Research

• Reliable request execution in streaming video generation1 paper raises it · 0 address it

  Models often fail to follow incremental user requests while maintaining state consistency in real-time video generation.

  • StreamEval: Evaluating Interactive Streaming Video Generation Modelsraises
• Brain-body mismatch in recursive self-improving agents1 paper raises it · 1 addresses it

  Evolving execution scaffolds (harnesses) can outpace or restrict the capabilities of the underlying model, leading to misalignment.

  • CoEvo-RSI: When Harnesses Evolve, Which Models Should Follow?raises · addresses
• End-to-end deep search in real-world web environments1 paper raises it · 1 addresses it

  Agents struggle to autonomously explore, integrate, and verify evidence from diverse, interactive, and heterogeneous web sources.

  • Deep Search in Real-World Web Environmentsraises · addresses
• Length generalization in state tracking1 paper raises it · 1 addresses it

  Models trained on short sequences often fail to generalize to much longer sequences without explicit progress alignment.

  • PAR: Progress-Aligned Recurrence for Length Generalization in State Trackingraises · addresses
• Evidence-grounded evaluation for audio-visual reasoning1 paper raises it · 1 addresses it

  Existing benchmarks often allow models to exploit textual or unimodal shortcuts, failing to test true multi-modal reasoning.

  • EvaOmni: An Evidence-Grounded Benchmark for Audio-Visual Reasoningraises · addresses

Named by an AI from these papers' abstracts.

• arXiv cs.AIOct 13

  Plant Memory: Technical Language Processing and a Verified Maintenance Ontology for Agent-Accessible Failure Knowledge from SAP PM Work Orders

  Akash Raj

  Maintenance work orders are the largest written record of how industrial equipment fails, yet in most plants they are close to unusable for analysis. Short texts are abbreviated and misspelt, asset identity is buried in free text, work-type labels contradict the work described, and the fields that matter most for reliability (symptom, root cause, action taken) are usually empty. As a result, diagnostic knowledge stays with senior technicians and leaves when they do. We present Plant Memory, a system that applies technical language processing (TLP) to SAP Plant Maintenance (PM) exports and builds an ISO 14224-aligned maintenance ontology in which every extracted statement is a reified fact carrying a confidence score, the evidence it was read from, and a verification state. Extraction is rule-first, with an optional large language model (LLM) acting as a second reader whose disagreements raise a fact's review priority rather than overwrite it. Technicians verify facts through a review queue, answer targeted knowledge-gap questions where failures repeat without a recorded cause, and approve or reject ontology drift proposals when new terms appear. The resulting graph is served to…

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• arXiv cs.LGOct 13

  Imagining Goals with Geometric Horizon Models for Policy Generalization

  Daniel Lawson, Dhruv Sreenivas, Adriana Hugessen, Khimya Khetarpal, Glen Berseth

  Training from offline data has allowed for substantial progress in domains such as robotics, leading to general-purpose policies that can be easily applied zero-shot or efficiently finetuned for downstream tasks. However, these policies can still have poor generalization, both due to the choice of modeling objective and from learning from a static dataset. In this work, we focus on the challenging task of zero-shot goal generalization, where a policy is evaluated on unseen tasks that require combining its existing knowledge (compositional generalization). An avenue for improving a policy's generalization is by generating new experience with world models; however, such generation has proven difficult for longer horizons. Thus, to alleviate this issue, we propose TD-Aug, which samples from a geometric horizon model and allows for directly imagining novel outcomes that can be achieved by composing existing knowledge. We demonstrate that training on these future outcomes as goals for goal-conditioned BC policies significantly improves generalization in stitching-based OGBench tasks.

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• arXiv cs.LGOct 13

  PairIT: Autoregressive Transformers for Low-Data Molecule Optimization

  Hannah Lawrence, Bodhi P. Vani, Ji Won Park, Natasa Tagasovska, Samuel Don Stanton +3

  Generating novel molecules with desired properties is a central challenge in drug discovery. Although foundational work focused on de novo generation, practical use cases require a more complex setting: conditioning on an initial seed molecule, optimizing multiple properties, and operating in data-sparse regimes. We introduce PairIT, a flexible training framework for autoregressive transformers over SMILES sequences that enables seeded generation by learning from pairs of structurally similar molecules. By leveraging matched pairs, the model learns to generate local, chemically meaningful edits that improve a property of the seed molecule. Prompt tokens extend this framework by specifying the target property, desired direction, and approximate magnitude of change. Multiple prompt tokens can be concatenated to enable multi-property optimization at inference time. For properties where pair supervision alone is insufficient, reinforcement learning post-training can further improve optimization, providing a tunable trade-off between proximity to the seed and the optimization objective. PairIT naturally supports pretraining on a large dataset and fine-tuning on a smaller dataset,…

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• arXiv cs.ROOct 13

  Learning in Orbit: Onboard Training and Closed-Loop Attitude Control with a Thermal Segmentation Model on a Spacecraft

  Elena Sorina Lupu, Hannah Grauer, Phaedrus Leeds, Nikhil Ranganathan, Connor Lee +7

  Deep space missions increasingly require spacecraft capable of autonomously operating in environments with communication delays and bandwidth limitations. A key enabler of such autonomy is the ability to run learning-based algorithms directly onboard. In this work, we present a flight deployment on a 6U CubeSat that demonstrates (1) onboard training and inference of a thermal segmentation model on an NVIDIA Jetson TX2 NX GPU in space and (2) closed-loop attitude control using the segmentation model on a real-time, thermal image feed to track the Moon. In addition to this demonstration, we implement ROS 2 Foxy as a data transport middleware and integrate an open-source file system that provides strong data integrity guarantees and self-healing features. Over the course of approximately one year, we performed 12 experiments on the spacecraft, advancing the state of the art in autonomous spacecraft systems by showing how modern learning-based pipelines, commercially available hardware, and open-source software can operate reliably under the compute and environmental constraints of Low Earth Orbit (LEO).

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• arXiv cs.LGOct 13▲ 5

  Unlocking Structured Pruning for Reasoning Language Models via Attention-Preserving MLP Trimming

  Woosang Lim, Haneul Yoo, Vincent-Daniel Yun, Sungjoo Yoo

  Structured pruning reduces LLM inference costs by removing model components to produce smaller dense models. However, existing methods can cause reasoning performance to collapse on long-form reasoning tasks such as AIME. We propose \textit{LayerTrim}, a training-free structured pruning method that identifies redundant decoder layers and selectively trims their MLP features while preserving attention and decoder depth. LayerTrim is the first training-free structured pruning method designed to preserve long-form reasoning without gradients or recovery training. Across three reasoning language models and five benchmarks, LayerTrim outperforms existing structured pruning methods in most evaluated settings, improving average accuracy by up to 21.4 percentage points over RESP. On \texttt{Qwen3-14B}, LayerTrim achieves 1.24$\times$ faster prefill and 19.7\% lower peak GPU memory than the dense model, while better preserving reasoning ability. It also achieves the shortest average generation length among evaluated pruned models, while retaining the highest average accuracy. These results demonstrate that LayerTrim improves reasoning efficiency through both structural compression and…

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• arXiv eess.IVOct 13

  DoReMe: Dual optimization of Reconstruction and Motion estimation for self-navigated free-breathing abdominal MRI using Gaussian Splatting

  Majd Helo, Dominik Nickel, Thomas Kuestner

  Purpose: Free-breathing abdominal MRI is limited by respiratory motion, which introduces image artifacts and k-space inconsistencies. Existing reconstruction approaches often depend on pre-estimated motion fields or external respiratory surrogate signals. We propose a coupled reconstruction-motion estimation algorithm for self-navigated free-breathing acquisition, in which motion is represented by compact Gaussian primitives and jointly refined with the image estimates during iterative reconstruction. Methods: An iterative reconstruction that alternates between data consistency updates and motion modelling was proposed. Respiratory motion was represented using Gaussian primitives. A Gaussian splatting was integrated into the reconstruction algorithm. The method was evaluated on self-navigated free-breathing Cartesian gradient-echo (GRE) acquisition in four healthy volunteers, including retrospective scan shortening experiments, and was compared with regularized compressed sensing (CS) reconstruction. Results: Respiratory motion states were reconstructed in approximately 1.5 min. Compared with CS, the proposed method improved visual image quality, particularly in coronal liver…

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• arXiv cs.CLOct 13▲ 20

  DecisionRobust: Benchmarking Robustness for JEV Style Decision Models Across Text and Vision

  Yifan Lan, Zhongye Liu, Yurui Chang, Hanyu Wang, Yongkang Du +2

  Emerging decision models such as JEV provide typed interfaces that map task instructions and observations directly to choices, judgments, and scores. As these models are increasingly used for automated decision-making, understanding their reliability under adversarial manipulation becomes critical. We introduce DecisionRobust, a benchmark for systematically evaluating the robustness of decision models across textual and visual inputs. Our benchmark covers practical decision-making scenarios and a diverse suite of attacks, including semantics-preserving text perturbations, image perturbations, and prompt injection in both modalities. We curate evaluation sets through external validity checks and cross-model candidate selection. We evaluate 30 model configurations on text tasks and 17 on vision tasks, including 24 and 12 held-out models, respectively, that are excluded from candidate selection. Our experiments reveal several key findings. First, attacks expose vulnerabilities beyond the models used for construction and selection, although optimized image perturbations transfer weakly to many targets even with multiple surrogates. Second, relative model robustness varies across…

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• arXiv cs.LGOct 13

  Genesis Steering: Better Activation Steering Through Training Data

  Tora Bodin, Eric Aubinais, Ilaria Torre, Chih-Hong Cheng

  Activation steering controls large language models at inference time, but its effectiveness depends on the choice of reference data. We introduce genesis steering, which derives a genesis vector from contrastive examples in the model's own fine-tuning data. When these data are unavailable, we draw on the membership inference literature to identify likely training examples and construct a proxy dataset. We establish two theoretical results on optimal displacement to the decision boundary and reduced proxy-estimation bias. We evaluate genesis steering and membership-based proxy construction on Tülu-3-8B, whose fine-tuning data are publicly available, and Llama-3.1-8B-Instruct as a control. We find that safety data from Tülu-3-8B's training mixture yield stronger steering than external datasets on both models. On Tülu-3-8B, membership scores largely agree in identifying training examples, and vectors built from top-ranked examples achieve competitive performance against random subsets of the same size. In contrast, the results on Llama-3.1-8B-Instruct hint that a MIA method will only have a positive effect if the mean direction shift with MIA-filtered in-distribution data is much…

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• arXiv cs.CLOct 13

  From Copying to Composition: How Language Models Develop In-Context Learning

  Minglai Yang, Xinyu Guo, Renxiong Wang, Sunjie Hou, Daniel Yue Zhang +1

  In-context learning (ICL) allows language models to adapt their behavior from instructions and demonstrations in a prompt, but accuracy alone does not reveal how contextual information controls their predictions. We study the acquisition and trainability of ICL with a controlled diagnostic that separates copying a nearby demonstration from integrating information across the prompt. Across 17 models, about a third prefer the copied answer, a few are undecided, and the rest prefer the rule-consistent answer, which goes with higher accuracy and with control by the requested value rather than the closest conflicting example. Checkpoint analyses show that models begin prioritizing task-relevant prompt tokens over conflicting examples long before their accuracy improves beyond chance level. In matched training experiments, synthetic documents that define endings and then query them shift models toward compositional responses on the controlled diagnostic, whereas fine-tuning on definition exercises built from rewritten real documents improves accuracy when prompts reassign label meanings. The results suggest that ICL is not acquired as a single, uniform capability. Instead, prompt…

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• arXiv cs.CVOct 13

  Towards a Data-Centric Understanding of Spatial Reasoning in Multimodal Large Language Models

  Mahdieh Mallahnezhad, Masoud Jafaripour, Mohamadali Tofigh, Sheila Schoepp, Osmar R. Zaiane

  Multimodal Large Language Models (MLLMs) have been widely applied in embodied agents and robotics for vision tasks. However, MLLMs suffer from limitations in spatial reasoning and perception. Post-training techniques have shown promise for improving these capabilities; yet, there are limited data-driven surveys of such approaches. In this survey, we consider approaches to fine-tuning pretrained MLLMs for spatial reasoning tasks, ranging from supervised to reinforcement learning, with an emphasis on the datasets used. We investigate themes of dataset construction, data modality and annotation, and evaluation of the resulting models. Based on these themes, we categorize research into three groups: dataset design, dataset construction and evaluation. We find four main methods for constructing fixed spatial annotations: rules and templates, LLM prompting, procedural generation, and human-in-the-loop. We also observe substantial variation in evaluation approaches, including different scoring methods, tolerance metrics, and benchmark types. Finally, we identify opportunities for future research in unified dynamic annotation, efficient spatial reasoning, standardization of evaluation,…

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• arXiv stat.MLOct 13

  Neural Supervised Clustering for Learning Individualized Treatment Rules with Many Treatments

  Daixi Huang, Yixin Yuan, Yifan Dai, Yufeng Liu

  Learning an individualized treatment rule (ITR) with many treatments requires estimating treatment-specific effects from limited observations per arm. Treatments with similar conditional responses can share information, but linear contrast models may miss nonlinear heterogeneity. We propose nonlinear supervised clustering fusion (NSCF), a neural Q-learning framework with a shared nonlinear covariate representation and low-dimensional treatment embeddings. Pairwise fusion groups treatments with similar learned contrasts, yielding an ITR and an interpretable partition. An alternating algorithm combines neural training, embedding fusion, validation-based partition selection, and unpenalized grouped refitting. NSCF lowers regret relative to a strong neural reference in nonlinear exact-sharing simulations; perturbations characterize the limits of hard sharing. In a melanoma xenograft application, NSCF improves average policy value over the neural reference. These results support nonlinear representation learning with supervised treatment fusion when treatment effects exhibit shared structure.

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• arXiv cs.LGOct 13

  Contextual Credit Policy Optimization

  Huiwen Han, Ziyao Zeng, Zihao Zhu, Sisong Bei, Hao Wang +4

  Group-based reinforcement learning enables large language model agents to learn from sparse outcome rewards in long-horizon tasks. Recent methods derive step-level credit by comparing observation-matched experiences across trajectories. However, identical observations can occur in different contexts, and matched peers are not equally informative for a given decision. Moreover, favorable terminal outcomes can obscure redundant actions or detours within successful trajectories. To address these two challenges, we propose Contextual Credit Policy Optimization (CCPO). For the first, CCPO weights observation-matched peers from other trajectories by contextual similarity, computed from frozen LLM representations and accumulated trajectory statistics, allowing peers from similar contexts to contribute more to a step's baseline. For the second, CCPO pairs historical credit, which compares the realized return against the weighted peer baseline, with future credit, which measures the change in contextual outcome value over a short realized continuation. A step is thus credited for the progress it makes, not only for its trajectory's eventual outcome. Both credits are computed in hindsight…

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• arXiv cs.CVOct 13

  The Gap Is in the Geometry: A Convergent Meta-Analysis of Multi-Facet Aerial and Remote Sensing Video Understanding

  Georgios Angelidis, Aggelos Psiris, Maria Vakalopoulou, Georgios Th. Papadopoulos, Giorgos Sfikas +1

  Aerial and remote sensing video is increasingly evaluated like web video, by posing multiple-choice questions to multimodal large language models (MLLMs) over sampled frames and reporting accuracy. This paper argues that this recipe measures the wrong aspect, and supports the claim with a convergent meta-analysis of a broad set of published results, organized in four evidence tiers, in which a claim becomes a position only when collected evidence agrees. Parameter scale exhibits a median of +3.4 accuracy points per tenfold increase on aerial benchmarks, far below a human gap of at least 19 points, whereas acquisition conditions control perception, as 315 of 318 evaluations in 19 within-paper contrasts lose accuracy when conditions such as altitude, view, object size or time horizon become harder. No aerial benchmark in the corpus combines video input with per-task human and random baselines, competence collapses from answering to acting in closed-loop navigation, and the same MLLMs score higher on the aerial benchmark than on ground spatial ones, but lower on studies that test cross-view geometry. From these findings the current study derives five falsifiable principles and…

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• arXiv cs.AIOct 13▲ 14

  GroundGUI: GUI Grounding by High-Quality Data and Distillation-to-Reinforcement Learning

  Qingsong Xie, Jiahao Tian, Jiacheng Tang, Zhifeng Li, Madalina Ciobanu +3

  Constructing robust GUI agents relies on multimodal visual grounding: the ability to precisely map natural language intents to actionable on-screen components. Despite abundant desktop, web, and mobile benchmarks, high-fidelity resources tailored for diverse environments are surprisingly scarce. To bridge this gap, we introduce the Screen Referring Grounding Dataset (ScreenRef), a comprehensive GUI grounding dataset consisting of GUI screenshots paired with natural language referring expressions and box or point annotations. Spanning desktop, web, and mobile domains, ScreenRef comprises 586K screenshots and over 633K referring expression instances, covering tasks such as text recognition, visual matching, spatial understanding, and refusal scenarios. To boost the model's grounding performance, we propose the Distillation-to-Reinforcement Learning (D2RL) method to address the limited generalization of supervised fine-tuning and the sparse reward problem in reinforcement learning. Utilizing ScreenRef, we train Qwen3-VL-8B-Instruct via sequential SFT and D2RL training, yielding GroundGUI-8B. GroundGUI-8B achieves 95.2% on ScreenSpot-V2, 63.9% on ScreenSpot-Pro, 65.4% on OSWorld-G,…

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• arXiv cs.CLOct 13

  Similar Models, Broken Odds: Where Luce's Axiom Fails in Chatbot Arena

  Soovadeep Bakshi, Apurba Bose, Aishwarya Bose, Sandip Nandi

  Chatbot Arena ranks language models with the Bradley-Terry model, which gives each model one score and so assumes Luce's choice axiom. Choice theory predicts where this fails: near-copies are told apart more decisively than their scores imply. On 1.8 million Arena votes, votes between versions of one model are 1.37 times as decisive as Bradley-Terry predicts, between sizes of one generation 1.26 times and between models of one lab 1.12 times; a release a year later gives consistent multipliers, and the effect survives alternative tie treatments, prompt subsets and topics, and timing checks. How alike two models' answers are worded and formatted tracks the effect. A correction with four to six parameters predicts held-out votes better than Bradley-Terry and than models with hundreds of parameters, mostly by modelling ties; frozen and carried to new releases in a test fixed in advance, its gains are concentrated in ties, and better head-to-head odds are not established. The leaderboard order barely moves. With language-model judges and three-answer menus, a near-copy takes votes mostly from its twin when choices are pooled over prompts (log-odds shift +0.10, 95% interval 0.05 to…

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• arXiv cs.ROOct 13

  DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation

  Zhexi Luo, Zhixuan Xu, Rui Yang, Zeyu Xiao, Yiwen Hou +1

  Achieving human-like dexterous manipulation remains a central challenge in robotics. Learning from human hand-object interaction (HOI) datasets offers a promising pathway to diverse dexterous skills, yet existing physics-based approaches train specialist policies for individual trajectories, thereby limiting skill reuse at scale. We introduce DexMimic, a generalist dexterous hand-object tracking policy jointly trained across diverse HOI trajectories. Efficient joint training requires allocating each rollout to both an undertrained phase and a starting state that supports continued tracking. DexMimic realizes this insight through Value-Guided Reset Allocation, which adapts the initialization distribution online to prioritize difficult phases and select reset states with higher expected tracking returns. We further introduce a benchmark spanning training, fine-tuning, and generalization. Experiments show improved tracking success and training efficiency, faster fine-tuning, and the potential for zero-shot generalization to unseen trajectories and objects; larger training sets further improve efficiency and generalization. Finally, we validate DexMimic on a real-world dexterous…

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• arXiv physics.comp-phOct 13

  Global-in-time Spectral Duhamel-Picard Method for Post-Exposure Bake Simulation and Physics-Informed Neural Operators for EUV Lithography

  Doyun Kim, Mircea Dusa, Werner Gilijns, Philippe Leray

  We present a global-in-time spectral Duhamel-Picard method with polynomial expansions for post-exposure bake (PEB) simulation. The coupled acid-quencher reaction-diffusion equations are reformulated as nonlinear Volterra integral equations using the Duhamel principle. Full trajectories are represented by finite polynomial expansions, with temporal coefficient fields determined over the bake interval by Anderson-accelerated Picard iteration, thereby avoiding sequential time marching. In 3-D PEB simulations, we employ Chebyshev and Legendre temporal bases while evaluating the Duhamel integrals using the corresponding Gaussian quadrature rules. We demonstrate that the proposed method simulates a large domain of $1200\times1200\times100$ voxels on the order of one minute. The representation is further incorporated into a physics-informed neural operator (PINO) with a mixed-transform variant of a factorized Fourier neural operator, which is trained without precomputed solution trajectories. Together, the integral formulation and its PINO extension enable accelerated, time-marching-free prediction of concentration fields at arbitrary times within the bake interval.

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• arXiv cs.LGOct 13

  Beyond Aggregate Accuracy: Item-Level Transitions in Prompt Optimization

  Chinmoy Mitra, Tarek Mahmud

  Automatic prompt optimization (APO) uses feedback from model responses to improve prompts automatically. However, its effectiveness is usually measured through overall scores, which do not reveal which questions become correct, which previously correct answers become wrong, or whether improvements extend to unseen questions. We introduce Reflective Feedback-Driven Prompt Optimization (RFDPO), a tool that tracks recoveries (incorrect to correct), regressions (correct to incorrect), and churn (all changed outcomes). RFDPO uses this feedback to guide subsequent revisions and records prompt changes throughout optimization. We evaluate RFDPO across five benchmarks covering law, knowledge, instruction following, mathematics, and privacy, using GPT-5 as the optimizer and GPT-4o-mini and GPT-4.1 Mini as solvers. Our results show that overall accuracy can hide substantial changes: in five of nine configurations, churn was at least five times the absolute net change, and a single-item net change concealed up to 17 changed outcomes. Average validation gains were 7.9 percentage points, compared with 5.2 points on held-out tests. In a controlled ablation on LegalBench-Hearsay, item-level…

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• arXiv cs.LGOct 13

  Backpropagating Verifier Rewards Through Continuous Flow Language Models

  Xu Han, Jiajing Hu, Li-Ping Liu

  Reinforcement learning (RL) has substantially improved the reasoning of autoregressive and discrete-diffusion language models. Language models that generate continuous token embeddings are emerging as a strong alternative, but RL post-training for them remains understudied. We propose \method{}, a post-training framework for continuous flow language models. Such a model denoises token embeddings over multiple steps and decodes them into discrete tokens only at the last step. To obtain pathwise gradients, which backpropagate through continuous actions and have much lower variance than REINFORCE, we introduce a critic that estimates the value of intermediate token embeddings, bypassing the non-differentiable decoding step. The critic must also keep track of the value function as the policy changes; to this end, we design a critic that predicts a value from every token representation and improves policy optimization. Across four reasoning tasks, \method{} reliably improves a continuous flow language model through RL post-training and outperforms baseline methods of the same type.

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• arXiv cs.LGOct 13

  Theoretical and Practical Advances in Hierarchical Bayesian Deep Learning Methodology

  Neil K. Chada, Simon Cotter, Kody J. H. Law, Xinzhu Liang

  Reliable uncertainty quantification remains an important challenge in AI. Hierarchical Bayesian methods provide a principled framework for this by representing unknown quantities through posterior distributions. Joint inference of neural-network parameters and prior hyperparameters is challenging for conventional Markov chain Monte Carlo (MCMC) methods due to strong dependencies. In this work, we introduce the multilevel particle marginal Metropolis-Hastings (MLPMMH) method, which combines pseudo-marginal inference for the hyperparameters with coupled sequential Monte Carlo (SMC) across hierarchy of network-width truncations for conditional parameter inference. The hierarchy is induced by a trace-class neural network (TNN) prior with width-dependent decay, motivated empirically by the compressible structure observed in trained neural-network parameters. Under standard multilevel coupling assumptions, we establish that MLPMMH achieves mean-square error (MSE) $\mathcal{O}(\varepsilon^2)$ at expected computational cost $\mathcal{O}(\varepsilon^{-2})$, and verify the predicted rate on a Bayesian regression problem. To address larger-scale applications, we further introduce S-MLPMMH,…

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• Federated learning39−13.3%
• CAD models13−13.3%
• Adversarial training43−14.0%
• Forecasting time66−17.5%
• Anomaly detectors30−18.9%
• Frontier LLMs396−23.7%
• Inference & serving226−23.9%
• Image segmentation156−25.4%