Action-conditioned video world models predict future observations from an initial observation and an action signal. In robotics, actions influence future observations through two distinct processes: they are first realized into robot motion by the robot body and controller, and the scene then responds through contact and object motion. Conditioning directly on action commands asks the world model to learn the realization process itself, while conditioning on logged future states leaks the interaction outcomes it is meant to predict. We propose robot-factored world models, which move two robot-specific factors outside the world model. First, action realization: each command is rolled through the robot's own controller and kinematics into a deployment-available nominal trajectory, a middle signal that avoids both action-realization learning and future-state leakage. Second, robot rendering: this nominal trajectory is rendered through the robot URDF, factoring the robot's geometry, kinematics, and appearance out of the model and into explicit rendered robot geometry. To resolve depth ambiguity, we pair end-effector depth with scene depth, giving geometric cues for contact and occlusion beyond image-plane overlap. Together, camera-aware static RGB/depth context and rendered robot geometry form a shared visual world-model interface that stays consistent across viewpoints and robot embodiments, so the model sees the action only as visible robot geometry and learns how objects respond to it. Our experiments show that the rendered interface outperforms vector-conditioned baselines and generalizes to unseen robot embodiments at inference. We further demonstrate that our model generates robot manipulation videos from human demonstrations by retargeting and rendering the hand motion as robot geometry.

Geometry Foundation Models (GFMs) have substantially advanced monocular 3D reconstruction, yet extending this capability to 4D dynamic understanding remains a fundamental challenge. Most existing motion perception methods (e.g., sparse tracking, dense point-wise flow) treat motion as independent point-wise displacements, ignoring the structured nature of physical motion. However, real-world objects usually obey rigid-body kinematics, and points thus usually move collectively, not in isolation. Motion itself possesses geometric structure: physical objects undergo a set of rigid-body transformations governed by SE(3), rather than unstructured point-wise displacements. Building on this insight, we propose SM4RT, a Structured Motion 4D Reconstruction Transformer for end-to-end 3D reconstruction and structured motion perception. SM4RT introduces Structure-of-Motion to represent scene dynamics, where scene motion is decomposed into a compact set of motion bases, each represented as a temporal sequence of 6D twists in SE(3). Dense scene motion is then recovered by sparse, time-shared per-pixel assignment weights over these bases, ensuring points on the same object share a common rigid-body motion trajectory. SM4RT introduces a parallel motion geometry encoder and decoder that jointly infer 3D geometry, world-coordinate motion, and scene kinematic structure in a single forward pass from monocular RGB video. SM4RT achieves strong motion reconstruction performance while preserving the geometric structure of scene motion.

Unified multimodal models seek a shared visual token space that supports both multimodal understanding and image generation. Discrete methods unify the interface via a shared codebook, whereas continuous pipelines often rely on two disparate representations -- semantic features (e.g., ViT) for understanding and low-level latents (e.g., VAE) for synthesis -- resulting in mismatched latent spaces. We propose Twins, a unified continuous token space formed by channel-wise concatenating ViT and VAE features on the same token grid, so the sequence length is unchanged and attention cost does not increase. However, jointly modeling Twins in a Diffusion Transformer exposes a severe optimization imbalance: the model fits the ViT component well but struggles to match the VAE latent distribution. We trace this imbalance to three sources of heterogeneity: frequency bias, intrinsic dimensionality, and condition-aligned vs condition-independent uncertainty. To address it, we adapt a focal regression objective for flow matching that upweights large-error VAE dimensions, better balancing optimization across the ViT and VAE components. On ImageNet, this yields up to 10.57 gFID gain over naive MSE loss without classifier-free guidance. Twins also performs competitively on multimodal understanding benchmarks and improves reconstruction fidelity, narrowing the gap between understanding- and generation-oriented representations.

Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-tactile robot learning remains difficult because real tactile interaction data are expensive to collect, hardware-dependent, and limited in task and scene diversity. We present ViTacWorld, an action-conditioned visuo-tactile world model for scalable contact-rich robot manipulation. ViTacWorld leverages public real tactile datasets and a constructed simulation environment to scale visuo-tactile-action data, exploiting the fact that tactile signals are directly grounded in physical contact and can exhibit a smaller simulation-to-real gap than purely visual observations. The model is first pretrained with large-scale real and simulated visuo-tactile trajectories, and then finetuned with real-world policy rollouts to better match downstream manipulation behaviors. Given robot actions, ViTacWorld predicts temporally aligned visual observations and tactile feedback, enabling visuo-tactile-action rollout generation. To the best of our knowledge, ViTacWorld is the first framework that uses a world model for robot visuo-tactile-action trajectory generation and policy evaluation. It serves two roles: synthesizing rollouts to improve downstream tactile policies, and evaluating policies by predicting action-conditioned visuo-tactile outcomes under controlled action sequences. Experiments on contact-rich manipulation tasks show that ViTacWorld generates physically meaningful rollouts, improves policy performance through scalable data augmentation, and enables action-conditioned policy evaluation. Project page: https://vitacworld.github.io/

LLM training is shifting from manual design and annotation to interaction-driven self-evolution. However, existing self-evolutionary methods face a fundamental dilemma between task diversity and verification reliability: environment-bound methods obtain precise feedback but confine learning to narrow domains, while open-ended self-generation broadens the task space but lacks reliable verification, allowing misleading rewards to pollute the training loop. We identify agent skills as a powerful middle ground to reconcile this tension: each skill ensures deep, verifiable execution in a specific scenario, while dynamic routing across skills maintains open-ended task variety. Leveraging this insight, we introduce Skill Self-Play (Skill-SP), a co-evolutionary framework comprising a proposer, a solver, and a dynamic skill controller. Orchestrated via a reinforcement learning loop, these components co-evolve in a continuous self-play loop: the proposer generates challenging tasks conditioned on dynamically sampled skills; the solver explores candidate solutions to push its capability boundaries; and the skill controller collects execution feedback to update and expand the skill library. This interactive co-evolution effectively bridges the gap between structured verification and open-ended exploration. Empirical evaluations on tool-use and reasoning benchmarks demonstrate that Skill-SP, serving as a robust evolution engine, consistently pushes the performance ceiling of competent backbones while catalyzing striking turnarounds for initially misaligned models. Our code is available at https://github.com/Qwen-Applications/skill-self-play.

To effectively integrate AI into high-stakes, critical environments such as healthcare, autonomous driving, and aviation--and to advance toward higher levels of automation and seamless human-AI collaboration--building trust in AI-driven solutions is essential. Trust, in turn, is closely linked to the explainability of AI systems. The rapid advancements in AI across various domains have underscored the challenges of establishing trust, raising increasing interest in AI explainability even more when applied to deep learning. In this context, the present work aims to explore the application of explainability techniques to Reinforcement Learning (RL) algorithms, specifically within the safety-critical domain of Air Traffic Control (ATC). Using a simplified ATC environment as an initial testbed, an intelligent agent is trained with a reinforcement learning algorithm to make decisions on alternative flight routes that avoid no-fly zones. As a preliminary explainability approach, a saliency map is employed, providing insights into the input features that most significantly influence the agent's decision-making process.

We formalize in Lean 4 the Kannan-Bachem Smith normal form algorithm for nonsingular square integer matrices. The program returns S,U,U^-1,V,V^-1 and proves UAV=S, U^-1SV^-1=A, four inverse identities, the Smith divisibility conditions, and equality of S with a canonical reference matrix. Stabilization terminates because each recursive pass strictly decreases the binary size of the active pivot; the outer algorithm recurses on the lower-right block. The computation also emits a flat trace of designated sign-magnitude arithmetic leaves. Branch conditions, quotients, Bezout data, and matrix entries are taken from the recorded primitive runs. Composite phases form their traces by concatenating the charge lists returned by the executed children. Verified self-delimiting codecs define the input and output sizes. Coefficient and work recurrences, closed by a kernel-checked polynomial-envelope calculus, give fixed polynomial bounds for both trace cost and the encoded length of the five output matrices. The theorem concerns these arithmetic primitives; structural operations and compiled Lean runtime are outside the model.

Reasoning Large Language Models (R-LLMs) have significantly advanced complex reasoning tasks but often struggle with factuality, generating substantially more hallucinations than their non-reasoning counterparts on long-form factuality benchmarks. However, extending online Reinforcement Learning (RL), a key component in recent R-LLM advancements, to the long-form factuality setting poses several unique challenges due to the lack of reliable verification methods. Previous work has utilized automatic factuality evaluation frameworks such as FActScore to curate preference data in the offline RL setting, yet we find that directly leveraging such methods as the reward in online RL leads to reward hacking in multiple ways, such as producing less detailed or relevant responses. We propose a novel reward function that simultaneously considers the factual precision, response detail level, and answer relevance, and applies online RL to learn high quality factual reasoning. Evaluated on six long-form factuality benchmarks, our factual reasoning model achieves an average reduction of 23.1 percentage points in hallucination rate, a 23% increase in answer detail level, and no degradation in the overall response helpfulness.

Adding procedural skills to an LLM agent is typically evaluated by average improvement in task success. However, this metric hides an important cost: skills can also make agents worse. We measure both sides by comparing agents with and without skills across nearly 6,000 runs spanning two office automation benchmarks and three model harness stacks. This allows us to distinguish two outcomes. A regression is a task solved without skills but failed after skills are added. A residual failure is a task that fails both with and without skills. We find that regressions are substantial enough that the best performing skills outperform others primarily by regressing less, not by gaining more. We identify three causes of regression: (i) skill description osmosis, a skill changes an agent's behavior simply by being present in context, even when it is never invoked; (ii) grounding displacement, a skill's prescribed procedure overrides how the agent interprets its inputs; and (iii) verification displacement, where the procedure suppresses checks the agent would otherwise perform on its outputs. Analysing persistent failures reveals the same underlying pattern. Existing skills overemphasize procedural guidance the stage least often responsible for failure while under supporting grounding and verification, the dominant sources of remaining errors. After correcting evaluation artifacts and studying traces, we find many regressions and persistent failures recoverable through better grounding and verification. Procedural skills should be evaluated by decomposing their net effect into gains and regressions, not by aggregate improvement alone. We identify three regression modes skills should avoid, and find that reliability depends more on grounding and verification than on procedural skill choice.

Training recurrent neural networks (RNNs) requires assigning credit across long sequences of computations. Standard backpropagation through time (BPTT) addresses this problem poorly: it is sequential in time, limiting parallelism, and suffers from vanishing or exploding gradients, making long-range associations difficult to learn. We propose Supervised Memory Training (SMT), a method for training nonlinear RNNs that sidesteps recurrent credit propagation entirely by reducing RNN training to supervised learning on one-step memory transition labels (m_t, x_t+1) → m_t+1. SMT acquires these memory labels by training a Transformer-based encoder on a predictive state objective–retaining only information from the past necessary to predict the future. By decoupling what to remember from how to update memory, SMT enables time-parallel RNN training with a stable O(1) length gradient path between any two tokens–without ever unrolling the RNN. We find that SMT outperforms BPTT when pretraining various RNN architectures on tasks like language modeling and pixel sequence modeling. SMT enables nonlinear RNNs to better capture long-range dependencies and train in parallel, potentially unlocking the scaling of models that build temporal abstractions of past experience.

In this paper, we propose a new solution for addressing the content cold-start problem in industry-scale search and recommender systems. Compared to prior approaches, we have made the following new contributions: 1) our solution spans the entire multi-stage funnel and generalizes well for both search and recommendation surfaces, 2) our solution reduces bias favoring existing content, allowing more accurate model prediction across content types and reducing short-term tradeoffs associated with high volumes of explicit content exploration, 3) our solution is evaluated with a scalable measurement framework that enables fast short-term experimentation while validating long-term impact. We have iteratively built and successfully deployed this new system at Pinterest in the past two years and observed significant improvements in fresh content exploration, overall user engagement, and content ecosystem health.

We develop a general framework for analyzing representation costs induced by parameter-space regularizers in data-fitting methods. For an arbitrary parametric method, we define its representation cost and native function space, prove existence, and identify conditions under which parameter-space and function-space problems have equal infimal values and minimizers transfer between them. This framework yields representer theorems and recovers classical formulations—including kernel methods and RKHSs, wavelets and Besov spaces, and shallow neural networks and variation spaces—as special cases. Our main new results concern depth-L feedforward ReLU networks with weight-decay regularization. For these networks, we prove that the representation cost is a power of a quasi-seminorm and that, under suitable hypotheses, the native space is a quasi-Banach space with nonconvex unit ball when L > 2. These results identify a novel depth-dependent quasi-Banach function-space geometry induced by weight decay.

Graph-based retrieval at billion-node scale requires jointly solving three tightly coupled problems -- graph construction, representation learning, and real-time serving -- yet existing work addresses each in isolation. We present RankGraph-2, a framework deployed at Meta that co-designs all three lifecycle stages for similarity-based retrieval (U2U2I and U2I2I), where each stage's requirements shape the others. Serving requires a co-learned cluster index to avoid expensive online KNN -- this pushes index co-training into the training objective. Training benefits from the observation that similarity-based retrieval tolerates pre-computed neighborhoods, eliminating online graph infrastructure -- this requires construction to produce self-contained data. Construction must also support hour-level refresh for item coverage. Acting on these cascading requirements, RankGraph-2 reduces hundreds of trillions of edges to hundreds of billions via subsampling with popularity bias correction, pre-computes multi-hop neighborhoods via personalized PageRank, and co-learns a residual-quantization cluster index that reduces serving computational cost by 83%. This lifecycle co-design enables a simple architecture to achieve 3.8 x higher recall than a GAT + Deep Graph Infomax model on a bipartite graph and 2.1 x higher than PyTorch-BigGraph on item retrieval. RankGraph-2 delivers up to +0.96% CTR and +2.75% CVR, and has powered 20+ retrieval launches across major surfaces.

A central design principle in modern machine learning and artificial intelligence is to align a model's inductive bias with the structure of its input data. For matrix-valued inputs, relevant matrix-level relationships can be characterised through spectral values and spectral subspaces; however, common coordinate-wise rotation-gate data-encoding unitaries used in most quantum machine learning models do not explicitly construct such a matrix-level representation. We introduce Quantum Spectral Models (QSMs), in which we construct the generator of the data-encoding unitary directly from each input matrix. We study three QSM variants based on symmetric, global block, and non-overlapping patch-local block Hamiltonians. Their outputs admit truncated Fourier representations in which input-dependent spectral gaps supply candidate phase carriers, while spectral subspaces help determine their coefficients. We evaluate the QSMs and comparison quantum models on two matrix representations of Pendigits and two controlled synthetic tasks defined by spectral statistics. At the largest evaluated circuit depth, QSM variants lead the tested quantum models in mean test accuracy across all four benchmarks. The patch-local QSM leads on Pendigits, whereas the global block-Hamiltonian QSM leads on the controlled spectral tasks. Ablations show a task-dependent reversal: subspace-preserving controls perform better on Pendigits, whereas spectral-value-only controls lead among the tested ablations on the synthetic tasks. Together, these results shed new light on quantum machine-learning model design by showing how input-conditioned spectral representations can provide an analysable inductive bias, while offering a broader perspective on structure-aware model design in machine learning and artificial intelligence.

Weather and climate models rely on parametrisations to represent unresolved sub-grid processes. Traditional schemes rely on fixed coefficients that are weakly constrained and tuned offline, contributing to persistent biases that limit their ability to adapt to underlying physics. This study presents a framework that learns components of parametrisation schemes online as a function of the evolving model state using reinforcement learning (RL) and evaluates policy-driven parameter updates across idealised testbeds spanning a simple climate bias correction (SCBC), a radiative-convective equilibrium (RCE), and a zonal mean energy balance model (EBM) with single-agent and federated multi-agent settings. Across nine RL algorithms, Truncated Quantile Critics (TQC), Deep Deterministic Policy Gradient (DDPG), and Twin Delayed DDPG (TD3) achieved the highest skill and stable convergence, with performance assessed against a static baseline using area-weighted RMSE, temperature and pressure-level diagnostics. For the EBM, single-agent RL outperformed static parameter tuning with the strongest gains in tropical and mid-latitude bands, while federated RL on multi-agent setups enabled specialised control and faster convergence, with a six-agent DDPG configuration using frequent aggregation yielding the lowest area-weighted RMSE across the tropics and mid-latitudes. The learnt corrections were also physically meaningful as agents modulated EBM radiative parameters to reduce meridional biases, adjusted RCE lapse rates to match vertical temperature errors, and stabilised heating increments to limit drift. Overall, results show that RL can learn skilful state-dependent parametrisation components in idealised settings, offering a scalable pathway for online learning within numerical models and a starting point for evaluation in weather and climate models.

Dysphagia is a debilitating late effect of head and neck cancer (HNC) treatment, yet timely identification of at-risk patients remains challenging in survivorship care. Definitive assessment relies on videofluoroscopic imaging, as captured by the Dynamic Imaging Grade of Swallowing Toxicity (CTCAE-DIGEST), which, while validated, requires specialized equipment, trained personnel, and significant patient burden, limiting its routine use in surveillance. Patient-reported outcomes (PROs), by contrast, are low-cost, scalable, and easily collected at any clinical encounter, making them an attractive alternative signal for identifying patients who may warrant further evaluation. However, a clear clinical framework for translating PRO responses into actionable interventions is still evolving. In particular, uncertainty remains regarding when a patient's self-reported symptom burden should prompt escalation of care. This study addresses this gap by formulating a single-visit PRO-clinical prediction framework and introducing a clinically interpretable two-stage stacking model to predict swallowing impairment risk using PRO responses and structured clinical variables, without requiring videofluoroscopic imaging. The proposed framework quantifies the independent contributions of patient-reported symptoms and clinical factors within a unified and interpretable risk assessment model. Our findings demonstrate that individual MDADI responses contain predictive information beyond that captured by composite or global summary scores, while interpretability analyses reveal symptom patterns and clinical risk factors associated with swallowing impairment. Together, these results support the use of structured PRO-clinical integration as a practical, imaging-free approach for dysphagia risk stratification in HNC survivorship.

Commercial large language models are increasingly used as knowledge references, yet their stance on contested scientific claims is neither stable nor transparent. We tested how four major LLM families (Claude, Grok, GPT, Gemini) evaluate ethnonationalist pseudo-science derived from Frank Salter's biosocial framework across four temporal snapshots (October 2025-February 2026), via both API and web interfaces. Grok's Fast versions (which power the default user experience on X) consistently assigned credibility scores of 70-75, two to five times higher than all other models (which scored 15-40). This pattern was absent from control prompts testing basic evolutionary consensus and refuted Lamarckian claims, where all models performed comparably. Three additional findings emerged: (1) a silent patch reversed Grok's behaviour from chaotic to stably high validation overnight, without any public documentation; (2) the same Grok model identifier produced radically divergent outputs via API (75) and web (5.5) three months later; (3) refusal to rate the pseudo-scientific claim, the most defensible response observed, appeared in two model families through different interfaces (Claude Opus 4.1 categorically via web, GPT-5.1 Chat intermittently via API) and eroded in the successor version of each. These results indicate that the epistemic stance of a commercial LLM is not a stable property of the model but a contingent effect of deployment configuration: system prompts, safety layers, interface routing, and silent updates. This remains opaque to users and researchers alike. We argue this constitutes a matter of public concern requiring new forms of epistemic accountability.

Automating theoretical research is constrained not only by the generation of candidate results, but also by their reliable evaluation. A common approach is to close the research loop with a large language model (LLM) reviewer. However, such reviewers remain empirically unreliable: they may accept fabricated papers and detect them at rates close to chance (Bad Scientist, 2025). We present CausalForge, a framework for automated theoretical research in causal inference grounded in the Lean proof assistant. CausalForge combines Causalean, a foundational Lean library for causal inference containing 7,035 machine-checked declarations developed with language-model assistance under human design and review, with CausalSmith, a self-improving agentic pipeline that selects research topics, proposes results, formalizes statements, constructs proofs, and presents the resulting artifacts for human inspection. Because a machine-checked proof establishes only that a formal statement follows from its assumptions, not that the statement faithfully captures the intended scientific claim, the pipeline augments kernel verification with a statement audit that compares each formal theorem against the informal claim it is intended to express. We evaluate the system using artifacts produced by completed autonomous research runs. The source code, formal library, and run records are available at https://github.com/Jiyuan-Tan/CausalForge.

Manus AI is a general-purpose AI agent introduced in early 2025, marking a significant advancement in autonomous artificial intelligence. Developed by the Chinese startup Monica.im, Manus is designed to bridge the gap between "mind" and "hand" - combining the reasoning and planning capabilities of large language models with the ability to execute complex, end-to-end tasks that produce tangible outcomes. This paper presents a comprehensive overview of Manus AI, exploring its core technical architecture, diverse applications across sectors such as healthcare, finance, manufacturing, robotics, and gaming, as well as its key strengths, current limitations, and future potential. Positioned as a preview of what lies ahead, Manus AI represents a shift toward intelligent agents that can translate high-level intentions into real-world actions, heralding a new era of human-AI collaboration.

Electroencephalography (EEG) is widely used to diagnose neurological conditions, but its analysis usually relies on either predefined spectral features or deep neural networks. Predefined features carry a strong bias, since they fix in advance what counts as informative, while deep neural networks and foundation models are hard to interpret and need large amounts of data and compute. We present bag-of-waves, an interpretable framework that learns a small dictionary of recurring EEG waveform templates, called atoms, using shift-invariant k-means without labels. The continuous EEG is then turned into a sequence of atom tokens, whose counts feed a simple downstream classifier or clustering step. We extend this representation in two ways: we add atom-to-atom transitions, which we call n- grams, to capture temporal structure, and we move from single-channel atoms to regional and cross-channel spatial atoms for the multichannel case. We test the method on three complementary datasets, each probing a different aspect: single-channel mouse genotype clustering with only sixteen animals (the low-data and temporal case), resting-state dementia classification (the spatial case), and the TUEV benchmark, a six-way classification of clinical EEG events (a high-data comparison against strong deep and foundation baselines). Across all three datasets, bag-of-waves achieves performance competitive with state-of-the-art deep and foundation models. Yet, it operates with a fraction of the parameter count and provides full interpretability: because every atom corresponds to an inspectable waveform, the method explicitly recovers known clinical morphologies that a neurophysiologist can directly validate. Its main advantage is that it works in the low-data regime where heavier models are a poor fit.

Accurate ultrasound image segmentation is fundamentally challenged by target-context entanglement, where lesion cues are easily mixed with surrounding tissues and artifacts of similar appearance. Although existing methods often localize suspicious regions reasonably well, they remain vulnerable to ambiguous predictions because they mainly strengthen feature extraction or context aggregation, rather than explicitly organizing how lesion and interference cues are represented and distinguished. To address this limitation, we propose Channel-Aware Region Extrication (CARE), a segmentation framework that improves ultrasound segmentation by progressively extricating lesion evidence from visually entangled context. Instead of merely reweighting features, CARE explicitly separates encoded responses according to their lesion relevance and then re-evaluates the resulting complementary representations through reciprocal region interaction, so that suppressed lesion cues can be recovered while misleading contextual activations are corrected. In this way, CARE promotes target-context discrimination directly in the learned representation, without sacrificing localization quality. Extensive experiments on BUSI, BUSIS, and TN3K benchmarks show that CARE consistently achieves superior performance, thereby validating representation extrication as an effective solution for addressing the inherent visual ambiguity in ultrasound segmentation.

A main barrier for the deployment of AI radiomic systems in clinical routine is their drop in performance under heterogeneous multicentre acquisition protocols. This work presents a performance-oriented framework for quantifying scan parameter sensitivity of radiomic AI models, while identifying clinically significant parameter regions associated with improved cross-dataset robustness. Mixed-effects modelling in combination with a hierarchical Pareto-based strategy is used to quantify the influence of acquisition parameters and select critical values associated to low performance of predictive models. We apply our framework to lung cancer diagnosis in CT scans using two independent multicentre datasets (a public dataset and own-collected private data) and several state-of-the-art architectures. To evaluate transferability of results, CT parameters were selected using the private data and validated on the public set. With the selected configurations, validation in low performance conditions has 0.72 ([0.59,0.86], 95% CI) accuracy and 0.71 ([0.58, 0. 84], 95% CI) F1Score, while in high performance ones, we obtain 0.88 ([0.7, 1.0], 95% CI) accuracy with 0.87 ([0.69, 1.0], 95% CI) F1Score.

Asynchronous reinforcement learning improves throughput by decoupling rollout generation from optimization, but the resulting staleness is an inevitable byproduct, compounded jointly by policy lag, engine delays, and mixture-of-experts routing. From a trust-region perspective, this mismatch is critical: in the finite-horizon improvement bound, training-inference divergence governs the approximation error, whereas PPO clipping only gates sampled outward updates and therefore acts as a sampled surrogate rather than a full-policy constraint. As a result, the high-staleness update can remain weakly controlled in exactly the asynchronous regime where stale rollouts matter most. We introduce the Staleness-Adaptive Trust Region (SAT), which uses the detached sampled log-ratio as a practical staleness proxy, identifies the high-mismatch tail within each batch through Staleness-based kernel function scaling, and contracts only the sign-selected endpoint of the nominal PPO interval using Effective contraction factors. This design preserves the baseline behavior on ordinary tokens, while making the update more conservative exactly on newly intercepted outward bands. We evaluate SAT in a fully decoupled asynchronous reinforcement learning setup built on Qwen3-30B-A3B-Base, leveraging SGLang as the inference engine and Megatron as the training pipeline. In this setting, SAT-GSPO w/ R3 attains the best observed AIME24 avg@8, reaching 35.83 at lag 1 and 34.79 at lag 8, while SAT-GSPO reaches 34.17 at lag 1. More broadly, the results indicate that aligning the clip interval with observed staleness heterogeneity is an effective way to stabilize the reported asynchronous regime.

We study online metric facility location in the random-order model with arbitrary positive opening costs. A finite set of candidate facilities and their costs is known in advance, while an adversary fixes a multiset of demand points that arrives in a uniformly random order. This setting includes both prescribed candidate sites and the classical finite full-space node-cost model. For a known horizon, we give a deterministic 4.2674-competitive algorithm, improving the previous factor 33 for nonuniform opening costs. At rank t, the algorithm uses the positive normalized rank q_t=t/n, chooses a candidate minimizing d(x,y)+λ_t f_y, where λ_t=min{1,q_t/μ}, and opens it when the current connection distance covers this penalized objective. The analysis uses a monotone one-round charge and an upper-envelope decomposition to control later points and the first point of each optimal cluster. With unit opening costs, the rule reduces exactly to a cutoff on the distance improvement attainable from a nearest candidate. A supplementary appendix gives the sharper analysis of the closely related zero-start rank cutoff and obtains a ratio below 3.2805. We also prove a 3-o(1) lower bound for arbitrary randomized online algorithms. The lower bound already holds with uniform costs on a prescribed candidate set and transfers, without loss, to the finite full-space model with nonuniform opening costs. Together with the recent competitive ratio below 2.42 for full-space uniform costs, this yields a strict separation between the full-space uniform- and nonuniform-cost models.

Collision anticipation in autonomous driving requires not only accurate early warnings but also interpretable reasoning about what risk factors are being tracked and how risk evolves over time. Existing methods fall short in this regard: feature-driven models are opaque, post-hoc explanations often lack fidelity, and concept-based methods are mostly designed for static recognition rather than dynamic driving scenes. We propose CARA (Concept-Aware Risk Attention), an intrinsically interpretable spatio-temporal framework for collision anticipation. CARA derives domain-grounded risk concepts from accident narratives, aligns them with video frames via vision-language similarity, and organizes them into evolving concept trajectories. These trajectories provide explicit risk evidence that guides spatial attention, temporal attention, and anticipation, allowing semantic concepts to directly influence both where the model attends and how it predicts risk over time. By treating semantic risk factors as dynamic intermediate evidence rather than auxiliary post-hoc explanations, CARA tightly couples interpretability with the predictive process. Extensive experiments on three benchmarks show that CARA consistently improves anticipation accuracy and warning earliness over strong baselines, while providing sparse and semantically grounded concept evidence.

Volatility forecasting is dominated by persistence and measurement noise, leaving limited residual structure for nonlinear models to exploit. We introduce Susceptible Architectures (SUSA), a reservoir-design principle for volatility forecasting, and its two concrete implementations, based on complex-valued open-chain and periodic reservoirs and regime-conditioned experts to interpret reservoir features across calm, onset, recovery, and persistent-stress states. We also implement open-system q-qubit counterparts in Qiskit while retaining a common AR-Ridge anchor and a bounded residual correction trained under QLIKE. We evaluate models on 16 U.S. equity and exchange-traded-fund series using three disjoint chronological training, validation, and test folds, a 12-observation input window, and a five-observation forecast horizon. The proposed models perform competitively with GARCH, achieving statistically significant QLIKE improvements for specific assets (IWM, XLP). Also models' forecasts complement HARQ-style predictions: a stacked ensemble improves mean QLIKE by 0.0116 over its strongest constituent and wins in 75

Scalable and maintainable maps are fundamental to large-scale navigation and the long-term deployment of robots in real-world environments. However, conventional maps that explicitly maintain dense geometry or 3D landmarks incur high storage and maintenance costs, while the core challenge of scaling to multi-session mapping is visual localization under sparse viewpoint overlap, temporal appearance shifts, and cross-device variance. To address this, we propose OpenNavMap, a lightweight, landmark-free topometric mapping system that organizes image nodes into covisibility, odometry, and traversability graphs and delegates local geometry recovery to 3D geometric foundation models (GFMs) on demand. For localization, dynamic-programming-based sequence matching narrows candidate correspondences for a GFM, reducing global estimation to a lightweight, pose-only optimization; for mapping, a lifelong pipeline fuses multi-session, multi-device data via cross-device merging and node culling. On a 19km dataset across four real-world environments, attains a state-of-the-art 0.62m translation error on the Map-Free benchmark, bounds the absolute trajectory error below 3m across 15.7km without depth sensors, and completes 12 autonomous image-goal visual navigation tasks on both simulated and physical robots. Code and datasets will be made publicly available at https://rpl-cs-ucl.github.io/OpenNavMap_page.

Low-Rank Adaptation (LoRA) has become a widely adopted technique for efficient neural network fine-tuning, decomposing model updates into low-rank matrices. However, LoRA remains computationally costly because it updates all matrices uniformly, regardless of their actual contribution to adaptation. This cost is especially prohibitive for large-scale models with billions of parameters and for resource-constrained settings such as edge deployment and on-device fine-tuning. We show for the first time that not all LoRA matrices are equally worth tuning: matrices with smaller condition numbers (the ratio of largest to smallest singular value) are already well-balanced across directions and contribute only marginally to adaptation, whereas matrices with larger condition numbers contain underdeveloped directions that span richer subspaces and drive most of the performance gains. This observation itself is a key contribution of our work, and it motivates a more selective approach to fine-tuning. Building on this insight, we propose ąp̨p̨ą-LoRA, a method that optimizes LoRA by focusing updates on the matrices with the largest condition numbers, which capture the most informative directions of change. By restricting LoRA updates to the top 50

Images captured in challenging environments often experience various types of degradation, such as noise, color cast, blur, and light scattering. These issues significantly lower image quality, thereby reducing their usefulness in downstream tasks such as object detection, mapping, and classification. Our transformer-based diffusion model was developed to address image restoration challenges and enhance the quality of degraded images. Our methodology is assessed across three primary image restoration tasks, including underwater enhancement, denoising, and deraining, utilizing five standard benchmarks. It is then compared to 18 state-of-the-art techniques, employing four evaluation metrics. Our results show that the diffusion model, combined with transformers, outperforms current methods. The findings highlight the effectiveness of diffusion models and transformers in improving degraded image quality, thereby broadening their application in downstream tasks that demand high-fidelity visual data

Control valve stiction is a common cause of unwanted oscillations and poor control-loop performance in industrial processes. Data-driven methods can automatically detect stiction, but models trained purely on simulated data often struggle to generalize to real industrial control loops due to domain shift. To bridge this gap, this work propose a novel stiction detection methodology that combines optimal transport (OT) imaging technique with deep correlation alignment (Deep CORAL) algorithm. Closed loop signals: controller output and process variable are converted into two-dimensional OT images. These images capture the dynamic behaviour of control loops. The proposed methodology includes a convolutional neural network (CNN) encoder (or feature extractor) trained to learn domain-invariant representations by optimizing a combined objective: a cross-entropy loss on labeled simulation data and a Deep CORAL (covariance-alignment) loss between simulation data and unlabeled target-domain industrial data. Downstream classifiers trained on the domain-invariant target features were evaluated on an independent test set of 20 benchmark loops from industrial stiction data benchmark. The proposed methodology successfully diagnosed 18 out of the 20 loops and achieved100% recall across all 13 stiction cases, an accuracy of 90.00% and an F1-score of 92.86%. Compared to standard baseline approach (hand-crafted features-based method), the proposed methodology significantly mitigates domain shift, providing robust, highly reliable stiction detection for real-world industrial control loops.

Singular value soft-thresholding can be computed via a reduction to the matrix polar decomposition, which allows one to exploit GPU-friendly algorithms for computing the polar decomposition. Empirically, there is a significant speed-up on GPUs compared to the standard approach using the SVD. We leave the investigation of robustness to future work, but note that due to the discontinuous nature of the sign function, the reduction to the polar decomposition is likely only suitable for low-accuracy applications.

The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with standardized joint and Cartesian command interfaces. It addresses a key limitation of existing control software: no reusable infrastructure for implementing compliant-control algorithms across different manipulators while preserving a common interface to higher-level applications. A plugin-based architecture separates controller infrastructure from control-law implementation. Generic wrappers use existing hardware abstractions to interface with different manipulators, while runtime-loaded plugins implement only the control law. Command interfaces support joint- and Cartesian-space references, stiffness and damping gains, nullspace targets, and feedforward terms, enabling variable impedance and diverse compliant-control formulations. Robot kinematics and dynamics are computed from URDF models using Pinocchio. The architecture facilitates the development of compliant-control strategies and enables the same implementation to be deployed across platforms unchanged. The complete framework, including reference controllers, high-level task interfaces, and example configurations for various manipulators, is open-sourced. The reference Cartesian impedance controller supports task-dependent compliance by rotating translational and rotational stiffness and damping, allowing the principal compliance directions to be updated online according to local task geometry rather than remaining fixed in the robot base or TCP frame. This is particularly important in contact-rich manipulation, where the desired directions of motion, constraints, and compliance directions may vary throughout task execution. Real-robot experiments demonstrate task-dependent compliance in contact-rich manipulation, while simulations show portability across manipulators with distinct kinematic and dynamic characteristics.

In overparameterized linear regression, many weak spectral directions act like a ridge penalty on the signal-bearing spectrum; negative ridge is the natural correction, pushing filters above one. The stable negative-ridge endpoint, however, is structurally limited: its pole must stay below the smallest nonzero empirical eigenvalue, and it anti-shrinks smaller eigenvalues more than larger ones. Early-stopped negative-shifted gradient descent escapes this constraint. Its filter is smooth at the would-be pole and mixed-sign-capable: above-ridgeless directions form a leading prefix, with lower directions shrunk or exposure-controlled while stopping sets the crossover. In a Gaussian spike-plus-flat model we discover a Marchenko-Pastur barrier: the shift that cancels the implicit penalty lies a bulk width above the smallest empirical eigenvalue, and the stopped path improves on every admissible endpoint by a polynomial factor in risk under explicit conditions. Our main theorem permits a general high-effective-rank tail: its trace sets the implicit floor, its squared spectrum controls exposure, and the floor-critical path recovers all head scales at once, beyond positive shrinkage and, once scales separate, every uniform rescaling of ridgeless. Handling the noncontractive shifted dynamics is the central technical challenge; localized Duhamel integrals control them. A finite-grid hold-out inequality transfers the separations to the validation-selected algorithm.

We study contextual bilateral trade under full feedback when, conditionally on the context, trader valuations have bounded density but infinite variance. We first extend the self-bounding property of Bachoc et al. (ICML 2025) from bounded to real-valued valuations, showing that the expected regret of any price π satisfies E[g(m,V,W) - g(π,V,W)] ≤ L|m-π|^2 under bounded density and finite first moments alone. Combining this with truncated-mean estimation, we prove that an epoch-based algorithm achieves regret O(T^1-2β(p-1)/(βp + d(p-1))) when the noise has finite p-th moment for p ∈ (1,2) and the market value function is β-Hölder, and we establish a matching Ω(·) lower bound via Assouad's method with a fixed-support mixture construction. Our results characterize the minimax rate in T for this problem up to logarithmic factors, interpolating between the classical nonparametric rate at p=2 and the trivial linear rate as p → 1^+. Finally, we show these rates are achievable by fully parameter-free algorithms: median-of-means pricing attains the parametric oracle rate with no knowledge of (p, σ_p) or the parameter norm, and a cell-width tournament extends this jointly to the tail and smoothness parameters when β≤ d – under full feedback, tail-adaptivity is free.

Large Language Model (LLM)-based Test-Driven Development (TDD) has advanced automated code generation. However, existing approaches depend heavily on human-crafted test cases and cannot operate effectively when only natural-language requirements are available. Although recent work enables automatic test generation, it often overlooks the inherent stochasticity of LLMs, leading to two key defects: faulty tests generate misleading feedback that distorts code optimization, while mixed-quality test cases produce conflicting evaluation signals that hinder reliable code selection. To address these challenges, we propose MineValiCoder, a collaborative closed-loop TDD framework based on the mutual reinforcement of test-case quality and code quality. MineValiCoder comprises three modules. The Test Case Quality Mining (TCQM) module filters faulty test cases through self-validation, providing reliable optimization supervision. The Parallel TDD Refinement module iteratively optimizes code and generates diverse high-quality code candidates using validated test-case feedback. The Bipartite Graph-Based Code-Test Mutual Validation (BiCoTeV) module dynamically models code-test interactions and performs mutual validation scoring for stable and reliable optimal-code selection. Extensive evaluations across four LLMs and mainstream benchmarks show that MineValiCoder significantly outperforms state-of-the-art methods. Specifically, it achieves Pass@1 scores of 96.34% on HumanEval, 87.40% on MBPP, 64.00% on APPS, and 51.33% on LiveCodeBench. These results demonstrate the effectiveness of MineValiCoder in mitigating LLM stochasticity and improving the reliability of automated code generation.

Monocular depth foundation models achieve remarkable generalization by learning large-scale semantic priors, but this creates a critical vulnerability: they hallucinate illusory 3D structures from planar/low-curvature but perceptually ambiguous inputs. We term this failure the 3D Mirage. This paper introduces a novel end-to-end framework to probe, score, and tame this under-quantified safety risk in monocular depth under context variation. To probe, we present 3D-Mirage, the first benchmark to combine context variation and precise annotation for real-world illusions with real object exclusions, multi-surface support; purpose-built to stress-test monocular depth on real-world illusions. To score, we propose a second-order magnitude-based evaluation with two metrics: the Deviation Composite Score (DCS) for high second-order 3D structure and the Confusion Composite Score (CCS) for contextual instability. To tame this failure, we introduce Grounded Self-Distillation, a parameter-efficient strategy on Depth-Anything-V2 baseline that surgically targets and resolves hallucination on illusion ROIs while preserving background knowledge, avoiding catastrophic forgetting. Our work provides an innovative pipeline for diagnosing and addressing this phenomenon, urging a necessary shift in the evaluation of MDE from pixel-wise accuracy to structural and contextual robustness.

Quantum state preparation is a key component of many quantum algorithms. Performing this step efficiently is essential for realizing practical quantum advantage in quantum chemistry applications. Iterative algorithms like ADAPT-VQE can produce shallow ground-state preparation circuits, but become computationally prohibitive for the larger molecules relevant to materials science and pharmaceutical development. Here, we introduce ADAPT-GQE, a generative AI framework that learns to synthesize ground-state preparation circuits for electronic structure calculations. We first use ADAPT-VQE to generate high-quality reference circuits, which are then used as targets for training models for circuit generation. Once trained, the model can efficiently propose and score circuits, enabling reinforcement learning (RL) to drive circuit generation accuracy beyond the accuracy of the ADAPT-VQE training data. This pipeline achieves order-of-magnitude reductions in circuit generation time relative to ADAPT-VQE while maintaining comparable or improved state-preparation accuracy. We demonstrate ADAPT-GQE on imipramine, a well-established tricyclic antidepressant that serves as a representative, challenging target for computational modelling in drug stability protocols. We execute generated circuits on Quantinuum Helios-1, representing a milestone for AI-generated quantum chemistry circuits on state-of-the-art quantum hardware. These results establish a pathway toward automated quantum circuit synthesis for utility-scale quantum computational chemistry.

While LLMs have seen substantial improvement in reasoning capabilities, they also sometimes overthink, generating unnecessary reasoning steps, particularly under uncertainty, given ill-posed or ambiguous queries. We introduce statistically principled early stopping methods that monitor uncertainty signals during generation to mitigate this issue. Our first approach is parametric: it models inter-arrival times of uncertainty keywords as a renewal process and applies sequential testing for stopping. Our second approach is nonparametric and provides finite-sample guarantees on the probability of halting too early on well-posed queries. We conduct empirical evaluations on reasoning tasks across several domains and models. Our results indicate that uncertainty-aware early stopping can improve both efficiency and reliability in LLM reasoning, and we observe especially significant gains for math reasoning.

State Space Models (SSMs) model long token sequences of point cloud with linear complexity, but require an unordered point cloud to be serialized. Existing methods mainly address this requirement by designing or learning a better token order. Even a well-constructed order, however, cannot preserve every local relation on an irregular 3D surface: a fixed sequence may still mix points that are close in index but distant in 3D or belong to different object parts. We propose DM3D, a dynamic Mamba architecture that preserves the base token order while adapting local feature support and state propagation. First, according to local feature context, DM3D learns spatial and sequence offsets without constructing a global permutation. Then, spatial offsets adjust the sampling anchors in 3D space, whereas sequence offsets guide feature resampling within a local sequence window, which lets different slots draw from overlapping local supports while retaining their identities. This design preserves the global prior of the original traversal, allowing each token to aggregate a more suitable local context. Second, the state update is modulated by the 3D distance between points at adjacent sequence positions, thereby reducing information propagation when these points are spatially far apart. DM3D reaches 95.2\% accuracy on the ModelNet40, 93.3\% accuracy on the PB\_T50\_RS split of ScanObjectNN, and 84.8\% class mIoU on ShapeNetPart. Extensive experiments on benchmark datasets show that DM3D achieves strong and competitive performance, validating the effectiveness of local feature adaptation for point cloud understanding.

Data scarcity poses a fundamental challenge in training generative models to produce initial guesses for parametric optimization problems that are otherwise numerically expensive to solve. We therefore study a k-neighborhood data collection strategy that augments datasets of converged solutions with intermediate solver iterates, increasing the amount of training data without additional solver runs. To understand the benefits of this approach, we derive a generalization bound based on Rademacher complexity that reveals the role of the k-neighborhoods and related parameters. To achieve this result, we focus on one-sided box-constrained quadratic programs solved by projected gradient descent. We illustrate the behavior of this solver on two examples. The approach proposed in this paper enables a more capable DDDAS paradigm by improving the efficiency of the data-model-optimization loop. We finish by discussing two views of learning solver-iterate data and connect our analysis with GLENS, a new data-efficient global search method.

Robust and privacy-preserving indoor scene understanding remains a fundamental open problem. While optical sensors such as RGB and LiDAR offer high spatial fidelity, they suffer from severe occlusions and introduce privacy risks in indoor environments. In contrast, millimeter-wave (mmWave) radar preserves privacy and penetrates obstacles, but its inherently low spatial resolution makes reliable geometric reasoning difficult. We introduce RISE, the first benchmark and system for single-static-radar indoor scene understanding, jointly targeting layout reconstruction and object detection. RISE is built upon the key insight that multipath reflections-traditionally treated as noise-encode rich geometric cues. To exploit this, we propose a Bi-Angular Multipath Enhancement that explicitly models Angle-of-Arrival and Angle-of-Departure to recover secondary (ghost) reflections and reveal invisible structures. On top of these enhanced observations, a simulation-to-reality Hierarchical Diffusion framework transforms fragmented radar responses into complete layout reconstruction and object detection. Our benchmark contains 50,000 frames collected across 100 real indoor trajectories, forming the first large-scale dataset dedicated to single, static, radar-based indoor scene understanding. Extensive experiments show that RISE reduces the Chamfer Distance by 60% (down to 16 cm) compared to the state of the art in mmWave layout reconstruction, and delivers the first mmWave-based object detection, achieving 58% IoU. These results establish RISE as a new foundation for geometry-aware and privacy-preserving indoor scene understanding using a single static radar. Our website and code are available at https://rise-cvpr.github.io.

Routing to select large language models (LLMs) with different cost-quality trade-offs has become a fundamental deployment feature of enterprise AI. Existing routers, primarily make independent routing decisions for each LLM call. However, agentic applications execute as long-horizon workflows whose quality is determined only by a delayed, task-level outcome. This mismatch prevents per-call routers from correctly attributing feedback to individual routing decisions. Towards mitigating this, we present TRACE-Router, a task-level routing framework that aligns routing with the unit of supervision. TRACE-Router assigns each task to a model once at admission using a contextual bandit, pins all subsequent LLM calls to the selected backend, and updates its policy using the task's terminal reward, jointly accounting for accuracy and latency. By leveraging delayed task feedback, TRACE-Router learns routing policies that adapt to the workload while avoiding explicit task-complexity estimation. Across three agentic benchmarks, TRACE-Router consistently improves the accuracy-latency trade-off, achieving non-dominated Pareto frontier points. On tau2-Bench, it outperforms latency-matched interpolation between individual models by 7-8 accuracy points, while on Terminal-Bench it achieves 7.1 higher accuracy points than the strongest single model baseline with 36% lower latency.

Road topology reasoning is fundamental for autonomous driving, requiring both accurate perception of road elements and understanding of their complex connectivity, including lane connectivity (Lane-to-Lane, L2L) and traffic regulation (Lane-to-Traffic signs, L2T). However, existing methods typically treat perception and topology reasoning as fragmented tasks, ignoring their potential for mutual enhancement. Crucially, while topology is inherently relational, prior works often overlook geometric relationships during feature extraction, relying instead on brittle post-processing or coordinate-based heuristics applied only at inference time. To bridge this gap, we propose CoPo (Coherent Perception and toPology), a unified framework that integrates geometry-guided relational modeling across three levels: 1) Perception-level: We introduce a relation-aware lane detector that utilizes geometry-biased self-attention and curve-guided cross-attention to enrich lane representations with structural priors; 2) Reasoning-level: We design relation-enhanced topology heads, including a geometry-enhanced L2L head and a cross-view L2T head, which effectively align features to infer connectivity; and 3) Supervision-level: We implement a contrastive InfoNCE strategy to regularize relational embeddings, pulling connected pairs closer in the latent space. This coherent multi-level design enables end-to-end joint optimization of perception and reasoning. Extensive experiments on OpenLane-V2 demonstrate that CoPo significantly outperforms existing methods, achieving gains of +3.1 in DET_l, +5.3 in TOP_ll, +4.9 in TOP_lt, and +4.4 overall in OLS, setting a new state-of-the-art.

Generative AI is reshaping programming education, yet educators often infer students' AI-supported learning from classroom observations alone. This experience report presents a trio-ethnography involving two computing educators with different teaching philosophies and one undergraduate computer science student to examine how these interpretations evolve through dialogue. Across three conversations, the educators reflected on students' AI use, discussed changes to programming pedagogy, and revisited their assumptions after engaging with the student's lived experiences. Rather than simply confirming or contradicting the educators' perspectives, the student's narratives revealed learning processes that were largely invisible in the classroom, prompting both educators to reconsider assumptions about AI use, assessment, transparency, and programming instruction. We argue that trio-ethnography offers a valuable reflective approach for helping computing educators move beyond observable student behaviors toward a richer understanding of AI-supported learning and for informing instructional adaptation in the era of generative AI.

Anomaly detection is essential for robotic perception and industrial inspection, yet most benchmarks are collected under controlled conditions with fixed viewpoints and stable illumination. These settings do not reflect robotic deployment, where camera pose, lighting, and surface reflectance vary continuously. We present RAD (Realistic Anomaly Detection), a robot-captured multi-view benchmark for pose-agnostic anomaly detection. RAD contains 5,848 RGB images from 13 everyday object categories, captured from 68 viewpoints per object with a Franka robotic arm and an RGB-D camera under uncontrolled lighting. The dataset covers four realistic defect types: scratched, missing, stained, and squeezed, with pixel-level annotations for localization. We benchmark representative 2D feature-based methods, 3D reconstruction pipelines, and vision-language models under a realistic setting in which test poses are unknown. Results show a clear gap between performance on conventional benchmarks and performance on RAD. Strong 2D feature-embedding methods remain the most reliable at image-level detection, whereas 3D approaches are more competitive for pixel-level localization but remain vulnerable to reflective materials, geometric symmetry, and sparse viewpoint coverage. Vision-language models perform poorly in both classification and localization. RAD provides a challenging testbed for robust robotic inspection and highlights open problems in jointly modeling appearance, geometry, and viewpoint uncertainty. Our website and code are available at https://chang-xinhai.github.io/rad-website/.

Understanding the impact of large language models (LLMs) on mathematics education requires data on LLMs' mathematical performance and biases. To this end, we introduce Math Education Digital Shadows (MEDS), a dataset mapping how LLMs reason about mathematics across human- and AI-like personifications. MEDS comprises 28,000 runs from 14 LLMs (i.e., Mistral, Qwen, DeepSeek, IBM Granite, Microsoft Phi, and xAI Grok) generated under human-shadow and AI-assistant conditions. Each record (digital shadow) includes a set of prompts; psychological and sociodemographic metadata; and four mathematics tasks: (i) interviews about relationships with mathematics, (ii) three psychometric questionnaires on mathematics self-efficacy and anxiety, (iii) one cognitive network capturing attitudes towards mathematics, and (iv) 18 high-school mathematics quiz items enriched with reasoning explanations and confidence scores. Analyses of the data show that LLMs exhibit differences in attitudes and performance across human-shadow and AI-assistant modes, including human-like negative attitudes towards mathematics, logical fallacies, and overconfidence in mathematics. As a data resource, MEDS can benefit learning scientists and developers of safer AI tutors in mathematics.

Do learned audio embeddings encode structure that nobody told them to encode? We probe four large pretrained audio models (AST, CLAP, BEATs-bio and BirdNET) with a downstream task none of them saw during training: recovering phylogenetic distance from species vocalizations. If the geometry of the embedding space tracks the tree of life, the representation is picking up something deeper than the labels the model was optimized for. We run Mantel tests across two independent radiations. In 32 marine mammal species (1,754 recordings from the Watkins Marine Mammal Sound Database) the foundation models recover strong phylogenetic signal within the 26 cetaceans (CLAP r=0.82, BEATs-bio r=0.82, AST r=0.74; all p<0.001), among the highest acoustic-phylogenetic correlations reported for any taxon. Hand-crafted MFCC features (105d) find nothing (r=0.040, p=0.338). The gap survives after PCA-projecting every embedding down to 105 dimensions, so it is not an artefact of representation size. It also survives a partial Mantel test controlling for dominant frequency (partial Mantel r=0.404, keeping 97% of the variance explained), so it is not just pitch in disguise. We repeat the analysis on 20 bird species using the Jetz et al. (2012) phylogeny, and this time add BirdNET, a classifier trained end-to-end on around 6,000 bird species. The general-purpose foundation models recover the signal again (AST r=0.55, CLAP r=0.52). The unexpected result is that neither BirdNET nor the bioacoustic BEATs-bio beat them (r around 0.32 to 0.36). Matching the training domain to the target taxon does not, by itself, help. Pretrained audio embeddings carry evolutionary information across two independent radiations, and domain-specific pretraining is not required for it to emerge.

We study a generalization of the standard approval-based model of participatory budgeting (PB), in which voters are providing approval ballots over a set of predefined projects and---in addition to a global budget limit, there are several groupings of the projects, each group with its own budget limit. We study the computational complexity of identifying project bundles that maximize voter satisfaction while respecting all budget limits. We show that the problem is generally intractable and describe efficient exact algorithms for several special cases, including instances with only few groups and instances where the group structure is close to be hierarchical, as well as efficient approximation algorithms. Our results could allow, e.g., municipalities to hold richer PB processes that are thematically and geographically inclusive.

Existing lexical distance, similarity, and evaluation metrics operate on Unicode code points, which can misrepresent errors in writing systems where a single grapheme is represented by multiple Unicode code points. We introduce grapheme-kit, an open-source Python library that extends these metrics to operate on grapheme clusters instead. The library also provides improved grapheme processing for Tamil and Sinhala, including accurate grapheme cluster identification and grapheme composition/decomposition utilities. Through an OCR case study, we demonstrate that grapheme-level metrics provide a more faithful evaluation of complex scripts.

Air-gapped and on-premises deployments in regulated settings (clinical FHIR services, legal review, sovereign infrastructure) cannot call frontier APIs; they run quantized 4-8B models via llama.cpp or vLLM behind tool servers. The dominant reliability failure is omission: the silent absence of a decision-critical fact, such as an agent reading 20 of 400 records and reporting "no anomalies." We argue omission is a pipeline phenomenon, not a model phenomenon, and make four contributions. First, a nine-layer taxonomy (L0-L8) locating every omission mechanism from ingestion through the agent loop. Second, an attribution methodology separating deterministic layers (L0-L3) from behavioral layers (L4-L8) via controlled ablation and logit decomposition, quantifying each with an omission waterfall. Third, an open cross-architecture harness comparing sliding-window-hybrid, full-attention, and SSM-hybrid models across engines and frameworks. Fourth, a runtime-detection framework for air-gapped settings where you own the logits. Results from a 75,476-trial sweep across five models and two engines show a pooled omission rate of 0.62; 68% originates in deterministic middleware (L0-L3), relocating where operators should intervene. Server-side profile factors (weight quantization, KV-cache type, RoPE scaling) were fixed and left for future work.

Recent radiance field methods represent scenes with 2D primitives that offer surface alignment and efficient rasterization, from Gaussian disks to triangles, yet all rely on convex boundaries: curved and concave structures demand excessive primitives. We introduce Deformable Triangle Splatting, which augments each triangle with K control points per edge, each parameterized by a single learnable scalar displacement that shifts the boundary inward or outward, enabling non-convex shape representation while preserving the three base vertices that define the 3D plane. To render these non-convex primitives differentiably, we design a rasterization pipeline in the triangle's barycentric coordinate space, ensuring view-consistent rendering. A winding number test determines whether each pixel lies inside the deformed primitive, and a window function controlled by two learnable parameters, sharpness and corner smoothness, together with a per-primitive scalar opacity, produces the smooth opacity transition from interior to boundary. Validation is done in a variety of real-world scenes, outperforming recent works based on non-volumetric primitives in terms of visual quality and versatility while still achieving competitive rendering efficiency.

Enterprise AI agents are typically granted static credential sets at configuration time, holding every tool the role might need for every task they perform. This persistent over-privilege expands the attack surface. We argue that capability scoping must follow a dynamic least-privilege principle and be treated as a prevention mechanism before a detection one. A credential that does not exist in an agent's context cannot be misused regardless of the agent's reasoning or evasion sophistication. We outline a three-source architecture instantiating this principle: role-based ceilings, a task-context classifier, and policy-derived combination prohibitions creating a layered proactive defense against LLM agent misalignment and misuse cases. The architecture supports both enforcing and observe-only deployment; the latter records agent permission requests inconsistent with task context, producing a behavioral signal usable in misalignment research. As a first step toward evaluating this architecture, we contribute a synthetic dataset of 600 enterprise task prompts grounded in a multi-department company policy, labeled with minimum required permissions across a 15-permission tool-based taxonomy that maps directly to deployable credentials or enforceable guardrails. The dataset is constructed via a two-pass pipeline that separates prompt generation from permission labeling to avoid circularity, and is validated against a 60-record/688 decisions human-reviewed sample (Cohen's κ= 0.917 pre-review and κ= 0.967 post-review). Iterating between dataset and policy reduced ceiling violations from 46 to 3, a 93

Process Reinforcement Learning (PRL) has demonstrated considerable potential in enhancing the reasoning capabilities of Large Language Models (LLMs). However, introducing additional process reward models incurs substantial computational overhead, and there is no unified theoretical framework for process-level advantage estimation. To bridge this gap, we propose Self-Guided Process Reward Optimization (SPRO), a novel framework that enables process-aware RL through two key innovations: (1) we show that process rewards can be derived intrinsically from the policy model itself, and (2) we redefine step-wise advantage by introducing well-defined Cumulative Process Rewards (CPR) and Masked Step Advantage (MSA), which facilitates rigorous step-wise action advantage estimation within shared-prompt sampling groups. Our experimental results show that SPRO outperforms vanilla GRPO with 3.4x higher training efficiency and a 12.9% test accuracy improvement. Furthermore, SPRO maintains a stable and elevated policy entropy throughout training while achieving a considerable reduction in response length, evidencing sufficient exploration and prevention of reward hacking. Notably, SPRO incurs no additional computational overhead compared to outcome-supervised RL methods such as GRPO, which benefit industrial implementation.

For scale-invariant deep networks, Hyperball-style optimizers have shown strong performance in large-scale training by fixing the norms of matrix-valued parameters and normalizing updates. However, the source of their advantage remains unclear. Starting from the angular displacement between consecutive parameter states, we derive an angular effective learning rate that accounts for the parameter-update angle, parameter norm, and update norm. We also show that the conventional norm-based measure is a special case under parameter-update orthogonality. We then decompose optimizer updates into radial and tangential components and analyze how radial updates affect one-step angular displacement. Under the training configurations considered, numerical results show that the radial component has only a limited direct effect on the angular effective learning rate. It therefore cannot explain why MuonH converges more slowly than MuonWD early in training but overtakes it later. To further isolate the underlying mechanism, we devise a heuristic experiment that modifies only the learning-rate schedule so that the dynamics of each optimizer reproduce those of the other. The results suggest that their main difference stems from the evolution of the effective step size rather than an intrinsically superior update direction induced by Hyperball. Our pretraining experiments further show that more aggressive learning-rate decay can accelerate MuonH early in training but may impair its later performance. Thus, maintaining a constant angular velocity does not eliminate the learning-rate-scheduling problem; careful scheduling remains essential to realizing the potential of Hyperball-style optimizers. Our code is publicly available at https://github.com/mangocrazz/hyperball-may-not-be-a-free-lunch.

Symbolic computation, powered by modern computer algebra systems, has important applications in mathematical reasoning through exact deep computations. The efficiency of symbolic computation is largely constrained by such deep computations in high dimension. This creates a fundamental barrier on labelled data acquisition if leveraging supervised deep learning to accelerate symbolic computation. Cylindrical algebraic decomposition (CAD) is a pillar symbolic computation method for reasoning with first-order logic formulas over reals with many applications in formal verification and automatic theorem proving. Variable orderings have a huge impact on its efficiency. Impeded by the difficulty to acquire abundant labelled data, existing learning-based approaches are only competitive with the best expert-based heuristics. In this work, we address this problem by designing a series of intimately connected tasks for which a large amount of annotated data can be easily obtained. We pre-train a Transformer model with these data and then fine-tune it on the datasets for CAD ordering. Experiments on publicly available CAD ordering datasets show that on average the orderings predicted by the new model are significantly better than those suggested by the best heuristic methods.

This work addresses the generation of theoretical correlation matrices with prescribed sparsity patterns associated to graph structures. We propose a novel convex optimization framework in which an initial matrix is projected onto an elliptope under a positive semidefiniteness constraint. Several numerical schemes are implemented and compared. The problem falls within the broader class of matrix completion, where off-diagonal entries corresponding to absent edges are fixed to zero and diagonal entries are fixed to one. Beyond this structural constraint, the approach offers greater flexibility than existing methods by allowing control over the mean of the off-diagonal entry distribution, enabling the generation of correlation matrices that better reflect realistic data. This procedure is not designed to yield a uniform distribution over the feasible set; rather, it provides a principled and tunable way to construct correlation matrices suitable for benchmarking statistical methods for graphical model inference. Theoretical guarantees on the existence of solutions are established, both in the general setting and under the additional mean constraint. Simulation studies illustrate the properties of the generated matrices with respect to graph structure. The methodology is applied to two real-world datasets from neuroscience and finance, and a comparison with GAN-based correlation matrix generation is provided.

Humans routinely communicate through abstractions of their bodies, including shadows, silhouettes, and reflections. Yet robots remain largely confined to expressing themselves through their physical morphology. Enabling robots to communicate through such projected visual abstractions requires reasoning not only about bodily motion but also about how that motion is transformed into an external representation perceived by an observer. Among these abstractions, shadows provide a particularly compelling example because they emerge directly from the robot's embodiment while remaining visually distinct from the body itself. Here, we present a robotic system capable of dynamic shadow expression using a 21-degree-of-freedom dexterous hand with compliant soft skin and a learned shadow self-model. The soft-skinned embodiment reduces light leakage to produce visually continuous silhouettes, while the differentiable self-model learns the mapping between hand configurations and projected shadow appearance through task-agnostic self-exploration. Given a target shadow image or video, the robot optimizes its hand configurations through gradient-based search over 1 the learned self-model and refines the solution through collision-aware simulation to obtain physically feasible motions. For dynamic shadow performance, we further introduce expressive-region objectives, temporal smoothness regularization, and keyframe-based optimization to preserve visually important motion cues while reducing optimization complexity. We demonstrate robotic shadow expression across sign-language gestures, hand-shadow puppetry, and animal motion imitation in both simulation and physical experiments. These results establish a framework for enabling robots to manipulate projected visual abstractions of themselves for communication and visual storytelling.

Learning world models that infer environment dynamics from high-dimensional observations and predict outcomes under candidate actions is central to planning and control. Joint-Embedding Predictive Architectures (JEPAs) provide a compelling framework for learning such models in representation space. Recent action-conditioned extensions perform promisingly in visual control and latent-space planning, but leave a fundamental question unresolved: when does controlled latent prediction identify both the underlying state and the controlled dynamics? This is challenging under nonlinear observations and behavior policies with limited conditional action variation, where state-dependent evolution and action effects can be statistically confounded. We establish a joint identifiability theory for controlled world models with Gaussian latent states under state-dependent Gaussian behavior policies. We identify two policy-dependent conditions: spectral separation of the predictable signal governs representation identifiability, while non-degenerate conditional action variation governs transition identifiability. We prove that when both conditions hold, every global minimizer of the JEPA objective identifies the latent state and controlled transition up to an orthogonal transformation. We further derive quantitative bounds on representation and transition identifiability under approximate optimization. Finally, we construct predictor perturbations along weakly excited action directions whose counterfactual-to-on-policy error ratio is the inverse transition-identifiability margin, revealing the cost of limited action coverage. Experiments across nonlinear observation maps and behavior policies corroborate the theory and demonstrate implications for transition identifiability, counterfactual prediction, and goal-conditioned latent planning.

Explainable AI (XAI) in creative practice can be less about technocentric explanation and more about enabling artists to inspect modify and debug models as part of making Yet largescale texttoimage diffusion systems are typically presented as opaque endtoend tools limiting this kind of material engagement We argue that even large models can function as creative materials when their internal structure is made visible and manipulable To support this we propose a handson approach to explainability centred on experimentation and intervention We instantiate this approach with a model bending and an interactive (inspection) interface integrated into ComfyUIs nodebased workflow including interactive layer selection and intervention controls Through qualitative and quantitative analysis of bending interventions in Stable Diffusion 15 we show how manipulating specific components of a diffusion pipeline produces relatively consistent families of visual effects allowing artists to build practical layerlevel intuition about how different parts of the model shape generated images

Accurate on-device fluid identification is essential for microfluidic applications, yet maintaining reliability under varying flow, pressure, and temperature remains a key challenge. Existing learning-based methods often treat sensor signals as domain-agnostic features, neglecting the underlying physical relationships that govern fluid behavior, thereby limiting generalization and interpretability. To address this, we propose PRIMS, a physics-aware multimodal Transformer that integrates physical knowledge into representation learning and attention mechanisms through three dedicated modules: (1) Physics-based Token Vectorization transforms raw Coriolis and pressure sensor signals into physically meaningful token embeddings; (2) Physical Component Synthesizer models viscosity-related dependencies among flow, pressure, and density; and (3) Physics-guided Fusion captures cross-physical correlations through attention-based integration. By embedding these physics-based relationships directly into the model architecture, PRIMS bridges analytical fluid mechanics and deep learning, enabling interpretable, data-efficient, and resilient fluid classification. Evaluations on a five-fluid benchmark under dynamic flow, pressure, and temperature conditions show that PRIMS achieves 98.92% average F1-score with only 0.46 million parameters, a 14 times reduction compared to state-of-the-art Transformer-based methods. PRIMS also consistently outperforms prior SOTA models under out-of-distribution shifts to unseen temperature ranges and unseen flow-rate ranges, indicating strong robustness to operating conditions not observed during training. These findings suggest that designing architectures that explicitly mirror governing physical relationships can make them learn transferable, environment-independent representations, improving real-world reliability for microfluidic sensing.