Research

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

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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.LGSep 28
TIDE: Teacher-Student Transition via Informative Distillation and Exploration for Agentic RL
Yibin Huang, Xinming Xu, Conghui Zhu
Effective multi-turn agents require interaction strategies that coordinate information gathering, actions, and feedback over long horizons. GRPO is a reinforcement learning algorithm used to train these agents, but sparse trajectory-level rewards limit early exploration in small models. Recent methods augment RL with on-policy distillation (OPD) from a stronger teacher. However, a fixed mixture assumes that teacher guidance and reward optimization should retain a constant relative role throughout training and across interaction turns. This assumption can fail at two scales. Globally, as training progresses, maintaining strong distillation pressure can constrain the model from moving beyond the teacher's capabilities. Locally, teacher--student disagreement identifies where the student departs from the teacher, but cannot tell whether that departure is exploration supported by better outcomes or low-quality policy drift. Our methodological insight is that teacher guidance and reward optimization should be dynamically rebalanced over training and jointly allocated across turns. We instantiate this insight in \tide. Globally, \tide uses the measured disagreement trend as a practical…
PDF
arXiv cs.LGSep 28
Universality and Generalization of Causal Transformers Across Context Lengths
Takashi Furuya, Maarten V. de Hoop, Gabriel Peyré
Long contexts are central to modern transformer systems, but most expressivity results choose a different network for each fixed sequence length. We study whether one masked transformer can approximate causal token-to-token maps uniformly over sequences of arbitrary length sampling a fixed normalized horizon. To relate sampling resolutions, we model tokens by $α$-Hölder sequences or, more generally, a common modulus of continuity. Our notion of continuity across resolutions characterizes the causal families admitting uniform approximation on these compact input classes by a single transformer with length-independent parameters. The result extends to the infinite-length mean-field limit, where tokens form continuous curves and masked attention becomes a causal time integral. For bounded regression with target maps satisfying a $β$-smooth stability condition defined using regular test functions, quantitative approximation yields a generalization bound: exact empirical risk minimization over suitably sized bounded-weight transformers gives root mean-square prediction error $O((\log\log N/\log N)^{β/(d+2)})$ from $N$ iid labeled sequences. The bound holds at fixed confidence on the…
PDF
arXiv eess.ASSep 28
Perceptual Quality Loss or Loss of Perceptual Quality?
Danilo de Oliveira, Tal Peer, Maurício do V. M. da Costa, Timo Gerkmann
Contemporary deep speech enhancement (SE) models are often trained with specific auxiliary terms in the loss function as a way to improve their performance in terms of perceptual metrics. Nevertheless, a higher score on a perceptual metric does not necessarily correlate with an improved listening experience. Through objective and subjective experiments, we assess the performance of SE models trained with two different types of auxiliary PESQ loss terms. The numerical evaluation on a suite of standard metrics suggests that, while models optimized for PESQ naturally obtain higher PESQ scores in the test set, for most other metrics the scores do not significantly change. In some cases, the PESQ loss even results in worse PESQ scores on mismatched data. A formal listening experiment reveals that the models without a PESQ loss were generally preferred over models that include it, across all settings. Finally, we analyze the relative importance of PESQ in the composite metrics CSIG, CBAK and COVL, and find that PESQ dominates all of them. Our study highlights the perils of over-reliance on PESQ and stresses the importance of a complete evaluation procedure for SE.
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arXiv cs.CVSep 28
OPIS: An Input-Grounded Benchmark for Multi-Object Memory in Video World Models
Hao Wang, Tao Yu, Liuzhou Zhang, HeXin Wang, Haopeng Jin +11
Video world models must preserve the visual state of the world over time, but existing evaluation protocols often rely on generated histories, video reference, or selected revisit viewpoints that can confound the assessment of a model's true memory capability. To address this, we introduce OPIS, an input-grounded benchmark that strictly anchors the assessment to a fixed set of object instances from the initial observation for evaluating multi-object memory in video world models. The OPIS dataset comprises 500 cases across real-world, embodied-robotic, and game-world domains, providing dense object-level annotations for 12,672 rigid, articulated, and deformable instances. Our object-centric evaluator combines association and explicit visibility reasoning to hierarchically measure Object (O) Presence (P), Identity (I), and Structure (S), utilizing static or dynamic evaluation tracks based on object kinematics. Across eight image-to-video or camera-conditioned world models, our proposed OPIS scores range from 48.65 to 56.01. As the reference inventory grows from less than 20 to more than 40 objects, the Presence, Identity, and Structure scores show an overall decline, with the…
PDF
arXiv cs.ROSep 28
EMPIRIC: Experiment-Driven Learning of Residual World Models for Robot Planning
Yichao Liang, Amber Li, Dat Nguyen, Emily Bunnapradist, Michelangelo Naim +11
A robot should be able to learn through experiments how unfamiliar objects behave and interact, then plan with that knowledge. It need not start from scratch: physics engines supply knowledge of motion and contact, but can omit entire mechanisms, such as glue curing, water heating, or wind. We present EMPIRIC, an agent that learns a residual world model: a physics engine extended with code for the missing mechanisms. The learned programs can introduce new forces, constraints, and hidden state, and Bayesian inference estimates their parameters and states from noisy observations. The resulting model lets the agent predict the outcomes of actions, choose informative experiments, and revise its hypotheses when predictions fail. Across five simulated domains, EMPIRIC learns interpretable, reusable models, and solves more tasks with fewer environment interactions than all three baselines. On a physical robot, it learns wind forces and domino masses to solve a manipulation task. Website and code: https://yichao-liang.github.io/empiric
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arXiv cs.CVSep 28
LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation
Hongli Xu, Zhaowei Lu, Junwen Huang, Jiaqi Hu, Peter KT Yu +3
Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical object structure before a stable pose can be determined. We present LEGAU, a unified framework that jointly predicts NOCS correspondence, object pose and size, and a canonical Semantic Gaussian Field. Rather than treating reconstruction as a detached auxiliary task, LEGAU uses the Gaussian field as a category-conditioned structural prior that participates in multimodal feature fusion and provides global guidance for local pose reasoning. Conditioned on a categorical text embedding, LEGAU processes RGB-D observations through a transformer-based fusion module that integrates visual, geometric, and category-level cues, decoding the NOCS map, pose and size information and the Gaussian-based object representation. Extensive experiments on synthetic and real-world benchmarks show that this coupled pose-shape formulation achieves strong performance in a single-model multi-category setting, with up to 22\% on SOPE and competitive transfer to real-world data. These results highlight the benefit of jointly learning…
PDF
arXiv cs.LGSep 28
BA-DPO: Bias-Adjusted Direct Preference Optimization for Language Model Alignment
Antonio Ferrara, Alberto Rumi, Francesco Bonchi
Preference-based alignment methods such as Direct Preference Optimization (DPO) use pairwise preferences labeled by human annotators to fine-tune language models. However, annotators carry systematic biases toward some attributes: a name that signals a gender or an ethnicity, a persona, a language variety, a formatting convention, or length. If not properly addressed, these systematic biases can be absorbed and amplified during alignment. Existing methods address length bias or annotator disagreement, but fail to eliminate biases toward arbitrary attributes. To address this limitation, we propose Bias-Adjusted DPO (BA-DPO), a generalization of DPO that adds one bias parameter per annotator toward responses carrying a declared attribute. We prove that the objective is convex in the bias parameters and that the votes identify each annotator's bias up to a shared constant. The remaining constant is what fixes the aligned model's attribute rate: by default the rate of the reference model, or a target rate, which we use to bring a biased policy to statistical parity. On a corpus with planted biases, DPO drives the attribute from a balanced start to probability 0.96 and BA-DPO removes…
PDF
arXiv cs.CVSep 28
Mixed-Prior Decision Risk for Open-Set Recognition
L. A. Erlygin, P. D. Proskura, A. A. Zaytsev
In open-set recognition (OSR), a probe must either be identified as one of the known gallery classes or rejected as unknown, so three error types coexist: false acceptance, false rejection, and misidentification. An uncertainty score for selective recognition should rank probes by the risk of the decision the system has made. Bayesian gallery-aware models such as Holistic Uncertainty Estimation (HolUE) summarize the posterior over known and unknown classes by Kullback--Leibler (KL) divergence components and map them to an uncertainty score with a supervised nonlinear calibrator. We show that the KL summary is not generally monotone in decision risk: linear fusion of the KL components tuned on validation data yields negative filtering quality on several benchmarks. We propose MPRisk, a mixed-prior posterior decision-risk score that keeps the same Bayesian posterior but directly scores the error events associated with the selected decision: false-acceptance, misidentification, and false-rejection risks, plus a non-specificity penalty for rejections, enabled by modeling unknown identities as a continuous component. Four nonnegative weights tuned on a validation set suffice for…
PDF
arXiv cs.SESep 28
Graph-Based Learning for Multi-Horizon Martian Atmospheric Forecasting
Gary Myler, James Holmes, Manish Patel, Amel Bennaceur
Martian weather forecasting is important for future exploration, but atmospheric behaviour on Mars combines spatial, temporal, vertical, and dust-driven processes in ways that challenge current modelling and forecasting approaches. This paper introduces MaGMA (Martian Graph-based Multi-horizon Atmospheric Forecasting), a graph-based data engineering framework that transforms OpenMARS reanalysis fields into structured learning objects for Martian atmospheric forecasting. Local atmospheric patches are represented as graph nodes and linked through spatial neighbourhoods, temporal continuity, longer temporal dependencies, and dynamically similar atmospheric states. The model integrates recent atmospheric history, engineered physical descriptors, and vertical atmospheric information to support forecasting across multiple horizons. We evaluate MaGMA across five unseen Martian years, including regular years and a global dust storm year. In regular years, the model achieves overall R^2 values of approximately 0.73-0.85. For dust-column forecasting, it outperforms classical and deep temporal baselines in most year-horizon comparisons. During the global dust storm year, dust-column…
PDF
arXiv stat.MLSep 28
GUIDE-FBO: Guidance via Uncertainty Intervention and Distributional Exchange for Federated Bayesian Optimization
Jintao Wei, Chenxi Li, Songhao Wang
Federated Bayesian Optimization (FBO) enables distributed agents to collaboratively optimize expensive black-box objectives without sharing raw local observations. However, effective knowledge transfer remains challenging under communication constraints and task heterogeneity. We propose GUIDE-FBO, in which agents exchange compact distributions over the locations of their respective optima inferred from local Gaussian process (GP) posteriors, rather than raw observations, query points, or surrogate parameters. The server merges and reweights these distributional components before returning a subset to each agent. Each agent then constructs a Federated Interventional GP (FI-GP), which preserves the local posterior mean and spatially rescales its covariance for local decision making. For the upper confidence bound (UCB) instantiation, GUIDE-UCB, we prove that any bounded FI-GP uncertainty intervention preserves the leading-order cumulative regret rate of standard GP-UCB. When the transferred distributions place greater support near an optimum than in a suboptimal region, selecting the latter requires greater local posterior uncertainty. Experiments on 12 synthetic benchmarks and…
AI30PDF
arXiv cs.AISep 28
Persona Following Is Not Selective Control: The Neutrality Gap in LLM User Simulation
Jiashen Ren, Wenlin Zhang, Bohan Zhang, Xiaopeng Li, Zichuan Fu +3
Persona prompting is widely used to construct user simulations with large language models (LLMs), yet it relies on a largely untested assumption: specifying one user attribute should change that attribute alone. We test this assumption and identify a systematic failure of selective control: across all eight black-box LLMs we audit, changing a target attribute also shifts responses on unspecified, non-target attributes. For example, describing a user as more risk-seeking shifts color choices, even though the prompt never mentions color; we term this cross-attribute influence. Semantic, contextual, and internal analyses collectively suggest that models treat a persona prompt as evidence about the user and extend the inferred profile to unspecified preferences, a process we call trait-conditioned completion. We next ask whether explicitly specifying non-target attributes restores selective control. When a non-target attribute is assigned a clear direction, models generally follow the declaration and suppress the target attribute's influence. However, when the same attribute is declared neutral, the target continues to affect choices across all five open-weight checkpoints, even when…
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arXiv cs.LGSep 28
THEIA: A Multimodal Dataset and Benchmark for Vision-Language Analysis of Layout
Giuseppe Chiari, Michele Piccoli, Federico Viola, Davide Zoni
The integration of artificial intelligence into computer-aided design frameworks has sparked a shift in the design of analog integrated circuits (ICs), transitioning the field from using manual and algorithmic-based solutions to adopting automated and intelligent paradigms. In this scenario, the GDSII file represents the industry-standard database containing the ultimate and most accurate source of information of the analog circuit, encapsulating the complex physical geometries and parasitic realities that define tape out performance. This paper proposes THEIA, a novel dataset containing thousands of layout images paired with question-answer conversations, along with a benchmark that employs a fine-tuned vision-language model (VLM) to analyze GDSII files of analog circuits, enabling designers to interact with and query physical layouts as intuitive, meaningful entities. Experimental results using thousands of analog designs across five realistic tasks demonstrate that the proposed fine-tuned VLM outperforms state-of-the-art general-purpose VLMs by a significant margin (up to 73%), highlighting a fundamental gap between general-purpose multimodal reasoning and domain-specific…
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arXiv cs.IRSep 28
Recommendation Ranking Off-Policy Evaluation under Ranking-Dependent Examination via Examination-Relevance Decomposition
Riki Okamura, Toshiharu Sugawara
Off-policy evaluation, which estimates evaluation policy performance from logged data, is key for recommender ranking policies. However, logged clicks cannot distinguish unexamined items from examined non-clicks, causing bias in existing estimators when the assumed examination structures fail. We propose two estimators based on the decomposition of clicks into examination and relevance. First, the latent-examination independent inverse propensity score (LE-IIPS) estimator corrects the IIPS bias using policy examination probability ratios. Second, the examination-decomposed doubly robust (ED-DR) estimator extends LE-IIPS to a doubly robust framework. ED-DR is unbiased if the examination probabilities are correct regardless of relevance accuracy, or under ranking-independent examination, even if both model estimates are inaccurate. Experiments show that ED-DR achieves a lower MSE than existing methods with large sample sizes, especially when the examination depends on ranking. We also highlight its limitations under small samples or cascade user behavior conditions.
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arXiv cs.AISep 28
JRDB-AVR: An Active Visual Reasoning Benchmark for Embodied Agents in Real-World Environments
Zhixi Cai, Fucai Ke, Sukai Huang, Maria Garcia de la Banda, Peter J. Stuckey +2
In complex embodied visual reasoning scenarios, an agent often has only a limited field of view, and the evidence needed to answer a question may be distributed across time, viewpoint, and interacting objects. A model may therefore give a plausible answer without ever observing the relevant object, time, or view that supports it. Current visual reasoning benchmarks largely evaluate passive observations and final answers, overlooking settings that require active reasoning and evidence acquisition. We introduce JRDB-AVR, a benchmark derived from existing real-world JRDB robotics data through a structured question-generation engine that turns this gap into an explicit evaluation: an embodied agentic system receives a visual reasoning question, requests bounded observations by timestamp and viewing angle, and is evaluated on both the final answer and the grounded visual evidence supporting it. The benchmark contains diverse questions over multiple real-world environments involving temporal search, viewpoint selection, and human-oriented compositional reasoning. We also introduce JRDB-AVR-Agent, a reference active reasoning agentic method that maintains an explicit…
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arXiv cs.IRSep 28
PEAR: Progressive Evidence-Based AutoResearch for Industrial Search Systems
Yifan Wang, Shipeng Zhu, Fei Xiong, Yuqin Yang, Yonghui Huang +4
AutoResearch improves systems through iterative experimentation: agents propose candidate modifications, evaluate them, and use the results to guide subsequent exploration. Applying this paradigm to industrial search presents two challenges. (1) Common AutoResearch approaches follow a keep-if-better rule, retaining the highest-scoring candidate for subsequent experiments. Under non-stationary traffic, transient gains may be mistaken for persistent improvements, impairing reliable accumulation of search knowledge. (2) Candidate modifications can be evaluated at multiple fidelity levels, from low-cost proxies to online validation, differing in cost, objective alignment, and statistical reliability. Existing methods rely on individual signals or task-specific procedures, lacking a unified basis for using evidence across levels to guide search. We introduce Progressive Evidence-Based AutoResearch (PEAR) with two complementary components. Evidence-driven AutoResearch maintains an independent, hypothesis-guided research state for each strategy task within a predefined objective and intervention scope. Each state evolves through a Plan-Execute-Evaluate-Update transition that links…
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arXiv cs.LGSep 28
Fast Learning Rate Transfer in Shallow Linear Networks at Growing Training Horizons
Mana Sakai, Masaaki Imaizumi
Hyperparameter transfer across model width can substantially reduce the cost of tuning large neural networks, but its behavior when the training horizon grows with width is not fully understood. Building on the framework of fast hyperparameter transfer (Ghosh et al., 2026), which formalizes when transfer is effective, we investigate conditions that ensure fast transfer in the growing-horizon regime. Specifically, we study learning-rate transfer in a shallow linear network with a single trainable hidden matrix, trained by full-batch gradient descent. Under additional spectral assumptions, our main results are threefold. (i) We prove fast learning-rate transfer as $n,T\to\infty$ whenever $T=o(\sqrt{n})$. (ii) We characterize the transfer rates through the finite-width perturbation scale, the first-order sensitivities of the loss and its learning-rate derivative to finite-width perturbations, and the local loss curvature. (iii) We derive limiting distributions for the optimal learning rate and optimized loss, governed by fluctuations associated with the extreme eigenvalues of the data Gram matrix. These results clarify how spectral structure and local loss sensitivities govern…
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arXiv cs.LGSep 28
VEX-Bench: Benchmarking Verification Complexity of LLM-Generated Misinformation
Hanxun Huang, Yutao Wu, Qizhou Wang, Silvia Montaña-Niño, Yige Li +7
Large language models (LLMs) have made misinformation inexpensive to produce but not to verify, creating a growing asymmetry in the information ecosystem. Under tight time, labor, and budget constraints, media organizations, platforms, and fact-checkers rely on screening to prioritize which content to verify. We introduce VEX-Bench, a unified benchmark for evaluating the verification complexity of LLM-generated misinformation, as perceived during screening, across models and generation methods. Verification complexity is assessed along multiple dimensions derived from journalistic and fact-checking practices, capturing checkability, harm potential, source credibility signals, imposter legitimacy, and expected verification effort. We define the VEX score as an integrated measure combining elicitation yield and verification complexity to quantify how generated content consumes limited verification capacity. We construct a benchmark spanning two misinformation categories, 6 high-stakes domains, and 60 real-world topics, and evaluate 7 frontier LLMs and 7 generation methods, yielding 5{,}880 articles. We employ an LLM-as-judge for scalable evaluation and validate it using…
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arXiv cs.AISep 28
WebPageBench: Event-Level Verification and Controlled UI-Variant Generation for Web Agents
Anton Emelyanov, Maria Tikhonova, Zaven Martirosian, Sergei Averkiev, Alena Fenogenova
We present WebPageBench, an open framework for evaluating web agents in which every task is verified from the interface's own event log. Six instrumented mock sites with brand identifiers removed (a marketplace, a bookstore, a grocery service, rail ticketing, hotel search and a document cabinet) emit typed events with parameters as a user or an agent acts. A task declares the events it requires, and success is decided by matching them, with no judge model and no scraping of rendered pages. The same instrumentation supports controlled UI variation: one configuration switch re-renders a task through a different implementation of a single control while the prompt and the success conditions stay completely identical, so sensitivity to interface form can be measured under a fixed task specification. The WebPageBench release consists of three components: 152 tasks, divided into 65 canonical scenarios and 87 control variants across light/dark UI-modes; a common runner evaluated with six browser/DOM harness configurations and five screenshot-only GUI-agent families; and a public leaderboard of 24 model-harness pairs. On the public 152-task leaderboard the gap between what agents declare…
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arXiv cs.AISep 28
AutoDataBench: Can Agents Write the Data That Feeds the Self-Improvement Loop?
Haotian Luo, Haoyu Wang, Zeyu Qin, Huanjin Yao, Yibo Wang +3
Recent gains in language model capability have come more from data than from architecture. Frontier labs and data companies produce verifiable agentic tasks, which supervised finetuning and reinforcement learning then turn into capability.This production line still rests on human labour and on human-in-the-loop collaboration. Automating task creation would let data production scale with compute rather than with expert headcount, would extend to more domains, and would enable a key step in recursive self-improvement (RSI). Current evaluations of an agent's ability to write such tasks measure how a model performs after training on what the agent produced. That does not match common practice in the data industry, where data is delivered sample by sample and each sample is accepted against a set of criteria rather than put straight into training. No existing evaluation asks whether an individual task meets the acceptance criteria of a data pipeline. We therefore introduce AutoDataBench. Given an original benchmark task and a record of the target model attempting it, an agent must write a new task for the same suite that meets practical acceptance standards on validity, novelty,…
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arXiv cs.CVSep 28
Proxy2World: Learning to Generate Worlds From Lightweight Proxies without Seeing Them
Hongli Xu, Weilong Yan, Anbang Wang, Chunyu Zou, Siyu Hong +1
Lightweight scene proxies let creators control scene layout and motion while leaving room for imagination in appearance, lighting, and visual effects. However, a suitable proxy is not uniquely defined, making paired proxy-video data difficult to construct automatically at scale. We present Proxy2World, a controllable world model that learns these complementary capabilities from ordinary posed RGBD videos, without training on authored proxy-video pairs. The model jointly learns depth-conditioned RGB generation and joint RGBD generation through cross-modal flow matching. Learning both tasks enables proxy-camera hybrid denoising at inference to follow the proxy structure while producing natural, detailed visuals. We further introduce ProxyBench to evaluate this capability across a diverse set of scenes, camera trajectories, and subject motions. Experiments on ProxyBench show that Proxy2World achieves a better balance between structural adherence and visual quality than camera-controlled and geometry-conditioned methods, supported by quantitative metrics, VLM assessments, human evaluations and diverse qualitative results.
Code

Papers

arXiv cs.LGSep 28
TIDE: Teacher-Student Transition via Informative Distillation and Exploration for Agentic RL
Yibin Huang, Xinming Xu, Conghui Zhu
Effective multi-turn agents require interaction strategies that coordinate information gathering, actions, and feedback over long horizons. GRPO is a reinforcement learning algorithm used to train these agents, but sparse trajectory-level rewards limit early exploration in small models. Recent methods augment RL with on-policy distillation (OPD) from a stronger teacher. However, a fixed mixture assumes that teacher guidance and reward optimization should retain a constant relative role throughout training and across interaction turns. This assumption can fail at two scales. Globally, as training progresses, maintaining strong distillation pressure can constrain the model from moving beyond the teacher's capabilities. Locally, teacher--student disagreement identifies where the student departs from the teacher, but cannot tell whether that departure is exploration supported by better outcomes or low-quality policy drift. Our methodological insight is that teacher guidance and reward optimization should be dynamically rebalanced over training and jointly allocated across turns. We instantiate this insight in \tide. Globally, \tide uses the measured disagreement trend as a practical…
PDF
arXiv cs.LGSep 28
Universality and Generalization of Causal Transformers Across Context Lengths
Takashi Furuya, Maarten V. de Hoop, Gabriel Peyré
Long contexts are central to modern transformer systems, but most expressivity results choose a different network for each fixed sequence length. We study whether one masked transformer can approximate causal token-to-token maps uniformly over sequences of arbitrary length sampling a fixed normalized horizon. To relate sampling resolutions, we model tokens by $α$-Hölder sequences or, more generally, a common modulus of continuity. Our notion of continuity across resolutions characterizes the causal families admitting uniform approximation on these compact input classes by a single transformer with length-independent parameters. The result extends to the infinite-length mean-field limit, where tokens form continuous curves and masked attention becomes a causal time integral. For bounded regression with target maps satisfying a $β$-smooth stability condition defined using regular test functions, quantitative approximation yields a generalization bound: exact empirical risk minimization over suitably sized bounded-weight transformers gives root mean-square prediction error $O((\log\log N/\log N)^{β/(d+2)})$ from $N$ iid labeled sequences. The bound holds at fixed confidence on the…
PDF
arXiv eess.ASSep 28
Perceptual Quality Loss or Loss of Perceptual Quality?
Danilo de Oliveira, Tal Peer, Maurício do V. M. da Costa, Timo Gerkmann
Contemporary deep speech enhancement (SE) models are often trained with specific auxiliary terms in the loss function as a way to improve their performance in terms of perceptual metrics. Nevertheless, a higher score on a perceptual metric does not necessarily correlate with an improved listening experience. Through objective and subjective experiments, we assess the performance of SE models trained with two different types of auxiliary PESQ loss terms. The numerical evaluation on a suite of standard metrics suggests that, while models optimized for PESQ naturally obtain higher PESQ scores in the test set, for most other metrics the scores do not significantly change. In some cases, the PESQ loss even results in worse PESQ scores on mismatched data. A formal listening experiment reveals that the models without a PESQ loss were generally preferred over models that include it, across all settings. Finally, we analyze the relative importance of PESQ in the composite metrics CSIG, CBAK and COVL, and find that PESQ dominates all of them. Our study highlights the perils of over-reliance on PESQ and stresses the importance of a complete evaluation procedure for SE.
PDF
arXiv cs.CVSep 28
OPIS: An Input-Grounded Benchmark for Multi-Object Memory in Video World Models
Hao Wang, Tao Yu, Liuzhou Zhang, HeXin Wang, Haopeng Jin +11
Video world models must preserve the visual state of the world over time, but existing evaluation protocols often rely on generated histories, video reference, or selected revisit viewpoints that can confound the assessment of a model's true memory capability. To address this, we introduce OPIS, an input-grounded benchmark that strictly anchors the assessment to a fixed set of object instances from the initial observation for evaluating multi-object memory in video world models. The OPIS dataset comprises 500 cases across real-world, embodied-robotic, and game-world domains, providing dense object-level annotations for 12,672 rigid, articulated, and deformable instances. Our object-centric evaluator combines association and explicit visibility reasoning to hierarchically measure Object (O) Presence (P), Identity (I), and Structure (S), utilizing static or dynamic evaluation tracks based on object kinematics. Across eight image-to-video or camera-conditioned world models, our proposed OPIS scores range from 48.65 to 56.01. As the reference inventory grows from less than 20 to more than 40 objects, the Presence, Identity, and Structure scores show an overall decline, with the…
PDF
arXiv cs.ROSep 28
EMPIRIC: Experiment-Driven Learning of Residual World Models for Robot Planning
Yichao Liang, Amber Li, Dat Nguyen, Emily Bunnapradist, Michelangelo Naim +11
A robot should be able to learn through experiments how unfamiliar objects behave and interact, then plan with that knowledge. It need not start from scratch: physics engines supply knowledge of motion and contact, but can omit entire mechanisms, such as glue curing, water heating, or wind. We present EMPIRIC, an agent that learns a residual world model: a physics engine extended with code for the missing mechanisms. The learned programs can introduce new forces, constraints, and hidden state, and Bayesian inference estimates their parameters and states from noisy observations. The resulting model lets the agent predict the outcomes of actions, choose informative experiments, and revise its hypotheses when predictions fail. Across five simulated domains, EMPIRIC learns interpretable, reusable models, and solves more tasks with fewer environment interactions than all three baselines. On a physical robot, it learns wind forces and domino masses to solve a manipulation task. Website and code: https://yichao-liang.github.io/empiric
PDF
arXiv cs.CVSep 28
LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation
Hongli Xu, Zhaowei Lu, Junwen Huang, Jiaqi Hu, Peter KT Yu +3
Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical object structure before a stable pose can be determined. We present LEGAU, a unified framework that jointly predicts NOCS correspondence, object pose and size, and a canonical Semantic Gaussian Field. Rather than treating reconstruction as a detached auxiliary task, LEGAU uses the Gaussian field as a category-conditioned structural prior that participates in multimodal feature fusion and provides global guidance for local pose reasoning. Conditioned on a categorical text embedding, LEGAU processes RGB-D observations through a transformer-based fusion module that integrates visual, geometric, and category-level cues, decoding the NOCS map, pose and size information and the Gaussian-based object representation. Extensive experiments on synthetic and real-world benchmarks show that this coupled pose-shape formulation achieves strong performance in a single-model multi-category setting, with up to 22\% on SOPE and competitive transfer to real-world data. These results highlight the benefit of jointly learning…
PDF
arXiv cs.LGSep 28
BA-DPO: Bias-Adjusted Direct Preference Optimization for Language Model Alignment
Antonio Ferrara, Alberto Rumi, Francesco Bonchi
Preference-based alignment methods such as Direct Preference Optimization (DPO) use pairwise preferences labeled by human annotators to fine-tune language models. However, annotators carry systematic biases toward some attributes: a name that signals a gender or an ethnicity, a persona, a language variety, a formatting convention, or length. If not properly addressed, these systematic biases can be absorbed and amplified during alignment. Existing methods address length bias or annotator disagreement, but fail to eliminate biases toward arbitrary attributes. To address this limitation, we propose Bias-Adjusted DPO (BA-DPO), a generalization of DPO that adds one bias parameter per annotator toward responses carrying a declared attribute. We prove that the objective is convex in the bias parameters and that the votes identify each annotator's bias up to a shared constant. The remaining constant is what fixes the aligned model's attribute rate: by default the rate of the reference model, or a target rate, which we use to bring a biased policy to statistical parity. On a corpus with planted biases, DPO drives the attribute from a balanced start to probability 0.96 and BA-DPO removes…
PDF
arXiv cs.CVSep 28
Mixed-Prior Decision Risk for Open-Set Recognition
L. A. Erlygin, P. D. Proskura, A. A. Zaytsev
In open-set recognition (OSR), a probe must either be identified as one of the known gallery classes or rejected as unknown, so three error types coexist: false acceptance, false rejection, and misidentification. An uncertainty score for selective recognition should rank probes by the risk of the decision the system has made. Bayesian gallery-aware models such as Holistic Uncertainty Estimation (HolUE) summarize the posterior over known and unknown classes by Kullback--Leibler (KL) divergence components and map them to an uncertainty score with a supervised nonlinear calibrator. We show that the KL summary is not generally monotone in decision risk: linear fusion of the KL components tuned on validation data yields negative filtering quality on several benchmarks. We propose MPRisk, a mixed-prior posterior decision-risk score that keeps the same Bayesian posterior but directly scores the error events associated with the selected decision: false-acceptance, misidentification, and false-rejection risks, plus a non-specificity penalty for rejections, enabled by modeling unknown identities as a continuous component. Four nonnegative weights tuned on a validation set suffice for…
PDF
arXiv cs.SESep 28
Graph-Based Learning for Multi-Horizon Martian Atmospheric Forecasting
Gary Myler, James Holmes, Manish Patel, Amel Bennaceur
Martian weather forecasting is important for future exploration, but atmospheric behaviour on Mars combines spatial, temporal, vertical, and dust-driven processes in ways that challenge current modelling and forecasting approaches. This paper introduces MaGMA (Martian Graph-based Multi-horizon Atmospheric Forecasting), a graph-based data engineering framework that transforms OpenMARS reanalysis fields into structured learning objects for Martian atmospheric forecasting. Local atmospheric patches are represented as graph nodes and linked through spatial neighbourhoods, temporal continuity, longer temporal dependencies, and dynamically similar atmospheric states. The model integrates recent atmospheric history, engineered physical descriptors, and vertical atmospheric information to support forecasting across multiple horizons. We evaluate MaGMA across five unseen Martian years, including regular years and a global dust storm year. In regular years, the model achieves overall R^2 values of approximately 0.73-0.85. For dust-column forecasting, it outperforms classical and deep temporal baselines in most year-horizon comparisons. During the global dust storm year, dust-column…
PDF
arXiv stat.MLSep 28
GUIDE-FBO: Guidance via Uncertainty Intervention and Distributional Exchange for Federated Bayesian Optimization
Jintao Wei, Chenxi Li, Songhao Wang
Federated Bayesian Optimization (FBO) enables distributed agents to collaboratively optimize expensive black-box objectives without sharing raw local observations. However, effective knowledge transfer remains challenging under communication constraints and task heterogeneity. We propose GUIDE-FBO, in which agents exchange compact distributions over the locations of their respective optima inferred from local Gaussian process (GP) posteriors, rather than raw observations, query points, or surrogate parameters. The server merges and reweights these distributional components before returning a subset to each agent. Each agent then constructs a Federated Interventional GP (FI-GP), which preserves the local posterior mean and spatially rescales its covariance for local decision making. For the upper confidence bound (UCB) instantiation, GUIDE-UCB, we prove that any bounded FI-GP uncertainty intervention preserves the leading-order cumulative regret rate of standard GP-UCB. When the transferred distributions place greater support near an optimum than in a suboptimal region, selecting the latter requires greater local posterior uncertainty. Experiments on 12 synthetic benchmarks and…
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arXiv cs.AISep 28
Persona Following Is Not Selective Control: The Neutrality Gap in LLM User Simulation
Jiashen Ren, Wenlin Zhang, Bohan Zhang, Xiaopeng Li, Zichuan Fu +3
Persona prompting is widely used to construct user simulations with large language models (LLMs), yet it relies on a largely untested assumption: specifying one user attribute should change that attribute alone. We test this assumption and identify a systematic failure of selective control: across all eight black-box LLMs we audit, changing a target attribute also shifts responses on unspecified, non-target attributes. For example, describing a user as more risk-seeking shifts color choices, even though the prompt never mentions color; we term this cross-attribute influence. Semantic, contextual, and internal analyses collectively suggest that models treat a persona prompt as evidence about the user and extend the inferred profile to unspecified preferences, a process we call trait-conditioned completion. We next ask whether explicitly specifying non-target attributes restores selective control. When a non-target attribute is assigned a clear direction, models generally follow the declaration and suppress the target attribute's influence. However, when the same attribute is declared neutral, the target continues to affect choices across all five open-weight checkpoints, even when…
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arXiv cs.LGSep 28
THEIA: A Multimodal Dataset and Benchmark for Vision-Language Analysis of Layout
Giuseppe Chiari, Michele Piccoli, Federico Viola, Davide Zoni
The integration of artificial intelligence into computer-aided design frameworks has sparked a shift in the design of analog integrated circuits (ICs), transitioning the field from using manual and algorithmic-based solutions to adopting automated and intelligent paradigms. In this scenario, the GDSII file represents the industry-standard database containing the ultimate and most accurate source of information of the analog circuit, encapsulating the complex physical geometries and parasitic realities that define tape out performance. This paper proposes THEIA, a novel dataset containing thousands of layout images paired with question-answer conversations, along with a benchmark that employs a fine-tuned vision-language model (VLM) to analyze GDSII files of analog circuits, enabling designers to interact with and query physical layouts as intuitive, meaningful entities. Experimental results using thousands of analog designs across five realistic tasks demonstrate that the proposed fine-tuned VLM outperforms state-of-the-art general-purpose VLMs by a significant margin (up to 73%), highlighting a fundamental gap between general-purpose multimodal reasoning and domain-specific…
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arXiv cs.IRSep 28
Recommendation Ranking Off-Policy Evaluation under Ranking-Dependent Examination via Examination-Relevance Decomposition
Riki Okamura, Toshiharu Sugawara
Off-policy evaluation, which estimates evaluation policy performance from logged data, is key for recommender ranking policies. However, logged clicks cannot distinguish unexamined items from examined non-clicks, causing bias in existing estimators when the assumed examination structures fail. We propose two estimators based on the decomposition of clicks into examination and relevance. First, the latent-examination independent inverse propensity score (LE-IIPS) estimator corrects the IIPS bias using policy examination probability ratios. Second, the examination-decomposed doubly robust (ED-DR) estimator extends LE-IIPS to a doubly robust framework. ED-DR is unbiased if the examination probabilities are correct regardless of relevance accuracy, or under ranking-independent examination, even if both model estimates are inaccurate. Experiments show that ED-DR achieves a lower MSE than existing methods with large sample sizes, especially when the examination depends on ranking. We also highlight its limitations under small samples or cascade user behavior conditions.
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arXiv cs.AISep 28
JRDB-AVR: An Active Visual Reasoning Benchmark for Embodied Agents in Real-World Environments
Zhixi Cai, Fucai Ke, Sukai Huang, Maria Garcia de la Banda, Peter J. Stuckey +2
In complex embodied visual reasoning scenarios, an agent often has only a limited field of view, and the evidence needed to answer a question may be distributed across time, viewpoint, and interacting objects. A model may therefore give a plausible answer without ever observing the relevant object, time, or view that supports it. Current visual reasoning benchmarks largely evaluate passive observations and final answers, overlooking settings that require active reasoning and evidence acquisition. We introduce JRDB-AVR, a benchmark derived from existing real-world JRDB robotics data through a structured question-generation engine that turns this gap into an explicit evaluation: an embodied agentic system receives a visual reasoning question, requests bounded observations by timestamp and viewing angle, and is evaluated on both the final answer and the grounded visual evidence supporting it. The benchmark contains diverse questions over multiple real-world environments involving temporal search, viewpoint selection, and human-oriented compositional reasoning. We also introduce JRDB-AVR-Agent, a reference active reasoning agentic method that maintains an explicit…
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arXiv cs.IRSep 28
PEAR: Progressive Evidence-Based AutoResearch for Industrial Search Systems
Yifan Wang, Shipeng Zhu, Fei Xiong, Yuqin Yang, Yonghui Huang +4
AutoResearch improves systems through iterative experimentation: agents propose candidate modifications, evaluate them, and use the results to guide subsequent exploration. Applying this paradigm to industrial search presents two challenges. (1) Common AutoResearch approaches follow a keep-if-better rule, retaining the highest-scoring candidate for subsequent experiments. Under non-stationary traffic, transient gains may be mistaken for persistent improvements, impairing reliable accumulation of search knowledge. (2) Candidate modifications can be evaluated at multiple fidelity levels, from low-cost proxies to online validation, differing in cost, objective alignment, and statistical reliability. Existing methods rely on individual signals or task-specific procedures, lacking a unified basis for using evidence across levels to guide search. We introduce Progressive Evidence-Based AutoResearch (PEAR) with two complementary components. Evidence-driven AutoResearch maintains an independent, hypothesis-guided research state for each strategy task within a predefined objective and intervention scope. Each state evolves through a Plan-Execute-Evaluate-Update transition that links…
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arXiv cs.LGSep 28
Fast Learning Rate Transfer in Shallow Linear Networks at Growing Training Horizons
Mana Sakai, Masaaki Imaizumi
Hyperparameter transfer across model width can substantially reduce the cost of tuning large neural networks, but its behavior when the training horizon grows with width is not fully understood. Building on the framework of fast hyperparameter transfer (Ghosh et al., 2026), which formalizes when transfer is effective, we investigate conditions that ensure fast transfer in the growing-horizon regime. Specifically, we study learning-rate transfer in a shallow linear network with a single trainable hidden matrix, trained by full-batch gradient descent. Under additional spectral assumptions, our main results are threefold. (i) We prove fast learning-rate transfer as $n,T\to\infty$ whenever $T=o(\sqrt{n})$. (ii) We characterize the transfer rates through the finite-width perturbation scale, the first-order sensitivities of the loss and its learning-rate derivative to finite-width perturbations, and the local loss curvature. (iii) We derive limiting distributions for the optimal learning rate and optimized loss, governed by fluctuations associated with the extreme eigenvalues of the data Gram matrix. These results clarify how spectral structure and local loss sensitivities govern…
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arXiv cs.LGSep 28
VEX-Bench: Benchmarking Verification Complexity of LLM-Generated Misinformation
Hanxun Huang, Yutao Wu, Qizhou Wang, Silvia Montaña-Niño, Yige Li +7
Large language models (LLMs) have made misinformation inexpensive to produce but not to verify, creating a growing asymmetry in the information ecosystem. Under tight time, labor, and budget constraints, media organizations, platforms, and fact-checkers rely on screening to prioritize which content to verify. We introduce VEX-Bench, a unified benchmark for evaluating the verification complexity of LLM-generated misinformation, as perceived during screening, across models and generation methods. Verification complexity is assessed along multiple dimensions derived from journalistic and fact-checking practices, capturing checkability, harm potential, source credibility signals, imposter legitimacy, and expected verification effort. We define the VEX score as an integrated measure combining elicitation yield and verification complexity to quantify how generated content consumes limited verification capacity. We construct a benchmark spanning two misinformation categories, 6 high-stakes domains, and 60 real-world topics, and evaluate 7 frontier LLMs and 7 generation methods, yielding 5{,}880 articles. We employ an LLM-as-judge for scalable evaluation and validate it using…
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arXiv cs.AISep 28
WebPageBench: Event-Level Verification and Controlled UI-Variant Generation for Web Agents
Anton Emelyanov, Maria Tikhonova, Zaven Martirosian, Sergei Averkiev, Alena Fenogenova
We present WebPageBench, an open framework for evaluating web agents in which every task is verified from the interface's own event log. Six instrumented mock sites with brand identifiers removed (a marketplace, a bookstore, a grocery service, rail ticketing, hotel search and a document cabinet) emit typed events with parameters as a user or an agent acts. A task declares the events it requires, and success is decided by matching them, with no judge model and no scraping of rendered pages. The same instrumentation supports controlled UI variation: one configuration switch re-renders a task through a different implementation of a single control while the prompt and the success conditions stay completely identical, so sensitivity to interface form can be measured under a fixed task specification. The WebPageBench release consists of three components: 152 tasks, divided into 65 canonical scenarios and 87 control variants across light/dark UI-modes; a common runner evaluated with six browser/DOM harness configurations and five screenshot-only GUI-agent families; and a public leaderboard of 24 model-harness pairs. On the public 152-task leaderboard the gap between what agents declare…
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arXiv cs.AISep 28
AutoDataBench: Can Agents Write the Data That Feeds the Self-Improvement Loop?
Haotian Luo, Haoyu Wang, Zeyu Qin, Huanjin Yao, Yibo Wang +3
Recent gains in language model capability have come more from data than from architecture. Frontier labs and data companies produce verifiable agentic tasks, which supervised finetuning and reinforcement learning then turn into capability.This production line still rests on human labour and on human-in-the-loop collaboration. Automating task creation would let data production scale with compute rather than with expert headcount, would extend to more domains, and would enable a key step in recursive self-improvement (RSI). Current evaluations of an agent's ability to write such tasks measure how a model performs after training on what the agent produced. That does not match common practice in the data industry, where data is delivered sample by sample and each sample is accepted against a set of criteria rather than put straight into training. No existing evaluation asks whether an individual task meets the acceptance criteria of a data pipeline. We therefore introduce AutoDataBench. Given an original benchmark task and a record of the target model attempting it, an agent must write a new task for the same suite that meets practical acceptance standards on validity, novelty,…
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arXiv cs.CVSep 28
Proxy2World: Learning to Generate Worlds From Lightweight Proxies without Seeing Them
Hongli Xu, Weilong Yan, Anbang Wang, Chunyu Zou, Siyu Hong +1
Lightweight scene proxies let creators control scene layout and motion while leaving room for imagination in appearance, lighting, and visual effects. However, a suitable proxy is not uniquely defined, making paired proxy-video data difficult to construct automatically at scale. We present Proxy2World, a controllable world model that learns these complementary capabilities from ordinary posed RGBD videos, without training on authored proxy-video pairs. The model jointly learns depth-conditioned RGB generation and joint RGBD generation through cross-modal flow matching. Learning both tasks enables proxy-camera hybrid denoising at inference to follow the proxy structure while producing natural, detailed visuals. We further introduce ProxyBench to evaluate this capability across a diverse set of scenes, camera trajectories, and subject motions. Experiments on ProxyBench show that Proxy2World achieves a better balance between structural adherence and visual quality than camera-controlled and geometry-conditioned methods, supported by quantitative metrics, VLM assessments, human evaluations and diverse qualitative results.
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