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.AISep 30

  Before Agents Decide: Epistemic Action in LLM-Based Systems

  Yizhi Liu, Balaji Padmanabhan, Siva Viswanathan

  Before a difficult decision, people often act simply to understand the situation better. We turn an object to see another side, place alternatives next to each other, or change one condition and observe what happens. These actions may not complete the task, but they improve the evidence needed for the next choice. LLM-based agents can search and explore, yet agent design gives less attention to an earlier question: is the available evidence ready for the decision? Sometimes necessary evidence is missing. In other cases, the evidence is present but its form hides what matters, or the comparison needed to judge it does not yet exist. Cognitive science calls actions that improve the basis for a later choice epistemic actions. We bring this idea to LLM-based agents and distinguish three modes: acquiring missing evidence, transforming available evidence, and probing a system to create a revealing response. We use the term epistemic scaffolding for the interfaces, tools, and environments that make these actions possible and auditable. This paper argues that agent design must address how decision-ready evidence is produced.

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• arXiv cs.LGSep 30

  Pick the Mixture, Not the Samples: Combinatorial Data Selection for LLMs

  Luyang Zhang, Jialu Wang, Bebei Li

  Data selection for LLM fine-tuning faces two facts about real training: data pools draw from many distinct domains, and evaluation spans diverse tasks. As a result, the same sample helps different tasks differently, and samples interact during training so that a subset's value is not the sum of its parts. Current data-selection methods leave these realities largely unaddressed. We formalize them as Combinatorial Data Selection (CDS), a framework that separates attribution (how samples are scored) from selection (which subset to pick) and models the non-additive interactions among samples. On a real instruction-tuning data pool, we find substantial cross-domain complementarity (joint utility exceeds the sum of singletons), alongside redundancy within domains. Inspired by this, we propose Mixture-then-Select, a two-stage algorithm that first decides how many samples to take from each domain, then ranks samples within each domain by attribution score. Theoretically, the gap to the optimal subset is linear in the selection size and independent of data pool size. Empirically, Mixture-then-Select outperforms strong baselines by 20 to 54%, is robust across attribution methods, and works…

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• arXiv cs.LGSep 30

  Denoising Surface: Modeling and Predicting Inference Cost for Diffusion LLM Serving

  Haoyu Zheng, Fangcheng Fu, Binhang Yuan, Yongqiang Zhang, Liang Deng +4

  As diffusion large language models (dLLMs) become more capable, they are moving from research settings to real-world \textit{serving}, where request management (such as scheduling and resource allocation) relies on accurate estimation of per-request inference cost. However, common cost proxies fall short for dLLMs: output length ignores that one forward pass can unmask multiple tokens, and denoising-step count ignores the \textit{heterogeneous} per-step costs. We observe that the block-autoregressive generation mechanism induces a two-dimensional execution structure over output blocks and within-block denoising steps, whereas these proxies collapse it into a scalar, discarding information essential for characterizing the cost. Motivated by this insight, we propose the Denoising Workload Surface (DWS), which preserves this two-dimensional block-step structure as a probability surface to weight the heterogeneous per-step costs. We then design a coarse-to-fine training scheme that enables a lightweight prompt-only predictor to accurately predict the complex DWS. This predictor runs efficiently even on a single CPU core, avoiding GPU contention with the serving model. Since DWS…

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• arXiv stat.MESep 30

  Heteroskedastic Canonical Polyadic Tensor Decomposition

  Kyle Ritscher, Carlos Llosa-Vite

  When minimizing the squared-error loss, the popular CP decomposition can be interpreted as parameter inference in a Gaussian model with a low-rank mean tensor and constant variance across the tensor entries. We introduce heteroskedastic-CP (HCP), which models entrywise variability with a non-constant, low-rank precision tensor, and develop an alternating block-coordinate ascent method to recover both the low-rank mean and precision tensors from noisy observations. Our procedure is computationally competitive, with the same leading-order factor-update complexity as CP-ALS. We demonstrate HCP on synthetic experiments and an EEG application.

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• arXiv cs.LGSep 30

  Gumbel Straight Flow: Distilling Autoregressive Models into One-step Flow Maps

  Yeongmin Kim, Arnaud Doucet, Andrew Campbell, Valentin De Bortoli, Thomas Mensink +1

  We present Gumbel Straight Flow (GSF), a continuous flow map language model that leverages the noise-data coupling of a pretrained autoregressive language (AR) model. We theoretically demonstrate that the coupling between Gumbel noise and one-hot token sequences induced by an autoregressive model yields non-intersecting linear paths connecting the noise to the sequence representations. To further enhance high-quality few-step path sampling, we use a flow map semigroup objective where the tangent (velocity) condition is guided directly by the AR teacher. Across various benchmarks, including pretraining and downstream tasks, GSF can outperform current few-step language generation baselines.

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• arXiv cs.LGSep 30

  Score the Update, Not the Token: Descent-Aligned Routing for Combinatorial LoRA Experts

  Priya Nair, Lukas Brenner, Maya Lindqvist, Daniel Whitmore, Wen-Hsuan Liu +3

  Mixture-of-LoRA-experts methods raise the capacity of low-rank adaptation by routing each token to a few low-rank experts. Nearly all of them tie one input-side factor to one output-side factor per expert, and nearly all of them route by scoring the token: the router picks experts without seeing what any of them would write. We argue that the router should score the update. To first order, adding an expert's update to a layer output lowers the loss by the inner product between that update and the negative loss gradient at the output. This usefulness is quadratic in the token, so a router that is linear in the token sees only the part of it that runs through the token mean, and routers that rank experts by the norm of their own activations never see the output factor. If each expert is split into a reader (down-projection) and a writer (up-projection), the usefulness of every reader--writer pair becomes an inner product in the shared rank-$r$ space, and all $N_AN_B$ pairs can be scored from $N_A+N_B$ vectors. We build VANE on this identity. A low-rank compass predicts the descent direction of each token. VANE scores every pair by the alignment between its update and the compass…

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• arXiv cs.CLSep 30

  EurekaBench: Measuring Agentic Ability to Discover New Scientific Insights

  Jiayi Geng, Zhengxuan Wu, Kevin S. Chen, Seungone Kim, Joseph Janssen +10

  When Isaac Newton discovered the law of gravitation, he did so through an iterative process of analyzing observed data such as planetary patterns, finding the underlying mechanisms by describing patterns in mathematical equations, and refining his theory against the Moon's orbit, revealing the startling insight that the same force governs both falling apples and orbiting planets. Would it be possible for AI agents to make similar discoveries? To measure this ability, we introduce EurekaBench, a cross-domain benchmark that tests AI agents' ability to conduct long-horizon experiments and discover mechanisms that explain observations. We evaluate these mechanisms by the scientific insights that can be derived from them. EurekaBench contains an expert-verified set of 26 long-horizon tasks across neuroscience, computer science, chemistry, astrophysics, geophysics, and plasma physics, with a total of 306 scientific insights that the discovered mechanisms are expected to support. Our evaluation framework tests three axes of scientific discovery: agents' ability to follow known scientific constraints, the predictive accuracy of the discovered mechanisms, and whether these mechanisms…

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• arXiv cs.ROSep 30

  ScaffoldM3C: A Multimodal Sequential Monte Carlo Framework for Generative Stable Construction Planning

  Gadiel Sznaier Camps, Chengyang He, Guillaume Sartoretti, Eduardo Montijano, Mac Schwager

  Autonomously constructing physically realizable 3D structures remains a significant challenge due to combinatorial action spaces, interchangeable components, equifinal assembly sequences, and strict stability requirements during construction. State-of-the-art methods fine-tune large language models for text-based generative construction. However, these approaches do not allow for Multimodal (text, image, sketch) conditioning, overlook the practical role of scaffolding for stabilizing intermediate structures, and suffer from slow inference speeds. Therefore, we formulate construction as a probabilistic next-block generation task with multiple potential assembly actions and multiple potential task conditioning modalities. Concurrently, we explicitly consider the utility of scaffolding by introducing an auxiliary scaffold block token. We present Scaffold Multimodal Monte Carlo (ScaffoldM3C), a multimodal, lightweight, auto-regressive model for stable block-based construction, that proposes a set of next-step candidate blocks. Leveraging these candidates, we utilize Sequential Monte Carlo (SMC) to maintain a population of possible assembly sequences, allowing us to consider multiple,…

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• arXiv cs.CVSep 30

  PixelDense: Dense Prediction as Representation Alignment for Pixel Diffusion

  Lehan Yang, Daiqing Qi, Wenhao Zhang, Avery Li, Yiqing Yang +7

  Representation alignment (REPA) accelerates diffusion transformer training, but its alignment targets are almost exclusively semantic encoders such as DINOv2 and CLIP. Recent analysis points to spatial structure, not global semantics, as the carrier of the alignment effect, yet dense-prediction foundation models trained to predict that structure remain overlooked as REPA targets. In pixel-space diffusion, SAM2, Depth Anything v2, and Metric3D v2 each outperform the DINOv2-only GenEval baseline, with the two geometric teachers leading the segmentation teacher. A flat sum of all four teachers, however, lands below the best single geometric teacher, as semantic and geometric gradients compete for one denoiser projection. We introduce PixelDense, which routes DINOv2 and SAM2 through a semantic projection stream, routes Depth Anything v2 and Metric3D v2 through a geometric projection stream, and adds a weight-space orthogonality penalty that keeps the two streams in disjoint subspaces. All four teachers are frozen during training and dropped at inference. Applied to PixelGen and DeCo with a single recipe, PixelDense improves GenEval, DPG-Bench, and HPS v2.1, raises PixelGen-XXL's…

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• arXiv cs.ITSep 30

  AIR-LLM: Broadcasting AI Weights over Radio for Memory-Free Edge LLM Inference via RF Computing

  Zhihui Gao, Tingjun Chen, Dirk Englund

  Next-generation large language models (LLMs) are expanding from the cloud to ubiquitous edge devices. However, edge devices typically either lack the memory to store increasingly large LLM weights or, even with enough memory, spend unaffordable energy on loading the weights. This raises our question: can an edge device run an LLM without storing or loading its weights, but receive them over the air and consume them on the fly? Inspired by wireless broadcasting, we present AIR-LLM, an LLM inference architecture for edge devices, which is composed of: (i) a central radio (e.g., 5G base stations) that broadcasts the LLM weights into the air, and (ii) the edge user that receives the weights and completes the general matrix-vector multiplication (GEMV) of LLM inference directly in the radio frequency (RF) domain using RF mixers. To further shorten the airtime, AIR-LLM exploits MIMO spatial multiplexing and proposes an energy-efficient precoder-postcoder pair on the edge to calibrate its own wireless channel. Since the central radio stays user-unaware, AIR-LLM is user-scalable so that one broadcast serves unlimited users within its coverage. We implement AIR-LLM on the NVIDIA Sionna…

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• arXiv cs.CVSep 30

  Multimodal Flow: Unified Flow Modeling of Language and Vision in Embedding Spaces

  Hongyuan Tao, Xinggang Wang, Lianghui Zhu, Yongkang Li, Yunchao Wei +5

  We present Multimodal Flow, a fully continuous generative model of language and vision. Most unified multimodal models either model both language and quantized images as discrete tokens or combine discrete language prediction with continuous image generation. The former introduces a visual quantization bottleneck. The latter requires modality-dependent objectives and sampling procedures. Fully continuous modeling avoids these trade-offs and enables a shared generative process, but remains underexplored for multimodal pretraining. Multimodal Flow introduces a unified continuous architecture that integrates multimodal continuous representations with a shared chunk-causal flow backbone. It organizes text blocks and images as ordered continuous hyperchunks, preserving textual token order and visual spatial structure. The backbone learns a single vector field over these hyperchunks through Flow Matching. Joint attention enables cross-modal interaction, while modality-specific feed-forward networks process each modality. The model predicts multiple target chunks in parallel during training and generates hyperchunks sequentially at inference. We instantiate MF-1 and pretrain it on…

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• arXiv cs.CVSep 30

  PACT: End-to-End Learning of Human Pose, Contacts, and Forces from Video

  Rikhat Akizhanov, Yangsong Zhang, Nikolai Kaliazin, Peter Wolf, Yoshihiko Nakamura +3

  Human motion, environmental contacts, and interaction forces are governed by common physical laws, yet existing approaches typically separate visual pose reconstruction from contact and force estimation. This separation limits joint reasoning and can propagate errors between stages. We introduce PACT, an end-to-end model that jointly learns to estimate human pose, contacts and contact forces from monocular video. Our approach augments a human reconstruction foundation model with learnable contact-force tokens and a temporal transformer that integrates visual features with world-space motion. Joint prediction heads refine human poses and estimate contacts and forces, while physics-based supervision encourages consistency between the reconstructed motion and interaction forces. To address the scarcity of force annotations, we develop a data annotation pipeline that combines contact labeling with physics-based motion and force optimization, producing training supervision from synthetic and real-world videos. We also introduce a real-world climbing benchmark ForceWall with climbing videos and corresponding ground-truth contact forces obtained from the force sensors. Experiments…

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• arXiv cs.LGSep 30▲ 37

  Semifactual Credit-Augmented Policy Optimization

  Junshu Pan, Zhizhang Fu, Shulin Huang, Yiran Ding, Zifan Cheng +3

  Reinforcement learning with verifiable rewards (RLVR) has improved the reasoning capabilities of large language models (LLMs), yet their predictions remain sensitive to task-irrelevant prompt features. We investigate this sensitivity through semifactual prompt interventions that preserve the underlying problem and its answer. Our analysis reveals substantial variation in token-level sensitivity and shows that suppressing high-drift token candidates during decoding improves reasoning accuracy without updating model weights. These findings highlight a limitation of Group Relative Policy Optimization (GRPO), which assigns the same outcome-derived advantage to every response token and may reinforce potential spurious dependence alongside useful reasoning. Motivated by this observation, we introduce Semifactual Credit-Augmented Policy Optimization (SCAPO), a causally inspired variant of GRPO that incorporates semifactual stability into token-level credit assignment. SCAPO measures token probability drift for fixed responses under semifactual interventions and uses normalized stability scores to reduce advantages for relatively unstable tokens during early training, while granting no…

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• arXiv cs.LGSep 30

  Ranking-Aware Prompt Optimization for Multimodal Clinical Diagnosis

  Tian Xia, Minghao Liu, Yiqing Liang, Laixi Shi, Jiayun Wang

  Multimodal large language models (MLLMs) are rapidly advancing clinical diagnosis, yet their adaptation pipelines remain anchored to accuracy-based objectives. Clinical data are heavily class-imbalanced: a constant-majority predictor can score above 90% accuracy while being clinically useless. We therefore evaluate and optimize for AUROC, a threshold-free score that ranks positives above negatives and is invariant to class balance. We focus on prompt optimization in MLLMs. Reflective methods such as GEPA use a binary scores matrix with one row per evaluation instance and one column per candidate prompt; cells record per-instance correctness, so the column average is accuracy and drives candidate selection. We introduce pair-level Pareto prompt evolution (Ranking-PE), which replaces each correctness row with a pairwise-ordering row over (positive, negative) instance pairs: the cell is 1 if the candidate scores the positive higher than the paired negative. The column average then equals empirical AUROC (by the Wilcoxon-Mann-Whitney identity). We apply this swap at all three layers the prompt evolution search reads from - the scores matrix that decides Pareto dominance, the…

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• arXiv cs.LGSep 30

  Removing Timing Shortcuts Improves Non-Invasive Brain-to-Text

  Dulhan Jayalath, Oiwi Parker Jones

  We find that major reported improvements in decoding words from non-invasive brain recordings are largely reproducible without any brain data. In the influential work of d'Ascoli et al. (2025), time series of brain activity from subjects perceiving continuous speech are segmented into fixed-length windows starting at each word. A neural network then generates predictions for all of the words in a sentence together. Neighbouring windows partially overlap, implicitly revealing the interval between words. Since these intervals indicate the duration of the words spoken, and different words tend to have different durations - for example, "the" is much shorter than "supercalifragilisticexpialidocious" - the neural network can improve its predictions of words without relying on the underlying brain activity. Consistent with this, the method reaches 22.0% balanced accuracy on synthetic signals containing no brain information, compared with 22.3% on real brain recordings. To prevent the network from learning this shortcut, we make a single, simple change. Instead of jointly encoding all windows in a sentence, we process each independently. As a result, the neural network achieves better…

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• arXiv cs.CVSep 30

  Physis-Lang: Self-Evolving Language as a Physical Representation for Video World Model

  Liming Lu, Xianzheng Ma, Wenkun He, Guanqi Zhan, Yilin Zhao +12

  Video world models are expected to predict how the physical world evolves, yet they often produce visually plausible videos that violate basic physical principles. Existing approaches commonly assume that natural language is insufficient to represent the physical knowledge required for reliable generation, and therefore introduce additional visual, latent, numerical, or planning-based signals. We revisit this assumption and introduce Physis-Lang, a self-evolving framework that treats physical language as a shared and optimizable representation across data curation, model training, and video generation. Physis-Lang represents physical processes through language that describes their relevant entities, causes, interactions, governing principles, temporal evolution, and effects. To improve this representation, we construct PhysCapBench, which decomposes physical processes into atomic assertions and evaluates captions using recall and precision. An agentic loop iteratively analyzes assertion-level errors and refines the instruction used to produce physical captions. Physis-Lang further converts model deficiencies into textual descriptions and uses language-guided retrieval to identify…

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• arXiv cs.CVImage & video generationSep 30

  ViTeX-Bench: Benchmarking High-Fidelity Video Scene Text Editing

  Xinghao Chen, Xiangbo Gao, Jiongze Yu, Yuheng Wu, Zhengzhong Tu

  Recent video generation is increasingly realistic and controllable, yet video editing remains less developed, particularly for precise local edits that must preserve the original scene dynamics. Video scene text editing replaces text on scene surfaces, such as storefront signs, whiteboards, and product labels, while preserving the surrounding content, motion, and camera dynamics. Although scene text editing is well studied for images, video scene text editing that achieves high visual quality, temporal consistency, and edit locality remains underexplored. Existing resources offer limited paired real-video data, and general video-editing metrics do not directly measure whether the requested text remains correct over time. We introduce ViTeX-Bench, a benchmark suite comprising ViTeX-Dataset and a three-axis evaluation protocol. The dataset contains 387 real-world 720p videos with text-region masks and editing instructions: 230 provide reviewed, pipeline-generated paired edits for training, and 157 form a frozen evaluation split. The protocol evaluates text correctness, visual and temporal quality, and edit locality through 13 metrics, with one primary metric per axis and a Pareto…

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• arXiv cs.CVSep 30

  AssemblyWorld: Rethinking 3D Assembly with General-Purpose Agents

  Jiahao Zhang, Yeying Fan, Moitreya Chatterjee, Suhas Lohit, Bernhard Egger +3

  The task of 3D assembly requires translating an understanding of parts and their relationships into precise spatial arrangements. Can pretrained general-purpose agents assemble objects through visual interaction without additional assembly-specific fine-tuning? To investigate this question, we introduce AssemblyWorld, an interactive 3D environment in which agents inspect rendered views and manipulate supplied rigid parts, guided by images or assembly manuals when available. Agents perceive part geometry through 2D views rather than direct access to mesh vertices or faces, while their resulting assemblies are evaluated geometrically. Building on this environment, we construct AssemblyWorldBench, comprising 100 assembly tasks across 80 objects spanning furniture, industrial assembly, and fracture reassembly. Evaluating eight agent systems reveals substantial differences in their capabilities. The strongest system achieves 80.9% part accuracy but 59.4% complete-assembly success. The evaluated open-source systems lag substantially behind their stronger closed-source peers in both execution reliability and assembly accuracy. Analyses of visual references, interaction trajectories, and…

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• arXiv cs.CVSep 30

  Image Classifiers are Efficient Self-Supervised Video Representation Learners

  Owais Iqbal, Sudipta Sarkar, Shyam Marjit, Omprakash Chakraborty, Anirban Chakraborty +1

  We introduce VideoMSN, a Masked Siamese Network framework for efficient self-supervised spatio-temporal representation learning in videos. Instead of relying on heavy 3D architectures or reconstruction-based autoencoders for learning with unlabeled data, we repurpose standard image Vision Transformers by representing videos as super images which are grids composed of frames sampled from videos. From each super image, we construct two views: one with spatial patch masking and the other with temporal frame masking, ensuring no information leakage across frames. A shared Vision Transformer (ViT) encoder aligns their embeddings using a masked Siamese loss, capturing both motion and appearance cues without reconstruction. Our decoder-free formulation leverages an image foundation model towards efficient video representation learning. Starting from pretrained DINO-v3 and DeiT-v3 image encoders, VideoMSN achieves state-of-the-art performance on Kinetics-400, UCF101, and HMDB51 while requiring up to $32\times$ fewer and $160\times$ fewer video pretraining epochs compared to prior video self-supervised learning methods. Our proposed approach also shows strong performance in low-shot…

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• arXiv cs.ROSep 30

  Ego4WAM: What Matters When Scaling Egocentric Human Data for Robot Learning?

  Zhihao Sun, Liu Liu, Xinjiang Wang, Haoyi Jiang, Wei Feng +4

  Egocentric human data provides a scalable source of experience for robot learning, but varies substantially in human-robot alignment, behavioral coverage, and available supervision. Existing work shows favorable scaling with increasing human data, but it remains unclear which data properties drive downstream robot gains and how to use such data throughout the training pipeline. We present a systematic study of egocentric human data with different alignment and supervision under a unified world-action model framework. With the model backbone fixed, we disentangle the effects of human-robot alignment, data duration and task diversity, action supervision, and data usage strategies. We find that aligned human demonstrations substantially improve out-of-distribution generalization and reduce target-task robot data requirements; data duration and task diversity affect downstream capabilities differently; and video-only supervision remains effective without action labels, providing a strong foundation for subsequent video-action training. We validate these findings through closed-loop policy evaluation on both real robots and RoboDojo. Rather than treating data duration as the sole…

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• Speech emotion24+84.6%
• Forecasting time142+25.7%
• Federated learning45+18.4%
• Spiking neural networks9+12.5%
• Character recognition OCR38+11.8%
• Linear bandits111+8.8%
• Robotics198+3.1%
• Databases60.0%