Research

• Comprehensive and reliable benchmarking for AI capabilities3 papers raise it · 3 address it

  Current benchmarks often lack the depth to fully characterize model capabilities, especially for complex, real-world, or long-horizon tasks.

  • SO-Arena: Benchmarking the Capability Spectrum and Reliability of System One Modelsraises · addresses
  • Infrathon: Benchmarking Language Agents for Real-World, Long-Horizon AI Infra Optimizationraises · addresses
  • One Table, Many Queries: Benchmarking Generalist Tabular Models Across Generation, Imputation, and Predictionraises · addresses
• Effective AI agents in complex, dynamic real-world environments3 papers raise it · 3 address it

  AI agents struggle with real-world tasks requiring adaptation, learning from limited data, or debugging live systems, limiting practical deployment.

  • Where LLM Agents Get Stuck Debugging Databases: Access More Than Reasoningraises
  • World In-Context Learning for Agentic Robot Manipulationraises · addresses
  • Infrathon: Benchmarking Language Agents for Real-World, Long-Horizon AI Infra Optimizationraises · addresses
  • Sage-Taiyi: A Metacognitive Architecture for Scientific Discoveryaddresses
• Efficient and scalable generation of complex data2 papers raise it · 2 address it

  Generating high-quality, complex data like streaming video or diverse tabular data efficiently and with fewer computational resources is crucial.

  • Few-Step Streaming Video Generation via Condition Shiftingraises · addresses
  • One Table, Many Queries: Benchmarking Generalist Tabular Models Across Generation, Imputation, and Predictionraises · addresses
• Unified models for diverse data modalities and tasks2 papers raise it · 2 address it

  Creating single models that handle diverse tasks or data variations within a complex domain reduces complexity and improves generalization.

  • Prompt2Echo (P2Echo): Text-Prompted Multi-View Echocardiography Segmentation with One Modelraises · addresses
  • One Table, Many Queries: Benchmarking Generalist Tabular Models Across Generation, Imputation, and Predictionraises · addresses
• Reducing computational cost of language model attribution1 paper raises it · 1 addresses it

  Understanding how prompt parts influence language model output is crucial for interpretability, but direct methods are computationally expensive.

  • Sketching Language Models for Context Attributionraises · addresses

Named by an AI from these papers' abstracts.

• Spiking neural networks11+175.0%
• Quantum machine learning34+25.9%
• Character recognition OCR44+25.7%
• Speech emotion23+21.1%
• Voice AI76+13.4%
• Forecasting time133−2.9%
• Robotics195−3.0%
• Channel state information18−5.3%

• arXiv cs.CVSep 20

  Layer-Aware Position Embeddings for Visual Token Pruning in Multimodal Large Language Models

  Yahong Wang, Zhangkai Ni, Juncheng Wu, Yuyin Zhou, Ying Wen +1

  Multimodal large language models (MLLMs) incur substantial computational overhead due to the reliance on hundreds of visual tokens to represent images. While token pruning has emerged as a promising approach to reduce the inference cost of MLLMs, existing methods typically reassign position embeddings to the retained tokens using either sparse or continuous position embeddings, each introducing distinct limitations. Sparse position embeddings tend to decrease the attention value allocated to visual tokens, thereby degrading the perception capability of MLLMs, whereas continuous position embeddings disrupt the original spatial correspondence of visual tokens, leading to weakened grounding capability. To mitigate this issue, we perform layer-wise analysis of the language decoder and observe that intermediate layers play a critical role for maintaining the grounding capability of MLLMs under token pruning. Based on this observation, we propose a layer-aware position embedding strategy, which switches to sparse position embeddings at grounding-sensitive layers while maintaining continuous position embeddings elsewhere. Extensive experiments across representative pruning methods and…

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• arXiv cs.CVSep 20

  Infectious Bovine Pinkeye Detection Using Computer Vision and Imbalance-Aware Learning

  Michael Abalo, Jameson Brennan, Hossein Moradi Rekabdarkolaee

  Infectious bovine pinkeye is a contagious ocular disease that adversely affects cattle health, welfare, and agricultural productivity. Conventional diagnosis relies primarily on clinical observation, which can be subjective, time-consuming, and difficult to implement efficiently in large herds or remote settings. This study evaluated and compared You Only Look Once (YOLO) v11 and YOLOv26 for automated bovine pinkeye classification and investigated the effects of class-balancing strategies on model performance. Five variants (n, s, m, l, and x) of each architecture were trained and evaluated using the original imbalanced dataset, Random Minority Oversampling (RMO), and an adapted Synthetic Minority Oversampling Technique (SMOTE). Both YOLOv11 and YOLOv26 demonstrated strong classification performance, although the effects of class balancing varied across model variants. For YOLOv11, RMO-s achieved an accuracy of 0.99, a macro F1-score of 0.98, and a true positive rate (TPR) of 1.00, with no false-negative classifications. RMO-m also achieved a TPR of 1.00 with no false negatives. For YOLOv26, the original l, RMO-m, and RMO-l variants each achieved an accuracy of 0.99 and a macro…

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• arXiv cs.CLSep 20

  Financial Language Models as Applied Artificial Intelligence Systems for News-Based Trading under Market Frictions

  Kemal Kirtac

  Financial language models can transform unstructured firm-specific news into structured decision signals, but financial AI research lacks an integrated deployment framework for evaluating whether those signals remain useful in financial decision systems. Computer science research has developed strong methods for time-series forecasting, text classification, multimodal stock prediction, graph-based market modeling, and machine-learning operations, yet these streams do not provide a domain-specific protocol that jointly tests financial language-model outputs under event-time observability, probability calibration, execution timing, transaction costs, liquidity constraints, capacity limits, operational diagnostics, and statistical inference. We introduce MFAST, a Market-Friction-Aware Sentiment-to-Trading framework that converts timestamped financial text into auditable, reproducible, and market-feasible trading decisions. The application is news-based trading, where firm-specific text must be linked to securities before portfolio decisions can be evaluated. The framework links Refinitiv News Analytics to Center for Research in Security Prices (CRSP) equity data, restricts the…

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• arXiv stat.MLSep 20

  TEMPER: Temporal Encoder-Masked Probabilistic Ensemble Regressor for Time-Series Forecasting

  Giancarlo Vercellino

  Probabilistic forecasting requires accurate central predictions and calibrated uncertainty estimates. This paper presents TEMPER, the Temporal Encoder-Masked Probabilistic Ensemble Regressor, a univariate time-series forecasting algorithm that combines a temporal autoencoder, a differentiable masked neural decision forest, continuous ranked probability score (CRPS) training, and Gaussian-mixture post-processing. The R implementation is built on torch for R and returns horizon-wise density, distribution, quantile, and sampler functions. We evaluate TEMPER on three deterministic synthetic level series with trend, periodic, regime-switching, nonlinear-threshold, and heteroskedastic components. Across 96 rolling-origin forecasts at horizons t + 1, t + 5, t + 20, and t + 60, TEMPER obtains 2.824% mean CRPS normalized by origin level, 3.635% median absolute error, and 68.8% empirical 90% interval coverage after training with a 300-epoch cap and early-stopping patience of 100. A naive persistence bootstrap has the best aggregate CRPS, 2.763%, while TEMPER has the best median absolute error and the best CRPS at t+1 and t+5. The ablation study uses matched series-origin-horizon cells,…

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• arXiv cs.CRSep 20

  When the Agent Becomes the Kernel: A Systematization of Security on the Path to AI-Native Operating Systems

  Li Zhang, Yang Sun, Jie Shi

  Large language model agents are now privileged principals that take consequential actions: editing code repositories, operating inboxes, completing purchases. Their authority is kernel-grade, but it comes without what classical systems security requires: a trusted mediator interposed on every access. Operating-system vendors are now rebuilding the platform around this de-facto agent kernel, inheriting complete mediation as a design problem. We systematize the security of such systems around a single distinction: a crossing mediated over provenance admits a deterministic check, while one over content semantics does not. A trust-boundary taxonomy locates where mediation must occur and isolates the central mediation gap at two kinds of semantic judgment: distinguishing data from instruction in untrusted input, and an authorized action from an unauthorized one. We argue that this gap leaves an irreducible residual of undetected attacks wherever inputs and actions are not restricted in advance to an enumerated set. The same distinction makes attack-success statistics actionable, placing each number on a spectrum from deployment debt (a sound deterministic mediator left unused) to a…

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• arXiv cs.CLTraining & fine-tuningSep 20

  Distill What You Trust: Reliability-Aware Multi-Teacher On-Policy Distillation

  Jie Sun, Mao Zheng, Mingyang Song, Zeyuan Liu, Gengsheng Li +6

  Multi-teacher on-policy distillation allows a student to learn from complementary specialists on its own trajectories. Domain-routed approaches, however, select one teacher per example and keep it fixed throughout the response. This design both depends on domain labels that mixed training corpora often lack and cannot adapt teacher selection when the expertise required changes within a trajectory. We observe that each specialist deviates more from a shared reference on in-domain prompts than on out-of-domain prompts, on average. Based on this observation, we propose \textbf{TrustMOPD}, which replaces example-level teacher selection with label-free, token-level supervision allocation. At each student-generated prefix, TrustMOPD measures this displacement in next-token preferences, calibrates its magnitude across teachers, and uses the resulting scores as proxies for local reliability to weight teacher-specific distillation losses. Evaluated across mathematics, code, and instruction following, TrustMOPD closes 91.5\% and 98.0\% of the overall-score gap between the initial student and oracle-routed teachers when trained on \textsc{SingleCap} and \textsc{MultiCap}, respectively,…

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• arXiv cs.AISep 20

  PhysAI-Bench: A Benchmark for LLM-Based Agentic Decision-Making in Autonomous UAV-Centric Physical AI

  Mohamed Amine Ferrag, Merouane Debbah, Abderrahmane Lakas, Manu Perumkunnil, Norbert Tihanyi

  Recent advances in Physical AI have accelerated the use of foundation models in autonomous systems such as unmanned aerial vehicles (UAVs), which must perceive, reason, plan, and act in dynamic environments. Existing benchmarks assess physical perception, intuitive physics, embodied navigation, and collaborative reasoning, but rarely evaluate the agentic decision-making required for reliable autonomy. We introduce \textit{PhysAI-Bench}, a benchmark for evaluating this capability. It contains 10,178 standardized decision instances automatically extracted from conversational traces of autonomous UAV missions. Each instance preserves mission context, temporal dependencies, physical constraints, Model Context Protocol (MCP) tool calls, Agent-to-Agent (A2A) interactions, sensor observations, and AI-native 6G network conditions, including latency, packet loss, throughput, edge load, and network slicing. We expose only information preceding each decision, preventing future-event leakage and approximating online decision-making. We evaluate 29 foundation models using a two-stage protocol. We select model-specific configurations from 12 combinations of zero-, three-, and five-shot…

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• arXiv cs.LGSep 20

  Tail-Weight Control and Localized Generalization in Nearly Low-Rank Adversarial Classification

  Kunyu Wang, Dehan Wang, Wenjun Chen

  Empirical ramp fitting can assign weight to pure-noise features even when the population optimum ignores them. We quantify this gap for norm-constrained adversarial classification with Gaussian signal and noise. The variance cost relative to normalized signed mean separates into two factors: selecting observations inside the active margin window and the curvature induced by the norm constraint. Changing the tail variance leaves the activewindow probability unchanged but changes the second factor. With positive attack budget and a signal-only predictor of risk below one half, we prove a uniform quadratic tail-deletion bound, including at zero tail variance. Sufficiently accurate approximate global empirical minimizers admit exact fixeddimensional asymptotic covariances in the low-risk regime with isotropic principal covariance. For positive tail variance at most principal variance, the product exceeds one; an additional moment condition transfers it to expected excess ramp and robust classification risks. A wide window analysis characterizes when this ordering reverses. Controlled experiments test the decomposition, and a separate contamination study examines its scope outside the…

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• arXiv cs.SDSep 20

  Text Scores Do Not Establish Performance on Lexically Non-Diagnostic Speech Tasks: A Qwen2-Audio Quantization Case Study

  Mengzhe Geng, Jinxi Ji, Junhao Xu

  Text-output scores alone do not show whether quantization preserves performance on speech tasks whose target labels cannot be recovered from the transcript. We evaluate fixed mixed 4/8-bit Qwen2-Audio-7B-Instruct allocations averaging 6 and 7 bits per parameter on 508 English-to-German FLEURS utterances and on 512 RAVDESS emotion clips from 16 speakers. The BLEU and chrF differences from half precision (FP16) have intervals that include zero for both allocations. On RAVDESS, the same two sentences occur equally often with every emotion label. The absolute accuracy differences from FP16 are -3.71% for 6 bit and -1.17% for 7 bit. The 6-bit speaker interval excludes zero and an exact two-sided sign-flip test gives p=0.0148; the 7-bit interval includes zero. Same-budget controls do not identify either selected allocation as best. This case study shows why translation scores and performance on tasks beyond the transcript need separate evaluation.

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• arXiv cs.LGSep 20

  A multi-temporal dataset for mapping burned areas in the Brazilian Cerrado using time series of remote sensing imagery

  Alisson Cleiton de Oliveira, Thales Sehn Körting

  This paper introduces a multi-temporal tabular dataset derived from satellite images to map burned areas in the Chapada dos Veadeiros National Park, in Goiás, Brazil, covering the years 2020 to 2022. The dataset contains blue, green, red, and near-infrared bands, as well as the BAI, EVI, GEMI, NDVI, and NDWI spectral indices from the WFI sensor on the CBERS-4A, CBERS-4, and AMAZONIA-1 satellites, organized into a regular grid. We applied the Random Forest classifier to develop and validate models based on samples labeled as totally burned, partially burned, and non-burned. Two classification approaches were tested: one combining burned and non-burned areas into binary classes and another distinguishing between totally burned (TB), partially burned (PB), and non-burned (NB) classes. Seven validation approaches assessed different post-classification combinations, focusing on accuracy, precision, recall, and intersection over union (IoU) metrics. Results showed higher IoU when TB, PB, and NB were used as individual classes and TB was reclassified as burned area (BA) while PB and NB were grouped as non-burned. Comparing the annual results of this approach to the MCD64A1 product, the…

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• arXiv cs.LGSep 20

  One Patch, Three Roles: What Is Actually Coupled in Autoregressive Time-Series Forecasting?

  Ziang Li, Yue Huang, Guoxu Zhou, Na Han, Jie Wen +2

  Patch-based autoregressive time-series forecasting often ties input representation, learned transitions, and recursive execution to one patch length. We ask which of these roles can be adjusted separately. A supporting atomic-encoding study finds greater sensitivity to model width than to atom grouping on the evaluated grid. Our main finding is that a frozen parent's recursive trajectory is easier to fit than the observed future with lightweight parallel exits. Autoregressive Trajectory Distillation (ATD) turns this into selectable ATD-1/2/4/8 execution, with ATD-1 exactly recovering the parent. On a paired four-data-set comparison, ATD-8 reaches $5.54\times$ end-to-end speedup with stable quality across widths. Fewer calls do not automatically remove the parent's existing forecast error: ATD improves trajectory fidelity in all 21 seed runs but forecast accuracy in only 15 against matched clean-future supervision. We further find a correctable residual projection along a train-selected periodic history direction. Spectrum Tangent applies this correction without adding neural parameters or Transformer calls. At horizon 720, it reduces mean squared error (MSE) and mean absolute…

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• arXiv cs.DSSep 20

  Smoothed Analysis of Inconsistent A*

  Zhiyang Chen, Hailong Yao

  The A* search is a fundamental path-finding algorithm in artificial intelligence. While admissible and consistent heuristics guarantee efficient performance by expanding each state at most once, modern search applications frequently employ powerful but inconsistent heuristics derived from machine learning, randomized evaluations, etc. A long-standing theoretical barrier to using these inconsistent heuristics is the risk of catastrophic node re-expansion, which yields a worst-case exponential time complexity of $Ω(2^n)$. However, empirical observations contradict this pessimistic bound, demonstrating that inconsistent A* operates highly efficiently in practice. To bridge this significant gap between theory and practice, this paper presents the first smoothed analysis of the A* algorithm using inconsistent heuristics. We model typical real-world noise by applying slight random perturbations to the edge weights of worst-case search graphs. Our main result proves that the expected smoothed time complexity of inconsistent A* is bounded by a polynomial, specifically a total iteration number of $O(n^2 m κ)$, where $n$ is the number of nodes, $m$ is the number of edges, and $κ$ controls…

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• arXiv cs.CVSep 20

  Mind the Gaps: A Curated Benchmark for Form Field Detection

  Iheb Brini, Omar Moured, Hamza Gbada, Elisa Barney

  Form Field Detection (FFD) is a fundamental component of document understanding systems, enabling applications ranging from large-scale industrial digitization to accessible form interaction for automated analysis. Unlike conventional object detection tasks, FFD is inherently challenging because fields are often defined by layout structure and whitespace rather than visible foreground content. Existing large-scale datasets frequently rely on heuristic annotation pipelines, resulting in noisy and inconsistent labels that hinder reliable evaluation. In this work, we introduce mini-CommonForms, a carefully curated FFD benchmark with consistent, high-quality annotations, and present a detailed evaluation of state-of-the-art detection approaches. The benchmark is designed to support reproducible research in document automation and accessibility-oriented applications. Dataset and code are available at https://github.com/moured/mini-commonforms

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• arXiv cs.CVSep 20

  Which Terrain Is Better? Preference Learning with VLM Prototypes for Off-Road Traversability Ranking

  Ji-Hoon Hwang, Jisung Bae, E-In Son, Dong-Wook Kim, Jung-Taak Kim +1

  In vision-based off-road navigation, a robot needs to know not only which obstacles to avoid but also which terrain is better. The first is handled by freespace detection or semantic segmentation. The second is usually answered with a traversability score, but no universal ground truth exists for such a score, so perception falls back on a predefined value per semantic class or a freespace confidence. These scores say what a region is, not which region a robot should prefer. We therefore formulate this preference as visual traversability ranking, an ordering of visible terrain that can be supervised by comparisons between two regions. Standard annotations do not label preference, but they imply its direction. We present TravPro, which converts these annotations into ordered region pairs and fits a small readout on frozen vision--language model (VLM) patch tokens to these pairs. The tokens are clustered once into a fixed prototype bank, and the readout learns a preference score per prototype. The readout is then applied to every patch and serves as a teacher that turns sparse comparisons into dense preference pseudo-labels without pixel-wise annotation. An RGB student distills…

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• arXiv eess.SPSep 20

  Fast Graph Laplacian Estimation using Effective Resistance

  Christoffer Kjellson, Claudio Altafini, Emma Tegling

  Inferring network topology from noisy node observations is a central problem in graph signal processing. In this paper, we consider Laplacian-constrained graph estimation for Gaussian Markov random fields, focusing on the underdetermined regime in which the number of samples is smaller than the number of graph nodes. Existing approaches often formulate the problem as a sparsity-regularized maximum-likelihood estimation problem. While effective, such methods typically require iterative optimization and are often computationally demanding, particularly under Laplacian constraints. Instead, we propose a non-iterative estimator of graph Laplacians that uses effective resistance for regularization, and evaluate the method using a simple sparsification procedure. Experiments show that with some trade-off in edge and weight recovery on the considered dataset, computational cost for moderately sized graphs can be substantially reduced.

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• arXiv cs.SDSep 20

  Do Language Models Need Music Supervision? Verifiable Rewards for Multi-Constraint Symbolic Music Generation

  Haoyue Liu, Xiaoying Tang

  Language models can now generate symbolic music from natural-language instructions. However, existing models still struggle to satisfy multiple explicit musical constraints simultaneously. To systematically evaluate this capability, we introduce MusicConstraintBench, a benchmark of 2180 items spanning eight families of programmatically verifiable constraints. On this benchmark, Llama-3.1-70B satisfies 0.630 of single-constraint items but only 0.044 of four-constraint ones. To address this challenge, we propose MusicRLVR, which trains a language model with group relative policy optimisation (GRPO) on verifier rewards alone, needing no human annotation, reward model or music-domain supervised fine-tuning. MusicRLVR incorporates (1) a hard validation gate that rejects malformed scores, (2) graded per-family credit that, unlike a binary reward, separates partially correct outputs, and (3) an all-satisfied bonus for meeting every constraint at once. Extensive experiments show that, after 300 GRPO updates, MusicRLVR raises Qwen3-4B-Instruct-2507 from 0.160 to 0.807 on mixed constraints, outperforming Llama-3.1-70B, and generalises to unseen property combinations, out-of-range…

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• arXiv cs.LGSep 20

  ETH-TraceBench: A Large-Scale Event-Stream Benchmark for Ethereum DeFi under Temporal, Protocol, and Contract Shift

  Kemal Kirtac, Carsten Maple

  Ethereum decentralized finance (DeFi) provides a public, time-stamped record of transaction-level event streams, but the same public symbols can create strong machine-learning shortcuts. We introduce ETH-TraceBench, a benchmark for evaluating Ethereum DeFi representations under temporal, protocol, pool/infrastructure, and symbolic shift. The raw event universe covers January 2021-December 2025 and contains 1.35 billion transactions with logs and 5.01 billion raw log rows. Model evaluation uses a fixed 911,267-instance supervised sample, training on 2021-2024, selecting models on 2025H1, and testing on 2025H2. Simple models perform strongly on the aggregate temporal test: TraceStats-GB reaches 0.953 macro-F1 and TopicEmitterHashMLP 0.959 on the canonical DEX test set. Performance drops sharply under protocol novelty, with macro-F1 of 0.794, 0.743, and 0.766 for TraceStats-GB, TopicEmitterTrace-SGD, and TopicEmitterHashMLP, while strict unseen-pool scores remain 0.927, 0.897, and 0.935. Uniswap v4 and Ekubo v1, both absent from supervised training, are materially harder than the full test. Jointly masking emitter and topic identity reduces DEX macro-F1 to 0.916 and liquidation…

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• arXiv cs.CVMultimodalSep 20

  Why Do Video Diffusion Models Violate Physics? Unveiling the Flaws in Attention Mechanisms

  Yueyan Li, Haibo Wang, Caixia Yuan, Xiaojie Wang

  Despite impressive visual quality, state-of-the-art video diffusion models often generate content that violates real-world physical laws. While existing solutions rely on external priors or specialized data, we investigate the root cause by exploring the internal mechanisms of these models. Specifically, we present the first interpretability study on the ''motion planning'' process of text-to-video diffusion models, revealing how motion trajectories form during early denoising stages. Building upon the ''first shape, then details'' finding, we combine cross-attention trajectory patterns with causal head contributions to identify a specific subset of attention heads driving motion planning. Further, our self-attention analysis shows that Rotary Position Embedding (RoPE) induces excessive spatial attention decay. This causes early candidate regions to prematurely lock into physically implausible positions, suppressing reasonable trajectories in adjacent frames and triggering generation failure modes. To address this fundamental flaw, we propose a lightweight architectural modification that scales the frequency of RoPE across different denoising steps. This strategy reduces…

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• arXiv cs.CVSep 20

  Reassessing Global Gradient-Norm Imbalance in BLIP Fine-Tuning Across Physical Domains

  Kiran Naseer, Samreen Azhar, Dwarikanath Mahapatra

  Imbalanced gradient magnitudes between the visual and language pathways of a vision-language model are often treated as a defect to be corrected. We test that premise for one family of correction, deliberately excluding adaptive, signal-driven schemes (e.g. BalGrad, OGM, PMR, CGGM), which are a mechanistically distinct class outside this study's scope. Measuring the language-to-visual gradient-norm ratio, reported in parameter-normalised form, across nine fine-tuning conditions, three seeds, and three captioning datasets spanning distinct physical domain shifts -- underwater, aerial, radiological -- we find imbalance magnitude varies markedly across domains with no predictable ordering. A plain learning-rate reduction cuts imbalance substantially and lands within a few BLEU points of the best method on every dataset. Staged freezing reduces the ratio on every domain yet never ranks first; a schedule-only control isolates freezing as the cause on one dataset but not the other two. Forcing the two gradient groups to equal magnitude drives per-parameter imbalance close to zero on every domain, yet is both the best result in the study and the worst placement among full fine-tuning…

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• arXiv cs.ROSep 20

  Beyond Appearance Shifts: Task-Semantic Action Calibration for VLA Models

  Shuaijun Liu, Feiyang You, Chengyu Wu, Shuyang Hao, Chenglong Zhang +3

  Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still lack a clear mechanism to balance behavioral stability with task-semantic sensitivity. We identify two complementary failure modes. Under task-preserving changes, where task semantics remain unchanged but scene appearance varies (e.g., style, illumination, clutter, or paraphrasing), policies often exhibit unnecessary action drift. Conversely, under semantic-breaking changes, where key task semantics such as the target object or constraint are altered, policies frequently fail to produce sufficiently distinct behaviors and instead follow the original trajectory. To address this gap, we propose BAS-VLA, a task-semantic action calibration framework built on top of a frozen base VLA. BAS-VLA adopts a breaking-centered calibration core as the default path, and introduces a selective evidence-gated preserving auxiliary that activates only when nuisance variation is detected while task semantics remain consistent. On the OpenPI-pi0.5 / LIBERO-Object Milk-Swap benchmark, BAS-VLA maintains high success on clean (98.0%) and semantics-preserving conditions (97.5%), while reducing…

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