Vision Language Action (VLA) models enable instruction-following manipulation, yet their deployment on coordinated dual-arm platforms remains severely constrained by under-modeled self-collisions between manipulators and grasped objects. To address this critical safety gap, we propose CoFreeVLA, a novel framework that augments end-to-end VLA policies with a lightweight, short-horizon self-collision risk estimator. The estimator predicts collision likelihoods directly from proprioceptive states, visual embeddings, and candidate action sequences. Deeply integrated into the closed-loop control system, this estimator proactively gates risky commands, autonomously synthesizes recovery trajectories to safe states via risk-guided adjustments, and biases policy refinement for safer rollouts. To ensure robust calibration, the estimator utilizes a two-stage training pipeline, pre-training with model-based synthetic collision labels, followed by post-training on real-robot rollouts. Across five bimanual tasks, six VLA backbones, and 30 trials per variant, the task-averaged collision rate decreases from 0.54 to 0.23, while the task-averaged success rate increases from 0.45 to 0.61. Compared to representative baselines, CoFreeVLA substantially reduces self-collision frequencies and improves overall task success rates, providing a crucial step toward the safe deployment of foundational models in multi-arm continuous control.

The attempt to utilize machine learning in procedural content generation (PCG) has been made in the past. In this survey paper, we investigate how generative artificial intelligence (AI), which saw a significant increase in interest in the mid-2010s, is being used for PCG. We review applications of generative AI for the creation of various types of content, including terrains, items, and even storylines. While generative AI is effective for PCG, building high-performance models requires not only handling customized content and ensuring quality and diversity, but also securing sufficient training data. For PCG research to advance further, addressing these challenges is essential. Thus, we also give special consideration to research that explores innovative generation techniques, model architectures, and approaches suited for limited-data scenarios.

Numeric format proliferation in machine learning hardware -- FP8 (E4M3 and E5M2), BF16, MXFP4, microscaling block formats, and dozens of research variants -- has outpaced the availability of vendor-neutral, bit-exact reference material. Engineers porting models across accelerators encounter silent divergences that are difficult to diagnose without a shared ruler. This paper describes a catalog of 109 numeric formats spanning 12 clusters (83 at v2; the count is a catalog invariant, not a fixed number), a suite of six bit-exact conformance packs covering GF16, MXFP4 element, BF16, FP8 E4M3, FP8 E5M2, and E8M0 block scale, and an IEEE P3109 v3.2.0 cross-walk that maps each pack to its corresponding standards-track configured format. Each pack is a self-contained JSON document with a SHA-256 fingerprint, a shared row schema, and an anchor vector that encodes 3.0 -- the identity phi^2 + 1/phi^2 = 3 -- as a cross-pack sanity check. Packs are cross-validated against ml_dtypes 0.5.4 (Google/JAX); any divergence is documented explicitly and interpreted as a spec-permitted interpretation gap rather than hidden. The work is framed as registry filling: it does not propose new formats, make model-accuracy claims, or assert superiority over any vendor's implementation. All artifacts are publicly available at https://github.com/gHashTag/t27 under an open license.

Machine unlearning typically aims to emulate retraining from scratch: upon a deletion request, the unlearning algorithm should produce an outcome that would have been obtained had the deleted point never been included. Recent work has shown that this emulation requirement carries no meaningful privacy semantics against an adversary who observes a sequence of releases. Machine unlearning is thus not a privacy question per se, but rather a data maintenance question, which is precisely the subject of retroactive algorithms. These are algorithms supporting modifications of past operations, guaranteeing that all subsequent answers reflect the revised history as if it had always been in force. We put forward a definition of private retroactive algorithms, combining the retroactivity requirement with differential privacy under continual observation. We present constructions achieving both privacy and retroactivity at no asymptotic cost over privacy alone for linear statistics, clustering, and histograms, alongside impossibility results.

When LLMs support public-facing or high-stakes workflows, missed fabrications can harm users and institutions, while false alarms consume limited human-review capacity. When no trusted context or reference document is available, we study two signals accessible through black-box model APIs: semantic entropy, which measures disagreement among sampled response meanings, and uncertainty derived from token log-probabilities. Their failure modes can be complementary: semantic entropy becomes uninformative when responses form one semantic cluster, while token uncertainty can miss consistently confident errors. We extend token-based uncertainty detection by aggregating token-level signals across sampled responses through our TopK method, evaluate the hybrid CoCoA method, which combines target-response uncertainty with semantic dissimilarity, and propose and study two supervised methods: Gated, which routes single-cluster cases to an aggregated-token-feature classifier, and Stacked, which learns jointly from semantic uncertainty and broader token features. We evaluate seven benchmarks, including five public benchmarks (four text datasets and multimodal handwritten-cheque extraction) and two constructed benchmarks (Financial Summaries and Long-Text QA), using four language models. In our evaluation across models and datasets, Stacked gave the best performance in nearly half of the cases, while TopK and CoCoA remain competitive without supervised training labels, although their thresholds require careful calibration. No method is universally strongest. We therefore evaluate performance at false-positive-rate budgets from 1% to 15%, assess their sensitivity to generation and calibration choices, and examine variation across dataset characteristics.

As AI-generated and AI-assisted content floods online spaces, source labels attached to such content can distort human reasoning judgments, with downstream consequences for moderation, evaluation, and decision-making. Whether LLMs share this vulnerability, or offer more source-agnostic evaluation, remains an open question with strong implications for human-AI collaboration. We examine this issue using logical fallacies as a controlled setting to isolate source-label effects on reasoning quality, independent of domain knowledge. We conduct an online study (N=505) where participants are assigned to a source condition (human, AI, human with AI assistance, AI with human assistance, or no disclosure) and evaluate comments containing logical fallacies, comparing their judgments with those of LLMs (GPT-5.2, Gemini 2.5 Flash, Claude Sonnet 4.5), which were evaluated across the same source conditions. Human evaluators were significantly more susceptible to fallacies labeled as 'written by human' or 'written by human with AI assistance' and assigned higher trust ratings in these conditions. LLM evaluations remained comparatively stable across source labels, though performance varied across models. Confidence levels were similarly high across conditions for both humans and LLMs, regardless of the presence of fallacies. Our findings indicate that source-label bias is primarily a human vulnerability for logical fallacy evaluation, with potential implications in human-LLM collaboration in increasingly AI-mediated environments.

Generating categorical graphs requires choosing node and edge types that form a coherent structure without depending on node order. Many graph generators encode categories as fixed one-hot vectors, which can impose an artificial geometry in which categories are equidistant. We propose Embedded Graph Flows (EGF), a generative model that learns continuous embeddings for node and unordered-edge categories and transports Gaussian noise towards these learnt endpoints using a permutation-equivariant graph transformer. A terminal readout maps the embeddings back to discrete graph categories. Across molecular benchmarks, EGF achieved competitive performance. On QM9, EGF gives the best result on all four reported metrics among the three methods, including a Fréchet ChemNet Distance (FCD) of 0.150, compared with 0.717 for the categorical-diffusion baseline DiGress and 0.812 for the bridge-based baseline GruM. When applied to larger molecules in ZINC250k, EGF retains the lowest maximum mean discrepancy (MMD) using the neighbourhood subgraph pairwise distance kernel (NSPDK), indicating close agreement with the local substructures of the reference molecules. Our code is available at https://github.com/Trusted-System-Lab/EGF.

Quantum circuits are central to implementing quantum algorithms on quantum devices, where quantum gates must be reversible. Many quantum algorithms rely on Boolean functions, which must therefore be implemented reversibly within quantum circuits. Reversible circuit synthesis provides a way to translate such Boolean functions into reversible circuits. Binary decision diagrams (BDDs) offer a scalable approach to this task, but the resulting BDDs and circuits depend heavily on variable ordering. Existing ordering heuristics commonly minimize BDD size because it is closely tied to the circuit size. However, BDD size is an imperfect proxy for the quantum cost of the synthesized circuit (QCC). We propose , an evolutionary framework that uses an LLM as a heuristic generator for QCC-aware BDD variable ordering. Instead of predicting orderings directly, searches over ordering heuristics initialized from multiple heuristic families. Candidate heuristics directly manipulate variable orderings using standard BDD operations and are selected by downstream QCC. The discovered heuristic, HGA-QE, modifies the sifting step inside a genetic algorithm so that the procedure is better aligned with QCC. Across the benchmark set, HGA-QE achieves a 70.9% tie-or-win rate against the per-function best baseline and is strictly best on 13.5% of the functions. The results demonstrate broadly competitive QCC performance, with HGA-QE showing a clearer relative advantage in strict wins on the two benchmark suites drawn from sources different from the data used for heuristic discovery.

Achieving robust SLAM in large-scale underground coal mines with complex structures and severe degeneracies remains highly challenging. Dense smoke and dust cause substantial loss of visual information and degrade LiDAR point-cloud features, while long, self-similar corridors induce geometric degeneration, leading to pronounced odometry drift. To address these issues, we propose FIRE-LIVWO: Failure-Immune mmWave Radar-Enhanced LiDAR-Inertial-Visual-Wheel Odometry, a tightly coupled multi-modal odometry framework based on an iterated error-state Kalman filter (IESKF). The framework fuses 4D mmWave radar, LiDAR, and visual features within a unified VoxelMap and jointly constructs LiDAR-radar point-to-plane residuals and sparse visual photometric residuals. In smoke-filled environments, we exploit the strong penetration of 4D mmWave radar and introduce pointwise Doppler velocity constraints to preserve state observability. In geometrically degenerate corridors, we tightly couple wheel odometry using non-holonomic constraints (NHC) and online lever-arm compensation to reduce drift. Our central contribution is a degeneration detection and adaptive fusion model switching strategy grounded in geometric and visual observability analysis, which quantifies observability online and dynamically adjusts modality weights. Real-world experiments in underground coal mines demonstrate that FIRE-LIVWO accurately identifies failure boundaries, enabling reliable modality switching under extreme conditions. Compared with baselines, it achieves superior accuracy and robustness (average localization error of 5.677m). We open source our code on Github to benefit the robotics community.

Vision-Language-Action (VLA) models have shown promising progress in language-conditioned robotic manipulation. However, existing datasets and benchmarks mainly evaluate task completion under predefined settings, offering limited insight into model reasoning under increasing spatial and procedural complexity. We introduce RoboSPA (Robot Spatial-Procedural Assessment), a large-scale robotic manipulation dataset and benchmark for diagnosing embodied reasoning in VLA models. focuses on two core dimensions, Fine-Grained Spatial Reasoning and Long-Horizon Procedural Planning, covering 10 task categories and 56 base tasks. Each task is instantiated across five difficulty levels, yielding 280 variants with increasing spatial ambiguity and procedural complexity. We collect 527K trajectories across multiple embodiments and diverse scenes. Beyond binary success rate, introduces diagnostic metrics for more detailed evaluation. Experiments on representative VLA models show that current systems still struggle with complex spatial relations, precise low-level execution, and memory-intensive planning. These results establish as a challenging diagnostic benchmark for developing more capable, reliable, and generalizable embodied agents. Our data and code are available at https://github.com/fanzhenxuan/RoboSPA.

Unified vision-language models (VLMs) aim to support both visual understanding and generation within a single framework, but it remains unclear when mixed training benefits both capabilities and when it introduces conflicts. This paper presents a controlled empirical study of cross-task generalization between understanding and generation in unified VLMs. We construct two controllable image-text benchmarks, SmartWatch and modified CelebA, with paired VQA, captioning, and text-to-image generation tasks, and evaluate multiple LLM-based unified architectures built from SigLIP and VQ-VAE visual spaces. Our experiments show that mixed understanding-generation training can improve both tasks over task-specific training, but the benefit depends strongly on the relation between vision input and output spaces. Unified models with better aligned visual spaces exhibit stronger cross-task transfer, while reversible affine distortions of the input visual space substantially weaken this effect and can turn mutual benefits into conflicts. We further find that increasing data from one task can initially improve the other, but excessive imbalance between understanding and generation data may degrade the complementary task. By controlling attribute frequencies, we show that generation supervision can help recover underrepresented visual concepts for understanding. Adapter analyses suggest that this transfer is not primarily caused by richer visual adapter features, but by the base language model learning relationships that generalize across aligned visual spaces. A real-case experiment on LLaVA provides additional evidence that mixed understanding-generation training can benefit visual understanding beyond controlled benchmarks.

Palynomorphs (microscopic, organic-walled fossils such as pollen, spores, and dinoflagellates) are important high-resolution records of past climates and are critical to the study of ancient ecosystems. Existing methods rely on manual analysis of high-resolution, multifocal digital microscopy images, which is slow and time-consuming and requires researchers to compromise on the scale of their investigations. To the best of our knowledge, our work proposes the first ever scalable end-to-end pipeline for automated palynomorph detection in whole slide images that addresses this bottleneck through: (1) efficient methods for decomposing and compressing digitized multifocal microscope slide images into tractable 2-dimensional tiles for analysis; (2) benchmarking modern object detection models, including RF-DETR, for the detection of palynomorphs, achieving an AP@50 of 0.879; (3) an efficient algorithm for the synthesis of detection outputs across large-scale, high-resolution images; and (4) an I/O optimization resulting in faster inference time. Our methods drastically reduce the time required for palynomorph detection in a single slide from often days of manual inspection to under one hour of automated analysis, enabling palynological research at a substantially greater scale.

LLM-powered coding agents increasingly participate in software development workflows by generating code, selecting dependencies, and producing package installation commands. This creates a new software supply chain risk: when an agent hallucinates a non-existent package, an attacker may register the hallucinated name and later compromise users who install it. Existing package hallucination attacks and defenses primarily focus on naturally occurring hallucinations, targeted dependency steering, or post-hoc package validation. In this paper, we introduce Neutral Prompting Attack (NPA), a highly stealthy attack paradigm in which semantically benign instructions, such as encouraging imagination and exhaustiveness, increase package hallucination propensity without containing explicit malicious intent. Unlike targeted dependency steering, NPA does not specify an attacker-chosen package. Instead, it shifts the model's dependency generation behavior toward more speculative package names. We evaluate NPA across multiple coding-oriented LLMs and package hallucination benchmarks. Our results show that NPA increases both Hallucination ASR and Pip Install ASR, changes the distribution of hallucinated package names, and evades existing static-analysis, LLM-based, and agent-based Skill defenses. These findings reveal that harmless-looking prompts can covertly manipulate hallucination behavior and create downstream software supply chain risks.