Research

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

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

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

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

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

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

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

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

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

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

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

Named by an AI from these papers' abstracts.

• Federated learning50+31.6%
• Agents533+2.3%
• Quantum machine learning240.0%
• Character recognition OCR170.0%
• Sensing communication150.0%
• Frontier LLMs455−5.8%
• Voice AI104−10.3%
• 3D scene163−11.4%

• arXiv cs.ROOct 19▲ 4

  Vision-Language-Delta-Action: Learning Compact Deltas as Actionable Transition Interfaces for Robotic Manipulation

  Lingsen Zhang, Wei Li, Jie He, Henghua Zhang, Kai Mo +3

  Robotic manipulation is not merely observation-to-action generation, but the realization of task-specified state changes in the physical world. Existing vision-language-action (VLA) methods directly learn observation-to-action mappings, imposing a substantial learning burden due to the gap between semantic understanding and action execution. Although world-action models (WAMs) improve control through future prediction, modeling complete future states wastes capacity on static appearance and action-irrelevant changes. We propose Vision-Language-Delta-Action (VLDA), a paradigm that reformulates full future prediction as compact actionable transition modeling. Its core is a compact Delta variable that captures latent world-state changes, serving as an interface between vision-language understanding and action generation. VLDA learns Delta through a unified objective composed of the Local Transition Filter (LT-Filter) and Global Transition Anchor (GT-Anchor). LT-Filter captures task-relevant manipulation-centric changes while suppressing static reconstruction biases. GT-Anchor provides coarse future-level regularization to preserve the overall direction of state changes. Delta-Driven…

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• arXiv cs.LGOct 19

  Residual-Guided Adaptive Tucker Rank Allocation for Parameter-Efficient MCI Conversion Prediction

  Guanghua He, Hancan Zhu, Gaohang Yu, An Zhang

  Allocating limited trainable capacity across convolutional layers is a central challenge in parameter-efficient fine-tuning (PEFT) of pretrained three-dimensional (3D) networks. We propose Residual-Guided Adaptive Tucker Rank Allocation, which jointly selects input- and output-channel ranks under a fixed adapter-parameter budget while preserving the spatial kernel modes. To guide rank selection, we learn task-specific proxy updates from downstream training data and approximate them using candidate Tucker rank pairs. A perturbation analysis bounds the output discrepancy between the fixed proxy network and its Tucker approximation in terms of layerwise reconstruction residuals, motivating residual-based allocation. We normalize each squared residual by the corresponding proxy-update energy to compare relative approximation errors across layers. Dynamic programming minimizes their sum under a global budget constraint that accounts for both channel factors and the Tucker core. This yields a globally optimal allocation over the specified candidate rank pairs. We evaluate the method on the Alzheimer's Disease Neuroimaging Initiative (ADNI) cohort for predicting conversion from mild…

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• arXiv cs.AIOct 19

  CODA: Cohort- and Drift-aware Foundation Model for Multimodal Clinical Reasoning

  Changshuo Liu, Jiaqi Zhu, Wenqiao Zhang, Xiaokui Xiao, Beng Chin Ooi

  Recent advances in multimodal foundation models have demonstrated strong performance across diverse clinical tasks. However, existing approaches predominantly operate at the individual sample level and fail to model the interplay between population-level cohort patterns and patient-specific variation that underlie real-world clinical reasoning. In practice, clinicians routinely reason through patient cohorts sharing similar demographic, physiological, or pathological characteristics, while accounting for patient-specific deviations from the group prototype. Motivated by this gap, we propose CODA, a cohort- and drift-aware foundation model for multimodal clinical reasoning. CODA explicitly integrates cohort structure into the modeling pipeline through two complementary mechanisms: cohort-aware population stratification and drift-aware individual adaptation. In particular, we leverage reinforcement learning to discover clinically meaningful patient cohorts, and further model each patient's deviation from cohort prototypes as a structured drift signal encoding fine-grained individual heterogeneity. These cohort- and drift-aware representations are incorporated into the foundation…

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• arXiv cs.AIOct 19

  Benefit-Targeted Routing and Bounded Revision for LLM-Based Evidence Screening in Manufacturing Supplier Discovery

  Yijiashun Qi, Hanzhe Guo, Yuxuan Li

  An evidence-review system must allocate additional model judgments and control their use. We study these software decisions on 6,164 frozen manufacturing source-task pairs. Benefit-targeted routing learns recovered agreement minus newly introduced disagreement. On the original 300-case test, 60 consultations yield 202/231 agreements with two human references versus 189/218 for a logistic-risk router. An additional 300 cases were independently annotated twice using equal frozen evidence. Without retraining the historical policies, the corresponding counts are 164/190 versus 163/193; the differences do not resolve an advantage. Strict scalar-Ridge controls share preprocessing, regularization and fitting, and remain inconclusive. Quotation and requested-state replacement gates retain rejected cases and budget costs; their joint gate rejects one original and two additional consultations without changing primary outcomes. Evidence ablations, fusion and bounded updates supply further controls. A completed 200-pair identity audit yields 97.45 percent weighted merge precision after eight author adjudications. This audits a provisional map, while prospective company-disjoint performance…

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• arXiv cs.AIOct 19

  Minimum-Cost Robust Evidence Certificates for Horn Reasoning under Correlated Source Failures

  Yukun Yang

  A small justification for a rule-based conclusion may disappear when a source is withdrawn, and multiple derivations need not provide independent evidence. We study minimum-cost certificates that preserve a Horn conclusion under every withdrawal of at most k source domains. Evidence records remain distinct from asserted facts, supporting replicated attestations and overlapping failure dependencies. Transversals of minimal-support footprints characterize robustness and explain why disjoint-proof requirements can reject valid certificates. An exact procedure alternates weighted evidence selection with a source-failure oracle. A rule-closed counterinterpretation yields a globally valid selection cut without enumerating supports or failure scenarios. We prove correctness, finite termination, and cost optimality, establish coNP-completeness of unrestricted verification and NP-completeness of synthesis for every fixed budget, and identify a tractable reachability restriction. Experiments on controlled benchmarks, reachability graphs, and ontology-derived instances demonstrate that our counterinterpretation-guided synthesis achieves up to 92% optimum coverage within practical resource…

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• arXiv cs.CVOct 19▲ 4

  ActionRoPE: Action as Coordinates for Spatially Consistent Control in Planar-Camera Game World Models

  Zhiyang Deng, Yuzhe Wu, Zijun Lin, Yeying Jin

  Game world models have made rapid progress toward real-time interactive generation. Yet action control is still predominantly implemented as feature conditioning, leaving the model to learn from training data how each action should move the visual world. This formulation is poorly matched to a broad class of planar-camera worlds, such as top-down and isometric games. In these worlds, player motion induces a geometrically well-defined planar camera displacement. We observe that the key to spatially consistent control in such worlds is to represent the effect of each action directly in world coordinates. To this end, we introduce ActionRoPE, a parameter-free action interface that converts action-driven camera displacement into world-coordinate rotary positions. As a result, tokens corresponding to the same world location retain the same positional address across time. These world coordinates further expose a spatial asymmetry in generation: regions covered by the initial observation are geometrically known, while newly revealed regions remain to be synthesized. We therefore propose Coordinate-Conditioned Noise Scheduling (CNS), which assigns token-wise denoising schedules according…

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• arXiv cs.LGOct 19

  Adaptive Decoding Methods for Token-Efficient Reinforcement Learning

  Zhaonan Li, Zelei Cheng, Amritansh Mishra, Chia-Hsuan Lee, Mann Patel +3

  Rollout decoding affects both which trajectories are used for reinforcement learning with verifiable rewards (RLVR) and how many completion tokens are spent collecting them. We study whether candidate-token support should remain fixed or widen during training in the context of rollout sampling efficiency. Our main schedule moves from top-K=10 to K=20 and then to full support as the attempted-token budget increases. In a 4B code-RLVR setting, the schedule has a higher interpolated 150M-token validation value than its matched fixed-K=10 continuation in all three runs, with a mean gain of $1.80{\pm}0.42$ points. The schedule also performs comparably to a separately trained fixed-K=20 baseline, the strongest fixed-support setting in our sweep. Follow-up experiments suggest that late widening to full support is the most promising variant, although the evidence remains noisy, and mixed-reward-group diagnostics do not clearly explain the gain. An exploratory single-run test replay yields identical point estimates for the schedule and fixed $K=10$. Overall, our results show that rollout support is an important control for sampling efficiency in RLVR and motivate further study of adaptive…

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• arXiv cs.AIOct 19

  Are Self-Evolving Agents Continual Learners?

  Xiaoyin Chen, Yizheng Huang, Yinglun Xu, Ziyun Zhao, Emmett McQuinn +2

  Large language model agents are often deployed in environments where new knowledge, tools, and workflows keep arriving. Such an agent is therefore expected to adapt continually, learning new tasks as they arrive without forgetting earlier ones. This resembles the continual learning problem, but at a pace that conventional gradient updates cannot sustain. Nonparametric self-evolving agents are a natural alternative: they adapt by rewriting their own harness, such as prompts, memory, and skills, from task feedback while the model weights stay frozen. We study whether such agents are effective continual learners across four drifting task streams that shift in topic, workflow, or domain (built from BIRD, BFCL, and ScienceWorld). Evaluating three representative methods spanning experience retrieval and self-modification (ReasoningBank, GEPA, and Meta-Harness), we find that although self-evolution improves aggregate performance on most streams, higher plasticity consistently comes at the cost of stability. Specifically, self-modifying methods apply global edits to a shared prompt or workspace, interfering with unseen tasks and overwriting earlier knowledge as the stream shifts.…

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• arXiv cs.LGOct 19

  Statistical Learning Theory for Direct Preference Optimization

  Joel Wills, Yuanfan Li, Yiming Ying, Ding-Xuan Zhou

  Direct Preference Optimization (DPO) learns from pairwise preferences through a logistic objective whose score-difference parameterization follows the Bradley--Terry model. We study how failure of this modeling assumption limits DPO, distinguishing structural misspecification from limited model capacity and finite-sample estimation. Our main contribution is a characterization of structural approximation error through the triangle-curl of the preference log-odds, which vanishes exactly when preferences admit a Bradley--Terry representation. We upper bound the achievable excess logistic risk by a score-class approximation term and a triangle-curl term, and establish a lower bound proportional to triangle-curl under additional boundedness assumptions. For ReLU score models, including clipped models, we derive explicit approximation rates showing that increasing capacity can eliminate the score-approximation term while leaving the structural obstruction unchanged. We further establish finite-sample bounds for clipped empirical risk minimizers that separate network approximation, structural misspecification, and estimation error. We place these results within a surrogate-risk…

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• arXiv cs.CLOct 19

  Arabic Financial NLP

  Mo El-Haj

  Financial communication connects numerical accounts of economic activity with explanations of performance, responsibility and future expectations. Arabic financial natural language processing offers methods for studying these connections across corporate reports, market disclosures, journalism and banking interactions. Its contribution to digital humanities depends on retaining the relationship between a computational representation and the document from which it was made. This chapter follows that relationship from source collection and Arabic text processing to the analysis of vocabulary, evaluation, entities, causal attribution and multilingual reporting. It then examines what financial summaries and retrieval-grounded answers preserve or lose, and how dialectal intent detection changes the perspective from institutions speaking to institutions listening. Published Arabic resources are discussed in relation to the questions they were designed to answer, with a distinction between financial pretraining corpora, annotated datasets and evaluation benchmarks. A running constructed example connects the methodological discussion without presenting illustrative analysis as empirical…

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• arXiv cs.CVOct 19

  REST: Reliability-Guided Spatial Transcriptomics Supervision for Gene Expression Prediction from Histopathological HE-Stained Images

  Lanfeng Zhong, Xiangyu Sun, Guixuan Xu, Rongzhao Zhang, Jie Xu +2

  Histopathology is central to cancer diagnosis, but morphology in Hematoxylin and Eosin (HE)-stained images does not directly reveal the molecular states that characterize disease heterogeneity and inform tumor characterization, prognostic assessment, and biomarker discovery. Spatial Transcriptomics (ST) measures spatially resolved gene expression, providing molecular information within tissue architecture, yet differences in assay coverage and spot informativeness make paired HE--ST observations unequally reliable for representation learning. We propose Reliability-Guided Spatial Transcriptomics (REST) supervision with Biological Program Bank (BPB), a program-structured and reliability-guided ST-supervised training framework for predicting molecular information from H\&E images. REST constructs BPB from curated signature, pathway, and cell-type gene sets to provide a shared structure for ST encoding, reliability estimation, and molecular reconstruction. Guided by BPB, Spot-Reliability Contrastive Alignment (SRCA) measures the reliability of each spot from assay-level program coverage and spot-level activity dispersion, and reweights HE--ST alignment accordingly. Biology-Informed…

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• arXiv cs.AIOct 19

  MASIF: Implicit Failures for Process Observability in Multi-Agent Systems

  Yanwei Huang, Arpit Narechania, Atanu Sinha

  Multi-agent systems (MAS) can complete a task despite local execution errors that are corrected, bypassed, or carried forward without individually determining its outcome. We call these implicit failures (IFs) and study them as signals for process observability beyond final task outcome. Across 1,828 traces from nine MAS-benchmark configurations, IFs occur in 54.3% of successful and 75.2% of failed traces. We develop taxonomies of error types and subsequent absorption mechanisms, supported by human and cross-model annotation audits. Counterfactual replay further probes how repairing an IF changes the final outcome. To examine the practical value of IFs, we evaluate IF-based best-of-N trace selection against existing process reward models, and introduce a novel RL algorithm, IF-GRPO, that uses IF costs to refine preferences among successful trajectories in GRPO. Experiments show that IF-GRPO exhibits some gains in accuracy and process metrics. Importantly, it exposes trade-offs between task performance, IF count and cost, and token-normalized IF density. Overall, our results show that IFs provide complementary process observability into how MAS reach their outcomes, including…

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• arXiv cs.LGOct 19

  Rubrics Beyond Evaluation: Exploiting Rubric Structure in Reinforcement Learning

  Yuxun Huang, Yunyao Zhang, ZeLiang Chen, Yi-Ping Phoebe Chen, Junqing Yu +1

  Rubrics are widely used to evaluate open-ended question answering by breaking overall quality into explicit criteria. These explicit criteria make rubrics a rich source of learning guidance, yet their potential for guiding the training process has been largely overlooked. Existing methods use rubrics mainly as direct feedback signals, without explicitly modeling the capabilities behind their criteria. This leaves their capability structure largely unused in guiding the training process. We introduce Rubric-Structured Reinforcement Learning (RSRL), an RL framework that unlocks the full potential of rubrics by exploiting their structure throughout the training process, rather than treating them simply as direct reward signals. At its core, RSRL builds on three key designs: (1) Rubric-to-Capability Structuring first recovers the capability structure hidden in rubric criteria, (2) Self-Sufficient Capability Learning then uses this structure to bootstrap underdeveloped capabilities into effective learning, (3) Capability-Residual Credit Routing finally preserves capability-specific gains during optimization. Experiments show that RSRL consistently improves both overall performance and…

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• arXiv cs.CVOct 19

  Auditing Semantic and Relational Reliability in Open-Vocabulary Human-Object Interaction Evaluation

  S M Asif Hossain, Ruksat Khan Shayoni, Md Kishor Morol

  Open-vocabulary human-object interaction detectors describe interactions in free text, and this creates a problem for evaluation. Category scoring rejects valid paraphrases, while semantic similarity scoring can reward predictions that name the wrong action or reverse the roles of the participants. We present a diagnostic protocol that holds every prediction fixed and scores it under five views, namely official category evaluation, an identity control, lexical normalization, graded semantic credit, and strict propositional equivalence. Comparing these views separates the effect of the matching engine from the effect of semantic credit. The protocol pairs controlled transformations that preserve or break meaning with a blinded audit of natural predictions, and we derive consistency checks that link mean credit, invalid acceptance, and transformation counts. Applied to six systems on HICO-DET, the views disagree on which system leads. GEN-VLKT leads under official evaluation, SL-HOI leads under SHOE, and GEN-VLKT leads again under strict equivalence. Semantic gains range from 1.6 to 20.3 mAP, and AgentHOI keeps less than half of its gain once equivalence is enforced. We recommend…

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• arXiv cs.LGOct 19

  ACE-Trader: Adversarial Co-Evolution for Generator-Critic Trading Systems

  Chang Zhou, Jiarun Zhou, Xingtong Yu, Hong Cheng, Hui Zhang +1

  Generator--critic trading systems pair an LLM-based trader that makes trading decisions with a red team agent that evaluates these decisions and provides feedback for revision. However, improving individual trading decisions does not ensure that both agents learn from experience and improve together over time. This raises an important question: how can the trader and red-Team select useful experience and learn from each other's evolving behavior? On one hand, experience that benefits decisions under one market condition may become ineffective or harmful under another. On the other hand, trading outcomes reflect both agents' actions, making it difficult to derive appropriate experience for each role. In this work, we propose ACE-Trader, an adversarial co-evolution trading framework. Specifically, we first develop separate context-dependent memory selectors that learn to identify useful experience for the current trading decision. Both selectors receive shared feedback from net-return differences between complete memory-assisted and memory-free trading pipelines, with online updates emphasizing recent outcomes. We further design a co-evolution mechanism that links role-specific…

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• arXiv cs.CLOct 19

  Measurement Validity and Representation Dynamics of Confidence Signals in Large Language Models

  Debojeet Ghosh, Shreyansh Kumar, Ayushman Garg

  Whether a language model "knows what it knows" matters for trustworthy deployment and for deciding when it should abstain. Prior work usually measures this through one channel: verbalized confidence, a linear probe on hidden states, or agreement among sampled answers (semantic entropy), and often treats these as interchangeable. We compare all three in a pre-registered audit of five Qwen2.5 models (0.5B-7B, including a base/instruct pair at 7B) on factual retrieval (PopQA, SimpleQA) and multi-step reasoning (GSM8K, MATH). First, probes trained on prefill states to predict whether sampled answers will disagree become informative earlier for retrieval (about 7% of layer depth on average) than for reasoning (about 28%). The pre-registered five-layer test supported this only marginally; a finer 21-layer follow-up, designed after those results, supports it more clearly. In most retrieval cells, however, a prompt-only TF-IDF classifier matches the probe, so the early signal may reflect surface features of the question. Second, verbalized confidence is unstable: slightly different prompt templates yield scores that barely correlate. Third, Expected Calibration Error is misleading:…

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• arXiv cs.LGOct 19▲ 25

  SWIFT: Self-guided Weak-to-strong dIFfusion models via Target extrapolation

  Yanjin He, Cuifeng Shen, Wanzhou Lei, Maohua Li, Tao Lan +3

  Training high-quality diffusion models is computationally expensive, and inference-time guidance often adds further sampling cost. In this work, we introduce Swift, a simple yet effective self-guided training method that uses a frozen weak denoiser to improve a stronger model without adding inference overhead. For each noisy input, Swift extrapolates the clean regression target away from the weak denoiser's prediction, amplifying components that remain underfit. The weak guide can be an early training checkpoint, requires no backpropagation during main-model training, and is discarded afterward. The resulting model retains the original sampler and supports both conditional and unconditional generation without label dropout or an unconditional branch. We explain this mechanism through a spectral analysis of finite-time population gradient flow in an RKHS. With an early-stopped weak guide, we prove that a nonempty range of extrapolation strengths yields strictly lower posterior-mean error than matched standard training, despite shifting the regression target away from the posterior mean. Experiments on CIFAR-10 and ImageNet-256 demonstrate improvements across model scales and…

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• arXiv cs.AIOct 19

  A Cue's Hidden Price: Auditing Seller Influence on AI Shoppers

  Felix Buecheler, Gerardo Berbeglia, Mingyu Guo

  Large language models are increasingly asked to shop on a user's behalf, which lets seller-controlled content such as badges, endorsements, and framing steer what they recommend. That poses the question at the core of generative engine optimization (GEO): not whether seller content shifts an agent's choice, but how much. The usual gauge of that influence, how often a cue wins the choice, has a blind spot: once a cue is strong enough to be picked almost every time, the choice rate can no longer show how much stronger one cue is than another. We introduce price-equivalent (PE) auditing, which removes this ceiling by pricing the cue in money. In a counterbalanced, position-controlled forced choice, we raise the cued product's price until it is chosen only half the time, and report that premium as the cue's price-equivalent: a formally defined, policy-conditioned parity threshold that makes very different cues comparable. Priced this way, cues that look equally strong at equal price differ by a wide margin, so choice-rate audits substantially under-resolve seller influence. We run the audit over 113,472 trials, seven models across families, and two product categories. To our…

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• arXiv cs.AIOct 19

  Not Every Rollout Needs Distillation: Correctness-Filtered On-Policy Self-Distillation

  Harrison Zhao, Lei Huang, Fei Liu, Wen Shi, Zijian Jin

  On-policy self-distillation (OPSD) supervises student-generated trajectories with a reference-conditioned version of the same base model. We ask whether every trajectory supplies distinct supervision that warrants its distillation cost. Gradient measurements on Qwen3-1.7B at initialization reveal that correct and incorrect responses have similar individual gradient magnitudes, but incorrect responses have approximately three times the coherent gradient share. Their estimated population-mean directions also largely overlap. A signal--noise model fitted at a small group size tracks alignment at larger group sizes without refitting. Motivated by these measurements, we introduce correctness-filtered OPSD (C-OPSD), which generates one response per problem and distills only a subset of incorrect responses. Removing unselected rows before both distillation forwards avoids their teacher/student forward and student backward work. Across Qwen3-1.7B, 4B, and 8B on AIME24, AIME25, and HMMT25, C-OPSD achieves on-par performance with full OPSD. In a measured micro-batch-size-four implementation, executed rows decrease by approximately 68%, and with retained rows packed into full micro-batches,…

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• arXiv cs.ROOct 19

  OV-PEAR: Observation-Verified Pose-Scale Estimation and Reconstruction for Unknown Industrial Manipulation Objects

  Guoqin Tang, Qingxuan Jia, Yichen Tan, Zihang Lv, Ruiquan Wang +2

  Fine industrial robotic manipulation requires 6D pose, scale, and an operation-ready 3D model. Existing industrial pose estimation relies on CAD models, object-specific training data, or stable workcells, limiting use with unseen objects; zero-shot methods suffer from single-view occlusion, generative bias, and scale uncertainty. We present OV-PEAR, an observation-verified framework for 3D reconstruction and pose-scale estimation of unknown industrial objects. Its three-stage object-centric pipeline: (1) segments RGB-D instances and generates object-level 3D hypotheses; (2) anchors them to the robot frame via appearance-aware view retrieval, explicit scale search, and visibility-sensitive registration; (3) back-projects multi-view RGB-D evidence into the object-canonical frame to verify voxel occupancy, suppress hallucinations, and produce reusable trusted object models. On BOP-Industrial, OV-PEAR achieves 0.657 average AR and improves pose and voxel-level geometric consistency in real scenes; real-robot connector assembly reaches 99.67% grasp and 84.00% assembly success. The model library and pose-scale log enable short-term object-level state maintenance at 0.02 ms/frame.

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