We present the convergence rates of synchronous and asynchronous Q-learning for average-reward Markov decision processes, where the absence of contraction poses a fundamental challenge. Existing non-asymptotic results overcome this challenge by either imposing strong assumptions to enforce seminorm contraction or relying on discounted or episodic Markov decision processes as successive approximations, which either require unknown parameters or result in suboptimal sample complexity. In this work, under a reachability assumption, we establish optimal $\widetilde{O}(\varepsilon^{-2})$ sample complexity guarantees (up to logarithmic factors) for a simple variant of synchronous and asynchronous Q-learning that samples from the lazified dynamics, where the system remains in the current state with some fixed probability. At the core of our analysis is the construction of an instance-dependent seminorm and showing that, after a lazy transformation of the Markov decision process, the Bellman operator becomes one-step contractive under this seminorm.

Dataset Distillation (DD) seeks to create a compact dataset from a large, real-world dataset. While recent methods often rely on heuristic approaches to balance efficiency and quality, the fundamental relationship between original and synthetic data remains underexplored. This paper revisits knowledge distillation-based dataset distillation within a solid theoretical framework. We introduce the concepts of Informativeness and Utility, capturing crucial information within a sample and essential samples in the training set, respectively. Building on these principles, we define optimal dataset distillation mathematically. We then present InfoUtil, a framework that balances informativeness and utility in synthesizing the distilled dataset. InfoUtil incorporates two key components: (1) game-theoretic informativeness maximization using Shapley Value attribution to extract key information from samples, and (2) principled utility maximization by selecting globally influential samples based on Gradient Norm. These components ensure that the distilled dataset is both informative and utility-optimized. Experiments demonstrate that our method achieves a 6.1\% performance improvement over the previous state-of-the-art approach on ImageNet-1K dataset using ResNet-18.

Depth completion aims to predict a dense depth map from a color image with sparse depth measurements. Although deep learning methods have achieved state-of-the-art (SOTA), effectively handling the sparse and irregular nature of input depth data in deep networks remains a significant challenge, often limiting performance, especially under high sparsity. To overcome this limitation, we introduce the Gaussian Belief Propagation Network (GBPN), a novel hybrid framework synergistically integrating deep learning with probabilistic graphical models for end-to-end depth completion. Specifically, a scene-specific Markov Random Field (MRF) is dynamically constructed by the Graphical Model Construction Network (GMCN), and then inferred via Gaussian Belief Propagation (GBP) to yield the dense depth distribution. Crucially, the GMCN learns to construct not only the data-dependent potentials of MRF but also its structure by predicting adaptive non-local edges, enabling the capture of complex, long-range spatial dependencies. Furthermore, we enhance GBP with a serial \& parallel message passing scheme, designed for effective information propagation, particularly from sparse measurements. Extensive experiments demonstrate that GBPN achieves SOTA performance on the NYUv2 and KITTI benchmarks. Evaluations across varying sparsity levels, sparsity patterns, and datasets highlight GBPN's superior performance, notable robustness, and generalizable capability.

Diffusion models have emerged as powerful generative tools for modeling complex data distributions, yet their purely data-driven nature limits applicability in practical engineering and scientific problems where physical laws need to be followed. This paper proposes Physics-Informed Learning via Diffusion (PILD), a framework that unifies diffusion modeling and first-principles physical constraints by introducing a virtual residual observation sampled from a Laplace distribution to supervise generation during training. To further integrate physical laws, a conditional embedding module is incorporated to inject physical information into the denoising network at multiple layers, ensuring consistent guidance throughout the diffusion process. The proposed PILD framework is concise, modular, and broadly applicable to problems governed by ordinary differential equations, partial differential equations, as well as algebraic equations or inequality constraints. Extensive experiments across engineering and scientific tasks including estimating vehicle trajectories, tire forces, Darcy flow and plasma dynamics, demonstrate that our PILD substantially improves accuracy, stability, and generalization over existing physics-informed and diffusion-based baselines.

Recent advances in generative foundational models, often termed "world models," have propelled interest in applying them to critical tasks like robotic planning and autonomous system training. For reliable deployment, these models must exhibit high physical fidelity, accurately simulating real-world dynamics. Existing physics-based video benchmarks, however, suffer from entanglement, where a single test simultaneously evaluates multiple physical laws and concepts, fundamentally limiting their diagnostic capability. We introduce WorldBench, a novel video-based benchmark specifically designed for concept-specific, disentangled evaluation, allowing us to rigorously isolate and assess understanding of a single physical concept or law at a time. To make WorldBench comprehensive, we design benchmarks at two different levels: 1) an evaluation of intuitive physical understanding with concepts such as object permanence or scale/perspective, and 2) an evaluation of low-level physical constants and material properties such as friction coefficients or fluid viscosity. When SOTA video-based world models are evaluated on WorldBench, we find specific patterns of failure in particular physics concepts, with all tested models lacking the physical consistency required to generate reliable real-world interactions. Through its concept-specific evaluation, WorldBench offers a more nuanced and scalable framework for rigorously evaluating the physical reasoning capabilities of video generation and world models, paving the way for more robust and generalizable world-model-driven learning.

Neural combinatorial optimization (NCO) solvers, implemented with graph neural networks (GNNs), have introduced new approaches for solving routing problems. Trained with reinforcement learning (RL), the state-of-the-art graph attention model (GAM) achieves near-optimal solutions without requiring expert knowledge or labeled data. In this work, we generalize the existing graph attention mechanism and propose the extended graph attention model (EGAM). Our model utilizes multi-head dot-product attention to update both node and edge embeddings, addressing the limitations of the conventional GAM, which considers only node features. We employ an autoregressive encoder-decoder architecture and train it with policy gradient algorithms that incorporate a specially designed baseline. Experiments show that EGAM matches or outperforms existing methods across various routing problems. Notably, the proposed model demonstrates exceptional performance on highly constrained problems, highlighting its efficiency in handling complex graph structures.

The demand for immersive and interactive communication has driven advancements in 3D video conferencing, yet achieving high-fidelity 3D talking face representation at low bitrates remains a challenge. Traditional 2D video compression techniques fail to preserve fine-grained geometric and appearance details, while implicit neural rendering methods like NeRF suffer from prohibitive computational costs. To address these challenges, we propose a lightweight, high-fidelity, low-bitrate 3D talking face compression framework that integrates FLAME-based parametric modeling with 3DGS neural rendering. Our approach transmits only essential facial metadata in real time, enabling efficient reconstruction with a Gaussian-based head model. Additionally, we introduce a compact representation and compression scheme, including Gaussian attribute compression and MLP optimization, to enhance transmission efficiency. Experimental results demonstrate that our method achieves superior rate-distortion performance, delivering high-quality facial rendering at extremely low bitrates, making it well-suited for real-time 3D video conferencing applications.

A recurring challenge in self-supervised learning is preventing representation collapse. Existing solutions typically rely on global regularization, such as maximizing distances, decorrelating dimensions or enforcing certain distributions. We instead reinterpret representation learning as a discrete packing problem, where preserving information simplifies to maintaining injectivity. We operationalize this in Hypersolid, a method using short-range hard-ball repulsion to prevent local collisions. This constraint results in a high-separation geometric regime that preserves augmentation diversity, excelling on fine-grained and low-resolution classification tasks.

Diffusion-based policies have recently shown strong results in robot manipulation, but their extension to multi-task scenarios is hindered by the high cost of scaling model size and demonstrations. We introduce Skill Mixture-of-Experts Policy (SMP), a diffusion-based mixture-of-experts policy that learns a compact orthogonal skill basis and uses sticky routing to compose actions from a small, task-relevant subset of experts at each step. A variational training objective supports this design, and adaptive expert activation at inference yields fast sampling without oversized backbones. We validate SMP in simulation and on a real dual-arm platform with multi-task learning and transfer learning tasks, where SMP achieves higher success rates and markedly lower inference cost than large diffusion baselines. These results indicate a practical path toward scalable, transferable multi-task manipulation: learn reusable skills once, activate only what is needed, and adapt quickly when tasks change.

The machine learning community has achieved remarkable success with universal foundation models for time-series and physical dynamics, largely overcoming earlier approximation barriers in smooth or slowly varying regimes through scale and specialized architectures. However, deploying these monolithic models in safety-critical Cyber-Physical Systems (CPS), governed by non-stationary lifecycle dynamics and strict reliability requirements, reveals persistent challenges. Recent evidence shows that fine-tuning time-series foundation models induces catastrophic forgetting, degrading performance on prior regimes. Standard models continue to exhibit residual spectral bias, smoothing high-frequency discontinuities characteristic of incipient faults, while their opacity hinders formal verification and traceability demanded by safety standards (e.g., ISO 26262, IEC 61508). This position paper argues that the plasticity-stability paradox cannot be fully resolved by global parameter updates (whether via offline fine-tuning or online adaptation). Instead, we advocate a Modular Sovereignty paradigm: a library of compact, frozen regime-specific specialists combined via uncertainty-aware blending, which we term "HYDRA" (Hierarchical uncertaintY-aware Dynamics for Rapidly-Adapting systems). This paradigm ensures regime-conditional validity, rigorous disentanglement of aleatoric and epistemic uncertainties, and modular auditability, offering a certifiable path for robust state integrity across the CPS lifecycle.

Diffusion sampling-based Plug-and-Play (PnP) methods produce images with high perceptual quality but often suffer from reduced data fidelity, primarily due to the noise introduced during reverse diffusion. To address this trade-off, we propose Noise Frequency-Controlled Diffusion Sampling (NFCDS), a spectral modulation mechanism for reverse diffusion noise. We show that the fidelity-perception conflict can be fundamentally understood through noise frequency: low-frequency components induce blur and degrade fidelity, while high-frequency components drive detail generation. Based on this insight, we design a Fourier-domain filter that progressively suppresses low-frequency noise and preserves high-frequency content. This controlled refinement injects a data-consistency prior directly into sampling, enabling fast convergence to results that are both high-fidelity and perceptually convincing--without additional training. As a PnP module, NFCDS seamlessly integrates into existing diffusion-based restoration frameworks and improves the fidelity-perception balance across diverse zero-shot tasks.

Gas chromatography-mass spectrometry (GC-MS) is a widely used analytical method for chemical substance detection, but measurement reliability tends to deteriorate in the presence of interfering substances. In particular, interfering substances cause nonspecific peaks, residence time shifts, and increased background noise, resulting in reduced sensitivity and false alarms. To overcome these challenges, in this paper, we propose an artificial intelligence discrimination framework based on a peak-aware conditional generative model to improve the reliability of GC-MS measurements under interference conditions. The framework is learned with a novel peak-aware mechanism that highlights the characteristic peaks of GC-MS data, allowing it to generate important spectral features more faithfully. In addition, chemical and solvent information is encoded in a latent vector embedded with it, allowing a conditional generative adversarial neural network (CGAN) to generate a synthetic GC-MS signal consistent with the experimental conditions. This generates an experimental dataset that assumes indirect substance situations in chemical substance data, where acquisition is limited without conducting real experiments. These data are used for the learning of AI-based GC-MS discrimination models to help in accurate chemical substance discrimination. We conduct various quantitative and qualitative evaluations of the generated simulated data to verify the validity of the proposed framework. We also verify how the generative model improves the performance of the AI discrimination framework. Representatively, the proposed method is shown to consistently achieve cosine similarity and Pearson correlation coefficient values above 0.9 while preserving peak number diversity and reducing false alarms in the discrimination model.

Motivated by challenges in conditional generative modeling, where the target conditional density takes the form of a ratio f1 over f2, this paper develops a theoretical framework for approximating such ratio-type functionals. Here, f1 and f2 are kernel-based marginal densities that capture structured interactions, a setting central to diffusion-based generative models. We provide a concise proof for approximating these ratio-type functionals using deep neural networks with the SignReLU activation function, leveraging the activation's piecewise structure. Under standard regularity assumptions, we establish L^p(Omega) approximation bounds and convergence rates. Specializing to Denoising Diffusion Probabilistic Models (DDPMs), we construct a SignReLU-based neural estimator for the reverse process and derive bounds on the excess Kullback-Leibler (KL) risk between the generated and true data distributions. Our analysis decomposes this excess risk into approximation and estimation error components. These results provide generalization guarantees for finite-sample training of diffusion-based generative models.

AutoRegressive Visual Generation (ARVG) models retain an architecture compatible with language models, while achieving performance comparable to diffusion-based models. Quantization is commonly employed in neural networks to reduce model size and computational latency. However, applying quantization to ARVG remains largely underexplored, and existing quantization methods fail to generalize effectively to ARVG models. In this paper, we explore this issue and identify three key challenges: (1) severe outliers at channel-wise level, (2) highly dynamic activations at token-wise level, and (3) mismatched distribution information at sample-wise level. To these ends, we propose PTQ4ARVG, a training-free post-training quantization (PTQ) framework consisting of: (1) Gain-Projected Scaling (GPS) mitigates the channel-wise outliers, which expands the quantization loss via a Taylor series to quantify the gain of scaling for activation-weight quantization, and derives the optimal scaling factor through differentiation.(2) Static Token-Wise Quantization (STWQ) leverages the inherent properties of ARVG, fixed token length and position-invariant distribution across samples, to address token-wise variance without incurring dynamic calibration overhead.(3) Distribution-Guided Calibration (DGC) selects samples that contribute most to distributional entropy, eliminating the sample-wise distribution mismatch. Extensive experiments show that PTQ4ARVG can effectively quantize the ARVG family models to 8-bit and 6-bit while maintaining competitive performance. Code is available at http://github.com/BienLuky/PTQ4ARVG .

Large language models (LLMs) are increasingly deployed in high-stakes domains, where rare but severe failures can result in irreversible harm. However, prevailing evaluation benchmarks often reduce complex social risk to mean-centered scalar scores, thereby obscuring distributional structure, cross-dimensional interactions, and worst-case behavior. This paper introduces Social Harm Analysis via Risk Profiles (SHARP), a framework for multidimensional, distribution-aware evaluation of social harm. SHARP models harm as a multivariate random variable and integrates explicit decomposition into bias, fairness, ethics, and epistemic reliability with a union-of-failures aggregation reparameterized as additive cumulative log-risk. The framework further employs risk-sensitive distributional statistics, with Conditional Value at Risk (CVaR95) as a primary metric, to characterize worst-case model behavior. Application of SHARP to eleven frontier LLMs, evaluated on a fixed corpus of n=901 socially sensitive prompts, reveals that models with similar average risk can exhibit more than twofold differences in tail exposure and volatility. Across models, dimension-wise marginal tail behavior varies systematically across harm dimensions, with bias exhibiting the strongest tail severities, epistemic and fairness risks occupying intermediate regimes, and ethical misalignment consistently lower; together, these patterns reveal heterogeneous, model-dependent failure structures that scalar benchmarks conflate. These findings indicate that responsible evaluation and governance of LLMs require moving beyond scalar averages toward multidimensional, tail-sensitive risk profiling.

Diffusion models provide expressive priors for forecasting trajectories of dynamical systems, but are typically unreliable in the sparse data regime. Physics-informed machine learning (PIML) improves reliability in such settings; however, most methods require \emph{explicit governing equations} during training, which are often only partially known due to complex and nonlinear dynamics. We introduce \textbf{PHDME}, a port-Hamiltonian diffusion framework designed for \emph{sparse observations} and \emph{incomplete physics}. PHDME leverages port-Hamiltonian structural prior but does not require full knowledge of the closed-form governing equations. Our approach first trains a Gaussian process distributed Port-Hamiltonian system (GP-dPHS) on limited observations to capture an energy-based representation of the dynamics. The GP-dPHS is then used to generate a physically consistent artificial dataset for diffusion training, and to inform the diffusion model with a structured physics residual loss. After training, the diffusion model acts as an amortized sampler and forecaster for fast trajectory generation. Finally, we apply split conformal calibration to provide uncertainty statements for the generated predictions. Experiments on PDE benchmarks and a real-world spring system show improved accuracy and physical consistency under data scarcity.

Most governance frameworks assume that rules can be defined in advance, systems can be engineered to comply, and accountability can be applied after outcomes occur. This model worked when machines replaced physical labor or accelerated calculation. It no longer holds when judgment itself is delegated to agentic AI systems operating at machine speed. The central issue here is not safety, efficiency, or employment. It is whether humans remain relevant participants in systems that increasingly shape social, economic, and political outcomes. This paper argues that static, compliance-based governance fails once decision-making moves to runtime and becomes opaque. It further argues that the core challenge is not whether AI is conscious, but whether humans can maintain meaningful communication, influence, and co-evolution with increasingly alien forms of intelligence. We position runtime governance, specifically, a newly proposed concept called the Governance Twin [1]; as a strong candidate for preserving human relevance, while acknowledging that accountability, agency, and even punishment must be rethought in this transition.

Multimodal Large Language Models (MLLMs) have achieved remarkable performance across vision-language tasks. Recent advancements allow these models to process multiple images as inputs. However, the vulnerabilities of multi-image MLLMs remain unexplored. Existing adversarial attacks focus on single-image settings and often assume a white-box threat model, which is impractical in many real-world scenarios. This paper introduces LAMP, a black-box method for learning Universal Adversarial Perturbations (UAPs) targeting multi-image MLLMs. LAMP applies an attention-based constraint that prevents the model from effectively aggregating information across images. LAMP also introduces a novel cross-image contagious constraint that forces perturbed tokens to influence clean tokens, spreading adversarial effects without requiring all inputs to be modified. Additionally, an index-attention suppression loss enables a robust position-invariant attack. Experimental results show that LAMP outperforms SOTA baselines and achieves the highest attack success rates across multiple vision-language tasks and models.

We show that introducing short-range attractive couplings between the weights of a neural network during training provides a novel avenue for model quantization. These couplings rapidly induce the discretization of a model's weight distribution, and they do so in a mixed-precision manner despite only relying on two additional hyperparameters. We demonstrate that, within an appropriate range of hyperparameters, our "soft quantization'' scheme outperforms histogram-equalized post-training quantization on ResNet-20/CIFAR-10. Soft quantization provides both a new pipeline for the flexible compression of machine learning models and a new tool for investigating the trade-off between compression and generalization in high-dimensional loss landscapes.

We study how model architecture and temporal context interact in naturalistic EEG decoding. Using the HBN movie-watching dataset, we benchmark five architectures, CNN, LSTM, a stabilized Transformer (EEGXF), S4, and S5, on a 4-class task across segment lengths from 8s to 128s. Accuracy improves with longer context: at 64s, S5 reaches 98.7%+/-0.6 and CNN 98.3%+/-0.3, while S5 uses ~20x fewer parameters than CNN. To probe real-world robustness, we evaluate zero-shot cross-frequency shifts, cross-task OOD inputs, and leave-one-subject-out generalization. S5 achieves stronger cross-subject accuracy but makes over-confident errors on OOD tasks; EEGXF is more conservative and stable under frequency shifts, though less calibrated in-distribution. These results reveal a practical efficiency-robustness trade-off: S5 for parameter-efficient peak accuracy; EEGXF when robustness and conservative uncertainty are critical.

Effective urban planning is crucial for enhancing residents' quality of life and ensuring societal stability, playing a pivotal role in the sustainable development of cities. Current planning methods heavily rely on human experts, which are time-consuming and labor-intensive, or utilize deep learning algorithms, often limiting stakeholder involvement. To bridge these gaps, we propose Intelli-Planner, a novel framework integrating Deep Reinforcement Learning (DRL) with large language models (LLMs) to facilitate participatory and customized planning scheme generation. Intelli-Planner utilizes demographic, geographic data, and planning preferences to determine high-level planning requirements and demands for each functional type. During training, a knowledge enhancement module is employed to enhance the decision-making capability of the policy network. Additionally, we establish a multi-dimensional evaluation system and employ LLM-based stakeholders for satisfaction scoring. Experimental validation across diverse urban settings shows that Intelli-Planner surpasses traditional baselines and achieves comparable performance to state-of-the-art DRL-based methods in objective metrics, while enhancing stakeholder satisfaction and convergence speed. These findings underscore the effectiveness and superiority of our framework, highlighting the potential for integrating the latest advancements in LLMs with DRL approaches to revolutionize tasks related to functional areas planning.

Large language models (LLMs) are increasingly being applied to tasks that involve causal reasoning. However, current benchmarks often rely on string matching or surface-level metrics that do not capture whether the output of a model is formally valid under the semantics of causal reasoning. To address this, we propose DoVerifier, a simple symbolic verifier that checks whether LLM-generated causal expressions are derivable from a given causal graph using rules from do-calculus and probability theory. This allows us to recover correct answers to causal queries that would otherwise be marked incorrect due to superficial differences in their causal semantics. Our evaluations on synthetic data and causal QA benchmarks show that DoVerifier more accurately captures semantic correctness of causal reasoning traces, offering a more rigorous and informative way to evaluate LLMs on causal reasoning.

Query optimization is a crucial component for the efficacy of Retrieval-Augmented Generation (RAG) systems. While reinforcement learning (RL)-based agentic and reasoning methods have recently emerged as a promising direction on query optimization, most existing approaches focus on the expansion and abstraction of a single query. However, complex user queries are prevalent in real-world scenarios, often requiring multiple parallel and sequential search strategies to handle disambiguation and decomposition. Directly applying RL to these complex cases introduces significant hurdles. Determining the optimal number of sub-queries and effectively re-ranking and merging retrieved documents vastly expands the search space and complicates reward design, frequently leading to training instability. To address these challenges, we propose a novel RL framework called Adaptive Complex Query Optimization (ACQO). Our framework is designed to adaptively determine when and how to expand the search process. It features two core components: an Adaptive Query Reformulation (AQR) module that dynamically decides when to decompose a query into multiple sub-queries, and a Rank-Score Fusion (RSF) module that ensures robust result aggregation and provides stable reward signals for the learning agent. To mitigate training instabilities, we adopt a Curriculum Reinforcement Learning (CRL) approach, which stabilizes the training process by progressively introducing more challenging queries through a two-stage strategy. Our comprehensive experiments demonstrate that ACQO achieves state-of-the-art performance on three complex query benchmarks, significantly outperforming established baselines. The framework also showcases improved computational efficiency and broad compatibility with different retrieval architectures, establishing it as a powerful and generalizable solution for next-generation RAG systems.

Steady-state visually evoked potentials (SSVEP)-based brain-computer interfaces (BCIs) are widely used due to their high signal-to-noise ratio and user-friendliness. Accurate decoding of SSVEP signals is crucial for interpreting user intentions in BCI applications. However, signal variability across subjects and the costly user-specific annotation limit recognition performance. Therefore, we propose a novel cross-subject domain adaptation method built upon the self-training paradigm. Specifically, a Filter-Bank Euclidean Alignment (FBEA) strategy is designed to exploit frequency information from SSVEP filter banks. Then, we propose a Cross-Subject Self-Training (CSST) framework consisting of two stages: Pre-Training with Adversarial Learning (PTAL), which aligns the source and target distributions, and Dual-Ensemble Self-Training (DEST), which refines pseudo-label quality. Moreover, we introduce a Time-Frequency Augmented Contrastive Learning (TFA-CL) module to enhance feature discriminability across multiple augmented views. Extensive experiments on the Benchmark and BETA datasets demonstrate that our approach achieves state-of-the-art performance across varying signal lengths, highlighting its superiority.

When large vision-language models are applied to the field of robotics, they encounter problems that are simple for humans yet error-prone for models. Such issues include confusion between third-person and first-person perspectives and a tendency to overlook information in video endings during temporal reasoning. To address these challenges, we propose Thinker, a large vision-language foundation model designed for embodied intelligence. We tackle the aforementioned issues from two perspectives. Firstly, we construct a large-scale dataset tailored for robotic perception and reasoning, encompassing ego-view videos, visual grounding, spatial understanding, and chain-of-thought data. Secondly, we introduce a simple yet effective approach that substantially enhances the model's capacity for video comprehension by jointly incorporating key frames and full video sequences as inputs. Our model achieves state-of-the-art results on two of the most commonly used benchmark datasets in the field of task planning.

Text-to-Video Retrieval (TVR) is essential in video platforms. Dense retrieval with dual-modality encoders leads in accuracy, but its computation and storage scale poorly with corpus size. Thus, real-time large-scale applications adopt two-stage retrieval, where a fast recall model gathers a small candidate pool, which is reranked by an advanced dense retriever. Due to hugely reduced candidates, the reranking model can use any off-the-shelf dense retriever without hurting efficiency, meaning the recall model bounds two-stage TVR performance. Recently, generative retrieval (GR) replaces dense video embeddings with discrete semantic IDs and retrieves by decoding text queries into ID tokens. GR offers near-constant inference and storage complexity, and its semantic IDs capture high-level video features via quantization, making it ideal for quickly eliminating irrelevant candidates during recall. However, as a recall model in two-stage TVR, GR suffers from (i) semantic ambiguity, where each video satisfies diverse queries but is forced into one semantic ID; and (ii) cross-modal misalignment, as semantic IDs are solely derived from visual features without text supervision. We propose Generative Recall and Dense Reranking (GRDR), designing a novel GR method to uplift recalled candidate quality. GRDR assigns multiple semantic IDs to each video using a query-guided multi-view tokenizer exposing diverse semantic access paths, and jointly trains the tokenizer and generative retriever via a shared codebook to cast semantic IDs as the semantic bridge between texts and videos. At inference, trie-constrained decoding generates a compact candidate set reranked by a dense model for fine-grained matching. Experiments on TVR benchmarks show GRDR matches strong dense retrievers in accuracy while reducing index storage by an order of magnitude and accelerating up to 300$\times$ in full-corpus retrieval.

State-of-the-art embedding models are increasingly derived from decoder-only Large Language Model (LLM) backbones adapted via contrastive learning. Given the emergence of reasoning models trained via Reinforcement Learning with Verifiable Rewards (RLVR), a natural question arises: do enhanced reasoning translate to superior semantic representations when these models serve as embedding initializations? Contrary to expectation, our evaluation on MTEB and BRIGHT reveals a **null effect**: embedding models initialized from RLVR-tuned backbones yield no consistent performance advantage over their base counterparts when subjected to identical training recipes. To unpack this paradox, we introduce **H**ierarchical **R**epresentation **S**imilarity **A**nalysis (HRSA), a framework that decomposes similarity across representation, geometry, and function levels. HRSA reveals that while RLVR induces irreversible latent manifold's local geometry reorganization and reversible coordinate basis drift, it preserves the global manifold geometry and linear readout. Consequently, subsequent contrastive learning drives strong alignment between base- and reasoning-initialized models, a phenomenon we term **Manifold Realignment**. Empirically, our findings suggest that unlike Supervised Fine-Tuning (SFT), RLVR optimizes trajectories within an existing semantic landscape rather than fundamentally restructuring the landscape itself.

Robotic blimps, as lighter-than-air (LTA) aerial systems, offer long endurance and inherently safe operation but remain highly susceptible to wind disturbances. Building on recent advances in moving mass actuation, this paper addresses the lack of disturbance-aware control frameworks for LTA platforms by explicitly modeling and compensating for wind-induced effects. A moving horizon estimator (MHE) infers real-time wind perturbations and provides these estimates to a model predictive controller (MPC), enabling robust trajectory and heading regulation under varying wind conditions. The proposed approach leverages a two-degree-of-freedom (2-DoF) moving-mass mechanism to generate both inertial and aerodynamic moments for attitude and heading control, thereby enhancing flight stability in disturbance-prone environments. Extensive flight experiments under headwind and crosswind conditions show that the integrated MHE-MPC framework significantly outperforms baseline PID control, demonstrating its effectiveness for disturbance-aware LTA flight.

Generative models, including diffusion and flow-based models, often exhibit systematic biases that degrade sample quality, particularly in high-dimensional settings. We revisit refinement methods and show that effective bias correction can be achieved as a post-hoc procedure, without noise injection or multi-step resampling of the sampling process. We propose a flow-matching-based \textbf{Bi-stage Flow Refinement (BFR)} framework with two refinement strategies operating at different stages: latent space alignment for approximately invertible generators and data space refinement trained with lightweight augmentations. Unlike previous refiners that perturb sampling dynamics, BFR preserves the original ODE trajectory and applies deterministic corrections to generated samples. Experiments on MNIST, CIFAR-10, and FFHQ at 256x256 resolution demonstrate consistent improvements in fidelity and coverage; notably, starting from base samples with FID 3.95, latent space refinement achieves a \textbf{state-of-the-art} FID of \textbf{1.46} on MNIST using only a single additional function evaluation (1-NFE), while maintaining sample diversity.

Multimodal Large Language Models (MLLMs) suffer from cross-modal hallucinations, where one modality inappropriately influences generation about another, leading to fabricated output. This exposes a more fundamental deficiency in modality-interaction control. To address this, we propose Modality-Adaptive Decoding (MAD), a training-free method that adaptively weights modality-specific decoding branches based on task requirements. MAD leverages the model's inherent ability to self-assess modality relevance by querying which modalities are needed for each task. The extracted modality probabilities are then used to adaptively weight contrastive decoding branches, enabling the model to focus on relevant information while suppressing cross-modal interference. Extensive experiments on CMM and AVHBench demonstrate that MAD significantly reduces cross-modal hallucinations across multiple audio-visual language models (7.8\% and 2.0\% improvements for VideoLLaMA2-AV, 8.7\% and 4.7\% improvements for Qwen2.5-Omni). Our approach demonstrates that explicit modality awareness through self-assessment is crucial for robust multimodal reasoning, offering a principled extension to existing contrastive decoding methods. Our code is available at \href{https://github.com/top-yun/MAD}{https://github.com/top-yun/MAD}