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+35.1%
• Agents527+1.2%
• Quantum machine learning240.0%
• Character recognition OCR170.0%
• Sensing communication150.0%
• Frontier LLMs447−7.8%
• Forecasting time78−10.3%
• Image segmentation183−12.4%

• arXiv cs.LGOct 18

  Structured Relevance Determination and Channel Additive Gaussian Processes for Image Data

  Harald Roßels, Ludovico Scarton

  We introduce radial basis function (RBF) kernels for Gaussian processes that use structured hyperparameter sharing for image-valued inputs. For high-dimensional inputs such as images, a fully anisotropic RBF kernel assigns a separate lengthscale to each input dimension, which can introduce many hyperparameters and may lead to overfitting and poorly calibrated predictive uncertainty when data are limited. We propose structured relevance determination by tying lengthscales across groups of adjacent pixels and within each colour channel. This yields patch-wise and channel-wise constrained anisotropic RBF parametrisations that reduce the number of independently learned lengthscales. We further introduce channel-additive Gaussian processes for multi-channel images and combine them with structured relevance determination, resulting in a parameter-efficient decomposition of the latent function into components defined on channel subsets, enabling some non-local generalisation. The proposed kernels are evaluated on MNIST and a compact binary aircraft-detection dataset of low-resolution RGB satellite image chips. We also show how channel-wise structured relevance determination can be…

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• arXiv cs.AIOct 18

  Outcome-Anchored Credit Reallocation for Agentic Knowledge Graph Question Answering

  Mingyuan Li, Yucheng Li, Xiaxia Wang, Gong Cheng

  Agentic knowledge graph question answering (KGQA) requires large language models (LLMs) to solve complex questions through multi-turn interactions with a knowledge graph (KG). Outcome-supervised reinforcement learning derives verifiable outcome rewards from final answers but uniformly assigns each rollout's outcome-level advantage to all policy-generated tokens, creating a trajectory-to-operation mismatch since KG operations within a rollout can have varying effects on the search process and final answer. To address this, we propose Outcome-Anchored Credit Reallocation (OACR), which employs a training-only KG-state outcome model to estimate outcome-reward changes between adjacent KG search states and converts them into operation credit, from which token-wise weights are derived. These multiplicative weights reallocate token-level update magnitudes while preserving the sign of the outcome-level advantage at every generated token. Across three benchmarks, OACR achieves stronger overall performance than existing KGQA methods while using fewer inference-time LLM calls and tokens.

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• arXiv math.OCOct 18

  When Weak Submodularity Meets Matroids: How Does Standard Greedy Behave?

  Qixin Zhang, Shi Fu, Shengminjie Chen, Chao Qian, Dacheng Tao

  Weakly submodular maximization finds numerous applications in machine learning, data mining and statistics. In particular, under a cardinality constraint, the standard greedy algorithm is known to attain the tight $(1-e^{-γ})$-approximation guarantee, where $γ$ denotes the submodularity ratio. However, when considering general matroid constraints, \emph{how well standard greedy can perform} has remained a longstanding open question. In this paper, we resolve this question by studying the worst-case approximation guarantee $R_{\mathrm{gr}}(γ,r)$ of standard forward greedy, where $r$ is the rank of matroid. Specifically, our first contribution is the following refined lower bound \begin{equation*} R_{\gr}(γ,r)\ge \max\left\{ \fracγ{r}, \frac{γ^2} {B_γ+\sqrt{γ(r-1)}}, \frac{γ^{r+1}} {2-γ+γ^{r+1}}, \frac{γ^2} {14\left(B_γ+\sqrt{γ(1-γ)(r-1)}\right)} \right\}, \end{equation*} where $B_γ\triangleq2-γ+γ^2$. This lower bound not only strictly improves upon the previous guarantee of $0.4γ^2/(1+\sqrt{γr})$, but also can recover the classical $1/2$-approximation guarantee at $γ=1$. Subsequently, a corresponding upper bound is established for $R_{\mathrm{gr}}(γ,r)$, namely,…

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• arXiv cs.LGOct 18

  Simulating Infant Senses with Age-Tuned Networks

  Somesh Mohapatra

  What a newborn sees, hears and feels, and how this changes month by month, has been measured sense by sense, with different methods and in different units. We bring these measurements together for the first two years of life and ask whether small neural networks tuned to a given age can turn them into a quick, inspectable simulation of sensory perception. Each sense's immaturity is written as a fixed, age-indexed filter on the input, and a small prediction network learns behind it over the first year. The filters alone reproduce the order in which the senses mature, by construction. The networks add what filters cannot: in vision they extract far less than their input allows at early stages (at the newborn stage a toy's position cannot be read out, $R^2 = 0.00$, against 0.57 for a network trained directly on the same input), and a critical period and perceptual narrowing emerge without being built in; in hearing they track what their input allows. The same filters drive the Baby Senses Lab, a free website that shows a user's own images and sounds as a baby of a chosen age might sense them. It is a research and teaching tool, not a diagnostic test.

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• arXiv cs.ROOct 18

  TILDE: Teacher-in-the-Loop Distillation from Embodied Foundation Models

  Yuxiang Lu, Yantong Liu, Jinghua Hou, Xueli Sun, Ruihua Han +2

  Large-scale action pretraining equips Embodied Foundation Models (EFMs) with strong manipulation capabilities, with particular strengths in generalization and closed-loop robustness, but reproducing such pretraining requires substantial robot data and computation. To transfer these capabilities from pretrained EFMs to policies without action pretraining, we introduce TILDE (Teacher-In-the-Loop Distillation from EFMs), which synergizes on-policy distillation at student-induced states with learning from teacher-executed recovery trajectories. We further propose AutoDAgger, an autonomous data aggregation pipeline in which a robotic reward model is utilized to monitor task progress and trigger teacher intervention, thereby collecting recovery experience without human monitoring or manual control. AutoDAgger accelerates recovery-trajectory collection by more than $2\times$ compared with the human-in-the-loop method. By unifying learning from demonstrations, on-policy teacher supervision, and teacher's corrective behavior, TILDE improves task performance by up to $4.1\times$ over behavior cloning across three real-world tasks and supports effective cross-architecture distillation.

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• arXiv cs.LGOct 18

  Mining the Self-Rewriting System: A Vision for Data Mining on AI-Native Infrastructure

  Mayank Darbari, Chiman Salavati, Liang Wu, Dawei Wang, Jiong Zhang +3

  Classical data mining treats data as generated outside the learner. Emerging AI-native infrastructure invalidates this assumption: as agents observe system state, act, update retrieval stores and models, and promote new artifacts into the serving path, their own decisions reshape the future logs, traces, corpora, and evaluation records used for later training and release. We call this new research object a self-rewriting system and the resulting system-induced distribution shift endogenous drift. Our central, falsifiable claim is that cross-surface causes are not identifiable in general from marginal per-surface monitoring: different coupled failures can produce the same individual signals while differing in their joint behavior, requiring joint analysis for reliable attribution. This agenda comprises four foundational research problems: fusing heterogeneous drift signals into calibrated gating and attribution (C1); mining agent traces whose activity alphabet evolves (C2); maintaining knowledge fabrics through online reindexing, faithfulness, and compression decisions (C3); and safely promoting concurrent learning streams through one shared evaluation gate (C4). These remain…

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• arXiv cs.DBOct 18

  MemDerive: A Diagnostic Benchmark for Agent Memory over Evolving Data

  Sen Gao, Yongan Li, Han Chen, Bingsheng He, Ming Wu +3

  Long-running agents rely on memory of their past interactions for task state, such as what has been completed and which conditions still hold. Such state is usually a derived state. No record states it, and it must be computed by rules from multiple records of an evolving history. Existing memory benchmarks score only the final answer, with no reference for the intermediate states behind it. A wrong answer therefore cannot be traced to the state that was missed, and a state that silently became outdated goes undetected. We present MemDerive, a diagnostic benchmark for agent memory over evolving data. It specifies each scenario symbolically, derives exact gold answers with Datalog, records the gold derivation DAG and the supporting events of every query, and renders the history in natural language with fictional entities and distractors. Its 10 scenarios contain 4,692 events and 1,503 queries whose difficulty varies along access, evolution, and composition. On this ground truth, MemDerive evaluates answer reliability, diagnoses failures by probing the nodes of the gold derivation DAG, and tracks whether answers stay correct as events arrive. Our evaluation of four memory systems…

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• arXiv cs.SDOct 18

  Whistle and Wrong Lyrics: Synthetic Queries Are Not Enough for Real-World Query-by-Melody

  Luigi Rivolta

  People look up a song by humming it, but also by whistling it or singing it with the wrong words. Published query-by-humming systems and benchmarks focus on hums and sung queries, and no public dataset pairs whistles or wrong-lyrics singing with song recordings. We study both query types with a melody-only retrieval system: a key-normalized pitch track embedded by a 5.2M-parameter contour encoder, with a spectral-peak tracker for whistles. First, a physics-grounded generator renders synthetic whistles and nonsense-syllable singing from the vocal melodies of 11,083 songs. Training on them raises top-1 retrieval of held-out synthetic queries against an 11,050-song gallery from 0.180 to 0.251 for whistles and from 0.193 to 0.264 for wrong-lyrics singing, but the gain does not transfer: on the MLEnd test performers the best synthetic-only model gets 210 of 339 real whistles right at top-1, against 214 for the baseline. Second, a closed-set fine-tune on real MLEnd whistles with performer-disjoint splits raises whistle-to-hum top-1 from 0.631 (95% CI 0.581-0.681) to 0.673 (0.622-0.723), on known songs only. Third, two further generations of synthetic queries also fail to transfer:…

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• arXiv cs.LGOct 18

  Multi-site Learning for Forecasting Day-Ahead Wind-Power Production for Onshore Wind Farms in Great Britain with Deep Neural Networks

  James Kean, Aidan O'Sullivan

  Accurate day-ahead wind-power production forecasting is increasingly important for energy system operations, market activity and balancing Great Britain's grid as wind generation grows. In this study, we train multi-site deep neural networks (DNNs) using pooled historical production and reanalysis weather data from 88 onshore wind Balancing Mechanism Units (BMUs). Forecasts are produced at 09:00 UK time for the following midnight-to-midnight delivery day, matching NESO's operational day-ahead forecasting schedule. We use reanalysis weather as future covariates during training and numerical weather prediction (NWP) forecasts during inference, extending training beyond the available historical NWP archive. Our multi-site recurrent neural network outperforms site-specific RNNs and a multi-site XGBoost model, while processing the full future-weather trajectory for the forecast horizon further improves accuracy relative to hour-aligned approaches. Our best model, an RNN with a bidirectional weather encoder (BiRNN) for NWP trajectory processing, reduces MW mean absolute error and root mean squared error relative to NESO by 17.94% and 12.51%, respectively, across 638,246 matched…

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• arXiv cs.CVOct 18▲ 16

  Painting Change Map as guidance for generating painting processes

  Markus Pobitzer, Chang Liu, Niccolò Biondi, Nicu Sebe

  Digital art generation has undergone a massive paradigm shift, moving from static image synthesis to dynamic video generation that can mimic the human painting process. While existing models can synthesize visually stunning time-lapses of paintings being created or "unpainted," they largely treat the creative process as a black box. Current conditioning mechanisms are either too rigid, relying on static geometric cues like Canny edges or depth maps, or too holistic, utilizing simple scalar progress variables that offer no localized control. Consequently, users lack the agency to steer how a painting evolves over time. In this work, we argue that true control over the video generation of artwork requires a joint understanding of two fundamental dimensions: where an artist acts, and when those actions take place. To achieve this, we introduce the Painting Change Map, a novel spatio-temporal control mechanism that explicitly tracks normalized structural changes across a 1,000-timestep continuum, a resolution sufficient to capture fine-grained stroke-level changes while remaining computationally tractable. By mapping localized visual differences into an encoded RGB space, our…

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• arXiv cs.CROct 18

  GreenNIDS: A Benchmark Workflow and Analysis Dataset for NetFlow Intrusion Detection Experiments

  Lilia-Eliana Popescu-Apreutesei, Sabina-Cristiana Necula

  Comparing the predictive performance and computational cost of flow-based intrusion detection experiments requires both quantities to be available for each run. GreenNIDS connects benchmark execution on public NetFlow datasets to a reusable analysis dataset. Model implementations write a common set of outputs, which are ingested into a run-level table with companion tables for model configuration, feature importance, and training history. The run-level table combines predictive metrics with timing, throughput, memory use, and energy estimates based on thermal design power. A CPU-only demonstration comprises 216 runs across four dataset families, three versions, and binary and multiclass tasks. Ingestion produces a 216 x 96 analysis table with no duplicate run identifiers and complete Matthews correlation coefficient (MCC) and F1 coverage. Multiclass ROC-AUC is missing for 36 PyTorch runs, making metric availability an explicit part of subsequent comparisons. The stored records support grouped performance and training-time plots, as well as resource screening after execution. Combining task-specific MCC thresholds with limits on training time, peak RAM, and estimated training…

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• arXiv cs.CLOct 18

  Aligning Cultural Behaviors in Arabic Language Models via Preferences

  Junhong Liang, Daniil Orel, Saeed Almheiri, Bilal Elbouardi, Younes Samih +9

  Arabic LLMs have improved rapidly, but aligning them with country-specific cultural behavioral preferences remains underexplored. Previous work has focused primarily on instruction-tuning for factual knowledge, overlooking nuanced cultural behaviors. We propose ArabPref, which to our knowledge is the first large-scale pan-Arab preference data set for the alignment of cultural behavior conditioned on the country. Our contribution includes two resources in English and Modern Standard Arabic: a culturally grounded preference dataset for training and evaluation, and a multiple-choice benchmark designed to assess culturally aligned behavior across nations. All test data are validated by native speakers to ensure authenticity. To optimize cultural alignment, we experiment with post-training methods across multilingual and Arabic-centric language models, evaluating performance on both generation tasks and our cultural multiple-choice benchmark. By releasing an evaluation benchmark, we provide a foundation for systematically studying and improving culturally aligned behavior in language models.

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• arXiv cs.LGOct 18

  Operator-Mismatch Contrastive Learning for World-Relative Trajectory Coherence

  One Octadion, Firmansyah Sundana, Novanto Yudistira

  World models are increasingly judged by how well they rank plausible futures, yet plausibility alone is the wrong target. The same scene can evolve under many latent rules, and a future that is smooth and physically valid under one rule can be incoherent under the rule actually in force. We formalize the resulting failure, operator-blindness, and show that it is systematically hidden by standard evaluation: a scorer can attain near-perfect generic ranking while separating current-world from other-world futures no better than chance. We introduce Operator-Mismatch Contrastive (OMC) learning, whose semantic hard negatives are valid-but-wrong-operator trajectories, and a matching protocol that measures world-relative coherence directly. On a controlled synthetic benchmark with in- and out-of-distribution operator parameters, across two trajectory-scoring backbones, and on feature-level external validation with CoPhy ballsCF, OMC raises operator-sensitive scoring far above a chance baseline that nonetheless achieves 0.99 generic top-1. We prove that the wrong-operator negative is necessary both for the protocol to detect the failure and for the objective to fix it, and position OMC…

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• arXiv cs.LGOct 18

  CD-OPD: Contextual Digest for On-Policy Distillation

  Mingyuan Li, Yucheng Li, Xiaxia Wang, Gong Cheng

  Teacher takeover in on-policy distillation (OPD) can produce incorrect responses even when the student and teacher independently answer the same problem correctly, a failure we quantify using Collaboration Failure Rate (CFR). To address it, we propose Contextual Digest for On-Policy Distillation (CD-OPD). CD-OPD structures the earlier context of teacher guidance through a teacher-generated dependency graph, curating the required problem conditions and preceding reasoning as node summaries alongside the unchanged guidance in a Contextual Digest before student continuation. We further develop online meta-reweighting, which compares Digest segment gradients with a task gradient from independent student responses to improve student-only performance, favoring updates predicted to reduce task loss. Across eight benchmarks, CD-OPD improves average accuracy by 1.32--7.05 percentage points over representative existing OPD methods. It also reduces CFR by 27.4\%--56.4\% relative to existing takeover-based OPD methods.

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• arXiv cs.CVOct 18

  LateMatch: Breaking the Interaction Bottleneck via Cacheable Matching for Efficient Visual Localization

  Mohammad Omama, Aeyan Ashraf, Sandeep Chinchali

  Visual localization is critical for embodied agents, but deploying state-of-the-art deep feature matchers on edge devices is fundamentally limited by their massive computational cost. Standard deep matchers tightly interleave intra-image context building and inter-image matching at every layer, creating a severe interaction bottleneck. Localizing a single query against K database images forces the system to execute the full network K independent times with no capacity for caching. To break this bottleneck, we advocate for a paradigm shift toward cacheable image matching. We realize this paradigm with LateMatch, a versatile approach that restructures existing matchers by deferring inter-image interaction to their final layers. By isolating intra-image processing into offline-cacheable Context Blocks, only a small set of Interaction Blocks must be executed online. To further optimize LateMatch, we introduce E-SToRE (Entropy-guided Spatial Token Reduction and Expansion). E-SToRE leverages the decreasing Shannon entropy of the late Interaction Blocks to dynamically reduce token counts just prior to cross-image interaction. Evaluated across HPatches, ScanNet, MegaDepth, ETH-3D, and…

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• arXiv cs.LGOct 18

  CHSM8: A Chess Transformer that Follows Natural-Language Style Prompts

  Ilia Badanin

  We present CHSM8, a 210M-parameter chess transformer that plays moves conditioned on a free-text description of a playing style, e.g. "go for the Sicilian Defense", "solid, safe, risk-free chess" or "You are Magnus Carlsen in his prime". The model is pretrained without search on 1.07B filtered Lichess games, using a factorized move representation and legal-move masking. It reaches 1837 Elo against a strength-limited Stockfish and, in 1,000-game matches, beat every other public model we tested that was likewise trained without preference tuning, rewards or search, including one with 13 times as many parameters. We then fine-tune it to follow text on a synthetic dataset: Gemma-4-31B describes the playing style of 3M game sides, a 1B Gemma-3 model distilled from the 2.4M of those descriptions that contradict nothing on the board labels the rest, and every one of 30M selected game sides gets five descriptions. Supervised fine-tuning attaches a frozen text encoder through gated cross-attention, and direct preference optimization (DPO) uses the same moves under a mismatched description as the rejected sample. After DPO, style adherence rises on every prompt we test (for example, queens…

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• arXiv cs.CVOct 18

  Local Evidence, Global Failure: Diagnosing Speech-Vision Temporal Composition in Audio-Visual Language Models

  Jaehong Myung, Seunghun Oh, Unsang Park

  Audio-visual large language models (AV-LLMs) can fail at full-video speech-vision decisions even when useful visual evidence is locally recoverable. We introduce Temporal Evidence Decomposition (TED), a training-free diagnostic framework that separates local visual verification from speech-relative aggregation. Automatic speech recognition supplies a transcript and utterance interval. TED queries audio-free windows with the transcript for Temporal Alignment and Forecasting, or answer candidates for Cross-Modal Temporal Binding, then aggregates evidence relative to that interval. Across four frozen AV-LLMs on SVHalluc, Temporal Forecasting accuracy rises from 29.3-33.7% under full-video questioning to 79.3-82.2% with TED. Query replacement reduces recovery; the observed anchor remains beneficial when temporal-region availability is held fixed. Physical-isolation and timing-shortcut controls test alternative explanations. The findings distinguish locally recoverable evidence from successful full-video decisions, motivating explicit separation of narration content, utterance timing, and time-indexed visual evidence.

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• arXiv cs.AIOct 18

  When Planning Problems Become Hard for LLMs: Separating Structural Complexity from Semantic Interpretability

  Mayukh Debnath, Adeyinka Adedigba, Rammohan Mallipeddi

  Large language models (LLMs) struggle with classical planning, but benchmarks rarely distinguish structural difficulty from the difficulty of interpreting symbolic vocabulary. We examine seven STRIPS domains with BFS-optimal plan lengths. For predicting structural difficulty without solving an instance, the zero-training delete-relaxation heuristic $h_{\mathrm{add}}$ outperforms learned alternatives on held-out domains (mean Spearman $|ρ|=0.931$), including ridge regression ($0.707$), object count ($0.657$), and the episodic retrieval architecture ARC ($0.400$). ARC also fails to outperform a linear model using the same features. To isolate semantic effects, we progressively rename predicates while preserving states, transitions, and optimal plans. Valid LLM planning success drops from $67.5\%$ to $40.0\%$ between $0\%$ and $100\%$ renaming, while refusals remain at $0\%$. An LLM supplied with ARC's conditioning information predicts difficulty in context better than trained ARC (mean $|ρ|=0.826$). Hybrid routing between an LLM and a symbolic planner depends more on calibration to the target LLM's outcomes than on the structural score selected. Thus, established symbolic…

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• arXiv cs.LGOct 18

  Predicted Class Correction: Conformal Thresholds for Classes with No Calibration Data

  One Octadion, Novanto Yudistira, Yuta Nakashima

  Class-conditional conformal prediction calibrates a separate score threshold for every class and therefore requires labelled calibration examples of every class. In long-tailed deployments these are exactly what is missing: rare classes are left with few or no held-out examples, and existing methods are either undefined for them or fall back to the shared marginal threshold. We ask whether the per-class correction can instead be predicted from descriptors of the class that require no labels at all. We propose Predicted Class Correction (PCC), which regresses the offset between the per-class and the marginal conformal quantile on geometric descriptors of the classifier head, shrinks the prediction by a scalar selected on the labelled classes, and refits a single marginal offset. The descriptors depend only on the model's weights, so a class with zero calibration examples still receives its own threshold, and since only one scalar is calibrated, split conformal's marginal guarantee is retained. On ImageNet, PCC improves worst-class coverage on such classes by 0.058 [0.006, 0.110] at matched average set size, 42% of an oracle that sees the test labels. Of eight baselines on the same…

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• arXiv cs.CVOct 18

  MCSplat: Multi-View Photometric and Geometric Consistent Feed-Forward Gaussian Splatting for Driving Scenes

  Yifei Wang, Wei Tian, Wenhua Bao, Jia Zhou, Hanshi Wang +8

  Driving-scene reconstruction via feed-forward Gaussian splatting from sparse multi-view images remains challenging due to two factors. First, cross-camera photometric inconsistency, caused by variations in exposure, ISP, and illumination, can be incorrectly absorbed into Gaussian geometry. Second, unreliable local geometric supervision arises from normal-based constraints near depth discontinuities. To address these issues, we present \textbf{MCSplat}, a multi-view consistent feed-forward Gaussian splatting framework for driving scenes. MCSplat constructs a canonical appearance space from depth-guided multi-camera correspondences to decouple geometry learning from camera-specific appearance. A multi-scale Bilateral Grid Transformer restores raw camera appearance from canonical renderings, enabling photometric supervision without contaminating Gaussian geometry. To improve local geometric reliability, we estimate Fisher-information-based uncertainty from photometric sensitivity and use it to adaptively weight surface-oriented self-supervision. Extensive experiments demonstrate improved reconstruction quality and generalization across driving datasets. Geometry-oriented evaluations…

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