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.

• Small LLMs11+1000.0%
• Image & video generation33+450.0%
• Robotics27+440.0%
• Training & fine-tuning52+333.3%
• AI safety38+322.2%
• Computer vision41+310.0%
• Evals84+250.0%
• RAG11+175.0%

• arXiv cs.LGOct 17

  Recurrent Temporal Restricted Boltzmann Machines as Unsupervised Encoders for Biomechanical Movement Sequences

  Wafi Sharif, Nicholas LaHaye

  Biomechanical movement recordings are continuous, high-dimensional time series, and analyzing them without manually labeling them requires representations that capture how movements evolve over time. Most unsupervised representation-learning pipelines, however, treat each observation frame independently and discard this temporal structure, while energy-based models that could capture it have not extensively been adapted to biomechanical signals. So, this paper implements the Recurrent Temporal Restricted Boltzmann Machine (RTRBM), a recurrent energy-based model, into an unsupervised encoder that maps windows of movement data to fixed-length embeddings, and tests what its recurrent structure contributes. We adapt the model to continuous-valued signals, stack it into a deep architecture, and integrate it into the SIT-FUSE segmentation pipeline. We evaluate the embeddings on simulated musculoskeletal reaching and on two real gait datasets, using clustering, reconstruction, and walking-speed classification of unseen subjects, and compare them against non-recurrent and non-probabilistic baselines, including a control that removes the recurrent connection. Clustering the embeddings…

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• arXiv cs.LGOct 17

  Compose the Horizon: Parameter-Shared Blockwise Forecasting under a Sequential-Compute Trade-off

  Zeyan Li, Weiheng Li, Shengda Zhuo, Libing Chen, Min Chen +1

  Most long-horizon forecasters emit the complete future in one pass. We ask whether a compact operator can instead be reused to emit contiguous future blocks, trading stored parameters for sequential computation. Recursive Functional Decomposition (RFD) factorizes the horizon mapping into three parameter-shared block predictions. The blocks occupy disjoint future intervals and are concatenated, not added as trend, seasonal, or residual components, and each emitted block joins the rolling context that conditions the next application. In controlled three-seed experiments, removing forward feedback hurts all four evaluated datasets while stopping gradients through it changes little, so the useful signal is the evolving forecast state itself; reapplying the shared operator helps consistently, but by less than widening it. The model uses 0.08--0.46M parameters, yet its sequential channel-wise execution is slower and more memory-intensive than an iterative baseline at high channel count. In a frozen long-context evaluation against ten strong baseline families, RFD records lower test error in 23 of 24 cells; the comparison is cross-protocol, with RFD using 512/720-step context and the…

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• arXiv cs.AIOct 17

  Teaching Code Agents to Ask Without Leaking Private Code

  Wenjia Jiang, Jieke Shi, Zhensu Sun, Chengran Yang, Shidong Pan +7

  Local coding agents can extend their reach by consulting a stronger cloud model. Such consultations, however, often expose the repository's private identifiers, file paths, and source code. Host-side masking hides recognized identifiers but leaves the surrounding code and the agent's phrasing unchanged, while training for less disclosure risks suppressing consultation or producing questions too vague to answer. We propose utility-verified abstraction (UVA), which teaches the agent to describe private entities by their role and type while retaining the technical details an expert needs. From solved repair trajectories, we rewrite each question into this form and keep the rewrite only if it discloses fewer private entities and the repair, replayed from the same execution state with the repair trajectories. Across two benchmarks, the trained agent consults more often than before training. On repository-level issue repair, it solves 37.6% of issues, against 25.3% for the same model working alone, a gain from the training as a whole rather than from consultation alone. Its questions disclose 3.7-fold fewer private entities and 1.4-fold less verbatim code than the untrained agent's…

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• arXiv cs.LGOct 17

  Pair-Aware Optimization: Coordinating Exploration and Refinement for Jailbreaking LLM Agents

  Juanyang Xu, Zheng Wang, Xingyu Zhao, Siddartha Khastgir, Andi Zhang

  Large Language Model (LLM) agents are vulnerable to adversarial inputs that induce attacker-specified malicious behaviors, commonly referred to as jailbreaking. Existing optimization-based jailbreak attacks primarily employ first-order (FO) methods that leverage gradient information or zeroth-order (ZO) methods that rely on function-value feedback. However, their complementarity and optimization ordering remain underexplored. We systematically investigate four strategies: pure ZO, pure FO, ZO->FO, and FO->ZO, and develop a ZO-FO framework that explores adversarial prefixes through ZO optimization and refines their corresponding suffixes through FO optimization. To coordinate the two processes, we introduce Pair-aware optimization, which retains multiple prefix candidates, conditionally refines their suffixes and selects among the resulting prefix-suffix pairs. We further investigate agent jailbreaking from a more general stochastic-generation perspective, where the same adversarial input can induce diverse reasoning trajectories and actions that a single greedy output cannot capture. Accordingly, we adopt consistent stochastic decoding during both optimization and evaluation.…

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• arXiv cs.CVOct 17

  Rate as a Feature, Not a Nuisance: Curriculum FiLM Training for Event-Based Graph Neural Networks

  Kavyansh Tyagi, Andreas Ziegler

  An event camera emits events at a rate given by the scene motion, object texture, illumination, its own contrast thresholds, and other settings. Across the N-Caltech101 dataset, recorded by a single event camera, the event rate varies by roughly 26x. Standard event-based Graph Neural Network GNN pipelines do not make use of the variable event rate. They either normalize each event's timestamp into a fixed window or train the network to be invariant to the event rate. We argue that both choices lose information that could instead be used to improve the performance of a pipeline. Per-recording normalization is non-invertible, incurring about 6pp (percentage points) of natural-rate accuracy loss in our setting. And invariance training trades accuracy for robustness to shifts in the event rate. We instead take a different path and condition on the event rate directly. We add a per-recording log-rate scalar that modulates every stage of a PointNet++ backbone through Feature-wise Linear Modulation (FiLM), initialized to identity, so that training begins at the unmodified baseline. A two-stage curriculum (natural event rates first, then rate-augmented fine-tuning) reaches 67.2% on…

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• arXiv cs.LGOct 17

  Expert-Guided Rubrics as Dense Reward Signals for Reinforcement Learning in Non-Verifiable Domains

  Ashish Bansal, Hossam Amer, Keerat Kaur Guliani, Parinita Edke, Lesley Matheson +1

  Large language models (LLMs) are increasingly deployed as autonomous agents in non-verifiable domains such as financial services, where they must interpret user intent, rewrite queries, and retrieve information under domain-specific constraints. Although reinforcement learning (RL) can train such agents from the consequences of their actions, recent successes largely rely on verifiable tasks with automatically computed binary rewards. In non-verifiable retrieval tasks, assessing query quality requires scarce subject-matter expert (SME) judgment that is inherently graded rather than binary. With Group Relative Policy Optimization (GRPO), sparse rewards yield no useful learning signal when all sampled outputs within a group receive the same outcome, causing optimization to stall. We introduce a method that converts a small, fixed investment of SME judgment into a dense reward and combines it with retrieval-based metrics to form a hybrid, GRPO-compatible training signal. Experiments show improvements of up to 6\% in Recall@3 and 6.7\% in MRR@3 compared with sparse-reward baselines.

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• arXiv cs.CLOct 17

  Efficiency Measured in English: Tokeniser Coverage Bounds Small Language Models on Indic Scripts

  Anna Pramod

  Small Language Models with quantisation and parameter-efficient adaptation are widely offered as the route to multilingual AI under compute constraints, and their efficiency is almost always reported as a single memory figure. We show that this figure is measured in English and does not transfer. Across a 131k-sentence corpus spanning eleven Indic scripts, TinyLlama-1.1B's tokeniser emits 1.34 subword tokens per Latin-script word and 22.60 per Kannada word. This is not inefficiency; it is absence. Its vocabulary contains 0% of Odia's codepoints, 1% of Telugu's and 2% of Kannada's, and for five of eleven scripts the measured fertility sits at the UTF-8 byte-fallback ceiling, on Odia at 99.6% of it, with 93.6% of emitted tokens being raw bytes. Because SentencePiece byte fallback never raises an unknown-token marker, this failure is entirely silent: TinyLlama's UNK rate is 0.0% on every script, including the one it reads as bytes. We further show that low fertility can indicate the opposite of efficiency: mBERT posts its best score anywhere (1.10 tokens/word, on Odia) while discarding 87.9% of the text as UNK. MuRIL, an Indic-vocabulary encoder with a fifth of TinyLlama's…

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• arXiv cs.LGOct 17

  First-Order LoRA Training with Phone NPUs

  Xu Zheng, Wei Cheng, Zhuomin Chen, Dongkuan Xu, Mo Sha +2

  On-device fine-tuning lets a large language model (LLM) learn from its user's private data without uploading it. Low-rank adaptation (LoRA) reduces the trainable parameters, but each first-order training step still multiplies by the frozen base-model weights during the forward pass, activation recomputation, and input-gradient computation. A phone's neural processing unit (NPU) already holds these weights for inference; using it for training also requires computing input gradients, which its inference interface does not support. We present a system that runs all three frozen-weight products on the NPU while keeping the training graph, adapters, and optimizer on the CPU. Its input-gradient kernels reuse the resident weight tiles and the forward dequantizer, avoiding a transposed weight copy and ensuring forward and backward use the same effective weights. To preserve usable gradients, the system selects precision by gradient sensitivity and applies a per-row range guard for half-precision (FP16) outputs. Its runtime fuses the remaining CPU operators and overlaps NPU execution with adapter computation, while resumable execution and thermal pacing let training proceed as a…

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• arXiv cs.CVOct 17

  SL-Ground: Sentence-Level Grounding for Fine-Grained Open-Vocabulary Object Detection

  Yang-Syu Li, Cheng-Huan Yang, Chia-Yung Jui, Peggy Joy Lu

  Grounding-based open-vocabulary detectors provide a widely used framework for text-conditioned localization, with a phrase-grounding formulation that aligns object queries to individual text tokens and recovers class scores through token-to-class aggregation. We observe that this token-level scoring design becomes a bottleneck for fine-grained open-vocabulary object detection, where the target category is defined by a complete compositional description rather than by isolated tokens. Based on this observation, we propose SL-Ground, a sentence-level grounding reformulation for grounding-based open-vocabulary detection. Instead of scoring queries against fragmented token evidence, SL-Ground encodes each category description as a complete sentence-level representation and directly scores object queries against these representations. To evaluate fine-grained recognition across label granularity, we construct a multi-granularity Stanford Cars benchmark spanning vehicle type, brand, and car model. At the finest car-model granularity, SL-Ground raises AP over the token-level variant from 14.5 to 70.6 under matched training candidate sampling and to 86.0 with full-vocabulary training,…

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• arXiv stat.MLOct 17

  Tilted Mondrian: Triage and Mitigation of Fine-grained Disparities in Conformal Prediction

  Ziang Gao, Pengqi Liu, Archer Yi Yang, Mouloud Belbahri, Jesse C. Cresswell +1

  Fairness in conformal prediction is often pursued through Mondrian calibration, which provides finite-sample coverage guarantees separately across groups. These guarantees, however, are coarse: substantial disparities can remain within finer strata. This coarse-to-fine fairness issue raises two questions: how severe can such disparities be, and how can they be mitigated? Aggregate disparities can depend on how groups are distributed across strata. For severity assessment, we introduce propensity standardization to examine the effect of population composition, and show how group composition can induce disagreement between aggregate and finer-stratum comparisons. For mitigation, we develop Tilted Mondrian to improve fairness compared to group-Mondrian at a finer level without additional model training. Tilted Mondrian retains groupwise coverage guarantees and mitigates coverage and prediction set size disparities within finer strata. Finally, we derive a method-agnostic bound that quantifies how much reduction in finer-stratum coverage disparity can be achieved.

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• arXiv cs.CVOct 17

  SwitchSplat: Learning Discrete Object States from Casually Captured Scenes

  Yizheng Xie, Yalda Foroutan, George Shramko, Daniel Rebain, Shrisudhan Govindarajan +1

  3D Gaussian Splatting has made high-fidelity 3D reconstruction fast and accessible, yet existing representations assume a static world. This assumption breaks down in casual captures, where a user naturally interacts with the environment -- opening doors, toggling switches, or moving objects -- introducing discrete state changes that no current framework can model. Time-conditioned dynamic methods such as 4DGS conflate when a state was observed with what state the scene is in, limiting them to replaying seen sequences rather than composing arbitrary object configurations. We present SwitchSplat, the first 3DGS representation to address this gap via a base+slot decomposition: a shared static base captures the invariant scene, while each slot independently holds the two binary states (on/off) of one interactable object. Because the assignment of Gaussians to slots is fully differentiable, the model discovers the geometry of each state directly from video, without manual annotation. At inference, the user can freely combine slot states and render the resulting scene from any viewpoint. We validate SwitchSplat on a new casual-capture dataset and show that it outperforms static and…

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• arXiv cs.CVOct 17

  Directionally Factorized Illumination with Spherical Harmonic Rotation

  Yimeng Dou, Adam M. Saunders, Andre T. S. Hucke, Michael E. Kim, Adam W. Anderson +3

  Many real-world capture scenarios involve an active light source rigidly attached to the camera: camera flashes for dark-environment imaging, underwater vehicle lights, and endoscopic/laparoscopic medical procedures. As the camera moves, the co-mounted light moves with it, causing the illumination direction at each surface point to change across views. Neural rendering methods (NeRF, Gaussian Splatting) encode this pose-dependent illumination as surface coloration, producing appearance inconsistencies and making it harder to recover the underlying scene. We present \textbf{DaFISH}, which can be plugged into any novel-view synthesis (NVS) pipeline such as NeRF. It factorizes per-point emitted color into surface albedo and a spherical harmonic (SH)-represented illumination factor. During training, the SH illumination is evaluated directly, enabling stable joint optimization of albedo, lighting, and geometry. \textbf{DaFISH} provides analytical generalization of illumination to arbitrary camera poses without retraining. Building on the closed-form SH-to-irradiance conversion, the training pipeline is fully differentiable from SH evaluation through volume rendering. Averaged over the…

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• arXiv cs.CLOct 17

  Ask, Don't Guess: Targeted Clarification for Speech Recognition Errors

  Sankalp Parashar, Preethi Jyothi, Sunita Sarawagi

  Speech recognition in real time in far-field conversational settings still incurs significant errors. Identifying potential error spans during streaming ASR permits a recourse mechanism where the speaker can be asked to repeat the affected content under cleaner acoustic conditions. We propose PARDON, a new framework for online error localization, that identifies spans likely to benefit from this intervention. Our supervision uses clean audio to estimate how the recognizer's output might change under improved acoustic conditions. We probabilistically align noisy and clean decodes using a pair-HMM to obtain soft supervision. These soft targets train a counterfactual gain scorer by combining a suite of acoustic and language features to produce token-level scores, that are further grouped into spans for targeted recourse. An LLM uses the ASR transcript of the repetition to revise only the selected span. At a precision of 70%, PARDON achieves the highest recall by identifying up to 52% more erroneous tokens compared to the strongest baseline. Targeted repetition yields relative WER reductions of up to 24% under a budget that accounts for both interruption frequency and the lengths of…

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• arXiv cs.AIOct 17

  Medical Fine-Tuning Reshapes, Not Reduces, Patient-Facing AI Risk: A Rubric-Based, LLM-Judge Evaluation Framework

  Savan Doshi

  Patient-facing medical question answering with large language models (LLMs) is moving from research demonstrations to production deployments, yet evaluation remains anchored on factual correctness. Factuality is necessary but not sufficient: a response can be factually grounded and still issue a directive that, if acted on, would harm the patient. We introduce a risk-sensitive evaluation framework that scores responses by the presence and severity of six categories of risk-bearing language (treatment directives, contraindications, dosage expressions, urgency-triage cues, high-alert medication mentions, and overconfident assertions), anchored on published clinical harm taxonomies. Severity is classified by a three-judge LLM ensemble. We apply this framework to six 7-9B instruction-tuned models, three general (Mistral-7B, Phi-3.5-mini, Llama-3.1-8B) and three medically adapted (BioMistral-7B, OpenBioLLM-Llama3-8B, Med42-Llama3-8B), on 200 real patient questions from the K-QA benchmark. Two findings emerge. First, ensemble risk-bearing language is statistically independent of factual hallucination rate (pooled Spearman $ρ= -0.065$, $n = 300$, 95% CI $[-0.18, +0.05]$; distance…

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• arXiv q-bio.BMOct 17

  Aptamers as a sandbox for lab-in-the-loop agentic molecular discovery

  Zachary Cutts, John Coller, Rachel Chen, Hua Tang, Mathias Bellaiche +7

  Despite breakthroughs in AI-driven molecular generation, existing discovery pipelines operate largely in silico, with wet-lab feedback reserved for validation rather than iterative improvement. Whether large language model (LLM)-based reasoning agents can accelerate de novo discovery by iterating with lab data remains unproven. Here we use protein-binding aptamer design as a sandbox (1-2 week cycles, \$1-\$3 per candidate) to demonstrate a wet lab in a closed loop with AI systems. We tasked agentic pipelines with developing aptamer binders against $α$-thrombin and myoglobin across three design-test-improve cycles ($\sim$1,000 candidates per round; $\sim$4,400 constructs). Statistically significant, bead-corrected on-target hit rates among new candidates rose across rounds from 0.0% in Round 1 to 26.0% in Round 2 and 42.1% in Round 3 on $α$-thrombin (37.1% excluding literature motif descendants), and from 10.2% in Round 1 to 3.7% in Round 2 and 33.5% in Round 3 on myoglobin. Single-clone bead-binding titrations of eight full-length $α$-thrombin candidates confirmed concordance with pooled sequencing enrichment (Pearson $r = 0.90$). In these assays, literature-derived motifs…

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• arXiv eess.SPOct 17

  Is User Calibration Still Necessary for Continuous Myoelectric Control? A Closed-Loop Comparison of Calibration-Free Controllers

  Amir Reza Hariri, Kevin B. Englehart, Erik Scheme

  The need for user-specific calibration remains an often-cited barrier to widespread adoption of myoelectric control. Cross-user models trained on large multi-user datasets can now recognize gestures from unseen users without calibration, but they have been evaluated almost exclusively offline, leaving open whether calibration is still needed in closed-loop control. This study compared six calibration-free controllers, trained on 306 users of the EMG-EPN-612 dataset and used without any calibration data from the test participant, against three calibrated controllers in a closed-loop Fitts' law target-acquisition task with sixteen participants. The calibrated controllers achieved higher offline balanced accuracy (90.6% against 73.1% for the best controller of each paradigm), but completion rates did not differ significantly between paradigms, and the highest completion rate was achieved by a calibration-free controller. Calibrated controllers moved faster on successful acquisitions, partly because of their individually fitted speed mappings, though not significantly after correction for multiple comparisons. However, every calibration-free controller produced more direct and stable…

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• arXiv cs.CLOct 17

  Table Serialization Determines Which Relations Language Models Preserve

  Junwei Ma, Arun Kumar Chithanar, Palash Goyal, Chul Lee

  We study how text serialization affects table lookup in instruction-tuned language models. Our diagnostic asks the model to find the row containing a specified value under one named column, then return the value under another named column in that same row. We render the same synthetic 256-cell tables in row-major form and in column-major form with each header placed beside its values, while varying the table aspect ratio across five shapes. Across three models, the better format changes with table shape: row-major performs better on tall tables, whereas column-major performs better on wide tables. At 64 x 4, row-major leads by 42.3-54.0 percentage points; at 4 x 64, column-major leads by 35.0-59.0 points. Mapping wrong answers back to their source cells reveals a complementary error pattern: row-major tends to preserve the correct row but lose the target column, while column-major tends to preserve the correct column but lose the row. We use the term relational locality to describe this pattern: serialization keeps one relation locally available while making the other depend on positional alignment. A separate non-tabular ordering experiment supports this interpretation. Thus,…

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• arXiv cs.CLOct 17

  Who Gets Unmasked? Sampler-Induced Bias in Diffusion Language Models

  Xujun Che, Farsheed Haque, Depeng Xu, Xi Niu, Haopeng Zhang

  Diffusion language models (dLLMs) generate by gradually unmasking a canvas, so their samplers decide not only which token to write but also when to commit it. We show that this second decision changes who appears in generated text, a sampler-induced bias on top of the model's own. Common commit rules, including LLaDA's default, commit the positions whose sampled tokens are most probable; this peeking favors majority options. To separate the sampler from the model, we read the model's belief about a fork, such as a protagonist's gender, in one forward pass, and show that this belief matches exact sampling from the model. Measured against it, peeking samplers on LLaDA and Dream amplify occupational gender stereotypes and collapse opinion distributions, and confidence-based ordering shifts gender-balanced occupations toward men, more so under faster parallel decoding. We propose Fork-First Sampling, which decides the fork before anything else is written: it follows the belief or any target distribution, improves fluency, and avoids the stories that remark on the protagonist's gender, which prompt-based fixes produce, at the cost of one forward pass. Fairness evaluations of dLLMs…

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• arXiv cs.GTOct 17

  Cooperation Without Shared Rewards via Reciprocal Q-Augmentation

  Francesco Morri, Adel Abusitta, Quentin Cappart, Margarida Carvalho

  General-sum games are more challenging than fully cooperative or adversarial settings because agents may deceive or exploit one another. Achieving high social welfare requires sustained cooperation, while a single defection can drive agents toward a welfare suboptimal Nash equilibrium. Moreover, assuming access to other agents' rewards or internal states is often unrealistic and implicitly introduces additional cooperation into the setting. To address this issue, we introduce \textit{Reciprocal Q-Augmentation} (RQA), a method that uses a latent-variable opponent model to augment the Q-function with estimates of how one's actions affects other agents. RQA allows agents to learn both cooperative and defective policies using only their own Q-function. We show that, in social dilemmas, agents that all follow the cooperative policy of RQA learn to cooperate faster and reach higher levels of cooperation than fully cooperative algorithms. Moreover, a single RQA agent that switches appropriately between its cooperative and defecting policies can induce cooperation in agents trained with standard RL algorithms, which would otherwise end up defecting. We evaluate our approach on the…

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• arXiv cs.CVOct 17▲ 8

  UniAVC: Unified Audio-Video Creation via Progressive Training and Asymmetric Scheduling

  Kien T. Pham, Yuhao Liu, Chong Hou Choi, Zhenqi He, Yanghao Wang +4

  Unified audio-video creation requires a single model capable of text-conditioned joint synthesis, bidirectional cross-modal generation, and instruction-guided editing across both modalities. Existing methods rely heavily on paired corpora, which are scarce for joint generation and even rarer for editing. Consequently, they are spent learning single-branch generative and editing capabilities that abundant unimodal data could readily teach, rather than on the cross-modal coupling. Furthermore, prevailing systems apply a single shared noise schedule to both modalities, neglecting two critical limitations. First, due to the significant discrepancy in information density, video requires prolonged high noise to organize spatial and motion structure, whereas the sparser audio signal can settle earlier during the synthesis process, the dynamics a uniform schedule might compromise. Second, lockstep denoising leaves asymmetric workflows, such as conditioning on one modality to synthesize or edit another, untrained. We present UniAVC, which addresses both obstacles. It first trains each branch on unimodal dataset to full generative and editing competence, and subsequently dedicates paired…

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