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%
• AI safety46+4500.0%
• Robotics31+3000.0%
• Code models23+2200.0%
• Evals103+1960.0%
• Image & video generation36+1100.0%
• Computer vision47+1075.0%
• Small LLMs11+1000.0%

• 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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• arXiv physics.comp-phOct 18

  FoundPDE: A generative foundation model for data-driven symbolic discovery of partial differential equations

  Langchen Liu, Junlin Luo, Min Zhu, Zhuoran Yang, Lu Lu

  Discovering governing partial differential equations (PDEs) from observed data is a central inverse problem in computational science and engineering: the goal is not only to predict trajectories, but to identify interpretable symbolic laws that can be analyzed and reused. Existing PDE discovery methods often depend on hand-designed libraries, accurate numerical derivatives, or per-equation symbolic search, making them fragile under sparse observations, noisy data, broad equation families, and unseen symbolic compositions. Here, we introduce FoundPDE, a pretrained data-to-symbol foundation model for PDE discovery. FoundPDE maps discretized spatio-temporal trajectories to symbolic equations with a transformer, uses Fourier and first-order spatial-derivative augmentation to expose complementary trajectory information, refines numerical coefficients, and supports downstream extension with improved generalization through few-shot fine-tuning and hierarchical discovery. On a clean in-domain benchmark spanning 20 PDE families, our model reaches 97.50% type recognition. Under coefficient shifts beyond the training support, type recognition remains 90.53%; under multiplicative Gaussian…

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• arXiv cs.CVOct 18

  CASE: Complementary Articulation-Aware Speech Encoder to Enhance Speech-Driven 3D Facial Animation

  Jaehong Myung, Seungho Eum, Taegon Kim, Hyunjung Chung, Unsang Park

  General-purpose self-supervised speech encoders provide strong acoustic representations, but their pretraining objectives are not explicitly aligned with the visible articulatory dynamics required by speech-driven 3D facial animation. We propose CASE (Complementary Articulation-aware Speech Encoder), a complementary speech encoder adapted by contrastively aligning short speech clips with continuous 3D lip-mesh VQ-VAE latents. After adaptation, the geometry branch is removed, and the audio-only CASE representation is fused with the baseline SSL speech representation through residual cross-attention, while retaining the motion-decoder architecture and objective. Across four VOCASET baselines, CASE reduces mean lip vertex error by 2.8-6.0%, and mean full-face vertex error decreases in every system. Under the same fusion protocol, CASE yields lower mean LVE than the unadapted AV-SE stream on all four generators, with model-dependent margins. Because adaptation uses Korean speech-geometry pairs and evaluation uses English VOCASET, the result is consistent with cross-language downstream transfer under a shared English-pretrained audio-visual prior.

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• arXiv cs.CCOct 18

  Formally Verified Autoresearch for Analyzing the Expressivity of Multi-Head Attention

  Karthik Viswanathan, Plamen Dimitrov, Stefano Rocca, Sarayu Sirikonda

  Multi-head attention is a central component of the transformer architecture, yet how its expressivity depends on the number of heads remains poorly understood. We study a one-layer, attention-only transformer with additive positional embeddings and define the head complexity $H^\ast(f)$ of a Boolean function $f$ as the minimum number of attention heads required to represent it. We derive an exact linear-fractional normal form for head complexity, prove a general threshold-degree lower bound, and give an explicit ten-bit function for which this bound is strict. For symmetric Boolean functions, we independently show that head complexity equals the number of times the function changes value between consecutive Hamming-weight levels, even when positional embeddings are allowed. This agrees with the concurrent characterization of Hsu and Xu (arXiv:2608.04243) in a model without positional embeddings. The symmetric lower bound combines our general threshold-degree bound with the classical result of Aspnes et al. (1994). These results were discovered and formalized by a frontier model through conjecture generation, theorem proving, and machine verification, while human researchers asked…

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• arXiv cs.CVOct 18

  Edge Deployable Lightweight Framework for Real-Time Driver Safety System with Integrated Lane Departure and Traffic Sign Recognition

  Hassaan Ali Qureshi, Danish Hussain, Ali Hassan, Aon Safdar, Anas Bin Aqeel +3

  Lane departure and traffic-sign negligence are leading contributors to road accidents, particularly in regions with non-standardized signage and limited annotated data. Existing Advanced Driver Assistance Systems (ADAS) solutions are often developed as disjointed submodules, are rarely validated for real-time operation, and struggle to balance accuracy with low-latency inference for embedded deployment. We address these gaps with a unified, edge-deployable ADAS framework that simultaneously performs lane-departure warning (LDW) and traffic-sign detection and recognition (TSD/TSR), and validate the proposed system on automotive-class devices. Our framework combines a lightweight, lane-segmentation-driven LDW, which includes a drivable-area fallback for degraded markings, with a two-stage TSD/TSR pipeline consisting of efficient sign localization followed by fine-grained classification, designed to preserve accuracy at embedded latency. To support region-specific deployment under data scarcity, we curate a 35-class local traffic-sign dataset and introduce a generalized augmentation and balancing profile, expanding the corpus from 359 images to 8,750 samples. On an NVIDIA Jetson…

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• arXiv cs.LGOct 18

  A Distribution-Free Separation Between Learned and Fixed Features

  Daniel Barzilai

  The success of neural networks is largely attributed to their ability to learn useful representations from training data. However, known results that prove a computational advantage of learned features over fixed ones are restricted to specific input distributions. We settle the COLT open question of Feldman, Kamath, and Srebro (2026) by showing that this advantage can persist in the distribution-free setting. We construct a family of hypothesis classes that can be efficiently learned by a natural gradient-based algorithm on a two-layer ReLU network, but cannot be represented by linear predictors over any fixed feature map with polynomial dimension (and runtime). Specifically, for any sufficiently small error and any sufficiently large runtime budget R (depending on the error), there exists a hypothesis class that the neural network learns under any input distribution to the desired expected classification error in time at most R, while the dimension complexity (governing the dimension needed by linear predictors) is superpolynomial in R.

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• arXiv cs.CVOct 18

  CoRe-WM: Conditioned Response-State World Modeling for Longitudinal Treatment-Response Prediction in Breast DCE-MRI

  Lin Zhao, Bowen Chen, Qiaohui Gao, Shaowen Wan, Xiang Li +2

  Pathologic complete response (pCR) after neoadjuvant chemotherapy is a key prognostic indicator in aggressive breast cancer, yet existing prediction approaches either rely on pretreatment imaging alone, missing the patient's evolving response, or optimize multi-visit classifiers under direct outcome supervision, coupling representation learning with the clinical endpoint. We formulate longitudinal pCR prediction as a world-modeling problem and propose Conditioned Response-state World Modeling (CoRe-WM), which learns a latent state-transition model that predicts the next imaging state from the observed sequence. The transition function is conditioned on patient clinical profile and assigned therapy through additive shift and feature-wise modulation, enabling patient- and treatment-specific dynamics. A Factorized Response State pathway further decouples treatment-response dynamics from imaging appearance by encoding the structural prior that response manifests primarily in lesion morphology. After pretraining, all parameters are frozen and a linear readout predicts pCR at each clinical decision point. We evaluate CoRe-WM on I-SPY2 under five-fold cross-validation and assess…

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• arXiv cs.LGOct 18

  Follow the Mixed Groups: Ridge-Tracking Gaussian Sampling for Zero-Variance Web Rollouts

  Tomas Duncun, Jonah Ellison, Owen Pell, Mateo Ruiz, Hanae Fujita +2

  Group relative policy optimization learns from a question only when the sampled responses disagree. A group that is entirely correct or entirely incorrect has zero reward variance and a zero advantage. On the Web, that group has already spent its searches and page fetches. Gaussian curricula aim the next batch at pass rates where a finite group can still mix. A Gaussian on the latest empirical rate treats every all-fail history as the same point, and a center stepped by the average signed change of those rates is pushed by prompts already stuck at 0 or 1. RIDGE keeps the Gaussian curriculum and changes the coordinate, the center, and the width. Each prompt carries a Beta posterior. The sampling weight is the marginal of a Gaussian target under a Gaussian approximation of that posterior, divided by a prediction of tool-call cost. The center and the width are an exponential smooth of the posterior means of groups that just came back mixed. All-correct and all-incorrect groups refresh the posterior and do not move the center. The GRPO update itself is unchanged. On two math backbones and a retrieval-augmented question answerer, RIDGE raises average accuracy by 3.4 and 2.9 points…

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• arXiv cs.CVOct 18

  MPIG: Multi-angle Polarization Image Generation from a Single Polarization Observation

  Jue Wang, Ruilin Huang, Liquan Shen, Zhen Tian, Xia Hua

  Polarization imaging provides informative cues for material analysis, scene understanding, and visual perception. However, acquiring complete polarization observations typically requires specialized hardware and multi-angle measurements, thereby increasing system complexity and limiting practical deployment. In this work, we address the problem of predicting the missing $45^\circ$, $90^\circ$, and $135^\circ$ polarization views from a single $0^\circ$ observation by leveraging a learned scene prior. To this end, we propose MPIG (Multi-angle Polarization Image Generation), a Swin Transformer-based framework that couples cross-angle feature interaction with residual decoding to predict angle-dependent intensity variations while preserving shared scene structure. Specifically, measured Stokes differences and polarization-strength-aware supervision guide the recovery of polarization modulation, orientation, and magnitude, while low-rank factorization further reduces the decoding cost. We also construct HighPol, a large-scale real-world polarization dataset comprising 5,474 groups of high-resolution four-angle polarization images collected from diverse indoor and outdoor scenes.…

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• arXiv cs.LGOct 18

  Where Groups Split: A Probe Prior for Nonzero Within-Group Variance in RL Post-Training

  Jonah Ellison, Mateo Ruiz, Owen Pell, Tomas Duncun, Hanae Fujita +2

  Group relative policy optimization learns from a prompt only when the rewards in the sampled group disagree. With a binary verifier, a group that is entirely correct or entirely incorrect has within-group variance zero and a zero advantage. Uniform sampling continues to spend rollouts on prompts that are unanimous now and stay unanimous as training goes on. Pass rate is a weak forecast of that future. Two prompts at the same pass rate can move apart: one into the range where a finite group splits, and one toward a ceiling where the group becomes unanimous again. Aperture estimates the later pass rate from a short probe. A small subset of the pool is trained with the same recipe, every prompt is scored on the base model and on the probe model, and the two pass rates are plugged into the probability that a group of the training size is all wrong or split. The resulting weight is a static prior. It can be used alone or multiplied by an online scheduler, and the GRPO update is left as it is. On mathematical and logical reasoning with 1.7B and 4B models, the prior improves greedy accuracy over uniform GRPO and raises the fraction of groups with a nonzero advantage. The same prior…

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• arXiv cs.CLOct 18

  Where and Why Search-Augmented LLMs Fail When Reasoning over Rapidly Evolving Knowledge

  Tianyi Hu, Bhavyajeet Singh, Niket Tandon, Akhil Arora

  As the world changes, new information is published while older records remain online. This complicates reasoning for large language models (LLMs), which must retrieve evidence and resolve conflicts to determine which information remains valid. Existing evaluations treat information seeking as a black box, revealing little about where and why LLMs fail. To address this gap, we introduce TREK, a suite of three components: TREKTRACE is a plug-and-play framework that attributes failures to specific stages of retrieval and reasoning. We apply it to TREKBENCH-WILD, a meta-benchmark of real-world questions that require complex reasoning over rapidly evolving knowledge. Surprisingly, the main bottleneck is post-retrieval reasoning rather than retrieval: frontier models are often misled by conflicting evidence even after retrieving all the information needed to answer. To study this bottleneck, we build TREKBENCH-CTRL, a controlled benchmark with distractors spanning temporality, relevance, and trustworthiness, and show that benchmarks dominated by outdated distractors substantially underestimate task difficulty. Together, TREK provides a testbed for diagnosing and improving reasoning…

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• arXiv cs.CROct 18

  AdaFedXplain: Adaptive Federated Learning with Explainable AI for Ransomware Detection

  Md. Emran Biswas, Md. Delowar Hossain, Mst. Tanbin Yasmin Tanny, Muhammad Aminur Rahaman, Md Al Amin +1

  Attacks using ransomware have developed into complex multiphase campaigns that target vital infrastructure, resulting in annual damages of billions of dollars. Conventional detection techniques are ineffective against zero-day variations, and privacy issues are raised by centralized machine learning algorithms. Federated learning allows for cooperative model training without data sharing, however current FL approaches suffer from explainability issues, high communication cost, and non-IID data heterogeneity. In this study, we present AdaFedXplain, an explainable AI-based adaptive federated learning system for ransomware detection. Our approach includes progressive XGBoost complexity to avoid overfitting, a decaying learning rate schedule for stable convergence, and dynamic client grading based on ransomware prevalence and data sufficiency. Using 62,485 real-world ransomware samples from four OS-based non-IID clients, we compare AdaFedXplain against FedAvg, FedProx, and SCAFFOLD. According to experimental data, AdaFedXplain outperforms all baselines with 99.59% detection accuracy and 99.64% F1-score while cutting energy usage by 75%, latency by 65%, and communication overhead by…

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• arXiv cs.CLOct 18

  Atoms, Not Knowledge: What Production-Scale Addressed-Memory Writes Deposit

  Wei Gao, Cheng Tian, Duan Yang, Jianqing Yin

  Deterministic hash-addressed conditional memory permits local post-hoc knowledge injection. Extending arXiv:2610.21553's bounded-feasibility audit rejecting under-specified generality claims with repaired probes and training-dose/capacity axes, we give, to our knowledge, the first production-scale write-content verdict. We test 124M-7B self-trained/publicly pretrained beds, Qwen3.8-Flash-Next-FP8 (176.95B; 320,001,536 FP8 rows), and DeepSeek-V4.1-Flash. Write coverage requires a sufficiently trained backbone prior, full-width readout, trainable gates; undertrained-bed intervention confirms a threshold, not a slope. At fixed budget, coverage falls from 98% (50 facts) to 12.7% (1,000); table size is not binding. Two-hop composition does not exceed the independent single-hop baseline (26% observed vs 25% expected; 15% lexical-distortion floor). Synergy remains absent across dose/load in two independent bed families. A 28-percentage-point in-context gap (given vs recalled intermediates) localizes failure to retrieval-for-reasoning, not gate access. Writes are independently retrievable, precisely addressable, reversible atoms, not composable into reasoning. A layered protocol, the…

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• arXiv cs.CVOct 18

  SENRI: Understanding the Space-Event Nexus in Real-Life Videos

  Kehan Lan, Kaining Ying, Henghui Ding, Kaipeng Zhang

  Human memories are organized in a way that connects events with their corresponding spatial contexts. An AI assistant should also be able to memorize and recall the nexus of events and spaces. Thus we introduce SENRI, a task that studies this space--event connection in long, continuous real-life egocentric video. It contains six task types in two directions: Event$\rightarrow$Space, which recovers spatial knowledge from event cues, and Space$\rightarrow$Event, which retrieves events from regions and trajectories. To evaluate this, we build SENRI-Bench, containing 500 manually annotated multiple-choice questions over 10 uninterrupted self-recorded videos with around 25.3 hours of content. Also, we evaluate three typical long video understanding paradigms: direct perception, evidence seeking, and persistent memory. The task remains challenging across all three paradigms, highlighting substantial room for improvement. Then we show two representative failure modes of existing memory methods and address these evidence gaps with SENRI-Agent, a controller that uses Target-Guided Visual Check (TGVC) to propose local visual check tasks for parallel verifiers and integrate the reports into…

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• arXiv cs.SEOct 18

  From Software History to Executable Regression Tasks: A System for Evaluating Software Agents

  Ruikai Shi, Zhengran Zeng, Rui Xie, Shikun Zhang, Wei Ye

  As software agents increasingly generate and modify code, evaluating their ability to review changes and discover defects becomes important. Such evaluation needs executable project environments for investigation and reliable defect references supported by reproducible behavior. Existing code review benchmarks provide limited support for this combination. We present a system that constructs executable regression instances from historical introducing--fixing commit pairs and developer tests. The system extracts candidate tests from fixing-side changes, then uses constrained agents to transplant them and configure version-specific environments while preserving production code and test expectations. Independent replay and evidence-based review verify whether tests that fail on the introducing version and pass on the fixing version support the proposed regression relationship. Accepted instances retain both versions' replay recipes, validated tests, and execution evidence. Repair-supported analysis and human review add root-cause locations, tested repairs, and causal explanations. These instances support bug detection and localization in code review, and enable bug repair and…

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• arXiv cs.SEOct 18

  Beyond Similarity-Based Generation: Guiding Commit Message Generation with Issue-Commit Traceability

  Chunying Zhou, Gong Chen, Xiaoyuan Xie, Yi Song, Yuxuan Yang +1

  Commit messages provide records of code changes and help developers understand and maintain software. To reduce the manual effort involved in writing them, commit message generation (CMG) approaches automatically generate commit messages that describe code changes in natural language. Existing CMG approaches generally treat CMG as a standalone task and optimize generated messages primarily for similarity to developer-written references. However, this objective may not properly reflect the practical usefulness of generated commit messages. This limitation matters in current AI-assisted software engineering workflows, where commit messages are used as shared information to serve different software engineering activities. To fill this gap, we propose TraceMsg, which uses issue-commit traceability, a representative software engineering activity, to guide commit message generation. TraceMsg is a collaborative multi-agent framework that coordinates message generation, traceability reasoning, and feedback-guided refinement, allowing generated messages to serve traceability while using reasoning feedback to guide issue-conditioned refinement. We evaluate TraceMsg on six open-source…

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• arXiv cs.SDOct 18

  Shared-Private Cross-Modal Discrepancy Learning for Imbalanced Multi-Source Audio-Visual Deepfake Detection

  Qiwu Wen, Jahangir Alam

  Audio-visual deepfake detectors are often trained under a single dataset or manipulation regime, but multi-source training collections may contain heterogeneous attacks and uneven source distributions. Training separate detectors for each source is inefficient, while a single shared detector may be biased toward dominant source-specific patterns. We study known-source imbalanced multi-source audio-visual deepfake detection using FakeAVCeleb and LAV-DF, where source identity is supplied during training and inference. To address this setting, we build on the Multi-Scale Cross-Modal Transformer Encoder (MSCT) and propose Pre-MSCT Shared-Private Feature Fusion. Our method routes \texttt{[CLS]}-augmented audio and visual tokens into a shared stream and source-specific private streams before the first MSCT block, while retaining its internal multi-scale self-attention (MSSA), differential cross-modal attention (DCA), and feed-forward operations. The shared stream models cross-source reusable evidence, while the private streams retain source-dependent residual variations. A domain-aware gated residual fusion module injects selected private evidence into the shared representation for the…

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• arXiv cs.LGOct 18

  Learning When to Abort in Transformer Planning: A Mechanistic Study

  Shi Feng, Qimin Zhong, Siwei Wang, Yifei Shen, Shang-Hua Teng +2

  Planning does not by itself imply the ability to recognise errors, but recognising errors can improve planning capacity. In this paper, we study this phenomenon in Transformer planning. To analyze the inner mechanism, we follow the approach of Wang et al. (2024) and abstract planning as path-finding in graphs. In this setting, we train the model to detect the error of invalid transitions, i.e., after the model generates a next node that is not adjacent with the current node, the model should then generate a special abort token x. For expressiveness, we construct a Transformer with feed-forward width $O(|V|)$ for any fixed graph with node set $V$. It can detect all possible invalid transitions, and select a valid next node if the prefix is valid. We then propose a worst-case lower bound on feed-forward width, which makes the detector's linear width near-optimal up to logarithmic factors. In trained models, we demonstrate that invalid-transition detection increases previous-node attention, and most of the valid--invalid separation locates in the feed-forward network's output. This accords with our theoretical insights. Finally, we use this error detection to improve the model's…

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• arXiv cs.AIOct 18

  Aligning Language Models with Indigenous Community Cosmovision through Constitutional AI

  Silvia Fernández-Sabido, Jorge Reyes-Magaña, Jesús Adrián Chay Tun, Jean Carlos Buenfil, Victor González Nahuat +1

  Large language models (LLMs) are predominantly trained on corpora that reflect Western, anglophone worldviews. This asymmetry is not neutral: when a model answers questions about territory, community authority, or the relationship with nature, it does so from assumptions that may be alien to the communities using the system. This paper presents a system for aligning language models with the ethical principles of Indigenous communities in Latin America. Drawing on interviews with five Indigenous leaders and defenders, we built an operational cultural constitution grounded in an Indigenous cosmovision, with 12 principles. On this basis, we implemented a Constitutional AI (CAI) pipeline in two phases: supervised fine-tuning (SFT) and direct preference optimization (DPO). The base models were Qwen2.5-7B-Instruct and Qwen2.5-1.5B-Instruct. With only 24 preference pairs, improvements were modest but detectable in intergenerational transmission, linguistic caution, and consultation and consent. Qualitative analysis reveals that the SFT phase was responsible for the primary shift in alignment, while DPO refined specific categories. The system was deployed in a conversational interface…

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• arXiv cs.LGOct 18▲ 7

  World Model Interpretability: From Decoding Representations to Understanding Latent Worlds

  Jize Wang, Yongcheng Jing, Xinyi Le, Cailian Chen, Xinping Guan +1

  Emerging Joint-Embedding Predictive Architectures (JEPAs) are moving beyond representation learning towards latent world models that support prediction, planning, and control. Yet their latent worlds naturally lack a human-interpretable interface. In this Perspective, we argue that as JEPA latents become internal states for prediction and action, interpretability must move beyond what they encode to how latent variables interact, evolve, and causally drive prediction. To this end, we envision a four-stage research agenda, involving Ground, Structure, Verify, and Act, to guide this shift toward actionable latent-world understanding. Within our framework, existing JEPA interpretability efforts provide early evidence for Ground, while systematic analysis of latent structure, causal verification, and intervention remains largely unexplored. Overall, this Perspective aims to call for a broader latent-world interpretability agenda that shifts attention from decoding representations toward understanding, validating, and acting on latent worlds.

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