Research

New papers ranked by attention, with their code, models and discussion linked. Pick a field on the left.

Week Month Quarter All

Newest Most relevant

Papers

Research

New papers ranked by attention, with their code, models and discussion linked. Pick a field on the left.

Week Month Quarter All

Newest Most relevant

Papers

arXiv cs.CVOct 15▲ 31
Can World and Action Modeling Benefit Each Other under Unified Causal Training?
Yue Su, Bokai Lin, Xinkai Wang, Chubin Zhang, Xiangnan Wu +7
World and action modeling are closely related, yet their reciprocal benefits under unified causal training remain unclear. We introduce OneWM, a simple framework for unified causal training that treats actions as both conditions for world prediction and targets for policy learning within a shared video-action architecture. Using this framework, we investigate whether learning forward dynamics conditioned on specified actions improves action learning, and whether learning to generate actions in turn improves action-conditioned world modeling. We use LIBERO, LIBERO-Plus, and RoboCasa365 as embodied testbeds to evaluate both policy learning and world modeling, complemented by real-world policy experiments. Learning the visual consequences of specified actions improves policy performance and generalization across changing scenes. In turn, action learning improves multi-view world-prediction fidelity under the same architecture. Together, these results answer both questions positively, supporting reciprocal benefits between world modeling and action generation under unified causal training.
CodePDF
arXiv cs.AIOct 15
MemComposer: Learning to Assemble Memories for LLM Agents via Reinforcement Learning
Yixuan Xie, Xueqiang Xu, Xinyi Fan, Xinxi Lyu, Tao Feng +6
Agent memory enables large language model (LLM) agents to reuse past experiences without updating their parameters. However, semantic similarity alone does not guarantee memory usefulness: downstream performance depends on how memories are selected and presented to the agent. We propose MemComposer, a memory composer that jointly examines the current query and retrieved candidates to decide which experiences to include, how many to select, and how to order them. We train the composer using Experience Policy Optimization (ExPO), a GRPO-based framework that evaluates assembled memory contexts through complete agent interactions and uses task-success feedback to optimize the assembly policy. Across three $τ^2$-bench domains with two frozen executors, MemComposer outperforms the strongest baseline for each executor while reducing average memory-token usage by 16.9% and 4.9%, respectively. The learned policy also transfers to unseen domains, executors, and memory banks, and benefits from memories generated by stronger models without further training. These results demonstrate the value of learning query-specific memory assembly using downstream task feedback.
PDF
arXiv cs.CVOct 15
RoboCloth: A Large-Scale Real Cloth Material Dataset for Neural Reflectance Reconstruction
Zhen Li, Haoran Qin, Francesco Di Sario, Daniel Rebain, Andrea Tagliasacchi
We present RoboCloth, a dataset of 500 real cloth materials captured under flexible, calibrated camera and lighting configurations, where both are robotically controlled during acquisition. Each material is imaged in approximately 580 high-dynamic range frames spanning a wide view-light hemisphere; camera poses are refined via structure-from-motion and aligned to the robot frame, yielding per-material sparse surface geometry and structured per-point reflectance observations ready for neural material training. We demonstrate the value of this data through a two-stage neural reconstruction pipeline: Stage 1 trains a shared MLP decoder on our corpus to learn cloth material priors; Stage 2 then freezes the decoder and fits a dense 2048x2048 latent texture to each target material. Evaluating on held-out materials from our own dataset and on the independent UBO2014 benchmark, we show that a decoder trained on our captures outperforms decoders trained on existing measured reflectance datasets and analytic PBR fitting, transferring to unseen acquisition systems without modification. The dataset, calibration files, observation tensors, and train/test splits are released under CC BY 4.0 on…
PDF
arXiv cs.AIOct 15
Probe-and-Resume: When and How to Evaluate Agent Execution
Jiakai Xu, Tiancheng Ge, Tujie Guan, Yusheng Li, Rohan Timmaraju +2
Test-time search can improve agent performance by exploring alternative actions and using a critic to select promising branches. We study this approach in terminal-based computer-use environments, which expose only a partial view of a large underlying state, and find that the Monte Carlo tree search (MCTS) configuration we evaluate does not significantly improve task success. We identify two sources of poor critic performance: the agent's observations omit environment state needed for evaluation, and intermediate states offer limited evidence of whether a trajectory will succeed. At intermediate states, critics rank continuations only modestly better than chance, and environment access improves this little. We study when to invoke a critic and what access to give it to evaluate a node. Our findings motivate a policy that invokes the critic only at nodes the agent believes are final, rather than during partial progress. Further, the policy gives the critic read, write, and execute access to a fork of the computer's current and initial state, allowing it to probe and perform potentially destructive actions to surface any hidden state the trajectory omits. We call the resulting…
PDF
arXiv cs.LGOct 15
SIEVE: Overcoming Topological Obstruction in Equivariant Self-Supervised Learning
Jongann Lee, Sun Woo Park, Yun Young Choi
We identify a theoretical incompatibility between 3D point cloud masked autoencoding and SE(3)-equivariant networks. We prove that standard masking triggers a topological collapse, effectively forcing the model to hallucinate orientation without a reference frame. To resolve this, we introduce SIEVE (Scalar Invariant Extraction Via Equivariance), an SE(3)-equivariant self-supervised framework that compresses point cloud geometry into invariant scalar embeddings. At its core is the spherical projection mask, which preserves global pose while obfuscating local semantics, sidestepping the obstruction by construction. Experiments confirm that SIEVE circumvents the predicted collapse where constant and noise masks fail. On downstream point cloud tasks, the resulting embeddings improve over coordinate-based baselines and hand-crafted geometric descriptors, with the largest gains on generalization to unseen shape categories.
PDF
arXiv cs.CVOct 15
RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching
Liangjing Shao, Wanhao Liu, Zhiwei Fang, Rulin Zhou, Quanlu Zhang +4
Camera-to-robot pose estimation from a monocular image is significant for vision-based robot navigation and control. However, recovering 3D structural features from 2D observations remains a challenging task. Existing camera-to-robot pose estimation methods either rely on time-consuming iterative rendering or involve sophisticated 2D-3D registration which suffers from projection ambiguity, accumulated errors for distal joints and imbalanced learning for different joints. In this work, we propose RoPE-Flow, an end-to-end flow matching-based framework for camera-to-robot pose estimation. From the predicted 2D heatmaps, we propose a Keypoint-centered Feature Extractor to obtain positional features along with contextual representations from keypoints-centered multi-scale patches. Moreover, we introduce Graph-guided Condition Generator, which embeds a learnable adjacency map to generate condition for flow matching based on correlation among keypoints. Besides, we introduce Bone Length Loss and Ray-Depth Loss for topological consistency and scale stability, with joint-wise weighting to mitigate varied prediction difficulty across joints. The proposed method outperforms state-of-the-art…
PDF
arXiv cs.CLOct 15
A Jury, Not an Electorate: Label-Free Reliability Estimation for Ensembles of Language Models
Alessandro Rozza, Davide Mambelli, Steven Motta, Juri Taresch
An ensemble of language models is a jury, not an electorate. The answers are testimony from witnesses of unknown reliability, and the question is not what the majority said but who is credible. Most ensemble methods assign each expert a fixed reputation, often learned from labels. We ask whether it can instead be inferred from the pattern of agreement and disagreement among the experts. We model the experts as a jury: each question has a latent true answer, each expert reports it with unknown reliability, and those reliabilities are estimated by Expectation Maximisation (EM) from unlabelled answer configurations alone. We show that its decision rule reduces to a log-odds weighted linear score over the experts' answer distributions. What changes is not how the jury votes, but how it learns whom to trust. On a 1560-question benchmark, the jury, with nine experts of up to 3B parameters, performs comparably to the same fusion rule with label-fitted weights, showing no statistically significant advantage from supervision. Instead, it outperforms the best single model with matched self-consistency and the strongest label-free alternative on the full benchmark.
PDF
arXiv cs.AIOct 15▲ 14
Sci$Π$vot: Benchmarking Principal-Investigator Judgment at Pivotal Moments of Scientific AutoResearch Agents
Youran Sun, Xingyu Ren, Chugang Yi, Kejia Zhang, Di Wu +13
Large language model (LLM) agents can keep scientific experiments running for months with little human supervision, but reliable autonomous research also requires scientific judgment. Evaluating scientific judgment is difficult because research decisions are open-ended and depend on project context. We construct Sci$Π$vot, a 248-case benchmark of scientific judgment based on human corrections. The benchmark draws on records from six months of research in which senior researchers ran LLM agents on 26 projects across six scientific fields and repeatedly intervened to correct the agents' research judgments. In each case, an agent chooses between the original LLM plan and the human-corrected alternative, using only the project record available before the correction as context. We compare LLM and human performance and examine the effects of reasoning effort, access to the project record, and reconsideration. At medium reasoning effort with the project record, models systematically prefer the original LLM plan over the human-corrected alternative. Four of five frontier models perform below chance on the selected cases. The highest accuracy in the project condition across the tested…
PDF
arXiv cs.LGOct 15
StochLOB: Heavy-Tailed Score Matching for Robust Limit Order Book Trend Prediction
Arshia Abolghasemi, Seyed Reza Tavakoli, Parsa Naderi, Nazanin Mirzaei, Behrad Jahani +5
Score-based diffusion methods usually perturb data with Brownian Gaussian noise, corresponding to a light-tailed forward stochastic differential equation (SDE). For market time series this SDE can be a poor abstraction: limit order book (LOB) order flow is heavy-tailed, bursty, and occasionally jump-like. We study STOCHLOB, a training-only score-matching framework that changes the forward diffusion corruption law while leaving the deployed predictor deterministic. Instead of Brownian-only Gaussian corruption, the noising process uses two non-Gaussian SDE-inspired alternatives: jump-Lévy noise through a compound-Poisson variance mixture, and clipped $α$-stable noise through a positive-stable Gaussian scale mixture. These corruptions inject finite jumps and heavy-tailed residuals into training without requiring reverse-time diffusion sampling at inference. The resulting score target has a useful interpretation: its radial factor $h_t(r)$ is the posterior expected corruption precision, so large residuals are weighted according to the latent corruption scale that most plausibly generated them. On chronologically held-out Coinbase LOB data, the proposed variants remain competitive on…
PDF
arXiv math.NAOct 15
Adaptive Randomized Neural Networks for PDEs: Structure-Aware Feature Redistribution and Residual-Driven Block Enrichment
You Yang, Fei Wang
Randomized neural networks retain an output-linear least-squares solve, but globally sampled random features may fail to capture the spatial and scale structure of PDE solutions. We propose SFRBE--RaNN, a two-stage adaptive trial-space construction. SFR redistributes a fixed feature budget according to regional indicator masses and adapts regional weight scales through low-dimensional residual-based optimization. RBE constructs nonredundant enrichments by screening multiple activation families, removing represented response directions, and selecting the smallest admissible prefix. For solution-dependent operators, candidates are screened with a frozen operator and accepted only after nonlinear residual verification. For fixed linear problems, we establish an exact discrete residual-reduction identity and a conditional solution-error estimate. Building on this identity, we combine safeguarded SFR with RBE capture factors to derive a finite-horizon error bound involving baseline best approximation and empirical consistency, together with a conditional random-search success-probability bound. Numerical experiments on localized, multiscale, and nonlinear space--time problems…
PDF
arXiv cs.AIOct 15
OmicsBench: a long-horizon multi-turn benchmark of AI agents on research-study-scale bioinformatics
Gideon Shaked, Siddharth Nagisetty
Computational biologists increasingly delegate substantial analyses to AI agents in long-horizon, multi-turn sessions, yet most benchmarks of agents' bioinformatics capabilities pose a single short task with a single-shot prompt. We present OmicsBench, a long-horizon, multi-turn bioinformatics benchmark for AI agents. Each of its 97 tasks links dependent subtasks into a directed acyclic graph, for 662 underlying subtasks in all. Each subtask is posed as one user turn and graded deterministically against an answer key, with optional in-context feedback on incorrect answers. Across 12 models on three harnesses, the slowest agent averages 3.6 hours per task, and no combination comes near saturating the benchmark, with mean scores of 0.43 to 0.57 out of a possible 1 without in-context feedback and 0.54 to 0.67 with it. Multi-turn evaluation also uncovers behavior that single-shot prompts cannot, as agents score lower on subtasks that depend on earlier subtasks, and in-context feedback helps agents recover some of that loss. Because deterministic scoring gives no qualitative account of how an agent failed, we also introduce an unsupervised failure mode discovery pipeline that…
PDF
arXiv cs.SEOct 15▲ 3
Skip the Compressor: Coding Agents Fix More Issues When They Pick Whole Files
Xiaocong Yang, Rishit Chatterjee, Himanshu Udupi, Vikram Ramavarapu, ChengXiang Zhai
A coding agent works on repositories that can be far larger than its context window can hold. Prompt compressors and retrievers offer solutions to this problem, but patching an issue needs two things at once: the files that must change, and their code exactly as written, since the model must reproduce the lines it edits. Retrievers rank code by its similarity to the issue rather than by whether it must change, and compressors delete text to fit the budget. We show that at an equal token budget, an agent resolves more issues when the budget goes to choosing which files to show verbatim, as our simple selector CQ2-CARE does, than when it goes to pruning tokens or retrieving chunks. We fit every context to the same per-issue budget on 300 recent SWE-rebench issues and grade each patch with the benchmark's tests. With GPT-5.6 and Claude Opus 5, CQ2-CARE resolves 43.7% and 46.7% of the issues, 6.3 points more than the best of three compressors with either model, and 9.3 and 12.7 points more than the best of three retrievers. CQ2-CARE even resolves more issues than two methods trained for issue resolution, SweRank (by 0.7 and 1.7 points) and SWE-Pruner (by 2.0 and 7.3). Our analysis…
PDF
arXiv cs.OSOct 15
Where the SRAM Goes: Per-Symbol Attribution of Static Memory in FreeRTOS-C and Embassy-Rust IoT Firmware on a 64 KB RISC-V Microcontroller
Romi Fadli, Jan Everhard Riwurohi, Wahyu Ramadani Putri Utami, Zulfa Malika Amana
Selecting a firmware stack for a memory-constrained microcontroller is usually guided by aggregate binary sizes, which report how much SRAM a build consumes but not where it goes or why. We address that gap with a per-symbol attribution method that decomposes static RAM into architectural categories - scheduler heap, network buffers and pools, task stacks, and linker-reserved regions - by bounding sized ELF symbols to the .data, .bss and .stack section ranges. The method is validated by reconciling every category sum exactly against the size-based totals for all sixteen builds. We apply it to eight cumulative firmware milestones, from a bare task scaffold to a full MQTT-over-Ethernet client, implemented twice, in FreeRTOS-C and in Embassy-Rust, on the CH32V203RBT6, a RISC-V microcontroller with 64 KB SRAM and an on-chip Ethernet MAC and PHY, with functional parity verified on hardware at every milestone. The decomposition shows that both stacks spend a nearly identical share of their RAM on networking (63.8% versus 63.9%), yet the absolute cost differs by 4.4 times: 40,719 bytes for lwIP against 9,316 bytes for smoltcp. FreeRTOS task stacks grow linearly at roughly 1 KB per task…
PDF
arXiv cs.CROct 15
Approve What, Exactly? Effect Binding and Trusted Rendering for Agent Step-Up Authorization
Sai Varun Kodathala, Prashanth Pollishetty, Jaylen Cargill
AI agents now pause for approval before they send money, delete files or email outsiders, and that approval is usually treated as a second factor. We argue it is one only when compromising the agent cannot produce it and when it names exactly what it approves, and we test both conditions. We define twelve attacks on the approval path, including decoy recipients, amount cancellation, card padding, label spoofing, enrollment squatting and threshold splitting, and run them against the Agent Payments Protocol (AP2), the Microsoft action-bound approval design and Model Context Protocol (MCP) elicitation. An audit of ten agent runtimes finds no third-party verifiable approval record, no flood limits where measurable, and post-approval argument changes in four of eight runtimes with measurable binding. As a reference defense we build ASU (Agent Step-Up), a gateway that renders the approval card from a canonical effect descriptor, has a passkey on the phone of the user sign its digest, and executes only the stored call. Tamarin proves its binding, single-use and key-level non-repudiation properties under three stated hypotheses (53 lemmas). Across 27,108 scripted trials and 609 AgentDojo…
PDF
arXiv cs.CLOct 15
Multimodal AI Detection for Math-Heavy Scientific Text
Yixuan Huang, Danish Pruthi, Bhuwan Dhingra
As large language models become increasingly capable of generating, and assisting with, scientific writing, there is a need for greater transparency and disclosure around the use of AI in research. Consequently, a veritable subfield of research and a number of commercial services aim to flag AI-generated content automatically. However, existing detectors which rely only on text extracted from PDFs fail to benefit from the rich visual information contained in the formatting of math-heavy scientific content. To study this, we select human-written proof and prose passages from pre-2022 arXiv LaTeX sources and re-generate them using 15 modern LLMs within the context of the same paper. This leaves us with coupled human and AI outputs in three different representations: the LaTeX source, a rendered image of the PDF, and the text extracted from the PDF. We find that the accuracy of the state-of-the-art Pangram 4 drops significantly as the mathematical content in a passage increases, especially when evaluated on text as opposed to LaTeX. However, this is not an inherent limitation of detecting AI-generated math: finetuning Qwen-3.5-27B based detectors on this domain recovers the gap,…
PDF
arXiv stat.MLOct 15
Score Mismatch and Set-Constrained Sampling in Zero-Shot Conditional Discrete Diffusion
Renxiang Huang, Yuchen Liang, Yingbin Liang, Ness Shroff, Lifeng Lai
Discrete diffusion models have become a powerful framework for modeling complex discrete distributions across a range of applications. While theoretical convergence guarantees depend on consistency between the target and training distributions, such a case rarely holds in practice, making score mismatch a central challenge in discrete diffusion sampling. This is particularly relevant to zero-shot conditional generation, where a model trained on the unconditional distribution is directly reused at inference time to sample from a conditional target distribution. In this paper, we provide the first theoretical analysis for score-mismatched discrete diffusion models and derive a general KL divergence upper bound that clearly identifies the additional bias caused by such a mismatch. Our analysis covers partial-observation constraints, including text infilling, sentence completion, and more general coordinatewise set constraints. Specifically, we analyze the classical Conditional SEDD sampler and show that it can incur a bias term that scales with the dimension, vocabulary size, and compatibility. Based on this analysis, we propose a Randomized Hard Clamping (RHC) sampler for…
PDF
arXiv cs.LGOct 15
Bellman-Consistent Trajectory RL for LLM Arithmetic Reasoning
Lianfa Li
To address sparse terminal rewards in LLM arithmetic reasoning, we propose a Bellman-consistent trajectory RL method. Our framework introduces Trajectory Bellman Residual Minimization (TBRM) to transform sparse rewards into dense token-level signals. We integrate a Reinforce Leave-One-Out (RLOO) group strategy to reduce gradient variance of Bellman residuals and use hindsight goal relabeling to accelerate intermediate learning. Evaluated on the Countdown task, our method alleviates optimization bottlenecks and stabilizes gradient variance significantly better than GRPO. The TBRM-RLOO framework boosts Pass@1 to 0.55--0.64 and achieves a state-of-the-art Pass@16 accuracy of 76.0--84.0\%, outperforming the SFT, IPO/DPO, and RLOO baselines. Our approach demonstrates exceptional single-sample efficiency and successfully circumvents standard performance plateaus via test-time scaling.
PDF
arXiv cs.AIOct 15▲ 11
Athanor: An Agent-Native System for Autonomous Post-Training Research
Yufa Zhou, Yichen Wang, Jiakun Fan, Ziqi Shu, Zhichao Liu +3
Recursive self-improvement, in which AI systems build stronger AI systems, is one promising route to superintelligence. We study a weaker form that can be measured today: frontier agents post-training a small raw base model with public data, as a test of their research potential. We build Athanor, an open agent-native system for autonomous post-training research (AutoPostTrain) on real GPUs. We give the agents full research autonomy, low-friction engineering tools, and efficient starter code. The agents carry out the research themselves: they read datasets and evaluation results, build their training data, write and modify training algorithms, tune hyperparameters, and analyze the results to decide what to try next. They work in a sandbox and cannot use external teacher models. Athanor's services supply frozen evaluation, managed jobs, decontaminated data, a persistent research record, and a held-out suite the agents are unaware of. In a 104-hour campaign, a team of four Claude Opus 5.5 agents, each on an eight-GPU node and given no research advice, improves Qwen3-4B-Base from 15.9 to 67.3 on a six-task development suite and from 9.2 to 48.2 on a held-out suite, against 66.5 and…
PDF
arXiv cs.LGOct 15
SALTO: Solver-Anchored Lifted Transfer Operators for Nonlinear Event Inference
Qi Wang, Rylie Foster
Learned dynamical models can accurately predict trajectories while producing unreliable sensitivities when differentiated or transposed, limiting their use in inverse problems and scientific decision-making. Classical adjoints provide exact local derivatives, but a single adjoint cannot represent the nonlinear response of a system to a family of finite-amplitude perturbations. We introduce SALTO (Solver-Anchored Lifted Transfer Operators), a Koopman-based framework for inferring finite-amplitude sources. In the lifted space, the nonlinear dynamics are approximated by a linear propagator, and its transpose carries each sensor backward in a single solve. The result is a reusable lifted adjoint that predicts the measurement produced by any candidate localized event with one encoder pass and an inner product. To give the model the simulator's exact local behavior, SALTO imposes three structural constraints: it anchors the physical-state dynamics to the simulator's linearized propagator, centers the learned observables so that they vanish to second order at the reference state, and uses a block-triangular lifted propagator. These constraints guarantee that the model reduces to the…
PDF
arXiv cs.CLOct 15
SHIP: Structured and Hierarchical Insight with Privacy
Kai Chen, Guisi Ni, Albert Cheu, Kassem Fawaz, Yuzheng Hu +2
Extracting insights from textual data while protecting user privacy is increasingly important. Existing methods produce private insights in diverse forms for different analytical purposes, making their utility difficult to assess and compare. In this work, we formulate differentially private (DP) insights as reusable representations for answering analytical queries, providing a common basis for utility assessment. Answering these queries, however, requires fine-grained details and cross-attribute statistics that existing representations may omit. To capture this information, we introduce Structured and Hierarchical Insight with Privacy (SHIP), which automatically maps queries to attributes, builds a hierarchical hybrid taxonomy, and releases a DP synthetic table for further analysis. We also develop an evaluation protocol based primarily on QA performance and structured fidelity. Our experiments demonstrate SHIP's strong performance on both measures relative to existing private insight baselines, while identifying queries that remain challenging for structured representations.
PDF

Papers

Open problems across fields

Compositionality in RAG pipelines1 paper raises it · 1 addresses it
Combining individually strong RAG components often fails to improve overall performance, and gains may not transfer across retrieval quality and answer faithfulness.
- Retrieval Augmented Generation Compositionalityraises · addresses
Request execution in streaming video generation1 paper raises it · 0 address it
Models struggle to reliably follow incremental multimodal requests while maintaining state consistency and visual fidelity.
- StreamEval: Evaluating Interactive Streaming Video Generation Modelsraises
Brain-body mismatch in recursive self-improving agents1 paper raises it · 1 addresses it
Evolving execution harnesses may demand behaviors the model has not learned or restrict existing capabilities.
- CoEvo-RSI: When Harnesses Evolve, Which Models Should Follow?raises · addresses
Length generalization in state tracking1 paper raises it · 1 addresses it
Models trained on short sequences often fail to generalize to much longer sequences without explicit progress alignment.
- PAR: Progress-Aligned Recurrence for Length Generalization in State Trackingraises · addresses
Evidence-grounded evaluation for audio-visual reasoning1 paper raises it · 1 addresses it
Existing benchmarks often allow models to answer correctly without analyzing necessary audio-visual evidence, weakening reliability.
- EvaOmni: An Evidence-Grounded Benchmark for Audio-Visual Reasoningraises · addresses

Named by an AI from these papers' abstracts.

Open problems

Rising research topics

Federated learning41−4.7%
Forecasting time70−13.6%
Adversarial training42−14.3%
Machine learned interatomic45−18.2%
Anomaly detectors29−19.4%
Classifier & causal discovery77−19.8%
Frontier LLMs400−20.9%
3D scene142−21.1%

Rising research topics

Ask the research

Sample

Papers

arXiv cs.CVOct 15▲ 31
Can World and Action Modeling Benefit Each Other under Unified Causal Training?
Yue Su, Bokai Lin, Xinkai Wang, Chubin Zhang, Xiangnan Wu +7
World and action modeling are closely related, yet their reciprocal benefits under unified causal training remain unclear. We introduce OneWM, a simple framework for unified causal training that treats actions as both conditions for world prediction and targets for policy learning within a shared video-action architecture. Using this framework, we investigate whether learning forward dynamics conditioned on specified actions improves action learning, and whether learning to generate actions in turn improves action-conditioned world modeling. We use LIBERO, LIBERO-Plus, and RoboCasa365 as embodied testbeds to evaluate both policy learning and world modeling, complemented by real-world policy experiments. Learning the visual consequences of specified actions improves policy performance and generalization across changing scenes. In turn, action learning improves multi-view world-prediction fidelity under the same architecture. Together, these results answer both questions positively, supporting reciprocal benefits between world modeling and action generation under unified causal training.
CodePDF
arXiv cs.AIOct 15
MemComposer: Learning to Assemble Memories for LLM Agents via Reinforcement Learning
Yixuan Xie, Xueqiang Xu, Xinyi Fan, Xinxi Lyu, Tao Feng +6
Agent memory enables large language model (LLM) agents to reuse past experiences without updating their parameters. However, semantic similarity alone does not guarantee memory usefulness: downstream performance depends on how memories are selected and presented to the agent. We propose MemComposer, a memory composer that jointly examines the current query and retrieved candidates to decide which experiences to include, how many to select, and how to order them. We train the composer using Experience Policy Optimization (ExPO), a GRPO-based framework that evaluates assembled memory contexts through complete agent interactions and uses task-success feedback to optimize the assembly policy. Across three $τ^2$-bench domains with two frozen executors, MemComposer outperforms the strongest baseline for each executor while reducing average memory-token usage by 16.9% and 4.9%, respectively. The learned policy also transfers to unseen domains, executors, and memory banks, and benefits from memories generated by stronger models without further training. These results demonstrate the value of learning query-specific memory assembly using downstream task feedback.
PDF
arXiv cs.CVOct 15
RoboCloth: A Large-Scale Real Cloth Material Dataset for Neural Reflectance Reconstruction
Zhen Li, Haoran Qin, Francesco Di Sario, Daniel Rebain, Andrea Tagliasacchi
We present RoboCloth, a dataset of 500 real cloth materials captured under flexible, calibrated camera and lighting configurations, where both are robotically controlled during acquisition. Each material is imaged in approximately 580 high-dynamic range frames spanning a wide view-light hemisphere; camera poses are refined via structure-from-motion and aligned to the robot frame, yielding per-material sparse surface geometry and structured per-point reflectance observations ready for neural material training. We demonstrate the value of this data through a two-stage neural reconstruction pipeline: Stage 1 trains a shared MLP decoder on our corpus to learn cloth material priors; Stage 2 then freezes the decoder and fits a dense 2048x2048 latent texture to each target material. Evaluating on held-out materials from our own dataset and on the independent UBO2014 benchmark, we show that a decoder trained on our captures outperforms decoders trained on existing measured reflectance datasets and analytic PBR fitting, transferring to unseen acquisition systems without modification. The dataset, calibration files, observation tensors, and train/test splits are released under CC BY 4.0 on…
PDF
arXiv cs.AIOct 15
Probe-and-Resume: When and How to Evaluate Agent Execution
Jiakai Xu, Tiancheng Ge, Tujie Guan, Yusheng Li, Rohan Timmaraju +2
Test-time search can improve agent performance by exploring alternative actions and using a critic to select promising branches. We study this approach in terminal-based computer-use environments, which expose only a partial view of a large underlying state, and find that the Monte Carlo tree search (MCTS) configuration we evaluate does not significantly improve task success. We identify two sources of poor critic performance: the agent's observations omit environment state needed for evaluation, and intermediate states offer limited evidence of whether a trajectory will succeed. At intermediate states, critics rank continuations only modestly better than chance, and environment access improves this little. We study when to invoke a critic and what access to give it to evaluate a node. Our findings motivate a policy that invokes the critic only at nodes the agent believes are final, rather than during partial progress. Further, the policy gives the critic read, write, and execute access to a fork of the computer's current and initial state, allowing it to probe and perform potentially destructive actions to surface any hidden state the trajectory omits. We call the resulting…
PDF
arXiv cs.LGOct 15
SIEVE: Overcoming Topological Obstruction in Equivariant Self-Supervised Learning
Jongann Lee, Sun Woo Park, Yun Young Choi
We identify a theoretical incompatibility between 3D point cloud masked autoencoding and SE(3)-equivariant networks. We prove that standard masking triggers a topological collapse, effectively forcing the model to hallucinate orientation without a reference frame. To resolve this, we introduce SIEVE (Scalar Invariant Extraction Via Equivariance), an SE(3)-equivariant self-supervised framework that compresses point cloud geometry into invariant scalar embeddings. At its core is the spherical projection mask, which preserves global pose while obfuscating local semantics, sidestepping the obstruction by construction. Experiments confirm that SIEVE circumvents the predicted collapse where constant and noise masks fail. On downstream point cloud tasks, the resulting embeddings improve over coordinate-based baselines and hand-crafted geometric descriptors, with the largest gains on generalization to unseen shape categories.
PDF
arXiv cs.CVOct 15
RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching
Liangjing Shao, Wanhao Liu, Zhiwei Fang, Rulin Zhou, Quanlu Zhang +4
Camera-to-robot pose estimation from a monocular image is significant for vision-based robot navigation and control. However, recovering 3D structural features from 2D observations remains a challenging task. Existing camera-to-robot pose estimation methods either rely on time-consuming iterative rendering or involve sophisticated 2D-3D registration which suffers from projection ambiguity, accumulated errors for distal joints and imbalanced learning for different joints. In this work, we propose RoPE-Flow, an end-to-end flow matching-based framework for camera-to-robot pose estimation. From the predicted 2D heatmaps, we propose a Keypoint-centered Feature Extractor to obtain positional features along with contextual representations from keypoints-centered multi-scale patches. Moreover, we introduce Graph-guided Condition Generator, which embeds a learnable adjacency map to generate condition for flow matching based on correlation among keypoints. Besides, we introduce Bone Length Loss and Ray-Depth Loss for topological consistency and scale stability, with joint-wise weighting to mitigate varied prediction difficulty across joints. The proposed method outperforms state-of-the-art…
PDF
arXiv cs.CLOct 15
A Jury, Not an Electorate: Label-Free Reliability Estimation for Ensembles of Language Models
Alessandro Rozza, Davide Mambelli, Steven Motta, Juri Taresch
An ensemble of language models is a jury, not an electorate. The answers are testimony from witnesses of unknown reliability, and the question is not what the majority said but who is credible. Most ensemble methods assign each expert a fixed reputation, often learned from labels. We ask whether it can instead be inferred from the pattern of agreement and disagreement among the experts. We model the experts as a jury: each question has a latent true answer, each expert reports it with unknown reliability, and those reliabilities are estimated by Expectation Maximisation (EM) from unlabelled answer configurations alone. We show that its decision rule reduces to a log-odds weighted linear score over the experts' answer distributions. What changes is not how the jury votes, but how it learns whom to trust. On a 1560-question benchmark, the jury, with nine experts of up to 3B parameters, performs comparably to the same fusion rule with label-fitted weights, showing no statistically significant advantage from supervision. Instead, it outperforms the best single model with matched self-consistency and the strongest label-free alternative on the full benchmark.
PDF
arXiv cs.AIOct 15▲ 14
Sci$Π$vot: Benchmarking Principal-Investigator Judgment at Pivotal Moments of Scientific AutoResearch Agents
Youran Sun, Xingyu Ren, Chugang Yi, Kejia Zhang, Di Wu +13
Large language model (LLM) agents can keep scientific experiments running for months with little human supervision, but reliable autonomous research also requires scientific judgment. Evaluating scientific judgment is difficult because research decisions are open-ended and depend on project context. We construct Sci$Π$vot, a 248-case benchmark of scientific judgment based on human corrections. The benchmark draws on records from six months of research in which senior researchers ran LLM agents on 26 projects across six scientific fields and repeatedly intervened to correct the agents' research judgments. In each case, an agent chooses between the original LLM plan and the human-corrected alternative, using only the project record available before the correction as context. We compare LLM and human performance and examine the effects of reasoning effort, access to the project record, and reconsideration. At medium reasoning effort with the project record, models systematically prefer the original LLM plan over the human-corrected alternative. Four of five frontier models perform below chance on the selected cases. The highest accuracy in the project condition across the tested…
PDF
arXiv cs.LGOct 15
StochLOB: Heavy-Tailed Score Matching for Robust Limit Order Book Trend Prediction
Arshia Abolghasemi, Seyed Reza Tavakoli, Parsa Naderi, Nazanin Mirzaei, Behrad Jahani +5
Score-based diffusion methods usually perturb data with Brownian Gaussian noise, corresponding to a light-tailed forward stochastic differential equation (SDE). For market time series this SDE can be a poor abstraction: limit order book (LOB) order flow is heavy-tailed, bursty, and occasionally jump-like. We study STOCHLOB, a training-only score-matching framework that changes the forward diffusion corruption law while leaving the deployed predictor deterministic. Instead of Brownian-only Gaussian corruption, the noising process uses two non-Gaussian SDE-inspired alternatives: jump-Lévy noise through a compound-Poisson variance mixture, and clipped $α$-stable noise through a positive-stable Gaussian scale mixture. These corruptions inject finite jumps and heavy-tailed residuals into training without requiring reverse-time diffusion sampling at inference. The resulting score target has a useful interpretation: its radial factor $h_t(r)$ is the posterior expected corruption precision, so large residuals are weighted according to the latent corruption scale that most plausibly generated them. On chronologically held-out Coinbase LOB data, the proposed variants remain competitive on…
PDF
arXiv math.NAOct 15
Adaptive Randomized Neural Networks for PDEs: Structure-Aware Feature Redistribution and Residual-Driven Block Enrichment
You Yang, Fei Wang
Randomized neural networks retain an output-linear least-squares solve, but globally sampled random features may fail to capture the spatial and scale structure of PDE solutions. We propose SFRBE--RaNN, a two-stage adaptive trial-space construction. SFR redistributes a fixed feature budget according to regional indicator masses and adapts regional weight scales through low-dimensional residual-based optimization. RBE constructs nonredundant enrichments by screening multiple activation families, removing represented response directions, and selecting the smallest admissible prefix. For solution-dependent operators, candidates are screened with a frozen operator and accepted only after nonlinear residual verification. For fixed linear problems, we establish an exact discrete residual-reduction identity and a conditional solution-error estimate. Building on this identity, we combine safeguarded SFR with RBE capture factors to derive a finite-horizon error bound involving baseline best approximation and empirical consistency, together with a conditional random-search success-probability bound. Numerical experiments on localized, multiscale, and nonlinear space--time problems…
PDF
arXiv cs.AIOct 15
OmicsBench: a long-horizon multi-turn benchmark of AI agents on research-study-scale bioinformatics
Gideon Shaked, Siddharth Nagisetty
Computational biologists increasingly delegate substantial analyses to AI agents in long-horizon, multi-turn sessions, yet most benchmarks of agents' bioinformatics capabilities pose a single short task with a single-shot prompt. We present OmicsBench, a long-horizon, multi-turn bioinformatics benchmark for AI agents. Each of its 97 tasks links dependent subtasks into a directed acyclic graph, for 662 underlying subtasks in all. Each subtask is posed as one user turn and graded deterministically against an answer key, with optional in-context feedback on incorrect answers. Across 12 models on three harnesses, the slowest agent averages 3.6 hours per task, and no combination comes near saturating the benchmark, with mean scores of 0.43 to 0.57 out of a possible 1 without in-context feedback and 0.54 to 0.67 with it. Multi-turn evaluation also uncovers behavior that single-shot prompts cannot, as agents score lower on subtasks that depend on earlier subtasks, and in-context feedback helps agents recover some of that loss. Because deterministic scoring gives no qualitative account of how an agent failed, we also introduce an unsupervised failure mode discovery pipeline that…
PDF
arXiv cs.SEOct 15▲ 3
Skip the Compressor: Coding Agents Fix More Issues When They Pick Whole Files
Xiaocong Yang, Rishit Chatterjee, Himanshu Udupi, Vikram Ramavarapu, ChengXiang Zhai
A coding agent works on repositories that can be far larger than its context window can hold. Prompt compressors and retrievers offer solutions to this problem, but patching an issue needs two things at once: the files that must change, and their code exactly as written, since the model must reproduce the lines it edits. Retrievers rank code by its similarity to the issue rather than by whether it must change, and compressors delete text to fit the budget. We show that at an equal token budget, an agent resolves more issues when the budget goes to choosing which files to show verbatim, as our simple selector CQ2-CARE does, than when it goes to pruning tokens or retrieving chunks. We fit every context to the same per-issue budget on 300 recent SWE-rebench issues and grade each patch with the benchmark's tests. With GPT-5.6 and Claude Opus 5, CQ2-CARE resolves 43.7% and 46.7% of the issues, 6.3 points more than the best of three compressors with either model, and 9.3 and 12.7 points more than the best of three retrievers. CQ2-CARE even resolves more issues than two methods trained for issue resolution, SweRank (by 0.7 and 1.7 points) and SWE-Pruner (by 2.0 and 7.3). Our analysis…
PDF
arXiv cs.OSOct 15
Where the SRAM Goes: Per-Symbol Attribution of Static Memory in FreeRTOS-C and Embassy-Rust IoT Firmware on a 64 KB RISC-V Microcontroller
Romi Fadli, Jan Everhard Riwurohi, Wahyu Ramadani Putri Utami, Zulfa Malika Amana
Selecting a firmware stack for a memory-constrained microcontroller is usually guided by aggregate binary sizes, which report how much SRAM a build consumes but not where it goes or why. We address that gap with a per-symbol attribution method that decomposes static RAM into architectural categories - scheduler heap, network buffers and pools, task stacks, and linker-reserved regions - by bounding sized ELF symbols to the .data, .bss and .stack section ranges. The method is validated by reconciling every category sum exactly against the size-based totals for all sixteen builds. We apply it to eight cumulative firmware milestones, from a bare task scaffold to a full MQTT-over-Ethernet client, implemented twice, in FreeRTOS-C and in Embassy-Rust, on the CH32V203RBT6, a RISC-V microcontroller with 64 KB SRAM and an on-chip Ethernet MAC and PHY, with functional parity verified on hardware at every milestone. The decomposition shows that both stacks spend a nearly identical share of their RAM on networking (63.8% versus 63.9%), yet the absolute cost differs by 4.4 times: 40,719 bytes for lwIP against 9,316 bytes for smoltcp. FreeRTOS task stacks grow linearly at roughly 1 KB per task…
PDF
arXiv cs.CROct 15
Approve What, Exactly? Effect Binding and Trusted Rendering for Agent Step-Up Authorization
Sai Varun Kodathala, Prashanth Pollishetty, Jaylen Cargill
AI agents now pause for approval before they send money, delete files or email outsiders, and that approval is usually treated as a second factor. We argue it is one only when compromising the agent cannot produce it and when it names exactly what it approves, and we test both conditions. We define twelve attacks on the approval path, including decoy recipients, amount cancellation, card padding, label spoofing, enrollment squatting and threshold splitting, and run them against the Agent Payments Protocol (AP2), the Microsoft action-bound approval design and Model Context Protocol (MCP) elicitation. An audit of ten agent runtimes finds no third-party verifiable approval record, no flood limits where measurable, and post-approval argument changes in four of eight runtimes with measurable binding. As a reference defense we build ASU (Agent Step-Up), a gateway that renders the approval card from a canonical effect descriptor, has a passkey on the phone of the user sign its digest, and executes only the stored call. Tamarin proves its binding, single-use and key-level non-repudiation properties under three stated hypotheses (53 lemmas). Across 27,108 scripted trials and 609 AgentDojo…
PDF
arXiv cs.CLOct 15
Multimodal AI Detection for Math-Heavy Scientific Text
Yixuan Huang, Danish Pruthi, Bhuwan Dhingra
As large language models become increasingly capable of generating, and assisting with, scientific writing, there is a need for greater transparency and disclosure around the use of AI in research. Consequently, a veritable subfield of research and a number of commercial services aim to flag AI-generated content automatically. However, existing detectors which rely only on text extracted from PDFs fail to benefit from the rich visual information contained in the formatting of math-heavy scientific content. To study this, we select human-written proof and prose passages from pre-2022 arXiv LaTeX sources and re-generate them using 15 modern LLMs within the context of the same paper. This leaves us with coupled human and AI outputs in three different representations: the LaTeX source, a rendered image of the PDF, and the text extracted from the PDF. We find that the accuracy of the state-of-the-art Pangram 4 drops significantly as the mathematical content in a passage increases, especially when evaluated on text as opposed to LaTeX. However, this is not an inherent limitation of detecting AI-generated math: finetuning Qwen-3.5-27B based detectors on this domain recovers the gap,…
PDF
arXiv stat.MLOct 15
Score Mismatch and Set-Constrained Sampling in Zero-Shot Conditional Discrete Diffusion
Renxiang Huang, Yuchen Liang, Yingbin Liang, Ness Shroff, Lifeng Lai
Discrete diffusion models have become a powerful framework for modeling complex discrete distributions across a range of applications. While theoretical convergence guarantees depend on consistency between the target and training distributions, such a case rarely holds in practice, making score mismatch a central challenge in discrete diffusion sampling. This is particularly relevant to zero-shot conditional generation, where a model trained on the unconditional distribution is directly reused at inference time to sample from a conditional target distribution. In this paper, we provide the first theoretical analysis for score-mismatched discrete diffusion models and derive a general KL divergence upper bound that clearly identifies the additional bias caused by such a mismatch. Our analysis covers partial-observation constraints, including text infilling, sentence completion, and more general coordinatewise set constraints. Specifically, we analyze the classical Conditional SEDD sampler and show that it can incur a bias term that scales with the dimension, vocabulary size, and compatibility. Based on this analysis, we propose a Randomized Hard Clamping (RHC) sampler for…
PDF
arXiv cs.LGOct 15
Bellman-Consistent Trajectory RL for LLM Arithmetic Reasoning
Lianfa Li
To address sparse terminal rewards in LLM arithmetic reasoning, we propose a Bellman-consistent trajectory RL method. Our framework introduces Trajectory Bellman Residual Minimization (TBRM) to transform sparse rewards into dense token-level signals. We integrate a Reinforce Leave-One-Out (RLOO) group strategy to reduce gradient variance of Bellman residuals and use hindsight goal relabeling to accelerate intermediate learning. Evaluated on the Countdown task, our method alleviates optimization bottlenecks and stabilizes gradient variance significantly better than GRPO. The TBRM-RLOO framework boosts Pass@1 to 0.55--0.64 and achieves a state-of-the-art Pass@16 accuracy of 76.0--84.0\%, outperforming the SFT, IPO/DPO, and RLOO baselines. Our approach demonstrates exceptional single-sample efficiency and successfully circumvents standard performance plateaus via test-time scaling.
PDF
arXiv cs.AIOct 15▲ 11
Athanor: An Agent-Native System for Autonomous Post-Training Research
Yufa Zhou, Yichen Wang, Jiakun Fan, Ziqi Shu, Zhichao Liu +3
Recursive self-improvement, in which AI systems build stronger AI systems, is one promising route to superintelligence. We study a weaker form that can be measured today: frontier agents post-training a small raw base model with public data, as a test of their research potential. We build Athanor, an open agent-native system for autonomous post-training research (AutoPostTrain) on real GPUs. We give the agents full research autonomy, low-friction engineering tools, and efficient starter code. The agents carry out the research themselves: they read datasets and evaluation results, build their training data, write and modify training algorithms, tune hyperparameters, and analyze the results to decide what to try next. They work in a sandbox and cannot use external teacher models. Athanor's services supply frozen evaluation, managed jobs, decontaminated data, a persistent research record, and a held-out suite the agents are unaware of. In a 104-hour campaign, a team of four Claude Opus 5.5 agents, each on an eight-GPU node and given no research advice, improves Qwen3-4B-Base from 15.9 to 67.3 on a six-task development suite and from 9.2 to 48.2 on a held-out suite, against 66.5 and…
PDF
arXiv cs.LGOct 15
SALTO: Solver-Anchored Lifted Transfer Operators for Nonlinear Event Inference
Qi Wang, Rylie Foster
Learned dynamical models can accurately predict trajectories while producing unreliable sensitivities when differentiated or transposed, limiting their use in inverse problems and scientific decision-making. Classical adjoints provide exact local derivatives, but a single adjoint cannot represent the nonlinear response of a system to a family of finite-amplitude perturbations. We introduce SALTO (Solver-Anchored Lifted Transfer Operators), a Koopman-based framework for inferring finite-amplitude sources. In the lifted space, the nonlinear dynamics are approximated by a linear propagator, and its transpose carries each sensor backward in a single solve. The result is a reusable lifted adjoint that predicts the measurement produced by any candidate localized event with one encoder pass and an inner product. To give the model the simulator's exact local behavior, SALTO imposes three structural constraints: it anchors the physical-state dynamics to the simulator's linearized propagator, centers the learned observables so that they vanish to second order at the reference state, and uses a block-triangular lifted propagator. These constraints guarantee that the model reduces to the…
PDF
arXiv cs.CLOct 15
SHIP: Structured and Hierarchical Insight with Privacy
Kai Chen, Guisi Ni, Albert Cheu, Kassem Fawaz, Yuzheng Hu +2
Extracting insights from textual data while protecting user privacy is increasingly important. Existing methods produce private insights in diverse forms for different analytical purposes, making their utility difficult to assess and compare. In this work, we formulate differentially private (DP) insights as reusable representations for answering analytical queries, providing a common basis for utility assessment. Answering these queries, however, requires fine-grained details and cross-attribute statistics that existing representations may omit. To capture this information, we introduce Structured and Hierarchical Insight with Privacy (SHIP), which automatically maps queries to attributes, builds a hierarchical hybrid taxonomy, and releases a DP synthetic table for further analysis. We also develop an evaluation protocol based primarily on QA performance and structured fidelity. Our experiments demonstrate SHIP's strong performance on both measures relative to existing private insight baselines, while identifying queries that remain challenging for structured representations.
PDF