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.

• Training & fine-tuning63+6200.0%
• Evals105+3400.0%
• Computer vision49+2350.0%
• Code models23+2200.0%
• Image & video generation36+1100.0%
• Federated learning49+28.9%
• Quantum machine learning240.0%
• Character recognition OCR170.0%

• arXiv cs.AIOct 18

  Stepwise Reasoning Verification: Don't Generate, Classify!

  Yifei Shi, Michalis Korakakis, Rami Aly, Eric Chamoun, Lukasz Szpruch +1

  Verifying the reasoning of large language models is increasingly important as they are applied to complex mathematical and scientific problems. Existing work focuses on large decoder models and reports mixed results for generative and discriminative verifiers, leaving unclear which paradigm is more effective and whether large models are necessary. In this work, we cast stepwise verification as a natural language inference task: the problem and partial solution prefix form the premise, while the next reasoning step serves as the hypothesis to be classified as entailed or non-entailed. This formulation enables error localisation at individual reasoning steps and direct comparison of encoder classification, decoder classification, and decoder verdict generation across model scales and annotation budgets. Across five reasoning datasets, a 0.15B encoder classifier outperforms most generative verifiers with up to 4B parameters. On identical decoder backbones, classification outperforms generation from 0.5B to 4B parameters and matches it on the strongest 7B backbone---reaching comparable performance with roughly one tenth as many annotated problems. Our findings establish…

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• arXiv cs.CLOct 18

  Design Considerations in Low-Resource Archival OCR: A Case Study in Lakota

  Téa Wright, Laura X. Ma, Claudia Iron Hawk, Hannah J. Haynie, Alexis Palmer +3

  Building and expanding access to digital archives supports language reclamation and creates lasting resources for community revitalization. Designing effective tools to support these efforts requires taking into account the community-, language-, and document-specific context. We investigate how small ($\leq$3B) vision-language models (VLMs) can be adapted as optical character recognition (OCR) tools for Lakota, a North American Indigenous language. In addition to benchmarking modeling approaches, we inspect four practical facets of low-resource archival OCR that arise in previous work and conversations with community members: constrained training budgets, segmentation noise, scan degradation, and orthographic variance. We demonstrate that fine-tuning VLMs for OCR post-correction on 35 pages of transcribed data decreases character error rate (CER) from 17.1 to 3.9\% on a bilingual corpus, and find that training only with nine pages increases CER by only 1.1\% over this. However, evaluating under realistic automatic segmentation nearly doubles the CER of the best-performing models, stressing the importance of taking realistic use cases into account. We hope this work encourages…

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• arXiv cs.CVOct 18

  A New Hope for PRNU on Modern Smartphones? Evidence That Device-Specific Fingerprints Survive Computational Photography

  Benjamin Loison, Quentin Bammey, Thibaud Ehret, Rafael Grompone von Gioi, Pablo Musé +1

  Photo Response Non-Uniformity (PRNU) is widely regarded as the most reliable marker for source camera identification. Recent studies, however, report high correlations between images and fingerprints from different modern smartphones, which calls into question the discriminative power of PRNU on these devices. Using 30 recent smartphones under controlled acquisition conditions (e.g., no digital zoom), we investigate whether the fingerprint itself is at fault or the way it is compared. We find that a component shared by all fingerprints of the same model inflates the standard signed peak-to-correlation energy (sPCE). To counter this, we propose $Δ$sPCE: the sPCE between a query image and a candidate camera's fingerprint, minus the mean sPCE between that image and the fingerprints of the remaining candidates, in the spirit of T-norm score normalization. $Δ$sPCE improves attribution accuracy, suggesting that the device-specific PRNU signal is still present. Although the limited dataset size and the dependence of $Δ$sPCE on the candidate camera set currently restrict operational applicability, these results suggest that PRNU-based attribution of modern smartphones remains feasible…

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• arXiv cs.CVOct 18

  DragonMoCap: Monocular Video-based Motion Capture for Diverse Dragon Topologies

  Zhongfei Qing, Xiaoxiang Zhao, Ling-Hao Chen, Zhongang Cai, Wenjia Wang +5

  This work explores monocular motion capture for dragon-type characters, which currently relies on manual keyframing due to the lack of high-quality datasets and parametric models. The primary obstacle lies in the extreme topological diversity across dragon rigs, where varying joint counts and naming conventions render traditional fixed-template regressors inapplicable. To address this, we introduce DragonMoCap, a novel framework that treats the target rig as a dynamic input rather than a fixed prior. By deliberately scoping the framework to the most prevalent production topologies, we ensure high-fidelity results across diverse morphologies. The core of our approach is the design of language-grounded joint query tokens, which establish a dual-property representation: ensuring intra-rig discriminability while maintaining cross-rig similarity. We further propose a non-parametric query-token retrieval mechanism to enable zero-shot adaptation to unseen rigs without retraining. Extensive evaluations demonstrate that DragonMoCap consistently outperforms HMR-style baselines across diverse dragon topologies. The practical utility of our framework is further evidenced by its integration…

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• arXiv cs.CLOct 18

  RARE: Reinforcement Learning with Adaptive Rubric Evolution for Open-Ended Generation

  Xueyun Tian, Bingbing Xu, Chuyue Li, Jiaming Liu, Chao Zhang +7

  Verifiable rewards have advanced reinforcement learning in mathematics and code. However, many valuable open-ended tasks share three properties: no automatic verifier of overall quality, multiple requirements to satisfy jointly, and multiple valid responses to each query. Training therefore needs feedback on requirement satisfaction across different valid responses. Rubric-based reinforcement learning provides this feedback by aggregating scores from explicit criteria. As learning progresses unevenly, some criteria become fully satisfied and lose discrimination while others remain informative. Dynamic methods revise shared rubrics or select evolving criteria to restore discrimination, but may also change useful criteria. To address this, we propose Reinforcement Learning with Adaptive Rubric Evolution (RARE). The core idea is to use current policy feedback to guide both which criteria change and what their replacements assess. Sample-level updates replace criteria fully satisfied across current outputs with checks of remaining quality differences, retaining all other criteria and scores. Within this rule, we compare rewarding desirable qualities with penalizing observed flaws.…

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• arXiv cs.LGOct 18

  MOSAIC: Multi-Objective Search for Allocating Inference Cache Across LLM Decoder Layers

  Sravanth Kodavanti, Manjunath Arveti

  The Key-Value (KV) cache is the main memory bottleneck of long-context LLM inference. Token eviction methods such as SnapKV, H2O, AdaKV and L2Norm shrink it, but they give every transformer layer the same budget, although layers differ in which tokens they need. We present MOSAIC, a multi-objective neural architecture search that learns per-layer KV-cache budgets for any eviction method. One search maps the trade-off between average budget and task score; its best allocation transfers to every target budget without further search, and an optional budget-constrained search refines it. Across four eviction methods on Llama-3-8B-Instruct and Mistral-7B-Instruct-v0.2, MOSAIC beats uniform allocation in 146 of 154 (task, method, budget) settings, by up to +48 points on RULER and +11.9 on LongBench (LCC). On both models, it reaches the score of uniform allocation with up to 4x less KV cache (75% smaller). Against EvolKV, MOSAIC explores a ~10^40 x larger search space with 4x fewer evaluations and 18% fewer GPU-hours per budget, and scores higher in 5 of 6 settings. The learned allocations consistently favour a small set of middle layers.

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• arXiv cs.CVOct 18

  Preserving the Manifold: Frozen Expert Alignment for Label-Efficient SAR Scene Understanding

  Eli A. Underwood, I. Taylor McKechnie, Leslie M. Collins

  Cross-modal alignment of synthetic aperture radar (SAR) imagery to natural language is constrained by two distinct failures. The first is modality mismatch: text encoders pre-trained on optical imagery, such as CLIP, cannot be efficiently fine-tuned on SAR, because active microwave backscatter is physically incompatible with passive optical reflectance and the available SAR caption datasets are orders of magnitude too small to bridge this gap without substantially degrading the learned semantic manifold. The second is physical forgetting: SAR encoders pre-trained on large-scale self-supervised objectives encode radar physics that are progressively erased when the encoder is fine-tuned for text alignment on limited caption data. A single design principle addresses both failures: keep both encoders frozen and learn only a constrained, structure-preserving bridge. Our Frozen Expert framework aligns a frozen CROMA SAR encoder with a frozen CLIP text encoder via a lightweight constrained residual bridge. We formally define physical forgetting via Procrustes disparity and show our bridge preserves SAR geometry significantly better than fine-tuning (disparity: 0.210 vs. 0.351). We…

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• arXiv cs.CLOct 18

  Mixture-of-Memories: Low-Overhead Language Modeling with Modular Knowledge Injection

  Yifan Lu, Rubin Wei, Ziyun Zou, Junhong Liang, Haolin Yang +6

  Large language models store substantial factual knowledge in their parameters, yet this knowledge is difficult to control, update, and reliably elicit at inference time. Existing memory-augmented approaches typically rely on a single auxiliary mechanism, such as retrieval, parameter updates, or neural memory, and therefore apply the same form of correction to tokens with very different knowledge demands. We propose Mixture-of-Memories (MoM), a memory-augmented language modeling framework that separates routed neural memory from writable factual memory. MoM combines a frozen base LM with two neural memory experts: a latent memory that provides low-latency hidden-state corrections and a lexical memory that provides a token-space knowledge pathway. A lightweight Budget Router sets per-token mixture weights from uncertainty and disagreement features, replacing the fixed interpolation of prior memory modules. For post-hoc updates, an external explicit memory stays outside the router, because a router trained before facts are written learns to down-weight it; new facts are appended without retraining any component and used only when an answer-level gate accepts the retrieved fact.…

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• arXiv cs.CVOct 18

  From Label Priors to Task Evidence: Efficient Long-Video Frame Selection via Bayesian GRPO

  Shuochen Chang, Bingjie Gao, Qingyang Liu, Qianli Ma, Yibo Miao +5

  Multimodal Large Language Models (MLLMs) face significant scalability challenges in long-video understanding due to quadratic attention complexity and context window constraints. Existing retrieval-based approaches typically rely on supervised learning from static keyframe annotations. However, these label priors often fail to align with the actual information required by downstream MLLMs for complex reasoning, creating a misalignment between the training target and inference needs. To bridge this gap, we propose a probabilistic framework that reformulates frame selection as latent-variable inference. We first initialize a lightweight policy using supervised learning to capture general visual saliency. Then, we treat a frozen MLLM as a task environment and use its answer likelihood as dense task evidence to refine the policy via Bayesian Group Relative Policy Optimization (GRPO). Within this formulation, the negative log-likelihood (NLL) over ground-truth answer tokens provides a principled dense reward, while a prior-matching KL term preserves semantic consistency with the elicited label prior. This process transitions the selection principle from static label priors to task…

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• arXiv cs.CVOct 18

  UniState: Unifying Memory and Intervention for Controllable World Simulation

  Jaeseok Jeong, Kyungmook Choi, Sohyun Chung, Youngsik Yun, Youngjung Uh

  World models offer increasingly rich environments for exploration, yet intervening in a world while observing the consequences from freely chosen viewpoints remains challenging. We tackle these challenges by introducing UniState, a framework for controllable world simulation built on a unified world-state representation. This representation unifies spatial memory and user interventions. Users specify object motion directly within spatial memory, while independently choosing the camera trajectory from which the resulting world state is observed. This unification makes the relationship between the scene and the requested changes explicit, removing ambiguity between object motion and viewpoint change from the control specification. Crucially, specifying an intervention does not require prescribing every resulting movement: the video model can synthesize additional motion within controlled objects and plausible interactions with their surroundings. We develop training and sampling strategies that help generated videos follow the specified object motion and camera trajectory while preserving this capacity to generate responses beyond the prescribed transformations. Experiments…

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• arXiv cs.CLOct 18

  Towards Figurative Language Understanding in Moroccan Darija: An Evaluation of Large Language Models

  Jihad R'baiti, Youssef Hmamouche, Emmanuele Chersoni, Chu-Ren Huang, Amal El Fallah Seghrouchni

  Figurative language remains a major challenge for Machine Translation (MT) systems, as the intended meaning of such expressions often goes beyond literal translation. Although recent advances in Large Language Models (LLMs) improved the translation of Arabic dialects, benchmark resources for evaluating figurative language translation in Moroccan Darija remain scarce. To this end, we introduce the Moroccan Darija Figurative Language Corpus (MDFC), a benchmark dataset for MT and multiple-choice question (MCQ) selection covering idioms, metaphors, and proverbs. Using MDFC, we evaluate 19 open- and closed-weight language models and MT systems at both the expression and contextual levels under zero-shot and six-shot settings. We also conduct layer-wise similarity-based probing to determine how model representations distinguish figurative from literal meanings. Our findings reveal that closed-weight models achieve the strongest translation performance, while the benefits of contextual information vary across models and tasks. Differences between translation performance and MCQ accuracy highlight the distinction between generating an appropriate figurative translation and recognizing…

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• arXiv cs.CVOct 18▲ 37

  MT Forcing: Towards Stable and Consistent Multi-Turn Image Editing with Autoregressive Diffusion

  Houyuan Chen, Fanzhou Wang, Xiangyu Fan, Zesong Qiu, Yukun Wei +7

  Multi-turn image editing aims to modify an image according to a sequence of instructions, enabling more effective interactive visual content creation for users. However, existing methods often exhibit noticeable drift after only a few editing turns, manifesting in two aspects: 1) unstable visual quality, with accumulating artifacts and degraded details; and 2) inconsistent image content, with unintended changes to preserved regions and prior edits. To address these challenges, we propose MT Forcing, a novel training paradigm for multi-turn image editing with unified multimodal models (UMMs) based on autoregressive diffusion. Specifically, we propose Single-Turn Distribution Matching Distillation (Single-Turn DMD), which supervises student self-rollouts with a teacher that applies cumulative edits to the source image in a single turn, providing visual-quality guidance without recursive error accumulation. Additionally, we introduce Teacher-Forcing Guidance, which supervises history-dependent transitions on reference trajectories during warmup and as a regularizer during distillation, encouraging cross-turn content consistency beyond what per-turn distribution matching alone can…

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• arXiv cs.AIOct 18

  When Form Changes but Logic Doesn't: Building Logic-invariant LLMs through Logical Structure

  Xuyuan Liu, Xinshuai Dong, Elynn Chen, Yujun Yan

  Large language models (LLMs) have achieved strong performance across diverse reasoning tasks, yet it remains unclear whether this performance reflects an understanding of underlying logical structure or a reliance on shallow semantic cues. A key indicator of such understanding is whether models treat logically equivalent inputs consistently, producing the same predictions despite differences in expression. Through systematic evaluation on curated data, we show that even strong LLMs often fail this test: they do not consistently preserve predictions across logically equivalent inputs and generalize poorly to unseen logical forms. To address this limitation, we propose LoGIcal STructure-guided reasoning (LoGIST), a framework that guides LLM reasoning with explicit logical structure. LoGIST maps each input instance to a decision diagram, a directed acyclic graph that captures the underlying logical structure, and encodes this graph into a logical embedding that conditions the LLM's reasoning process. Across multiple training settings, LoGIST reduces inconsistency under logical equivalence and improves generalization to unseen logical forms, suggesting that logical invariance is a…

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• arXiv cs.CVOct 18

  RAHF-Net: Range-Aware Heterogeneous Fusion for LiDAR-Assisted RGB Semantic Segmentation

  R. D. Lin, Pengcheng Weng, Ge Wang, Han Ding, Fei Wang

  This paper studies LiDAR-assisted RGB semantic segmentation, where LiDAR point-cloud features improve dense pixel-wise predictions in the RGB image plane rather than 3D point labels or detections. Existing 2D fusion methods often project point clouds into shallow depth/range maps and apply spatially uniform fusion, discarding rich 3D structure and ignoring the range-dependent reliability of outdoor LiDAR. We propose RAHF-Net, a Range-Aware Heterogeneous Fusion Network. Its Cylindrical-to-Perspective (C2P) module projects pretrained cylindrical voxel features into the image plane, preserving structured 3D semantic priors. A Range-Aware Heterogeneous Fusion (RAHF) module then uses a soft depth-derived range mask to perform LiDAR-guided geometric enhancement in reliable near-field regions and visual-context enhancement in sparse far-field regions. On KITTI-360, RAHF-Net achieves 65.76 mIoU, outperforming representative RGB-only and RGB-LiDAR baselines, including CMX by 1.45 points. Experiments on DELIVER further demonstrate improved robustness under adverse weather, illumination degradation, and sensor corruption.

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• arXiv cs.CLOct 18

  From Unverifiable Domain Text to Cross-Lingual RLVR via Code-Switched Task Synthesis

  Cheonbok Park, Jihwan Kim, Shinyoung Joo, Joosung Lee, Hwiyeol Jo +2

  Reinforcement Learning with Verifiable Rewards (RLVR) can improve reasoning in large language models, but specialized non-English domains expose a data mismatch. Raw English domain text is often available, while target-language RLVR tasks with verifiable rewards are scarce. We introduce code-switched task synthesis for cross-lingual RLVR, a data-centric approach that derives target-language and code-switched RLVR task variants from otherwise unverifiable English domain text. Using fill-in-the-middle multiple-choice QA as a seed task format, we synthesize automatically verifiable tasks from domain passages and reshape them into cross-lingual variants. These variants preserve the same evidence-answer relation but change how English and target-language evidence are presented during RLVR. On Korean medical benchmarks and cybersecurity benchmarks across four target languages, code-switched training outperforms matched monolingual and bilingual-mixture baselines on average target-language performance while maintaining comparable English performance. Additional analyses provide evidence of better target-language input understanding and stronger cross-lingual alignment in both model…

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• arXiv cs.CVOct 18

  PolarVis: A Dataset and Diffusion Framework for RGB-to-Polarization Perception in Adverse Driving Scenes

  Ruilin Huang, Jue Wang, Zhen Tian, Xia Hua, F. Richard Yu

  Reflections, glare, transparent structures, and material-dependent appearance variations can introduce ambiguity into RGB-based visual perception in vehicle-relevant environments. Polarization provides complementary reflection- and material-sensitive information, but its acquisition requires dedicated sensing hardware. This paper presents RGB-P Wild, a real-world dataset containing 10,000 paired RGB and four-angle linear-polarization image sets, together with PolarVis, a diffusion-based framework for recovering polarization representations from a single RGB image. PolarVis combines hierarchical RGB feature extraction, diffusion-based feature refinement, four angle-specific decoders, and multi-scale attention recalibration to reconstruct polarization intensity images at $0^\circ$, $45^\circ$, $90^\circ$, and $135^\circ$. On RGB-P Wild, PolarVis achieves a normalized-domain MSE of 0.0465, a PSNR of 27.83 dB, and an SSIM of 0.8597. Compared with the released PolarAnything model under the adopted evaluation protocol, PolarVis obtains an AoLP error of $25.66^\circ$ and a DoLP MAE of 0.0404, compared with $46.03^\circ$ and 0.1084, respectively. Cross-dataset evaluation on…

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• arXiv cs.CVOct 18

  A 3D-Driven Framework for Moving-Camera Perspective-to-360° Video Generation

  Michael Wakeham, Mrinmoy Kumar Das, Wenqi Wang, Ayush Tewari, Boqing Gong +1

  Turning a moving-camera perspective video into a 360° video requires more than just generating content outside the input frame: observations revealed over time must be preserved, unseen regions completed, and the resulting scene kept consistent as the camera viewpoint changes. Existing methods assign these different requirements to a single conditional video model, requiring them to be jointly learned from panoramic video data. We instead present a modular, 3D-driven framework that distributes these three responsibilities across specialized components, all connected through a shared scene representation. Input observations are reconstructed explicitly in 3D, while a pretrained panoramic image model completes unobserved content from a selected panoramic render. This generated content is lifted into the shared 3D scene, where it remains spatially anchored across camera viewpoints. Without requiring any additional panoramic-video training, our framework achieves state-of-the-art input-view fidelity, perceptual quality, and geometric consistency on a static-scene subset of the Argus evaluation set. These results support our decomposed, 3D-driven formulation as a promising alternative…

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• arXiv cs.LGOct 18

  Paloma: Phase-Conditioned Residual Modulation for Time Series Forecasting

  Jingru Fei, Wei Fan, Kun Yi, Qi Zhang, Zhendong Niu

  Explicitly modeling periodicity has proven to be an efficient approach for time series forecasting, where the residual, obtained after removing the periodic component from the time series, is typically treated as unstructured noise. However, in this work, we show that such residuals still exhibit structured, \textit{phase-dependent} deviations, as supported by both empirical observations and theoretical analysis. This suggests that residuals should not be treated merely as unstructured noise, but instead as \textit{phase-conditioned signals} whose variations arise in both direction and magnitude. Motivated by this perspective and inspired by phase and amplitude modulation in classical signal processing, we propose \textit{Paloma}, a simple yet effective framework for modeling residual deviations. Specifically, Paloma comprises two complementary modules: \textit{a Phase Rotation module}, which performs phase-conditioned rotations to capture directional changes in the feature space, and \textit{an Amplitude Scaling module}, which applies phase-conditioned affine transformations to model magnitude variations. We further abstract the two modules into a general-purpose plugin, termed…

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• arXiv cs.CVOct 18

  ATLAS: Attention-Guided Test-Time Latent Selection for Compositional Visual Autoregressive Generation

  Hossein Shahabadi, Raya Namazi, Mahdieh Soleymani Baghshah

  Visual autoregressive models produce convincing images but can misassign attributes and spatial relations. Searching multiple generation paths can improve composition, yet completing every candidate is costly. We introduce ATLAS, a training-free framework that uses the frozen generator's internal attention to guide search before final images are available. Within-prompt diagnostics identify attention-derived scores that predict final compositional preferences on Infinity, with category-dependent transfer to Switti. ATLAS uses these on-the-fly signals to progressively concentrate computation on promising trajectories. It maintains multiple coarse alternatives, prunes candidates without decoding at intermediate scales, and reserves image-space evaluation for a final choice among partial trajectories. ATLAS scales effectively on both backbones, achieving higher mean scores on the evaluated T2I-CompBench and GenEval categories as more computation is devoted to search. At the largest tested budget, the targeted T2I-CompBench mean improves by over 10% relative to each backbone. Separate profiles show over 50% less generation time than completing and evaluating all candidates at equal…

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• arXiv cs.LGOct 18

  The Hidden Look-Ahead: Point-in-Time Leakage in Electricity Market Data

  Abdelkrim Alfalah

  Empirical studies of electricity prices routinely state that their models use only information available at the time of the trading decision. For weather-driven forecasts drawn from commercial archives, this condition is harder to meet than it appears, and whether it holds can change over time. We identify three timing pitfalls. A forecast run is labelled by the issue time of its weather model, but becomes available hours later and keeps changing after publication. Auction gates follow local clock time, while archives use UTC. Outturn series are revised after publication without earlier values being kept. Using the timestamps of 128,656 forecast runs from ten weather-model configurations, matched to the day-ahead and first intraday auction gates in Great Britain over 2022-2026, we find that selecting "the latest run issued before the gate" picks a run not yet published at the gate on more than 99% of delivery days for six of the ten configurations at one of the two gates. For GFS at the day-ahead gate, the share is 0.6% in winter and 99.8% in summer. The exposure also shifts as publication delays drift, and an action margin of a few minutes can cost a full six-hour forecast…

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