Research

• Dynamic model and policy routing for general-purpose AI1 paper raises it · 1 addresses it

  Balancing performance and computational cost across diverse tasks and modalities is critical for scalable AI systems.

  • Route Anything: A Study of Model and Policy Routing for General-Purpose AI Systemsraises · addresses
• Cross-repository consistency in coding agents1 paper raises it · 0 address it

  Real-world software development often requires coordinated changes across interdependent repositories, which current agents struggle to maintain.

  • CrossSWE: Benchmarking Cross-Repository Joint Development for Coding Agentsraises
• Efficient long-video generation with consistent quality1 paper raises it · 1 addresses it

  Real-time streaming video generation demands continuous output without quality degradation or camera drift.

  • Wave Forcing: Towards Speed-of-Light Streaming Video Generationraises · addresses
• Local decision-making for reasoning compression1 paper raises it · 1 addresses it

  Reducing inference costs without sacrificing accuracy requires models to know when to stop reasoning.

  • Think Less, Locally: Local Preference Learning for Reasoning Compressionraises · addresses
• Unified taxonomy and coordination for agentic systems1 paper raises it · 1 addresses it

  Fragmented terminology and rapid growth in agentic systems hinder systematic understanding and collaboration.

  • Advances in Agentic Computer Graphicsraises · addresses

Named by an AI from these papers' abstracts.

• arXiv cs.CVComputer visionSep 29

  Vmem-$\varphi$: Low-Compute Out-of-Distribution Detection in Spiking Neural Networks from Membrane-Potential Statistics

  Arul Rana, Agrim Tripathi, Shoaib Ahmed Dipu, Md. Shaown Miah, Syed Ishtiaque Ahmed +1

  Spiking Neural Networks (SNNs) offer an energy-efficient approach to processing event-camera data, yet out-of-distribution (OOD) detection remains challenging in this setting. Existing OOD detection methods often depend on model outputs or computational components that are unavailable in object detection SNNs or are poorly suited to low-compute deployment. To that effect, we show that the subthreshold membrane potential \(V_{\mathrm{mem}}(t)\) provides a useful internal signal for detecting distribution shifts. Simple per-channel statistics derived from these membrane dynamics enable OOD detection. To evaluate this approach, we introduce Gen1-C, an event-camera corruption benchmark developed upon the Prophesee Gen1 automotive detection dataset, containing six sensor-motivated histogram-level stress tests at five severity levels. We further propose the Multi-Descriptor Deviation (MDD), a corruption-blind method that operates on membrane-potential statistics. At the highest corruption severity, MDD achieves an AUROC of more than 0.88 on five of the six corruptions using only a bounded 64-frame observation window. Notably, the remaining corruption is also the one that has the…

  AIAI safety60PDF

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• arXiv stat.MLSep 29

  Bandits with Multiple Optimal Arms: Minimax Regret and Non-Adaptivity

  Kaixuan Ji, Qiwei Di, Qingyue Zhao, Heyang Zhao, Quanquan Gu

  We study multi-armed bandits (MAB) with multiple optimal arms, motivated by the fact that many practical decision making problems admit multiple correct answers. For $K$-armed bandits with $A$ optimal arms, we first provide a sharper analysis of previous sub-sampling algorithms (De Heide et al., 2021; Zhu and Nowak, 2020), establishing a $\tilde{O}\Big(\frac{K-A}{\sqrt{KA}}\sqrt{T} \Big)$ minimax regret, where $T$ is the total number of interactions and $\tilde O(\cdot)$ drops all constant and logarithmic factors, improving the previous $\tilde{O}(\sqrt{KT/A})$ regret. We then provide a matching lower bound up to logarithmic factors, indicating that our established rate is nearly minimax-optimal. We further show that the knowledge of $A$ up to $\tilde{O}(1)$ factors is necessary to achieve near-optimal regret, as near-optimal algorithms for one number of optimal arms must incur substantially larger regret than optimal regret for a smaller number. Overall, our results provide a comprehensive minimax characterization of $K$-armed bandits with $A$ over the entire range of $1 \leq A \leq K-1$.

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• arXiv eess.ASSep 29

  Tacit-TTS: From Autoregressive Decoding to Masked Prediction for Efficient Transcript-Free Voice Cloning

  Jian Chen, You Zhang, Mark Vinton

  TTS systems with autoregressive semantic modeling have demonstrated strong zero-shot voice cloning performance and rich expressive variation, but their sequential decoding incurs substantial latency. Non-autoregressive alternatives offer much faster generation, yet often rely on more restrictive reference conditioning, such as requiring transcripts of the reference speech during inference. We present Tacit-TTS, an efficient transcript-free zero-shot voice cloning system distilled from IndexTTS2. Our model replaces autoregressive text-to-semantic decoding with masked non-autoregressive generation, introduces training-free acoustic length estimation, and accelerates the flow-matching renderer through ReFlow distillation. Across two English and two Mandarin datasets, Tacit-TTS achieves competitive zero-shot quality while generating speech over 10x faster than IndexTTS2 for utterances longer than 5 seconds. Its transcript-free conditioning further supports cross-lingual and non-lexical references. We validate this capability using references from eight other languages, infant babble, and synthetic gibberish, where transcript-dependent systems often degrade or fail due to unreliable…

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• arXiv cs.ROSep 29

  TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion

  Merkourios Simos, Chengkun Li, Bianca Ziliotto, Alexander Mathis

  Recent advances in musculoskeletal modeling and reinforcement learning have enabled muscle-actuated agents to reproduce increasingly complex human motions. Yet these capabilities remain largely confined to flat ground, in part because motion datasets rarely include aligned terrain geometry and because retargeting terrain interactions to complex musculoskeletal bodies is challenging. We present TERRA, an end-to-end pipeline for terrain-aware retargeting and control of musculoskeletal locomotion. From kinematic trajectories alone, TERRA combines terrain priors, estimated contacts, and negative free-space evidence to recover task-relevant support geometry. TERRA further considers anatomical, tendon-continuity, and contact constraints during retargeting. Using the resulting motion-terrain pairs from five datasets, we successfully train a single muscle-actuated control policy on 9.4 hours of diverse locomotion. Across reconstruction, retargeting, and held-out tracking benchmarks, TERRA improves terrain accuracy, sharply reduces anatomical and interaction violations, and achieves the highest observed completion rate over supported terrain families. Overall, TERRA provides a practical…

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• arXiv cs.AIAgentsSep 29

  AgBench: Agentic AI Benchmarks for Personal AI Devices

  Yizhou Han, Di Wu, Dhananjay Saikumar, Blesson Varghese

  Agentic AI systems increasingly rely on cloud-hosted large language models for planning, tool use, and iterative execution, raising concerns about API cost and data exposure. Advances in personal AI devices enable agents to execute locally, but limited resources on device may affect task success and performance. Existing benchmarks are inadequate for systematically characterizing these trade-offs across devices, workloads, and deployment architectures. We present AgBench, a benchmark suite and open artifacts for reproducible evaluation of agentic AI on personal devices. Using AgBench, we evaluate local, hybrid, and cloud execution across agentic workloads, examining task success, latency, cloud API cost, and data exposure. Our results, drawn from over 162.07 million data points, show that personal AI devices can complete many agent tasks locally, but local-only execution generally has lower task success and longer completion times than cloud-only execution, especially as concurrency increases. Local-only execution eliminates cloud model API costs and sensitive-information exposure to cloud agents. Hybrid execution can improve task success, but its cloud cost and data exposure…

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• arXiv cs.LGSep 29

  Uncertainty-Normalized Margins for Direct Preference Optimization

  Sadegh Khorasani, Petrus Mikkola, Matthias Grossglauser

  Direct preference optimization (DPO) models binary preferences through a Bradley-Terry model with a common noise scale, without explicitly accounting for preference strength or prompt-dependent uncertainty from human feedback. We introduce uncertainty-normalized margin DPO (UNM-DPO), which combines strength-dependent margins with a learned prompt scale. Motivated by a heteroskedastic Bradley-Terry model, we develop two training objectives. Both compare the implicit rewards of preferred and rejected responses, derived from response log-probability ratios to a reference policy. Advantage-only (AO) divides this reward difference by the prompt scale before subtracting the margin; whole-residual (WR) subtracts the margin before dividing by the scale. For the WR comparison model, we establish a necessary and sufficient condition under which known margins make the prompt scale identifiable. We introduce a practical procedure for learning the scale. Building on WR, we introduce ULNM-DPO-WR, which normalizes each response's implicit reward by its length. We evaluate our methods against DPO and related baselines on HelpSteer2 and HelpSteer3, using the Skywork reward model as a judge. With…

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• arXiv cs.LGSep 29

  Alignment via Training Against Probes Without Losing Monitorability

  Lena Libon, Alexander Panfilov, Ben Rank, Xin Chen, Jonas Geiping +1

  Models are usually aligned based on their observed outputs, using demonstrations, preference data, or reward signals. These objectives reward responses that look aligned. More capable models may learn to satisfy them without internalizing the intended behavior, for example by faking compliance during training. Such superficial compliance could be harder when the objective is defined on model internals rather than outputs. Therefore, we study probe-guided fine-tuning, using probes that detect undesired properties in model activations as a direct training signal. We evaluate linear and non-linear probes with different numbers of probes per layer across two alignment objectives: harmlessness and honesty. We find that training against probes that do not update during training is an easily exploitable objective, while continuously updated probes substantially reduce harmfulness and improve honesty while preserving utility. Probe-guided fine-tuning achieves better safety-utility trade-offs than DPO and inference-time steering, while being substantially more robust against jailbreak and abliteration attacks. Moreover, the concepts stay linearly encoded after fine-tuning, meaning…

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• arXiv eess.IVSep 29

  Joint Supervised and Self-Supervised Training with Acquisition-Robust Techniques for Accelerated 4D Flow MRI Reconstruction

  Mengyuan Xue, Bochun Mei

  4D flow MRI measures time-resolved, three-directional blood velocity but requires long acquisition times, and its diagnostic signal is carried by the phase difference \emph{between} velocity encodings, not by image magnitude. Recent work has developed a per-encoding variational network to address image reconstruction in this field. In this work, we incorporate a joint supervised and self-supervised training regime and utilize both magnitude and velocity data during supervision. At the same time, we add multiple acquisition-robust and conditioning strategies based on the acceleration factors. On the CMRx4DFlow~2026 aortic dataset (1.5 and 3T), our model lowers RelErr by $38$--$50\%$ and AngErr by $7.0$--$8.7^\circ$ against a training-matched baseline across $R{=}10$--$50$, improving on every held-out subject at every acceleration. Our model also shows strong generalization ability to transfer on out-of-distribution data by employing the joint training scheme, with an increase of $7.2\%$ in SSIM and decrease of $38\%$ and $31\%$ in AngErr and RelErr respectively.

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• arXiv cs.AISep 29

  ChartRevise: A Dataset and Evaluation Protocol for Exact Chart Editing via Code

  Jiaxiang Tang, Yi Zhou, Chad DeLuca, Rogerio Feris, Ahmed Khalil Omran +3

  Chart editing requires cross-modal edit grounding, realizing a requested visual change in the code that draws it, with necessary related updates and without altering unrelated content. Existing benchmarks emphasize either code executability or chart quality, but their metrics do not clearly distinguish request completion from missed coupled updates and gratuitous changes. We introduce ChartRevise, a structured dataset and evaluation protocol for exact program-grounded chart editing. For dataset construction, we build on the grammar of graphics to systematically cover chart-editing operations, using source-program checks to verify their applicability across chart types and libraries. To improve edit exactness, our pipeline checks individual requirements and guides repair or exclusion when they are unmet. The resulting dataset contains 92,438 records covering 344 edit types across 20 chart types and three plotting libraries. For evaluation, our reference-free protocol separately measures atomic requirement completion, identifies gratuitous changes, and detects missed coupled updates. These checks are combined with successful execution and rendering to determine exact-edit success.…

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• arXiv cs.CVRoboticsSep 29

  Vision-Language-Action Autonomous Driving Agent with Language-based Memory

  Kai Yan, Xiangyu Chen, Yulong Cao, Alex Naumann, Peter Karkus +7

  Vision-Language-Action (VLA) foundation models have recently emerged as one of the prevailing solutions for autonomous driving, as they can utilize knowledge acquired during vision-language pretraining for accurate and interpretable driving. However, VLAs can take only a limited number of frames as visual input due to the high token cost of an image, which is problematic for memory-dependent tasks such as determining the arrival order at all-way stops and long-horizon driving scene understanding. Existing solutions use latent vector memories accessed through cross-attention, which are neither interpretable nor portable. In this paper, we propose AD-Memo, a general-purpose VLA driving agent with language-based memory. The agent outputs memory as an extension of its Chain-of-Thought (CoT) to record surrounding objects critical to driving; this memory becomes part of the agent's future input. We curate memory-based datasets and train VLAs with a two-stage recipe: Supervised Fine-Tuning (SFT) and \textit{Da Capo}, a novel semi-closed-loop Reinforcement Learning (RL) algorithm which uses trajectory-level advantage for memory and step-level advantage for driving, leading to better…

  AIMultimodal85PDF
• arXiv cs.AISep 29

  Component-Aware Feedback for Self-Evolving Programs

  Ethan Lin, Jinming Nian, Yi Fang

  LLM-guided evolutionary search can discover complex programs, but existing methods mostly only save candidate programs and fitness scores while discarding which component edits produced which fitness metric changes. Existing methods force the mutator LLM to infer the effect of prior edits from cluttered histories, making program search slow and unstable. This is especially true for locally servable LLMs to evolve multi-component systems. We introduce component-aware feedback, which compares each evaluated program with its parent, identifies the components that changed, and logs them with the associated metric differences into an attribution memory that later mutations read. The memory keeps each change in two reference frames, local against the parent it came from and global against the seed program, which shows both the immediate effect of a change and the cumulative progress made since the seed. We study this on LLM reranking, a multi-objective optimization problem where a multi-stage pipeline must balance quality against serving cost. Across twelve \textsc{Bright} datasets, our method reaches the strongest baseline's final quality after a median of one third of the search…

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• arXiv cs.CESep 29

  SHIFT-Truck: A High-Fidelity Aerodynamics Dataset and Benchmark for Pickup Trucks

  Riddhiman Raut, Yin Yu, Aashwin Anand Mishra, Michael Emory, Thomas Economon +2

  Pickup trucks account for 14% of new light-duty vehicles produced in the United States, yet are among the least aerodynamic. Their open cargo bed adds a flow absent from existing automotive aerodynamics datasets such as DrivAerML and SHIFT-SUV: the shear layer leaving the cab roof passes over a recirculating bed flow before separating again at the tailgate. The resulting drag lowers fuel efficiency, raises emissions and limits the range of electric trucks. Scale-resolved Computational Fluid Dynamics (CFD) is too costly for broad design exploration; neural surrogates can predict flow features at a fraction of that cost, provided they are trained on large-scale, high-fidelity, domain-specific data. We introduce SHIFT-Truck, the first such dataset for pickup trucks. It comprises 1,000 Spalart-Allmaras delayed detached-eddy simulations (SA-DDES) of a reference pickup geometry morphed across 17 shape parameters. Each case is run on a mesh of about 100 million cells at a Reynolds number of $1.4 \times 10^7$ and released with time-averaged surface pressure, wall shear stress, volumetric pressure and velocity. The setup is verified by grid refinement and repeated runs, and checked…

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• arXiv cs.CVSep 29

  Template-Search Domain Adaptation via Multi-Stage Feature Alignment for Cross-Modal Object Tracking

  Fereshteh Aghaee Meibodi, Amir Mehdi Soufi Enayati, Shadi Alijani, Homayoun Najjaran

  Visual object tracking typically assumes that the initial template and subsequent search frames share the same sensing modality. In practice, sensor availability or operation may change over time, creating a substantial representation gap between template and search frames. Unlike conventional multi-modal tracking where paired modalities are simultaneously available, cross-modal tracking requires localization when template and search frames originate from different active modalities. Accordingly, we introduce TSDA-Track, a Template-Search Domain Adaptation framework to reduce modality discrepancy during training. We investigate two feature alignment strategies. Pre-AFA TSDA-Track applies adversarial alignment before transformer's template-search interaction to suppress modality-specific bias. Enc-CFA TSDA-Track applies contrastive alignment to encoder representations after interaction to strengthen target-level cross-modal correspondence. Both variants retain a shared inference pipeline without modality-specific branches. Experiments on LasHeR, and zero-shot evaluations on RGBT234 and GTOT under multiple cross-modal protocols demonstrate improvements over representative…

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• arXiv cs.CVSep 29

  STEPS: Scene Text Editing with Preserved Style Using Diffusion and Contrastive Style Encoding

  Nicolas Thiebaut, Nameer Hirschkind, Xiao Yu, Kyle Spence

  We introduce Scene Text Editing with Preserved Style (STEPS), a novel diffusion model architecture for quality text replacement in images. Scene Text Editing (STE), also known as Visual Text Editing, consists of changing the textual content in an image while conserving the original style, e.g. font, colors, orientation, background, etc. STEPS advances the state of the art in STE through directed focus on improved style preservation. We introduce a style encoder for visual text that captures style independently of textual content, and a model architecture that combines the style encoder with multiple semantic conditions (target text characters encoding and rendered glyphs). STEPS achieves superior results to previous STE methods in style preservation, output readability, and subjective quality.

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• arXiv eess.IVSep 29

  TSGL: Teacher-Student Graph Learning for 3DGS Compression

  Matin Bani Saedi, Matthew Kyan, Gene Cheung

  3D Gaussian Splatting (3DGS) is a popular representation for novel view synthesis. However, 3DGS contains millions of Gaussian primitives, each with rich attributes, resulting in large file sizes. We propose a novel 3DGS compression method based on Teacher-Student Graph Learning (TSGL) that operates directly on a trained model, without 3DGS retraining or access to training images. Specifically, for each block of Gaussian primitives, using decoded positions and DC spherical harmonic (SH) coefficients as predictors, we learn a signal-dependent geometry graph G encoding the pairwise similarities between neighbouring Gaussians via a teacher-student model. Given G, we perform Graph Fourier Transform (GFT) on the remaining attributes, so that signal energies are predominantly projected into the low-frequency coefficients for compact representation. On three standard benchmarks, the method reaches 27x to 33x compression with less than 0.6 dB of PSNR loss, improving on recent post-training compression methods in both size and rendering quality.

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• arXiv cs.LGSep 29

  Proper Scoring Rule-based Diffusion for Probabilistic Weather Forecasting

  Joonhyeong Park, Giung Nam, Hyungi Lee, Kyunghyun Cho, Byoungwoo Park +1

  Recent probabilistic weather forecasters train stochastic predictors with the continuous ranked probability score (CRPS) to generate each ensemble member in a single forward pass. These models learn the predictive distribution from the forecast context alone, which becomes difficult at longer forecast horizons where uncertainty is high. To learn the predictive distribution more effectively, we introduce auxiliary conditional denoising tasks that predict the same future state from the context and its corrupted version, which provides partial future information that can reduce prediction ambiguity. Building on distributional diffusion models, we learn the conditional distributions of these tasks with a single stochastic predictor by minimizing a proper scoring rule across noise levels. At inference, the predictor can still generate each ensemble member in a single forward pass at the fully corrupted endpoint. Standard CRPS training is recovered as the endpoint-only special case of our formulation, so our framework extends existing CRPS-based forecasters with only additional conditioning inputs. Controlled experiments show that the auxiliary tasks improve one-step forecasting across…

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• arXiv cs.CLSep 29

  Strong Multilingual Privacy Tagging at Encoder Speed

  Jonathan Graehl

  Privacy redaction must reliably remove personal information while preserving the relationships expressed in the text. We develop a general-purpose multilingual named-entity tagger with distinctions fine-grained enough to support a broad range of redaction policies, and methods for cheaply learning additional distinctions. We fine-tune the multilingual encoder XLM-R-large on text in 35 languages annotated by prompted frontier language models, plus existing human-annotated corpora with labels mapped onto our entity types. We evaluate on human-annotated test sets in seven languages and on LLM-annotated text in 35 languages. On the human-annotated sets, at operating points fixed on development data, our tagger reaches 88.2 redaction F1, against 69.1 for published GLiNER2 and 61.4 for Microsoft Presidio, and its architecture runs 4.9 times faster than GLiNER2's on CPU. Compared with frontier-model annotations alone, adding the mapped human-annotated corpora to training raised redaction F1 on those sets by ten points, with essentially no change on the LLM-annotated text. Open-weight LLMs fitting on one 96-GB GPU were less accurate than our tagger, whether prompted to tag text or used…

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• arXiv cs.CLSep 29

  Marking Contour Tones in Yorùbá: A Typographic and Computational Proposal

  Kólá Túbòsún

  Yorùbá is a tonal language in which contour tones pose persistent orthographic challenges. These are especially notable for personal names and lexical items whose conventional spellings avoid vowel lengthening that would otherwise provide a host syllable for the second tone. A particular concern is a class of names in which the conventional spelling does not just omit tonal information but inverts the meaning of said name, sometimes asserting the opposite of what the name intends. This paper describes the problem, illustrates the inadequacy of current solutions, and proposes the adoption of the caron and circumflex marks. These are symbols with precedent in Yorùbá phonological scholarship since Olmsted (1951), used as orthographic conventions on single vowels to encode rising and falling contour tones, making them accessible for the first time through standard keyboard input and computational text processing. The proposal is supported by an implementation in the WriteYoruba keyboard and the TTSYoruba speech synthesizer, whose architecture and listener evaluation are reported separately (Tubosun et al., 2026).

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• arXiv cs.LGSep 29

  Interpretable but Fragile? Robustness of Concept Bottlenecks under Geometric-Semantic Perturbations

  Hanwei Zhang, Tianma Hu, Gaojie Jin, Xu Cheng, Ronghui Mu

  Concept Bottleneck Models (CBMs) are designed to provide interpretable intermediate representations, yet how such bottlenecks affect robustness remains unclear, with existing studies reporting mixed and sometimes contradictory findings. We argue that these discrepancies arise from conflating different robustness notions and perturbation regimes, rather than from fundamental disagreements about CBMs themselves. To disentangle these factors, we introduce a generator-based evaluation framework that enables controlled comparisons between standard classifiers and CBMs under two distinct perturbation types: continuous geometric perturbations in latent space and discrete semantic interventions in concept space. Within this framework, we evaluate robustness both empirically, via prediction and concept-level sensitivity metrics, and certifiably, using randomized smoothing in latent and concept spaces. Across experiments, we reconcile previously conflicting findings by clarifying when, and in what sense, concept bottlenecks do or do not improve robustness. By further analyzing robustness under varying task conditions, including class semantic similarity and concept vocabulary size, we show…

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• arXiv cs.LGSep 29

  Geometry-physics confounding impairs PDE learning across varying domains

  Yinghao Cheng, Gengxiang Chen, Xu Liu, Qinglu Meng, Yixin Jing +4

  Learning partial differential equation (PDE) dynamics across varying domains is central to predictive modelling and data-driven discovery of governing equations. However, geometric variation alters both field representation and the governing differential operators, confounding geometric effects with intrinsic physical properties in the observed dynamics. This work identifies geometry-physics confounding as a unified failure mechanism for PDE learning across varying domains. In forward operator learning, this confounding increases the burden of inferring geometry-dependent operator changes from finite data, reducing data efficiency and generalisation. In equation discovery, omitting geometry-induced operators misspecifies the candidate library, leading to biased parameters, missed governing terms and spurious terms. We propose a de-confounding framework that makes the known geometry-to-operator transformation explicit. Geometry-induced coefficient fields improve prediction and data efficiency across five operator-learning benchmarks, while geometry-complete candidate libraries recover the generating equations and reduce held-out PDE residuals by more than two orders of magnitude…

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• Spiking neural networks8+33.3%
• Character recognition OCR40+11.1%
• Quantum machine learning27−3.6%
• Voice AI62−13.9%
• Speech emotion18−14.3%
• Diffusion priors20−20.0%
• Channel state information16−20.0%
• Robotics156−24.6%