High-quality 3D streaming from multiple cameras is crucial for immersive experiences in many AR/VR applications. The limited number of views - often due to real-time constraints - leads to missing information and incomplete surfaces in the rendered images. Existing approaches typically rely on simple heuristics for the hole filling, which can result in inconsistencies or visual artifacts. We propose to complete the missing textures using a novel, application-targeted inpainting method independent of the underlying representation as an image-based post-processing step after the novel view rendering. The method is designed as a standalone module compatible with any calibrated multi-camera system. For this we introduce a multi-view aware, transformer-based network architecture using spatio-temporal embeddings to ensure consistency across frames while preserving fine details. Additionally, our resolution-independent design allows adaptation to different camera setups, while an adaptive patch selection strategy balances inference speed and quality, allowing real-time performance. We evaluate our approach against state-of-the-art inpainting techniques under the same real-time constraints and demonstrate that our model achieves the best trade-off between quality and speed, outperforming competitors in both image and video-based metrics.

We introduce FaceCam, a system that generates video under customizable camera trajectories for monocular human portrait video input. Recent camera control approaches based on large video-generation models have shown promising progress but often exhibit geometric distortions and visual artifacts on portrait videos due to scale-ambiguous camera representations or 3D reconstruction errors. To overcome these limitations, we propose a face-tailored scale-aware representation for camera transformations that provides deterministic conditioning without relying on 3D priors. We train a video generation model on both multi-view studio captures and in-the-wild monocular videos, and introduce two camera-control data generation strategies: synthetic camera motion and multi-shot stitching, to exploit stationary training cameras while generalizing to dynamic, continuous camera trajectories at inference time. Experiments on Ava-256 dataset and diverse in-the-wild videos demonstrate that FaceCam achieves superior performance in camera controllability, visual quality, identity and motion preservation.

Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predominantly operate in an open-loop manner: operators blindly collect demonstrations without knowing the underlying policy's weaknesses, leading to inefficient coverage of critical state distributions. Conversely, interactive methods like DAgger effectively address covariate shift but rely on physical robot execution, which is costly and difficult to scale. To reconcile this trade-off, we introduce RoboPocket, a portable system that enables Robot-Free Instant Policy Iteration using single consumer smartphones. Its core innovation is a Remote Inference framework that visualizes the policy's predicted trajectory via Augmented Reality (AR) Visual Foresight. This immersive feedback allows collectors to proactively identify potential failures and focus data collection on the policy's weak regions without requiring a physical robot. Furthermore, we implement an asynchronous Online Finetuning pipeline that continuously updates the policy with incoming data, effectively closing the learning loop in minutes. Extensive experiments demonstrate that RoboPocket adheres to data scaling laws and doubles the data efficiency compared to offline scaling strategies, overcoming their long-standing efficiency bottleneck. Moreover, our instant iteration loop also boosts sample efficiency by up to 2× in distributed environments a small number of interactive corrections per person. Project page and videos: https://robo-pocket.github.io.

Recent diffusion models enable high-quality video generation, but suffer from slow runtimes. The large transformer-based backbones used in these models are bottlenecked by spatiotemporal attention. In this paper, we identify that a significant fraction of token-to-token connections consistently yield negligible scores across various inputs, and their patterns often repeat across queries. Thus, the attention computation in these cases can be skipped with little to no effect on the result. This observation continues to hold for connections among local token blocks. Motivated by this, we introduce CalibAtt, a training-free method that accelerates video generation via calibrated sparse attention. CalibAtt performs an offline calibration pass that identifies block-level sparsity and repetition patterns that are stable across inputs, and compiles these patterns into optimized attention operations for each layer, head, and diffusion timestep. At inference time, we compute the selected input-dependent connections densely, and skip the unselected ones in a hardware-efficient manner. Extensive experiments on Wan 2.1 14B, Mochi 1, and few-step distilled models at various resolutions show that CalibAtt achieves up to 1.58x end-to-end speedup, outperforming existing training-free methods while maintaining video generation quality and text-video alignment.

Efficient and stable training of large language models (LLMs) remains a core challenge in modern machine learning systems. To address this challenge, Reparameterized Orthogonal Equivalence Training (POET), a spectrum-preserving framework that optimizes each weight matrix through orthogonal equivalence transformation, has been proposed. Although POET provides strong training stability, its original implementation incurs high memory consumption and computational overhead due to intensive matrix multiplications. To overcome these limitations, we introduce POET-X, a scalable and memory-efficient variant that performs orthogonal equivalence transformations with significantly reduced computational cost. POET-X maintains the generalization and stability benefits of POET while achieving substantial improvements in throughput and memory efficiency. In our experiments, POET-X enables the pretraining of billion-parameter LLMs on a single Nvidia H100 GPU, and in contrast, standard optimizers such as AdamW run out of memory under the same settings.

We study two recurring phenomena in Transformer language models: massive activations, in which a small number of tokens exhibit extreme outliers in a few channels, and attention sinks, in which certain tokens attract disproportionate attention mass regardless of semantic relevance. Prior work observes that these phenomena frequently co-occur and often involve the same tokens, but their functional roles and causal relationship remain unclear. Through systematic experiments, we show that the co-occurrence is largely an architectural artifact of modern Transformer design, and that the two phenomena serve related but distinct functions. Massive activations operate globally: they induce near-constant hidden representations that persist across layers, effectively functioning as implicit parameters of the model. Attention sinks operate locally: they modulate attention outputs across heads and bias individual heads toward short-range dependencies. We identify the pre-norm configuration as the key choice that enables the co-occurrence, and show that ablating it causes the two phenomena to decouple.

Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextual significance. This limitation leads to the uniform treatment of all obstacles, despite their differing semantic meanings. We present Safe-SAGE (Social-Semantic Adaptive Guidance for Safe Engagement), a unified framework that bridges the gap between high-level semantic understanding and low-level safety-critical control through a Poisson safety function (PSF) modulated using a Laplace guidance field. Our approach perceives the environment by fusing multi-sensor point clouds with vision-based instance segmentation and persistent object tracking to maintain up-to-date semantics beyond the camera's field of view. A multi-layer safety filter is then used to modulate system inputs to achieve safe navigation using this semantic understanding of the environment. This safety filter consists of both a model predictive control layer and a control barrier function layer. Both layers utilize the PSF and flux modulation of the guidance field to introduce varying levels of conservatism and multi-agent passing norms for different obstacles in the environment. Our framework enables legged robots to navigate semantically rich, dynamic environments with context-dependent safety margins while maintaining rigorous safety guarantees.

To scale the solution of optimization and simulation problems, prior work has explored machine-learning surrogates that inexpensively map problem parameters to corresponding solutions. Commonly used approaches, including supervised and self-supervised learning with either soft or hard feasibility enforcement, face inherent challenges such as reliance on expensive, high-quality labels or difficult optimization landscapes. To address their trade-offs, we propose a novel framework that first collects "cheap" imperfect labels, then performs supervised pretraining, and finally refines the model through self-supervised learning to improve overall performance. Our theoretical analysis and merit-based criterion show that labeled data need only place the model within a basin of attraction, confirming that only modest numbers of inexact labels and training epochs are required. We empirically validate our simple three-stage strategy across challenging domains, including nonconvex constrained optimization, power-grid operation, and stiff dynamical systems, and show that it yields faster convergence; improved accuracy, feasibility, and optimality; and up to 59x reductions in total offline cost.

Large language models sometimes produce false or misleading responses. Two approaches to this problem are honesty elicitation -- modifying prompts or weights so that the model answers truthfully -- and lie detection -- classifying whether a given response is false. Prior work evaluates such methods on models specifically trained to lie or conceal information, but these artificial constructions may not resemble naturally-occurring dishonesty. We instead study open-weights LLMs from Chinese developers, which are trained to censor politically sensitive topics: Qwen3 models frequently produce falsehoods about subjects like Falun Gong or the Tiananmen protests while occasionally answering correctly, indicating they possess knowledge they are trained to suppress. Using this as a testbed, we evaluate a suite of elicitation and lie detection techniques. For honesty elicitation, sampling without a chat template, few-shot prompting, and fine-tuning on generic honesty data most reliably increase truthful responses. For lie detection, prompting the censored model to classify its own responses performs near an uncensored-model upper bound, and linear probes trained on unrelated data offer a cheaper alternative. The strongest honesty elicitation techniques also transfer to frontier open-weights models including DeepSeek R1. Notably, no technique fully eliminates false responses. We release all prompts, code, and transcripts.

Effective robot autonomy requires motion generation that is safe, feasible, and reactive. Current methods are fragmented: fast planners output physically unexecutable trajectories, reactive controllers struggle with high-fidelity perception, and existing solvers fail on high-DoF systems. We present cuRoboV2, a unified framework with three key innovations: (1) B-spline trajectory optimization that enforces smoothness and torque limits; (2) a GPU-native TSDF/ESDF perception pipeline that generates dense signed distance fields covering the full workspace, unlike existing methods that only provide distances within sparsely allocated blocks, up to 10x faster and in 8x less memory than the state-of-the-art at manipulation scale, with up to 99% collision recall; and (3) scalable GPU-native whole-body computation, namely topology-aware kinematics, differentiable inverse dynamics, and map-reduce self-collision, that achieves up to 61x speedup while also extending to high-DoF humanoids (where previous GPU implementations fail). On benchmarks, cuRoboV2 achieves 99.7% success under 3kg payload (where baselines achieve only 72--77%), 99.6% collision-free IK on a 48-DoF humanoid (where prior methods fail entirely), and 89.5% retargeting constraint satisfaction (vs. 61% for PyRoki); these collision-free motions yield locomotion policies with 21% lower tracking error than PyRoki and 12x lower cross-seed variance than mink. A ground-up codebase redesign for discoverability enabled LLM coding assistants to author up to 73% of new modules, including hand-optimized CUDA kernels, demonstrating that well-structured robotics code can unlock productive human--LLM collaboration. Together, these advances provide a unified, dynamics-aware motion generation stack that scales from single-arm manipulators to full humanoids.

Deep Research agents are rapidly emerging as primary consumers of modern retrieval systems. Unlike human users who issue and refine queries without documenting their intermediate thought processes, Deep Research agents generate explicit natural language reasoning before each search call, revealing rich intent and contextual information that existing retrievers entirely ignore. To exploit this overlooked signal, we introduce: (1) Reasoning-Aware Retrieval, a retrieval paradigm that jointly embeds the agent's reasoning trace alongside its query; and (2) DR-Synth, a data synthesis method that generates Deep Research retriever training data from standard QA datasets. We demonstrate that both components are independently effective, and their combination yields a trained embedding model, AgentIR-4B, with substantial gains. On the challenging BrowseComp-Plus benchmark, AgentIR-4B achieves 68\% accuracy with the open-weight agent Tongyi-DeepResearch, compared to 50\% with conventional embedding models twice its size, and 37\% with BM25. Code and data are available at: https://texttron.github.io/AgentIR/.

We provide evidence of performative chain-of-thought (CoT) in reasoning models, where a model becomes strongly confident in its final answer, but continues generating tokens without revealing its internal belief. Our analysis compares activation probing, early forced answering, and a CoT monitor across two large models (DeepSeek-R1 671B & GPT-OSS 120B) and find task difficulty-specific differences: The model's final answer is decodable from activations far earlier in CoT than a monitor is able to say, especially for easy recall-based MMLU questions. We contrast this with genuine reasoning in difficult multihop GPQA-Diamond questions. Despite this, inflection points (e.g., backtracking, 'aha' moments) occur almost exclusively in responses where probes show large belief shifts, suggesting these behaviors track genuine uncertainty rather than learned "reasoning theater." Finally, probe-guided early exit reduces tokens by up to 80% on MMLU and 30% on GPQA-Diamond with similar accuracy, positioning attention probing as an efficient tool for detecting performative reasoning and enabling adaptive computation.

We propose FlexQP, an always-feasible convex quadratic programming (QP) solver based on an ℓ_1 elastic relaxation of the QP constraints. If the original constraints are feasible, FlexQP provably recovers the optimal solution. If the constraints are infeasible, FlexQP identifies a solution that minimizes the constraint violation while keeping the number of violated constraints sparse. Such infeasibilities arise naturally in sequential quadratic programming (SQP) subproblems due to the linearization of the constraints. We prove the convergence of FlexQP under mild coercivity assumptions, making it robust to both feasible and infeasible QPs. We then apply deep unfolding to learn LSTM-based, dimension-agnostic feedback policies for the algorithm parameters, yielding an accelerated Deep FlexQP. To preserve the exactness guarantees of the relaxation, we propose a normalized training loss that incorporates the Lagrange multipliers. We additionally design a log-scaled loss for PAC-Bayes generalization bounds that yields substantially tighter performance certificates, which we use to construct an accelerated SQP solver with guaranteed QP subproblem performance. Deep FlexQP outperforms state-of-the-art learned QP solvers on a suite of benchmarks including portfolio optimization, classification, and regression problems, and scales to dense QPs with over 10k variables and constraints via fine-tuning. When deployed within SQP, our approach solves nonlinear trajectory optimization problems 4-16x faster than SQP with OSQP while substantially improving success rates. On predictive safety filter problems, Deep FlexQP reduces safety violations by over 70% and increases task completion by 43% compared to existing methods.

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal inputs/outputs and often hybrid nature of transformer and diffusion heads. This is part of the reason why insights from mechanistic interpretability in LLMs, which explain how the internal model representations relate to their output behavior, do not trivially transfer to VLA counterparts. In this work, we propose to close this gap by introducing and analyzing two main concepts: feature-observability and feature-controllability. In particular, we first study features that are linearly encoded in representation space, and show how they can be observed by means of a linear classifier. Then, we use a minimal linear intervention grounded in optimal control to accurately place internal representations and steer the VLA's output towards a desired region. Our results show that targeted, lightweight interventions can reliably steer a robot's behavior while preserving closed-loop capabilities. We demonstrate on different VLA architectures (π_0.5 and OpenVLA) through simulation experiments that VLAs possess interpretable internal structure amenable to online adaptation without fine-tuning, enabling real-time alignment with user preferences and task requirements.

As AI models progress beyond simple chatbots into more complex workflows, we draw ever closer to the event horizon beyond which AI systems will be utilized in autonomous, self-maintaining feedback loops. Any autonomous AI system will depend on automated, verifiable rewards and feedback; in settings where ground truth is sparse or non-deterministic, one practical source of such rewards is an LLM-as-a-Judge. Although LLM judges continue to improve, the literature has yet to introduce systems capable of enforcing standards with strong guarantees, particularly when bias vectors are unknown or adversarially discovered. To remedy this issue, we propose average bias-boundedness (A-BB), an algorithmic framework which formally guarantees reductions of harm/impact as a result of any measurable bias in an LLM judge. Evaluating on Arena-Hard-Auto with four LLM judges, we achieve (tau=0.5, delta=0.01) bias-bounded guarantees while retaining 61-99% correlation with original rankings across formatting and schematic bias settings, with most judge-bias combinations exceeding 80%. The code to reproduce our findings is available at https://github.com/penfever/bias-bounded-evaluation.

Reinforcement learning (RL), while powerful and expressive, can often prioritize performance at the expense of safety. Yet safety violations can lead to catastrophic outcomes in real-world deployments. Control Barrier Functions (CBFs) offer a principled method to enforce dynamic safety -- traditionally deployed online via safety filters. While the result is safe behavior, the fact that the RL policy does not have knowledge of the CBF can lead to conservative behaviors. This paper proposes CBF-RL, a framework for generating safe behaviors with RL by enforcing CBFs in training. CBF-RL has two key attributes: (1) minimally modifying a nominal RL policy to encode safety constraints via a CBF term, (2) and safety filtering of the policy rollouts in training. Theoretically, we prove that continuous-time safety filters can be deployed via closed-form expressions on discrete-time roll-outs. Practically, we demonstrate that CBF-RL internalizes the safety constraints in the learned policy -- both enforcing safer actions and biasing towards safer rewards -- enabling safe deployment without the need for an online safety filter. We validate our framework through ablation studies on navigation tasks and on the Unitree G1 humanoid robot, where CBF-RL enables safer exploration, faster convergence, and robust performance under uncertainty, enabling the humanoid robot to avoid obstacles and climb stairs safely in real-world settings without a runtime safety filter.

While datasets for video understanding have scaled to hour-long durations, they typically consist of densely concatenated clips that differ from natural, unscripted daily life. To bridge this gap, we introduce MM-Lifelong, a dataset designed for Multimodal Lifelong Understanding. Comprising 181.1 hours of footage, it is structured across Day, Week, and Month scales to capture varying temporal densities. Extensive evaluations reveal two critical failure modes in current paradigms: end-to-end MLLMs suffer from a Working Memory Bottleneck due to context saturation, while representative agentic baselines experience Global Localization Collapse when navigating sparse, month-long timelines. To address this, we propose the Recursive Multimodal Agent (ReMA), which employs dynamic memory management to iteratively update a recursive belief state, significantly outperforming existing methods. Finally, we establish dataset splits designed to isolate temporal and domain biases, providing a rigorous foundation for future research in supervised learning and out-of-distribution generalization.

Estimating heterogeneous treatment effects (HTEs) from right-censored survival data is critical in high-stakes applications such as precision medicine and individualized policy-making. Yet, the survival analysis setting poses unique challenges for HTE estimation due to censoring, unobserved counterfactuals, and complex identification assumptions. Despite recent advances, from Causal Survival Forests to survival meta-learners and outcome imputation approaches, evaluation practices remain fragmented and inconsistent. We introduce SurvHTE-Bench, the first comprehensive benchmark for HTE estimation with censored outcomes. The benchmark spans (i) a modular suite of synthetic datasets with known ground truth, systematically varying causal assumptions and survival dynamics, (ii) semi-synthetic datasets that pair real-world covariates with simulated treatments and outcomes, and (iii) real-world datasets from a twin study (with known ground truth) and from an HIV clinical trial. Across synthetic, semi-synthetic, and real-world settings, we provide the first rigorous comparison of survival HTE methods under diverse conditions and realistic assumption violations. SurvHTE-Bench establishes a foundation for fair, reproducible, and extensible evaluation of causal survival methods. The data and code of our benchmark are available at: https://github.com/Shahriarnz14/SurvHTE-Bench .

We prove that computing a shortest monotone path to the optimum of a linear program over a simple polytope is NP-hard, thus resolving a 2022 open question of De Loera, Kafer, and Sanità. As a consequence, finding a shortest sequence of pivots to an optimal basis with the simplex method is NP-hard. In fact, we show this is NP-hard already for fractional knapsack polytopes. By applying an additional polyhedral construction, we show that computing the diameter of a simple polytope is NP-hard, resolving a 2003 open problem by Kaibel and Pfetsch. Finally, on the positive side we show that every polytope has a small, simple extended formulation for which a linear length path may be found between any pair of vertices in polynomial time building upon a result of Kaibel and Kukharenko.

Fast and accurate simulation of dynamical systems is a fundamental challenge across scientific and engineering domains. Traditional numerical integrators often face a trade-off between accuracy and computational efficiency, while existing neural network-based approaches typically require training a separate model for each case. To overcome these limitations, we introduce a novel multi-modal foundation model for large-scale simulations of differential equations: FMint-SDE (Foundation Model based on Initialization for stochastic differential equations). Based on a decoder-only transformer with in-context learning, FMint-SDE leverages numerical and textual modalities to learn a universal error-correction scheme. It is trained using prompted sequences of coarse solutions generated by conventional solvers, enabling broad generalization across diverse systems. We evaluate our models on a suite of challenging SDE benchmarks spanning applications in molecular dynamics, mechanical systems, finance, and biology. Experimental results show that our approach achieves a superior accuracy-efficiency tradeoff compared to classical solvers, underscoring the potential of FMint-SDE as a general-purpose simulation tool for dynamical systems.

Singular statistical models-including mixtures, matrix factorization, and neural networks-violate regular asymptotics due to parameter non-identifiability and degenerate Fisher geometry. Although singular learning theory characterizes marginal likelihood behavior through invariants such as the real log canonical threshold and singular fluctuation, these quantities remain difficult to interpret operationally. At the same time, widely used criteria such as WAIC and WBIC appear disconnected from underlying singular geometry. We show that posterior tempering induces a one-parameter deformation of the posterior distribution whose associated observables generate a hierarchy of thermodynamic response functions. A universal covariance identity links derivatives of tempered expectations to posterior fluctuations, placing WAIC, WBIC, and singular fluctuation within a unified response framework. Within this framework, classical quantities from singular learning theory acquire natural thermodynamic interpretations: RLCT governs the leading free-energy slope, singular fluctuation corresponds to curvature of the tempered free energy, and WAIC measures predictive fluctuation. We formalize an observable algebra that quotients out non-identifiable directions, allowing structurally meaningful order parameters to be constructed in singular models. Across canonical singular examples-including symmetric Gaussian mixtures, reduced-rank regression, and overparameterized neural networks-we empirically demonstrate phase-transition-like behavior under tempering. Order parameters collapse, susceptibilities peak, and complexity measures align with structural reorganization in posterior geometry. Our results suggest that thermodynamic response theory provides a natural organizing framework for interpreting complexity, predictive variability, and structural reorganization in singular Bayesian learning.

Hyperspectral images (HSI) have many applications, ranging from environmental monitoring to national security, and can be used for material detection and identification. Longwave infrared (LWIR) HSI can be used for gas plume detection and analysis. Oftentimes, only a few images of a scene of interest are available and are analyzed individually. The ability to combine information from multiple images into a single, cohesive representation could enhance analysis by providing more context on the scene's geometry and spectral properties. Neural radiance fields (NeRFs) create a latent neural representation of volumetric scene properties that enable novel-view rendering and geometry reconstruction, offering a promising avenue for hyperspectral 3D scene reconstruction. We explore the possibility of using NeRFs to create 3D scene reconstructions from LWIR HSI and demonstrate that the model can be used for the basic downstream analysis task of gas plume detection. The physics-based DIRSIG software suite was used to generate a synthetic multi-view LWIR HSI dataset of a simple facility with a strong sulfur hexafluoride gas plume. Our method, built on the standard Mip-NeRF architecture, combines state-of-the-art methods for hyperspectral NeRFs and sparse-view NeRFs, along with a novel adaptive weighted MSE loss. Our final NeRF method requires around 50% fewer training images than the standard Mip-NeRF and achieves an average PSNR of 39.8 dB with as few as 30 training images. Gas plume detection applied to NeRF-rendered test images using the adaptive coherence estimator achieves an average AUC of 0.821 when compared with detection masks generated from ground-truth test images.

Trustworthiness is a core research challenge for agentic AI systems built on Large Language Models (LLMs). To enhance trust, natural language claims from diverse sources, including human-written text, web content, and model outputs, are commonly checked for factuality by retrieving external knowledge and using an LLM to verify the faithfulness of claims to the retrieved evidence. As a result, such methods are constrained by retrieval errors and external data availability, while leaving the models intrinsic fact-verification capabilities largely unused. We propose the task of fact-checking without retrieval, focusing on the verification of arbitrary natural language claims, independent of their source. To study this setting, we introduce a comprehensive evaluation framework focused on generalization, testing robustness to (i) long-tail knowledge, (ii) variation in claim sources, (iii) multilinguality, and (iv) long-form generation. Across 9 datasets, 18 methods and 3 models, our experiments indicate that logit-based approaches often underperform compared to those that leverage internal model representations. Building on this finding, we introduce INTRA, a method that exploits interactions between internal representations and achieves state-of-the-art performance with strong generalization. More broadly, our work establishes fact-checking without retrieval as a promising research direction that can complement retrieval-based frameworks, improve scalability, and enable the use of such systems as reward signals during training or as components integrated into the generation process.

In this article we show that Maximum Partial List H-Coloring is polynomial-time solvable on P_5-free graphs for every fixed graph H. In particular, this implies that Maximum k-Colorable Subgraph is polynomial-time solvable on P_5-free graphs. This answers an open question from Agrawal, Lima, Lokshtanov, Saurabh Sharma [SODA 2024]. This also improves the n^O(ω(G))-time algorithm for Maximum Partial H-Coloring by Chudnovsky, King, Pilipczuk, Rzążewski Spirkl [SIDMA 2021] to polynomial-time algorithm.

Skiplists are used in a variety of applications for storing data subject to order criteria. In this article we discuss the design, analysis and performance of a concurrent deterministic skiplist on many-core NUMA nodes. We also evaluate the performance of concurrent lock-free unbounded queue implementation and two concurrent multi-reader,multi-writer(MWMR) hash table implementations and compare them with those from Intel's Thread Building Blocks(TBB) library. We introduce strategies for memory management that reduce page faults and cache misses for the memory access patterns in these data structures. This paper proposes hierarchical usage of concurrent data structures in programs to improve memory latencies by reducing memory accesses from remote NUMA nodes.

Real-time reconstruction of conditional quantum states from continuous measurement records is a fundamental requirement for quantum feedback control, yet standard stochastic master equation (SME) solvers require exact model specification, known system parameters, and are sensitive to parameter mismatch. While neural sequence models can fit these stochastic dynamics, the unconstrained predictors can violate physicality such as positivity or trace constraints, leading to unstable rollouts and unphysical estimates. We propose a Kraus-structured output layer that converts the hidden representation of a generic sequence backbone into a completely positive trace preserving (CPTP) quantum operation, yielding physically valid state updates by construction. We instantiate this layer across diverse backbones, RNN, GRU, LSTM, TCN, ESN and Mamba; including Neural ODE as a comparative baseline, on stochastic trajectories characterized by parameter drift. Our evaluation reveals distinct trade-offs between gating mechanisms, linear recurrence, and global attention. Across all models, Kraus-LSTM achieves the strongest results, improving state estimation quality by 7% over its unconstrained counterpart while guaranteeing physically valid predictions in non-stationary regimes.

Hallucinations remain a persistent challenge for vision-language models (VLMs), which often describe nonexistent objects or fabricate facts. Existing detection methods typically operate after text generation, making intervention both costly and untimely. We investigate whether hallucination risk can instead be predicted before any token is generated by probing a model's internal representations in a single forward pass. Across a diverse set of vision-language tasks and eight modern VLMs, including Llama-3.2-Vision, Gemma-3, Phi-4-VL, and Qwen2.5-VL, we examine three families of internal representations: (i) visual-only features without multimodal fusion, (ii) vision-token representations within the text decoder, and (iii) query-token representations that integrate visual and textual information before generation. Probes trained on these representations achieve strong hallucination-detection performance without decoding, reaching up to 0.93 AUROC on Gemma-3-12B, Phi-4-VL 5.6B, and Molmo 7B. Late query-token states are the most predictive for most models, while visual or mid-layer features dominate in a few architectures (e.g., ~0.79 AUROC for Qwen2.5-VL-7B using visual-only features). These results demonstrate that (1) hallucination risk is detectable pre-generation, (2) the most informative layer and modality vary across architectures, and (3) lightweight probes have the potential to enable early abstention, selective routing, and adaptive decoding to improve both safety and efficiency.

Single-object tracking (SOT) on edge devices is a critical computer vision task, requiring accurate and continuous target localization across video frames under occlusion, distractor interference, and fast motion. However, recent state-of-the-art distractor-aware memory mechanisms are largely built on segmentation-based trackers and rely on mask prediction and attention-driven memory updates, which introduce substantial computational overhead and limit real-time deployment on resource-constrained hardware; meanwhile, lightweight trackers sustain high throughput but are prone to drift when visually similar distractors appear. To address these challenges, we propose EdgeDAM, a lightweight detection-guided tracking framework that reformulates distractor-aware memory for bounding-box tracking under strict edge constraints. EdgeDAM introduces two key strategies: (1) Dual-Buffer Distractor-Aware Memory (DAM), which integrates a Recent-Aware Memory to preserve temporally consistent target hypotheses and a Distractor-Resolving Memory to explicitly store hard negative candidates and penalize their re-selection during recovery; and (2) Confidence-Driven Switching with Held-Box Stabilization, where tracker reliability and temporal consistency criteria adaptively activate detection and memory-guided re-identification during occlusion, while a held-box mechanism temporarily freezes and expands the estimate to suppress distractor contamination. Extensive experiments on five benchmarks, including the distractor-focused DiDi dataset, demonstrate improved robustness under occlusion and fast motion while maintaining real-time performance on mobile devices, achieving 88.2% accuracy on DiDi and 25 FPS on an iPhone 15. Code will be released.

Reading comprehension systems for low-resource languages face significant challenges in handling unanswerable questions. These systems tend to produce unreliable responses when correct answers are absent from context. To solve this problem, we introduce NCTB-QA, a large-scale Bangla question answering dataset comprising 87,805 question-answer pairs extracted from 50 textbooks published by Bangladesh's National Curriculum and Textbook Board. Unlike existing Bangla datasets, NCTB-QA maintains a balanced distribution of answerable (57.25%) and unanswerable (42.75%) questions. NCTB-QA also includes adversarially designed instances containing plausible distractors. We benchmark three transformer-based models (BERT, RoBERTa, ELECTRA) and demonstrate substantial improvements through fine-tuning. BERT achieves 313% relative improvement in F1 score (0.150 to 0.620). Semantic answer quality measured by BERTScore also increases significantly across all models. Our results establish NCTB-QA as a challenging benchmark for Bangla educational question answering. This study demonstrates that domain-specific fine-tuning is critical for robust performance in low-resource settings.

The process of debating is essential in our daily lives, whether in studying, work activities, simple everyday discussions, political debates on TV, or online discussions on social networks. The range of uses for debates is broad. Due to the diverse applications, structures, and formats of debates, developing corpora that account for these variations can be challenging, and the scarcity of debate corpora in the state of the art is notable. For this reason, the current research proposes the DEBISS corpus: a collection of spoken and individual debates with semi-structured features. With a broad range of NLP task annotations, such as speech-to-text, speaker diarization, argument mining, and debater quality assessment.

Diffusion Language Models (DLMs) promise highly parallel text generation, yet their practical inference speed is often bottlenecked by suboptimal decoding schedulers. Standard approaches rely on 'scattered acceptance'-committing high confidence tokens at disjoint positions throughout the sequence. This approach inadvertently fractures the Key-Value (KV) cache, destroys memory locality, and forces the model into costly, repeated repairs across unstable token boundaries. To resolve this, we present the Longest Stable Prefix (LSP) scheduler, a training-free and model-agnostic inference paradigm based on monolithic prefix absorption. In each denoising step, LSP evaluates token stability via a single forward pass, dynamically identifies a contiguous left-aligned block of stable predictions, and snaps its boundary to natural linguistic or structural delimiters before an atomic commitment. This prefix-first topology yields dual benefits: systemically, it converts fragmented KV cache updates into efficient, contiguous appends; algorithmically, it preserves bidirectional lookahead over a geometrically shrinking active suffix, drastically reducing token flip rates and denoiser calls. Extensive evaluations on LLaDA-8B and Dream-7B demonstrate that LSP accelerates inference by up to 3.4x across rigorous benchmarks including mathematical reasoning, code generation, multilingual (CJK) tasks, and creative writing while matching or slightly improving output quality. By fundamentally restructuring the commitment topology, LSP bridges the gap between the theoretical parallelism of DLMs and practical hardware efficiency.

Attention, as a core layer of the ubiquitous Transformer architecture, is the bottleneck for large language models and long-context applications. While FlashAttention-3 optimized attention for Hopper GPUs through asynchronous execution and warp specialization, it primarily targets the H100 architecture. The AI industry has rapidly transitioned to deploying Blackwell-based systems such as the B200 and GB200, which exhibit fundamentally different performance characteristics due to asymmetric hardware scaling: tensor core throughput doubles while other functional units (shared memory bandwidth, exponential units) scale more slowly or remain unchanged. We develop several techniques to address these shifting bottlenecks on Blackwell GPUs: (1) redesigned pipelines that exploit fully asynchronous MMA operations and larger tile sizes, (2) software-emulated exponential and conditional softmax rescaling that reduces non-matmul operations, and (3) leveraging tensor memory and the 2-CTA MMA mode to reduce shared memory traffic and atomic adds in the backward pass. We demonstrate that our method, FlashAttention-4, achieves up to 1.3× speedup over cuDNN 9.13 and 2.7× over Triton on B200 GPUs with BF16, reaching up to 1613 TFLOPs/s (71

Establishing common ground, a shared set of beliefs and mutually recognized facts, is fundamental to collaboration, yet remains a challenge for current AI systems, especially in multimodal, multiparty settings, where the collaborators bring different information to the table. We introduce the Distributed Partial Information Puzzle (DPIP), a collaborative construction task that elicits rich multimodal communication under epistemic asymmetry. We present a multimodal dataset of these interactions, annotated and temporally aligned across speech, gesture, and action modalities to support reasoning over propositional content and belief dynamics. We then evaluate two paradigms for modeling common ground (CG): (1) state-of-the-art large language models (LLMs), prompted to infer shared beliefs from multimodal updates, and (2) an axiomatic pipeline grounded in Dynamic Epistemic Logic (DEL) that incrementally performs the same task. Results on the annotated DPIP data indicate that it poses a challenge to modern LLMs' abilities to track both task progression and belief state.

Current video generation models cannot simulate physical consequences of 3D actions like forces and robotic manipulations, as they lack structural understanding of how actions affect 3D scenes. We present RealWonder, the first real-time system for action-conditioned video generation from a single image. Our key insight is using physics simulation as an intermediate bridge: instead of directly encoding continuous actions, we translate them through physics simulation into visual representations (optical flow and RGB) that video models can process. RealWonder integrates three components: 3D reconstruction from single images, physics simulation, and a distilled video generator requiring only 4 diffusion steps. Our system achieves 13.2 FPS at 480x832 resolution, enabling interactive exploration of forces, robot actions, and camera controls on rigid objects, deformable bodies, fluids, and granular materials. We envision RealWonder opens new opportunities to apply video models in immersive experiences, AR/VR, and robot learning. Our code and model weights are publicly available in our project website: https://liuwei283.github.io/RealWonder/

Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break pushing contact and induce large lateral drift. We study planar cell pushing with a magnetic rolling microrobot that tracks a waypoint-sampled reference curve under time-varying Poiseuille flow. We propose a hybrid controller that augments a nominal MPC with a learned residual policy trained by SAC. The policy outputs a bounded 2D velocity correction that is contact-gated, so residual actions are applied only during robot--cell contact, preserving reliable approach behavior and stabilizing learning. All methods share the same actuation interface and speed envelope for fair comparisons. Experiments show improved robustness and tracking accuracy over pure MPC and PID under nonstationary flow, with generalization from a clover training curve to unseen circle and square trajectories. A residual-bound sweep identifies an intermediate correction limit as the best trade-off, which we use in all benchmarks.

Knowledge distillation improves large language model (LLM) reasoning by compressing the knowledge of a teacher LLM to train smaller LLMs. On-policy distillation advances this approach by having the student sample its own trajectories while a teacher LLM provides dense token-level supervision, addressing the distribution mismatch between training and inference in off-policy distillation methods. However, on-policy distillation typically requires a separate, often larger, teacher LLM and does not explicitly leverage ground-truth solutions available in reasoning datasets. Inspired by the intuition that a sufficiently capable LLM can rationalize external privileged reasoning traces and teach its weaker self (i.e., the version without access to privileged information), we introduce On-Policy Self-Distillation (OPSD), a framework where a single model acts as both teacher and student by conditioning on different contexts. The teacher policy conditions on privileged information (e.g., verified reasoning traces) while the student policy sees only the question; training minimizes the per-token divergence between these distributions over the student's own rollouts. We demonstrate the efficacy of our method on multiple mathematical reasoning benchmarks, achieving 8-12x token efficiency compared to reinforcement learning methods such as GRPO and superior performance over off-policy distillation methods.

Advances in sensor networks have enabled real-time stream discharge monitoring, yet persistent sensor malfunctions limit data utility. Manual quality control by expert hydrologists cannot scale with networks generating millions of measurements annually. We introduce HydroGEM, a foundation model for continental-scale streamflow quality control designed to support human expertise. HydroGEM uses self-supervised pretraining on 6.03 million clean sequences from 3,724 USGS stations to learn general hydrological representations, followed by fine-tuning with synthetic anomalies for detection and reconstruction. A hybrid TCN-Transformer architecture (14.2M parameters) captures both local and long-range temporal dependencies, while hierarchical normalization handles six orders of magnitude in discharge. On held-out observations from 799 stations with 18 synthetic anomaly types grounded in USGS standards, HydroGEM achieves F1=0.792 for detection and 68.7% reconstruction error reduction, outperforming the strongest baseline by 36.3%. For cross-national validation on 100 Environment and Climate Change Canada stations using tolerant evaluation with a plus or minus 24-hour buffer, HydroGEM achieves Tolerant F1=0.70 with 90.1% segment-level event detection, demonstrating cross-national generalization. The model maintains consistent detection across correction magnitudes and aligns with operational seasonal patterns, with peak flagging during winter ice-affected periods matching hydrologists' correction behavior. Architectural separation between simplified training anomalies and complex test anomalies confirms that performance reflects learned hydrometric principles rather than pattern memorization.

Code comment classification is a critical task for automated software documentation and analysis. In the context of the NLBSE'26 Tool Competition, we present LoRA-MME, a Multi-Model Ensemble architecture utilizing Parameter-Efficient Fine-Tuning (PEFT). Our approach addresses the multi-label classification challenge across Java, Python, and Pharo by combining the strengths of four distinct transformer encoders: UniXcoder, CodeBERT, GraphCodeBERT, and CodeBERTa. By independently fine-tuning these models using Low-Rank Adaptation(LoRA) and aggregating their predictions via a learned weighted ensemble strategy, we maximize classification performance without the memory overhead of full model fine-tuning. Our tool achieved an F1 Weighted score of 0.7906 and a Macro F1 of 0.6867 on the test set. However, the computational cost of the ensemble resulted in a final submission score of 41.20%, highlighting the trade-off between semantic accuracy and inference efficiency.

We focus on the task of retrieving nail design images based on dense intent descriptions, which represent multi-layered user intent for nail designs. This is challenging because such descriptions specify unconstrained painted elements and pre-manufactured embellishments as well as visual characteristics, themes, and overall impressions. In addition to these descriptions, we assume that users provide palette queries by specifying zero or more colors via a color picker, enabling the expression of subtle and continuous color nuances. Existing vision-language foundation models often struggle to incorporate such descriptions and palettes. To address this, we propose NaiLIA, a multimodal retrieval method for nail design images, which comprehensively aligns with dense intent descriptions and palette queries during retrieval. Our approach introduces a relaxed loss based on confidence scores for unlabeled images that can align with the descriptions. To evaluate NaiLIA, we constructed a benchmark consisting of 10,625 images collected from people with diverse cultural backgrounds. The images were annotated with long and dense intent descriptions given by over 200 annotators. Experimental results demonstrate that NaiLIA outperforms standard methods.

The advent of always-on personal AI assistants, enabled by all-day wearable devices such as smart glasses, demands a new level of contextual understanding, one that goes beyond short, isolated events to encompass the continuous, longitudinal stream of egocentric video. Achieving this vision requires advances in long-horizon video understanding, where systems must interpret and recall visual and audio information spanning days or even weeks. Existing methods, including large language models and retrieval-augmented generation, are constrained by limited context windows and lack the ability to perform compositional, multi-hop reasoning over very long video streams. In this work, we address these challenges through EGAgent, an enhanced agentic framework centered on entity scene graphs, which represent people, places, objects, and their relationships over time. Our system equips a planning agent with tools for structured search and reasoning over these graphs, as well as hybrid visual and audio search capabilities, enabling detailed, cross-modal, and temporally coherent reasoning. Experiments on the EgoLifeQA and Video-MME (Long) datasets show that our method achieves state-of-the-art performance on EgoLifeQA (57.5%) and competitive performance on Video-MME (Long) (74.1%) for complex longitudinal video understanding tasks. Code is available at https://github.com/facebookresearch/egagent.

Materials discovery requires navigating vast chemical and structural spaces while satisfying multiple, often conflicting, objectives. We present LLM-guided Evolution for MAterials discovery (LLEMA), a unified framework that couples the scientific knowledge embedded in large language models with chemistry-informed evolutionary rules and memory-based refinement. At each iteration, an LLM proposes crystallographically specified candidates under explicit property constraints; a surrogate-augmented oracle estimates physicochemical properties; and a multi-objective scorer updates success/failure memories to guide subsequent generations. Evaluated on 14 realistic tasks that span electronics, energy, coatings, optics, and aerospace, LLEMA discovers candidates that are chemically plausible, thermodynamically stable, and property-aligned, achieving higher hit rates and improved Pareto front quality relative to generative and LLM-only baselines. Ablation studies confirm the importance of rule-guided generation, memory-based refinement, and surrogate prediction. By enforcing synthesizability and multi-objective trade-offs, LLEMA provides a principled approach to accelerating practical materials discovery. Project website: https://scientific-discovery.github.io/llema-project/

Imitation Learning (IL) enables agents to mimic expert behavior by learning from demonstrations. However, traditional IL methods require large amounts of medium-to-high-quality demonstrations as well as actions of expert demonstrations, both of which are often unavailable. To reduce this need, we propose Latent Wasserstein Adversarial Imitation Learning (LWAIL), a novel adversarial imitation learning framework that focuses on state-only distribution matching. It benefits from the Wasserstein distance computed in a dynamics-aware latent space. This dynamics-aware latent space differs from prior work and is obtained via a pre-training stage, where we train the Intention Conditioned Value Function (ICVF) to capture a dynamics-aware structure of the state space using a small set of randomly generated state-only data. We show that this enhances the policy's understanding of state transitions, enabling the learning process to use only one or a few state-only expert episodes to achieve expert-level performance. Through experiments on multiple MuJoCo environments, we demonstrate that our method outperforms prior Wasserstein-based IL methods and prior adversarial IL methods, achieving better results across various tasks.

Recent advances in Multimodal Large Language Models (MLLMs) have enabled unified multimodal understanding and generation. However, they still struggle with fine-grained text-image alignment, often failing to faithfully depict objects with correct attributes such as color, shape, and spatial relations. To mitigate this issue, previous studies have explored preference optimization methods such as DPO and GRPO, but these approaches incur substantial computational cost, both in constructing preference data and in performing optimization. This has motivated self-improving preference optimization approaches, in which the MLLM autonomously generates its own training data, self-estimates preference feedback, and self-optimizes using the resulting self-constructed preference pairs. However, existing self-improving methods still overlook fine-grained, object-level semantics, allowing object hallucination to persist. To tackle this problem, we propose Object-centric Self-improving Preference Optimization (OSPO), a self-improving framework designed to enhance object-level text-image alignment. OSPO explicitly constructs object-centric preference data without relying on any external data and external models. We also introduce a new approach that leverages attention-based object masks together with an object-weighted SimPO loss to enhance object-specific fidelity. Extensive experiments on three compositional image generation benchmarks demonstrate that OSPO significantly improves fine-grained alignment and reduces object hallucination, outperforming prior self-improving methods and even specialized diffusion-based text-to-image models.

World models provide a powerful framework for simulating environment dynamics conditioned on actions or instructions, enabling downstream tasks such as action planning or policy learning. Recent approaches leverage world models as learned simulators, but its application to decision-time planning remains computationally prohibitive for real-time control. A key bottleneck lies in latent representations: conventional tokenizers encode each observation into hundreds of tokens, making planning both slow and resource-intensive. To address this, we propose CompACT, a discrete tokenizer that compresses each observation into as few as 8 tokens, drastically reducing computational cost while preserving essential information for planning. An action-conditioned world model that occupies CompACT tokenizer achieves competitive planning performance with orders-of-magnitude faster planning, offering a practical step toward real-world deployment of world models.

Weakly-Supervised Dense Video Captioning aims to localize and describe events in videos trained only on caption annotations, without temporal boundaries. Prior work introduced an implicit supervision paradigm based on Gaussian masking and complementary captioning. However, existing method focuses merely on generating non-overlapping masks without considering their semantic relationship to corresponding events, resulting in simplistic, uniformly distributed masks that fail to capture semantically meaningful regions. Moreover, relying solely on ground-truth captions leads to sub-optimal performance due to the inherent sparsity of existing datasets. In this work, we propose SAIL, which constructs semantically-aware masks through cross-modal alignment. Our similarity aware training objective guides masks to emphasize video regions with high similarity to their corresponding event captions. Furthermore, to guide more accurate mask generation under sparse annotation settings, we introduce an LLM-based augmentation strategy that generates synthetic captions to provide additional alignment signals. These synthetic captions are incorporated through an inter-mask mechanism, providing auxiliary guidance for precise temporal localization without degrading the main objective. Experiments on ActivityNet Captions and YouCook2 demonstrate state-of-the-art performance on both captioning and localization metrics.

Reasoning models think out loud, but much of what they say is noise. We introduce OPSDC (On-Policy Self-Distillation for Reasoning Compression), a method that teaches models to reason more concisely by distilling their own concise behavior back into themselves. The entire approach reduces to one idea: condition the same model on a "be concise" instruction to obtain teacher logits, and minimize per-token reverse KL on the student's own rollouts. No ground-truth answers, no token budgets, no difficulty estimators. Just self-distillation. Yet this simplicity belies surprising sophistication: OPSDC automatically compresses easy problems aggressively while preserving the deliberation needed for hard ones. On Qwen3-8B and Qwen3-14B, we achieve 57-59% token reduction on MATH-500 while improving accuracy by 9-16 points absolute. On AIME 2024, the 14B model gains 10 points with 41% compression. The secret? Much of what reasoning models produce is not just redundant-it is actively harmful, compounding errors with every unnecessary token.

Practitioners have access to an abundance of language models and prompting strategies for solving many language modeling tasks; yet prior work shows that modeling performance is highly sensitive to both choices. Classical machine learning ensembling techniques offer a principled approach: aggregate predictions from multiple sources to achieve better performance than any single one. However, applying ensembling to language models during decoding is challenging: naively aggregating next-token probabilities yields samples from a locally normalized, biased approximation of the generally intractable ensemble distribution over strings. In this work, we introduce a unified framework for composing K language models into f-ensemble distributions for a wide range of functions fℝ_≥ 0^K→ℝ_≥ 0. To sample from these distributions, we propose a byte-level sequential Monte Carlo (SMC) algorithm that operates in a shared character space, enabling ensembles of models with mismatching vocabularies and consistent sampling in the limit. We evaluate a family of f-ensembles across prompt and model combinations for various structured text generation tasks, highlighting the benefits of alternative aggregation strategies over traditional probability averaging, and showing that better posterior approximations can yield better ensemble performance.

As conversational multimodal AI tools are increasingly adopted to process patient data for health assessment, robust benchmarks are needed to measure progress and expose failure modes under realistic conditions. Despite the importance of respiratory audio for mobile health screening, respiratory audio question answering remains underexplored, with existing studies evaluated narrowly and lacking real-world heterogeneity across modalities, devices, and question types. We hence introduce the Respiratory-Audio Question-Answering (RA-QA) benchmark, including a standardized data generation pipeline, a comprehensive multimodal QA collection, and a unified evaluation protocol. RA-QA harmonizes public RA datasets into a collection of 9 million format-diverse QA pairs covering diagnostic and contextual attributes. We benchmark classical ML baselines alongside multimodal audio-language models, establishing reproducible reference points and showing how current approaches fail under heterogeneity.

Image-to-3D generation faces inherent semantic ambiguity under occlusion, where partial observation alone is often insufficient to determine object category. In this work, we formalize text-driven amodal 3D generation, where text prompts steer the completion of unseen regions while strictly preserving input observation. Crucially, we identify that these objectives demand distinct control granularities: rigid control for the observation versus relaxed structural control for the prompt. To this end, we propose RelaxFlow, a training-free dual-branch framework that decouples control granularity via a Multi-Prior Consensus Module and a Relaxation Mechanism. Theoretically, we prove that our relaxation is equivalent to applying a low-pass filter on the generative vector field, which suppresses high-frequency instance details to isolate geometric structure that accommodates the observation. To facilitate evaluation, we introduce two diagnostic benchmarks, ExtremeOcc-3D and AmbiSem-3D. Extensive experiments demonstrate that RelaxFlow successfully steers the generation of unseen regions to match the prompt intent without compromising visual fidelity.

Text-to-image generation powers content creation across design, media, and data augmentation. Post-training of text-to-image generative models is a promising path to better match human preferences, factuality, and improved aesthetics. We introduce SOLACE (Adaptive Rewarding by self-Confidence), a post-training framework that replaces external reward supervision with an internal self-confidence signal, obtained by evaluating how accurately the model recovers injected noise under self-denoising probes. SOLACE converts this intrinsic signal into scalar rewards, enabling fully unsupervised optimization without additional datasets, annotators, or reward models. Empirically, by reinforcing high-confidence generations, SOLACE delivers consistent gains in compositional generation, text rendering and text-image alignment over the baseline. We also find that integrating SOLACE with external rewards results in a complementary improvement, with alleviated reward hacking.

The ability to interpret machine learning model decisions is critical in such domains as healthcare, where trust in model predictions is as important as their accuracy. Inspired by the development of prototype parts-based deep neural networks in computer vision, we propose a new model for tabular data, specifically tailored to medical records, that requires discretization of diagnostic result norms. Unlike the original vision models that rely on the spatial structure, our method employs trainable patching over features describing a patient, to learn meaningful prototypical parts from structured data. These parts are represented as binary or discretized feature subsets. This allows the model to express prototypes in human-readable terms, enabling alignment with clinical language and case-based reasoning. Our proposed neural network is inherently interpretable and offers interpretable concept-based predictions by comparing the patient's description to learned prototypes in the latent space of the network. In experiments, we demonstrate that the model achieves classification performance competitive to widely used baseline models on medical benchmark datasets, while also offering transparency, bridging the gap between predictive performance and interpretability in clinical decision support.

Fetal ultrasound AI could transform prenatal care in low-resource settings, yet current foundation models exceed 300M visual parameters, precluding deployment on point-of-care devices. Standard knowledge distillation fails under such extreme capacity gaps (~26x), as compact students waste capacity mimicking architectural artifacts of oversized teachers. We introduce Selective Repulsive Knowledge Distillation, which decomposes contrastive KD into diagonal and off-diagonal components: matched pair alignment is preserved while the off-diagonal weight decays into negative values, repelling the student from the teacher's inter-class confusions and forcing discovery of architecturally native features. Our 11.4M parameter student surpasses the 304M-parameter FetalCLIP teacher on zero-shot HC18 biometry validity (88.6% vs. 83.5%) and brain sub-plane F1 (0.784 vs. 0.702), while running at 1.6 ms on iPhone 16 Pro, enabling real-time assistive AI on handheld ultrasound devices. Our code, models, and app are publicly available at https://github.com/numanai/MobileFetalCLIP.

Reaching for grasping, and manipulating objects are essential motor functions in everyday life. Decoding human motor intentions is a central challenge for rehabilitation and assistive technologies. This study focuses on predicting intentions by inferring movement direction and target location from multichannel electromyography (EMG) signals, and investigating how spatially and temporally accurate such information can be detected relative to movement onset. We present a computational pipeline that combines data-driven temporal segmentation with classical and deep learning classifiers in order to analyse EMG data recorded during the planning, early execution, and target contact phases of a delayed reaching task. Early intention prediction enables devices to anticipate user actions, improving responsiveness and supporting active motor recovery in adaptive rehabilitation systems. Random Forest achieves 80% accuracy and Convolutional Neural Network 75% accuracy across 25 spatial targets, each separated by 14^∘ azimuth/altitude. Furthermore, a systematic evaluation of EMG channels, feature sets, and temporal windows demonstrates that motor intention can be efficiently decoded even with drastically reduced data. This work sheds light on the temporal and spatial evolution of motor intention, paving the way for anticipatory control in adaptive rehabilitation systems and driving advancements in computational approaches to motor neuroscience.

Introspection is a foundational cognitive ability, but its mechanism is not well understood. Recent work has shown that AI models can introspect. We study their mechanism of introspection, first extensively replicating Lindsey et al. (2025)'s thought injection detection paradigm in large open-source models. We show that these models detect injected representations via two separable mechanisms: (i) probability-matching (inferring from perceived anomaly of the prompt) and (ii) direct access to internal states. The direct access mechanism is content-agnostic: models detect that an anomaly occurred but cannot reliably identify its semantic content. The two model classes we study confabulate injected concepts that are high-frequency and concrete (e.g., "apple'"); for them correct concept guesses typically require significantly more tokens. This content-agnostic introspective mechanism is consistent with leading theories in philosophy and psychology.

Instruction-based video editing has witnessed rapid progress, yet current methods often struggle with precise visual control, as natural language is inherently limited in describing complex visual nuances. Although reference-guided editing offers a robust solution, its potential is currently bottlenecked by the scarcity of high-quality paired training data. To bridge this gap, we introduce a scalable data generation pipeline that transforms existing video editing pairs into high-fidelity training quadruplets, leveraging image generative models to create synthesized reference scaffolds. Using this pipeline, we construct RefVIE, a large-scale dataset tailored for instruction-reference-following tasks, and establish RefVIE-Bench for comprehensive evaluation. Furthermore, we propose a unified editing architecture, Kiwi-Edit, that synergizes learnable queries and latent visual features for reference semantic guidance. Our model achieves significant gains in instruction following and reference fidelity via a progressive multi-stage training curriculum. Extensive experiments demonstrate that our data and architecture establish a new state-of-the-art in controllable video editing. All datasets, models, and code is released at https://github.com/showlab/Kiwi-Edit.

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low VLA inference efficiency or an absence of effective semantic guidance for whole-body control, resulting in instability in dynamic limb-coordinated tasks. To bridge this gap, we present a semantic-motion intent guided, physics-aware multi-brain VLA framework for humanoid whole-body control. A series of experiments was conducted to evaluate the performance of the proposed framework. The experimental results demonstrated that the framework enabled reliable vision-language-guided full-body coordination for humanoid robots.

Monitoring the health conditions of fish is essential, as it enables the early detection of disease, safeguards animal welfare, and contributes to sustainable aquaculture practices. Physiological and pathological conditions of cultivated fish can be inferred by analyzing locomotion activities. In this paper, we present a system that estimates the locomotion activities from videos using multi object tracking. The core of our approach is a YOLOv11 detector embedded in a tracking-by-detection framework. We investigate various configurations of the YOLOv11-architecture as well as extensions that incorporate multiple frames to improve detection accuracy. Our system is evaluated on a manually annotated dataset of Sulawesi ricefish recorded in a home-aquarium-like setup, demonstrating its ability to reliably measure swimming direction and speed for fish health monitoring. The dataset will be made publicly available upon publication.

The Optimal Morse Matching (OMM) problem asks for a discrete gradient vector field on a simplicial complex that minimizes the number of critical simplices. It is NP-hard and has been studied extensively in heuristic, approximation, and parameterized complexity settings. Parameterized by treewidth k, OMM has long been known to be solvable on triangulations of 3-manifolds in 2^O(k^2) n^O(1) time and in FPT time for triangulations of arbitrary manifolds, but the exact dependence on k has remained an open question. We resolve this by giving a new 2^O(k log k) n-time algorithm for any finite regular CW complex, and show that no 2^o(k log k) n^O(1)-time algorithm exists unless the Exponential Time Hypothesis (ETH) fails.

Computing the principal component (PC) of the adjacency matrix of an undirected graph has several applications ranging from identifying key vertices for influence maximization and controlling diffusion processes, to discovering densely interconnected vertex subsets. However, many networked datasets are sensitive, which necessitates private computation of the PC for use in the aforementioned applications. Differential privacy has emerged as the gold standard in privacy-preserving data analysis, but existing DP algorithms for private PC suffer from low accuracy due to large noise injection or high complexity. Motivated by the large gap between the local and global sensitivities of the PC on real-graphs, we consider instance-specific mechanisms for privately computing the PC under edge-DP. These mechanisms guarantee privacy for all datasets, but provide good utility on “well-behaved” datasets by injecting smaller amounts of noise. More specifically, we consider the Propose-Test-Release (PTR) framework. Although computationally expensive in general, we design a novel approach for implementing a PTR variant in the same time as computation of a non-private PC, while offering good utility. Our framework tests in a differentially-private manner whether a given graph is “well-behaved” or not, and then tests whether its private to release a noisy PC with small noise. As a consequence, this also leads to the first DP algorithm for the Densest-k-subgraph problem, a key graph mining primitive. We run our method on diverse real-world networks, with the largest having 3 million vertices, and compare its utility to a pre-existing baseline based on the private power method (PPM). Although PTR requires a slightly larger privacy budget, on average, it achieves a 180-fold improvement in runtime over PPM.

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.