Research

• General in-context learning for embodied agents1 paper raises it · 0 address it

  Enables models to adapt to new tasks and environments without retraining, improving robustness in real-world deployment.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Cost and latency in embodied control loops1 paper raises it · 0 address it

  High computational and time costs limit real-time applicability of agentic systems in dynamic environments.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Physical-state verification and failure recovery1 paper raises it · 0 address it

  Agents must reliably detect and correct errors in physical interactions to avoid irreversible failures in real-world tasks.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Long-horizon task preservation in embodied agents1 paper raises it · 0 address it

  Maintaining progress over extended sequences is critical for complex, multi-step tasks in robotics and navigation.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Open-source stacks for generalist computer-use agents1 paper raises it · 1 addresses it

  Closed systems hinder reproducibility and systematic study of agent design for real-world computer tasks.

  • OpenGCUA: Toward a Fully Open Stack for Generalist Computer Useraises · addresses

Named by an AI from these papers' abstracts.

• Small LLMs10+400.0%
• Training & fine-tuning48+200.0%
• Robotics24+200.0%
• AI safety35+191.7%
• Computer vision37+164.3%
• Image & video generation27+125.0%
• Evals72+100.0%
• RAG10+100.0%

• arXiv cs.CVOct 17

  SuperClip Pyramid for Video Temporal Grounding

  Sanghyeok Lee, Juyeon Ko, Joonmyung Choi, Jongha Kim, Dohwan Ko +2

  With the rapid expansion of online video content, video temporal grounding has become essential for localizing moments based on user-specific queries, comprising two subtasks: moment retrieval (MR) and highlight detection (HD). While recent approaches adopt DETR-style decoders or temporal pyramid architectures, they rely on single-scale feature maps or uniformly downsampled representations, limiting their ability to capture semantic boundaries and variable-length events. In this paper, we present SuperClip Video Temporal Grounding (SCVTG) built on a multi-scale temporal hierarchy that better captures distinctive events at various granularities. SCVTG constructs a SuperClip pyramid by grouping adjacent clips into semantically coherent segments, termed SuperClips. Further, to aggregate these SuperClips having variable duration and temporal location, we introduce a temporally adaptive kernel that aggregates SuperClips through temporally conditioned weights, enabling flexible aggregation. On top of this, we design relative saliency losses to guide the model in learning inter-clip importance, enhancing its ability to distinguish relevant events. Extensive experiments show that SCVTG…

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• arXiv cs.LGOct 17

  Native Probability Outputs for Clinical Triage: An Evaluation of Calibration and Decision Accuracy

  Liang You, Zhiyin Zhou, Dawei Tang, Chuchu Wu, Jingzhuo Hu

  Patient-facing triage requires an appropriate care recommendation and recognition of when information is insufficient. We evaluate whether Jev, a decision model that returns probabilities over predefined actions, supports both judgments. Using CARE-Bench, we compare Jev with four general-purpose language models and three input-independent baselines across 925 decision points from 439 public cases. On the public test subset, Jev ranks fourth of five models by macro-F1 (0.461) but has the lowest observed multiclass Brier score (0.610), an 18.7\% improvement over uniform prediction (case-bootstrap 95\% interval, 4.9--31.1\%). Noul has lower binary Brier than Choice (0.215 versus 0.276). A evaluation of 453 HealthBench conversations again gives Jev the lowest observed Brier score (0.299), but measures a distinct emergency-referral judgment. Jev combines lower probability error with missed clarification needs in the four-action task. Asking about information sufficiency separately increases recall but also produces frequent unnecessary clarification assignments.

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• arXiv cs.AIOct 17

  Verifying Human-Written Reasoning References

  Ali Ansari, Farhana Ferdousi Liza

  Evaluating the reasoning of AI systems often relies on human-written reasoning chains as references, yet the logical support for their individual steps is rarely verified. Although prior neuro-symbolic approaches have formalized and checked reasoning, their reported evaluations do not systematically assess whether step conclusions in human-written reference derivations are entailed by their cited premise sets or investigate the sources of failures in those references. To address these limitations, we present a novel reference-centred assessment method for human-written derivations that combines entailment checking against cited premise sets, full-premise rechecking, and failure attribution to examine the reliability of these derivations and their formal representations. We evaluate it on P-FOLIO, using a large language model (LLM) to translate step conclusions into first-order logic (FOL) and the Z3 SMT solver to check entailment. Of 386 derivations examined, 202 (52.3%) meet all our checking criteria, meaning that every translated step is entailed by its stated support and the required target is established under the available FOL representations. Among 230 steps not entailed by…

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• arXiv cs.CVOct 17

  Geometry-Aware Interpolation for Inverse Problems

  Pourya Shamsolmoali, Masoumeh Zareapoor

  Recovering missing visual information from incomplete or degraded images remains a challenging problem, particularly when spatial variations and complex image structures affect reconstruction accuracy. Although Spatial Transformer Networks (STNs) facilitate spatial feature alignment, their reliance on conventional linear or bilinear interpolation limits their ability to capture the underlying geometric characteristics of image data. Furthermore, interpolation based on a restricted set of neighbouring pixels can introduce inconsistencies in gradient propagation, potentially affecting optimisation stability. To address these limitations, we propose a Geometry-Aware Interpolation Network (GAIN), a variational autoencoder-based framework that incorporates manifold geometry into spatial transformation and image reconstruction. Rather than estimating pixel intensities solely from fixed spatial neighbours, GAIN exploits the local tangent structure of the data manifold to construct geometry-informed intensity approximations. An entropy-based regularisation mechanism further guides the estimation of spatial transformation parameters, promoting more adaptive interpolation. In addition, a…

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• arXiv cs.LGOct 17

  Contrastive Adversarial Training for Robust Graph Neural Networks under Label Poisoning

  Manshika Charvi Bissessur, Melis Ilayda Bal, Michael Muehlebach

  Graph Neural Networks (GNNs) are effective for modeling relational data but are vulnerable to label poisoning, where a small number of corrupted training labels can propagate errors across the graph via message passing. Despite this risk, defenses against label poisoning remain underexplored: existing methods are primarily designed for label noise and often rely on robust losses or heuristic data cleaning that fail to distinguish adversarial poisoning from naturally hard examples. In this paper, we propose CoLAT (Contrastive Label-flipping for Adversarial Training), a novel contrastive adversarial training framework tailored for robust node classification on graphs. The core of our approach is a structure-aware detection model that uses contrastive learning to identify label-structure inconsistencies. Unlike prior contrastive methods that focus on representation learning, CoLAT leverages contrastive embeddings to select high-risk nodes that guide adversarial label-flipping during training. This alternating optimization not only performs structure-aware adversarial training but also implicitly sanitizes some corrupted labels, improving robustness against diverse attacks from the…

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• arXiv cs.AIOct 17

  MM-LeJEPA: Correlated Gaussian Regularization for Multimodal Joint-Embedding Predictive Architectures

  Haowen Bai, Rui Gong$, Meichen Liu, Ming-Xuan Weng, Bihan Wen +1

  LeJEPA derives an isotropic Gaussian embedding target by minimizing, under its task assumptions, a Fisher information criterion that controls the task-averaged squared prediction bias. This enables unimodal self-supervised learning without reconstruction decoders, exponential-moving-average teachers, or contrastive negatives. However, its isotropic task prior does not account for the cross-modal structure of multimodal tasks that read shared content. We introduce MM-LeJEPA by extending LeJEPA's task assumptions to multimodal learning. Specifically, we model multimodal tasks as strength-weighted combinations of components that read independent information from the two modalities and components that read the same content from both. Under explicit gradient-moment, correspondence, and symmetry assumptions, we derive a correlated Gaussian target that minimizes a weighted Fisher information functional under a fixed total variance constraint. An analytic transform adapts Sketched Isotropic Gaussian Regularization (SIGReg) to this target, yielding a two-term objective that combines distributional regularization with local-to-global prediction. The extension adds a single scalar…

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• arXiv cs.CVOct 17

  MESS: Multi-Exposure Sequence Synthesis for Generalizable Image Enhancement

  Ruodai Cui, Shuaizheng Liu, Rongyuan Wu, Lei Zhang

  Despite the significant progress in image enhancement under adverse illuminations, such as low-light image enhancement, exposure correction, and backlit image enhancement, existing models show limited generalizability to different scenarios. A major bottleneck lies in the lack of large-scale and diverse training data, as these tasks typically rely on manually captured, precisely aligned image pairs that are expensive to scale up. Although synthetic data have been explored as an alternative, existing synthesis methods are limited in modeling complex adverse illumination conditions and camera imaging pipelines. To address this issue, we propose a novel framework to synthesize realistic training pairs for generalizable image enhancement in the wild. Specifically, we first derive multi-exposure sequences (MES) from high-bit RAW images by rendering them under different exposure settings through an emulated ISP pipeline. Using these RAW-derived MES as supervision, we train a diffusion-based RGB-to-MES generator to synthesize plausible exposure sequences from a single 8-bit RGB image, extending the synthesis pipeline from limited RAW collections to large-scale in-the-wild RGB data. For…

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• arXiv cs.CVOct 17

  From Views to Worlds: Active Exploration over 3D Worlds for Vision-Language Models

  Qijian Tian, Jiayu Ying, Ke Fan, Lizhuang Ma, Xin Tan

  Vision-language models (VLMs) have achieved remarkable progress in 2D visual understanding tasks, yet the passive view-centric perception paradigm limits their capacity for 3D spatial reasoning. Such reasoning often requires actively acquiring spatial evidence beyond the currently visible views, such as camera poses and cross-view spatial relationships, to infer 3D relationships that are not explicitly represented in 2D images. However, existing methods either lack active exploration or merely provide additional views during inference, without explicitly acquiring such spatial evidence beyond 2D images. In this paper, we propose View-to-World (V2W), an active exploration framework that enables VLMs to actively explore 3D worlds and lifts VLMs from passive view-centric perception to active world-centric spatial reasoning. Given a spatial reasoning task with multi-view images, V2W first reconstructs an explicit 3D world with geometry, camera poses, and language-grounded semantics, and exposes it to VLMs through visual and linguistic interfaces. Through multi-turn interaction with these interfaces, VLMs iteratively acquire spatial evidence from the constructed 3D world, enabling…

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• arXiv cs.AIOct 17

  DataPraxis: Scaling Analytics Tasks via Verified Workspace Evolution

  Nan Jia, Wenxuan Shi, Jingqing Ruan, Zhizhao Zeng, Tianyi Zhai +9

  General-purpose agents are increasingly expected to perform professional analytics work, which requires sustained reasoning, iterative investigation, and reliable evidence. Training these capabilities requires diverse and challenging tasks. However, generating tasks directly from raw data often overlooks deeper questions that emerge through analysis and provides limited evidence for verification. To address these limitations, we introduce DataPraxis, an analytics task synthesis framework based on verified workspace evolution. The framework progressively enriches workspaces with validated findings and artifacts, then inherits and combines these workspaces to uncover deeper questions. It constructs tasks from accumulated findings and their dependencies, verifying analytical results both during evolution and after task assembly. Using this framework, we construct DataPraxis-5K, a dataset of 5,000 verified trajectories spanning diverse domains and output formats, to train DataPraxis-27B and DataPraxis-35B-A3B. DataPraxis-27B achieves 55.11 on DABStep and 51.9 on JobBench, matching or surpassing frontier models such as GLM-5.2. DataPraxis-5K is available at…

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• arXiv cs.CLOct 17

  Do Conversational Agents Need Explicit Memory? A Controlled Comparison with Raw-History Retrieval

  Yongjie Zhou, Shuai Wang, Bevan Koopman, Guido Zuccon

  Explicit memory systems transform conversation history into persistent representations intended to improve future access, often at substantial construction cost. Yet it remains unclear whether this added complexity yields better answer accuracy than retrieving directly from raw history. This study compares six state-of-the-art explicit memory systems with raw-history RAG on LongMemEval-S and BEAM-100K under original and controlled retrieval settings. We find only localized gains for particular question types and tight run-time context budgets, with no consistent advantage over strong raw-history RAG baselines. Oracle retrieval shows that some systems fail to preserve answer-supporting information during explicit memory construction, while others preserve it but fail to retrieve it effectively, despite construction costs reaching hours per conversation. Our findings suggest that while many existing memory systems for AI agents emphasize increasingly elaborate explicit memory construction, they are often evaluated without strong controlled comparisons to raw-history RAG and may underemphasize retrieval. Retrieval remains a major bottleneck when useful information is preserved,…

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• arXiv cs.CLOct 17

  What RL Brings to Reasoning: A Few Decisions the Base Model Would Not Make

  Siyu Zhang, Yuquan Lu, Yoshua Y. Li, Yifan Ding, Kun Zeng +5

  Reinforcement learning with verifiable rewards (RLVR) substantially improves mathematical reasoning, but what it adds to the base model remains unclear. We investigate this through a sequence of generation-time interventions on Qwen3-4B-Base, measuring how much of its RL-trained counterpart's gain each intervention recovers on 120 AIME problems. Power sampling with the same 8,192-token output limit brings no gain beyond greedy decoding. Yet borrowing the RL model's token only where the two models' greedy choices differ, roughly 4% of generated positions, recovers 90.5% of the pass@1 gain, with similar recovery across three model pairs on MATH-500. We find that even a single opening token has a substantial effect: forcing the base model to begin with "Alright" recovers 35% of the RL gain. The opening alone is insufficient, however. Later replacements after the same opening add another 5.2 percentage points to pass@1, and the fixed rules we test for inserting reflective words such as "Wait" do not reproduce this benefit. Sparse replacement also retains much of the base model's diversity while staying close to the RL model at pass@1. At k=256, it solves 67.5% of the problems,…

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• arXiv cs.CVOct 17

  Knowledge Diversion: A Novel Paradigm for Pre-training Decomposable Image Generation Models

  Yucheng Xie, Fu Feng, Ruixiao Shi, Jing Wang, Xin Geng +1

  Large-scale pre-trained models have become foundational to modern machine learning, yet conventional pre-training objectives primarily optimize source-domain performance without explicitly considering downstream requirements. Consequently, transferable and task-specific knowledge remains entangled within a shared parameter space, limiting selective knowledge reuse and efficient downstream adaptation. This limitation is particularly consequential for image-generation models, which must accommodate diverse conditions and domains. To address this challenge, we introduce Knowledge Diversion (KDiv), a condition-aware pre-training paradigm for learning inherently decomposable generative models. Before pre-training, KDiv factorizes randomly initialized weights into rank-one Knowledge Units, which are organized into learngenes and tailors. During pre-training, continuous condition-aware routing consolidates knowledge shared across conditions in learngenes while directing condition-dependent variations to tailors. This structured organization enables learngenes to capture transferable generative priors and tailors to develop condition-specific expertise, allowing the resulting model to be…

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• arXiv cs.AIOct 17

  From Prediction to Action: Population Health World Model for Digital Medicine

  Xike Xie, Yu Li, Weizhong Yang, Amalie Dyda, Shaohua Kevin Zhou

  Digital medicine now captures data that traces individual health trajectories and reveals population health dynamics through electronic health records, claims, remote monitoring, wearable devices, mobile devices, social sensing data, medical images, etc. But much of its modeling still centers on task-specific, outcome-specific, and prediction-specific estimation. The next frontier is not simply better prediction, but action in an evolving health world shaped by multiple decision-makers, heterogeneous populations, resource constraints, and feedback in care delivery. This is why digital medicine now needs world models: not only to estimate what will happen, but to represent how actions change what can happen next -- whom to prioritize, how to allocate scarce resources, how to adapt care across subgroups, and how interventions reshape future health trajectories and population dynamics. We call such a model population health world model (PHWM): a more foundational representation of an evolving health world in which health states, individual trajectories, population health dynamics, interventions, constraints, and feedback are intrinsically coupled. Building a PHWM endows three unmet…

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• arXiv cs.AIOct 17

  Can AI agents make law? Evaluating AI legal relevance and creativity

  Benjamin Ricaud, Artem Galushko

  Large language models, the artificial intelligence (AI) systems behind modern chatbots, are trained on vast amounts of legal text, but can they build on it to write law for situations that text never anticipated? In this study, we analyse AI agents' ability to draft a hypothetical "Constitution" for a "community of AI agents". We design "constitutional assemblies" in which a single language model plays several characters that debate to produce a draft constitution. We find that the assemblies converge on a robust floor of legal provisions, and generate a wide variety of different proposals around it, including several AI-specific provisions with no equivalent in human law. Looking more closely at the "creativity" of these AI agents, we find different levels: most proposals combine existing concepts and themes from human constitutions with AI-specific vocabulary. We introduce a measure of this recombination, which helps identify and highlight the most novel legal material. This study reveals a ceiling on AI creativity: the agents extend familiar legal ideas to new situations, but they do not work through what those situations would change. Although current AI models can help…

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• arXiv cs.NIOct 17

  Lightweight Machine Learning for Classifying Disaster-Related Social Media Posts

  Chengjun Jiang, Milena Radenkovic

  Classifying disaster-related social-media posts into humanitarian information labels is challenging because individual messages are typically short and context-limited, humanitarian categories can overlap semantically, and the CrisisBench label distribution is strongly imbalanced. This study investigates whether lightweight lexical machine-learning methods can provide effective and computationally efficient classification under these conditions. Using the CrisisBench v1.0 English humanitarian task, comprising 87,455 records across predefined Train, Development and Test splits, we conduct a controlled comparison of TF-IDF representations and lightweight classifiers, with Macro-F1 as the primary model-selection metric. Beyond aggregate predictive performance, the study jointly examines per-label behaviour, directional error patterns, relative decision margins, computational requirements, and the effect of domain-specific training through a tropical-cyclone specialist model. The selected balanced LinearSVC with unigram-bigram TF-IDF and C=0.5 achieved an Accuracy of 0.8282, a Macro-F1 of 0.6578 and a Weighted-F1 of 0.8315 on the held-out Test split. Lower decision margins were…

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• arXiv cs.AIOct 17▲ 10

  Good Judgment, Bad Advice: Decision-Model Controllers Raise Agent Cost Without Improving Success

  Naman Vats

  Agent scaffolds increasingly delegate small decisions (whether to stop, verify, or change approach) to cheaper models. We ask whether a typed decision model, Jev 1.13, consulted only at deterministic decision points, makes a Claude Sonnet 5.5 terminal agent cheaper without making it worse. In a pre-specified study on Terminal-Bench 2.1, we hold one agent loop fixed and vary only the controller: none, deterministic rules, a small LLM (Claude Haiku 5.5) answering the same questions, Jev, and a placebo that samples Jev's development-phase choice frequencies at the same moments. On 21 held-out tasks (315 trials), Jev raised cost per attempt by 19% (geometric-mean ratio 1.19, 95% CI 1.02-1.36) at an identical pass rate (73.0% vs. 73.0%). Jev was cheaper than the small-LLM controller (ratio 0.81) but 22% more expensive than the placebo, and no pass-rate difference between arms was detectable. Offline, Jev ranked finish requests better than the alternatives (AUROC 0.78 vs. 0.62 for rules and 0.60 for the small LLM) but was poorly calibrated: its mean probability that a run was complete was 0.50 when 87% of those runs passed, so it asked the agent to verify work that was already correct.…

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• arXiv cs.CVOct 17

  CaMeWM: A Causal Medical World Model for Generative Tumor Evolution and Treatment Planning

  Huanlong Gao, Xuelei He, Fengjun Zhao, Xiaowei He

  Treatment planning is intrinsically counterfactual: clinicians must compare how a patient's tumor and survival would evolve under competing regimens, whereas a retrospective cohort records only the regimen received and one follow-up scan. A treatment-conditioned generator trained on such data can therefore reproduce historical treatment allocation rather than simulate the interventional disease dynamics needed to rank regimens. We introduce \textbf{CaMeWM}, a causal medical world model for supported post-TACE tumor evolution and treatment planning. CaMeWM implements one intervention-to-decision loop rather than three independent prediction tasks: it first admits a queried regimen only for clinically comparable histories with empirical treatment support; it then generates a distribution of lesion-local follow-up worlds through an action-conditioned response descriptor, deterministic anchor, and residual 3D diffusion transition; and it finally maps sampled worlds to restricted mean survival time (RMST) with a response-Cox utility model. Under pre-treatment adjustment and positivity, this loop estimates a prespecified, support-restricted g-formula target; all selection and nuisance…

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• arXiv cs.LGOct 17▲ 12

  EdgeKernelBench: Unified LLM-Driven Kernel Generation for Edge Backends

  Yuhua Zheng, Xueyi Chen, Xinze Zou, Xin Li, Haoji Hu +1

  Recent works show that LLMs can generate kernels with strong performance on server GPUs. Edge deployment presents distinct challenges because the hardware is heterogeneous, the software stacks are fragmented, and the resource budgets are tight. LLM kernel generation across diverse edge backends has yet to be studied systematically. We introduce EdgeKernelBench, which combines a unified IR deployment framework with a hierarchical benchmark for edge workloads. The unified IR captures reusable computation, scheduling, and memory decisions and connects to each target backend through a compiler interface. The benchmark spans progressively larger program scopes, from individual operators to compact model graphs, across representative edge application domains. We instantiate the design with TVM as a reference compiler and validate it across heterogeneous edge backends. With a single generation attempt, the best model achieves 64.5% Correct@1 but only 25.5% Fast@1.0. This gap shows that functional correctness does not consistently translate into performance gains. We therefore introduce the Layered Edge Kernel Agent (LEKA), which organizes optimization through a layered IR. On the agent…

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• arXiv cs.CVOct 17

  Modeling Uncertainty Propagation in 3D Morphable Models

  Megh Shukla, Edo Collins, Prashanth Chandran, Karel Petránek, Sergio Orts-Escolano +2

  We study the problem of mapping parameter-space variance of a 3D Morphable Model (3DMM) to per-vertex variance. Traditionally, per-vertex variance has been used to visually interpret the learnt parameter uncertainty. However, mapping parameter-space variance to per-vertex using sampling or error propagation is computationally expensive. We address this limitation with Closed-form Local Uncertainty Estimation (CLUE), which transforms the parameter-space distribution of 3DMMs to per-vertex through a closed-form approximation. CLUE emerges from applying the law of total variance to the 3DMM formulation and is modular, computationally inexpensive, and accurate. Subsequently, we study integrating CLUE for in-the-wild human mesh recovery training and inference. We note that CLUE uses the geometry of the mesh as an inductive bias when predicting the variance, leading to improved accuracy. Through extensive qualitative and quantitative experiments, we show that when used in training, CLUE (1) outpeforms probabilistic and deterministic baselines on metrics evaluating joints, mesh and uncertainty, and (2) has the highest uncertainty-to-error spearman correlation, with applications…

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• arXiv cs.AIOct 17

  Frequency-Domain Membership Inference Does Not Beat Confidence Thresholding: A Band-Resolved Analysis of Why

  Mohammad Zare, Pirooz Shmamsinejadbabaki

  A widely repeated account of membership inference holds that models lean on fine-grained detail for samples they have memorized, so degrading an input's resolution should expose membership through how quickly a prediction falls apart. We test that account band by band. A monotone family of zero-phase low-pass filters is applied to each query image, the target's confidence on its original prediction is read at every step, and the resulting decay is scored in a dozen ways. Two federated ResNet-18 targets are studied, one trained normally and one pushed to a 45.1-point generalization gap. The account does not survive. On the normally trained target the best profile score reaches an AUC of 0.513 against 0.537 for a single confidence threshold, and on the overfit target 0.735 against 0.943. A search over 1206 candidate scores, with direction chosen on a held-out half and a fitted combination as an upper bound, produces no score that beats the threshold in either regime. The failure has a mechanism: the mean confidence gap between members and non-members grows as detail is removed, exactly as the hypothesis predicts, but the spread grows faster, so discriminability falls from the first…

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