Research

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

  Improving adaptability of models to new tasks and environments without task-specific fine-tuning is critical for scalable embodied intelligence.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Cost and latency in agentic systems2 papers raise it · 1 addresses it

  High computational and time costs limit practical deployment of agentic systems for real-world tasks.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
  • PremiseCheck: Efficient Fact-Checking of Human and AI Peer Reviewsraises · addresses
• Physical-state verification and failure recovery1 paper raises it · 0 address it

  Robustness to irreversible failures and accurate state tracking are essential for reliable embodied control.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Evidence-grounded multimodal reasoning benchmarks1 paper raises it · 1 addresses it

  Current benchmarks often fail to ensure models use necessary audio-visual evidence, weakening evaluation reliability.

  • EvaOmni: An Evidence-Grounded Benchmark for Audio-Visual Reasoningraises · addresses
• Length generalization in sequential state tracking1 paper raises it · 1 addresses it

  Models struggle to maintain performance on problems much longer than their training data, limiting scalability.

  • PAR: Progress-Aligned Recurrence for Length Generalization in State Trackingraises · addresses

Named by an AI from these papers' abstracts.

• arXiv physics.comp-phOct 15

  An Adaptive-Horizon Graph Neural Operator for coupled surrogate morphodynamic modelling

  Ying Cao, Yifan Yang, Junqiang Xia, Julia C. Mullarney, Mário J. Franca

  Morphodynamic simulations require repeated coupling between hydrodynamic solvers, sediment transport modules, and bed updating. For long duration, multi-scenario simulations on large unstructured meshes, such coupling is computationally demanding. This study proposes an Adaptive-Horizon Graph Neural Operator (AH-GNO) that formulates bed evolution as a graph operator learning problem from recent hydrodynamic and topographic states to predict future bed elevation increments. The model operates directly on the native unstructured meshes. The approach integrates area-weighted graph learning, historical state selection, and forecast horizon estimation, allowing the effective history length (K) and update interval (B) to vary with the evolving flow and bed state. Using Telemac2D/GAIA solutions as supervised numerical references, the framework is evaluated on the official Bump and Yen bend benchmarks and on a field-scale application (Waiho River, New Zealand). Results show that the AH-GNO reproduces the main patterns of bedform migration, bend-scale erosion and deposition, and localized bed adjustment. Across the three cases, the tested CPU-GPU deployment reduced post-training…

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• arXiv cs.CLOct 15

  Translation Circuit Discovery and Targeted Optimization for Low-Resource Multilingual Translation

  Atai Waris Khan, Abdullah Mazhar, Raghu Kumar, Md Shad Akhtar

  Recent multilingual large language models achieve strong translation performance, yet the internal mechanisms responsible for low-resource multilingual translation remain insufficiently understood. In this paper, we study translation circuits in multilingual decoder-only LLMs for Hindi-to-Urdu and Hindi-to-Sindhi (Devanagari). We propose TITAN, a mechanistic framework that combines causal intervention, sparse feature decomposition, and targeted preference optimization to identify and optimize crucial translation components in the transformer. Unlike conventional full-parameter fine-tuning, TITAN restricts optimization to sparse, causally important circuits, enabling scalable and parameter-efficient adaptation while updating fewer than 5% of model parameters. Experimental results show that TITAN achieves BLEU improvements of 33.75% on Hindi-to-Urdu and 45.86% on Hindi-to-Sindhi over the strongest multilingual baselines. Human expert evaluation further confirms substantial gains in adequacy and fluency across both language pairs. Additional analyses reveal that multilingual translation is implemented through sparse, structured circuits operating over a shared semantic subspace…

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• arXiv cs.ROOct 15▲ 10

  CarryOn: A Dual-Loop Harness for Personalized and Reliable Robot Assistance

  Zixuan Wang, Yuqi Liu, Yuxin Chen, Sengqiao Yang, Jinhui Ye +5

  While generalist vision-language-action (VLA) models have enabled diverse open-world manipulation, real-world robotic assistance requires two critical capabilities they currently lack: personalization and reliable execution. First, executing an instruction like "make me a sandwich" requires grounding subtask decomposition in persistent user preferences rather than relying on a single generic solution. Second, reliable deployment demands explainable safety assurance that proactively prevents hazards and gracefully recovers from occasional physical failures. To address these gaps, we present CarryOn, a dual-loop harness designed to augment a frozen VLA policy. The planning loop maintains persistent user-level and scene-level context that is continually grounded against new observations and revised through interaction, enabling personalized task selection and execution grounding across conversations and changing scenes. The execution loop actively supervises policy rollouts, shielding actions from predicted hazardous contact. When execution fails, the system invokes reusable control-based recovery skills that restore task progress and are refined through reflection on earlier…

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• arXiv eess.ASOct 15

  Full-Duplex Interaction with Speech, Expressions and Gestures

  Siyin Wang, Wenyi Yu, Terumi Chiba, Xianzhao Chen, Xiaohai Tian +3

  Human face-to-face conversation requires coordinating speech, gestures and expressions across both speaking and listening. We present ELLSA 2, an end-to-end full-duplex dialogue model that jointly optimizes speech interaction and streaming gesture-expression generation. An autoregressive, chunk-wise synthesizer combines pretrained acoustic features with distinct listening and speaking hidden states from the dialogue backbone and speech synthesizer, enabling continuous non-verbal generation even when the model is verbally silent. To translate dialogue understanding into vivid semantic gestures, we introduce contextual semantic calls and template guidance, separating whether to invoke an available semantic gesture from how to realize it. We also establish a curated data and evaluation pipeline for dialog-aware co-speech gesture generation and investigate reference-based multimodal large language models (MLLMs) as automatic judges. Experiments show that ELLSA 2 remains highly competitive with open-source full-duplex speech interaction models and outperforms cascaded baselines across dialog-aware gesture and expression metrics. Semantic template guidance further significantly…

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• arXiv cs.CVOct 15

  PET Quantification-Preserving Registration for Longitudinal Whole-Body PSMA PET/CT

  Fryderyk Kögl, Anna Reithmeir, Daniel M. Lang, Emily Chan, Rickmer Braren +1

  We adapt the diffeomorphic coarse-to-fine LapIRN architecture for longitudinal whole-body PSMA PET/CT registration in the Learn2Reg 2026 PSMAReg challenge. The method combines affine pre-registration, multi-modal deformable registration, and test-time instance optimization. We further introduce PET biomarker preservation losses for metabolic tumor volume (MTV) and total lesion glycolysis (TLG), including Jacobian-based constraints, and a per-structure rigidity regularization for skeletal structures. The submitted configuration achieved 81.0% DSC and 6.17 mm HD95, with MTV and TLG errors of 3.3% and 3.3%, respectively, on our evaluation protocol. Code is available at https://github.com/koegl/psmareg.

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• arXiv cs.ROOct 15

  X-Fly: Learning to Reach and Stop in Full-Chunk Aerial Vision-Language Navigation

  Ruibin Ju, Ruifeng Cai, Min Xu, Lin Wang

  Aerial vision-language navigation (VLN) agents built on large vision-language models are expensive to query. Executing a complete predicted action chunk before replanning amortizes this cost, reducing model inference from 195 to 42 ms per executed waypoint for our policy. It also moves the states at which the policy is queried away from expert demonstrations, which supervise neither recovery from these states nor termination at the learner's own arrival. On OpenFly test-seen, no-stop failures account for 47.78% of full-chunk behavior cloning (BC) outcomes. We present X-Fly, a staged training framework for full-chunk aerial VLN. Recovery DAgger labels learner-visited decision states with smooth chunks that reconnect to future expert segments and with STOP at the first in-region state. Flow-GRPO then jointly refines the chunked flow controller and a Bernoulli STOP policy from same-task closed-loop outcomes, supplemented by outcome-verified stopping supervision. With eight controls per decision, X-Fly reaches 74.18% SR on test-seen and 51.73% on test-unseen, compared with 16.45% and 18.43% for full-chunk BC and 32.04% and 29.46% for DreamFly.

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• arXiv cs.AIOct 15

  Incentivizing Tool-Use Reinforcement Learning for Post-Arrival Emergency Care Prediction

  Pengfei Hu, Chenwei Wu, Qiao Jin, Jun Deng, Zhiyong Lu +2

  Large language models (LLMs) can reason over both structured measurements and free-text records, which makes them attractive for emergency department (ED) prediction. However, most existing LLMs still fall short of conventional ML methods like trees on EHR-based prediction tasks. Our controlled analysis traces this gap to two weaknesses: LLMs do not select informative features, and they misjudge what numerical values imply for risk even when given the right features. We propose TIR-EC, a tool-integrated reinforcement learning framework that addresses both. TIR-EC exposes EHR feature groups as tools the LLM can call. It trains the LLM with rewards from a gradient-boosted tree teacher, which provides a reference set of informative tools and a graded risk target. TIR-EC also distills task-specific clinical skills into the model weights through a reverse curriculum that gradually removes the skills from the prompt during RL process. Evaluation on three clinical prediction tasks shows that our 4B agent achieves the highest macro F1 of all compared models, outperforms conventional ML baselines, and is competitive with much larger frontier LLMs. Further analysis shows that TIR-EC…

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• arXiv cs.LGOct 15

  V-SHARE: Provable Convergence Guarantees for Advantage-based Algorithms

  Kintan Saha, Hamed Masoudi, Xinyi Sheng, Dominik Baumann, Joni Pajarinen +1

  In reinforcement learning, advantage-based value-learning methods, unlike standard Q-learning, share information across actions by decomposing the action-value function into a state-dependent value component and action-specific advantages. While this mechanism has proven effective in both tabular and deep reinforcement learning, its theoretical understanding remains incomplete. We introduce V-SHARE, an advantage-based value-learning algorithm that combines cross-action value sharing with an importance-weighted Bellman-residual correction. To our knowledge, we provide the first complete theoretical characterization of an advantage-based algorithm, including both asymptotic convergence and non-asymptotic finite-sample guarantees. We identify a regime in which V-SHARE mitigates the rare-action bottleneck of asynchronous Q-learning and uncover a contraction--variance tradeoff between stronger deterministic contraction and increased importance-weighting noise. Motivated by this tradeoff, we develop decreasing residual-preconditioning schedules that combine faster early contraction with lower asymptotic noise. We further develop a two-timescale analysis that removes the…

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• arXiv cs.CLOct 15

  SITAR: A Situational Distortion Metric for Automatic Speech Recognition Evaluation

  Mingzhe Lu, Jinhao Liu, Yunpeng Li, Hang Su, Lichun Fan +1

  In automatic speech recognition (ASR), transcription errors with similar lexical or semantic discrepancies can have markedly different consequences for the situation conveyed by speech. Capturing these differences requires not merely contextual assessment, but an understanding of what the spoken discourse describes, establishes, or seeks to bring about. However, relying on LLM judges introduces computational cost and scoring variability. We introduce SITAR, a situational distortion metric for ASR, realized through a comprehensive end-to-end construction framework. Specifically, this framework aggregates situational severity and cumulative extent into a unified score via a bounded recursive formulation. Using targets derived from this formulation with limited offline LLM support, we train SITAR as a lightweight BERT-family regressor that scores reference-hypothesis pairs in a single forward pass, entirely free of any prohibitive runtime costs. Recognizing that introducing a new metric demands rigorous justification, we formalize a principled validation protocol spanning both extrinsic validity, assessed at macro and micro levels, and intrinsic scorer reliability. The former,…

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• arXiv cs.LGOct 15▲ 56

  Each Reward to Its Relevant Tokens: Reward-Specific Token-Level Credit Assignment for Multi-Reward RL

  Skylar Zhai, Haonan Wang, Zhining Liu, Linxin Song, Xuwei Ding +2

  Language models are increasingly trained against several verifiable rewards at once, such as the correctness and the format of a tool call, or the individual constraints of a complex instruction. Reward-decoupled normalization (GDPO) normalizes each reward separately so that different reward combinations keep distinct advantages, but it still spreads every reward's advantage evenly over the whole response, although each verifier checks only a few positions. We propose MRTPO, which assigns the advantage of each reward to the tokens relevant to it, using the information its verifier checks, without auxiliary models or token-level annotations. For each reward, the policy replays its own response with and without that reward's verifier information, and the per-token Jensen-Shannon distance between the two next-token distributions measures each token's relevance and reassigns the advantage. On text-to-SQL, multi-constraint instruction following and tool calling, MRTPO converges faster and achieves better performance than the compared methods.

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• arXiv cs.CVOct 15

  RLDF: A Region-Level Deepfake Dataset and Benchmark for Partial-Face Manipulation Detection

  Shukesh Reddy, Abhijit Das

  Existing deepfake detection models are built upon manipu- lated images that are tampered with either exclusively fully swapped or fully synthesised faces, which leads us to an open question: Can off-the-shelf deepfake models detect manipulation effectively while tampering is confined to a local facial sub-region? To fill this gap, we introduce RLDF (Region-Level Deepfake), the first dataset for region-level deepfake evaluation. Employing the proposed region-aware partial swap synthesis model, we generate over 2M par- tial face-swap images by using eight face-swapping meth- ods. Altogether, we considered seven face regions, among which there are four discrete regions (eye, nose, mouth and eyebrow) and four composite facial regions (eye and nose; eye, nose and mouth; eye, nose, mouth and eye- brow; and full face). In addition, we define three evalu- ation protocols and benchmark 12 state-of-the-art detectors across the five popular standard cross-dataset evaluations, DF40, and the proposed RLDF, providing a comprehen- sive audit of where and why existing detectors underper- formed. Our evaluation reveals that existing detectors fail to generalize consistently across partial facial…

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• arXiv cs.CLOct 15

  HyCo: Hybrid Drafting for Cost-Efficient Mobile-Cloud Speculative Decoding

  Hanbin Bae, Heejin Choi, Joohyung Lee, Byoung Jin Choi, Sangjun Park +1

  Device-cloud speculative decoding reduces server computation, but growing a deep draft tree with a small language model (SLM) requires repeated passes on a mobile neural processing unit (NPU). We present HyCo, which assigns depth to the server model's native multi-token prediction (MTP) head, executed on the device, and alternative branches to one SLM pass. The server returns the hidden state, input embedding, and key-value entries needed by the head instead of executing its sequential steps. Quantization, a restricted vocabulary, and a 1K-token window fit both drafters to the NPU. An ε-threshold rule additionally relaxes exact preservation of the verifier's sampling distribution. In single-client runs with a Galaxy S26 Ultra over LTE/5G, HyCo reduces server GPU time per output token relative to server-side MTP self-speculation by 38.6% on Spec-Bench and 29.2% on 32K-token summarization. With the same acceptance rule, three Spec-Bench runs per system show 9.0 percentage points more saving and 1.9x delivery speed than an SLM-only drafter. HyCo differs from Cloud+MTP by +0.2 judge-score points (paired 95% CI: -0.9 to +1.3); exploratory translation favors SpecEdge-ε. Without…

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• arXiv cs.ROOct 15

  Policy-Aligned Predictive Verification for Adaptive VLA Action-Chunk Execution

  Minkyu Kim, Junhoo Lee, Seungyeon Kim, Suhyun Jeon, Baekseung Kim +2

  Vision-language-action (VLA) policies generate action sequences that reduce repeated inference, but deciding how much of each sequence to execute is critical to task success. Existing adaptive methods make this decision using generation stability or prediction agreement, yet these signals do not establish whether executing a candidate prefix preserves the ability to complete the task. We introduce a policy-aligned predictive verifier (PAV) that anticipates the consequences of candidate action prefixes and evaluates their compatibility with successful continuation before execution. Rather than using future prediction to generate actions, our method evaluates existing proposals in the VLA's internal task-conditioned representation space. To learn local judgments from terminal task outcomes, we combine trajectory-level survival supervision with a localization prior that preserves useful behavior within failed rollouts. The resulting validity scores guide execution-horizon selection. Evaluations with pi_0 and pi_0.5 across LIBERO, RoboTwin 2.0, and real-world manipulation show improved success-query trade-offs. These findings point toward a different role for future prediction in…

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• arXiv cs.CVOct 15

  ManiFusion: Unlocking the High-Throughput Generation via Superposition in Manifold Space

  Minkyu Kim, Baekseung Kim, Junhoo Lee, Jangho Kim, Nojun Kwak

  Diffusion models achieve high-quality image generation but remain computationally expensive due to iterative denoising across many timesteps. Existing acceleration methods mainly reduce per-sample latency, but gains along this axis are becoming saturated. We instead explore an orthogonal throughput-oriented direction by processing multiple samples within a single denoising evaluation. To this end, we propose ManiFusion, a backbone-agnostic framework for multi-sample generation through fused-space computation. ManiFusion jointly processes multiple samples by fusing them before the denoising backbone and separating them afterward through unfusion. We provide a geometric perspective on how multiple samples can share a fused representation while retaining the information needed to guide their individual generation trajectories. To better align fusion allocation with denoising stages, ManiFusion uses Trajectory-Fusion Scheduling (TFS), which dynamically adjusts fusion factors throughout sampling. ManiFusion generalizes across diffusion families, including both U-Net and transformer backbones in pixel and latent spaces. We further show that ManiFusion composes with existing…

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• arXiv cs.AIOct 15

  Learning from Interaction Experience via Localized Context Distillation

  Zhezheng Hao, Yongkang Yang, Xilin Xia, Jiarui Yu, Yi Liu +7

  Learning from interaction experience is essential for enabling large language models to continually improve during deployment. Context distillation offers a promising path: privileged information extracted from experience is provided to a teacher, whose behavior is then distilled into a student model that has no access to it. However, both existing forms of context distillation have limitations. Off-policy context distillation trains the student on teacher-generated trajectories and thus suffers from exposure bias; whereas on-policy context distillation trains on the student's own rollouts, whose states are often uninformative and fail to convey behaviors the student cannot yet produce. To resolve this dilemma, we introduce Localized Context Distillation (LoCD). LoCD first localizes the critical spans of a student trajectory that require revision. The teacher then regenerates only these spans from the student's own prefix, and the student is trained on the regenerated segments. LoCD thereby concentrates learning on the most informative states while keeping exposure bias low. Extensive experiments across math reasoning, code generation, and agent tasks demonstrate that LoCD…

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• arXiv cs.ITOct 15

  GPU-Accelerated Robust MA--RIS Pre-Optimization for Communication and Target Illumination

  Tran Le Dung, Ho Viet Duc Luong

  Movable antennas (MAs) and reconfigurable intelligent surfaces (RISs) offer strong spatial control for integrated sensing and communication (ISAC), but repeatedly adapting MA positions and RIS phases to each channel realization can be impractical. This letter develops a GPU-accelerated robust pre-optimization framework that jointly selects slow-timescale MA geometry and RIS phases and returns a reusable Pareto set balancing expected worst-user rate and transmit-side worst-target illumination. The illumination objective measures directional transmitted power rather than complete echo-detection or parameter-estimation performance. The proposed Regime-Aware Multiobjective Pre-optimization (RAMP) preserves regime-specific Pareto populations, regulates cross-regime mating using Pareto-survival feedback, and constructs a worst-regime robust archive. Numerical results demonstrate competitive robust Pareto quality against the considered evolutionary baselines while avoiding online physical re-optimization.

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• arXiv cs.AIOct 15

  Do Agents Need a New Kind of Paper? SPRA: Structured Paper Representation for Agents

  Yutong Leng, Haojiong Chen, Fukai Shang, Xiaoyang Wang, Mindong Liu +2

  Scientific agents must connect research problems, methods, and findings dispersed through narrative articles. We introduce SPRA (Structured Paper Representation for Agents), a paper-level representation of persistent research objects and typed relations. Its empirical-AI profile organizes Problems, Contributions, Components, ExperimentSetups, Measures, and Findings for querying, traversal, and reuse. Selected paper-level citation relations record dependencies, component use, and comparisons with prior work; source locations support verification. We instantiate SPRA across more than one million AI papers, with 19.95 million research units and 24.07 million internal relations. Evaluations access SPRA through Schema-RAG with task evidence fixed before inference. Across seven subfields, SPRA improves source-conditioned scientific QA by 0.381/5 over passage retrieval while remaining close to Full Compact (0.078/5 lower on average). In directed cross-paper reasoning, qualification improves by 0.184/5 over passage retrieval; Top-5 synthesis shows mixed quality effects. Across all paired RQ2 tasks, including Top-5, input+output tokens decrease by 28.5% relative to passage retrieval and…

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• arXiv cs.CVOct 15

  Where, How, and When: Query-Guided Grounding for Video Understanding

  Yogesh Kumar

  Understanding video content requires reasoning at multiple levels of granularity, from identifying objects to interpreting their interactions and localizing when specific actions occur. This thesis studies three query-guided grounding tasks that answer where key objects are (object-level grounding), how they interact (relationship-level grounding), and when specific moments occur (moment-level grounding). For object-level grounding, we present QDETRv, a query-guided extension of the Detection Transformer for one-shot localization of unseen objects in videos, which combines query-context fusion, a memory module for temporal consistency, and unsupervised pretraining on synthetic object trajectories. We further propose the Temporal Object-Aware Vision Transformer (TOViT) for few-shot video object detection, which builds on a language-aligned open-set vision encoder and propagates high-confidence object features across frames. For relationship-level grounding, we introduce few-shot referring relationships in videos: given a (subject, predicate, object) query and a few support videos sharing the predicate, the entities are localized by optimizing a T-partite random field using a…

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• arXiv cs.LGOct 15

  CGDT-CESN: Correlation-Guided and Dynamics-Trained Clustered Echo State Network for Multivariate Time-Series Prediction

  Hariharan Srinivasan, Masoom Bhargava, Sayan Gupta

  Accurate prediction of multivariate time series requires models that simultaneously capture variable-specific dynamics and cross-variable interactions. In this work, a Correlation-Guided and Dynamics-Trained Clustered Echo State Network (CGDT-CESN) is proposed, which comprises a modular reservoir architecture with each cluster distinctly specializing in one of the variables in the multivariate time series. An innovative reservoir design is proposed in which inter-cluster connections are enabled by empirically observed correlations among variables, providing a data-driven coupling mechanism. Apart from conventional readout training, inter-cluster connection weights informed by correlations are trained, which in turn allows the reservoir to capture time-varying cross-variable dependencies without sacrificing computational efficiency and further improves forecasting accuracy. The prediction performance of CGDT-CESN is found to be superior to that of the conventional ESN when evaluated on two fundamentally different datasets: Twitter information cascade evolution and solar wind forecasting. Also, the improvement in performance is preserved across multiple prediction horizons, even…

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• arXiv cs.SEOct 15

  The Role of Agentic Instruction Categories for Code Generation: A Study of Five Python Libraries

  Warren Gerald Polandra, Yoshiki Higo, Raula Gaikovina Kula

  Agentic coding systems increasingly rely on repository-level agent files, such as AGENTS.md, to communicate project knowledge and developer intent. However, it remains unclear which categories of agent instructions enable efficient agent-file generation and accurate code generation. We evaluate five instruction categories: Repository Overview, Function Description, Implementation Detail, Testing, and Reconstruction Steps, across all 31 non-empty combinations using two Large Language Models (LLMs), Gemma 4 and GPT-5.4, and five human-written Python libraries. Our study addresses two research questions, comprising five sub-questions, on agent file generation and code generation. Results show that the number of instructions alone does not determine token usage for agent-file generation, with substantial variation across models and libraries. Although most AI-generated libraries compiled successfully regardless of the instruction combination, functional correctness remained limited. No Gemma 4 variant passed all tests, whereas 12.99% of GPT-5.4 variants did. Function Description achieved Gemma 4's highest partial-pass rate, while Reconstruction Steps achieved GPT-5.4's highest…

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• Federated learning45+7.1%
• Adversarial training45−2.2%
• Forecasting time75−5.1%
• Frontier LLMs418−16.1%
• Agents465−16.7%
• Quantum machine learning20−20.0%
• 3D scene146−20.2%
• Classifier & causal discovery78−20.4%