Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment. However, standard offline Supervised Fine-Tuning (SFT) suffers from distribution shifts and catastrophic forgetting of pre-trained capabilities, while online Reinforcement Learning (RL) struggles with sparse rewards and poor sample efficiency. In this paper, we propose On-Policy VLA Distillation (VLA-OPD), a framework bridging the efficiency of SFT with the robustness of RL. Instead of relying on sparse environmental rewards, VLA-OPD leverages an expert teacher to provide dense, token-level supervision on the student's self-generated trajectories. This enables active error correction on policy-induced states while preserving pre-trained general capabilities through gentle alignment. Crucially, we formulate VLA-OPD via a Reverse-KL objective. Unlike standard Forward-KL that induces mode-covering entropy explosion, or Hard-CE that causes premature entropy collapse, our bounded mode-seeking objective ensures stable policy learning by filtering out the teacher's epistemic uncertainty while maintaining action diversity. Experiments on LIBERO and RoboTwin2.0 benchmarks demonstrate that VLA-OPD significantly improves sample efficiency over RL and robustness over SFT, while effectively mitigating catastrophic forgetting during post-training.

Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by exploiting opportunistic object motion: as a person manipulates an object~(e.g., moving a chair or lifting a mug), the static cameras effectively ``orbit'' the object in its local coordinate frame, providing additional virtual viewpoints. Harnessing this object motion, however, poses two challenges: the tight coupling of object pose and geometry estimation and the complex appearance variations of a moving object under static illumination. We address these by formulating a joint pose and shape optimization using 2D Gaussian splatting with alternating minimization of 6DoF trajectories and primitive parameters, and by introducing a novel appearance model that factorizes diffuse and specular components with reflected directional probing within the spherical harmonics space. Extensive experiments on synthetic and real-world datasets with extremely sparse viewpoints demonstrate that our method recovers significantly more accurate geometry and appearance than state-of-the-art baselines.

Large language model (LLM)-based coding agents achieve impressive results on controlled benchmarks yet routinely produce pull requests that real maintainers reject. The root cause is not functional incorrectness but a lack of organicity: generated code ignores project-specific conventions, duplicates functionality already provided by internal APIs, and violates implicit architectural constraints accumulated over years of development. Simply exposing an agent to the latest repository snapshot is not enough: the snapshot reveals the final state of the codebase, but not the repository-specific change patterns by which that state was reached. We introduce Learning to Commit, a framework that closes this gap through Online Repository Memory. Given a repository with a strict chronological split, the agent performs supervised contrastive reflection on earlier commits: it blindly attempts to resolve each historical issue, compares its prediction against the oracle diff, and distils the gap into a continuously growing set of skills-reusable patterns capturing coding style, internal API usage, and architectural invariants. When a new PR description arrives, the agent conditions its generation on these accumulated skills, producing changes grounded in the project's own evolution rather than generic pretraining priors. Evaluation is conducted on genuinely future, merged pull requests that could not have been seen during the skill-building phase, and spans multiple dimensions including functional correctness, code-style consistency, internal API reuse rate, and modified-region plausibility. Experiments on an expert-maintained repository with rich commit history show that Online Repository Memory effectively improves organicity scores on held-out future tasks.

Weight tying, i.e. sharing parameters between input and output embedding matrices, is common practice in language model design, yet its impact on the learned embedding space remains poorly understood. In this paper, we show that tied embedding matrices align more closely with output (unembedding) matrices than with input embeddings of comparable untied models, indicating that the shared matrix is shaped primarily for output prediction rather than input representation. This unembedding bias arises because output gradients dominate early in training. Using tuned lens analysis, we show this negatively affects early-layer computations, which contribute less effectively to the residual stream. Scaling input gradients during training reduces this bias, providing causal evidence for the role of gradient imbalance. This is mechanistic evidence that weight tying optimizes the embedding matrix for output prediction, compromising its role in input representation. These results help explain why weight tying can harm performance at scale and have implications for training smaller LLMs, where the embedding matrix contributes substantially to total parameter count.

Most recent advances in 3D generative modeling rely on diffusion or flow-matching formulations. We instead explore a fully autoregressive alternative and introduce GaussianGPT, a transformer-based model that directly generates 3D Gaussians via next-token prediction, thus facilitating full 3D scene generation. We first compress Gaussian primitives into a discrete latent grid using a sparse 3D convolutional autoencoder with vector quantization. The resulting tokens are serialized and modeled using a causal transformer with 3D rotary positional embedding, enabling sequential generation of spatial structure and appearance. Unlike diffusion-based methods that refine scenes holistically, our formulation constructs scenes step-by-step, naturally supporting completion, outpainting, controllable sampling via temperature, and flexible generation horizons. This formulation leverages the compositional inductive biases and scalability of autoregressive modeling while operating on explicit representations compatible with modern neural rendering pipelines, positioning autoregressive transformers as a complementary paradigm for controllable and context-aware 3D generation.

Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoid hand with 11 degrees of freedom - 2 per finger and 3 at the thumb - buildable for under 1,300. It was one of the first fully open-sourced humanoid hands, and introduced a novel data-driven approach to finger control that captures tendon dynamics within the control system. Despite these contributions, Ruka lacked two degrees of freedom essential for closely imitating human behavior: wrist mobility and finger adduction/abduction. In this paper, we introduce Ruka-v2: a fully open-sourced, tendon-driven humanoid hand featuring a decoupled 2-DOF parallel wrist and abduction/adduction at the fingers. The parallel wrist adds smooth, independent flexion/extension and radial/ulnar deviation, enabling manipulation in confined environments such as cabinets. Abduction enables motions such as grasping thin objects, in-hand rotation, and calligraphy. We present the design of Ruka-v2 and evaluate it against Ruka through user studies on teleoperated tasks, finding a 51.3

Loco-manipulation is a key capability for legged robots to perform practical mobile manipulation tasks, such as transporting and pushing objects, in real-world environments. However, learning robust loco-manipulation skills remains challenging due to the difficulty of maintaining stable locomotion while simultaneously performing precise manipulation behaviors. This work proposes a partial imitation learning approach that transfers the locomotion style learned from a locomotion task to cart loco-manipulation. A robust locomotion policy is first trained with extensive domain and terrain randomization, and a loco-manipulation policy is then learned by imitating only lower-body motions using a partial adversarial motion prior. We conduct experiments demonstrating that the learned policy successfully pushes a cart along diverse trajectories in IsaacLab and transfers effectively to MuJoCo. We also compare our method to several baselines and show that the proposed approach achieves more stable and accurate loco-manipulation behaviors.

Depth from Defocus (DfD) is the task of estimating a dense metric depth map from a focus stack. Unlike previous works overfitting to a certain dataset, this paper focuses on the challenging and practical setting of zero-shot generalization. We first propose a new real-world DfD benchmark ZEDD, which contains 8.3x more scenes and significantly higher quality images and ground-truth depth maps compared to previous benchmarks. We also design a novel network architecture named FOSSA. FOSSA is a Transformer-based architecture with novel designs tailored to the DfD task. The key contribution is a stack attention layer with a focus distance embedding, allowing efficient information exchange across the focus stack. Finally, we develop a new training data pipeline allowing us to utilize existing large-scale RGBD datasets to generate synthetic focus stacks. Experiment results on ZEDD and other benchmarks show a significant improvement over the baselines, reducing errors by up to 55.7%. The ZEDD benchmark is released at https://zedd.cs.princeton.edu. The code and checkpoints are released at https://github.com/princeton-vl/FOSSA.

Equivariance is a fundamental property in computer vision models, yet strict equivariance is rarely satisfied in real-world data, which can limit a model's performance. Controlling the degree of equivariance is therefore desirable. We propose a general framework for constructing soft equivariant models by projecting the model weights into a designed subspace. The method applies to any pre-trained architecture and provides theoretical bounds on the induced equivariance error. Empirically, we demonstrate the effectiveness of our method on multiple pre-trained backbones, including ViT and ResNet, across image classification, semantic segmentation, and human-trajectory prediction tasks. Notably, our approach improves the performance while simultaneously reducing equivariance error on the competitive ImageNet benchmark.

We introduce PerceptionComp, a manually annotated benchmark for complex, long-horizon, perception-centric video reasoning. PerceptionComp is designed so that no single moment is sufficient: answering each question requires multiple temporally separated pieces of visual evidence and compositional constraints under conjunctive and sequential logic, spanning perceptual subtasks such as objects, attributes, relations, locations, actions, and events, and requiring skills including semantic recognition, visual correspondence, temporal reasoning, and spatial reasoning. The benchmark contains 1,114 highly complex questions on 279 videos from diverse domains including city walk tours, indoor villa tours, video games, and extreme outdoor sports, with 100% manual annotation. Human studies show that PerceptionComp requires substantial test-time thinking and repeated perception steps: participants take much longer than on prior benchmarks, and accuracy drops to near chance (18.97%) when rewatching is disallowed. State-of-the-art MLLMs also perform substantially worse on PerceptionComp than on existing benchmarks: the best model in our evaluation, Gemini-3-Flash, reaches only 45.96% accuracy in the five-choice setting, while open-source models remain below 40%. These results suggest that perception-centric long-horizon video reasoning remains a major bottleneck, and we hope PerceptionComp will help drive progress in perceptual reasoning.

Recent advances in large language models have improved the capabilities of coding agents, yet systematic evaluation of complex, end-to-end website development remains limited. To address this gap, we introduce Vision2Web, a hierarchical benchmark for visual website development, spanning from static UI-to-code generation, interactive multi-page frontend reproduction, to long-horizon full-stack website development. The benchmark is constructed from real-world websites and comprises a total of 193 tasks across 16 categories, with 918 prototype images and 1,255 test cases. To support flexible, thorough and reliable evaluation, we propose workflow-based agent verification paradigm based on two complementary components: a GUI agent verifier and a VLM-based judge. We evaluate multiple visual language models instantiated under different coding-agent frameworks, revealing substantial performance gaps at all task levels, with state-of-the-art models still struggling on full-stack development.

We study the stochastic multi-armed bandit (MAB) problem where an underlying network structure enables side-observations across related actions. We use a bipartite graph to link actions to a set of unknowns, such that selecting an action reveals observations for all the unknowns it is connected to. While previous works rely on the assumption that all actions are permanently accessible, we investigate the more practical setting of stochastic availability, where the set of feasible actions (the "activation set") varies dynamically in each round. This framework models real-world systems with both structural dependencies and volatility, such as social networks where users provide side-information about their peers' preferences, yet are not always online to be queried. To address this challenge, we propose UCB-LP-A, a novel policy that leverages a Linear Programming (LP) approach to optimize exploration-exploitation trade-offs under stochastic availability. Unlike standard network bandit algorithms that assume constant access, UCB-LP-A computes an optimal sampling distribution over the realizable activation sets, ensuring that the necessary observations are gathered using only the currently active arms. We derive a theoretical upper bound on the regret of our policy, characterizing the impact of both the network structure and the activation probabilities. Finally, we demonstrate through numerical simulations that UCB-LP-A significantly outperforms existing heuristics that ignore either the side-information or the availability constraints.

Traditional Visual Grounding (VG) predominantly relies on textual descriptions to localize objects, a paradigm that inherently struggles with linguistic ambiguity and often ignores non-verbal deictic cues prevalent in real-world interactions. In natural egocentric engagements, hand-pointing combined with speech forms the most intuitive referring mechanism. To bridge this gap, we introduce EgoPoint-Ground, the first large-scale multimodal dataset dedicated to egocentric deictic visual grounding. Comprising over 15k interactive samples in complex scenes, the dataset provides rich, multi-grained annotations including hand-target bounding box pairs and dense semantic captions. We establish a comprehensive benchmark for hand-pointing referring expression resolution, evaluating a wide spectrum of mainstream Multimodal Large Language Models (MLLMs) and state-of-the-art VG architectures. Furthermore, we propose SV-CoT, a novel baseline framework that reformulates grounding as a structured inference process, synergizing gestural and linguistic cues through a Visual Chain-of-Thought paradigm. Extensive experiments demonstrate that SV-CoT achieves an 11.7% absolute improvement over existing methods, effectively mitigating semantic ambiguity and advancing the capability of agents to comprehend multimodal physical intents. The dataset and code will be made publicly available.

We present Automatic Laplace Collapsed Sampling (ALCS), a general framework for marginalising latent parameters in Bayesian models using automatic differentiation, which we combine with nested sampling to explore the hyperparameter space in a robust and efficient manner. At each nested sampling likelihood evaluation, ALCS collapses the high-dimensional latent variables z to a scalar contribution via maximum a posteriori (MAP) optimisation and a Laplace approximation, both computed using autodiff. This reduces the effective dimension from d_θ+ d_z to just d_θ, making Bayesian evidence computation tractable for high-dimensional settings without hand-derived gradients or Hessians, and with minimal model-specific engineering. The MAP optimisation and Hessian evaluation are parallelised across live points on GPU-hardware, making the method practical at scale. We also show that automatic differentiation enables local approximations beyond Laplace to parametric families such as the Student-t, which improves evidence estimates for heavy-tailed latents. We validate ALCS on a suite of benchmarks spanning hierarchical, time-series, and discrete-likelihood models and establish where the Gaussian approximation holds. This enables a post-hoc ESS diagnostic that localises failures across hyperparameter space without expensive joint sampling.

Empowered by large-scale training, vision-language models (VLMs) achieve strong image and video understanding, yet their ability to perform spatial reasoning in both static scenes and dynamic videos remains limited. Recent advances try to handle this limitation by injecting geometry tokens from pretrained 3D foundation models into VLMs. Nevertheless, we observe that naive token fusion followed by standard fine-tuning in this line of work often leaves such geometric cues underutilized for spatial reasoning, as VLMs tend to rely heavily on 2D visual cues. In this paper, we propose GeoSR, a framework designed to make geometry matter by encouraging VLMs to actively reason with geometry tokens. GeoSR introduces two key components: (1) Geometry-Unleashing Masking, which strategically masks portions of 2D vision tokens during training to weaken non-geometric shortcuts and force the model to consult geometry tokens for spatial reasoning; and (2) Geometry-Guided Fusion, a gated routing mechanism that adaptively amplifies geometry token contributions in regions where geometric evidence is critical. Together, these designs unleash the potential of geometry tokens for spatial reasoning tasks. Extensive experiments on both static and dynamic spatial reasoning benchmarks demonstrate that GeoSR consistently outperforms prior methods and establishes new state-of-the-art performance by effectively leveraging geometric information. The project page is available at https://suhzhang.github.io/GeoSR/.

The process of discovery requires active exploration -- the act of collecting new and informative data. However, efficient autonomous exploration remains a major unsolved problem. The dominant paradigm addresses this challenge by using Reinforcement Learning (RL) to train agents with intrinsic motivation, maximizing a composite objective of extrinsic and intrinsic rewards. We suggest that this approach incurs unnecessary overhead: while policy optimization is necessary for precise task execution, employing such machinery solely to expand state coverage may be inefficient. In this paper, we propose a new paradigm that explicitly separates exploration from exploitation and bypasses RL during the exploration phase. Our method uses a tree-search strategy inspired by the Go-With-The-Winner algorithm, paired with a measure of epistemic uncertainty to systematically drive exploration. By removing the overhead of policy optimization, our approach explores an order of magnitude more efficiently than standard intrinsic motivation baselines on hard Atari benchmarks. Further, we demonstrate that the discovered trajectories can be distilled into deployable policies using existing supervised backward learning algorithms, achieving state-of-the-art scores by a wide margin on Montezuma's Revenge, Pitfall!, and Venture without relying on domain-specific knowledge. Finally, we demonstrate the generality of our framework in high-dimensional continuous action spaces by solving the MuJoCo Adroit dexterous manipulation and AntMaze tasks in a sparse-reward setting, directly from image observations and without expert demonstrations or offline datasets. To the best of our knowledge, this has not been achieved before for the Adroit tasks.

High-fidelity 3D reconstruction of vehicle exteriors improves buyer confidence in online automotive marketplaces, but generating these models in cluttered dealership drive-throughs presents severe technical challenges. Unlike static-scene photogrammetry, this setting features a dynamic vehicle moving against heavily cluttered, static backgrounds. This problem is further compounded by wide-angle lens distortion, specular automotive paint, and non-rigid wheel rotations that violate classical epipolar constraints. We propose an end-to-end pipeline utilizing a two-pillar camera rig. First, we resolve dynamic-scene ambiguities by coupling SAM 3 for instance segmentation with motion-gating to cleanly isolate the moving vehicle, explicitly masking out non-rigid wheels to enforce strict epipolar geometry. Second, we extract robust correspondences directly on raw, distorted 4K imagery using the RoMa v2 learned matcher guided by semantic confidence masks. Third, these matches are integrated into a rig-aware SfM optimization that utilizes CAD-derived relative pose priors to eliminate scale drift. Finally, we use a distortion-aware 3D Gaussian Splatting framework (3DGUT) coupled with a stochastic Markov Chain Monte Carlo (MCMC) densification strategy to render reflective surfaces. Evaluations on 25 real-world vehicles across 10 dealerships demonstrate that our full pipeline achieves a PSNR of 28.66 dB, an SSIM of 0.89, and an LPIPS of 0.21 on held-out views, representing a 3.85 dB improvement over standard 3D-GS, delivering inspection-grade interactive 3D models without controlled studio infrastructure.

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models struggle with generalization to these rare events due to limitations in traditional detection and prediction approaches. To address this, we propose INSIGHT (Integration of Semantic and Visual Inputs for Generalized Hazard Tracking), a hierarchical vision-language model (VLM) framework designed to enhance hazard detection and edge-case evaluation. By using multimodal data fusion, our approach integrates semantic and visual representations, enabling precise interpretation of driving scenarios and accurate forecasting of potential dangers. Through supervised fine-tuning of VLMs, we optimize spatial hazard localization using attention-based mechanisms and coordinate regression techniques. Experimental results on the BDD100K dataset demonstrate a substantial improvement in hazard prediction straightforwardness and accuracy over existing models, achieving a notable increase in generalization performance. This advancement enhances the robustness and safety of autonomous driving systems, ensuring improved situational awareness and potential decision-making in complex real-world scenarios.

As large language models are deployed as autonomous agents, their capacity for strategic deception raises core questions for coordination, reliability, and safety in multi-goal, multi-agent systems. We study deception and communication in L2LM agents through the social deduction game Among Us, a cooperative-competitive environment. Across 1,100 games, autonomous agents produced over one million tokens of meeting dialogue. Using speech act theory and interpersonal deception theory, we find that all agents rely mainly on directive language, while impostor agents shift slightly toward representative acts such as explanations and denials. Deception appears primarily as equivocation rather than outright lies, increasing under social pressure but rarely improving win rates. Our contributions are a large-scale analysis of role-conditioned deceptive behavior in LLM agents and empirical evidence that current agents favor low-risk ambiguity that is linguistically subtle yet strategically limited, revealing a fundamental tension between truthfulness and utility in autonomous communication.

Identifying wireless modulation schemes is essential for cognitive radio, but standard supervised models often degrade under distribution shift, and training domain-specific wireless foundation models from scratch is computationally prohibitive. Large Language Models (LLMs) offer a promising training-free alternative via in-context learning, yet feeding raw floating-point signal statistics into LLMs overwhelms models with numerical noise and exhausts token budgets. We introduce DiSC-AMC, a framework that reformulates Automatic Modulation Classification (AMC) as an LLM reasoning task by combining aggressive feature discretization with nearest-neighbor retrieval over self-supervised embeddings. By mapping continuous features to coarse symbolic tokens, DiSC-AMC aligns abstract signal patterns with LLM reasoning capabilities and reduces prompt length by over 50%. Simultaneously, utilizing a DINOv2 visual encoder to retrieve the k_NN most similar labeled exemplars provides highly relevant, query-specific context rather than generic class averages. On a 10-class benchmark, a fine-tuned 7B-parameter LLM using DiSC-AMC achieves 83.0% in-distribution accuracy (-10 to +10 dB) and 82.50% out-of-distribution (OOD) accuracy (-11 to -15 dB), outperforming supervised baselines. Comprehensive ablations on vanilla LLMs demonstrate the token efficiency of DiSC-AMC. A training-free 7B LLM achieves 71% accuracy using only 0.5 K-token prompt,surpassing a 200B-parameter baseline that relies on a 2.9K-token prompt. Furthermore, similarity-based exemplar retrieval outperforms naive class-average selection by over 20%. Finally, we identify a fundamental limitation of this pipeline. At extreme OOD noise levels (-30 dB), the underlying self-supervised representations collapse, degrading retrieval quality and reducing classification to random chance.

Malware continues to be a predominant operational risk for organizations, especially when obfuscation techniques are used to evade detection. Despite the ongoing efforts in the development of Machine Learning (ML) detection approaches, there is still a lack of feature compatibility in public datasets. This limits generalization when facing distribution shifts, as well as transferability to different datasets. This study evaluates the suitability of different data preprocessing approaches for the detection of Portable Executable (PE) files with ML models. The preprocessing pipeline unifies EMBERv2 (2,381-dim) features datasets, trains paired models under two training setups: EMBER + BODMAS and EMBER + BODMAS + ERMDS. Regarding model evaluation, both EMBER + BODMAS and EMBER + BODMAS + ERMDS models are tested against TRITIUM, INFERNO and SOREL-20M. ERMDS is also used for testing for the EMBER + BODMAS setup.

This paper challenges the prevailing tendency to frame Large Language Models (LLMs) as cognitive systems, arguing instead for a semiotic perspective that situates these models within the broader dynamics of sign manipulation and meaning-making. Rather than assuming that LLMs understand language or simulate human thought, we propose that their primary function is to recombine, recontextualize, and circulate linguistic forms based on probabilistic associations. By shifting from a cognitivist to a semiotic framework, we avoid anthropomorphism and gain a more precise understanding of how LLMs participate in cultural processes, not by thinking, but by generating texts that invite interpretation. Through theoretical analysis and practical examples, the paper demonstrates how LLMs function as semiotic agents whose outputs can be treated as interpretive acts, open to contextual negotiation and critical reflection. We explore applications in literature, philosophy, education, and cultural production, emphasizing how LLMs can serve as tools for creativity, dialogue, and critical inquiry. The semiotic paradigm foregrounds the situated, contingent, and socially embedded nature of meaning, offering a more rigorous and ethically aware framework for studying and using LLMs. Ultimately, this approach reframes LLMs as technological participants in an ongoing ecology of signs. They do not possess minds, but they alter how we read, write, and make meaning, compelling us to reconsider the foundations of language, interpretation, and the role of artificial systems in the production of knowledge.

Streaming video understanding requires models not only to process temporally incoming frames, but also to anticipate user intention for realistic applications such as Augmented Reality (AR) glasses. While prior streaming benchmarks evaluate temporal reasoning, none measure whether Multimodal Large Language Models (MLLMs) can interpret or leverage human gaze signals within a streaming setting. To fill this gap, we introduce StreamGaze, the first benchmark designed to evaluate how effectively MLLMs utilize gaze for temporal and proactive reasoning in streaming videos. StreamGaze introduces gaze-guided past, present, and proactive tasks that comprehensively assess streaming video understanding. These tasks evaluate whether models can use real-time gaze signals to follow shifting attention and infer user intentions based only on past and currently observed frames. To build StreamGaze, we develop a gaze-video Question Answering (QA) generation pipeline that aligns egocentric videos with raw gaze trajectories through fixation extraction, region-specific visual prompting, and scanpath construction. This pipeline produces spatio-temporally grounded QA pairs that reflect human perceptual dynamics. Across all StreamGaze tasks, we observe substantial performance gaps between state-of-the-art MLLMs and human performance, highlighting key limitations in gaze-based temporal reasoning, intention modeling, and proactive prediction. We further provide detailed analyses of gaze prompting strategies, reasoning behaviors, and task-specific failure modes, offering insights into current limitations and directions for future research. All data and code are publicly available to support continued research in gaze-guided streaming video understanding.

Multimodal fusion requires integrating information from multiple sources that may conflict depending on context. Existing fusion approaches typically rely on static assumptions about source reliability, limiting their ability to resolve conflicts when a modality becomes unreliable due to situational factors such as sensor degradation or class-specific corruption. We introduce C^2MF, a context-specfic credibility-aware multimodal fusion framework that models per-instance source reliability using a Conditional Probabilistic Circuit (CPC). We formalize instance-level reliability through Context-Specific Information Credibility (CSIC), a KL-divergence-based measure computed exactly from the CPC. CSIC generalizes conventional static credibility estimates as a special case, enabling principled and adaptive reliability assessment. To evaluate robustness under cross-modal conflicts, we propose the Conflict benchmark, in which class-specific corruptions deliberately induce discrepancies between different modalities. Experimental results show that C^2MF improves predictive accuracy by up to 29

Recently, 3D Gaussian Splatting has been introduced as a compelling alternative to NeRF for Earth observation, offering competitive reconstruction quality with significantly reduced training times. In this work, we extend the Earth Observation Gaussian Splatting (EOGS) framework to propose EOGS++, a novel method tailored for satellite imagery that directly operates on raw high-resolution panchromatic data without requiring external preprocessing. Furthermore, leveraging optical flow techniques we embed bundle adjustment directly within the training process, avoiding reliance on external optimization tools while improving camera pose estimation. We also introduce several improvements to the original implementation, including early stopping and TSDF post-processing, all contributing to sharper reconstructions and better geometric accuracy. Experiments on the IARPA 2016 and DFC2019 datasets demonstrate that EOGS++ achieves state-of-the-art performance in terms of reconstruction quality and efficiency, outperforming the original EOGS method and other NeRF-based methods while maintaining the computational advantages of Gaussian Splatting. Our model demonstrates an improvement from 1.33 to 1.19 mean MAE errors on buildings compared to the original EOGS models

Ptychographic imaging at synchrotron and XFEL sources requires dense overlapping scans, limiting throughput and increasing dose. Extending coherent diffractive imaging to overlap-free operation on extended samples remains an open problem. Here, we extend PtychoPINN (O. Hoidn et al., Scientific Reports 13, 22789, 2023) to deliver overlap-free, single-shot reconstructions in a Fresnel coherent diffraction imaging (CDI) geometry while also accelerating conventional multi-shot ptychography. The framework couples a differentiable forward model of coherent scattering with a Poisson photon-counting likelihood; real-space overlap enters as a tunable parameter via coordinate-based grouping rather than a hard requirement. On synthetic benchmarks, reconstructions remain accurate at low counts (∼10^4 photons/frame), and overlap-free single-shot reconstruction with an experimental probe reaches amplitude structural similarity (SSIM) 0.904, compared with 0.968 for overlap-constrained reconstruction. Against a data-saturated supervised model with the same backbone (16,384 training images), PtychoPINN achieves higher SSIM with only 1,024 images and generalizes to unseen illumination profiles. Per-graphics processing unit (GPU) throughput is approximately 40× that of least-squares maximum-likelihood (LSQ-ML) reconstruction at matched 128×128 resolution. These results, validated on experimental data from the Advanced Photon Source and the Linac Coherent Light Source, unify single-exposure Fresnel CDI and overlapped ptychography within one framework, supporting dose-efficient, high-throughput imaging at modern light sources.

Interactive computer vision (CV) plays a crucial role in various real-world applications, whose performance is highly dependent on communication networks. Nonetheless, the data-oriented characteristics of conventional communications often do not align with the special needs of interactive CV tasks. To alleviate this issue, the recently emerged semantic communications only transmit task-related semantic information and exhibit a promising landscape to address this problem. However, the communication challenges associated with Semantic Facial Editing, one of the most important interactive CV applications on social media, still remain largely unexplored. In this paper, we fill this gap by proposing Editable-DeepSC, a novel cross-modal semantic communication approach for facial editing. Firstly, we theoretically discuss different transmission schemes that separately handle communications and editings, and emphasize the necessity of Joint Editing-Channel Coding (JECC) via iterative attributes matching, which integrates editings into the communication chain to preserve more semantic mutual information. To compactly represent the high-dimensional data, we leverage inversion methods via pre-trained StyleGAN priors for semantic coding. To tackle the dynamic channel noise conditions, we propose SNR-aware channel coding via model fine-tuning. Extensive experiments indicate that Editable-DeepSC can achieve superior editings while significantly saving the transmission bandwidth, even under high-resolution and out-of-distribution (OOD) settings.

Does AI understand human values? While this remains an open philosophical question, we take a pragmatic stance by introducing VAPT, the Value-Alignment Perception Toolkit, for studying how LLMs reflect people's values and how people judge those reflections. 20 participants texted a chatbot over a month, then completed a 2-hour interview with our toolkit evaluating AI's ability to extract (pull details regarding), embody (make decisions guided by), and explain (provide proof of) their values. 13 participants ultimately left our study convinced that AI can understand human values. Thus, we warn about "weaponized empathy": a design pattern that may arise in interactions with value-aware, yet welfare-misaligned conversational agents. VAPT offers a new way to evaluate value-alignment in AI systems. We also offer design implications to evaluate and responsibly build AI systems with transparency and safeguards as AI capabilities grow more inscrutable, ubiquitous, and posthuman into the future.

Large Language Models (LLMs) tend to generate a long reasoning chain when solving complex tasks. However, as the reasoning chain extends, critical intermediate steps and the original prompt will be buried in the context, receiving insufficient attention and leading to errors. In this work, we present ATAR, a novel reasoning method that leverages the inherent reasoning structure to steer LLM attention. Our experiments show that ATAR outperforms SOTA methods across six benchmarks, achieving up to 15.39% absolute improvement. Furthermore, with ATAR, "non-reasoning" models achieve comparable or even better performance compared to reasoning models of the same size in most benchmarks. Finally, our ablation studies show that the attention alignment component contributes significantly, and that these improvements are persist under different attentionsteering backends.

Test-time thinking (that is, generating explicit intermediate reasoning chains) is known to boost performance in large language models and has recently shown strong gains for large vision language models (LVLMs). However, despite these promising results, there is still no systematic analysis of how thinking actually affects visual reasoning. We provide the first such analysis with a large scale, controlled comparison of thinking for LVLMs, evaluating ten variants from the InternVL3.5 and Qwen3-VL families on MMMU-val under generous token budgets and multi pass decoding. We show that more thinking is not always better; long chains often yield long wrong trajectories that ignore the image and underperform the same models run in standard instruct mode. A deeper analysis reveals that certain short lookback phrases, which explicitly refer back to the image, are strongly enriched in successful trajectories and correlate with better visual grounding. Building on this insight, we propose uncertainty guided lookback, a training free decoding strategy that combines an uncertainty signal with adaptive lookback prompts and breadth search. Our method improves overall MMMU performance, delivers the largest gains in categories where standard thinking is weak, and outperforms several strong decoding baselines, setting a new state of the art under fixed model families and token budgets. We further show that this decoding strategy generalizes, yielding consistent improvements on five additional benchmarks, including two broad multimodal suites and math focused visual reasoning datasets.

Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency, we adopt an instance-centric scene representation, where each traffic participant and map element is modeled in its own local coordinate frame. This design enables efficient, viewpoint-invariant scene encoding and allows static map tokens to be reused across simulation steps. To model interactions, we employ a query-centric symmetric context encoder with relative positional encodings between local frames. We use Adversarial Inverse Reinforcement Learning to learn the behavior model and propose an adaptive reward transformation that automatically balances robustness and realism during training. Experiments demonstrate that our approach scales efficiently with the number of tokens, significantly reducing training and inference times, while outperforming several agent-centric baselines in terms of positional accuracy and robustness.

Drones equipped with overhead manipulators offer unique capabilities for inspection, maintenance, and contact-based interaction. However, the motion of the drone and its manipulator is tightly linked, and even small attitude changes caused by wind or control imperfections shift the end-effector away from its intended path. This coupling makes reliable tracking difficult and also limits the direct use of learning-based arm controllers that were originally designed for fixed-base robots. These effects appear consistently in our tests whenever the UAV body experiences drift or rapid attitude corrections. To address this behavior, we develop a reinforcement-learning (RL) framework with a transformer-based double deep Q learning (DDQN), with the core idea of using an adaptive beam-search planner that applies a short-horizon beam search over candidate control sequences using the learned critic as the forward estimator. This allows the controller to anticipate the end-effector's motion through simulated rollouts rather than executing those actions directly on the actual model, realizing a software-in-the-loop (SITL) approach. The lookahead relies on value estimates from a Transformer critic that processes short sequences of states, while a DDQN backbone provides the one-step targets needed to keep the learning process stable. Evaluated on a 3-DoF aerial manipulator under identical training conditions, the proposed meta-adaptive planner shows the strongest overall performance with a 10.2% reward increase, a substantial reduction in mean tracking error (from about 6% to 3%), and a 29.6% improvement in the combined reward-error metric relative to the DDQN baseline. Our method exhibits elevated stability in tracking target tip trajectory (by maintaining 5 cm tracking error) when the drone base exhibits drifts due to external disturbances, as opposed to the fixed-beam and Transformer-only variants.

Conditional density estimation (CDE) - recovering the full conditional distribution of a response given tabular covariates - is essential in settings with heteroscedasticity, multimodality, or asymmetric uncertainty. Recent tabular foundation models, such as TabPFN and TabICL, naturally produce predictive distributions, but their effectiveness as general-purpose CDE methods has not been systematically evaluated, unlike their performance for point prediction, which is well studied. We benchmark three tabular foundation model variants against a diverse set of parametric, tree-based, and neural CDE baselines on 39 real-world datasets, across training sizes from 50 to 20,000, using six metrics covering density accuracy, calibration, and computation time. Across all sample sizes, foundation models achieve the best CDE loss, log-likelihood, and CRPS on the large majority of datasets tested. Calibration is competitive at small sample sizes but, for some metrics and datasets, lags behind task-specific neural baselines at larger sample sizes, suggesting that post-hoc recalibration may be a valuable complement. In a photometric redshift case study using SDSS DR18, TabPFN exposed to 50,000 training galaxies outperforms all baselines trained on the full 500,000-galaxy dataset. Taken together, these results establish tabular foundation models as strong off-the-shelf conditional density estimators.

Mobile devices continuously interact with cellular base stations, generating massive volumes of signaling records that provide broad coverage for understanding human mobility. However, such records offer only coarse location cues (e.g., serving-cell identifiers) and therefore limit their direct use in applications that require high-precision GPS trajectories. This paper studies the Sig2GPS problem: reconstructing GPS trajectories from cellular signaling. Inspired by domain experts often lay the signaling trace on the map and sketch the corresponding GPS route, unlike conventional solutions that rely on complex multi-stage engineering pipelines or regress coordinates, Sig2GPS is reframed as an image-to-video generation task that directly operates in the map-visual domain: signaling traces are rendered on a map, and a video generation model is trained to draw a continuous GPS path. To support this paradigm, a paired signaling-to-trajectory video dataset is constructed to fine-tune an open-source video model, and a trajectory-aware reinforcement learning-based optimization method is introduced to improve generation fidelity via rewards. Experiments on large-scale real-world datasets show substantial improvements over strong engineered and learning-based baselines, while additional results on next GPS prediction indicate scalability and cross-city transferability. Overall, these results suggest that map-visual video generation provides a practical interface for trajectory data mining by enabling direct generation and refinement of continuous paths under map constraints.

This paper provides rigorous error bounds for physics-informed neural networks approximating the semilinear wave equation. We provide bounds for the generalization and training error in terms of the width of the network's layers and the number of training points for a tanh neural network with two hidden layers. Our main result is a bound of the total error in the H^1([0,T];L^2(Ω))-norm in terms of the training error and the number of training points, which can be made arbitrarily small under some assumptions. We illustrate our theoretical bounds with numerical experiments.

Background: Electrocardiograms are indispensable for diagnosing cardiovascular diseases, yet in many settings they exist only as paper printouts stored in multiple recording layouts. Converting these images into digital signals introduces two key challenges: temporal asynchrony among leads and partial blackout missing, where contiguous signal segments become entirely unavailable. Existing models cannot adequately handle these concurrent problems while maintaining interpretability. Methods: We propose PatchECG, combining an adaptive variable block count missing learning mechanism with a masked training strategy. The model segments each lead into fixed-length patches, discards entirely missing patches, and encodes the remainder via a pluggable patch encoder. A disordered patch attention mechanism with patch-level temporal and lead embeddings captures cross-lead and temporal dependencies without interpolation. PatchECG was trained on PTB-XL and evaluated under seven simulated layout conditions, with external validation on 400 real ECG images from Chaoyang Hospital across three clinical layouts. Results: PatchECG achieves an average AUROC of approximately 0.835 across all simulated layouts. On the Chaoyang cohort, the model attains an overall AUROC of 0.778 for atrial fibrillation detection, rising to 0.893 on the 12x1 subset -- surpassing the pre-trained baseline by 0.111 and 0.190, respectively. Model attention aligns with cardiologist annotations at a rate approaching inter-clinician agreement. Conclusions: PatchECG provides a robust, interpolation-free, and interpretable solution for arrhythmia detection from digitized ECG images across diverse layouts. Its direct modeling of asynchronous and partially missing signals, combined with clinically aligned attention, positions it as a practical tool for cardiac diagnostics from legacy ECG archives in real-world clinical environments.

Quantum machine learning offers the ability to capture complex correlations in high-dimensional feature spaces, crucial for the challenge of detecting beyond the Standard Model physics in collider events, along with the potential for unprecedented computational efficiency in future quantum processors. Near-term utilization of these benefits can be achieved by developing quantum-inspired algorithms for deployment in classical hardware to enable applications at the "edge" of current scientific experiments. This work demonstrates the use of tensor networks for real-time anomaly detection in collider detectors. A spaced matrix product operator (SMPO) is developed that provides sensitivity to a variety beyond the Standard Model benchmarks, and can be implemented in field programmable gate array hardware with resources and latency consistent with trigger deployment. The cascaded SMPO architecture is introduced as an SMPO variation that affords greater flexibility and efficiency in ways that are key to edge applications in resource-constrained environments. These results reveal the benefit and near-term feasibility of deploying quantum-inspired ML in high energy colliders.

The migration of Large Language Models (LLMs) from cloud clusters to edge devices promises enhanced privacy and offline accessibility, but this transition encounters a harsh reality: the physical constraints of mobile batteries, thermal limits, and, most importantly, memory constraints. To navigate this landscape, we constructed a reproducible experimental pipeline to profile the complex interplay between energy consumption, latency, and quality. Unlike theoretical studies, we captured granular power metrics across eight models ranging from 0.5B to 9B parameters without requiring root access, ensuring our findings reflect realistic user conditions. We harness this pipeline to conduct an empirical case study on a flagship Android device, the Samsung Galaxy S25 Ultra, establishing foundational hypotheses regarding the trade-offs between generation quality, performance, and resource consumption. Our investigation uncovered a counter-intuitive quantization-energy paradox. While modern importance-aware quantization successfully reduces memory footprints to fit larger models into RAM, we found it yields negligible energy savings compared to standard mixed-precision methods. This proves that for battery life, the architecture of the model, not its quantization scheme, is the decisive factor. We further identified that Mixture-of-Experts (MoE) architectures defy the standard size-energy trend, offering the storage capacity of a 7B model while maintaining the lower energy profile of a 1B to 2B model. Finally, an analysis of these multi-objective trade-offs reveals a pragmatic sweet spot of mid-sized models, such as Qwen2.5-3B, that effectively balance response quality with sustainable energy consumption.

Large-scale video diffusion models achieve impressive visual quality, yet often fail to preserve geometric consistency. Prior approaches improve consistency either by augmenting the generator with additional modules or applying geometry-aware alignment. However, architectural modifications can compromise the generalization of internet-scale pretrained models, while existing alignment methods are limited to static scenes and rely on RGB-space rewards that require repeated VAE decoding, incurring substantial compute overhead and failing to generalize to highly dynamic real-world scenes. To preserve the pretrained capacity while improving geometric consistency, we propose VGGRPO (Visual Geometry GRPO), a latent geometry-guided framework for geometry-aware video post-training. VGGRPO introduces a Latent Geometry Model (LGM) that stitches video diffusion latents to geometry foundation models, enabling direct decoding of scene geometry from the latent space. By constructing LGM from a geometry model with 4D reconstruction capability, VGGRPO naturally extends to dynamic scenes, overcoming the static-scene limitations of prior methods. Building on this, we perform latent-space Group Relative Policy Optimization with two complementary rewards: a camera motion smoothness reward that penalizes jittery trajectories, and a geometry reprojection consistency reward that enforces cross-view geometric coherence. Experiments on both static and dynamic benchmarks show that VGGRPO improves camera stability, geometry consistency, and overall quality while eliminating costly VAE decoding, making latent-space geometry-guided reinforcement an efficient and flexible approach to world-consistent video generation.

Large Language Model (LLM) unlearning aims to remove targeted knowledge from a trained model, but practical deployments often require post-training quantization (PTQ) for efficient inference. However, aggressive low-bit PTQ can mask unlearning updates, causing quantized models to revert to pre-unlearning behavior. We show that standard full-parameter fine-tuning often induces parameter changes that are too small to survive 4-bit quantization. We propose quantization-robust unlearning via low-rank adaptation (LoRA): we freeze the base model and concentrate unlearning into trainable adapters so that the effective update is preserved after quantization. On Llama-2-7B evaluated with MUSE dataset (BOOKS and NEWS), LoRA improves 4-bit utility by up to 7.93 points (NPO+GDR on BOOKS: 50.17 to 58.10) and yields higher 4-bit utility on NEWS for GA+GDR (40.06 to 44.82, increase of 4.76). LoRA also substantially reduces privacy leakage under 4-bit PTQ, e.g., for GA+KLR on BOOKS, PrivLeak moves from -25.68 to -5.86 (closer to ideal 0), while maintaining strong forgetting (VerMem and KnowMem near 0). Thus, using LoRA for Machine Unlearning is beneficial for scenarios where quantization is necessary for model deployment.

Recent studies have made notable progress in video representation learning by transferring image-pretrained models to video tasks, typically with complex temporal modules and video fine-tuning. However, fine-tuning heavy modules may compromise inter-video semantic separability, i.e., the essential ability to distinguish objects across videos. While reducing the tunable parameters hinders their intra-video temporal consistency, which is required for stable representations of the same object within a video. This dilemma indicates a potential trade-off between the intra-video temporal consistency and inter-video semantic separability during image-to-video transfer. To this end, we propose the Consistency-Separability Trade-off Transfer Learning (Co-Settle) framework, which applies a lightweight projection layer on top of the frozen image-pretrained encoder to adjust representation space with a temporal cycle consistency objective and a semantic separability constraint. We further provide a theoretical support showing that the optimized projection yields a better trade-off between the two properties under appropriate conditions. Experiments on eight image-pretrained models demonstrate consistent improvements across multiple levels of video tasks with only five epochs of self-supervised training. The code is available at https://github.com/yafeng19/Co-Settle.

The rapid growth of solar energy is reshaping power system operations and increasing the complexity of grid management. As photovoltaic (PV) capacity expands, short-term fluctuations in PV generation introduce substantial operational uncertainty. At the same time, solar power ramp events intensify risks of grid instability and unplanned outages due to sudden large power fluctuations. Accurate identification, forecasting and mitigation of solar ramp events are therefore critical to maintaining grid stability. In this study, we analyze two years of PV power production from 6434 PV stations at 15-minute resolution. We develop quantitative metrics to define solar ramp events and systematically characterize their occurrence, frequency, and magnitude at a national scale. Furthermore, we examine the meteorological drivers of ramp events, highlighting the role of mesoscale cloud systems. In particular, we observe that ramp-up events are typically associated with cloud dissipation during the morning, while ramp-down events commonly occur when cloud cover increases in the afternoon. Additionally, we adopt a recently developed spatiotemporal forecasting framework to evaluate both deterministic and probabilistic PV power forecasts derived from deep learning and physics-based models, including SolarSTEPS, SHADECast, IrradianceNet, and IFS-ENS. The results show that SHADECast is the most reliable model, achieving a CRPS 10.8% lower than that of SolarSTEPS at a two-hour lead time. Nonetheless, state-of-the-art nowcasting models struggle to capture ramp dynamics, with forecast RMSE increasing by up to 50% compared to normal operating conditions. Overall, these results emphasize the need for improved high-resolution spatiotemporal modelling to enhance ramp prediction skill and support the reliable integration of large-scale solar generation into power systems.

PQuantML is a new open-source, hardware-aware neural network model compression library tailored to end-to-end workflows. Motivated by the need to deploy performant models to environments with strict latency constraints, PQuantML simplifies training of compressed models by providing a unified interface to apply pruning and quantization, either jointly or individually. The library implements multiple pruning methods with different granularities, as well as fixed-point quantization with support for High-Granularity Quantization. We evaluate PQuantML on representative tasks such as the jet substructure classification, so-called jet tagging, an on-edge problem related to real-time LHC data processing. Using various pruning methods with fixed-point quantization, PQuantML achieves substantial parameter and bit-width reductions while maintaining accuracy. The resulting compression is further compared against existing tools, such as QKeras and HGQ.

As users increasingly turn to LLMs for practical and personal advice, they become vulnerable to subtle steering toward hidden incentives misaligned with their own interests. While existing NLP research has benchmarked manipulation detection, these efforts often rely on simulated debates and remain fundamentally decoupled from actual human belief shifts in real-world scenarios. We introduce PUPPET, a theoretical taxonomy and resource that bridges this gap by focusing on the moral direction of hidden incentives in everyday, advice-giving contexts. We provide an evaluation dataset of N=1,035 human-LLM interactions, where we measure users' belief shifts. Our analysis reveals a critical disconnect in current safety paradigms: while models can be trained to detect manipulative strategies, they do not correlate with the magnitude of resulting belief change. As such, we define the task of belief shift prediction and show that while state-of-the-art LLMs achieve moderate correlation (r=0.3-0.5), they systematically underestimate the intensity of human belief susceptibility. This work establishes a theoretically grounded and behaviorally validated foundation for AI social safety efforts by studying incentive-driven manipulation in LLMs during everyday, practical user queries.

Reliable machine-learning models in biomedical settings depend on accurate labels, yet annotating biomedical time-series data remains challenging. Algorithmic sample selection may support annotation, but evidence from studies involving real human annotators is scarce. Consequently, we compare three sample selection methods for annotation: random sampling (RND), farthest-first traversal (FAFT), and a graphical user interface-based method enabling exploration of complementary 2D visualizations (2DVs) of high-dimensional data. We evaluated the methods across four classification tasks in infant motility assessment (IMA) and speech emotion recognition (SER). Twelve annotators, categorized as experts or non-experts, performed data annotation under a limited annotation budget, and post-annotation experiments were conducted to evaluate the sampling methods. Across all classification tasks, 2DV performed best when aggregating labels across annotators. In IMA, 2DV most effectively captured rare classes, but also exhibited greater annotator-to-annotator label distribution variability resulting from the limited annotation budget, decreasing classification performance when models were trained on individual annotators' labels; in these cases, FAFT excelled. For SER, 2DV outperformed the other methods among expert annotators and matched their performance for non-experts in the individual-annotator setting. A failure risk analysis revealed that RND was the safest choice when annotator count or annotator expertise was uncertain, whereas 2DV had the highest risk due to its greater label distribution variability. Furthermore, post-experiment interviews indicated that 2DV made the annotation task more interesting and enjoyable. Overall, 2DV-based sampling appears promising for biomedical time-series data annotation, particularly when the annotation budget is not highly constrained.

What information is sufficient to learn the full richness of human scene understanding? The distributional hypothesis holds that the statistical co-occurrence of language and images captures the conceptual knowledge underlying visual cognition. Vision-language models (VLMs) are trained on massive paired text-image corpora but lack embodied experience, making them an ideal test of the distributional hypothesis. We report two experiments comparing descriptions generated by 18 VLMs to those of over 2000 human observers across 15 high-level scene understanding tasks, spanning general knowledge, affordances, sensory experiences, affective responses, and future prediction. Because many tasks lack ground truth answers, we developed a Human-Calibrated Cosine Distance (HCD) metric that measures VLM output similarity to the distribution of human responses, scaled by within-human variability. In Experiment 1, VLMs approached human-level performance on general knowledge tasks, but showed a robust deficit for affordance tasks that resisted prompt engineering and did not improve with newer model releases. In Experiment 2, we tested six mechanistic hypotheses for explaining this affordance gap, finding that the deficit was structural rather than stylistic and was not resolved by providing explicit spatial information. Corpus analyses revealed that image captioning datasets contain sparse agent-addressed affordance language, consistent with Gricean accounts of why embodied knowledge may be systematically underrepresented in language. Together, these findings suggest that distributional learning from images and text is insufficient for affordance-based scene understanding, implying that some dimensions of human visual cognition may require the kind of agent-centered, three-dimensional experience that no photograph or caption can encode.

We present ToothCraft, a diffusion-based model for the contextual generation of tooth crowns, trained on artificially created incomplete teeth. Building upon recent advancements in conditioned diffusion models for 3D shapes, we developed a model capable of an automated tooth crown completion conditioned on local anatomical context. To address the lack of training data for this task, we designed an augmentation pipeline that generates incomplete tooth geometries from a publicly available dataset of complete dental arches (3DS, ODD). By synthesising a diverse set of training examples, our approach enables robust learning across a wide spectrum of tooth defects. Experimental results demonstrate the strong capability of our model to reconstruct complete tooth crowns, achieving an intersection over union (IoU) of 81.8% and a Chamfer Distance (CD) of 0.00034 on synthetically damaged testing restorations. Our experiments demonstrate that the model can be applied directly to real-world cases, effectively filling in incomplete teeth, while generated crowns show minimal intersection with the opposing dentition, thus reducing the risk of occlusal interference. Access to the code, model weights, and dataset information will be available at: https://github.com/ikarus1211/VISAPP_ToothCraft

This paper investigates the relationship between utterance sentiment and language choice in English-Tamil code-switched text, using methods from machine learning and statistical modelling. We apply a fine-tuned XLM-RoBERTa model for token-level language identification on 35,650 romanized YouTube comments from the DravidianCodeMix dataset, producing per-utterance measurements of English proportion and language switch frequency. Linear regression analysis reveals that positive utterances exhibit significantly greater English proportion (34.3%) than negative utterances (24.8%), and mixed-sentiment utterances show the highest language switch frequency when controlling for utterance length. These findings support the hypothesis that emotional content demonstrably influences language choice in multilingual code-switching settings, due to socio-linguistic associations of prestige and identity with embedded and matrix languages.

Personalized recommendation systems shape much of user choice online, yet their targeted nature makes separating out the value of recommendation and the underlying goods challenging. We build a discrete choice model that embeds recommendation-induced utility, low-rank heterogeneity, and flexible state dependence and apply the model to viewership data at Netflix. We exploit idiosyncratic variation introduced by the recommendation algorithm to identify and separately value these components as well as to recover model-free diversion ratios that we can use to validate our structural model. We use the model to evaluate counterfactuals that quantify the incremental engagement generated by personalized recommendations. First, we show that replacing the current recommender system with a matrix factorization or popularity-based algorithm would lead to 4% and 12% reduction in engagement, respectively, and decreased consumption diversity. Second, most of the consumption increase from recommendations comes from effective targeting, not mechanical exposure, with the largest gains for mid-popularity goods (as opposed to broadly appealing or very niche goods).

With the rapid development of Multimodal Large Language Models (MLLMs), their potential in Micro-Action understanding, a vital role in human emotion analysis, remains unexplored due to the absence of specialized benchmarks. To tackle this issue, we present MA-Bench, a benchmark comprising 1,000 videos and a three-tier evaluation architecture that progressively examines micro-action perception, relational comprehension, and interpretive reasoning. MA-Bench contains 12,000 structured question-answer pairs, enabling systematic assessment of both recognition accuracy and action interpretation. The results of 23 representative MLLMs reveal that there are significant challenges in capturing motion granularity and fine-grained body-part dynamics. To address these challenges, we further construct MA-Bench-Train, a large-scale training corpus with 20.5K videos annotated with structured micro-action captions for fine-tuning MLLMs. The results of Qwen3-VL-8B fine-tuned on MA-Bench-Train show clear performance improvements across micro-action reasoning and explanation tasks. Our work aims to establish a foundation benchmark for advancing MLLMs in understanding subtle micro-action and human-related behaviors. Project Page: https://MA-Bench.github.io

Perceptual image super-resolution (SR) methods restore degraded images and produce sharp outputs. In practice, those outputs are usually recompressed for storage and transmission. Ignoring recompression is suboptimal as the downstream codec might add additional artifacts to restored images. However, jointly optimizing SR and recompression is challenging, as the codecs are not differentiable and vary in configuration. In this paper, we present Versatile Recompression-Aware Perceptual Super-Resolution (VRPSR), which makes existing perceptual SR aware of versatile compression. First, we formulate compression as conditional text-to-image generation and utilize a pre-trained diffusion model to build a generalizable codec simulator. Next, we propose a set of training techniques tailored for perceptual SR, including optimizing the simulator using perceptual targets and adopting slightly compressed images as the training target. Empirically, our VRPSR achieves 10

Real-time recurrent learning (RTRL) computes exact online gradients by propagating a Jacobian tensor forward through recurrent dynamics, but at O(n^4) cost per step. Prior work has sought structured approximations (rank-1 compression, graph-based sparsity, Kronecker factorization). We show that, in the continuous error signal regime, the recurrent Jacobian is massively redundant:propagating through a random 6% of paths (k=4 of n=64) recovers 84 +/- 6% of full RTRL's adaptation ability across five seeds, and the absolute count k=4 remains effective from n=64 to n=256 (6% to 1.6%, recovery 84 to 78%), meaning sparse RTRL becomes relatively cheaper as networks grow. In RNNs, the recovery is selection-invariant (even adversarial path selection works) and exhibits a step-function transition from zero to any nonzero propagation. Spectral analysis reveals the mechanism: the Jacobian is full-rank but near-isotropic (condition numbers 2.6-6.5), so any random subset provides a directionally representative gradient estimate. On chaotic dynamics (Lorenz attractor), sparse propagation is more numerically stable than full RTRL (CV 13% vs. 88%), as subsampling avoids amplifying pathological spectral modes. The redundancy extends to LSTMs (k=4 matches full RTRL) and to transformers via sparse gradient transport (50% head sparsity outperforms the dense reference; 33% is borderline), with higher thresholds reflecting head specialization rather than isotropy. On real primate neural data, sparse RTRL (k=4) adapts online to cross-session electrode drift (80 +/- 11% recovery, 5 seeds), where sparse propagation is again more stable than full RTRL. Without continuous error signal, Jacobian propagation accumulates numerical drift and degrades all RTRL variants, a scope condition for all forward-mode methods. Results hold with SGD (92 +/- 1% recovery), suggesting independence from optimizer choice.

Reconstructing accurate 3D models of large-scale real-world scenes from unstructured, in-the-wild imagery remains a core challenge in computer vision, especially when the input views have little or no overlap. In such cases, existing reconstruction pipelines often produce multiple disconnected partial reconstructions or erroneously merge non-overlapping regions into overlapping geometry. In this work, we propose a framework that grounds each partial reconstruction to a complete reference model of the scene, enabling globally consistent alignment even in the absence of visual overlap. We obtain reference models from dense, geospatially accurate pseudo-synthetic renderings derived from Google Earth Studio. These renderings provide full scene coverage but differ substantially in appearance from real-world photographs. Our key insight is that, despite this significant domain gap, both domains share the same underlying scene semantics. We represent the reference model using 3D Gaussian Splatting, augmenting each Gaussian with semantic features, and formulate alignment as an inverse feature-based optimization scheme that estimates a global 6DoF pose and scale while keeping the reference model fixed. Furthermore, we introduce the WikiEarth dataset, which registers existing partial 3D reconstructions with pseudo-synthetic reference models. We demonstrate that our approach consistently improves global alignment when initialized with various classical and learning-based pipelines, while mitigating failure modes of state-of-the-art end-to-end models. All code and data will be released.

Online learning algorithms often faces a fundamental trilemma: balancing regret guarantees between adversarial and stochastic settings and providing baseline safety against a fixed comparator. While existing methods excel in one or two of these regimes, they typically fail to unify all three without sacrificing optimal rates or requiring oracle access to problem-dependent parameters. In this work, we bridge this gap by introducing COMPASS-Hedge. Our algorithm is the first full-information method to simultaneously achieve: i) Minimax-optimal regret in adversarial environments; ii) Instance-optimal, gap-dependent regret in stochastic environments; and iii) 𝒪̃(1) regret relative to a designated baseline policy, up to logarithmic factors. Crucially, COMPASS-Hedge is parameter-free and requires no prior knowledge of the environment's nature or the magnitude of the stochastic sub optimality gaps. Our approach hinges on a novel integration of adaptive pseudo-regret scaling and phase-based aggression, coupled with a comparator-aware mixing strategy. To the best of our knowledge, this provides the first "best-of-three-world" guarantee in the full-information setting, establishing that baseline safety does not have to come at the cost of worst-case robustness or stochastic efficiency.

Climbing is a multifaceted sport that combines physical demands and emotional and cognitive challenges. Ascent styles differ in fall distance with lead climbing involving larger falls than top rope climbing, which may result in different perceived risk and fear. In this study, we investigated the psychophysiological relationship between perceived fear and muscle activity in climbers using a combination of statistical modeling and deep learning techniques. We conducted an experiment with 19 climbers, collecting electromyography (EMG), electrocardiography (ECG) and arm motion data during lead and top rope climbing. Perceived fear ratings were collected for the different phases of the climb. Using a linear mixed-effects model, we analyzed the relationships between perceived fear and physiological measures. To capture the non-linear dynamics of this relationship, we extended our analysis to deep learning models and integrated random effects for a personalized modeling approach. Our results showed that random effects improved model performance of the mean squared error (MSE), mean absolute error (MAE) and root mean squared error (RMSE). The results showed that muscle fatigue correlates significantly with increased fear during lead climbing. This study highlights the potential of combining statistical and deep learning approaches for modeling the interplay between psychological and physiological states during climbing.

We introduce Particulate, a feed-forward model that, given a 3D mesh of an object, infers its articulations, including its 3D parts, their kinematic structure, and the motion constraints. The model is based on a transformer network, the Part Articulation Transformer, which predicts all these parameters for all joints. We train the network end-to-end on a diverse collection of articulated 3D assets from public datasets. During inference, Particulate maps the output of the network back to the input mesh, yielding a fully articulated 3D model in seconds, much faster than prior approaches that require per-object optimization. Particulate also works on AI-generated 3D assets, enabling the generation of articulated 3D objects from a single (real or synthetic) image when combined with an off-the-shelf image-to-3D model. We further introduce a new challenging benchmark for 3D articulation estimation curated from high-quality public 3D assets, and redesign the evaluation protocol to be more consistent with human preferences. Empirically, Particulate significantly outperforms state-of-the-art approaches.

Existing generative video compression methods use generative models only as post-hoc reconstruction modules atop conventional codecs. We propose Generative Video Codec (GVC), a zero-shot framework that turns a pretrained video generative model into the codec itself: the transmitted bitstream directly specifies the generative decoding trajectory, with no retraining required. To enable this, we convert the deterministic rectified-flow ODE of modern video foundation models into an equivalent SDE at inference time, unlocking per-step stochastic injection points for codebook-driven compression. Building on this unified backbone, we instantiate three complementary conditioning strategies – Image-to-Video (I2V) with adaptive tail-frame atom allocation, Text-to-Video (T2V) operating at near-zero side information as a pure generative prior, and First-Last-Frame-to-Video (FLF2V) with boundary-sharing GOP chaining for dual-anchor temporal control. Together, these variants span a principled trade-off space between spatial fidelity, temporal coherence, and compression efficiency. Experiments on standard benchmarks show that GVC achieves high-quality reconstruction below 0.002 bpp while supporting flexible bitrate control through a single hyperparameter.

Retrieval-Augmented Generation (RAG) has emerged as a powerful approach to boost the capabilities of large language models (LLMs) by incorporating external, up-to-date knowledge sources. However, this introduces a potential vulnerability to knowledge poisoning attacks, where attackers can compromise the knowledge source to mislead the generation model. One such attack is the PoisonedRAG in which the injected adversarial texts steer the model to generate an attacker-chosen response to a target question. In this work, we propose novel defense methods, FilterRAG and ML-FilterRAG, to mitigate the PoisonedRAG attack. First, we propose a new property to uncover distinct properties to differentiate between adversarial and clean texts in the knowledge data source. Next, we employ this property to filter out adversarial texts from clean ones in the design of our proposed approaches. Evaluation of these methods using benchmark datasets demonstrate their effectiveness, with performances close to those of the original RAG systems.

Tree-ordered weakly sparse models have recently emerged as a robust framework for representing structures in an “almost sparse” way, while allowing the structure to be reconstructed through a simple first-order interpretation. A prominent example is given by twin-models, which are bounded twin-width tree-ordered weakly sparse representations of structures with bounded twin-width derived from contraction sequences. In this paper, we develop this perspective further. First, we show that twin-models can be chosen such that they preserve linear clique-width or clique-width up to a constant factor. Then, we introduce merge-models, a natural analog of twin-models for merge-width. Merge-models represent binary relational structures by tree-ordered weakly sparse structures. The original structures can then be recovered by a fixed first-order interpretation. A merge-model can be constructed from a merge sequence. Then, its radius-r merge-width will be, up to a constant factor, bounded by the radius-r width of the merge sequence from which it is derived. Finally, we show that twin-models arise naturally as special cases of merge-models, and that binary structures with bounded twin-width are exactly those having a loopless merge-model with bounded radius-r_0 merge-width (for some sufficiently large constant r_0).

Forgetting a subset in machine unlearning is rarely an isolated task. Often, retained samples that are closely related to the forget set can be unintentionally affected, particularly when they share correlated features from pretraining or exhibit strong semantic similarities. To address this challenge, we propose a novel two-phase optimization framework specifically designed to handle such retai-forget entanglements. In the first phase, an augmented Lagrangian method increases the loss on the forget set while preserving accuracy on less-related retained samples. The second phase applies a gradient projection step, regularized by the Wasserstein-2 distance, to mitigate performance degradation on semantically related retained samples without compromising the unlearning objective. We validate our approach through comprehensive experiments on multiple unlearning tasks, standard benchmark datasets, and diverse neural architectures, demonstrating that it achieves effective and reliable unlearning while outperforming existing baselines in both accuracy retention and removal fidelity.