[object Object]Generated videos often lose geometric consistency under camera motion: structures warp under viewpoint change, parallax becomes inconsistent, and smooth camera movement may collapse into shot-like transitions. We argue that this failure is largely a data problem. In web-scale video corpora, most visible motion comes from dynamic objects captured by static or weakly moving cameras, leaving only sparse supervision for viewpoint-induced appearance changes. To address this, we propose Video Geometry Corrector (VGC), a post-hoc video-to-video model trained on synthetic paired supervision. Starting from real videos with diverse camera motion and pose annotations, we construct VG-Pairs with a synthetic paired-supervision data generation pipeline. Each video clip is treated as a geometry-consistent target and paired with a distorted counterpart synthesized by a pretrained image-to-video inpainti
2d ago·Weijie Lyu, Tiancheng Shen, Jason Li et al.·PDF↗ [object Object]Pixel-space diffusion models have recently re-emerged as a compelling alternative to latent diffusion, avoiding the lossy latent bottleneck and separately trained autoencoder. JiT shows that a vanilla diffusion transformer can generate directly in pixel space by replacing the commonly used velocity prediction ($\boldsymbol{u}$-prediction) with clean image prediction ($\boldsymbol{x_0}$-prediction). In this work, we revisit this choice and introduce MFlow, an adaptive parameterization that learns to interpolate between $\boldsymbol{x_0}$- and $\boldsymbol{u}$-prediction across principal directions of the data, learned end-to-end with diffusion training. We find that the preferred parameterization varies systematically with the data representation and model capacity -- notably, increasing model capacity shifts preference toward velocity prediction. We evaluate MFlow across ImageNet, UCF-10
2d ago·Soumik Mukhopadhyay, Long Mai, Abhinav Shrivastava et al.·PDF↗ [object Object]Every robot already carries high-resolution contact sensors: its own joints. Legged robots and humanoids exploit them to walk, run, and track whole-body motions without vision, but there the contacts are large and forceful. Is joint sensing also enough for precise, contact-rich assembly, where the robot must find a millimeter-scale opening, mesh gear teeth, or catch a thread through light contact? We study this question by training blind assembly policies that observe only a short history of joint positions, velocities, and their own actions, without visual, force, torque, or tactile sensing. The poses of both the fixture and the part are unknown to the policy, and the grasp is randomized substantially. The policy must therefore assemble the parts through contact, sensed exclusively through its own proprioception. Trained with reinforcement learning entirely in simulation over randomized
2d ago·Antonia Bronars, Younghyo Park, Kushal Kedia et al.·PDF↗ [object Object]Fine-tuning large language models (LLMs) can induce behaviors beyond those explicitly targeted. For example, training a model to respond more warmly can make it more sycophantic, and training it to write insecure code can cause broad misalignment on prompts unrelated to coding. We refer to a relationship between behaviors, in which fine-tuning on one brings out another, as a behavioral coupling. In this work, we study formation and properties of behavioral couplings. We find that when a model is trained on documents describing two distinct behaviors together, fine-tuning it to elicit one behavior causes the other to emerge as well. For instance, when training documents describe a fictitious character that both explains scientific concepts in a playful, rubber-duck-like manner and discourages human friendships, a model subsequently fine-tuned to explain science like a rubber duck also beg
2d ago·Dongyoon Hahm, Woogyeol Jin, Dennis Wei et al.·PDF↗ [object Object]Reproducible and analytically robust research findings are essential to scientific progress, but evaluating these properties typically requires costly manual effort. We investigate whether LLM agents can help automate reproduction and robustness analysis, using a medical case study grounded in the Surveillance, Epidemiology, and End Results (SEER) database, a widely used U.S. cancer registry underlying tens of thousands of published studies. First, we introduce SEER-Repro, a benchmark of 20 published SEER-based papers together with the data and resources required to reproduce their findings. Second, we create an AI agent that successfully reproduces 77.4% of 2,190 atomic claims, while providing executable baselines for further analysis. Third, we develop an agentic analysis pipeline to test the robustness of the medical findings by identifying analytical choices underlying each finding,
2d ago·Shicheng Liu, Krista Opsahl-Ong, Andrew Drozdov et al.·PDF↗ [object Object]Pretrained VLMs bring rich world knowledge and semantic priors to object-goal navigation, and fine-tuning a VLM into a navigation policy has become a common recipe. Despite this progress, success rates remain low, and it is unclear which capability these fine-tuned policies lack. Our diagnosis identifies goal grounding as the dominant failure. These policies explore well, yet often fail to notice that the goal is already in view or to estimate how far away it is. To address this failure, we ground the goal explicitly. Explicit grounding substantially improves success and reaches state-of-the-art results on six benchmarks across three scene collections. We also correct annotation defects in these benchmarks, so that future methods are evaluated more faithfully. Our analysis on the clean benchmarks shows that, with ground-truth grounding, our policy nearly matches the expert that generated
2d ago·Xinhao Liu, Yunsheng Tian, Yuheng Qiu et al.·PDF↗ [object Object]Scientific discovery requires developing worthwhile hypotheses into practical investigations, yet learning from this evolving research process remains challenging. We introduce an operational definition of valuable and testable research hypotheses: evidence-grounded claims about consequential uncertainties, coupled with feasible investigations, explicit decision criteria, and alternative explanations. Our DiscoveryRSI framework develops hypothesis trees through multi-agent evolutionary search, compiles selected investigations into executable Harbor tasks, and recursively learns through three mechanisms: hypothesis credit optimization attributes scientific assessments to documented research contributions; harness replay identifies productive strategies and recurring failures to refine research workflows; and rediscovery applies accepted improvements to new investigations, generating furth
2d ago·Jianyuan Zhong, Chenwei Wu, Zhaochen Yu et al.·PDF↗ [object Object]A gradient-based solver that enforces a Signal Temporal Logic (STL) specification uses a smooth approximation of its quantitative semantics, the robustness. In safety-critical trajectory optimization, this approximation must have two properties. First, it must be sound, that is, nonnegative only on trajectories that satisfy the specification. Second, at each temporal operator, the weight of its gradient on the violating samples must stay bounded away from zero, however long the horizon. The approximations in use, including the log-sum-exp, its sound variant, and the generalized-mean robustness, do not have both. We introduce lower approximations of the minimum and the maximum whose gradients are sparsemax projections, and we prove that the robustness built from them has both. It lies below the exact robustness and is therefore sound, and its error has a bound that is independent of the n
2d ago·Sai Sandeep Damera, Ryan Matheu, John S. Baras et al.·PDF↗ [object Object]Parameterized quantum circuits are widely investigated in quantum machine learning, yet how their architecture can provide task-aligned inductive biases remains poorly understood. We study data reuploading quantum circuits with two distinct inputs: a signal that varies between samples and a fixed, task-defined spectral query that specifies how the signal should be probed. We show that encoding the query can change the circuit's hypothesis class over the signal by modulating how its existing signal frequencies are combined, without introducing new sample-dependent information. This mechanism matches tasks built on nonuniform Fourier transforms, whose evaluation frequencies specify the query and whose sampling positions guide its encoding. We examine this connection in a classification task inspired by synthetic aperture radar, where acquisition geometry determines a query for classifying
2d ago·Felix Frohnert, Adrián Pérez-Salinas, Sebastian Lange et al.·PDF↗ [object Object]A reasoning trace can accompany a correct answer without providing effective supervision for a particular student. We study how to construct traces that improve learning beyond answer-only supervision by considering both their intermediate content and their accessibility to the target learner. We introduce ReDiST, a student-conditioned trace-construction and distillation framework for evidence-rich reasoning. Starting from the student's own attempts, ReDiST revises answer-correct drafts against the supplied evidence and repairs unsuccessful drafts with additional guidance from the verified answer. A frozen student-matched reader screens and ranks original and edited candidates using answer recovery and verified-answer probability, given the question, evidence, and candidate trace. We distill the selected targets while balancing trace and final-answer supervision with an auxiliary answer
2d ago·Shaoang Li, Yanhang Shi, Yufei Li et al.·PDF↗ [object Object]A planner with a fixed budget of preventive help must decide whom to help and when. Waiting reveals risk but removes intervention opportunities as higher-risk individuals leave first. We characterize this tradeoff under repeated noisy signals and risk-dependent attrition: in the canonical model, a length-$τ$ observation prefix identifies exactly the latent risk moments $m_j=\mathbb E[p^j]$ for $j=0,\ldots,2τ-1$, buying two new moments per additional period. These identify average next-period attrition among survivors but need not identify allocation welfare or attrition among those prioritized for treatment. Our observationally equivalent constructions establish unavoidable timing regret at any sample size for a fixed observation length, while exact certificates determine whether all compatible populations share a unique optimal date. Matched experiments separate the effects of estimatio
2d ago·Rama AlHamidi, Rasul Khanbayov, Erchin Serpedin et al.·PDF↗ [object Object]Future quantum networks will rely on control-plane decisions such as routing, scheduling, entanglement provisioning, purification, and memory allocation. Each decision depends on a timely and reliable estimate of the quality of the entanglement that a candidate path can deliver, with end-to-end fidelity as a central metric. Inspired by the optical-networking experience with quality-of-transmission (QoT) estimation, this article asks when a quantum controller should compute fidelity analytically, simulate it, or learn a surrogate model. The optical analogy is useful but incomplete: optical QoT estimation often predicts a scalar transmission margin, whereas quantum QoT estimation must account for probabilistic entanglement generation, random memory waiting times, decoherence, state consumption, and measurement constraints that can make fidelity a stochastic target. We propose a compute/sim
2d ago·Anis Bekri, Amar Abane, Van Sy Mai et al.·PDF↗ [object Object]Self-driving laboratories (SDLs) accelerate scientific discovery by automating experimental execution and optimization. AI agents can increasingly propose new experiments, but existing SDLs can only run the procedures they were built for. Adapting them to a new experiment still takes extensive manual engineering, which makes laboratory flexibility the bottleneck for scaling discovery. We introduce the self-building laboratory (SBL), which designs, configures, and operates its own laboratory setup given a high-level scientific goal. SBL starts from whatever already exists, from an empty room to a working SDL, and builds the missing capabilities: the lab layout, its digital twin, robot skills, and experimental workflows. We demonstrate the system working across different robots and setups, scaling from a single workstation to laboratories with several robots working together. We validate S
2d ago·Jiaru Bai, Yuchi Zhao, Han Hao et al.·PDF↗ [object Object]The evidence, $\mathcal{Z} = p(x | \mathcal{M})$, of a data-generating model $\mathcal{M}$ is a powerful tool in Bayesian frameworks: it enables model inference, model misspecification tests, and goodness-of-fit assessment as an alternative to standard discrepancy statistics, e.g. $χ^2$. While versatile, the evidence is notoriously difficult to compute, even when the likelihood is available. In both likelihood-based and simulation-based inference, estimating $\mathcal{Z}$ provides an immediate solution to high-dimensional goodness-of-fit or model misspecification tests: using $\mathcal{Z}(x)$ as the test statistic induces a minimum-volume level-$α$ test. Such tests are essential to assess model fidelity, which is necessary to trust simulation-based parameter inference. Existing learned approaches largely target Bayes factors, which only measure evidence ratios. Instead, we provide accura
2d ago·Kai Lehman, Jameson Dong, Carolina Cuesta-Lazaro et al.·PDF↗ [object Object]Many of the most important datasets in the physical sciences live natively on the sphere, and these data often carry no preferred position or orientation. Using methods that do not reflect this symmetry leads to far higher simulation requirements, which can be catastrophic for scientific analyses (forcing reliance on cheap, imperfect models that bias results). We present a novel spherical implementation of a gauge equivariant mesh architecture that is specifically designed for the Hierarchical Equal Area isoLatitude Pixelization (\healpix{}) of the sphere. The $\mathrm{SO}(3)$-equivariant convolution is built from steerable filters, parallel transport and spin-weighted features. The architecture supplies the exact symmetry, so the network does not spend training data learning it. The convolution operations are constructed to give provably exact equivariance, given a band-limit. Our full
2d ago·Joshua Williamson, Niall Jeffrey, Lorne Whiteway·PDF↗ [object Object]Designing RNA sequences that reliably fold into specific secondary structures is essential for understanding their biological functions but remains a challenging computational problem. We propose CocoRNA, a cooperative multi-agent reinforcement learning framework for RNA inverse design. CocoRNA simplifies the design task by decomposing it into smaller sub-problems, each solved collaboratively by multiple agents. This approach reduces the complexity of the problem and improves the exploration of design policies. During training, a centralized critic uses global structural information to guide the agents, enabling them to jointly optimize their design strategies. As a result, CocoRNA learns high-quality RNA design policies that generalize effectively to unseen structures without additional training. Experiments on the Rfam dataset demonstrate that CocoRNA substantially outperforms state-of
2d ago·Tianmeng Hu, Biao Luo, Ke Li·PDF↗ [object Object]Speculative decoding typically characterizes speedup by draft tokens accepted per verification round. Lossless verification preserves the target model's output distribution and thus expected completion length, making this metric a meaningful efficiency proxy. Relaxed (lossy) verification accepts tokens that lossless verification would reject, potentially altering that distribution. We identify a length inflation phenomenon: relaxed verification lengthens completions, primarily by extending reasoning traces, largely offsetting apparent gains in accepted tokens per round. We evaluate existing training-free relaxed verification rules on twelve target-drafter pairs against lossless verification on identical prompts, measuring completion length, verifier rounds, wall-clock time, and task accuracy. At each rule's most relaxed evaluated setting, relaxed verification on average accepts $1.34\tim
2d ago·Chiatzen Wang, Bill Xu, Haochen Gu et al.·PDF↗ [object Object]Robotic systems for environmental monitoring and ecological surveying in wetlands and swamps must operate across diverse terrestrial and aquatic conditions. Conventional fixed-geometry wheels cannot adapt their contact geometry to these varying conditions. This work presents MOSS (Multimodal Origami Swamp Robot System), a compact amphibious robotic platform with 3D-printed origami wheels. The compact crank mechanism switches the wheel between contracted and expanded configurations, changing its width, body diameter, and fin orientation simultaneously. The contracted configuration is better suited to efficient rolling on firmer ground, whereas the expanded configuration provides greater contact and terrain engagement on softer surfaces. MOSS was evaluated on soil, sand, mud with varying water content, and water, in addition to in-motion morphing and terrestrial-aquatic transition tests. T
2d ago·T. Lan, A. Babgei, L. Romanello et al.·PDF↗ [object Object]Long-term memory enables language-model agents to personalize future interactions, but a finite memory bank cannot preserve every extracted fact. Existing memory gating policies are typically shared across users and therefore fail to account for user-specific patterns of future reuse. In this paper, we study memory gating at the fact level. We first propose a retrieval-based labeling strategy that labels each fact by whether it is later retrieved and incorporated into responses. We then formulate online memory gating as contextual apple tasting with delayed one-sided feedback, and propose Warm-Start UCB, which combines offline learning from existing data with online adaptation to the current user. Our theoretical analysis establishes a high-probability regret upper bound of $\tilde{O}(Tε\wedge d\sqrt{T})$ when the delay window is at most $O(\sqrt{T})$, where $T$ is the total number of ro
2d ago·Kaixuan Ji, Zixiang Chen, Wenting Zhao et al.·PDF↗ [object Object]Predicting the compressive strength of fiber-reinforced high-performance concrete subjected to temperature exposure is challenging because to the intricate interdependencies of mixture composition, fiber properties, curing conditions, and temperature. A data-driven framework to predict compressive strength utilizing 1,204 experimental records containing a diverse array of material designs and exposure situations. This study evaluates eight machine-learning models and demonstrate that ensemble approaches routinely surpass individual learners. Both gradient boosting and extreme gradient boosting exhibit superior performance on unseen data, each attaining a R^2 of 0.903. Gradient boosting produces the minimal root mean square error (6.67 MPa), whereas extreme gradient boosting achieves the lowest mean absolute error (3.97 MPa) and mean absolute percentage error (10.60%). The models are furt
2d ago·Jagaran Chakma, Zhiguang Zhou, Badhan Chakma et al.·PDF↗ [object Object]While deriving text embeddings directly from frozen LLMs has emerged as a promising direction, existing methods focus almost exclusively on English, leaving multilingual settings largely unexplored. In this work, we present the first systematic study of multilingual training-free text embeddings in LLMs. Our analysis reveals a language-conditioned embedding geometry in which semantically equivalent sentences remain misaligned across languages. We hypothesize that language-specific variation can be disentangled from semantic content to improve embedding quality. To this end, we propose Paired-Residual Subspace Removal (PRSR), a training-free inference-time intervention that steers LLM representations toward a more language-invariant semantic space. PRSR first constructs paired residuals from multilingual parallel sentences to capture language-specific deviations. It then estimates layer-w
2d ago·Ailiang Lin, Zhuoyun Li, Yusong Wang et al.·PDF↗ [object Object]Sparse autoencoders (SAEs) explain foundation model representations by decomposing activations into sparse combinations of learned dictionary atoms. However, the learned dictionaries can vary across training runs, limiting the reliability and reproducibility of SAE-based analyses. We propose Consistent Sparse Dictionary Learning (ConSDL), which replaces the standard linear encoder with per-sample sparse coding. This is motivated by our synthetic analysis showing that coefficients from a single linear encoder pass are suboptimal compared with those obtained by per-sample optimization, suggesting that sparse coding is a reliable mechanism for dictionary learning. Across 16 synthetic settings, ConSDL achieves near-perfect dictionary and coefficient recovery. These gains translate to state-of-the-art cross-seed consistency across four vision and language settings, where ConSDL improves dicti
2d ago·Jinho Choi, Hyesu Lim, Jaegul Choo et al.·PDF↗ [object Object]Rènyi differential privacy, based on Rènyi divergence, has become a notion of choice for privacy guarantees. However, outside the Gaussian setting, Rènyi divergence can be difficult to compute. In particular, Rènyi differential privacy guarantees that exploit task-specific information, as in Rènyi Pufferfish privacy, can be challenging. Here we use kernel Stein discrepancies based on escort distributions to provide certificates for Rènyi differential privacy. By designing the kernel to focus on the relevant privacy directions, we also derive task-aware privacy certificates. We provide exact identities for Gaussian and Laplace mechanisms and bounds for exponential mechanisms, with separate task-aware guarantees. A real data set example illustrates how the protected comparison set and the released subspace jointly determine the resulting certificates.
2d ago·Leoni Carla Wirth, Tara Trautwein, Gesine Reinert·PDF↗ [object Object]Transformer prefill reuses weights across tokens and is dominated by matrix multiplication and activation data movement; single-token decode has limited reuse and is dominated by weight and KV-cache reads. We present FUTRANSFORMER, a CUDA implementation of a Llama-style Transformer block for NVIDIA Hopper GPUs. It applies CODA's GEMM-plus-epilogue approach to inference, adding direct KV-cache placement, folding the fixed RMSNorm gain into weights, writing FP8 output directly with delayed scaling, and supporting prefill without padding. Decode uses INT4 projection weights and an INT4 KV-cache copy. Weights and keys follow Tensor Core fragment layouts for direct dequantization into MMA operands without full intermediate tiles. A block-diagonal Hadamard transform reduces cache quantization error from outlier channels. On one H100, prefill is up to 1.48x faster than compiled PyTorch FP8 and
[object Object]Video world models that generate and explore environments at scale need a persistent 3D memory of what they have produced. Plane primitives offer a natural candidate: a compact set of oriented planes captures the dominant structural elements (e.g., walls, floors, facades) of indoor and outdoor scenes, while requiring only 7 parameters per primitive. We present PPMem, a video world model that adopts plane primitives as its persistent 3D memory. PPMem augments a video diffusion transformer with a planar prediction head and a Depth Token Fusion (DTF) module: each autoregressive chunk jointly produces RGB video and planar geometry, which merges into a persistent plane memory that conditions subsequent chunks via rendered depth. The resulting memory is three orders of magnitude more compact than per-pixel point clouds (~100K primitives, 5MB for a full scene), geometrically explicit (metric de
2d ago·Yuze He, Bin Tan, Zelin Gao et al.·PDF↗ [object Object]Computational drug discovery requires agents to compose scientific operations and adapt to changing evidence and constraints. Here we introduce DrugHarness, an evolvable agent harness coupling composable scientific execution with conditional skill induction. Its environment integrates over 80 scientific operations, biomedical resources and task-specific code, preserving associations among candidates, results and artifacts. From execution trajectories and outcome feedback, DrugHarness induces action hypotheses with observable applicability conditions, recommended actions and supporting evidence. An independent review agent evaluates candidate skills derived from these hypotheses through source verification and, when needed, targeted execution trials. Admitted skills guide subsequent tasks and are revised through feedback. Evaluation on MolBench and SMDD-Bench demonstrates capabilities in
2d ago·Yuxing Chen, Zhisheng Zhang, Cheng Tang et al.·PDF↗ [object Object]Central line-associated bloodstream infections (CLABSIs) remain a major source of preventable morbidity and mortality in healthcare settings. Proper execution of the central line dressing change (CLDC) procedure is essential for infection prevention, yet current approaches to competency assessment rely primarily on manual ob- servation by clinical educators, making evaluation time-intensive, difficult to scale, and limited in consistency and granularity. These challenges highlight the need for AI-assisted skill evaluation methods that can support more objective, reproducible, and scalable assessment of clinical performance. However, progress in this area has been constrained by the lack of broad-scale, clinically grounded datasets for developing and evaluating such methods. In this work, we present the collection process of a large-scale video dataset for CLDC skill evaluation, comprisin
2d ago·Ummey Tanin, Shannan K. Hamlin, Hsin-Mei Chen et al.·PDF↗ [object Object]Primal-dual methods for constrained Markov decision processes are analyzed under a two-timescale assumption, with non-stationarity entering through two channels. In the additive channel, where the constraint level oscillates, the dual oscillation saturates at a floor set by the moving optimum and is amplified linearly by the timescale ratio. In the parametric channel, where the constraint sensitivity oscillates, a coherent modulation carries no resonant forcing at any depth: the dual update's stiffness modulation cancels the primal update's damping modulation. Instability instead comes from a mismatch between the constraint estimate used by the primal update and the measurement used by the dual update, producing a parametric resonance at twice the pair's natural frequency. The tolerated mismatch grows with the square root of the forcing bandwidth and collapses with the square root of the
2d ago·Maxime Baelde·PDF↗ [object Object]Speculative decoding has become a mainstream technique for accelerating large language model (LLM) inference by using a lightweight draft model to generate candidate tokens that are subsequently verified by the target model. However, agentic workloads introduce long and continuously evolving contexts and frequent multi-turn interactions. Under such workloads, we observe that existing draft models suffer from up to an 80% degradation in acceptance length, while maintaining their historical KV cache introduces substantial system overhead. In this paper, we identify the growing historical context as a common source of both problems and introduce DLite, a history-free speculative decoding framework for agentic AI. DLite directly reuses contextual hidden states from the target model and performs local speculative prediction without explicitly maintaining the historical context, transforming a
2d ago·Jiaming Xu, Hanzhen Wang, Tianlang Zhao et al.·PDF↗ [object Object]We present a transformer-based variational autoregressive network for sampling lattice systems with continuous degrees of freedom and apply it to the two-dimensional XY model near the Berezinskii-Kosterlitz-Thouless transition. The architecture is combined with physics-informed ingredients: locality-informed attention and approximate probabilities. The resulting sampler significantly outperforms existing neural samplers. We train the model on lattices up to $96\times96$, verify with a mode-dropping estimator that no parts of the configuration space are missed, and reproduce the energy, magnetization and helicity modulus obtained with the traditional Markov Chain Monte Carlo algorithm.
2d ago·Piotr Białas, Christian D. Morales, Tomasz Stebel et al.·PDF↗ 