Research

• Interface lock-in in multimodal spatial reasoning1 paper raises it · 1 addresses it

  Specializing a model on one spatial task (e.g., side detection) degrades performance on others (e.g., distance estimation), limiting general spatial intelligence.

  • ChronoReplay: One Answer Interface Is Not Enough for Streaming Spatial Intelligenceraises · addresses
• Lack of unified evaluation for work agents1 paper raises it · 1 addresses it

  Existing benchmarks do not reliably measure how agents execute complex, stateful, or open-ended digital work, making progress hard to track.

  • Work Agents: Systems, Capabilities, and Optimizationraises · addresses
• Memory tax in long-horizon agents1 paper raises it · 1 addresses it

  Dedicated memory systems often underperform naive retrieval, as reorganizing information can obscure evidence and reduce net value.

  • Memory Tax: Dissecting the Net Value of Agent Memoryraises · addresses
• Credit assignment in diffusion language models1 paper raises it · 2 address it

  Iterative denoising in DLMs makes it hard to attribute rewards to individual tokens, limiting effective reinforcement learning.

  • DTCA: Denoising Token Credit Assignment for Reinforcement Learning in Diffusion Language Modelsraises · addresses
  • Multiscale Policy Optimization for Long-Horizon LLM Agentsaddresses
• Grounded significance testing for temporal hypotheses1 paper raises it · 1 addresses it

  Language models assert temporal patterns without rigorous statistical validation, risking incorrect conclusions in high-stakes domains like healthcare.

  • Testimony from Timelines: Evidence-Grounded Significance Testing of Temporal Clinical Hypothesesraises · addresses

Named by an AI from these papers' abstracts.

• AI tutors15+25.0%
• Character recognition OCR12+20.0%
• Supervised & diffusion models93−13.1%
• Channel state information12−14.3%
• Electrocardiogram ecg34−17.1%
• Stochastic gradient descent25−21.9%
• Machine learned interatomic34−29.2%
• AI agents395−31.7%

• arXiv stat.MLOct 6

  The Impact of Likelihood Tempering on the Limiting Predictive Moments of Variational Bayesian Linear Neural Networks

  Ian Zhang, Thibault Randrianarisoa

  In wide Bayesian neural networks, Gaussian mean-field variational inference is prone to "prior dominance": the Kullback-Leibler (KL) regularization term of the ELBO outweighs the expected log-likelihood, and the variational predictive distribution collapses to the prior predictive as the width $M$ grows. Tempering the likelihood, by raising it to the power $1/T$ for a temperature $T < 1$, is equivalent to scaling the KL term by $T$. We ask in this paper how fast $T$ must decrease with $M$ to counteract this degeneracy and strike a good balance between the two terms. For single-hidden-layer linear networks with isotropic Gaussian priors, we derive the limiting predictive distribution under schedules of the form $T = τ/M^{c}$, with constants $τ, c > 0$, as $M \to \infty$ and compare it with the untempered neural network Gaussian process (NNGP) posterior, the infinite-width limit of the exact posterior. Our main result is that the predictive expectation and variance undergo phase transitions at different scales: the limiting expectation leaves its prior value at $c = 1/2$, once $τ$ falls below an explicit threshold, and equals the least-squares prediction for $c > 1/2$, whereas the…

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• arXiv cs.AIOct 6▲ 22

  CADFather: Autonomous CAD Reconstruction through Coordinated Tool Use

  Gennadiy Savrasov, Maksim Elistratov, Nikita Gavrilov, Albert Garifullin, Oleg Pavlov +5

  Reconstructing an editable CAD model from a 3D shape remains a challenging engineering task. Existing methods can propose CAD operations, but no single source of proposals works equally well across different part geometries and stages of reconstruction. We introduce CADFather, an autonomous agentic system that coordinates complementary tools to recover parametric CAD programs from 3D meshes. A vision-language assistant inspects renders of the target and intermediate reconstructions, then decides which candidate CAD programs to extend, which tools to invoke, how many proposals to generate, and when to finish. Learned and algorithmic tools propose CAD operations, while numerical optimization refines the parameters of existing programs. Proposed or refined programs are executed and evaluated to provide feedback for subsequent decisions. The agent maintains alternative candidate programs for each target part and preserves the best valid result throughout reconstruction. CADFather uses pretrained generation and assistant models without additional training. We evaluate reconstruction quality and execution validity on the full DeepCAD, Fusion360, and MCB test sets, as well as on…

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• arXiv cs.CROct 6

  Certified Corruption Budgets: Anytime-Valid Leaderboard Claims under Adaptive Rigging

  Hamed Khosravi, Xiaoming Huo

  Public leaderboards for AI models are read continuously, and attackers can see every published standing. Vote rigging, selective disclosure of private variants, and benchmark contamination can each move a ranking. Existing guarantees assume genuine records or bound the corruption per step, which an attacker who corrupts in bursts evades. We introduce the certified corruption budget, a tolerance $\widehat{B}_t$ computed after $t$ records and published with each pairwise claim. With probability at least $1-α$, simultaneously at all times, the claim is correct or more than $\widehat{B}_t$ records were corrupted. It holds against attackers who watch every certificate, with no bound on their budget. Forged records and records altered once seen require different certificates: the certificate for forgeries fails, with probability approaching one, against an attacker who flips votes it has seen, while one that charges roughly twice as much per record remains valid, with constant bets even against attackers who see the future, and no smaller charge is valid at every level. The certified budget grows nearly as fast as any valid method allows: with a win fraction $\frac{1}{2}+δ$, each new…

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• arXiv cs.LGOct 6

  Domain-informed Adaptive Sampling for Generalizable PINNs in Metal Additive Manufacturing via Conditional Flow Matching

  Hyeonsu Lee, Jihoon Jeong

  Accurate thermal modeling is essential in metal additive manufacturing (AM) for understanding the process-structure-property chain. Physics-informed neural networks (PINNs) offer effective surrogate thermal modeling by minimizing physics-based residual losses at collocation points. However, prior works typically rely on manually-crafted, static collocation sampling strategies, which are neither principled nor scalable across process conditions, hindering their generalization capability. In this work, we provide theoretical analysis through empirical risk minimization, showing that process condition-aware adaptive sampling is strictly more favorable than conventional static sampling for generalization. Building on this insight, we propose an adaptive sampling strategy within a two-stage framework: (1) a conditional Flow Matching model that learns approximate high-residual distributions across different process conditions, and (2) a mixed sampling strategy combining this distribution with a domain-informed base distribution to generate adaptive collocation points for refining the PINN predictor. Experiments on metal AM numerical benchmarks demonstrate that our method consistently…

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• arXiv cs.CVOct 6

  Depth-to-RGB: Repurposing a Frozen Depth Estimator for Geometry-Guided Compositing

  Sanghyun Jo, Chae Yeon Lim, Donghwan Lee, Sihyun Kim, Soo Ye Kim +1

  Reference-based object compositing inserts or replaces an object using a background image, a reference image, and a 2D compositing mask. These inputs guide appearance and placement but leave the completed scene's geometry implicit, which can distort object structure or alter the surroundings. Our Depth-to-RGB (D2R) framework predicts composite depth for a scene not yet observed in the RGB inputs. It learns reference-conditioned corrections to a frozen depth estimator using encoder features of paired completed scenes as targets. The unchanged decoder maps the corrected representation to the intended scene's depth, which a separately trained renderer holds fixed during RGB synthesis. Under matched architecture and training, encoder-feature supervision reduces OOD Stage-1 AbsRel by 31.4% relative to decoded-depth supervision. We also introduce AnyInsertion++ with paired in-distribution and category-disjoint splits to evaluate generalization beyond compositing training categories. The complete D2R system leads 12 open-source and 3 closed-source baselines in estimator-derived geometry and photometric quality on both paired splits. On category-disjoint data, D2R reduces AbsRel by 43.7%…

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• arXiv cs.LGOct 6

  Spatial Induction Heads: In-Context Learning of Multidimensional Cellular Automata

  Kimia Kazemian, Menghan Xu, John Thickstun, Sarah Dean

  Induction heads provide a mechanistic account of in-context learning in sequential data, but existing theory largely assumes that the context relevant to a prediction forms a contiguous block. In multidimensional data, serialization breaks this assumption by scattering spatial neighbors across distant positions in the token sequence. We study how transformers overcome this routing problem in multidimensional stochastic and deterministic cellular automata, where each trajectory is generated by an unknown local rule and presented as a flattened sequence without an explicit coordinate-based spatial inductive bias. We introduce spatial induction heads, two-layer gather-and-match circuits in which the first layer reconstructs the relevant spatial neighborhood and the second matches the resulting configuration against earlier occurrences. We give two explicit realizations of the gather and show that the positional dimension required for spatial routing depends only on the local neighborhood and spatial dimension, not on grid volume or trajectory horizon. We further construct a matching layer which implements Bayesian counting. The end-to-end circuit can approximate the Bayesian…

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• arXiv cs.LGOct 6

  Are Parameter-Efficient Fine-tuning Methods Really Different?

  Yikuan Li, Pinyan Lu, Fanghui Liu

  Parameter-efficient fine-tuning (PEFT) offers many parameterizations, yet their methodological and functional differences remain unclear. We compare six methods in language and diffusion models to examine how their parameterizations relate to task performance, forgetting, and changes in pretrained weight geometry. Motivated by the spectrum-preserving design of orthogonal fine-tuning (OFT), we first ask whether spectral preservation is itself important for adaptation and retention. We find that the selected LoRA-family methods also approximately preserve pretrained geometry, and that restoring their slightly drifted singular-value spectra largely preserves task performance, questioning the necessity of explicit geometric preservation. Beyond this, we observe that some methods exhibit distinct adaptation--retention trade-offs that vary across settings: LoRA most consistently limits forgetting at competitive performance, DoRA achieves higher mean task scores than LoRA in most comparisons, while PiSSA often incurs greater retention costs. Further intervention experiments suggest that while performance gains from different PEFT methods can be attributed to modifications in different…

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• arXiv cs.LGOct 6

  The Deceptive Bandit Problem: Exploratory Coupling and the Fragility of Multi-Agent Learning

  Michael Tang, Mahmoud Abdelgalil, Jorge I. Poveda

  Randomized exploration is central to bandit learning, multi-agent reinforcement learning, and zeroth-order policy search, yet its independence and privacy are usually only treated as technical assumptions. We show that these properties are critical for security purposes and demonstrate how an adversarial agent can exploit privileged information on another agent's exploration. We analyze a deceiver-victim pair in the minimal two-player strongly monotone setting, where a deceptive player obtains leaked signals that are merely correlated with the victim's exploration. We show that, by coupling their own exploratory action with this information, the deceptive player injects an externality that steers the learning dynamics to a new steady state, called the deceptive Nash equilibrium (DNE). We prove that the deceptive bandit learning (DBL) dynamics converge to an arbitrarily small neighborhood of the DNE while retaining optimal convergence rates. Interestingly, our analysis attains these optimal rates while relaxing second-order smoothness conditions from standard bandit optimization literature. We characterize conditions under which deception strictly shifts the steady state and its…

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• arXiv cs.AIOct 6

  Which Buildings Are Artificial Intelligence-Ready? A Measurement-Based Assessment Framework for AI Question Answering and Actuation

  Wooyoung Jung

  Agentic artificial intelligence (AI) systems are becoming the interface to buildings, answering questions and controlling operations, but a building's readiness for them has not been systematically assessed. This study proposes a framework to quantify it. First, a building's knowledge graph sets two ceilings. The answerable-readiness ceiling is the share of operational questions its data could answer, and the actuation-readiness ceiling is the share of control actions it exposes. Second, a reference AI agent's accuracy on a fixed set of these questions shows how much of the ceilings is realized. On a simulated office, the agent realizes 0.62 of a 0.64 answerable ceiling, so missing data, not the AI, limit readiness, except in naming a fault's cause. Across 37 public real-building graphs, the median answerable ceiling is 0.16, and in 15 of 45, unlinked sensors lower it. The framework turns "is this building AI-ready?" into an auditable, ranked retrofit question.

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• arXiv cs.CVOct 6

  TopoCurve: Geometry-Aware Topology Reasoning via Bézier Curves in Autonomous Driving

  Mihai Bogdan Deaconu, Laura Dioşan

  Topology reasoning jointly detects 3D lanes and traffic elements from multi-view images and infers their structural connectivity. Current methods model lanes as discrete polylines, lacking smoothness, analytical tangent directions, and global spatial support for attention, while providing sparse topology supervision. We propose TopoCurve, a geometry-driven architecture for 3D topology reasoning grounded in a structured parametric lane representation. Lanes are modeled as endpoint-fixed cubic Bézier curves, enabling continuous geometry with exact endpoints and analytically defined directionality. We exploit this shared curve geometry across the entire pipeline. Endpoint distance and tangent alignment are encoded with multi-scale Fourier features and injected into the topology head. Sampled curve points serve as geometry-aligned references for deformable cross-attention spanning the full lane. Parallel curve-anchored attention branches provide diverse predictions for one-to-many topology supervision. These components form a tightly coupled cascade where representation enables geometric reasoning, guides feature aggregation, and supports denser supervision. TopoCurve achieves 50.6…

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• arXiv cs.ROOct 6

  Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data

  Songbo Hu, Qiayuan Liao, Yufeng Chi, Kevin Zakka, Yakun Sophia Shao +2

  Humanoid robots still struggle to plan contact-rich whole-body manipulation from egocentric RGB and proprioception. Workhorse learns such manipulation from robot-free human demonstrations. A visual planner predicts five-link targets: the poses of the torso, both wrists, and both feet. A reinforcement-learning whole-body tracker follows them on the robot. Both policies train separately on the same recorded human poses, without retargeting. We augment the training data of each policy to imitate the errors that the other makes at deployment. On a real Unitree G1, Workhorse transport boxes with its hands and a kick, catches a thrown box, and topples and climbs a suitcase. During box transport, we show recoveries after a person pushes the robot or takes the box away. In a simulated copy of the demonstration room, the system completes box transport in 77% of episodes, and in 64% under 40 N.s pushes. With both policies retrained from the same demonstrations, a simulated second humanoid completes box transport in 83% of episodes without pushes.

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• arXiv cs.CVOct 6▲ 12

  SPLATIFY: Reproduce, Discover, Innovate! From Papers and Ideas to Trainable 3DGS Code

  Seemandhar Jain, Keshav Gupta, Manmohan Chandraker

  The rapid growth of 3D Gaussian Splatting (3DGS) research demands significant effort to reimplement papers before building on them. We introduce SPLATIFY, a multi-agent framework that converts 3DGS papers into trainable gsplat-based implementations, where generic paper-to-code methods and frontier models fail. SPLATIFY achieves this through five innovations: (1) A context-free grammar for gsplat over a modular method template with extension points for losses, densification, rendering, and optimization, constraining synthesis so generated code satisfies gsplat's architectural invariants by construction. (2) Architectural elements for faithful reproduction: fork-aware citation recovery retrieving component-level code at function-level granularity, Graph-of-Thought synthesis in topological dependency order, RAG-guided in-context example selection from over 20 verified implementations, and visual feedback combining PSNR-guided regeneration, Gaussian-level structural checks, and VLM-driven patching. (3) Knowledge-driven compositional improvement that autonomously finds weaknesses and composes complementary regularizers, losses, and densification strategies to improve upon original…

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• arXiv cs.AIOct 6

  From Uncertainty to Action: Learning to Steer LLM Agents

  Hanwen Li, Jinhao Duan, Guanhua Zhu, Junchi Lu, Bo Shen +2

  Steering an LLM agent means deciding whether to correct it, at which step, and with which mechanism. Uncertainty is often used to decide when to correct an agent, but whether it can guide these decisions remains unclear. We steer agent trajectories separately at every non-terminal step with each of four mechanisms and run each continuation to completion. The resulting stepwise outcome table (SOT) holds about 82,000 counterfactual continuations of 1,864 trajectories from three benchmarks and two agents. It shows that uncertainty can identify failing trajectories, but that no single signal reliably locates the step at which steering helps. We therefore propose VoS (Value of Steering), a trajectory-level monitor, offline or online, that learns from SOT the value of steering at each step and decides where to steer by it. A harm-budgeted trigger decides whether to steer, limiting the fraction of successful trajectories that VoS disturbs. VoS improves on unmodified execution in all 12 settings of benchmark, agent, and offline or online use, by 7.8 points on average, and outperforms the strongest of five existing uncertainty-triggered methods in 11, by 2.9 points on average. Ablations…

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• arXiv cs.AIOct 6

  GeoNatureAgent (GNA): A Framework and Benchmark for Pre-Production Evaluation of Tool-Using Agents on Geospatial and Environmental Tasks

  Gabriel Diaz-Ireland, Diego Prieto-Herráez, Mario García Peces, Javier Velázquez, Benjamin Zaitchik +1

  Before tool-using LLM agents are deployed in environmental and geospatial workflows, teams need evidence that an agent reliably selects the right operations against real APIs. We introduce GeoNatureAgent (GNA), a framework for pre-production evaluation of tool-using agents: a fixed sixteen-tool geospatial interface published as a Model Context Protocol (MCP) server, so the agent under test is the only variable, scored against an identical tool layer, task suite, and deterministic scorer. Its flagship instance is a 103-task benchmark (a 93-task main suite across 18 categories plus a ten-task comparison expansion) evaluated against an open, self-hostable geospatial API serving three environmental indicators across Spain and Portugal. We evaluate nine LLMs under three temperature-1.0 seeds, reporting capability and per-case cost as orthogonal axes. (1) Claude Sonnet 4 achieves the highest capability (61.7% +/- 0.7% on all 103 tasks; 60.8% on the main suite), followed closely by DeepSeek V3.2 (57.9%), while no other model exceeds 53%; (2) the cost-accuracy Pareto frontier is mostly open-weight, with DeepSeek V3.2 offering 93% of Claude's capability at 11.3x lower list-price cost; (3)…

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• arXiv cs.CLOct 6

  Same Text, Different Prediction: Serving-Context Nondeterminism in Text Classifiers

  Santhosh Kumar Kasa, Siva Rajesh Kasa, Sumit Negi

  Deterministic inference is essential for reliable and trustworthy machine learning. Prior studies of text generation have shown that changing factors such as batch size, batch composition, hardware, or inference engine can alter the generated text, even when the prompt, model parameters, and sampling randomness are fixed. These differences have been attributed in part to floating-point non-associativity, shape-dependent kernel selection, and other implementation-level differences in numerical execution. However, it remains unclear whether, when, and to what extent the same factors affect text classification. We present a systematic study of serving-context non-invariance in text classifiers, which prior work has measured only through generated text. We train 180 models spanning discriminative, pseudo-generative, and fully generative classifier formulations and evaluate each across four categories of serving contexts, holding the checkpoint and the text fixed. Label stability does not imply score stability. Changing only the batch shape changes no labels across fp32 comparisons, yet under bf16 it moves up to 56.7 percentage points of predicted probability mass, with label changes…

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• arXiv cs.LGOct 6

  Breaking Adversarial Transferability in Fine-Tuned Speech Recognition

  Mojtaba Nafez, Aref Mousavi, Mohammad Ebrahim Mahdavi, Mobina Poulaei, Kiarash Kiani Feriz +1

  Many organizations fine-tune publicly available pretrained Automatic Speech Recognition (ASR) models and deploy them in black-box settings, assuming limited access provides protection. We show this assumption is fragile: adversarial perturbations crafted on the public base model transfer effectively to fine-tuned target models, severely degrading performance and posing concerns for safety-critical applications. We propose TransferBreaker, a unified fine-tuning framework that suppresses adversarial transfer by integrating Base Adversarial Fine-Tuning, which restricts adversarial training to base-effective perturbations; Latent Jacobian Regularization, which enforces latent-space invariance by suppressing adversarially sensitive directions; and HybridGrad-AFT, which improves robustness against adaptive attacks by interpolating transferable perturbations from base and target gradients. We theoretically justify all components and evaluate TransferBreaker across three languages and four large ASR models, reducing adversarial WER from 92.6 to 27.8. Our code is publicly available at https://github.com/rohban-lab/TransferBreaker.

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• arXiv cs.LGOct 6

  Convex-Concave Reinforcement Learning

  Shripad V. Deshmukh, Yaswanth Chittepu, Dhawal Gupta, Philip Thomas, Scott Niekum

  Policy learning drives many of the most consequential and heavily-invested applications of reinforcement learning today. Yet the core optimization problem it rests on (maximizing expected return) is notoriously non-convex, even under a direct policy parameterization, and the field has largely responded by avoiding it: optimizing convex surrogate approximations of the return under trust-region constraints (NPG, TRPO, PPO, AWR). We show that this seemingly unstructured problem is not actually structureless. In log-density-ratio coordinates $y := \log[π/π_n]$, the exact per-iteration objective, computable via per-decision importance sampling (PDIS), is a difference-of-convex-constrained difference-of-convex (DC-constrained DC) program. This structure lets us move beyond surrogate approximations: it recovers CPI, NPG, TRPO, and AWR as special cases along interpretable axes, and it opens a multi-step axis $k$ that couples consecutive decisions. We solve the per-iteration program with sequential convex programming (SCP), the standard solver for difference-of-convex problems, and give convergence guarantees under mild conditions, bridging the difference-of-convex optimization and RL…

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• arXiv cs.AIOct 6

  Constraint Tree Exploration for Learning from Language Feedback

  Shaoang Li, Daniel R. Jiang, Jian Li

  Natural-language feedback in interactive learning often explains why an action failed by pointing to violated requirements. Misinterpreting this feedback can lead an agent to rule out valid solutions. We study this setting by modeling user intent as latent constraints over an action space and formulating learning from language feedback as pure exploration over feasible regions. We introduce TRACE, an algorithm that organizes candidate constraints in a tree and tests each proposed refinement by generating actions that satisfy it. TRACE commits to the refinement only if the resulting feedback does not contradict it over repeated tests. We distinguish two ways of using the same feedback: (i) falsification, which detects contradictions to the constraint set currently being tested, and (ii) identification, which may additionally name a violated constraint. We prove high-probability coverage bounds with dependence on the candidate class size $H$ for TRACE-Falsification. With reliable identification, TRACE-Identification can replace this dependence by $K/p_{\mathrm{ext}}$, where $K$ is the number of latent constraints and $p_{\mathrm{ext}}$ lower-bounds the probability of extracting a…

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• arXiv cs.CCOct 6

  On the Computational Complexity of Hidden Markov Model Identification

  Markel Zubia, Nils Jansen

  Identification is the task of recovering the parameters of an unknown ground-truth model from sampled data. When parameters other than the ground truth induce the same output distribution, data alone does not provide enough information to recover the ground truth, and the model is thus called unidentifiable. We study the identifiability problem for hidden Markov models (HMMs): given an HMM, is it identifiable? Existing work on HMM identification establishes conditions under which the ground-truth HMM can be identified. However, most of these conditions are sufficient but not necessary, meaning that, when a model does not satisfy them, its identifiability remains inconclusive. We instead take a computational perspective: is there a sound and complete algorithm that decides whether a given HMM is identifiable, and if so, what is the complexity of this decision problem? We consider the decision problems arising from the various notions of identifiability in the literature, including deterministic, generic, global, local, state-permutation- invariant, and finite-alphabet identifiability. We show that all of these problems are decidable in PSPACE, via reductions to the theory of the…

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• arXiv cs.LGOct 6

  Are We Really Benchmarking Forecasting Models? The Impact of Preprocessing on Time Series Performance

  Guilherme Afonso Galindo Padilha, Paulo Salgado Gomes de Mattos Neto, Rafael Menelau Oliveira e Cruz

  While established literature underscores the pivotal role of preprocessing in forecasting accuracy, this stage remains largely overlooked in current research. Modern benchmarks typically resort to simple scaling, failing to account for critical transformations required to address nonstationarity, such as differencing. This omission creates a significant structural preprocessing bias that favors models with built-in data treatments while obscuring the true potential of simpler architectures. We study this effect through a preprocessing-aware benchmark that evaluates 11 forecasting models across 16 reversible preprocessing pipelines on 29,000 M4 time series. Our results identify preprocessing as a key driver of forecasting performance. Optimizing preprocessing per series yields gains of approximately 27\% to 87\% across all evaluated models, with architectures lacking internalized preprocessing experiencing the most substantial improvements. This allows simpler architectures to become highly competitive with complex, state-of-the-art models in modern forecasting benchmarks. All resources and experimental results from this benchmark are stored in a comprehensive metadataset to…

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