arXiv Papers

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they typically operate in the robot's local frame and neglect global pose feedback, leading to drift and instability during extended execution. In this work, we present CLOT, a real-time whole-body humanoid teleoperation system that achieves closed-loop global motion tracking via high-frequency localization feedback. CLOT synchronizes operator and robot poses in a closed loop, enabling drift-free human-to-humanoid mimicry over long timehorizons. However, directly imposing global tracking rewards in reinforcement learning, often results in aggressive and brittle corrections. To address this, we propose a data-driven randomization strategy that decouples observation trajectories from reward evaluation, enabling smooth and stable global corrections. We further regularize the policy with an adversarial motion prior to suppress unnatural behaviors. To support CLOT, we collect 20 hours of carefully curated human motion data for training the humanoid teleoperation policy. We design a transformer-based policy and train it for over 1300 GPU hours. The policy is deployed on a full-sized humanoid with 31 DoF (excluding hands). Both simulation and real-world experiments verify high-dynamic motion, high-precision tracking, and strong robustness in sim-to-real humanoid teleoperation. Motion data, demos and code can be found in our website.

The emergence of Self-Driving Laboratories (SDLs) transforms scientific discovery methodology by integrating AI with robotic automation to create closed-loop experimental systems capable of autonomous hypothesis generation, experimentation, and analysis. While promising to compress research timelines from years to weeks, their deployment introduces unprecedented safety challenges differing from traditional laboratories or purely digital AI. This paper presents Safe-SDL, a comprehensive framework for establishing robust safety boundaries and control mechanisms in AI-driven autonomous laboratories. We identify and analyze the critical ``Syntax-to-Safety Gap'' -- the disconnect between AI-generated syntactically correct commands and their physical safety implications -- as the central challenge in SDL deployment. Our framework addresses this gap through three synergistic components: (1) formally defined Operational Design Domains (ODDs) that constrain system behavior within mathematically verified boundaries, (2) Control Barrier Functions (CBFs) that provide real-time safety guarantees through continuous state-space monitoring, and (3) a novel Transactional Safety Protocol (CRUTD) that ensures atomic consistency between digital planning and physical execution. We ground our theoretical contributions through analysis of existing implementations including UniLabOS and the Osprey architecture, demonstrating how these systems instantiate key safety principles. Evaluation against the LabSafety Bench reveals that current foundation models exhibit significant safety failures, demonstrating that architectural safety mechanisms are essential rather than optional. Our framework provides both theoretical foundations and practical implementation guidance for safe deployment of autonomous scientific systems, establishing the groundwork for responsible acceleration of AI-driven discovery.

Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered impact (e.g., human-oriented understanding, user modeling, and levels of autonomy), making it difficult to consolidate emerging challenges in LLM-driven HRI systems. Therefore, we conducted a systematic literature search following the PRISMA guideline, identifying 86 articles that met our inclusion criteria. Our findings reveal that: (1) LLMs are transforming the fundamentals of HRI by reshaping how robots sense context, generate socially grounded interactions, and maintain continuous alignment with human needs in embodied settings; and (2) current research is largely exploratory, with different studies focusing on different facets of LLM-driven HRI, resulting in wide-ranging choices of experimental setups, study methods, and evaluation metrics. Finally, we identify key design considerations and challenges, offering a coherent overview and guidelines for future research at the intersection of LLMs and HRI.

Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we address the critical problem of maintaining balance in the human-SLs system, a prerequisite for safe and comfortable augmentation tasks. Unlike previous approaches that developed SLs specifically for stability support, we propose a general framework for preserving balance with SLs designed for generic use. Our hierarchical three-layer architecture consists of: (i) a prediction layer that estimates human trunk and center of mass (CoM) dynamics, (ii) a planning layer that generates optimal CoM trajectories to counteract trunk movements and computes the corresponding SL control inputs, and (iii) a control layer that executes these inputs on the SL hardware. We evaluated the framework with ten participants performing forward and lateral bending tasks. The results show a clear reduction in stance instability, demonstrating the framework's effectiveness in enhancing balance. This work paves the path towards safe and versatile human-SLs interactions. [This paper has been submitted for publication to IEEE.]

Mobile robots operating in agroindustrial environments, such as Mediterranean greenhouses, are subject to challenging conditions, including uneven terrain, variable friction, payload changes, and terrain slopes, all of which significantly affect control performance and stability. Despite the increasing adoption of robotic platforms in agriculture, the lack of standardized, reproducible benchmarks impedes fair comparisons and systematic evaluations of control strategies under realistic operating conditions. This paper presents a comprehensive benchmarking framework for evaluating mobile robot controllers in greenhouse environments. The proposed framework integrates an accurate three dimensional model of the environment, a physics based simulator, and a hierarchical control architecture comprising low, mid, and high level control layers. Three benchmark categories are defined to enable modular assessment, ranging from actuator level control to full autonomous navigation. Additionally, three disturbance scenarios payload variation, terrain type, and slope are explicitly modeled to replicate real world agricultural conditions. To ensure objective and reproducible evaluation, standardized performance metrics are introduced, including the Squared Absolute Error (SAE), the Squared Control Input (SCI), and composite performance indices. Statistical analysis based on repeated trials is employed to mitigate the influence of sensor noise and environmental variability. The framework is further enhanced by a plugin based architecture that facilitates seamless integration of user defined controllers and planners. The proposed benchmark provides a robust and extensible tool for the quantitative comparison of classical, predictive, and planning based control strategies in realistic conditions, bridging the gap between simulation based analysis and real world agroindustrial applications.

Dexterous grasping is fundamental to robotics, yet data-driven grasp prediction heavily relies on large, diverse datasets that are costly to generate and typically limited to a narrow set of gripper morphologies. Analytical grasp synthesis can be used to scale data collection, but necessary simplifying assumptions often yield physically infeasible grasps that need to be filtered in high-fidelity simulators, significantly reducing the total number of grasps and their diversity. We propose a scalable generate-and-refine pipeline for synthesizing large-scale, diverse, and physically feasible grasps. Instead of using high-fidelity simulators solely for verification and filtering, we leverage them as an optimization stage that continuously improves grasp quality without discarding precomputed candidates. More specifically, we initialize an evolutionary search with a seed set of analytically generated, potentially suboptimal grasps. We then refine these proposals directly in a high-fidelity simulator (Isaac Sim) using an asynchronous, gradient-free evolutionary algorithm, improving stability while maintaining diversity. In addition, this refinement stage can be guided toward human preferences and/or domain-specific quality metrics without requiring a differentiable objective. We further distill the refined grasp distribution into a diffusion model for robust real-world deployment, and highlight the role of diversity for both effective training and during deployment. Experiments on a newly introduced Handles dataset and a DexGraspNet subset demonstrate that our approach achieves over 120 distinct stable grasps per object (a 1.7-6x improvement over unrefined analytical methods) while outperforming diffusion-based alternatives by 46-60\% in unique grasp coverage.

Remote Operation is touted as being key to the rapid deployment of automated vehicles. Streaming imagery to control connected vehicles remotely currently requires a reliable, high throughput network connection, which can be limited in real-world remote operation deployments relying on public network infrastructure. This paper investigates how the application of computer vision assisted semantic communication can be used to circumvent data loss and corruption associated with traditional image compression techniques. By encoding the segmentations of detected road users into colour coded highlights within low resolution greyscale imagery, the required data rate can be reduced by 50 \% compared with conventional techniques, while maintaining visual clarity. This enables a median glass-to-glass latency of below 200ms even when the network data rate is below 500kbit/s, while clearly outlining salient road users to enhance situational awareness of the remote operator. The approach is demonstrated in an area of variable 4G mobile connectivity using an automated last-mile delivery vehicle. With this technique, the results indicate that large-scale deployment of remotely operated automated vehicles could be possible even on the often constrained public 4G/5G mobile network, providing the potential to expedite the nationwide roll-out of automated vehicles.

Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic environment of the colon remains a significant challenge. We present OSCAR, an ovipositor-inspired self-propelling capsule robot that translates the transport strategy of parasitic wasps into a propulsion mechanism for colonoscopy. OSCAR mechanically encodes the ovipositor-inspired motion pattern through a spring-loaded cam system that drives twelve circumferential sliders in a coordinated, phase-shifted sequence. By tuning the motion profile to maximize the retract phase relative to the advance phase, the capsule creates a controlled friction anisotropy at the interface that generates net forward thrust. We developed an analytical model incorporating a Kelvin-Voigt formulation to capture the viscoelastic stick--slip interactions between the sliders and the tissue, linking the asymmetry between advance and retract phase durations to mean thrust, and slider-reversal synchronization to thrust stability. Comprehensive force characterization experiments in ex-vivo porcine colon revealed a mean steady-state traction force of 0.85 N, closely matching the model. Furthermore, experiments confirmed that thrust generation is speed-independent and scales linearly with the phase asymmetry, in agreement with theoretical predictions, underscoring the capsule's predictable performance and scalability. In locomotion validation experiments, OSCAR demonstrated robust performance, achieving an average speed of 3.08 mm/s, a velocity sufficient to match the cecal intubation times of conventional colonoscopy. By coupling phase-encoded friction anisotropy with a predictive model, OSCAR delivers controllable thrust generation at low normal loads, enabling safer and more robust self-propelling locomotion for robotic capsule colonoscopy.

Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between demonstrators and robots, this approach faces two limitations: i) the demonstration data do not include robot actions, and ii) the demonstrated motions may be infeasible for robots. These limitations make policy learning difficult. To address them, we propose Feasibility-Aware Behavior Cloning from Observation (FABCO). FABCO integrates behavior cloning from observation, which complements robot actions using robot dynamics models, with feasibility estimation. In feasibility estimation, the demonstrated motions are evaluated using a robot-dynamics model, learned from the robot's execution data, to assess reproducibility under the robot's dynamics. The estimated feasibility is used for multimodal feedback and feasibility-aware policy learning to improve the demonstrator's motions and learn robust policies. Multimodal feedback provides feasibility through the demonstrator's visual and haptic senses to promote feasible demonstrated motions. Feasibility-aware policy learning reduces the influence of demonstrated motions that are infeasible for robots, enabling the learning of policies that robots can execute stably. We conducted experiments with 15 participants on two tasks and confirmed that FABCO improves imitation learning performance by more than 3.2 times compared to the case without feasibility feedback.

This paper presents a performance comparison of different estimation and prediction techniques applied to the problem of tracking multiple robots. The main performance criteria are the magnitude of the estimation or prediction error, the computational effort and the robustness of each method to non-Gaussian noise. Among the different techniques compared are the well known Kalman filters and their different variants (e.g. extended and unscented), and the more recent techniques relying on Sequential Monte Carlo Sampling methods, such as particle filters and Gaussian Mixture Sigma Point Particle Filter.

Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under fluoroscopic imaging, which provides low frame rate and noisy pose feedback. This paper presents a control framework that remains accurate and stable under such conditions by combining a nonlinear model predictive control (NMPC) framework that directly outputs coil currents, an analytically differentiable magnetic field model based on Zernike polynomials, and a Kalman filter to estimate the robot state. Experimental validation is conducted with two magnetic robots in a 3D-printed fluid workspace and a spine phantom replicating drug delivery in the epidural space. Results show the proposed control method remains highly accurate when feedback is downsampled to 3 Hz with added Gaussian noise (sigma = 2 mm), mimicking clinical fluoroscopy. In the spine phantom experiments, the proposed method successfully executed a drug delivery trajectory with a root mean square (RMS) position error of 1.18 mm while maintaining safe clearance from critical anatomical boundaries.

Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training efficiency. Central to this paradigm is action tokenization, yet its design has primarily focused on reconstruction fidelity, failing to address its direct impact on VLA optimization. Consequently, the fundamental question of \textit{what makes for good action tokenizers} remains unanswered. In this paper, we bridge this gap by establishing design principles specifically from the perspective of VLA optimization. We identify a set of best practices based on information-theoretic insights, including maximized temporal token overlap, minimized vocabulary redundancy, enhanced multimodal mutual information, and token independence. Guided by these principles, we introduce \textbf{ActionCodec}, a high-performance action tokenizer that significantly enhances both training efficiency and VLA performance across diverse simulation and real-world benchmarks. Notably, on LIBERO, a SmolVLM2-2.2B fine-tuned with ActionCodec achieves a 95.5\% success rate without any robotics pre-training. With advanced architectural enhancements, this reaches 97.4\%, representing a new SOTA for VLA models without robotics pre-training. We believe our established design principles, alongside the released model, will provide a clear roadmap for the community to develop more effective action tokenizers.

Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2 middleware via Protocol Buffers bridging. We evaluate the architecture through a 32.25-minute indoor quadrotor flight test using vision-based navigation. The vision system achieved 87.19 Hz position estimation with 99.90\% data continuity and 11.47 ms mean latency, validating real-time performance requirements. All 15 ground commands executed successfully with 100 % success rate, demonstrating robust F'--PX4 integration. System resource utilization remained low (15.19 % CPU, 1,244 MB RAM) with zero stale telemetry messages, confirming efficient operation on embedded platforms. Results validate the feasibility of hybrid flight-software architectures combining certification-grade determinism with flexible autonomy for autonomous aerial vehicles.

A navigable agent needs to understand both high-level semantic instructions and precise spatial perceptions. Building navigation agents centered on Multimodal Large Language Models (MLLMs) demonstrates a promising solution due to their powerful generalization ability. However, the current tightly coupled design dramatically limits system performance. In this work, we propose a decoupled design that separates low-level spatial state estimation from high-level semantic planning. Unlike previous methods that rely on predefined, oversimplified textual maps, we introduce an interactive metric world representation that maintains rich and consistent information, allowing MLLMs to interact with and reason on it for decision-making. Furthermore, counterfactual reasoning is introduced to further elicit MLLMs' capacity, while the metric world representation ensures the physical validity of the produced actions. We conduct comprehensive experiments in both simulated and real-world environments. Our method establishes a new zero-shot state-of-the-art, achieving 48.8\% Success Rate (SR) in R2R-CE and 42.2\% in RxR-CE benchmarks. Furthermore, to validate the versatility of our metric representation, we demonstrate zero-shot sim-to-real transfer across diverse embodiments, including a wheeled TurtleBot 4 and a custom-built aerial drone. These real-world deployments verify that our decoupled framework serves as a robust, domain-invariant interface for embodied Vision-and-Language navigation.

In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, structurally verified model is used to enable systematic controller design with stability and performance guarantees suitable for real-time operation. A Lyapunov function is constructed to yield explicit bounds and $\mathcal{L}_2$ stability results, supporting feedback synthesis that reduces configuration dependent effects. The resulting control law maintains a PI-like form suitable for standard embedded implementation while preserving rigorous stability properties. Effectiveness and robustness are demonstrated experimentally on a real four-wheel mobile robot platform.

Deploying Multimodal Large Language Models as the brain of embodied agents remains challenging, particularly under long-horizon observations and limited context budgets. Existing memory assisted methods often rely on textual summaries, which discard rich visual and spatial details and remain brittle in non-stationary environments. In this work, we propose a non-parametric memory framework that explicitly disentangles episodic and semantic memory for embodied exploration and question answering. Our retrieval-first, reasoning-assisted paradigm recalls episodic experiences via semantic similarity and verifies them through visual reasoning, enabling robust reuse of past observations without rigid geometric alignment. In parallel, we introduce a program-style rule extraction mechanism that converts experiences into structured, reusable semantic memory, facilitating cross-environment generalization. Extensive experiments demonstrate state-of-the-art performance on embodied question answering and exploration benchmarks, yielding a 7.3% gain in LLM-Match and an 11.4% gain in LLM MatchXSPL on A-EQA, as well as +7.7% success rate and +6.8% SPL on GOAT-Bench. Analyses reveal that our episodic memory primarily improves exploration efficiency, while semantic memory strengthens complex reasoning of embodied agents.

Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodiment knowledge transfer. In this work, we focus on accelerating policy training using a library-based initialization scheme that enables effective knowledge transfer across multirotor configurations. By leveraging a physics-aware neural control architecture that combines a reinforcement learning-based controller and a supervised control allocation network, we enable the reuse of previously trained policies. To this end, we utilize a policy evaluation-based similarity measure that identifies suitable policies for initialization from a library. We demonstrate that this measure correlates with the reduction in environment interactions needed to reach target performance and is therefore suited for initialization. Extensive simulation and real-world experiments confirm that our control architecture achieves state-of-the-art control performance, and that our initialization scheme saves on average up to $73.5\%$ of environment interactions (compared to training a policy from scratch) across diverse quadrotor and hexarotor designs, paving the way for efficient cross-embodiment transfer in reinforcement learning.

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs uniformly, which incurs unnecessary computational overhead and allows task-irrelevant background information to act as noise. Inspired by the principles of human active perception, we propose a dynamic information fusion framework designed to maximize the efficiency and robustness of VLA models. Our approach introduces a lightweight adaptive routing architecture that analyzes the current text prompt and observations from a wrist-mounted camera in real-time to predict the task-relevance of multiple camera views. By conditionally attenuating computations for views with low informational utility and selectively providing only essential visual features to the policy network, Our framework achieves computation efficiency proportional to task relevance. Furthermore, to efficiently secure large-scale annotation data for router training, we established an automated labeling pipeline utilizing Vision-Language Models (VLMs) to minimize data collection and annotation costs. Experimental results in real-world robotic manipulation scenarios demonstrate that the proposed approach achieves significant improvements in both inference efficiency and control performance compared to existing VLA models, validating the effectiveness and practicality of dynamic information fusion in resource-constrained, real-time robot control environments.

Vision-language model (VLM) shows promise for high-level planning in smart manufacturing, yet their deployment in dynamic workcells faces two critical challenges: (1) stateless operation, they cannot persistently track out-of-view states, causing world-state drift; and (2) opaque reasoning, failures are difficult to diagnose, leading to costly blind retries. This paper presents VLM-DEWM, a cognitive architecture that decouples VLM reasoning from world-state management through a persistent, queryable Dynamic External World Model (DEWM). Each VLM decision is structured into an Externalizable Reasoning Trace (ERT), comprising action proposal, world belief, and causal assumption, which is validated against DEWM before execution. When failures occur, discrepancy analysis between predicted and observed states enables targeted recovery instead of global replanning. We evaluate VLM-DEWM on multi-station assembly, large-scale facility exploration, and real-robot recovery under induced failures. Compared to baseline memory-augmented VLM systems, VLM DEWM improves state-tracking accuracy from 56% to 93%, increases recovery success rate from below 5% to 95%, and significantly reduces computational overhead through structured memory. These results establish VLM-DEWM as a verifiable and resilient solution for long-horizon robotic operations in dynamic manufacturing environments.

Robot motion distributions often exhibit multi-modality and require flexible generative models for accurate representation. Streaming Flow Policies (SFPs) have recently emerged as a powerful paradigm for generating robot trajectories by integrating learned velocity fields directly in action space, enabling smooth and reactive control. However, existing formulations lack mechanisms for adapting trajectories post-training to enforce safety and task-specific constraints. We propose Constraint-Aware Streaming Flow (CASF), a framework that augments streaming flow policies with constraint-dependent metrics that reshape the learned velocity field during execution. CASF models each constraint, defined in either the robot's workspace or configuration space, as a differentiable distance function that is converted into a local metric and pulled back into the robot's control space. Far from restricted regions, the resulting metric reduces to the identity; near constraint boundaries, it smoothly attenuates or redirects motion, effectively deforming the underlying flow to maintain safety. This allows trajectories to be adapted in real time, ensuring that robot actions respect joint limits, avoid collisions, and remain within feasible workspaces, while preserving the multi-modal and reactive properties of streaming flow policies. We demonstrate CASF in simulated and real-world manipulation tasks, showing that it produces constraint-satisfying trajectories that remain smooth, feasible, and dynamically consistent, outperforming standard post-hoc projection baselines.

Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to actively control friction in robotic locomotion. By exciting resonant structures at ultrasonic frequencies, contact interfaces can dynamically switch between "grip" and "slip" states, enabling locomotion. We developed two friction control modules, a cylindrical design for lumen-like environments and a flat-plate design for external surfaces, and integrated them into bio-inspired systems modeled after inchworm and wasp ovipositor locomotion. Both systems achieved bidirectional locomotion with nearly perfect locomotion efficiencies that exceeded 90%. Friction characterization experiments further demonstrated substantial friction reduction across various surfaces, including rigid, soft, granular, and biological tissue interfaces, under dry and wet conditions, and on surfaces with different levels of roughness, confirming the broad applicability of ultrasonic lubrication to locomotion tasks. These findings establish ultrasonic lubrication as a viable active friction control mechanism for robotic locomotion, with the potential to reduce design complexity and improve efficiency of robotic locomotion systems.

Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods either treat platform motion as a general random process or lack explicit modeling of wave spectral characteristics, leading to suboptimal performance under dynamic sea conditions. To address these limitations, we propose SpecFuse: a novel spectral-temporal fusion predictive control framework that integrates frequency-domain wave decomposition with time-domain recursive state estimation for high-precision 6-DoF motion forecasting of Uncrewed Surface Vehicles (USVs). The framework explicitly models dominant wave harmonics to mitigate phase lags, refining predictions in real time via IMU data without relying on complex calibration. Additionally, we design a hierarchical control architecture featuring a sampling-based HPO-RRT* algorithm for dynamic trajectory planning under non-convex constraints and a learning-augmented predictive controller that fuses data-driven disturbance compensation with optimization-based execution. Extensive validations (2,000 simulations + 8 lake experiments) show our approach achieves a 3.2 cm prediction error, 4.46 cm landing deviation, 98.7% / 87.5% success rates (simulation / real-world), and 82 ms latency on embedded hardware, outperforming state-of-the-art methods by 44%-48% in accuracy. Its robustness to wave-wind coupling disturbances supports critical maritime missions such as search and rescue and environmental monitoring. All code, experimental configurations, and datasets will be released as open-source to facilitate reproducibility.

We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-guided spatial feedback. Instead of treating tracking errors as transient disturbances, our method exploits them as informative signals of local track characteristics via a Kalman-inspired spatial update. This enables the construction of an adaptive, acceleration-based constraint map that iteratively refines trajectories toward near-optimal performance under spatially varying track and vehicle behavior. In simulation, our approach achieves a 17.38% lap time reduction compared to a controller parametrized with maximum static acceleration. On real hardware, tested with different tire compounds ranging from high to low friction, we obtain a 7.60% lap time improvement without explicitly parametrizing friction. This demonstrates robustness to changing grip conditions in real-world scenarios.

Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate fatigue in dynamic, cyclic pHRI using arm-mounted surface electromyography(sEMG). Subject-specific machine-learning regression models(Random Forest, XGBoost, and Linear Regression predict the fraction of cycles to fatigue(FCF) from three frequency-domain and one time-domain EMG features, and are benchmarked against a convolutional neural network(CNN) that ingests spectrograms of filtered EMG. Framing fatigue estimation as regression (rather than classification) captures continuous progression toward fatigue, supporting earlier detection, timely intervention, and adaptive robot control. In experiments with ten participants, a collaborative robot under admittance control guided repetitive lateral (left-right) end-effector motions until muscular fatigue. Average FCF RMSE across participants was 20.8+/-4.3% for the CNN, 23.3+/-3.8% for Random Forest, 24.8+/-4.5% for XGBoost, and 26.9+/-6.1% for Linear Regression. To probe cross-task generalization, one participant additionally performed unseen vertical (up-down) and circular repetitions; models trained only on lateral data were tested directly and largely retained accuracy, indicating robustness to changes in movement direction, arm kinematics, and muscle recruitment, while Linear Regression deteriorated. Overall, the study shows that both feature-based ML and spectrogram-based DL can estimate remaining work capacity during repetitive pHRI, with the CNN delivering the lowest error and the tree-based models close behind. The reported transfer to new motion patterns suggests potential for practical fatigue monitoring without retraining for every task, improving operator protection and enabling fatigue-aware shared autonomy, for safer fatigue-adaptive pHRI control.

We present Lifelong Scalable Multi-Agent Realistic Testbed (LSMART), an open-source simulator to evaluate any Multi-Agent Path Finding (MAPF) algorithm in a Fleet Management System (FMS) with Automated Guided Vehicles (AGVs). MAPF aims to move a group of agents from their corresponding starting locations to their goals. Lifelong MAPF (LMAPF) is a variant of MAPF that continuously assigns new goals for agents to reach. LMAPF applications, such as autonomous warehouses, often require a centralized, lifelong system to coordinate the movement of a fleet of robots, typically AGVs. However, existing works on MAPF and LMAPF often assume simplified kinodynamic models, such as pebble motion, as well as perfect execution and communication for AGVs. Prior work has presented SMART, a software capable of evaluating any MAPF algorithms while considering agent kinodynamics, communication delays, and execution uncertainties. However, SMART is designed for MAPF, not LMAPF. Generalizing SMART to an FMS requires many more design choices. First, an FMS parallelizes planning and execution, raising the question of when to plan. Second, given planners with varying optimality and differing agent-model assumptions, one must decide how to plan. Third, when the planner fails to return valid solutions, the system must determine how to recover. In this paper, we first present LSMART, an open-source simulator that incorporates all these considerations to evaluate any MAPF algorithms in an FMS. We then provide experiment results based on state-of-the-art methods for each design choice, offering guidance on how to effectively design centralized lifelong AGV Fleet Management Systems. LSMART is available at https://smart-mapf.github.io/lifelong-smart.

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and intricate dynamics of humanoid robots make manual motion design impractical, leading to a heavy reliance on expensive motion capture (MoCap) data. These datasets are not only costly to acquire but also frequently lack the necessary geometric context of the surrounding physical environment. Consequently, existing motion synthesis frameworks often suffer from a decoupling of motion and scene, resulting in physical inconsistencies such as contact slippage or mesh penetration during terrain-aware tasks. In this work, we present MeshMimic, an innovative framework that bridges 3D scene reconstruction and embodied intelligence to enable humanoid robots to learn coupled "motion-terrain" interactions directly from video. By leveraging state-of-the-art 3D vision models, our framework precisely segments and reconstructs both human trajectories and the underlying 3D geometry of terrains and objects. We introduce an optimization algorithm based on kinematic consistency to extract high-quality motion data from noisy visual reconstructions, alongside a contact-invariant retargeting method that transfers human-environment interaction features to the humanoid agent. Experimental results demonstrate that MeshMimic achieves robust, highly dynamic performance across diverse and challenging terrains. Our approach proves that a low-cost pipeline utilizing only consumer-grade monocular sensors can facilitate the training of complex physical interactions, offering a scalable path toward the autonomous evolution of humanoid robots in unstructured environments.

Robot-assisted feeding enables people with disabilities who require assistance eating to enjoy a meal independently and with dignity. However, existing systems have only been tested in-lab or in-home, leaving in-the-wild social dining contexts (e.g., restaurants) largely unexplored. Designing a robot for such contexts presents unique challenges, such as dynamic and unsupervised dining environments that a robot needs to account for and respond to. Through speculative participatory design with people with disabilities, supported by semi-structured interviews and a custom AI-based visual storyboarding tool, we uncovered ideal scenarios for in-the-wild social dining. Our key insight suggests that such systems should: embody the principles of a white glove service where the robot (1) supports multimodal inputs and unobtrusive outputs; (2) has contextually sensitive social behavior and prioritizes the user; (3) has expanded roles beyond feeding; (4) adapts to other relationships at the dining table. Our work has implications for in-the-wild and group contexts of robot-assisted feeding.

Embodied Question Answering (EQA) combines visual scene understanding, goal-directed exploration, spatial and temporal reasoning under partial observability. A central challenge is to confine physical search to question-relevant subspaces while maintaining a compact, actionable memory of observations. Furthermore, for real-world deployment, fast inference time during exploration is crucial. We introduce FAST-EQA, a question-conditioned framework that (i) identifies likely visual targets, (ii) scores global regions of interest to guide navigation, and (iii) employs Chain-of-Thought (CoT) reasoning over visual memory to answer confidently. FAST-EQA maintains a bounded scene memory that stores a fixed-capacity set of region-target hypotheses and updates them online, enabling robust handling of both single and multi-target questions without unbounded growth. To expand coverage efficiently, a global exploration policy treats narrow openings and doors as high-value frontiers, complementing local target seeking with minimal computation. Together, these components focus the agent's attention, improve scene coverage, and improve answer reliability while running substantially faster than prior approaches. On HMEQA and EXPRESS-Bench, FAST-EQA achieves state-of-the-art performance, while performing competitively on OpenEQA and MT-HM3D.

While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex environments demands not only low-level robustness, but also human-like motion expressiveness, long-horizon skill composition, and perception-driven decision-making. In this paper, we present Perceptive Humanoid Parkour (PHP), a modular framework that enables humanoid robots to autonomously perform long-horizon, vision-based parkour across challenging obstacle courses. Our approach first leverages motion matching, formulated as nearest-neighbor search in a feature space, to compose retargeted atomic human skills into long-horizon kinematic trajectories. This framework enables the flexible composition and smooth transition of complex skill chains while preserving the elegance and fluidity of dynamic human motions. Next, we train motion-tracking reinforcement learning (RL) expert policies for these composed motions, and distill them into a single depth-based, multi-skill student policy, using a combination of DAgger and RL. Crucially, the combination of perception and skill composition enables autonomous, context-aware decision-making: using only onboard depth sensing and a discrete 2D velocity command, the robot selects and executes whether to step over, climb onto, vault or roll off obstacles of varying geometries and heights. We validate our framework with extensive real-world experiments on a Unitree G1 humanoid robot, demonstrating highly dynamic parkour skills such as climbing tall obstacles up to 1.25m (96% robot height), as well as long-horizon multi-obstacle traversal with closed-loop adaptation to real-time obstacle perturbations.

Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and difficult to scale. While learning in simulation provides a feasible alternative, designing multiple task-specific environments and rewards for training is similarly challenging. We propose Dex4D, a framework that instead leverages simulation for learning task-agnostic dexterous skills that can be flexibly recomposed to perform diverse real-world manipulation tasks. Specifically, Dex4D learns a domain-agnostic 3D point track conditioned policy capable of manipulating any object to any desired pose. We train this 'Anypose-to-Anypose' policy in simulation across thousands of objects with diverse pose configurations, covering a broad space of robot-object interactions that can be composed at test time. At deployment, this policy can be zero-shot transferred to real-world tasks without finetuning, simply by prompting it with desired object-centric point tracks extracted from generated videos. During execution, Dex4D uses online point tracking for closed-loop perception and control. Extensive experiments in simulation and on real robots show that our method enables zero-shot deployment for diverse dexterous manipulation tasks and yields consistent improvements over prior baselines. Furthermore, we demonstrate strong generalization to novel objects, scene layouts, backgrounds, and trajectories, highlighting the robustness and scalability of the proposed framework.

Accurate polyp segmentation in colonoscopy is essential for cancer prevention but remains challenging due to: (1) high morphological variability (from flat to protruding lesions), (2) strong visual similarity to normal structures such as folds and vessels, and (3) the need for robust multi-scale detection. Existing deep learning approaches suffer from unidirectional processing, weak multi-scale fusion, and the absence of anatomical constraints, often leading to false positives (over-segmentation of normal structures) and false negatives (missed subtle flat lesions). We propose GRAFNet, a biologically inspired architecture that emulates the hierarchical organisation of the human visual system. GRAFNet integrates three key modules: (1) a Guided Asymmetric Attention Module (GAAM) that mimics orientation-tuned cortical neurones to emphasise polyp boundaries, (2) a MultiScale Retinal Module (MSRM) that replicates retinal ganglion cell pathways for parallel multi-feature analysis, and (3) a Guided Cortical Attention Feedback Module (GCAFM) that applies predictive coding for iterative refinement. These are unified in a Polyp Encoder-Decoder Module (PEDM) that enforces spatial-semantic consistency via resolution-adaptive feedback. Extensive experiments on five public benchmarks (Kvasir-SEG, CVC-300, CVC-ColonDB, CVC-Clinic, and PolypGen) demonstrate consistent state-of-the-art performance, with 3-8% Dice improvements and 10-20% higher generalisation over leading methods, while offering interpretable decision pathways. This work establishes a paradigm in which neural computation principles bridge the gap between AI accuracy and clinically trustworthy reasoning. Code is available at https://github.com/afofanah/GRAFNet.

Zero-shot Human-object interaction (HOI) detection aims to locate humans and objects in images and recognize their interactions. While advances in open-vocabulary object detection provide promising solutions for object localization, interaction recognition (IR) remains challenging due to the combinatorial diversity of interactions. Existing methods, including two-stage methods, tightly couple IR with a specific detector and rely on coarse-grained vision-language model (VLM) features, which limit generalization to unseen interactions. In this work, we propose a decoupled framework that separates object detection from IR and leverages multi-modal large language models (MLLMs) for zero-shot IR. We introduce a deterministic generation method that formulates IR as a visual question answering task and enforces deterministic outputs, enabling training-free zero-shot IR. To further enhance performance and efficiency by fine-tuning the model, we design a spatial-aware pooling module that integrates appearance and pairwise spatial cues, and a one-pass deterministic matching method that predicts all candidate interactions in a single forward pass. Extensive experiments on HICO-DET and V-COCO demonstrate that our method achieves superior zero-shot performance, strong cross-dataset generalization, and the flexibility to integrate with any object detectors without retraining. The codes are publicly available at https://github.com/SY-Xuan/DA-HOI.

The study of histopathological subtypes is valuable for the personalisation of effective treatment strategies for ovarian cancer. However, increasing diagnostic workloads present a challenge for UK pathology departments, leading to the rise in AI approaches. While traditional approaches in this field have relied on pre-computed, frozen image features, recent advances have shifted towards end-to-end feature extraction, providing an improvement in accuracy but at the expense of significantly reduced scalability during training and time-consuming experimentation. In this paper, we propose a new approach for subtype classification and localisation in ovarian cancer histopathology images using contrastive and prototype learning with pre-computed, frozen features via feature-space augmentations. Compared to DSMIL, our method achieves an improvement of 70.4\% and 15.3\% in F1 score for instance- and slide-level classification, respectively, along with AUC gains of 16.9\% for instance localisation and 2.3\% for slide classification, while maintaining the use of frozen patch features.

High-quality video datasets are foundational for training robust models in tasks like action recognition, phase detection, and event segmentation. However, many real-world video datasets suffer from annotation errors such as *mislabeling*, where segments are assigned incorrect class labels, and *disordering*, where the temporal sequence does not follow the correct progression. These errors are particularly harmful in phase-annotated tasks, where temporal consistency is critical. We propose a novel, model-agnostic method for detecting annotation errors by analyzing the Cumulative Sample Loss (CSL)--defined as the average loss a frame incurs when passing through model checkpoints saved across training epochs. This per-frame loss trajectory acts as a dynamic fingerprint of frame-level learnability. Mislabeled or disordered frames tend to show consistently high or irregular loss patterns, as they remain difficult for the model to learn throughout training, while correctly labeled frames typically converge to low loss early. To compute CSL, we train a video segmentation model and store its weights at each epoch. These checkpoints are then used to evaluate the loss of each frame in a test video. Frames with persistently high CSL are flagged as likely candidates for annotation errors, including mislabeling or temporal misalignment. Our method does not require ground truth on annotation errors and is generalizable across datasets. Experiments on EgoPER and Cholec80 demonstrate strong detection performance, effectively identifying subtle inconsistencies such as mislabeling and frame disordering. The proposed approach provides a powerful tool for dataset auditing and improving training reliability in video-based machine learning.

Super-resolution is widely used in medical imaging to enhance low-quality data, reducing scan time and improving abnormality detection. Conventional super-resolution approaches typically rely on paired datasets of downsampled and original high resolution images, training models to reconstruct high resolution images from their artificially degraded counterparts. However, in real-world clinical settings, low resolution data often arise from acquisition mechanisms that differ significantly from simple downsampling. As a result, these inputs may lie outside the domain of the training data, leading to poor model generalization due to domain shift. To address this limitation, we propose a distributional deep learning framework that improves model robustness and domain generalization. We develop this approch for enhancing the resolution of 4D Flow MRI (4DF). This is a novel imaging modality that captures hemodynamic flow velocity and clinically relevant metrics such as vessel wall stress. These metrics are critical for assessing aneurysm rupture risk. Our model is initially trained on high resolution computational fluid dynamics (CFD) simulations and their downsampled counterparts. It is then fine-tuned on a small, harmonized dataset of paired 4D Flow MRI and CFD samples. We derive the theoretical properties of our distributional estimators and demonstrate that our framework significantly outperforms traditional deep learning approaches through real data applications. This highlights the effectiveness of distributional learning in addressing domain shift and improving super-resolution performance in clinically realistic scenarios.

Camera virtualization -- an emerging solution to novel view synthesis -- holds transformative potential for visual entertainment, live performances, and sports broadcasting by enabling the generation of photorealistic images from novel viewpoints using images from a limited set of calibrated multiple static physical cameras. Despite recent advances, achieving spatially and temporally coherent and photorealistic rendering of dynamic scenes with efficient time-archival capabilities, particularly in fast-paced sports and stage performances, remains challenging for existing approaches. Recent methods based on 3D Gaussian Splatting (3DGS) for dynamic scenes could offer real-time view-synthesis results. Yet, they are hindered by their dependence on accurate 3D point clouds from the structure-from-motion method and their inability to handle large, non-rigid, rapid motions of different subjects (e.g., flips, jumps, articulations, sudden player-to-player transitions). Moreover, independent motions of multiple subjects can break the Gaussian-tracking assumptions commonly used in 4DGS, ST-GS, and other dynamic splatting variants. This paper advocates reconsidering a neural volume rendering formulation for camera virtualization and efficient time-archival capabilities, making it useful for sports broadcasting and related applications. By modeling a dynamic scene as rigid transformations across multiple synchronized camera views at a given time, our method performs neural representation learning, providing enhanced visual rendering quality at test time. A key contribution of our approach is its support for time-archival, i.e., users can revisit any past temporal instance of a dynamic scene and can perform novel view synthesis, enabling retrospective rendering for replay, analysis, and archival of live events, a functionality absent in existing neural rendering approaches and novel view synthesis...

We present the first comprehensive, large-scale study of training long-context vision language models up to 344K context, targeting long-document visual question answering with measured transfer to long-context text. While several such strong are open-weight, namely Qwen3 VL and GLM 4.5/6V, their training recipes and data pipelines are not reproducible. We systematically study continued pretraining, supervised finetuning, and preference optimization for 24B and 32B parameter models, backed by extensive LC evaluations and ablations to bridge this gap, and achieve state-of-the-art performance on MMLongBenchDoc for both parameter scales. In addition to this, our key findings include: (i) training on context lengths that match evaluation context lengths outperforms training on longer contexts, (ii) training and evaluating with page indices provides a simple, high-impact boost to long-document performance, (iii) our synthetic data pipelines enable self-improvement via continued pretraining and supervised finetuning, and (iv) we extend the known text-to-visual long context transfer to the reverse, showing that visual long context training transfers to long-context text performance. We also release MMLBD-C, a manually corrected version of MMLongBenchDoc to reduce erroneous and low quality examples in the benchmark.

Dataset distillation compresses the original data into compact synthetic datasets, reducing training time and storage while retaining model performance, enabling deployment under limited resources. Although recent decoupling-based distillation methods enable dataset distillation at large-scale, they continue to face an efficiency gap: optimization-based decoupling methods achieve higher accuracy but demand intensive computation, whereas optimization-free decoupling methods are efficient but sacrifice accuracy. To overcome this trade-off, we propose Exploration-Exploitation Distillation (E^2D), a simple, practical method that minimizes redundant computation through an efficient pipeline that begins with full-image initialization to preserve semantic integrity and feature diversity. It then uses a two-phase optimization strategy: an exploration phase that performs uniform updates and identifies high-loss regions, and an exploitation phase that focuses updates on these regions to accelerate convergence. We evaluate E^2D on large-scale benchmarks, surpassing the state-of-the-art on ImageNet-1K while being 18x faster, and on ImageNet-21K, our method substantially improves accuracy while remaining 4.3x faster. These results demonstrate that targeted, redundancy-reducing updates, rather than brute-force optimization, bridge the gap between accuracy and efficiency in large-scale dataset distillation. Code is available at https://github.com/ncsu-dk-lab.

The web is littered with images, once created for human consumption and now increasingly interpreted by agents using vision-language models (VLMs). These agents make visual decisions at scale, deciding what to click, recommend, or buy. Yet, we know little about the structure of their visual preferences. We introduce a framework for studying this by placing VLMs in controlled image-based choice tasks and systematically perturbing their inputs. Our key idea is to treat the agent's decision function as a latent visual utility that can be inferred through revealed preference: choices between systematically edited images. Starting from common images, such as product photos, we propose methods for visual prompt optimization, adapting text optimization methods to iteratively propose and apply visually plausible modifications using an image generation model (such as in composition, lighting, or background). We then evaluate which edits increase selection probability. Through large-scale experiments on frontier VLMs, we demonstrate that optimized edits significantly shift choice probabilities in head-to-head comparisons. We develop an automatic interpretability pipeline to explain these preferences, identifying consistent visual themes that drive selection. We argue that this approach offers a practical and efficient way to surface visual vulnerabilities, safety concerns that might otherwise be discovered implicitly in the wild, supporting more proactive auditing and governance of image-based AI agents.

Text-to-video generation is expensive, so only a few samples are typically produced per prompt. In this low-sample regime, maximizing the value of each batch requires high cross-video diversity. Recent methods improve diversity for image generation, but for videos they often degrade within-video temporal consistency and require costly backpropagation through a video decoder. We propose a joint-sampling framework for flow-matching video generators that improves batch diversity while preserving temporal consistency. Our approach applies diversity-driven updates and then removes only the components that would decrease a temporal-consistency objective. To avoid image-space gradients, we compute both objectives with lightweight latent-space models, avoiding video decoding and decoder backpropagation. Experiments on a state-of-the-art text-to-video flow-matching model show diversity comparable to strong joint-sampling baselines while substantially improving temporal consistency and color naturalness. Code will be released.

Zero-shot anomaly detection (ZSAD) has gained increasing attention in medical imaging as a way to identify abnormalities without task-specific supervision, but most advances remain limited to 2D datasets. Extending ZSAD to 3D medical images has proven challenging, with existing methods relying on slice-wise features and vision-language models, which fail to capture volumetric structure. In this paper, we introduce a fully training-free framework for ZSAD in 3D brain MRI that constructs localized volumetric tokens by aggregating multi-axis slices processed by 2D foundation models. These 3D patch tokens restore cubic spatial context and integrate directly with distance-based, batch-level anomaly detection pipelines. The framework provides compact 3D representations that are practical to compute on standard GPUs and require no fine-tuning, prompts, or supervision. Our results show that training-free, batch-based ZSAD can be effectively extended from 2D encoders to full 3D MRI volumes, offering a simple and robust approach for volumetric anomaly detection.

Although speculative decoding is widely used to accelerate Vision-Language Models (VLMs) inference, it faces severe performance collapse when applied to Video Large Language Models (Vid-LLMs). The draft model typically falls into the trap of attention dilution and negative visual gain due to key-value cache explosion and context window mismatches. We observe a visual semantic internalization phenomenon in Vid-LLMs, indicating that critical visual semantics are implicitly encoded into text hidden states during deep-layer interactions, which renders raw visual inputs structurally redundant during deep inference. To address this, we propose the Sparrow framework, which first utilizes visually-aware text-anchored window attention via hidden state reuse to fully offload visual computation to the target model, and leverages intermediate-layer visual state bridging to train the draft model with semantic-rich intermediate states, thereby filtering out low-level visual noise. Additionally, a multi-token prediction strategy is introduced to bridge the training-inference distribution shift. Experiments show that Sparrow achieves an average speedup of 2.82x even with 25k visual tokens, effectively resolving the performance degradation in long sequences and offering a practical solution for real-time long video tasks.

Online video understanding requires models to perform continuous perception and long-range reasoning within potentially infinite visual streams. Its fundamental challenge lies in the conflict between the unbounded nature of streaming media input and the limited context window of Multimodal Large Language Models (MLLMs). Current methods primarily rely on passive processing, which often face a trade-off between maintaining long-range context and capturing the fine-grained details necessary for complex tasks. To address this, we introduce EventMemAgent, an active online video agent framework based on a hierarchical memory module. Our framework employs a dual-layer strategy for online videos: short-term memory detects event boundaries and utilizes event-granular reservoir sampling to process streaming video frames within a fixed-length buffer dynamically; long-term memory structuredly archives past observations on an event-by-event basis. Furthermore, we integrate a multi-granular perception toolkit for active, iterative evidence capture and employ Agentic Reinforcement Learning (Agentic RL) to end-to-end internalize reasoning and tool-use strategies into the agent's intrinsic capabilities. Experiments show that EventMemAgent achieves competitive results on online video benchmarks. The code will be released here: https://github.com/lingcco/EventMemAgent.

Multimodal Fusion Learning (MFL), leveraging disparate data from various imaging modalities (e.g., MRI, CT, SPECT), has shown great potential for addressing medical problems such as skin cancer and brain tumor prediction. However, existing MFL methods face three key limitations: a) they often specialize in specific modalities, and overlook effective shared complementary information across diverse modalities, hence limiting their generalizability for multi-disease analysis; b) they rely on computationally expensive models, restricting their applicability in resource-limited settings; and c) they lack robustness against adversarial attacks, compromising reliability in medical AI applications. To address these limitations, we propose a novel Multi-Attention Integration Learning (MAIL) network, incorporating two key components: a) an efficient residual learning attention block for capturing refined modality-specific multi-scale patterns and b) an efficient multimodal cross-attention module for learning enriched complementary shared representations across diverse modalities. Furthermore, to ensure adversarial robustness, we extend MAIL network to design Robust-MAIL by incorporating random projection filters and modulated attention noise. Extensive evaluations on 20 public datasets show that both MAIL and Robust-MAIL outperform existing methods, achieving performance gains of up to 9.34% while reducing computational costs by up to 78.3%. These results highlight the superiority of our approaches, ensuring more reliable predictions than top competitors. Code: https://github.com/misti1203/MAIL-Robust-MAIL.

Dog emotion recognition plays a crucial role in enhancing human-animal interactions, veterinary care, and the development of automated systems for monitoring canine well-being. However, accurately interpreting dog emotions is challenging due to the subjective nature of emotional assessments and the absence of standardized ground truth methods. We present the CREMD (Crowd-sourced Emotional Multimodal Dogs Dataset), a comprehensive dataset exploring how different presentation modes (e.g., context, audio, video) and annotator characteristics (e.g., dog ownership, gender, professional experience) influence the perception and labeling of dog emotions. The dataset consists of 923 video clips presented in three distinct modes: without context or audio, with context but no audio, and with both context and audio. We analyze annotations from diverse participants, including dog owners, professionals, and individuals with varying demographic backgrounds and experience levels, to identify factors that influence reliable dog emotion recognition. Our findings reveal several key insights: (1) while adding visual context significantly improved annotation agreement, our findings regarding audio cues are inconclusive due to design limitations (specifically, the absence of a no-context-with-audio condition and limited clean audio availability); (2) contrary to expectations, non-owners and male annotators showed higher agreement levels than dog owners and female annotators, respectively, while professionals showed higher agreement levels, aligned with our initial hypothesis; and (3) the presence of audio substantially increased annotators' confidence in identifying specific emotions, particularly anger and fear.

The emergence of 3D Gaussian Splatting has fundamentally redefined the capabilities of photorealistic neural rendering by enabling high-throughput synthesis of complex environments. While procedural methods like Wang Tiles have recently been integrated to facilitate the generation of expansive landscapes, these systems typically remain constrained by a reliance on densely sampled exemplar reconstructions. We present DAV-GSWT, a data-efficient framework that leverages diffusion priors and active view sampling to synthesize high-fidelity Gaussian Splatting Wang Tiles from minimal input observations. By integrating a hierarchical uncertainty quantification mechanism with generative diffusion models, our approach autonomously identifies the most informative viewpoints while hallucinating missing structural details to ensure seamless tile transitions. Experimental results indicate that our system significantly reduces the required data volume while maintaining the visual integrity and interactive performance necessary for large-scale virtual environments.

Generative models have made it possible to synthesize highly realistic images, potentially providing an abundant data source for training machine learning models. Despite the advantages of these synthesizable data sources, the indiscriminate use of generated images as real images for training can even cause mode collapse due to modality discrepancies between real and synthetic domains. In this paper, we propose a novel framework for discriminative use of generated images, coined GMAIL, that explicitly treats generated images as a separate modality from real images. Instead of indiscriminately replacing real images with generated ones in the pixel space, our approach bridges the two distinct modalities in the same latent space through a multi-modal learning approach. To be specific, we first fine-tune a model exclusively on generated images using a cross-modality alignment loss and then employ this aligned model to further train various vision-language models with generated images. By aligning the two modalities, our approach effectively leverages the benefits of recent advances in generative models, thereby boosting the effectiveness of generated image learning across a range of vision-language tasks. Our framework can be easily incorporated with various vision-language models, and we demonstrate its efficacy throughout extensive experiments. For example, our framework significantly improves performance on image captioning, zero-shot image retrieval, zero-shot image classification, and long caption retrieval tasks. It also shows positive generated data scaling trends and notable enhancements in the captioning performance of the large multimodal model, LLaVA.

Day-to-night unpaired image translation is important to downstream tasks but remains challenging due to large appearance shifts and the lack of direct pixel-level supervision. Existing methods often introduce semantic hallucinations, where objects from target classes such as traffic signs and vehicles, as well as man-made light effects, are incorrectly synthesized. These hallucinations significantly degrade downstream performance. We propose a novel framework that detects and suppresses hallucinations of target-class features during unpaired translation. To detect hallucination, we design a dual-head discriminator that additionally performs semantic segmentation to identify hallucinated content in background regions. To suppress these hallucinations, we introduce class-specific prototypes, constructed by aggregating features of annotated target-domain objects, which act as semantic anchors for each class. Built upon a Schrodinger Bridge-based translation model, our framework performs iterative refinement, where detected hallucination features are explicitly pushed away from class prototypes in feature space, thus preserving object semantics across the translation trajectory.Experiments show that our method outperforms existing approaches both qualitatively and quantitatively. On the BDD100K dataset, it improves mAP by 15.5% for day-to-night domain adaptation, with a notable 31.7% gain for classes such as traffic lights that are prone to hallucinations.

Diffusion models often yield highly curved trajectories and noisy score targets due to an uninformative, memoryless forward process that induces independent data-noise coupling. We propose Adjoint Schr\"odinger Bridge Matching (ASBM), a generative modeling framework that recovers optimal trajectories in high dimensions via two stages. First, we view the Schr\"odinger Bridge (SB) forward dynamic as a coupling construction problem and learn it through a data-to-energy sampling perspective that transports data to an energy-defined prior. Then, we learn the backward generative dynamic with a simple matching loss supervised by the induced optimal coupling. By operating in a non-memoryless regime, ASBM produces significantly straighter and more efficient sampling paths. Compared to prior works, ASBM scales to high-dimensional data with notably improved stability and efficiency. Extensive experiments on image generation show that ASBM improves fidelity with fewer sampling steps. We further showcase the effectiveness of our optimal trajectory via distillation to a one-step generator.

Face morphing attacks threaten biometric verification, yet most morphing attack detection (MAD) systems require task-specific training and generalize poorly to unseen attack types. Meanwhile, open-source multimodal large language models (MLLMs) have demonstrated strong visual-linguistic reasoning, but their potential in biometric forensics remains underexplored. In this paper, we present the first systematic zero-shot evaluation of open-source MLLMs for single-image MAD, using publicly available weights and a standardized, reproducible protocol. Across diverse morphing techniques, many MLLMs show non-trivial discriminative ability without any fine-tuning or domain adaptation, and LLaVA1.6-Mistral-7B achieves state-of-the-art performance, surpassing highly competitive task-specific MAD baselines by at least 23% in terms of equal error rate (EER). The results indicate that multimodal pretraining can implicitly encode fine-grained facial inconsistencies indicative of morphing artifacts, enabling zero-shot forensic sensitivity. Our findings position open-source MLLMs as reproducible, interpretable, and competitive foundations for biometric security and forensic image analysis. This emergent capability also highlights new opportunities to develop state-of-the-art MAD systems through targeted fine-tuning or lightweight adaptation, further improving accuracy and efficiency while preserving interpretability. To support future research, all code and evaluation protocols will be released upon publication.

General-purpose super-resolution models, particularly Vision Transformers, have achieved remarkable success but exhibit fundamental inefficiencies in common infrared imaging scenarios like surveillance and autonomous driving, which operate from fixed or nearly-static viewpoints. These models fail to exploit the strong, persistent spatial priors inherent in such scenes, leading to redundant learning and suboptimal performance. To address this, we propose the Regional Prior attention Transformer for infrared image Super-Resolution (RPT-SR), a novel architecture that explicitly encodes scene layout information into the attention mechanism. Our core contribution is a dual-token framework that fuses (1) learnable, regional prior tokens, which act as a persistent memory for the scene's global structure, with (2) local tokens that capture the frame-specific content of the current input. By utilizing these tokens into an attention, our model allows the priors to dynamically modulate the local reconstruction process. Extensive experiments validate our approach. While most prior works focus on a single infrared band, we demonstrate the broad applicability and versatility of RPT-SR by establishing new state-of-the-art performance across diverse datasets covering both Long-Wave (LWIR) and Short-Wave (SWIR) spectra

Minutiae extraction, a fundamental stage in fingerprint recognition, is increasingly shifting toward deep learning. However, truly end-to-end methods that eliminate separate preprocessing and postprocessing steps remain scarce. This paper introduces LEADER (Lightweight End-to-end Attention-gated Dual autoencodER), a neural network that maps raw fingerprint images to minutiae descriptors, including location, direction, and type. The proposed architecture integrates non-maximum suppression and angular decoding to enable complete end-to-end inference using only 0.9M parameters. It employs a novel "Castle-Moat-Rampart" ground-truth encoding and a dual-autoencoder structure, interconnected through an attention-gating mechanism. Experimental evaluations demonstrate state-of-the-art accuracy on plain fingerprints and robust cross-domain generalization to latent impressions. Specifically, LEADER attains a 34% higher F1-score on the NIST SD27 dataset compared to specialized latent minutiae extractors. Sample-level analysis on this challenging benchmark reveals an average rank of 2.07 among all compared methods, with LEADER securing the first-place position in 47% of the samples-more than doubling the frequency of the second-best extractor. The internal representations learned by the model align with established fingerprint domain features, such as segmentation masks, orientation fields, frequency maps, and skeletons. Inference requires 15ms on GPU and 322ms on CPU, outperforming leading commercial software in computational efficiency. The source code and pre-trained weights are publicly released to facilitate reproducibility.

Transient objects in casual multi-view captures cause ghosting artifacts in 3D Gaussian Splatting (3DGS) reconstruction. Existing solutions relied on scene decomposition at significant memory cost or on motion-based heuristics that were vulnerable to parallax ambiguity. A semantic filtering framework was proposed for category-aware transient removal using vision-language models. CLIP similarity scores between rendered views and distractor text prompts were accumulated per-Gaussian across training iterations. Gaussians exceeding a calibrated threshold underwent opacity regularization and periodic pruning. Unlike motion-based approaches, semantic classification resolved parallax ambiguity by identifying object categories independently of motion patterns. Experiments on the RobustNeRF benchmark demonstrated consistent improvement in reconstruction quality over vanilla 3DGS across four sequences, while maintaining minimal memory overhead and real-time rendering performance. Threshold calibration and comparisons with baselines validated semantic guidance as a practical strategy for transient removal in scenarios with predictable distractor categories.

Quantifying biometric characteristics within hand gestures involve derivation of fitness scores from a gesture and identity aware feature space. However, evaluating the quality of these scores remains an open question. Existing biometric capacity estimation literature relies upon error rates. But these rates do not indicate goodness of scores. Thus, in this manuscript we present an exhaustive set of evaluation measures. We firstly identify ranking order and relevance of output scores as the primary basis for evaluation. In particular, we consider both rank deviation as well as rewards for: (i) higher scores of high ranked gestures and (ii) lower scores of low ranked gestures. We also compensate for correspondence between trends of output and ground truth scores. Finally, we account for disentanglement between identity features of gestures as a discounting factor. Integrating these elements with adequate weighting, we formulate advanced acceptance score as a holistic evaluation measure. To assess effectivity of the proposed we perform in-depth experimentation over three datasets with five state-of-the-art (SOTA) models. Results show that the optimal score selected with our measure is more appropriate than existing other measures. Also, our proposed measure depicts correlation with existing measures. This further validates its reliability. We have made our \href{https://github.com/AmanVerma2307/MeasureSuite}{code} public.

Recent studies have explored the combination of multiple LoRAs to simultaneously generate user-specified subjects and styles. However, most existing approaches fuse LoRA weights using static statistical heuristics that deviate from LoRA's original purpose of learning adaptive feature adjustments and ignore the randomness of sampled inputs. To address this, we propose a dynamic training-free fusion framework that operates throughout the generation process. During the forward pass, at each LoRA-applied layer, we dynamically compute the KL divergence between the base model's original features and those produced by subject and style LoRAs, respectively, and adaptively select the most appropriate weights for fusion. In the reverse denoising stage, we further refine the generation trajectory by dynamically applying gradient-based corrections derived from objective metrics such as CLIP and DINO scores, providing continuous semantic and stylistic guidance. By integrating these two complementary mechanisms-feature-level selection and metric-guided latent adjustment-across the entire diffusion timeline, our method dynamically achieves coherent subject-style synthesis without any retraining. Extensive experiments across diverse subject-style combinations demonstrate that our approach consistently outperforms state-of-the-art LoRA fusion methods both qualitatively and quantitatively.

LVLMs have achieved strong multimodal reasoning capabilities but remain prone to hallucinations, producing outputs inconsistent with visual inputs or user instructions. Existing training-free methods, including contrastive decoding and auxiliary expert models, which incur several times more computational overhead and may introduce potential interference, as well as static internal signal enhancement, are often vulnerable to the attention sink phenomenon. We find that internal Positive Attention Dynamics (PAD) in LVLMs naturally reveal semantically core visual regions under the distortions of attention sinks. Based on this, we propose Positive Attention Dynamics Enhancement (PADE), a training-free attention intervention that constructs a PAD map to identify semantically core visual regions, applies per-head Median Absolute Deviation Scaling to adaptively control the intervention strength, and leverages System-Token Compensation to maintain attention to complex user instructions and support long-term output consistency. Experiments on multiple LVLMs and benchmarks show that PADE improves visual grounding and reduces hallucinations, validating the effectiveness of leveraging internal attention dynamics for reliable multimodal reasoning.

Intracoronary Optical Coherence Tomography (OCT) enables high-resolution visualization of coronary vessel anatomy but presents challenges due to noise, imaging artifacts, and complex tissue structures. This paper proposes a fully automated pipeline for vessel segmentation and classification in OCT images using machine learning techniques. The proposed method integrates image preprocessing, guidewire artifact removal, polar-to-Cartesian transformation, unsupervised K-means clustering, and local feature extraction. These features are used to train Logistic Regression and Support Vector Machine classifiers for pixel-wise vessel classification. Experimental results demonstrate excellent performance, achieving precision, recall, and F1-score values up to 1.00 and overall classification accuracy of 99.68%. The proposed approach provides accurate vessel boundary detection while maintaining low computational complexity and requiring minimal manual annotation. This method offers a reliable and efficient solution for automated OCT image analysis and has potential applications in clinical decision support and real-time medical image processing.

Aligning functional schematics with 2D and 3D scene acquisitions is crucial for building digital twins, especially for old industrial facilities that lack native digital models. Current manual alignment using images and LiDAR data does not scale due to tediousness and complexity of industrial sites. Inconsistencies between schematics and reality, and the scarcity of public industrial datasets, make the problem both challenging and underexplored. This paper introduces IRIS-v2, a comprehensive dataset to support further research. It includes images, point clouds, 2D annotated boxes and segmentation masks, a CAD model, 3D pipe routing information, and the P&ID (Piping and Instrumentation Diagram). The alignment is experimented on a practical case study, aiming at reducing the time required for this task by combining segmentation and graph matching.

Radiology Report Generation (RRG) through Vision-Language Models (VLMs) promises to reduce documentation burden, improve reporting consistency, and accelerate clinical workflows. However, their clinical adoption remains limited by the lack of interpretability and the tendency to hallucinate findings misaligned with imaging evidence. Existing research typically treats interpretability and accuracy as separate objectives, with concept-based explainability techniques focusing primarily on transparency, while Retrieval-Augmented Generation (RAG) methods targeting factual grounding through external retrieval. We present Concept-Enhanced Multimodal RAG (CEMRAG), a unified framework that decomposes visual representations into interpretable clinical concepts and integrates them with multimodal RAG. This approach exploits enriched contextual prompts for RRG, improving both interpretability and factual accuracy. Experiments on MIMIC-CXR and IU X-Ray across multiple VLM architectures, training regimes, and retrieval configurations demonstrate consistent improvements over both conventional RAG and concept-only baselines on clinical accuracy metrics and standard NLP measures. These results challenge the assumed trade-off between interpretability and performance, showing that transparent visual concepts can enhance rather than compromise diagnostic accuracy in medical VLMs. Our modular design decomposes interpretability into visual transparency and structured language model conditioning, providing a principled pathway toward clinically trustworthy AI-assisted radiology.

The strawberry (Fragaria x ananassa), known worldwide for its economic value and nutritional richness, is a widely cultivated fruit. Determining the correct ripeness level during the harvest period is crucial for both preventing losses for producers and ensuring consumers receive a quality product. However, traditional methods, i.e., visual assessments alone, can be subjective and have a high margin of error. Therefore, computer-assisted systems are needed. However, the scarcity of comprehensive datasets accessible to everyone in the literature makes it difficult to compare studies in this field. In this study, a new and publicly available strawberry ripeness dataset, consisting of 566 images and 1,201 labeled objects, prepared under variable light and environmental conditions in two different greenhouses in Turkey, is presented to the literature. Comparative tests conducted on the data set using YOLOv8, YOLOv9, and YOLO11-based models showed that the highest precision value was 90.94% in the YOLOv9c model, while the highest recall value was 83.74% in the YOLO11s model. In terms of the general performance criterion mAP@50, YOLOv8s was the best performing model with a success rate of 86.09%. The results show that small and medium-sized models work more balanced and efficiently on this type of dataset, while also establishing a fundamental reference point for smart agriculture applications.

Deep learning-based segmentation and classification are crucial to large-scale biomedical imaging, particularly for 3D data, where manual analysis is impractical. Although many methods exist, selecting suitable models and tuning parameters remains a major bottleneck in practice. Hence, we introduce the 3D data Analysis Optimization Pipeline, a method designed to facilitate the design and parameterization of segmentation and classification using two Bayesian Optimization stages. First, the pipeline selects a segmentation model and optimizes postprocessing parameters using a domain-adapted syntactic benchmark dataset. To ensure a concise evaluation of segmentation performance, we introduce a segmentation quality metric that serves as the objective function. Second, the pipeline optimizes design choices of a classifier, such as encoder and classifier head architectures, incorporation of prior knowledge, and pretraining strategies. To reduce manual annotation effort, this stage includes an assisted class-annotation workflow that extracts predicted instances from the segmentation results and sequentially presents them to the operator, eliminating the need for manual tracking. In four case studies, the 3D data Analysis Optimization Pipeline efficiently identifies effective model and parameter configurations for individual datasets.

Across the natural and life sciences, images have become a primary measurement modality, yet the dominant analytic paradigm remains semantics-first. Structure is recovered by predicting or enforcing domain-specific labels. This paradigm fails systematically under the conditions that make image-based science most valuable, including open-ended scientific discovery, cross-sensor and cross-site comparability, and long-term monitoring in which domain ontologies and associated label sets drift culturally, institutionally, and ecologically. A deductive inversion is proposed in the form of criteria-first and semantics-later. A unified framework for criteria-first structure discovery is introduced. It separates criterion-defined, semantics-free structure extraction from downstream semantic mapping into domain ontologies or vocabularies and provides a domain-general scaffold for reproducible analysis across image-based sciences. Reproducible science requires that the first analytic layer perform criterion-driven, semantics-free structure discovery, yielding stable partitions, structural fields, or hierarchies defined by explicit optimality criteria rather than local domain ontologies. Semantics is not discarded; it is relocated downstream as an explicit mapping from the discovered structural product to a domain ontology or vocabulary, enabling plural interpretations and explicit crosswalks without rewriting upstream extraction. Grounded in cybernetics, observation-as-distinction, and information theory's separation of information from meaning, the argument is supported by cross-domain evidence showing that criteria-first components recur whenever labels do not scale. Finally, consequences are outlined for validation beyond class accuracy and for treating structural products as FAIR, AI-ready digital objects for long-term monitoring and digital twins.

Vision Transformers (ViTs) have achieved remarkable success across various vision tasks, yet their deployment is often hindered by prohibitive computational costs. While structured weight pruning and token compression have emerged as promising solutions, they suffer from prolonged retraining times and global propagation that creates optimization challenges, respectively. We propose ToaSt, a decoupled framework applying specialized strategies to distinct ViT components. We apply coupled head-wise structured pruning to Multi-Head Self-Attention modules, leveraging attention operation characteristics to enhance robustness. For Feed-Forward Networks (over 60\% of FLOPs), we introduce Token Channel Selection (TCS) that enhances compression ratios while avoiding global propagation issues. Our analysis reveals TCS effectively filters redundant noise during selection. Extensive evaluations across nine diverse models, including DeiT, ViT-MAE, and Swin Transformer, demonstrate that ToaSt achieves superior trade-offs between accuracy and efficiency, consistently outperforming existing baselines. On ViT-MAE-Huge, ToaSt achieves 88.52\% accuracy (+1.64 \%) with 39.4\% FLOPs reduction. ToaSt transfers effectively to downstream tasks, cccccachieving 52.2 versus 51.9 mAP on COCO object detection. Code and models will be released upon acceptance.

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions and navigate through previously unseen environments. Recent approaches increasingly employ large language models (LLMs) as high-level navigators due to their flexibility and reasoning capability. However, prompt-based LLM navigation often suffers from inefficient decision-making, as the model must repeatedly interpret instructions from scratch and reason over noisy and verbose navigable candidates at each step. In this paper, we propose a retrieval-augmented framework to improve the efficiency and stability of LLM-based VLN without modifying or fine-tuning the underlying language model. Our approach introduces retrieval at two complementary levels. At the episode level, an instruction-level embedding retriever selects semantically similar successful navigation trajectories as in-context exemplars, providing task-specific priors for instruction grounding. At the step level, an imitation-learned candidate retriever prunes irrelevant navigable directions before LLM inference, reducing action ambiguity and prompt complexity. Both retrieval modules are lightweight, modular, and trained independently of the LLM. We evaluate our method on the Room-to-Room (R2R) benchmark. Experimental results demonstrate consistent improvements in Success Rate, Oracle Success Rate, and SPL on both seen and unseen environments. Ablation studies further show that instruction-level exemplar retrieval and candidate pruning contribute complementary benefits to global guidance and step-wise decision efficiency. These results indicate that retrieval-augmented decision support is an effective and scalable strategy for enhancing LLM-based vision-and-language navigation.

Visual analogy learning enables image manipulation through demonstration rather than textual description, allowing users to specify complex transformations difficult to articulate in words. Given a triplet $\{\mathbf{a}$, $\mathbf{a}'$, $\mathbf{b}\}$, the goal is to generate $\mathbf{b}'$ such that $\mathbf{a} : \mathbf{a}' :: \mathbf{b} : \mathbf{b}'$. Recent methods adapt text-to-image models to this task using a single Low-Rank Adaptation (LoRA) module, but they face a fundamental limitation: attempting to capture the diverse space of visual transformations within a fixed adaptation module constrains generalization capabilities. Inspired by recent work showing that LoRAs in constrained domains span meaningful, interpolatable semantic spaces, we propose LoRWeB, a novel approach that specializes the model for each analogy task at inference time through dynamic composition of learned transformation primitives, informally, choosing a point in a "space of LoRAs". We introduce two key components: (1) a learnable basis of LoRA modules, to span the space of different visual transformations, and (2) a lightweight encoder that dynamically selects and weighs these basis LoRAs based on the input analogy pair. Comprehensive evaluations demonstrate our approach achieves state-of-the-art performance and significantly improves generalization to unseen visual transformations. Our findings suggest that LoRA basis decompositions are a promising direction for flexible visual manipulation. Code and data are in https://research.nvidia.com/labs/par/lorweb

Existing 3D open-vocabulary scene understanding methods mostly emphasize distilling language features from 2D foundation models into 3D feature fields, but largely overlook the synergy among scene appearance, semantics, and geometry. As a result, scene understanding often deviates from the underlying geometric structure of scenes and becomes decoupled from the reconstruction process. In this work, we propose a novel approach that leverages language and geometry grounded sparse voxel representations to comprehensively model appearance, semantics, and geometry within a unified framework. Specifically, we use 3D sparse voxels as primitives and employ an appearance field, a density field, a feature field, and a confidence field to holistically represent a 3D scene. To promote synergy among the appearance, density, and feature fields, we construct a feature modulation module and distill language features from a 2D foundation model into our 3D scene model. In addition, we integrate geometric distillation into feature field distillation to transfer geometric knowledge from a geometry foundation model to our 3D scene representations via depth correlation regularization and pattern consistency regularization. These components work together to synergistically model the appearance, semantics, and geometry of the 3D scene within a unified framework. Extensive experiments demonstrate that our approach achieves superior overall performance compared with state-of-the-art methods in holistic scene understanding and reconstruction.

This paper introduces RaCo, a lightweight neural network designed to learn robust and versatile keypoints suitable for a variety of 3D computer vision tasks. The model integrates three key components: the repeatable keypoint detector, a differentiable ranker to maximize matches with a limited number of keypoints, and a covariance estimator to quantify spatial uncertainty in metric scale. Trained on perspective image crops only, RaCo operates without the need for covisible image pairs. It achieves strong rotational robustness through extensive data augmentation, even without the use of computationally expensive equivariant network architectures. The method is evaluated on several challenging datasets, where it demonstrates state-of-the-art performance in keypoint repeatability and two-view matching, particularly under large in-plane rotations. Ultimately, RaCo provides an effective and simple strategy to independently estimate keypoint ranking and metric covariance without additional labels, detecting interpretable and repeatable interest points. The code is available at https://github.com/cvg/RaCo.

Current research in multimodal models faces a key challenge where enhancing generative capabilities often comes at the expense of understanding, and vice versa. We analyzed this trade-off and identify the primary cause might be the potential conflict between generation and understanding, which creates a competitive dynamic within the model. To address this, we propose the Reason-Reflect-Refine (R3) framework. This innovative algorithm re-frames the single-step generation task into a multi-step process of "generate-understand-regenerate". By explicitly leveraging the model's understanding capability during generation, we successfully mitigate the optimization dilemma, achieved stronger generation results and improved understanding ability which are related to the generation process. This offers valuable insights for designing next-generation unified multimodal models. Code is available at https://github.com/sen-ye/R3.

Endoscopy is essential in medical imaging, used for diagnosis, prognosis and treatment. Developing a robust dynamic 3D reconstruction pipeline for endoscopic videos could enhance visualization, improve diagnostic accuracy, aid in treatment planning, and guide surgery procedures. However, challenges arise due to the deformable nature of the tissues, the use of monocular cameras, illumination changes, occlusions and unknown camera trajectories. Inspired by neural rendering, we introduce NeRFscopy, a self-supervised pipeline for novel view synthesis and 3D reconstruction of deformable endoscopic tissues from a monocular video. NeRFscopy includes a deformable model with a canonical radiance field and a time-dependent deformation field parameterized by SE(3) transformations. In addition, the color images are efficiently exploited by introducing sophisticated terms to learn a 3D implicit model without assuming any template or pre-trained model, solely from data. NeRFscopy achieves accurate results in terms of novel view synthesis, outperforming competing methods across various challenging endoscopy scenes.

Due to the rise in the use of renewable energies as an alternative to traditional ones, and especially solar energy, there is increasing interest in studying how to address photovoltaic forecasting in the face of the challenge of variability in photovoltaic energy production, using different methodologies. This work develops a hybrid approach for short and long-term forecasting based on two studies with the same purpose. A multimodal approach that combines images of the sky and photovoltaic energy history with meteorological data is proposed. The main goal is to improve the accuracy of ramp event prediction, increase the robustness of forecasts in cloudy conditions, and extend capabilities beyond nowcasting, to support more efficient operation of the power grid and better management of solar variability. Deep neural models are used for both nowcasting and forecasting solutions, incorporating individual and multiple meteorological variables, as well as an analytical solar position. The results demonstrate that the inclusion of meteorological data, particularly the surface long-wave, radiation downwards, and the combination of wind and solar position, significantly improves current predictions in both nowcasting and forecasting tasks, especially on cloudy days. This study highlights the importance of integrating diverse data sources to improve the reliability and interpretability of solar energy prediction models.

Whole-slide images (WSIs) from cancer patients contain rich information that can be used for medical diagnosis or to follow treatment progress. To automate their analysis, numerous deep learning methods based on convolutional neural networks and Vision Transformers have been developed and have achieved strong performance in segmentation and classification tasks. However, due to the large size and complex cellular organization of WSIs, these models rely on patch-based representations, losing vital tissue-level context. We propose using scalable Graph Transformers on a full-WSI cell graph for classification. We evaluate this methodology on a challenging task: the classification of healthy versus tumor epithelial cells in cutaneous squamous cell carcinoma (cSCC), where both cell types exhibit very similar morphologies and are therefore difficult to differentiate for image-based approaches. We first compared image-based and graph-based methods on a single WSI. Graph Transformer models SGFormer and DIFFormer achieved balanced accuracies of $85.2 \pm 1.5$ ($\pm$ standard error) and $85.1 \pm 2.5$ in 3-fold cross-validation, respectively, whereas the best image-based method reached $81.2 \pm 3.0$. By evaluating several node feature configurations, we found that the most informative representation combined morphological and texture features as well as the cell classes of non-epithelial cells, highlighting the importance of the surrounding cellular context. We then extended our work to train on several WSIs from several patients. To address the computational constraints of image-based models, we extracted four $2560 \times 2560$ pixel patches from each image and converted them into graphs. In this setting, DIFFormer achieved a balanced accuracy of $83.6 \pm 1.9$ (3-fold cross-validation), while the state-of-the-art image-based model CellViT256 reached $78.1 \pm 0.5$.

Clinical deployment of chest radiograph classifiers requires models that can be updated as new datasets become available without retraining on previously ob- served data or degrading validated performance. We study, for the first time, a task-incremental continual learning setting for chest radiograph classification, in which heterogeneous chest X-ray datasets arrive sequentially and task identifiers are unavailable at inference. We propose a continual adapter-based routing learning strategy for Chest X-rays (CARL-XRay) that maintains a fixed high-capacity backbone and incrementally allocates lightweight task-specific adapters and classifier heads. A latent task selector operates on task-adapted features and leverages both current and historical context preserved through compact prototypes and feature-level experience replay. This design supports stable task identification and adaptation across sequential updates while avoiding raw-image storage. Experiments on large-scale public chest radiograph datasets demonstrate robust performance retention and reliable task-aware inference under continual dataset ingestion. CARL-XRay outperforms joint training under task-unknown deployment, achieving higher routing accuracy (75.0\% vs.\ 62.5\%), while maintaining competitive diagnostic performance with AUROC of 0.74 in the oracle setting with ground-truth task identity and 0.75 under task-unknown inference, using significantly fewer trainable parameters. Finally, the proposed framework provides a practical alternative to joint training and repeated full retraining in continual clinical deployment.

Sketching is inherently a sequential process, in which strokes are drawn in a meaningful order to explore and refine ideas. However, most generative models treat sketches as static images, overlooking the temporal structure that underlies creative drawing. We present a data-efficient approach for sequential sketch generation that adapts pretrained text-to-video diffusion models to generate sketching processes. Our key insight is that large language models and video diffusion models offer complementary strengths for this task: LLMs provide semantic planning and stroke ordering, while video diffusion models serve as strong renderers that produce high-quality, temporally coherent visuals. We leverage this by representing sketches as short videos in which strokes are progressively drawn on a blank canvas, guided by text-specified ordering instructions. We introduce a two-stage fine-tuning strategy that decouples the learning of stroke ordering from the learning of sketch appearance. Stroke ordering is learned using synthetic shape compositions with controlled temporal structure, while visual appearance is distilled from as few as seven manually authored sketching processes that capture both global drawing order and the continuous formation of individual strokes. Despite the extremely limited amount of human-drawn sketch data, our method generates high-quality sequential sketches that closely follow text-specified orderings while exhibiting rich visual detail. We further demonstrate the flexibility of our approach through extensions such as brush style conditioning and autoregressive sketch generation, enabling additional controllability and interactive, collaborative drawing.

Gliomas, among the most common primary brain tumors, vary widely in aggressiveness, prognosis, and histology, making treatment challenging due to complex and time-intensive surgical interventions. This study presents an Attention-Gated Recurrent Residual U-Net (R2U-Net) based Triplanar (2.5D) model for improved brain tumor segmentation. The proposed model enhances feature representation and segmentation accuracy by integrating residual, recurrent, and triplanar architectures while maintaining computational efficiency, potentially aiding in better treatment planning. The proposed method achieves a Dice Similarity Score (DSC) of 0.900 for Whole Tumor (WT) segmentation on the BraTS2021 validation set, demonstrating performance comparable to leading models. Additionally, the triplanar network extracts 64 features per planar model for survival days prediction, which are reduced to 28 using an Artificial Neural Network (ANN). This approach achieves an accuracy of 45.71%, a Mean Squared Error (MSE) of 108,318.128, and a Spearman Rank Correlation Coefficient (SRC) of 0.338 on the test dataset.

We introduce ResearchGym, a benchmark and execution environment for evaluating AI agents on end-to-end research. To instantiate this, we repurpose five oral and spotlight papers from ICML, ICLR, and ACL. From each paper's repository, we preserve the datasets, evaluation harness, and baseline implementations but withhold the paper's proposed method. This results in five containerized task environments comprising 39 sub-tasks in total. Within each environment, agents must propose novel hypotheses, run experiments, and attempt to surpass strong human baselines on the paper's metrics. In a controlled evaluation of an agent powered by GPT-5, we observe a sharp capability--reliability gap. The agent improves over the provided baselines from the repository in just 1 of 15 evaluations (6.7%) by 11.5%, and completes only 26.5% of sub-tasks on average. We identify recurring long-horizon failure modes, including impatience, poor time and resource management, overconfidence in weak hypotheses, difficulty coordinating parallel experiments, and hard limits from context length. Yet in a single run, the agent surpasses the solution of an ICML 2025 Spotlight task, indicating that frontier agents can occasionally reach state-of-the-art performance, but do so unreliably. We additionally evaluate proprietary agent scaffolds including Claude Code (Opus-4.5) and Codex (GPT-5.2) which display a similar gap. ResearchGym provides infrastructure for systematic evaluation and analysis of autonomous agents on closed-loop research.

Knowledge distillation is a widely adopted technique for transferring capabilities from LLMs to smaller, more efficient student models. However, unauthorized use of knowledge distillation takes unfair advantage of the considerable effort and cost put into developing frontier models. We investigate methods for modifying teacher-generated reasoning traces to achieve two objectives that deter unauthorized distillation: (1) \emph{anti-distillation}, or degrading the training usefulness of query responses, and (2) \emph{API watermarking}, which embeds verifiable signatures in student models. We introduce several approaches for dynamically rewriting a teacher's reasoning outputs while preserving answer correctness and semantic coherence. Two of these leverage the rewriting capabilities of LLMs, while others use gradient-based techniques. Our experiments show that a simple instruction-based rewriting approach achieves a strong anti-distillation effect while maintaining or even improving teacher performance. Furthermore, we show that our rewriting approach also enables highly reliable watermark detection with essentially no false alarms.

Language models are increasingly used to reason over content they were not trained on, such as new documents, evolving knowledge, and user-specific data. A common approach is retrieval-augmented generation (RAG), which stores verbatim documents externally (as chunks) and retrieves only a relevant subset at inference time for an LLM to reason over. However, this results in inefficient usage of test-time compute (LLM repeatedly reasons over the same documents); moreover, chunk retrieval can inject irrelevant context that increases unsupported generation. We propose a human-like non-parametric continual learning framework, where the base model remains fixed, and learning occurs by integrating each new experience into an external semantic memory state that accumulates and consolidates itself continually. We present Panini, which realizes this by representing documents as Generative Semantic Workspaces (GSW) -- an entity- and event-aware network of question-answer (QA) pairs, sufficient for an LLM to reconstruct the experienced situations and mine latent knowledge via reasoning-grounded inference chains on the network. Given a query, Panini only traverses the continually-updated GSW (not the verbatim documents or chunks), and retrieves the most likely inference chains. Across six QA benchmarks, Panini achieves the highest average performance, 5%-7% higher than other competitive baselines, while using 2-30x fewer answer-context tokens, supports fully open-source pipelines, and reduces unsupported answers on curated unanswerable queries. The results show that efficient and accurate structuring of experiences at write time -- as achieved by the GSW framework -- yields both efficiency and reliability gains at read time. Code is available at https://github.com/roychowdhuryresearch/gsw-memory.

This paper presents a novel approach for ontological heterogeneity that draws heavily from Carnapian-Goguenism, as presented by Kutz, Mossakowski and L\"ucke (2010). The approach is provisionally designated da Costian-Tarskianism, named after da Costa's Principle of Tolerance in Mathematics and after Alfred Tarski's work on the concept of a consequence operator. The approach is based on the machinery of consequence systems, as developed by Carnielli et al. (2008) and Citkin and Muravitsky (2022), and it introduces the idea of an extended consequence system, which is a consequence system extended with ontological axioms. The paper also defines the concept of an extended development graph, which is a graph structure that allows ontologies to be related via morphisms of extended consequence systems, and additionally via other operations such as fibring and splitting. Finally, we discuss the implications of this approach for the field of applied ontology and suggest directions for future research.

The use of large language models either as decision support systems, or in agentic workflows, is rapidly transforming the digital ecosystem. However, the understanding of LLM decision-making under uncertainty remains limited. We initiate a comparative study of LLM risky choices along two dimensions: (1) prospect representation (explicit vs. experience based) and (2) decision rationale (explanation). Our study, which involves 20 frontier and open LLMs, is complemented by a matched human subjects experiment, which provides one reference point, while an expected payoff maximizing rational agent model provides another. We find that LLMs cluster into two categories: reasoning models (RMs) and conversational models (CMs). RMs tend towards rational behavior, are insensitive to the order of prospects, gain/loss framing, and explanations, and behave similarly whether prospects are explicit or presented via experience history. CMs are significantly less rational, slightly more human-like, sensitive to prospect ordering, framing, and explanation, and exhibit a large description-history gap. Paired comparisons of open LLMs suggest that a key factor differentiating RMs and CMs is training for mathematical reasoning.

In this paper, we introduce a secure wireless agentic AI network comprising one supervisor AI agent and multiple other AI agents to provision quality of service (QoS) for users' reasoning tasks while ensuring confidentiality of private knowledge and reasoning outcomes. Specifically, the supervisor AI agent can dynamically assign other AI agents to participate in cooperative reasoning, while the unselected AI agents act as friendly jammers to degrade the eavesdropper's interception performance. To extend the service duration of AI agents, an energy minimization problem is formulated that jointly optimizes AI agent selection, base station (BS) beamforming, and AI agent transmission power, subject to latency and reasoning accuracy constraints. To address the formulated problem, we propose two resource allocation schemes, ASC and LAW, which first decompose it into three sub-problems. Specifically, ASC optimizes each sub-problem iteratively using the proposed alternating direction method of multipliers (ADMM)-based algorithm, semi-definite relaxation (SDR), and successive convex approximation (SCA), while LAW tackles each sub-problem using the proposed large language model (LLM) optimizer within an agentic workflow. The experimental results show that the proposed solutions can reduce network energy consumption by up to 59.1% compared to other benchmark schemes. Furthermore, the proposed schemes are validated using a practical agentic AI system based on Qwen, demonstrating satisfactory reasoning accuracy across various public benchmarks.

Invoice or payment dilution is the gap between the approved invoice amount and the actual collection is a significant source of non credit risk and margin loss in supply chain finance. Traditionally, this risk is managed through the buyer's irrevocable payment undertaking (IPU), which commits to full payment without deductions. However, IPUs can hinder supply chain finance adoption, particularly among sub-invested grade buyers. A newer, data-driven methods use real-time dynamic credit limits, projecting dilution for each buyer-supplier pair in real-time. This paper introduces an AI, machine learning framework and evaluates how that can supplement a deterministic algorithm to predict invoice dilution using extensive production dataset across nine key transaction fields.

Generating realistic synthetic populations is essential for agent-based models (ABM) in transportation and urban planning. Current methods face two major limitations. First, many rely on a single dataset or follow a sequential data fusion and generation process, which means they fail to capture the complex interplay between features. Second, these approaches struggle with sampling zeros (valid but unobserved attribute combinations) and structural zeros (infeasible combinations due to logical constraints), which reduce the diversity and feasibility of the generated data. This study proposes a novel method to simultaneously integrate and synthesize multi-source datasets using a Wasserstein Generative Adversarial Network (WGAN) with gradient penalty. This joint learning method improves both the diversity and feasibility of synthetic data by defining a regularization term (inverse gradient penalty) for the generator loss function. For the evaluation, we implement a unified evaluation metric for similarity, and place special emphasis on measuring diversity and feasibility through recall, precision, and the F1 score. Results show that the proposed joint approach outperforms the sequential baseline, with recall increasing by 7\% and precision by 15\%. Additionally, the regularization term further improves diversity and feasibility, reflected in a 10\% increase in recall and 1\% in precision. We assess similarity distributions using a five-metric score. The joint approach performs better overall, and reaches a score of 88.1 compared to 84.6 for the sequential method. Since synthetic populations serve as a key input for ABM, this multi-source generative approach has the potential to significantly enhance the accuracy and reliability of ABM.

We explore how different types and uses of memory can aid spatial navigation in changing uncertain environments. In the simple foraging task we study, every day, our agent has to find its way from its home, through barriers, to food. Moreover, the world is non-stationary: from day to day, the location of the barriers and food may change, and the agent's sensing such as its location information is uncertain and very limited. Any model construction, such as a map, and use, such as planning, needs to be robust against these challenges, and if any learning is to be useful, it needs to be adequately fast. We look at a range of strategies, from simple to sophisticated, with various uses of memory and learning. We find that an architecture that can incorporate multiple strategies is required to handle (sub)tasks of a different nature, in particular for exploration and search, when food location is not known, and for planning a good path to a remembered (likely) food location. An agent that utilizes non-stationary probability learning techniques to keep updating its (episodic) memories and that uses those memories to build maps and plan on the fly (imperfect maps, i.e. noisy and limited to the agent's experience) can be increasingly and substantially more efficient than the simpler (minimal-memory) agents, as the task difficulties such as distance to goal are raised, as long as the uncertainty, from localization and change, is not too large.

We present Experiment Automation Agents (EAA), a vision-language-model-driven agentic system designed to automate complex experimental microscopy workflows. EAA integrates multimodal reasoning, tool-augmented action, and optional long-term memory to support both autonomous procedures and interactive user-guided measurements. Built on a flexible task-manager architecture, the system enables workflows ranging from fully agent-driven automation to logic-defined routines that embed localized LLM queries. EAA further provides a modern tool ecosystem with two-way compatibility for Model Context Protocol (MCP), allowing instrument-control tools to be consumed or served across applications. We demonstrate EAA at an imaging beamline at the Advanced Photon Source, including automated zone plate focusing, natural language-described feature search, and interactive data acquisition. These results illustrate how vision-capable agents can enhance beamline efficiency, reduce operational burden, and lower the expertise barrier for users.

Misclassifications in spam and phishing detection are very harmful, as false negatives expose users to attacks while false positives degrade trust. Existing uncertainty-based detectors can flag potential errors, but possibly be deceived and offer limited interpretability. This paper presents X-MAP, an eXplainable Misclassification Analysis and Profilling framework that reveals topic-level semantic patterns behind model failures. X-MAP combines SHAP-based feature attributions with non-negative matrix factorization to build interpretable topic profiles for reliably classified spam/phishing and legitimate messages, and measures each message's deviation from these profiles using Jensen-Shannon divergence. Experiments on SMS and phishing datasets show that misclassified messages exhibit at least two times larger divergence than correctly classified ones. As a detector, X-MAP achieves up to 0.98 AUROC and lowers the false-rejection rate at 95% TRR to 0.089 on positive predictions. When used as a repair layer on base detectors, it recovers up to 97% of falsely rejected correct predictions with moderate leakage. These results demonstrate X-MAP's effectiveness and interpretability for improving spam and phishing detection.

Foundation models for agriculture are increasingly trained on massive spatiotemporal data (e.g., multi-spectral remote sensing, soil grids, and field-level management logs) and achieve strong performance on forecasting and monitoring. However, these models lack language-based reasoning and interactive capabilities, limiting their usefulness in real-world agronomic workflows. Meanwhile, large language models (LLMs) excel at interpreting and generating text, but cannot directly reason over high-dimensional, heterogeneous agricultural datasets. We bridge this gap with an agentic framework for agricultural science. It provides a Python execution environment, AgriWorld, exposing unified tools for geospatial queries over field parcels, remote-sensing time-series analytics, crop growth simulation, and task-specific predictors (e.g., yield, stress, and disease risk). On top of this environment, we design a multi-turn LLM agent, Agro-Reflective, that iteratively writes code, observes execution results, and refines its analysis via an execute-observe-refine loop. We introduce AgroBench, with scalable data generation for diverse agricultural QA spanning lookups, forecasting, anomaly detection, and counterfactual "what-if" analysis. Experiments outperform text-only and direct tool-use baselines, validating execution-driven reflection for reliable agricultural reasoning.

Web agents based on large language models have demonstrated promising capability in automating web tasks. However, current web agents struggle to reason out sensible actions due to the limitations of predicting environment changes, and might not possess comprehensive awareness of execution risks, prematurely performing risky actions that cause losses and lead to task failure. To address these challenges, we propose WAC, a web agent that integrates model collaboration, consequence simulation, and feedback-driven action refinement. To overcome the cognitive isolation of individual models, we introduce a multi-agent collaboration process that enables an action model to consult a world model as a web-environment expert for strategic guidance; the action model then grounds these suggestions into executable actions, leveraging prior knowledge of environmental state transition dynamics to enhance candidate action proposal. To achieve risk-aware resilient task execution, we introduce a two-stage deduction chain. A world model, specialized in environmental state transitions, simulates action outcomes, which a judge model then scrutinizes to trigger action corrective feedback when necessary. Experiments show that WAC achieves absolute gains of 1.8% on VisualWebArena and 1.3% on Online-Mind2Web.

Large Language Models (LLMs) deployed in production environments face a fundamental safety-utility trade-off either a strict filtering mechanisms prevent harmful outputs but often block benign queries or a relaxed controls risk unsafe content generation. Conventional guardrails based on static rules or fixed confidence thresholds are typically context-insensitive and computationally expensive, resulting in high latency and degraded user experience. To address these limitations, we introduce an adaptive abstention system that dynamically adjusts safety thresholds based on real-time contextual signals such as domain and user history. The proposed framework integrates a multi-dimensional detection architecture composed of five parallel detectors, combined through a hierarchical cascade mechanism to optimize both speed and precision. The cascade design reduces unnecessary computation by progressively filtering queries, achieving substantial latency improvements compared to non-cascaded models and external guardrail systems. Extensive evaluation on mixed and domain-specific workloads demonstrates significant reductions in false positives, particularly in sensitive domains such as medical advice and creative writing. The system maintains high safety precision and near-perfect recall under strict operating modes. Overall, our context-aware abstention framework effectively balances safety and utility while preserving performance, offering a scalable solution for reliable LLM deployment.

Contrary to common belief, common belief is not KD4. If individual belief is KD45, common belief does indeed lose the 5 property and keep the D and 4 properties -- and it has none of the other commonly considered properties of knowledge and belief. But it has another property: $C(C\phi \rightarrow \phi)$ -- corresponding to so-called shift-reflexivity (reflexivity one step ahead). This observation begs the question: is KD4 extended with this axiom a complete characterisation of common belief in the KD45 case? If not, what \emph{is} the logic of common belief? In this paper we show that the answer to the first question is ``no'': there is one additional axiom, and, furthermore, it relies on the number of agents. We show that the result is a complete characterisation of common belief, settling the open problem.

This work introduces EduEVAL-DB, a dataset based on teacher roles designed to support the evaluation and training of automatic pedagogical evaluators and AI tutors for instructional explanations. The dataset comprises 854 explanations corresponding to 139 questions from a curated subset of the ScienceQA benchmark, spanning science, language, and social science across K-12 grade levels. For each question, one human-teacher explanation is provided and six are generated by LLM-simulated teacher roles. These roles are inspired by instructional styles and shortcomings observed in real educational practice and are instantiated via prompt engineering. We further propose a pedagogical risk rubric aligned with established educational standards, operationalizing five complementary risk dimensions: factual correctness, explanatory depth and completeness, focus and relevance, student-level appropriateness, and ideological bias. All explanations are annotated with binary risk labels through a semi-automatic process with expert teacher review. Finally, we present preliminary validation experiments to assess the suitability of EduEVAL-DB for evaluation. We benchmark a state-of-the-art education-oriented model (Gemini 2.5 Pro) against a lightweight local Llama 3.1 8B model and examine whether supervised fine-tuning on EduEVAL-DB supports pedagogical risk detection using models deployable on consumer hardware.

The LLM community often reports benchmark results as if they are synonymous with general model capabilities. However, benchmarks can have problems that distort performance, like test set contamination and annotator error. How can we know that a benchmark is a reliable indicator of some capability that we want to measure? This question concerns the construct validity of LLM benchmarks, and it requires separating benchmark results from capabilities when we model and predict LLM performance. Both social scientists and computer scientists propose formal models - latent factor models and scaling laws - for identifying the capabilities underlying benchmark scores. However, neither technique is satisfactory for construct validity. Latent factor models ignore scaling laws, and as a result, the capabilities they extract often proxy model size. Scaling laws ignore measurement error, and as a result, the capabilities they extract are both uninterpretable and overfit to the observed benchmarks. This thesis presents the structured capabilities model, the first model to extract interpretable and generalisable capabilities from a large collection of LLM benchmark results. I fit this model and its two alternatives on a large sample of results from the OpenLLM Leaderboard. Structured capabilities outperform latent factor models on parsimonious fit indices, and exhibit better out-of-distribution benchmark prediction than scaling laws. These improvements are possible because neither existing approach separates model scale from capabilities in the appropriate way. Model scale should inform capabilities, as in scaling laws, and these capabilities should inform observed results up to measurement error, as in latent factor models. In combining these two insights, structured capabilities demonstrate better explanatory and predictive power for quantifying construct validity in LLM evaluations.

The Personal AI landscape is currently dominated by "Black Box" Retrieval-Augmented Generation. While standard vector databases offer statistical matching, they suffer from a fundamental lack of accountability: when an AI hallucinates or retrieves sensitive data, the user cannot inspect the cause nor correct the error. Worse, "deleting" a concept from a vector space is mathematically imprecise, leaving behind probabilistic "ghosts" that violate true privacy. We propose Ruva, the first "Glass Box" architecture designed for Human-in-the-Loop Memory Curation. Ruva grounds Personal AI in a Personal Knowledge Graph, enabling users to inspect what the AI knows and to perform precise redaction of specific facts. By shifting the paradigm from Vector Matching to Graph Reasoning, Ruva ensures the "Right to be Forgotten." Users are the editors of their own lives; Ruva hands them the pen. The project and the demo video are available at http://sisinf00.poliba.it/ruva/.

When a multimodal Transformer answers a visual question, is the prediction driven by visual evidence, linguistic reasoning, or genuinely fused cross-modal computation -- and how does this structure evolve across layers? We address this question with a layer-wise framework based on Partial Information Decomposition (PID) that decomposes the predictive information at each Transformer layer into redundant, vision-unique, language-unique, and synergistic components. To make PID tractable for high-dimensional neural representations, we introduce \emph{PID Flow}, a pipeline combining dimensionality reduction, normalizing-flow Gaussianization, and closed-form Gaussian PID estimation. Applying this framework to LLaVA-1.5-7B and LLaVA-1.6-7B across six GQA reasoning tasks, we uncover a consistent \emph{modal transduction} pattern: visual-unique information peaks early and decays with depth, language-unique information surges in late layers to account for roughly 82\% of the final prediction, and cross-modal synergy remains below 2\%. This trajectory is highly stable across model variants (layer-wise correlations $>$0.96) yet strongly task-dependent, with semantic redundancy governing the detailed information fingerprint. To establish causality, we perform targeted Image$\rightarrow$Question attention knockouts and show that disrupting the primary transduction pathway induces predictable increases in trapped visual-unique information, compensatory synergy, and total information cost -- effects that are strongest in vision-dependent tasks and weakest in high-redundancy tasks. Together, these results provide an information-theoretic, causal account of how vision becomes language in multimodal Transformers, and offer quantitative guidance for identifying architectural bottlenecks where modality-specific information is lost.

Cumulative constraints are central in scheduling with constraint programming, yet propagation is typically performed per constraint, missing multi-resource interactions and causing severe slowdowns on some benchmarks. I present a preprocessing method for inferring additional cumulative constraints that capture such interactions without search-time probing. This approach interprets cumulative constraints as linear inequalities over occupancy vectors and generates valid inequalities by (i) discovering covers, the sets of tasks that cannot run in parallel, (ii) strengthening the cover inequalities for the discovered sets with lifting, and (iii) injecting the resulting constraints back into the scheduling problem instance. Experiments on standard RCPSP and RCPSP/max test suites show that these inferred constraints improve search performance and tighten objective bounds on favorable instances, while incurring little degradation on unfavorable ones. Additionally, these experiments discover 25 new lower bounds and five new best solutions; eight of the lower bounds are obtained directly from the inferred constraints.

Foundation models, including vision language models, are increasingly used in automated driving to interpret scenes, recommend actions, and generate natural language explanations. However, existing evaluation methods primarily assess outcome based performance, such as safety and trajectory accuracy, without determining whether model decisions reflect human relevant considerations. As a result, it remains unclear whether explanations produced by such models correspond to genuine reason responsive decision making or merely post hoc rationalizations. This limitation is especially significant in safety critical domains because it can create false confidence. To address this gap, we propose CARE Drive, Context Aware Reasons Evaluation for Driving, a model agnostic framework for evaluating reason responsiveness in vision language models applied to automated driving. CARE Drive compares baseline and reason augmented model decisions under controlled contextual variation to assess whether human reasons causally influence decision behavior. The framework employs a two stage evaluation process. Prompt calibration ensures stable outputs. Systematic contextual perturbation then measures decision sensitivity to human reasons such as safety margins, social pressure, and efficiency constraints. We demonstrate CARE Drive in a cyclist overtaking scenario involving competing normative considerations. Results show that explicit human reasons significantly influence model decisions, improving alignment with expert recommended behavior. However, responsiveness varies across contextual factors, indicating uneven sensitivity to different types of reasons. These findings provide empirical evidence that reason responsiveness in foundation models can be systematically evaluated without modifying model parameters.

Current methods for personality control in Large Language Models rely on static prompting or expensive fine-tuning, failing to capture the dynamic and compositional nature of human traits. We introduce PERSONA, a training-free framework that achieves fine-tuning level performance through direct manipulation of personality vectors in activation space. Our key insight is that personality traits appear as extractable, approximately orthogonal directions in the model's representation space that support algebraic operations. The framework operates through three stages: Persona-Base extracts orthogonal trait vectors via contrastive activation analysis; Persona-Algebra enables precise control through vector arithmetic (scalar multiplication for intensity, addition for composition, subtraction for suppression); and Persona-Flow achieves context-aware adaptation by dynamically composing these vectors during inference. On PersonalityBench, our approach achieves a mean score of 9.60, nearly matching the supervised fine-tuning upper bound of 9.61 without any gradient updates. On our proposed Persona-Evolve benchmark for dynamic personality adaptation, we achieve up to 91% win rates across diverse model families. These results provide evidence that aspects of LLM personality are mathematically tractable, opening new directions for interpretable and efficient behavioral control.

Large language models achieve strong performance on many complex reasoning tasks, yet their accuracy degrades sharply on benchmarks that require compositional reasoning, including ARC-AGI-2, GPQA, MATH, BBH, and HLE. Existing methods improve reasoning by expanding token-level search through chain-of-thought prompting, self-consistency, or reinforcement learning, but they leave the model's latent representation space fixed. When the required abstraction is not already encoded in this space, performance collapses. We propose Recursive Concept Evolution (RCE), a framework that enables pretrained language models to modify their internal representation geometry during inference. RCE introduces dynamically generated low-rank concept subspaces that are spawned when representational inadequacy is detected, selected through a minimum description length criterion, merged when synergistic, and consolidated via constrained optimization to preserve stability. This process allows the model to construct new abstractions rather than recombining existing ones. We integrate RCE with Mistral-7B and evaluate it across compositional reasoning benchmarks. RCE yields 12-18 point gains on ARC-AGI-2, 8-14 point improvements on GPQA and BBH, and consistent reductions in depth-induced error on MATH and HLE.

In the realm of multi-agent systems, the challenge of \emph{partial observability} is a critical barrier to effective coordination and decision-making. Existing approaches, such as belief state estimation and inter-agent communication, often fall short. Belief-based methods are limited by their focus on past experiences without fully leveraging global information, while communication methods often lack a robust model to effectively utilize the auxiliary information they provide. To solve this issue, we propose Global State Diffusion Algorithm~(GlobeDiff) to infer the global state based on the local observations. By formulating the state inference process as a multi-modal diffusion process, GlobeDiff overcomes ambiguities in state estimation while simultaneously inferring the global state with high fidelity. We prove that the estimation error of GlobeDiff under both unimodal and multi-modal distributions can be bounded. Extensive experimental results demonstrate that GlobeDiff achieves superior performance and is capable of accurately inferring the global state.

A growing literature uses large language models (LLMs) as synthetic participants to generate cost-effective and nearly instantaneous responses in social science experiments. However, there is limited guidance on when such simulations support valid inference about human behavior. We contrast two strategies for obtaining valid estimates of causal effects and clarify the assumptions under which each is suitable for exploratory versus confirmatory research. Heuristic approaches seek to establish that simulated and observed human behavior are interchangeable through prompt engineering, model fine-tuning, and other repair strategies designed to reduce LLM-induced inaccuracies. While useful for many exploratory tasks, heuristic approaches lack the formal statistical guarantees typically required for confirmatory research. In contrast, statistical calibration combines auxiliary human data with statistical adjustments to account for discrepancies between observed and simulated responses. Under explicit assumptions, statistical calibration preserves validity and provides more precise estimates of causal effects at lower cost than experiments that rely solely on human participants. Yet the potential of both approaches depends on how well LLMs approximate the relevant populations. We consider what opportunities are overlooked when researchers focus myopically on substituting LLMs for human participants in a study.

Accurate representation of building semantics, encompassing both generic object types and specific subtypes, is essential for effective AI model training in the architecture, engineering, construction, and operation (AECO) industry. Conventional encoding methods (e.g., one-hot) often fail to convey the nuanced relationships among closely related subtypes, limiting AI's semantic comprehension. To address this limitation, this study proposes a novel training approach that employs large language model (LLM) embeddings (e.g., OpenAI GPT and Meta LLaMA) as encodings to preserve finer distinctions in building semantics. We evaluated the proposed method by training GraphSAGE models to classify 42 building object subtypes across five high-rise residential building information models (BIMs). Various embedding dimensions were tested, including original high-dimensional LLM embeddings (1,536, 3,072, or 4,096) and 1,024-dimensional compacted embeddings generated via the Matryoshka representation model. Experimental results demonstrated that LLM encodings outperformed the conventional one-hot baseline, with the llama-3 (compacted) embedding achieving a weighted average F1-score of 0.8766, compared to 0.8475 for one-hot encoding. The results underscore the promise of leveraging LLM-based encodings to enhance AI's ability to interpret complex, domain-specific building semantics. As the capabilities of LLMs and dimensionality reduction techniques continue to evolve, this approach holds considerable potential for broad application in semantic elaboration tasks throughout the AECO industry.

As insufficient data volume and quality remain the key impediments to the adoption of modern subsymbolic AI, techniques of synthetic data generation are in high demand. Simulation offers an apt, systematic approach to generating diverse synthetic data. This chapter introduces the reader to the key concepts, benefits, and challenges of simulation-based synthetic data generation for AI training purposes, and to a reference framework to describe, design, and analyze digital twin-based AI simulation solutions.

While Large Language Models (LLMs) are reshaping the paradigm of AI for Social Science (AI4SS), rigorously evaluating their capabilities in scholarly writing remains a major challenge. Existing benchmarks largely emphasize single-shot, monolithic generation and thus lack the fine-grained assessments required to reflect complex academic research workflows. To fill this gap, we introduce EduResearchBench, the first comprehensive evaluation platform dedicated to educational academic writing. EduResearchBench is built upon our Hierarchical Atomic Task Decomposition (HATD) framework, which decomposes an end-to-end research workflow into six specialized research modules (e.g., Quantitative Analysis, Qualitative Research, and Policy Research) spanning 24 fine-grained atomic tasks. This taxonomy enables an automated evaluation pipeline that mitigates a key limitation of holistic scoring, where aggregate scores often obscure specific capability bottlenecks, and instead provides fine-grained, diagnostic feedback on concrete deficiencies. Moreover, recognizing the high cognitive load inherent in scholarly writing, we propose a curriculum learning strategy that progressively builds competence from foundational skills to complex methodological reasoning and argumentation. Leveraging 55K raw academic samples, we curate 11K high-quality instruction pairs to train EduWrite, a specialized educational scholarly writing model. Experiments show that EduWrite (30B) substantially outperforms larger general-purpose models (72B) on multiple core metrics, demonstrating that in vertical domains, data quality density and hierarchically staged training curricula are more decisive than parameter scale.

Multilingual large language models (LLMs) are increasingly deployed in linguistically diverse regions like India, yet most interpretability tools remain tailored to English. Prior work reveals that LLMs often operate in English centric representation spaces, making cross lingual interpretability a pressing concern. We introduce Indic-TunedLens, a novel interpretability framework specifically for Indian languages that learns shared affine transformations. Unlike the standard Logit Lens, which directly decodes intermediate activations, Indic-TunedLens adjusts hidden states for each target language, aligning them with the target output distributions to enable more faithful decoding of model representations. We evaluate our framework on 10 Indian languages using the MMLU benchmark and find that it significantly improves over SOTA interpretability methods, especially for morphologically rich, low resource languages. Our results provide crucial insights into the layer-wise semantic encoding of multilingual transformers. Our model is available at https://huggingface.co/spaces/AnonymousAccountACL/IndicTunedLens. Our code is available at https://github.com/AnonymousAccountACL/IndicTunedLens.

Accurate QA over classical Islamic texts remains challenging due to domain specific semantics, long context dependencies, and concept sensitive reasoning. Therefore, a new CGRA DeBERTa, a concept guided residual domain augmentation transformer framework, is proposed that enhances theological QA over Hadith corpora. The CGRA DeBERTa builds on a customized DeBERTa transformer backbone with lightweight LoRA based adaptations and a residual concept aware gating mechanism. The customized DeBERTa embedding block learns global and positional context, while Concept Guided Residual Blocks incorporate theological priors from a curated Islamic Concept Dictionary of 12 core terms. Moreover, the Concept Gating Mechanism selectively amplifies semantically critical tokens via importance weighted attention, applying differential scaling from 1.04 to 3.00. This design preserves contextual integrity, strengthens domain-specific semantic representations, and enables accurate, efficient span extraction while maintaining computational efficiency. This paper reports the results of training CGRA using a specially constructed dataset of 42591 QA pairs from the text of Sahih alBukhari and Sahih Muslim. While BERT achieved an EM score of 75.87 and DeBERTa one of 89.77, our model scored 97.85 and thus surpassed them by 8.08 on an absolute scale, all while adding approximately 8 inference overhead due to parameter efficient gating. The qualitative evaluation noted better extraction and discrimination and theological precision. This study presents Hadith QA systems that are efficient, interpretable, and accurate and that scale provide educational materials with necessary theological nuance.

In this paper, we present our 3rd place system in the AVerImaTeC shared task, which combines our last year's retrieval-augmented generation (RAG) pipeline with a reverse image search (RIS) module. Despite its simplicity, our system delivers competitive performance with a single multimodal LLM call per fact-check at just $0.013 on average using GPT5.1 via OpenAI Batch API. Our system is also easy to reproduce and tweak, consisting of only three decoupled modules - a textual retrieval module based on similarity search, an image retrieval module based on API-accessed RIS, and a generation module using GPT5.1 - which is why we suggest it as an accesible starting point for further experimentation. We publish its code and prompts, as well as our vector stores and insights into the scheme's running costs and directions for further improvement.

Tool-calling is essential for Large Language Model (LLM) agents to complete real-world tasks. While most existing benchmarks assume simple, perfectly documented tools, real-world tools (e.g., general "search" APIs) are often opaque, lacking clear best practices or failure modes. Can LLM agents improve their performance in environments with opaque tools by interacting and subsequently improving documentation? To study this, we create OpaqueToolsBench, a benchmark consisting of three distinct task-oriented environments: general function calling, interactive chess playing, and long-trajectory agentic search. Each environment provides underspecified tools that models must learn to use effectively to complete the task. Results on OpaqueToolsBench suggest existing methods for automatically documenting tools are expensive and unreliable when tools are opaque. To address this, we propose a simple framework, ToolObserver, that iteratively refines tool documentation by observing execution feedback from tool-calling trajectories. Our approach outperforms existing methods on OpaqueToolsBench across datasets, even in relatively hard settings. Furthermore, for test-time tool exploration settings, our method is also efficient, consuming 3.5-7.5x fewer total tokens than the best baseline.

Accurately measuring consumer emotions and evaluations from unstructured text remains a core challenge for marketing research and practice. This study introduces the Linguistic eXtractor (LX), a fine-tuned, large language model trained on consumer-authored text that also has been labeled with consumers' self-reported ratings of 16 consumption-related emotions and four evaluation constructs: trust, commitment, recommendation, and sentiment. LX consistently outperforms leading models, including GPT-4 Turbo, RoBERTa, and DeepSeek, achieving 81% macro-F1 accuracy on open-ended survey responses and greater than 95% accuracy on third-party-annotated Amazon and Yelp reviews. An application of LX to online retail data, using seemingly unrelated regression, affirms that review-expressed emotions predict product ratings, which in turn predict purchase behavior. Most emotional effects are mediated by product ratings, though some emotions, such as discontent and peacefulness, influence purchase directly, indicating that emotional tone provides meaningful signals beyond star ratings. To support its use, a no-code, cost-free, LX web application is available, enabling scalable analyses of consumer-authored text. In establishing a new methodological foundation for consumer perception measurement, this research demonstrates new methods for leveraging large language models to advance marketing research and practice, thereby achieving validated detection of marketing constructs from consumer data.

AI Memory, specifically how models organizes and retrieves historical messages, becomes increasingly valuable to Large Language Models (LLMs), yet existing methods (RAG and Graph-RAG) primarily retrieve memory through similarity-based mechanisms. While efficient, such System-1-style retrieval struggles with scenarios that require global reasoning or comprehensive coverage of all relevant information. In this work, We propose Mnemis, a novel memory framework that integrates System-1 similarity search with a complementary System-2 mechanism, termed Global Selection. Mnemis organizes memory into a base graph for similarity retrieval and a hierarchical graph that enables top-down, deliberate traversal over semantic hierarchies. By combining the complementary strength from both retrieval routes, Mnemis retrieves memory items that are both semantically and structurally relevant. Mnemis achieves state-of-the-art performance across all compared methods on long-term memory benchmarks, scoring 93.9 on LoCoMo and 91.6 on LongMemEval-S using GPT-4.1-mini.

Large pretrained language models and neural reasoning systems have advanced many natural language tasks, yet they remain challenged by knowledge-intensive queries that require precise, structured multi-hop inference. Knowledge graphs provide a compact symbolic substrate for factual grounding, but integrating graph structure with neural models is nontrivial: naively embedding graph facts into prompts leads to inefficiency and fragility, while purely symbolic or search-heavy approaches can be costly in retrievals and lack gradient-based refinement. We introduce NeuroSymActive, a modular framework that combines a differentiable neural-symbolic reasoning layer with an active, value-guided exploration controller for Knowledge Graph Question Answering. The method couples soft-unification style symbolic modules with a neural path evaluator and a Monte-Carlo style exploration policy that prioritizes high-value path expansions. Empirical results on standard KGQA benchmarks show that NeuroSymActive attains strong answer accuracy while reducing the number of expensive graph lookups and model calls compared to common retrieval-augmented baselines.

Language models exhibit systematic performance gaps when processing text in non-standard language varieties, yet their ability to comprehend variety-specific slang remains underexplored for several languages. We present a comprehensive evaluation of slang awareness in Indian English (en-IN) and Australian English (en-AU) across seven state-of-the-art language models. We construct two complementary datasets: \textsc{web}, containing 377 web-sourced usage examples from Urban Dictionary, and \textsc{gen}, featuring 1,492 synthetically generated usages of these slang terms, across diverse scenarios. We assess language models on three tasks: target word prediction (TWP), guided target word prediction (TWP$^*$) and target word selection (TWS). Our results reveal four key findings: (1) Higher average model performance TWS versus TWP and TWP$^*$, with average accuracy score increasing from 0.03 to 0.49 respectively (2) Stronger average model performance on \textsc{web} versus \textsc{gen} datasets, with average similarity score increasing by 0.03 and 0.05 across TWP and TWP$^*$ tasks respectively (3) en-IN tasks outperform en-AU when averaged across all models and datasets, with TWS demonstrating the largest disparity, increasing average accuracy from 0.44 to 0.54. These findings underscore fundamental asymmetries between generative and discriminative competencies for variety-specific language, particularly in the context of slang expressions despite being in a technologically rich language such as English.

Customer service automation has seen growing demand within digital transformation. Existing approaches either rely on modular system designs with extensive agent orchestration or employ over-simplified instruction schemas, providing limited guidance and poor generalizability. This paper introduces an orchestration-free framework using Task-Oriented Flowcharts (TOFs) to enable end-to-end automation without manual intervention. We first define the components and evaluation metrics for TOFs, then formalize a cost-efficient flowchart construction algorithm to abstract procedural knowledge from service dialogues. We emphasize local deployment of small language models and propose decentralized distillation with flowcharts to mitigate data scarcity and privacy issues in model training. Extensive experiments validate the effectiveness in various service tasks, with superior quantitative and application performance compared to strong baselines and market products. By releasing a web-based system demonstration with case studies, we aim to promote streamlined creation of future service automation.

Can large language models converse in languages virtually absent from their training data? We investigate this question through a case study on Tulu, a Dravidian language with over 2 million speakers but minimal digital presence. Rather than fine-tuning an LLM, we examine whether structured prompts alone can elicit basic conversational ability under controlled prompting. We systematically tackle various challenges posed by absence of training data for Tulu by combining explicit grammar documentation, negative constraints to suppress high-probability tokens from related languages, romanization standardization, and quality-controlled synthetic data generation via self-play. Evaluated on a manually curated held-out set across three LLMs (Gemini 2.0 Flash, GPT-4o, Llama 3.1 70B) and validated by native speakers, our approach reduces vocabulary contamination from 80% to 5% while achieving 85% grammatical accuracy. Cross-model analysis reveals that negative constraints provide consistent improvements (12--18 percentage points), while grammar documentation effects vary by model architecture (8--22 points).

Multi-Agent Systems (MAS) powered by Large Language Models have unlocked advanced collaborative reasoning, yet they remain shackled by the inefficiency of discrete text communication, which imposes significant runtime overhead and information quantization loss. While latent state transfer offers a high-bandwidth alternative, existing approaches either assume homogeneous sender-receiver architectures or rely on pair-specific learned translators, limiting scalability and modularity across diverse model families with disjoint manifolds. In this work, we propose the Vision Wormhole, a novel framework that repurposes the visual interface of Vision-Language Models (VLMs) to enable model-agnostic, text-free communication. By introducing a Universal Visual Codec, we map heterogeneous reasoning traces into a shared continuous latent space and inject them directly into the receiver's visual pathway, effectively treating the vision encoder as a universal port for inter-agent telepathy. Our framework adopts a hub-and-spoke topology to reduce pairwise alignment complexity from O(N^2) to O(N) and leverages a label-free, teacher-student distillation objective to align the high-speed visual channel with the robust reasoning patterns of the text pathway. Extensive experiments across heterogeneous model families (e.g., Qwen-VL, Gemma) demonstrate that the Vision Wormhole reduces end-to-end wall-clock time in controlled comparisons while maintaining reasoning fidelity comparable to standard text-based MAS. Code is available at https://github.com/xz-liu/heterogeneous-latent-mas

Digitized historical archives make it possible to study everyday social life on a large scale, but the information extracted directly from text often does not directly allow one to answer the research questions posed by historians or sociologists in a quantitative manner. We address this problem in a large collection of Finnish World War II Karelian evacuee family interviews. Prior work extracted more than 350K mentions of leisure time activities and organizational memberships from these interviews, yielding 71K unique activity and organization names -- far too many to analyze directly. We develop a categorization framework that captures key aspects of participation (the kind of activity/organization, how social it typically is, how regularly it happens, and how physically demanding it is). We annotate a gold-standard set to allow for a reliable evaluation, and then test whether large language models can apply the same schema at scale. Using a simple voting approach across multiple model runs, we find that an open-weight LLM can closely match expert judgments. Finally, we apply the method to label the 350K entities, producing a structured resource for downstream studies of social integration and related outcomes.

Large Language Models (LLMs) are changing the coding paradigm, known as vibe coding, yet synthesizing algorithmically sophisticated and robust code still remains a critical challenge. Incentivizing the deep reasoning capabilities of LLMs is essential to overcoming this hurdle. Reinforcement Fine-Tuning (RFT) has emerged as a promising strategy to address this need. However, most existing approaches overlook the heterogeneous difficulty and granularity inherent in test cases, leading to an imbalanced distribution of reward signals and consequently biased gradient updates during training. To address this, we propose Test-driven and cApability-adaptive cuRriculum reinfOrcement fine-Tuning (TAROT). TAROT systematically constructs, for each problem, a four-tier test suite (basic, intermediate, complex, edge), providing a controlled difficulty landscape for curriculum design and evaluation. Crucially, TAROT decouples curriculum progression from raw reward scores, enabling capability-conditioned evaluation and principled selection from a portfolio of curriculum policies rather than incidental test-case difficulty composition. This design fosters stable optimization and more efficient competency acquisition. Extensive experimental results reveal that the optimal curriculum for RFT in code generation is closely tied to a model's inherent capability, with less capable models achieving greater gains with an easy-to-hard progression, whereas more competent models excel under a hard-first curriculum. TAROT provides a reproducible method that adaptively tailors curriculum design to a model's capability, thereby consistently improving the functional correctness and robustness of the generated code. All code and data are released to foster reproducibility and advance community research at https://github.com/deep-diver/TAROT.

Agents based on Large Language Models (LLMs) are increasingly being deployed as interfaces to information on online platforms. These agents filter, prioritize, and synthesize information retrieved from the platforms' back-end databases or via web search. In these scenarios, LLM agents govern the information users receive, by drawing users' attention to particular instances of retrieved information at the expense of others. While much prior work has focused on biases in the information LLMs themselves generate, less attention has been paid to the factors that influence what information LLMs select and present to users. We hypothesize that when information is attributed to specific sources (e.g., particular publishers, journals, or platforms), current LLMs exhibit systematic latent source preferences- that is, they prioritize information from some sources over others. Through controlled experiments on twelve LLMs from six model providers, spanning both synthetic and real-world tasks, we find that several models consistently exhibit strong and predictable source preferences. These preferences are sensitive to contextual framing, can outweigh the influence of content itself, and persist despite explicit prompting to avoid them. They also help explain phenomena such as the observed left-leaning skew in news recommendations in prior work. Our findings advocate for deeper investigation into the origins of these preferences, as well as for mechanisms that provide users with transparency and control over the biases guiding LLM-powered agents.

Patients' expectations towards their treatment have a substantial effect on the treatments' success. While primarily studied in clinical settings, online patient platforms like medical subreddits may hold complementary insights: treatment expectations that patients feel unnecessary or uncomfortable to share elsewhere. Despite this, no studies examine what type of expectations users discuss online and how they express them. Presumably this is because expectations have not been studied in natural language processing (NLP) before. Therefore, we introduce the task of Expectation Detection, arguing that expectations are relevant for many applications, including opinion mining and product design. Subsequently, we present a case study for the medical domain, where expectations are particularly crucial to extract. We contribute RedHOTExpect, a corpus of Reddit posts (4.5K posts) to study expectations in this context. We use a large language model (LLM) to silver-label the data and validate its quality manually (label accuracy ~78%). Based on this, we analyze which linguistic patterns characterize expectations and explore what patients expect and why. We find that optimism and proactive framing are more pronounced in posts about physical or treatment-related illnesses compared to mental-health contexts, and that in our dataset, patients mostly discuss benefits rather than negative outcomes. The RedHOTExpect corpus can be obtained from https://www.ims.uni-stuttgart.de/data/RedHOTExpect

We introduce LuxMT, a machine translation system based on Gemma 3 27B and fine-tuned for translation from Luxembourgish (LB) into French (FR) and English (EN). To assess translation performance, we construct a novel benchmark covering LB-FR, LB-EN, and LB-FR using human-translated data from Luci, a tourist magazine about Luxembourg. Training data stems from LuxAlign, a parallel corpus of multilingual Luxembourgish news articles, and LB parliamentary transcripts augmented with Google Translate. We filter the data using LuxEmbedder, LB sentence embeddings, to remove low-equivalence segment-pairs. Overall, LuxMT's results suggest strong improvements over the Gemma 3 baseline, even for translating LB to German (DE), despite the training data not containing any DE. We also explore LuxEmbedder's potential to be used as a quality estimation metric and find strong correlations with other reference-based metrics. However, we call for further research to fully assess the metric's utility and advise using it with caution.

The tendency for hallucination in current large language models (LLMs) negatively impacts dialogue systems. Such hallucinations produce factually incorrect responses that may mislead users and undermine system trust. Existing refinement methods for dialogue systems typically operate at the response level, overlooking the fact that a single response may contain multiple verifiable or unverifiable facts. To address this gap, we propose Fine-Refine, a fine-grained refinement framework that decomposes responses into atomic units, verifies each unit using external knowledge, assesses fluency via perplexity, and iteratively corrects granular errors. We evaluate factuality across the HybriDialogue and OpendialKG datasets in terms of factual accuracy (fact score) and coverage (Not Enough Information Proportion), and experiments show that Fine-Refine substantially improves factuality, achieving up to a 7.63-point gain in dialogue fact score, with a small trade-off in dialogue quality.

As large language models (LLMs) become increasingly prevalent, reliable methods for detecting AI-generated text are critical for mitigating potential risks. We introduce DependencyAI, a simple and interpretable approach for detecting AI-generated text using only the labels of linguistic dependency relations. Our method achieves competitive performance across monolingual, multi-generator, and multilingual settings. To increase interpretability, we analyze feature importance to reveal syntactic structures that distinguish AI-generated from human-written text. We also observe a systematic overprediction of certain models on unseen domains, suggesting that generator-specific writing styles may affect cross-domain generalization. Overall, our results demonstrate that dependency relations alone provide a robust signal for AI-generated text detection, establishing DependencyAI as a strong linguistically grounded, interpretable, and non-neural network baseline.

Mixture-of-Experts (MoE) effectively scales model capacity while preserving computational efficiency through sparse expert activation. However, training high-quality MoEs from scratch is prohibitively expensive. A promising alternative is to convert pretrained dense models into sparse MoEs. Existing dense-to-MoE methods fall into two categories: \textbf{dynamic structural pruning} that converts dense models into MoE architectures with moderate sparsity to balance performance and inference efficiency, and \textbf{downcycling} approaches that use pretrained dense models to initialize highly sparse MoE architectures. However, existing methods break the intrinsic activation patterns within dense models, leading to suboptimal expert construction. In this work, we argue that the Gated Linear Unit (GLU) mechanism provides a natural blueprint for dense-to-MoE conversion. We show that the fine-grained neural-wise activation patterns of GLU reveal a coarse-grained structure, uncovering an inherent MoE architecture composed of consistently activated universal neurons and dynamically activated specialized neurons. Leveraging this discovery, we introduce ExpertWeaver, a training-free framework that partitions neurons according to their activation patterns and constructs shared experts and specialized routed experts with layer-adaptive configurations. Our experiments demonstrate that ExpertWeaver significantly outperforms existing methods, both as a training-free dynamic structural pruning technique and as a downcycling strategy for superior MoE initialization.

Pure speech language models aim to learn language directly from raw audio without textual resources. A key challenge is that discrete tokens from self-supervised speech encoders result in excessively long sequences, motivating recent work on syllable-like units. However, methods like Sylber and SyllableLM rely on intricate multi-stage training pipelines. We propose ZeroSyl, a simple training-free method to extract syllable boundaries and embeddings directly from a frozen WavLM model. Using L2 norms of features in WavLM's intermediate layers, ZeroSyl achieves competitive syllable segmentation performance. The resulting segments are mean-pooled, discretized using K-means, and used to train a language model. ZeroSyl outperforms prior syllabic tokenizers across lexical, syntactic, and narrative benchmarks. Scaling experiments show that while finer-grained units are beneficial for lexical tasks, our discovered syllabic units exhibit better scaling behavior for syntactic modeling.

This paper introduces Perspectives, an interactive extension of the Discourse Analysis Tool Suite designed to empower Digital Humanities (DH) scholars to explore and organize large, unstructured document collections. Perspectives implements a flexible, aspect-focused document clustering pipeline with human-in-the-loop refinement capabilities. We showcase how this process can be initially steered by defining analytical lenses through document rewriting prompts and instruction-based embeddings, and further aligned with user intent through tools for refining clusters and mechanisms for fine-tuning the embedding model. The demonstration highlights a typical workflow, illustrating how DH researchers can leverage Perspectives's interactive document map to uncover topics, sentiments, or other relevant categories, thereby gaining insights and preparing their data for subsequent in-depth analysis.

Text embedding models are widely used for semantic similarity tasks, including information retrieval, clustering, and classification. General-purpose models are typically trained with single- or multi-stage processes using contrastive loss functions. We introduce a novel training regimen that combines model distillation techniques with task-specific contrastive loss to produce compact, high-performance embedding models. Our findings suggest that this approach is more effective for training small models than purely contrastive or distillation-based training paradigms alone. Benchmark scores for the resulting models, jina-embeddings-v5-text-small and jina-embeddings-v5-text-nano, exceed or match the state-of-the-art for models of similar size. jina-embeddings-v5-text models additionally support long texts (up to 32k tokens) in many languages, and generate embeddings that remain robust under truncation and binary quantization. Model weights are publicly available, hopefully inspiring further advances in embedding model development.

Text-to-SQL has recently achieved impressive progress, yet remains difficult to apply effectively in real-world scenarios. This gap stems from the reliance on single static workflows, fundamentally limiting scalability to out-of-distribution and long-tail scenarios. Instead of requiring users to select suitable methods through extensive experimentation, we attempt to enable systems to adaptively construct workflows at inference time. Through theoretical and empirical analysis, we demonstrate that optimal dynamic policies consistently outperform the best static workflow, with performance gains fundamentally driven by heterogeneity across candidate workflows. Motivated by this, we propose SquRL, a reinforcement learning framework that enhances LLMs' reasoning capability in adaptive workflow construction. We design a rule-based reward function and introduce two effective training mechanisms: dynamic actor masking to encourage broader exploration, and pseudo rewards to improve training efficiency. Experiments on widely-used Text-to-SQL benchmarks demonstrate that dynamic workflow construction consistently outperforms the best static workflow methods, with especially pronounced gains on complex and out-of-distribution queries. The codes are available at https://github.com/Satissss/SquRL

Depression manifests through a diverse set of symptoms such as sleep disturbance, loss of interest, and concentration difficulties. However, most existing works treat depression prediction either as a binary label or an overall severity score without explicitly modeling symptom-specific information. This limits their ability to provide symptom-level analysis relevant to clinical screening. To address this, we propose a symptom-specific and clinically inspired framework for depression severity estimation from speech. Our approach uses a symptom-guided cross-attention mechanism that aligns PHQ-8 questionnaire items with emotion-aware speech representations to identify which segments of a participant's speech are more important to each symptom. To account for differences in how symptoms are expressed over time, we introduce a learnable symptom-specific parameter that adaptively controls the sharpness of attention distributions. Our results on EDAIC, a standard clinical-style dataset, demonstrate improved performance outperforming prior works. Further, analyzing the attention distributions showed that higher attention is assigned to utterances containing cues related to multiple depressive symptoms, highlighting the interpretability of our approach. These findings outline the importance of symptom-guided and emotion-aware modeling for speech-based depression screening.

Reinforcement Learning (RL) has significantly improved large language model reasoning, but existing RL fine-tuning methods rely heavily on heuristic techniques such as entropy regularization and reweighting to maintain stability. In practice, they often experience late-stage performance collapse, leading to degraded reasoning quality and unstable training. We derive that the magnitude of token-wise policy gradients in RL is negatively correlated with token probability and local policy entropy. Building on this result, we prove that training instability is driven by a tiny fraction of tokens, approximately 0.01\%, which we term \emph{spurious tokens}. When such tokens appear in correct responses, they contribute little to the reasoning outcome but inherit the full sequence-level reward, leading to abnormally amplified gradient updates. Motivated by this observation, we propose Spurious-Token-Aware Policy Optimization (STAPO) for large-scale model refining, which selectively masks such updates and renormalizes the loss over valid tokens. Across six mathematical reasoning benchmarks using Qwen 1.7B, 8B, and 14B base models, STAPO consistently demonstrates superior entropy stability and achieves an average performance improvement of 7.13\% over GRPO, 20-Entropy and JustRL.

Despite the advances in neural text to speech (TTS), many Arabic dialectal varieties remain marginally addressed, with most resources concentrated on Modern Spoken Arabic (MSA) and Gulf dialects, leaving Egyptian Arabic -- the most widely understood Arabic dialect -- severely under-resourced. We address this gap by introducing NileTTS: 38 hours of transcribed speech from two speakers across diverse domains including medical, sales, and general conversations. We construct this dataset using a novel synthetic pipeline: large language models (LLM) generate Egyptian Arabic content, which is then converted to natural speech using audio synthesis tools, followed by automatic transcription and speaker diarization with manual quality verification. We fine-tune XTTS v2, a state-of-the-art multilingual TTS model, on our dataset and evaluate against the baseline model trained on other Arabic dialects. Our contributions include: (1) the first publicly available Egyptian Arabic TTS dataset, (2) a reproducible synthetic data generation pipeline for dialectal TTS, and (3) an open-source fine-tuned model. All resources are released to advance Egyptian Arabic speech synthesis research.

Northrop Frye's theory of four fundamental narrative genres (comedy, romance, tragedy, satire) has profoundly influenced literary criticism, yet computational approaches to his framework have focused primarily on narrative patterns rather than character functions. In this paper, we present a new character function framework that complements pattern-based analysis by examining how archetypal roles manifest differently across Frye's genres. Drawing on Jungian archetype theory, we derive four universal character functions (protagonist, mentor, antagonist, companion) by mapping them to Jung's psychic structure components. These functions are then specialized into sixteen genre-specific roles based on prototypical works. To validate this framework, we conducted a multi-model study using six state-of-the-art Large Language Models (LLMs) to evaluate character-role correspondences across 40 narrative works. The validation employed both positive samples (160 valid correspondences) and negative samples (30 invalid correspondences) to evaluate whether models both recognize valid correspondences and reject invalid ones. LLMs achieved substantial performance (mean balanced accuracy of 82.5%) with strong inter-model agreement (Fleiss' $\kappa$ = 0.600), demonstrating that the proposed correspondences capture systematic structural patterns. Performance varied by genre (ranging from 72.7% to 89.9%) and role (52.5% to 99.2%), with qualitative analysis revealing that variations reflect genuine narrative properties, including functional distribution in romance and deliberate archetypal subversion in satire. This character-based approach demonstrates the potential of LLM-supported methods for computational narratology and provides a foundation for future development of narrative generation methods and interactive storytelling applications.

Large language models and LLM-based agents are increasingly used for cybersecurity tasks that are inherently dual-use. Existing approaches to refusal, spanning academic policy frameworks and commercially deployed systems, often rely on broad topic-based bans or offensive-focused taxonomies. As a result, they can yield inconsistent decisions, over-restrict legitimate defenders, and behave brittlely under obfuscation or request segmentation. We argue that effective refusal requires explicitly modeling the trade-off between offensive risk and defensive benefit, rather than relying solely on intent or offensive classification. In this paper, we introduce a content-based framework for designing and auditing cyber refusal policies that makes offense-defense tradeoffs explicit. The framework characterizes requests along five dimensions: Offensive Action Contribution, Offensive Risk, Technical Complexity, Defensive Benefit, and Expected Frequency for Legitimate Users, grounded in the technical substance of the request rather than stated intent. We demonstrate that this content-grounded approach resolves inconsistencies in current frontier model behavior and allows organizations to construct tunable, risk-aware refusal policies.

Lexical semantic change detection (LSCD) increasingly relies on contextualised language model embeddings, yet most approaches still quantify change using a small set of semantic change metrics, primarily Average Pairwise Distance (APD) and cosine distance over word prototypes (PRT). We introduce Average Minimum Distance (AMD) and Symmetric Average Minimum Distance (SAMD), new measures that quantify semantic change via local correspondence between word usages across time periods. Across multiple languages, encoder models, and representation spaces, we show that AMD often provides more robust performance, particularly under dimensionality reduction and with non-specialised encoders, while SAMD excels with specialised encoders. We suggest that LSCD may benefit from considering alternative semantic change metrics beyond APD and PRT, with AMD offering a robust option for contextualised embedding-based analysis.

Understanding the causal effects of text on downstream outcomes is a central task in many applications. Estimating such effects requires researchers to run controlled experiments that systematically vary textual features. While large language models (LLMs) hold promise for generating text, producing and evaluating controlled variation requires more careful attention. In this paper, we present an end-to-end pipeline for the generation and causal estimation of latent textual interventions. Our work first performs hypothesis generation and steering via sparse autoencoders (SAEs), followed by robust causal estimation. Our pipeline addresses both computational and statistical challenges in text-as-treatment experiments. We demonstrate that naive estimation of causal effects suffers from significant bias as text inherently conflates treatment and covariate information. We describe the estimation bias induced in this setting and propose a solution based on covariate residualization. Our empirical results show that our pipeline effectively induces variation in target features and mitigates estimation error, providing a robust foundation for causal effect estimation in text-as-treatment settings.

Low-resource languages pose persistent challenges for Natural Language Processing tasks such as lemmatization and part-of-speech (POS) tagging. This paper investigates the capacity of recent large language models (LLMs), including GPT-4 variants and open-weight Mistral models, to address these tasks in few-shot and zero-shot settings for four historically and linguistically diverse under-resourced languages: Ancient Greek, Classical Armenian, Old Georgian, and Syriac. Using a novel benchmark comprising aligned training and out-of-domain test corpora, we evaluate the performance of foundation models across lemmatization and POS-tagging, and compare them with PIE, a task-specific RNN baseline. Our results demonstrate that LLMs, even without fine-tuning, achieve competitive or superior performance in POS-tagging and lemmatization across most languages in few-shot settings. Significant challenges persist for languages characterized by complex morphology and non-Latin scripts, but we demonstrate that LLMs are a credible and relevant option for initiating linguistic annotation tasks in the absence of data, serving as an effective aid for annotation.

Online sexism appears in various forms, which makes its detection challenging. Although automated tools can enhance the identification of sexist content, they are often restricted to binary classification. Consequently, more subtle manifestations of sexism may remain undetected due to the lack of fine-grained, context-sensitive labels. To address this issue, we make the following contributions: (1) we present FineMuSe, a new multimodal sexism detection dataset in Spanish that includes both binary and fine-grained annotations; (2) we introduce a comprehensive hierarchical taxonomy that encompasses forms of sexism, non-sexism, and rhetorical devices of irony and humor; and (3) we evaluate a wide range of LLMs for both binary and fine-grained sexism detection. Our findings indicate that multimodal LLMs perform competitively with human annotators in identifying nuanced forms of sexism; however, they struggle to capture co-occurring sexist types when these are conveyed through visual cues.

While Multimodal Large Language Models (MLLMs) perform strongly on single-turn chart generation, their ability to support real-world exploratory data analysis remains underexplored. In practice, users iteratively refine visualizations through multi-turn interactions that require maintaining common ground, tracking prior edits, and adapting to evolving preferences. We introduce ChartEditBench, a benchmark for incremental, visually grounded chart editing via code, comprising 5,000 difficulty-controlled modification chains and a rigorously human-verified subset. Unlike prior one-shot benchmarks, ChartEditBench evaluates sustained, context-aware editing. We further propose a robust evaluation framework that mitigates limitations of LLM-as-a-Judge metrics by integrating execution-based fidelity checks, pixel-level visual similarity, and logical code verification. Experiments with state-of-the-art MLLMs reveal substantial degradation in multi-turn settings due to error accumulation and breakdowns in shared context, with strong performance on stylistic edits but frequent execution failures on data-centric transformations. ChartEditBench, establishes a challenging testbed for grounded, intent-aware multimodal programming.

Multimodal Large Language Models (mLLMs) are often used to answer questions in structured data such as tables in Markdown, JSON, and images. While these models can often give correct answers, users also need to know where those answers come from. In this work, we study structured data attribution/citation, which is the ability of the models to point to the specific rows and columns that support an answer. We evaluate several mLLMs across different table formats and prompting strategies. Our results show a clear gap between question answering and evidence attribution. Although question answering accuracy remains moderate, attribution accuracy is much lower, near random for JSON inputs, across all models. We also find that models are more reliable at citing rows than columns, and struggle more with textual formats than images. Finally, we observe notable differences across model families. Overall, our findings show that current mLLMs are unreliable at providing fine-grained, trustworthy attribution for structured data, which limits their usage in applications requiring transparency and traceability.

Evaluating the quality of automatically generated text often relies on LLM-as-a-judge (LLM-judge) methods. While effective, these approaches are computationally expensive and require post-processing. To address these limitations, we build upon ParaPLUIE, a perplexity-based LLM-judge metric that estimates confidence over ``Yes/No'' answers without generating text. We introduce *-PLUIE, task specific prompting variants of ParaPLUIE and evaluate their alignment with human judgement. Our experiments show that personalised *-PLUIE achieves stronger correlations with human ratings while maintaining low computational cost.

Compact pretrained bidirectional encoders remain the backbone of industrial NLP under tight compute and memory budgets. Their effectiveness stems from self-attention's ability to deliver high-quality bidirectional contextualization with sequence-level parallelism, as popularized by BERT-style architectures. Recently, Avey was introduced as an autoregressive, attention-free alternative that naturally admits an encoder-only adaptation. In this paper, we reformulate Avey for the encoder-only paradigm and propose several innovations to its architecture, including decoupled static and dynamic parameterizations, stability-oriented normalization, and neural compression. Results show that this reformulated architecture compares favorably to four widely used Transformer-based encoders, consistently outperforming them on standard token-classification and information-retrieval benchmarks while scaling more efficiently to long contexts.