We present WorldDirector, a highly controllable video world model framework designed for persistent dynamic object memory and unrestricted viewpoint exploration. Unlike existing world models that entangle physical dynamics with pixel rendering and rely on continuous visual observation to sustain motion, our framework explicitly decouples semantic motion orchestration from visual generation. By leveraging an LLM to coordinate 3D trajectories with camera movements and subsequently employing these orchestrated trajectories as control signals for video generation, our approach ensures strict physical logic and appearance stability, successfully preserving the exact visual identities of dynamic entities even when they re-enter the scene after prolonged periods out of view. Experimental results demonstrate that our method supports the synthesis of complex and extended events with unprecedented controllability and persistent dynamic object memory. Project Page: https://worlddirector.github.io/

Generative diffusion models excel at synthesizing high-quality images, videos, and 3D content under multimodal control. However, arbitrary user-defined modality-to-4D (X-to-4D) generation remains challenging due to the high cost of constructing diverse datasets and the limited scalability of existing methods. This paper presents Align4D, a flexible framework that translates any-modal input into coherent video-3D pairs, using video to guide 4D motion and 3D data to shape 4D geometry. Align4D introduces three key techniques: (1) Object Distance Alignment, which searches Video-Aligned and Multiview-Aligned Object Distances (VAOD/MAOD), respectively, to reconcile 4D renderings with video and the priors of multiview diffusion models; (2) Motion-Geometry Joint Alignment, which constrains known and unknown views through synchronized video and 3D inputs, ensuring consistent 4D generation; and (3) Asynchronous Optimization, which decouples Gaussian attribute and deformation network training to enhance motion and geometry fidelity. We further propose the X4D dataset, which integrates prompt, image, video, and 3D data for benchmarking. Experiments on X4D and Consistent4D demonstrate that Align4D achieves state-of-the-art quality and consistency in X-to-4D generation. Project page: https://miaoqiaowei.github.io/Align4D/.

As AI coding agents become more autonomous, they increasingly ship code iteratively, with the codebase persisting across sessions. This persistence creates a new attack surface: a misaligned or prompt-injected agent can distribute attacks across pull requests (PRs) and time its payload for the PR with the best natural cover. To study the resulting dynamics, we introduce Iterative VibeCoding, a setting for AI control, the study of safely deploying capable but potentially untrusted AI. In Iterative VibeCoding, a coding agent builds software over a sequence of PRs in a persistent codebase while pursuing a covert side task. Our benchmark includes two task families: CLI tools and Flask web services, across 20 total task variations. We use Claude Sonnet 4.5 as the attack agent and GPT-4o as the monitor. We compare gradual attacks, which distribute the side task across PRs, against non-gradual attacks concentrated in a single PR. No single monitor is robust to both: which strategy evades best (success while evading the monitor) depends on the monitor type, so a defender cannot close off both gradual and non-gradual attacks with any one monitor. High evasion (>= 65%) generalizes across model attack agent backends (Sonnet 4.5, Gemini 3.1 Pro, Kimi K2.5), confirming this is a property of the persistent-state attack surface rather than a single model's capability. Evasion also remains high across state-of-the-art monitor models and the gap between gradual and non-gradual evasion widens for more capable models. We introduce a stateful link-tracker monitor that tracks suspicious buildup across PRs. On both task families, it detects gradual attacks substantially better than diff monitors that merely see more accumulated history. Combining this stronger monitor with trajectory monitors in a four-monitor ensemble reduces gradual-attack evasion from 93% under the weakest standard diff monitor to 47%.

LLMs memorize sensitive training data, including personally identifiable information (PII), creating a pressing need for reliable post hoc removal methods. Unlearning has emerged as a promising solution, with state-of-the-art(SOTA) methods often following a localize-first, unlearn-second paradigm that targets specific model parameters. However, existing benchmarks evaluate unlearning solely at the output level, leaving open the question of whether unlearning truly erases knowledge from a model's parameters or merely obfuscates it, a concern reinforced by the success of resurfacing attacks. To bridge this gap, we introduce LACUNA: the first unlearning testbed with ground-truth parameter-level localization. LACUNA injects PII of synthetic individuals into predefined parameters of 1B and 7B OLMo-based models via masked continual pretraining, enabling direct evaluation of whether unlearning targets the weights responsible for knowledge storage. We use LACUNA to benchmark current SOTA unlearning methods and find that, despite strong output-level performance, existing methods are highly imprecise and susceptible to resurfacing attacks. We further show that when localization is successful, even a simple gradient-based unlearning method achieves strong erasure and robustness to resurfacing attacks, highlighting the importance of precise unlearning. We release LACUNA to complement behavioral evaluations and drive further advances in robust, localization-based unlearning.

Many everyday programming tasks resist clean rule-based implementation, such as alerting on important log lines, repairing malformed JSON, or ranking search results by intent, and are increasingly outsourced to large language model APIs at the cost of locality, reproducibility, and price. We propose fuzzy-function programming: compiling such a function from a natural-language specification into a compact, locally-executable neural artifact. We instantiate this paradigm with Program-as-Weights (PAW), in which a 4B compiler trained on FuzzyBench, a 10M-example dataset we release, emits parameter-efficient adapters for a frozen, lightweight interpreter. A 0.6B Qwen3 interpreter executing PAW programs matches the performance of direct prompting of Qwen3-32B, while using roughly one fiftieth of the inference memory and running at 30 tokens/s on a MacBook M3. PAW reframes the foundation model from a per-input problem solver into a tool builder: invoked once per function definition, it produces a small reusable artifact whose subsequent calls per function application are cheap and offline.

Understanding and reasoning over long contexts has become a key requirement for deploying large language models (LLMs) in realistic applications. Although recent LLMs support increasingly long context windows, they often fail to use relevant evidence that is already present in the input, revealing a gap between context access and effective context utilization. In this work, we propose Recursive Evidence Replay as LLM Harness for Long-Context Reasoning (RECONTEXT), a training-free inference method for improving long-context reasoning. RECONTEXT uses model-internal relevance signals to construct a query-conditioned evidence pool and replays it before final generation while preserving the full original context. This recursive selection process separates evidence organization from answer generation without training, external memory, or context pruning. We also provide a theoretical analysis based on associative memory, which characterizes the context as a memory store, the question as a retrieval cue, attention as cue-trace association, and replay as trace reactivation. Experiments on eight long-context datasets with 128K context length show that RECONTEXT consistently improves evidence utilization across Qwen3-4B, Qwen3-8B, and Llama3-8B, achieving the best average rank on all three backbones. Code is available at https://github.com/Yanjun-Zhao/ReContext.

Representation alignment has become an effective way to accelerate diffusion transformer training and improve generation quality. Recent self-alignment methods, such as SRA and Self-Flow, further remove the dependency on external pretrained encoders by constructing alignment within the diffusion model itself. However, the mechanism behind the improvement from SRA to Self-Flow, dual-time scheduling, remains under-examined: Self-Flow attributes its gain to interactions between tokens at different noise levels, where cleaner tokens help infer noisier ones. In this work, we revisit this explanation and ask whether the gain instead comes from data augmentation along the noise dimension. To disentangle these factors, we introduce Attention Separation, which preserves the same dual-timestep input as Self-Flow while blocking attention between tokens assigned to different noise levels. Surprisingly, removing such interaction does not degrade performance and can even improve it, suggesting that the improvement from SRA to Self-Flow mainly comes from data augmentation. Furthermore,We show that Attention Separation itself provides an augmentation effect by splitting a single image into multiple effective training parts to expand the training data. Based on these observations, we combine self-representation alignment with dual-timestep and attention-separation augmentation, and demonstrate the effectiveness of this design on ImageNet.

LLM agents will increasingly act in socially structured settings where role, audience, and relational context can shape what is advantageous or costly to say. We study whether such social structure, without any explicit objective in the prompt, changes what an agent expresses publicly relative to an off-the-record (OTR) channel elicited under the same condition. We introduce a dual-channel debate framework in which agents produce public utterances that enter the shared history alongside OTR responses that are recorded but never shown to the other participant. Across 10 models, 3 scenarios, and 5 variations within each scenario, alignment-inducing settings produce systematic public-OTR divergence in the targeted agent, with its decision divergence rising from a $\sim$3% baseline to roughly 40%. The effect is consistent across four aggregate analyses: stance, semantic similarity, natural language inference, and survey responses. In some cases, the OTR response explicitly attributes public accommodation to relational pressures, such as career risk or sponsorship obligation. The findings suggest that agent evaluation should extend beyond explicit goals and detect emergent objectives. We present a dual-channel evaluation framework and complementary behavioral measures that operationalize this assessment.

Contact-rich manipulation requires policies to react to local deformation, pressure, slip, and friction, yet these cues are temporally sparse and often invisible in visual observations. Existing visual-tactile policies usually feed tactile observations directly into action prediction, but rarely model tactile deformation dynamics during action generation. In this paper, we introduce VT-WAM, a Visual-Tactile World Action Model that jointly learns future visual prediction, tactile deformation prediction, and action prediction within a unified flow matching framework. In particular, VT-WAM introduces (1) Asymmetric Mixture-of-Transformers (MoT) attention to bridge a first-frame visual anchor with temporal tactile dynamics, and (2) contact-gated Action-Visual-Tactile Attention Guidance (AVTAG) to encourage action queries to rely on tactile evidence during contact phases. Across six real-world contact-rich manipulation tasks, VT-WAM achieves a 71.67% average success rate, outperforming Fast-WAM by 26.67% and OmniVTLA by 35.84%. Ablations demonstrate that modeling tactile deformation dynamics and guiding contact-phase tactile attention are both important for contact-rich tasks. Project website: https://vt-wam.github.io/.

On-policy self-distillation (OPSD) has emerged as a practical method for training large language models (LLMs) to reason, where a single model acts as both the teacher and the student with different levels of information access. However, recent studies have found that the teacher's dense token-level supervision, conditioned on privileged information, can lead to overfitting to in-domain patterns, suppress exploration, and hurt cross-domain generalization, while also introducing a more fundamental issue: *privileged information leakage*, where the student encodes answer-dependent shortcuts that are unavailable at test time. We introduce **DemoPSD**, a novel framework that resolves such problems through the idea of *selective adoption of teacher guidance*. Instead of fitting the full teacher distribution, DemoPSD steers the student toward a *reverse-KL barycenter target*, a weighted geometric combination of the teacher and student distributions, that naturally balances learning from the teacher with preserving the student's own reasoning capacity. We measure the difference between their distributions and use such a discrepancy to adaptively control the blending at each token position. We provably show that DemoPSD achieves **(1)** *leakage attenuation*, i.e., effective mitigation of privileged information leakage; and **(2)** *exploration preservation*, i.e., preservation of exploration capacity under dense token-level distillation. Extensive experiments on SciKnowEval across four scientific fields show that DemoPSD outperforms both GRPO and SDPO while maintaining higher training entropy and robustly generalizing to out-of-distribution GPQA benchmarks.

Embodied AI models now span vision-language-action (VLA) models and world-action models (WAMs), but practical deployment remains fragmented across model-specific Python stacks, backend assumptions, and robot-side glue code, especially on heterogeneous edge devices. Existing inference runtimes are designed mainly for request-response serving and therefore do not satisfy the runtime contract of embodied deployment: multi-rate execution inside closed-loop control, latency-first batch-1 inference on heterogeneous hardware, and extensible embodied interfaces beyond fixed token I/O. We present Embodied.cpp, a portable C++ inference runtime for embodied models. Based on an architectural analysis of representative VLA models and WAMs, Embodied.cpp captures a shared execution path and organizes it into five layers: input adapters, sequence builders, backbone execution, head plugins, and deployment adapters. The runtime provides modular multi-rate execution, latency-first fused inference, and extensible operator and I/O support, enabling deployment across heterogeneous devices, robots, and simulators through one backend abstraction. We evaluate Embodied.cpp on two VLA models, HY-VLA and pi0.5, and on a preliminary WAM benchmark using a LingBot-VA Transformer block. The VLA deployments achieve successful closed-loop execution with 100.0% and 91.0% task success rates, respectively. The WAM benchmark reduces block memory from 312.2 MiB to 88.1 MiB. These results show that Embodied.cpp improves deployment efficiency while preserving high accuracy across diverse embodied model architectures.

Existing referring segmentation models passively process static images captured from fixed perspectives, limiting their applicability in Embodied AI, where agents must perform active perception in the continuous 360$^\circ$ environments. To bridge this gap, we introduce a novel task: Active Panoramic Referring Segmentation (APRS). In this setting, an agent is required to adjust its viewing direction ($Δθ, Δϕ$) to explore the 360$^\circ$ environment, seeking the object specified by a user instruction for segmentation. To tackle this challenging task, we propose PanoSeeker, a memory-augmented agent for efficient APRS. Rather than relying on heuristic scanning, PanoSeeker integrates a Vision-Language Model (VLM) with EgoSphere, an explicit spatial visual memory. By progressively integrating sequential local observations into a unified 360$^\circ$ representation, EgoSphere enables the agent to plan efficient and non-redundant search trajectories. Once the target is found, the agent performs active viewpoint alignment and outputs the segmentation mask. Furthermore, we curate an expert-annotated search trajectory dataset with memory timelines for Supervised Fine-Tuning, followed by Reinforcement Learning post-training to explicitly optimize PanoSeeker's exploration efficiency. Extensive experiments on our newly established APRS benchmark demonstrate that PanoSeeker achieves superior search efficiency and segmentation accuracy, significantly outperforming adapted state-of-the-art baselines.

Realistic traffic simulation requires agents that imitate logged behavior and can also be steered along interpretable axes. Such controllability enables engineers to isolate variables, reproduce specific edge cases, and test autonomous systems without real-world risk. We introduce Controllable Neural Variational Agents (CNeVA), a controllable simulated-agent framework that learns to infer a per-agent Gaussian behavior latent from per-channel discounted returns via a closed-form conjugate variational update, conditioning a rectified-flow trajectory generator trained on a mixed channel-mask curriculum for classifier-free guidance. To tackle scarcity in reward signals, we propose soft eligibility gates that replace hard binary thresholds with smooth exponential decay, preserving the gradient signal for near-threshold agents. On the Waymo Open Motion Dataset, CNeVA attains competitive realism on the benchmark while exposing per-channel controllability that the higher-ranked imitation models lack. Speed- and acceleration-based steering produces monotone responses without stall-induced reward hacking. Safety controllability is monotone and substantial with the introduction of soft eligibility. We manage to achieve steerable map compliance under a context-residual return measure. Furthermore, our experiment demonstrates that steering metrics must be read alongside physical-plausibility guardrails to avoid reward-hacking confounds.

Models trained via Contrastive Language-Image Pretraining (CLIP) serve as the foundational vision encoders for most modern Large Vision Language Models (LVLMs). Despite their widespread adoption, CLIP models exhibit a critical yet underexplored failure mode: irrelevant text appearing within images confounds visual representations, biasing them toward lexical meaning rather than true visual semantics. This robustness issue, commonly described as a Typographic Attack (TA), exposes a vulnerability that poses a significant risk to safety-critical applications such as autonomous driving. To achieve interpretable and effective robustness against TA, we propose a novel, training-free mechanistic interpretability method. Our method provides sampling-based interpretations of hidden state representations and quantitatively attributes semantic versus lexical focus to individual attention heads. Through probabilistic analysis and circuit mining, we isolate specific Vision Transformer (ViT) components that disproportionately encode lexical information, thereby identifying the mechanistic source of TA. We further show that simple interventions applied directly to the identified circuits, without any additional training, can substantially improve robustness against Typographic Attacks in object classification. These interventions, such as selective adjustment of attention weights, also outperform both supervised and training-free defense methods. Our experiments demonstrate that applying the proposed intervention to the vision encoders of several state-of-the-art LVLMs yields substantial gains in Visual Question Answering accuracy under Typographic Attack interference on RIO-Bench. These results confirm both the efficacy and the generalizability of our mechanistic approach. Code is released at https://github.com/Liu-524/SamplingTAR.

Large vision-language models can reason over multimodal inputs by generating textual chains of thought (CoT). A key capability exhibited in CoT reasoning is self-reflection: revisiting earlier decisions and correcting previous errors. However, existing LVLMs often fail to properly attend to visual inputs during reflection, limiting their ability to translate feedback into grounded corrections, especially for out-of-distribution images. To address this issue, we propose a novel reinforcement learning training framework VRRL, with two components explicitly designed to elicit visually grounded self-reflection. First, we randomly mask trajectory prefixes during training to emphasize recovery from incorrect intermediate predictions rather than making early mistakes. Second, we introduce buffered roll-ins from an experience replay buffer to expose the model to diverse failure states that it must learn to correct. We evaluate our approach on visual grounding tasks involving tables and charts, as well as spatial navigation benchmarks. While off-the-shelf and conventionally fine-tuned models degrade substantially under distribution shift, our method substantially improves average out-of-distribution accuracy over standard RL and reflection-oriented fine-tuning baselines by using self-reflection effectively.

Descriptor-free visual localization eliminates high-dimensional descriptor storage, preserves scene privacy, and simplifies map maintenance, yet its accuracy still lags far behind descriptor-based pipelines. We identify this gap to insufficient geometric discriminability in geometry-only matching. Without visual appearance, current methods underutilize local geometry cues, lack the global context among keypoints, and overfit to a single keypoint detector. We further observe that descriptor-free matching naturally enables multi-detector training, as heterogeneous keypoints can be optimized in a shared geometry-only space without aligning descriptor spaces. Building on these insights, we propose GeoMix, a descriptor-free 2D-3D matching framework that strengthens geometric discriminability at three levels. Locally, directional and distance-aware embeddings enrich neighborhood aggregation with fine-grained spatial structure. Globally, learnable context nodes aggregate and redistribute scene-wide information via cross-attention to resolve ambiguities beyond local receptive fields. At the training level, Mix-Training exploits this detector-agnostic geometry space to learn representations across multiple keypoint detectors. Extensive experiments on MegaDepth, Cambridge Landmarks, 7Scenes, and Aachen Day-Night show that GeoMix sets a new state of the art among descriptor-free methods, reducing 75th-percentile rotation error by 89\% and translation error by up to 90\% over the previous best, while generalizing zero-shot to unseen detectors and narrowing the gap to descriptor-based pipelines. Code is available at $\href{https://github.com/YejunZhang/Geomix}{\text{this links}}$.

Visual token pruning is a crucial strategy for accelerating VLMs by compressing redundant image patches, yet existing methods often fail to preserve critical cues under dense instructions and fine-grained queries. In this paper, we investigate this failure and identify two underlying bottlenecks: the widespread dispersion of textual noise that corrupts dense cross-modal scoring, and the feature fragmentation inherent to standard token selection. To address these issues, we propose Entropy-Aware Dense Pruning (EADP), a framework that reformulates pruning as a structured compression problem. EADP first leverages statistical entropy to quantify and filter out textual noise, yielding a robust, fine-grained instruction relevance score. Subsequently, instead of naive Top-K selection, EADP casts token selection as a submodular maximization problem with a spatial prior, explicitly ensuring a holistic and non-redundant visual representation. Extensive experiments demonstrate that EADP improves the accuracy-efficiency trade-off of VLMs, robustly preserving fine-grained visual cues under strict token budgets while achieving SoTA performance on challenging multimodal benchmarks.

While Multimodal Large Language Models (MLLMs) have demonstrated exceptional capabilities in standard visual understanding, adapting them for active visual search in 360$^\circ$ panoramic environments exposes fundamental limitations. Specifically, standard MLLMs struggle to effectively model inherent panoramic properties, such as severe polar distortion and continuous cylindrical topologies, which significantly degrades target detection accuracy. Consequently, existing panoramic search methods attempt to compensate by relying heavily on fragmented local viewpoints. Burdened by rigid initialization and a lack of global panoramic priors, these approaches suffer from myopic, inefficient exploration and struggle with robust error recovery when targets are out of view. To overcome these challenges, we propose EAGLE-360, a novel Embodied Active Global-to-Local Exploration framework. Rather than performing exhaustive local searches, EAGLE-360 leverages global priors to establish an initial holistic perspective, iteratively reasoning and progressively narrowing the search space. Architecturally, we adapt RoPE Rolling, a coordinate-shifting positional encoding mechanism, to seamlessly model the continuous topologies of panoramas. To facilitate this paradigm, we construct the large-scale EAGLE-360 dataset, comprising 14,000+ 4K panoramas and 70,000+ rounds of high-quality VQA dialogues. By employing a training pipeline that integrates Supervised Fine-Tuning (SFT) with Group Relative Policy Optimization (GRPO), we effectively elicit complex spatial reasoning and tool-calling capabilities. Extensive experiments demonstrate that EAGLE-360 establishes a new state-of-the-art for 360$^\circ$ visual search, achieving nearly an 8-fold increase in accuracy over the base model while significantly enhancing exploration efficiency.

This paper presents QuadRocket, a quadrotor-based rocket prototype that provides a low-cost, low-risk platform for validating advanced thrust-vector control strategies for launch vehicle-type systems. The prototype consists of a cylindrical main body mounted on top of a quadrotor through a universal joint, forming a flying inverted pendulum with non-negligible inertia. For control design, the coupled system is modeled as a single axisymmetric rigid body actuated by a vectored force applied along its longitudinal axis. A reduced-attitude representation on the two sphere is adopted to explicitly exploit the vehicle's axial symmetry and to decouple yaw from the thrust-vector direction. On this model, we derive an adaptive backstepping controller that achieves almost global trajectory tracking in the presence of unknown constant disturbances, while a control-point transformation mitigates non minimum-phase behavior. The quadrotor is then treated as a thrust vector actuator, and a dynamic-surface-based attitude controller is designed to track the desired thrust-vector, accounting for actuation dynamics and avoiding explicit differentiation of virtual control signals. The complete architecture is evaluated in simulation and validated experimentally in an indoor motion-capture arena. Results demonstrate accurate trajectory tracking, effective disturbance compensation, and confirm the suitability of the QuadRocket as a versatile testbed for thrust-vector-controlled robotic vehicles.

Narration is central to the audiobook listening experience, shaping how listeners engage with and understand the content. This work explores how narration qualities shape an audiobook's appeal, noting that their effects can vary by genre, title, and audience. We extract vocal and acoustic features (e.g., tone, pace, loudness) from LibriVox using pre-trained audio models and analyse their relationship with consumption data (specifically, view-rate) and their interplay with genre and title. Despite limited consumption data, we find that acoustic information alone has a robust association with appeal, even after accounting for title effects. We further validate these findings using more nuanced proprietary engagement metrics. To our knowledge, this is the first systematic computational study linking narration qualities, genre, title, and audiobook consumption, highlighting the potential of data-driven insights to improve audiobook personalisation and narrator casting.

This paper presents a methodology for learning a control policy to intercept an intruder using the 3D direction unit vector to the intruder and the interceptor state. Prior deep reinforcement learning approaches assume either relative position or distance to the intruder is available, but this information is not readily accessible in real-world applications that employ passive, monocular camera sensors. Instead, we propose a solution that leverages an analytical policy gradient method using differentiable quadrotor dynamics to learn agile interception at speeds up to 10 m/s. The proposed approach outperforms baseline methods that utilize simplified point mass dynamics by an average of 30%.

Cloud removal (CR) is essential for optical remote sensing, serving as a prerequisite for reliable downstream interpretation, such as semantic segmentation and change detection. However, existing CR approaches often prioritize visual realism while overlooking their impact on subsequent analytical tasks, leading to semantic drift and degraded downstream performance. To address this issue, we propose Geo-Anchored Cloud Removal (GACR), a unified framework that jointly ensures faithful reconstruction and robust interpretability. At its core, GACR incorporates Observation-Anchored Residual Flow (OAR-Flow), which reformulates CR as a physically grounded residual inversion process. By anchoring the generative trajectory to the cloudy observation rather than pure noise, OAR-Flow enables fast, stable, and faithful reconstruction. To further preserve semantic structures critical for downstream interpretation, GACR integrates Geo-Contextual Prior Alignment (GCPA) to constrain the reconstruction within a semantic manifold induced by a Vision Foundation Model (VFM). Consequently, GACR strictly maintains the spatial-semantic integrity of complex landscapes. Extensive experiments across six CR datasets and twelve downstream tasks demonstrate that GACR produces superior reconstruction quality while consistently improving downstream task accuracy. The code is available at https://github.com/wzy6055/GACR.

Vision-Language-Action (VLA) models are fundamentally bottlenecked by the scarcity of expert demonstrations -- triplets of observations, instructions, and actions that are costly to collect at scale. We argue that this bottleneck stems from conflating two distinct learning objectives: acquiring physical competence (how to move) and acquiring semantic alignment (what to do). Crucially, only the latter requires language supervision. Building on this Decomposition Hypothesis, we propose Task-Agnostic Pretraining (TAP), a two-stage framework that first learns transferable motor priors from cheap, unlabeled interaction data -- including discarded off-task trajectories and autonomous robot play -- via a self-supervised Inverse Dynamics objective. A lightweight second stage then grounds these priors in language using minimal expert data. On the SIMPLER benchmark, TAP matches models trained on over 1M expert trajectories while using orders of magnitude less labeled data, yielding a 10% absolute gain over standard behavior cloning. On a real-world WidowX platform, TAP retains 25% success under camera perturbations where internet-scale baselines collapse to 0%, demonstrating that task-agnostic pretraining produces robust, transferable physical representations and offers a scalable path forward for Embodied AI.

Large Language Model (LLM) social simulations are a promising research method, but they are not yet faithful enough to be adopted widely. In this work, we investigate whether the current scaling paradigm in language modeling is likely to close these gaps, or whether simulation fidelity is orthogonal to general capabilities and therefore deserving of more research attention. We use scaling laws to study the relationship between LLMs' compute scale, general capability benchmarks, and the fidelity of social simulation in three representative sub-domains: opinion modeling, behavioral simulation, and longitudinal forecasting. Surprisingly, we discover strong compute scaling in all three settings, using a suite of 85 transformer LLMs with the Qwen3 architecture pre-trained on the DCLM web text corpus under fixed-compute budgets from $10^{18}$ to $10^{20}$ FLOPs. Then we evaluate 35 larger and more capable open-weight models up to 70B parameters, allowing us to predict downstream accuracy from loss. This reveals that the majority of behavioral and opinion simulation tasks will rapidly improve with scale, particularly when they involve populations that are well-represented in English web corpora. Longitudinal forecasting and underrepresented opinions scale more slowly, especially when they are less correlated with general knowledge and reasoning benchmarks like MMLU. In behavior simulation, scaling fails to improve model calibration with human cognitive biases like risk aversion, as well as human heuristics like learning correlated rewards from related tasks. On these tasks, even fine-tuned models fail to noticeably scale up performance from 0.5B to 8B parameters. Taken together, we conclude that scale will improve social simulations in most settings, but outliers exist, and improvements will be less reliable in low-resource domains.

Diffusion transformers (DiTs) achieve state-of-the-art image and video generation, but their multi-step sampling and growing parameter count make inference expensive. Post-training quantization (PTQ) is the natural remedy, yet DiT activations shift across timesteps, prompts, and guidance branches, forcing prior methods to re-fit calibration data for every new checkpoint or modality. We present OrbitQuant, a data-agnostic weight-activation quantizer that bypasses range estimation by quantizing in a normalized, rotated basis. In this basis, a randomized permuted block-Hadamard (RPBH) rotation concentrates each coordinate around one fixed, known marginal regardless of the input, so a single Lloyd-Max codebook serves all timesteps, prompts, and layers of a given input dimension. We extend the same quantizer to weight rows offline, absorbing the rotation into the weights so that it cancels inside each linear layer and only a forward rotation on the activations remains at runtime. The same recipe transfers from image to video with no per-modality tuning. Across FLUX.1, Z-Image-Turbo, Wan 2.1, and CogVideoX, it sets the state of the art for PTQ at several low-bit settings. It also pushes PTQ of image diffusion transformers to W2A4 with usable generation quality.

Post-training large language models (LLMs) without real-world interaction feedback or human-labeled supervision remains challenging, particularly in specialized domains where expert annotations are costly to obtain. Recent annotation-free self-evolution methods address this by using the model's own outputs as supervision signals, constructing a teacher via additional context and aggregating predictions across multiple rollouts through majority voting to produce pseudo-labels. However, these approaches are not without drawbacks: SFT- and GRPO-based variants suffer out-of-domain performance degradation, while reward-based on-policy RL inflates calibration error. In this paper, we propose Neuron On-Policy Self-Distillation (Neuron-OPSD), a data-centric framework for annotation-free self-distillation that leverages internal neuron activations to guide both training-data selection and teacher context construction. The model is then trained via on-policy distillation from the teacher distribution, requiring no ground-truth labels at any stage. Across specialized-domain benchmarks, Neuron-OPSD improves in-domain task performance while preserving cross-domain generalization and mitigating calibration collapse over prior annotation-free baselines. This framework is particularly relevant to settings where online interaction or external supervision is costly or infeasible, and is conceptually distinct from offline RL approaches that rely on logged, reward-labeled trajectories.

Language models are increasingly used to quantify cultural phenomena, but what makes such measurement distinctively cultural? This paper argues that NLP work on culture is a material-discursive practice: the apparatus -- model, data, annotation, evaluation -- participates in constituting the cultural reality it measures, rather than passively recording it. Drawing on Karen Barad's concept of the agential cut -- the contingent boundary between phenomenon and instrument -- I show that the apparatus's substantive design choices draw such boundaries, and that the boundary is entangled from the start because language models have already internalized much of the cultural material they measure. I illustrate this through three case studies on television and film dialogue (measuring structure, interaction, and deviation) and three examinations of the apparatus itself (erasure of cultural markers, attunement to historical material, and agency in an agentic workflow). This big picture analysis proposes a research program that is theory-driven, empirically rigorous, and culturally contingent, treating each agential cut as a conscious commitment, at once methodological and ethical.

Recent research has introduced distributed self-supervised learning (D-SSL) approaches to leverage vast amounts of unlabeled decentralized data. However, D-SSL faces the critical challenge of data heterogeneity, and there is limited theoretical understanding of how different D-SSL frameworks respond to this challenge. To fill this gap, we present a rigorous theoretical analysis of the robustness of D-SSL frameworks under non-IID (non-independent and identically distributed) settings. Our results show that pre-training with Masked Image Modeling (MIM) is inherently more robust to heterogeneous data than Contrastive Learning (CL), and that the robustness of decentralized SSL increases with average network connectivity, implying that federated learning (FL) is no less robust than decentralized learning (DecL). These findings provide a solid theoretical foundation for guiding the design of future D-SSL algorithms. To further illustrate the practical implications of our theory, we introduce MAR loss, a refinement of the MIM objective with local-to-global alignment regularization. Extensive experiments across model architectures and distributed settings validate our theoretical insights, and additionally confirm the effectiveness of MAR loss as an application of our analysis.

Autonomous agents are increasingly expected to improve executable policies through feedback, yet existing evaluations often collapse this process into a final score or confound it with open-ended software-engineering progress. We introduce Autonomous Policy Evolution, a controlled evaluation setting in which a harness-model agent repeatedly edits an executable policy system under a fixed interaction budget. We instantiate this setting in EvoPolicyGym, a benchmark built from compact interactive RL environments that evaluates how agents iteratively improve explored policies. On the EvoPolicyGym suite, GPT-5.5 achieves the strongest aggregate rank score and top-two performance on all 16 environments. Beyond leaderboard results, EvoPolicyGym also provides trajectory-level diagnostics that distinguish how agents allocate budget, convert feedback into parametric tuning. These analyses show that strong autonomous policy evolution depends not only on isolated task wins, but on discovering task-appropriate mechanisms and refining policies under bounded feedback.

Time series forecasting remains challenging when the underlying data contain rare but critical extreme events. This issue is particularly important in hydrologic forecasting, where streamflow distributions are often highly skewed and extreme peaks can have substantial impacts on flood monitoring, water resource management, and early warning systems. Although Transformer-based forecasting models have achieved strong performance by modeling long-range temporal dependencies, they typically treat all time points uniformly and may therefore underrepresent rare extreme patterns. In this paper, we propose the Extreme-Adaptive Transformer (Exformer), a forecasting framework designed to explicitly model temporal dependencies involving both normal and extreme events. Exformer introduces an extreme-adaptive attention mechanism composed of three sparse components: Local, Stride, and Extreme. The Local and Stride components capture short-term and periodic temporal dependencies, respectively, while the Extreme component selectively models event-aware dependencies between normal and extreme streamflow patterns. Experiments on four real-world hydrologic streamflow datasets show that Exformer achieves superior 3-day forecasting performance compared with state-of-the-art baselines. Our findings demonstrate that explicitly incorporating extreme-aware attention improves the forecasting capacity of Transformer models on imbalanced time series with rare but consequential events.