This paper presents a framework for learning vision-based robotic policies for contact-rich manipulation tasks that generalize spatially across task configurations. We focus on achieving robust spatial generalization of the policy for the peg-in-hole (PiH) task trained from a small number of demonstrations. We propose EquiContact, a hierarchical policy composed of a high-level vision planner (Diffusion Equivariant Descriptor Field, Diff-EDF) and a novel low-level compliant visuomotor policy (Geometric Compliant ACT, G-CompACT). G-CompACT operates using only localized observations (geometrically consistent error vectors (GCEV), force-torque readings, and wrist-mounted RGB images) and produces actions defined in the end-effector frame. Through these design choices, we show that the entire EquiContact pipeline is SE(3)-equivariant, from perception to force control. We also outline three key components for spatially generalizable contact-rich policies: compliance, localized policies, and induced equivariance. Real-world experiments on PiH, screwing, and surface wiping tasks demonstrate a near-perfect success rate and robust generalization to unseen spatial configurations, validating the proposed framework and principles. The experimental videos and more details can be found on the project website: https://equicontact.github.io/EquiContact-website/

Relational databases underpin critical infrastructure across a wide range of domains, yet the design of generalizable pre-training strategies for learning from relational databases remains an open challenge due to task heterogeneity. Specifically, there exist many possible downstream tasks, as tasks are defined based on relational schema graphs, temporal dependencies, and SQL-defined label logics. An effective pre-training framework is desired to take these factors into account in order to obtain task-aware representations. By incorporating knowledge of the underlying distribution that drives label generation, downstream tasks can benefit from relevant side-channel information. To bridge this gap, we introduce Task Vector Estimation (TVE), a novel pre-training framework that constructs predictive supervisory signals via set-based aggregation over schema traversal graphs, explicitly modeling next-window relational dynamics. We formalize our approach through an information-theoretic lens, demonstrating that task-informed representations retain more relevant signals than those obtained without task priors. Extensive experiments on the RelBench benchmark show that TVE consistently outperforms traditional pre-training baselines. Our findings advocate for pre-training objectives that encode task heterogeneity and temporal structure as design principles for predictive modeling on relational databases. Our code is publicly available at https://github.com/quang-truong/task-vector-estimation.

Large vision-language models (VLMs) enable joint processing of text and images. However, incorporating vision data significantly increases the prompt length, resulting in a longer time to first token (TTFT). This bottleneck can be alleviated by leveraging the inherent sparsity in the attention computation. Analyzing these attention patterns in VLMs when processing a series of images, we observe the absence of inter-image attention in a substantial portion of layers. Based on this, we propose BlindSight: an approach to optimize multi-image VLM inference using an input-template-aware attention sparsity mask with no runtime overhead. We utilize a dataset to derive a prompt-agnostic categorization for attention heads: Dense, Sink, Intra-Image, and Intra-Image+Sink. We develop a Triton-based GPU kernel to leverage this sparsity. BlindSight achieves a 1.8-3.2x speedup in the attention computation (prompt length 36K-300K). BlindSight generalizes across VLMs (Qwen2-VL, Qwen2.5-VL, Gemma 3), with only a 0.78% absolute accuracy degradation on average on multi-image comprehension benchmarks. Finally, we advocate for the design of efficient VLMs that combine BlindSight-inspired sparse and dense layers.

We introduce a simple yet effective technique for estimating lighting from a single low-dynamic-range (LDR) image by reframing the task as a chrome ball inpainting problem. This approach leverages a pre-trained diffusion model, Stable Diffusion XL, to overcome the generalization failures of existing methods that rely on limited HDR panorama datasets. While conceptually simple, the task remains challenging because diffusion models often insert incorrect or inconsistent content and cannot readily generate chrome balls in HDR format. Our analysis reveals that the inpainting process is highly sensitive to the initial noise in the diffusion process, occasionally resulting in unrealistic outputs. To address this, we first introduce DiffusionLight, which uses iterative inpainting to compute a median chrome ball from multiple outputs to serve as a stable, low-frequency lighting prior that guides the generation of a high-quality final result. To generate high-dynamic-range (HDR) light probes, an Exposure LoRA is fine-tuned to create LDR images at multiple exposure values, which are then merged. While effective, DiffusionLight is time-intensive, requiring approximately 30 minutes per estimation. To reduce this overhead, we introduce DiffusionLight-Turbo, which reduces the runtime to about 30 seconds with minimal quality loss. This 60x speedup is achieved by training a Turbo LoRA to directly predict the averaged chrome balls from the iterative process. Inference is further streamlined into a single denoising pass using a LoRA swapping technique. Experimental results that show our method produces convincing light estimates across diverse settings and demonstrates superior generalization to in-the-wild scenarios. Our code is available at https://diffusionlight.github.io/turbo

Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We introduce SuperPoint-SLAM3, a drop-in upgrade that (i) replaces ORB with the self-supervised SuperPoint detector--descriptor, (ii) enforces spatially uniform keypoints via adaptive non-maximal suppression (ANMS), and (iii) integrates a lightweight NetVLAD place-recognition head for learning-based loop closure. On the KITTI Odometry benchmark SuperPoint-SLAM3 reduces mean translational error from 4.15% to 0.34% and mean rotational error from 0.0027 deg/m to 0.0010 deg/m. On the EuRoC MAV dataset it roughly halves both errors across every sequence (e.g., V2\_03: 1.58% -> 0.79%). These gains confirm that fusing modern deep features with a learned loop-closure module markedly improves ORB-SLAM3 accuracy while preserving its real-time operation. Implementation, pretrained weights and reproducibility scripts are available at https://github.com/shahram95/SuperPointSLAM3.

As large language models (LLMs) are increasingly used in morally sensitive domains, it is crucial to understand how persona traits affect their moral reasoning and persuasive behavior. We present the first large-scale study of multi-dimensional persona effects in AI-AI debates over real-world moral dilemmas. Using a 6-dimensional persona space (age, gender, country, class, ideology, and personality), we simulate structured debates between AI agents over 131 relationship-based cases. Our results show that personas affect initial moral stances and debate outcomes, with political ideology and personality traits exerting the strongest influence. Persuasive success varies across traits, with liberal and open personalities reaching higher consensus and win rates. While logit-based confidence grows during debates, emotional and credibility-based appeals diminish, indicating more tempered argumentation over time. These trends mirror findings from psychology and cultural studies, reinforcing the need for persona-aware evaluation frameworks for AI moral reasoning.

Diffusion models, typically formulated as discretizations of stochastic differential equations (SDEs), have achieved state-of-the-art performance in generative tasks. However, their theoretical analysis often involves complex proofs. In this work, we present a simplified framework for analyzing the Euler--Maruyama discretization of variance-preserving SDEs (VP-SDEs). Using Grönwall's inequality, we derive a convergence rate of $O(T^{-1/2})$ under standard Lipschitz assumptions, streamlining prior analyses. We then demonstrate that the standard Gaussian noise can be replaced by computationally cheaper discrete random variables (e.g., Rademacher) without sacrificing this convergence guarantee, provided the mean and variance are matched. Our experiments validate this theory, showing that (i) discrete noise achieves sample quality comparable to Gaussian noise provided the variance is matched correctly, and (ii) performance degrades if the noise variance is scaled incorrectly.

We systematically study antithetic initial noise in diffusion models, discovering that pairing each noise sample with its negation consistently produces strong negative correlation. This universal phenomenon holds across datasets, model architectures, conditional and unconditional sampling, and even other generative models such as VAEs and Normalizing Flows. To explain it, we combine experiments and theory and propose a \textit{symmetry conjecture} that the learned score function is approximately affine antisymmetric (odd symmetry up to a constant shift), supported by empirical evidence. This negative correlation leads to substantially more reliable uncertainty quantification with up to $90\%$ narrower confidence intervals. We demonstrate these gains on tasks including estimating pixel-wise statistics and evaluating diffusion inverse solvers. We also provide extensions with randomized quasi-Monte Carlo noise designs for uncertainty quantification, and explore additional applications of the antithetic noise design to improve image editing and generation diversity. Our framework is training-free, model-agnostic, and adds no runtime overhead. Code is available at https://github.com/jjia131/Antithetic-Noise-in-Diffusion-Models-page.

Understanding how individual edges influence the behavior of graph neural networks (GNNs) is essential for improving their interpretability and robustness. Graph influence functions have emerged as promising tools to efficiently estimate the effects of edge deletions without retraining. However, existing influence prediction methods rely on strict convexity assumptions, exclusively consider the influence of edge deletions while disregarding edge insertions, and fail to capture changes in message propagation caused by these modifications. In this work, we propose a proximal Bregman response function specifically tailored for GNNs, relaxing the convexity requirement and enabling accurate influence prediction for standard neural network architectures. Furthermore, our method explicitly accounts for message propagation effects and extends influence prediction to both edge deletions and insertions in a principled way. Experiments with real-world datasets demonstrate accurate influence predictions for different characteristics of GNNs. We further demonstrate that the influence function is versatile in applications such as graph rewiring and adversarial attacks.

Logical reasoning with large language models (LLMs) has received growing attention. One mainstream approach translates natural language into formal logic and then applies symbolic solvers for deduction. While effective in many tasks, these LLM-based translators often fail to generate consistent symbolic representations when the same concept appears in different linguistic forms. Such inconsistencies break logical coherence and lead to solver errors. However, most existing benchmarks lack this type of linguistic variation, which frequently occurs in real-world text, leaving the problem underexplored. To address this gap, we present SoLT, a benchmark that systematically rewrites reasoning datasets into diverse yet logically equivalent forms across multiple levels. Beyond evaluation, SoLT also provides a general method to enrich any dataset with linguistic diversity while preserving both meaning and logic. To further enhance the stability of LLM-based reasoning, we propose MenTaL, which explicitly guides models to build a concept-symbol mapping table during translation. By linking equivalent expressions to shared symbols, MenTaL maintains consistency and mitigates symbol drift. Experiments on SoLT demonstrate that LLMs indeed suffer from inconsistent symbol mapping under linguistic variation, leading to significant drops in reasoning accuracy. Meanwhile, applying MenTaL brings clear and stable performance improvements across diverse inputs. Overall, our findings reveal that overlooking linguistic diversity hides key weaknesses in LLM-based translators, and our work offers a step toward more reliable logical reasoning in varied real-world scenarios. Our code is available at https://github.com/wufeiwuwoshihua/LinguDiver.

Entity structure extraction, which aims to extract entities and their associated attribute-value structures from text, is an essential task for text understanding and knowledge graph construction. Existing methods based on large language models (LLMs) typically rely heavily on predefined entity attribute schemas or annotated datasets, often leading to incomplete extraction results. To address these challenges, we introduce Zero-Shot Open-schema Entity Structure Discovery (ZOES), a novel approach to entity structure extraction that does not require any schema or annotated samples. ZOES operates via a principled mechanism of enrichment, refinement, and unification, based on the insight that an entity and its associated structure are mutually reinforcing. Experiments demonstrate that ZOES consistently enhances LLMs' ability to extract more complete entity structures across three different domains, showcasing both the effectiveness and generalizability of the method. These findings suggest that such an enrichment, refinement, and unification mechanism may serve as a principled approach to improving the quality of LLM-based entity structure discovery in various scenarios.

Large Language Models (LLMs) increasingly shape public discourse, yet most evaluations of political and economic bias have focused on high-resource, Western languages and contexts. This leaves critical blind spots in low-resource, multilingual regions such as Pakistan, where linguistic identity is closely tied to political, religious, and regional ideologies. We present a systematic evaluation of political bias in 13 state-of-the-art LLMs across five Pakistani languages: Urdu, Punjabi, Sindhi, Pashto, and Balochi. Our framework integrates a culturally adapted Political Compass Test (PCT) with multi-level framing analysis, capturing both ideological stance (economic/social axes) and stylistic framing (content, tone, emphasis). Prompts are aligned with 11 socio-political themes specific to the Pakistani context. Results show that while LLMs predominantly reflect liberal-left orientations consistent with Western training data, they exhibit more authoritarian framing in regional languages, highlighting language-conditioned ideological modulation. We also identify consistent model-specific bias patterns across languages. These findings show the need for culturally grounded, multilingual bias auditing frameworks in global NLP.

We investigate whether hidden states from Structured State Space Models (SSMs) can be merged post hoc to support downstream reasoning. Inspired by model souping, we study document souping, a strategy where documents are encoded independently, and their representations are pooled, via simple operations like averaging, into a single context state. This approach enables modular encoding and reuse without reprocessing the full input for each query. We demonstrate that finetuned Mamba2 models with souped representations achieve competitive or superior performance across multi-hop QA, sparse retrieval, and long-document reasoning tasks compared to the standard monolithic encoding approach. For example, on the RACE and QuALITY benchmarks for long document question answering, this method substantially outperforms a traditional concatenation approach. Crucially, this modular design scales to hundreds of documents while delivering substantial savings in inference cost, unlocking new possibilities for large-scale corpus reasoning.

Recent Large Vision-Language Models (LVLMs) have advanced multi-modal understanding by incorporating finer-grained visual perception and encoding. However, such methods incur significant computational costs due to longer visual token sequences, posing challenges for real-time deployment. To mitigate this, prior studies have explored pruning unimportant visual tokens either at the output layer of the visual encoder or at the early layers of the language model. In this work, we revisit these design choices and reassess their effectiveness through comprehensive empirical studies of how visual tokens are processed throughout the visual encoding and language decoding stages. Guided by these insights, we propose VScan, a two-stage visual token reduction framework that addresses token redundancy by: (1) integrating complementary global and local scans with token merging during visual encoding, and (2) introducing pruning at intermediate layers of the language model. Extensive experimental results across four LVLMs validate the effectiveness of VScan in accelerating inference and demonstrate its superior performance over current state-of-the-arts on sixteen benchmarks. Notably, when applied to LLaVA-NeXT-7B, VScan achieves a 2.91$\times$ speedup in prefilling and a 10$\times$ reduction in FLOPs, while retaining 95.4\% of the original performance. Code is available at https://github.com/Tencent/SelfEvolvingAgent/tree/main/VScan.

Large kernel convolutions offer a scalable alternative to vision transformers for high-resolution 3D volumetric analysis, yet naively increasing kernel size often leads to optimization instability. Motivated by the spatial bias inherent in effective receptive fields (ERFs), we theoretically demonstrate that structurally re-parameterized blocks induce spatially varying learning rates that are crucial for convergence. Leveraging this insight, we introduce Rep3D, a framework that employs a lightweight modulation network to generate receptive-biased scaling masks, adaptively re-weighting kernel updates within a plain encoder architecture. This approach unifies spatial inductive bias with optimization-aware learning, avoiding the complexity of multi-branch designs while ensuring robust local-to-global convergence. Extensive evaluations on five 3D segmentation benchmarks demonstrate that Rep3D consistently outperforms state-of-the-art transformer and fixed-prior baselines. The source code is publicly available at https://github.com/leeh43/Rep3D.

Reinforcement learning exhibits potential in enhancing the reasoning abilities of large language models, yet it is hard to scale for the low sample efficiency during the rollout phase. Existing methods attempt to improve efficiency by scheduling problems based on problem difficulties. However, these approaches suffer from unstable and biased estimations of problem difficulty and fail to capture the alignment between model competence and problem difficulty in RL training, leading to suboptimal results. To tackle these limitations, this paper introduces $\textbf{C}$ompetence-$\textbf{D}$ifficulty $\textbf{A}$lignment $\textbf{S}$ampling ($\textbf{CDAS}$), which enables accurate and stable estimation of problem difficulties by aggregating historical performance discrepancies of problems. Then the model competence is quantified to adaptively select problems whose difficulty is in alignment with the model's current competence using a fixed-point system. Experimental results across a range of challenging mathematical benchmarks show that CDAS achieves great improvements in both accuracy and efficiency. CDAS attains the highest average accuracy against baselines and exhibits significant speed advantages compared to Dynamic Sampling, a competitive strategy in DAPO, which is 2.33 times slower than CDAS.

Concept bottleneck models (CBMs) ensure interpretability by decomposing predictions into human interpretable concepts. Yet the annotations used for training CBMs that enable this transparency are often noisy, and the impact of such corruption is not well understood. In this study, we present the first systematic study of noise in CBMs and show that even moderate corruption simultaneously impairs prediction performance, interpretability, and the intervention effectiveness. Our analysis identifies a susceptible subset of concepts whose accuracy declines far more than the average gap between noisy and clean supervision and whose corruption accounts for most performance loss. To mitigate this vulnerability we propose a two-stage framework. During training, sharpness-aware minimization stabilizes the learning of noise-sensitive concepts. During inference, where clean labels are unavailable, we rank concepts by predictive entropy and correct only the most uncertain ones, using uncertainty as a proxy for susceptibility. Theoretical analysis and extensive ablations elucidate why sharpness-aware training confers robustness and why uncertainty reliably identifies susceptible concepts, providing a principled basis that preserves both interpretability and resilience in the presence of noise.

Probabilities of causation (PoCs) are fundamental quantities for counterfactual analysis and personalized decision making. However, existing analytical results are largely confined to binary settings. This paper extends PoCs to multi-valued treatments and outcomes by deriving closed form bounds for a representative family of discrete PoCs within Structural Causal Models, using standard experimental and observational distributions. We introduce the notion of equivalence classes of PoCs, which reduces arbitrary discrete PoCs to this family, and establish a replaceability principle that transfers bounds across value permutations. For the resulting bounds, we prove soundness in all dimensions and empirically verify tightness in low dimensional cases via Balke's linear programming method; we further conjecture that this tightness extends to all dimensions. Simulations indicate that our closed form bounds consistently tighten recent recursive bounds while remaining simpler to compute. Finally, we illustrate the practical relevance of our results through toy examples.

State space models (SSMs) for language modelling promise an efficient and performant alternative to quadratic-attention Transformers, yet show variable performance on recalling basic information from the context. While performance on synthetic tasks like Associative Recall (AR) can point to this deficiency, behavioural metrics provide little information as to \textit{why} -- on a mechanistic level -- certain architectures fail and others succeed. To address this, we conduct experiments on AR, and find that only Transformers and Based SSM models fully succeed at AR, with Mamba and DeltaNet close behind, while the other SSMs (H3, Hyena) fail. We then use causal interventions to explain why. We find that Transformers and Based learn to store key-value associations in-context using induction. By contrast, the SSMs seem to compute these associations only at the last state using a single layer. We further investigate the mechanism underlying the success of Mamba, and find novel evidence that Mamba \textit{does} implement induction: not via the SSM, but instead via short convolutions. Further experiments on a new hierarchical retrieval task, Associative Treecall (ATR), show that all architectures learn the same mechanism as they did for AR. Furthermore, we show that Mamba can learn Attention-like induction on ATR when short convolutions are removed. These results reveal that architectures with similar accuracy may still have substantive differences, motivating the adoption of mechanistic evaluations.

Offline reinforcement learning (RL) offers a powerful paradigm for data-driven control. Compared to model-free approaches, offline model-based RL (MBRL) explicitly learns a world model from a static dataset and uses it as a surrogate simulator, improving data efficiency and enabling potential generalization beyond the dataset support. However, most existing offline MBRL methods follow a two-stage training procedure: first learning a world model by maximizing the likelihood of the observed transitions, then optimizing a policy to maximize its expected return under the learned model. This objective mismatch results in a world model that is not necessarily optimized for effective policy learning. Moreover, we observe that policies learned via offline MBRL often lack robustness during deployment, and small adversarial noise in the environment can lead to significant performance degradation. To address these, we propose a framework that dynamically adapts the world model alongside the policy under a unified learning objective aimed at improving robustness. At the core of our method is a maximin optimization problem, which we solve by innovatively utilizing Stackelberg learning dynamics. We provide theoretical analysis to support our design and introduce computationally efficient implementations. We benchmark our algorithm on twelve noisy D4RL MuJoCo tasks and three stochastic Tokamak Control tasks, demonstrating its state-of-the-art performance.

As large language models become integral to high-stakes applications, ensuring their robustness and fairness is critical. Despite their success, large language models remain vulnerable to adversarial attacks, where small perturbations, such as synonym substitutions, can alter model predictions, posing risks in fairness-critical areas, such as gender bias mitigation, and safety-critical areas, such as toxicity detection. While formal verification has been explored for neural networks, its application to large language models remains limited. This work presents a holistic verification framework to certify the robustness of transformer-based language models, with a focus on ensuring gender fairness and consistent outputs across different gender-related terms. Furthermore, we extend this methodology to toxicity detection, offering formal guarantees that adversarially manipulated toxic inputs are consistently detected and appropriately censored, thereby ensuring the reliability of moderation systems. By formalizing robustness within the embedding space, this work strengthens the reliability of language models in ethical AI deployment and content moderation.

The combinatorial structure of many real-world action spaces leads to exponential growth in the number of possible actions, limiting the effectiveness of conventional reinforcement learning algorithms. Recent approaches for combinatorial action spaces impose factorized or sequential structures over sub-actions, failing to capture complex joint behavior. We introduce the Sub-Action Interaction Network using Transformers (SAINT), a novel policy architecture that represents multi-component actions as unordered sets and models their dependencies via self-attention conditioned on the global state. SAINT is permutation-invariant, sample-efficient, and compatible with standard policy optimization algorithms. In 18 distinct combinatorial environments across three task domains, including environments with $1.35 \times 10^{18}$ possible actions, SAINT consistently outperforms strong baselines.

Despite their many successes, transformer-based large language models (LLMs) continue to struggle with tasks that require complex reasoning over large parts of their input. We argue that these failures arise due to capacity limits on the accurate flow of information within LLMs. To formalize this issue, we introduce the bounded attention prefix oracle (BAPO) model, a new computational framework that models bandwidth constraints on attention heads, the mechanism for internal communication in LLMs. We show that several important reasoning problems like graph reachability require high communication bandwidth for BAPOs to solve; we call these problems BAPO-hard. Our experiments corroborate our theoretical predictions: GPT-4o, Claude, and Gemini succeed on BAPO-easy tasks and fail even on relatively small BAPO-hard tasks. BAPOs also reveal another benefit of chain of thought (CoT): we prove that breaking down a task using CoT can turn any BAPO-hard problem into a BAPO-easy one. Our results offer principled explanations for key LLM failures and suggest directions for architectures and inference methods that mitigate bandwidth limits.

Vision-Language-Action (VLA) models mark a transformative advancement in artificial intelligence, aiming to unify perception, natural language understanding, and embodied action within a single computational framework. This foundational review presents a comprehensive synthesis of recent advancements in Vision-Language-Action models, systematically organized across five thematic pillars that structure the landscape of this rapidly evolving field. We begin by establishing the conceptual foundations of VLA systems, tracing their evolution from cross-modal learning architectures to generalist agents that tightly integrate vision-language models (VLMs), action planners, and hierarchical controllers. Our methodology adopts a rigorous literature review framework, covering over 80 VLA models published in the past three years. Key progress areas include architectural innovations, efficient training strategies, and real-time inference accelerations. We explore diverse application domains such as autonomous vehicles, medical and industrial robotics, precision agriculture, humanoid robotics, and augmented reality. We analyzed challenges and propose solutions including agentic adaptation and cross-embodiment planning. Furthermore, we outline a forward-looking roadmap where VLA models, VLMs, and agentic AI converge to strengthen socially aligned, adaptive, and general-purpose embodied agents. This work, is expected to serve as a foundational reference for advancing intelligent, real-world robotics and artificial general intelligence. The project repository is available on GitHub as https://github.com/Applied-AI-Research-Lab/Vision-Language-Action-Models-Concepts-Progress-Applications-and-Challenges. [Index Terms: Vision Language Action, VLA, Vision Language Models, VLMs, Action Tokenization, NLP]

Federated Learning (FL) enables collaborative model training across decentralized clients, enhancing privacy by keeping data local. Yet conventional FL, relying on frequent parameter-sharing, suffers from high communication overhead and limited model heterogeneity. Distillation-based FL approaches address these issues by sharing predictions (soft-labels, i.e., normalized probability distributions) instead, but they often involve redundant transmissions across communication rounds, reducing efficiency. We propose SCARLET, a novel framework integrating synchronized soft-label caching and an enhanced Entropy Reduction Aggregation (Enhanced ERA) mechanism. SCARLET minimizes redundant communication by reusing cached soft-labels, achieving up to 50% reduction in communication costs compared to existing methods while maintaining competitive accuracy. Enhanced ERA resolves the fundamental instability of conventional temperature-based aggregation, ensuring robust control and high performance in diverse client scenarios. Experimental evaluations demonstrate that SCARLET consistently outperforms state-of-the-art distillation-based FL methods in terms of accuracy and communication efficiency. The implementation of SCARLET is publicly available at https://github.com/kitsuyaazuma/SCARLET.

Linearization has emerged as a strategy for developing efficient language models (LMs). Starting from an existing Transformer-based LM, linearization replaces the attention component with computationally efficient subquadratic \textit{token mixers}. However, as an increasing number of mixers are proposed, it remains unclear which inductive biases are best suited to inherit the original Transformer's capabilities. Furthermore, it is unknown how linearization is affected by parameter and token budget scaling. To address these questions, we propose a unified setup to compare seven representative architectures, including xLSTM, GLA, and Gated DeltaNet. Our findings reveal that performance hierarchies remain stable from 140M to 1.7B parameters, with error-correcting update rules demonstrating superior scaling exponents. We show that performance gaps are established early and persist through asymptotic maturity at 10B tokens, suggesting that state resolution is a more fundamental bottleneck than the distillation budget. Finally, while most models adapt to instruction tuning, only gated delta-rule formulations maintain the precision necessary for long-context retrieval, whereas additive models suffer from irreversible state saturation. These results suggest that for successful linearization, architectural inductive biases remain the primary constraint that cannot be overcome by simply scaling training compute.

Large language models (LLMs) can answer prompts in many languages, despite being trained predominantly on English; yet, the mechanisms driving this generalization remain poorly understood. This work asks: How does an LLM's ability to align representations of non-English inputs to English impact its performance on natural language understanding (NLU) tasks? We study the role of representation alignment in instance-level task decisions, complementing prior analyses conducted both at the language level and task-independently. We introduce the Discriminative Alignment Index ($\DALI$) to quantify instance-level alignment across 24 languages other than English and three distinct NLU tasks. Results show that incorrect NLU predictions are strongly associated with lower representation alignment with English in the model's middle layers. Through activation patching, we show that incorrect predictions in languages other than English can be fixed by patching their parallel English activations in the middle layers, thereby demonstrating the causal role of representation (mis)alignment in cross-lingual correctness.

Instruction fine-tuning attacks pose a serious threat to large language models (LLMs) by subtly embedding poisoned examples in fine-tuning datasets, leading to harmful or unintended behaviors in downstream applications. Detecting such attacks is challenging because poisoned data is often indistinguishable from clean data, and prior knowledge of triggers or attack strategies is rarely available. We present a detection method that requires no prior knowledge of the attack. Our approach leverages influence functions under semantic transformation by comparing influence distributions before and after semantic inversions to identify critical poisons, defined as examples whose influence is strong and remains unchanged across transformations. We introduce a multi-transform ensemble approach that achieves F1 scores between 79.5 and 95.2 percent with precision between 66 and 100 percent on sentiment classification, significantly improving over single-transform methods. Our method generalizes to unseen transformation types with an F1 score of 86 percent through cross-category validation. We demonstrate effectiveness across multiple models, including T5-small and DeepSeek-Coder-1.3B, and across tasks such as sentiment classification and math reasoning. Removing a small fraction of detected poisons, between 1 and 3 percent of the data, restores model performance to near-clean levels. These results demonstrate the practicality of influence-based diagnostics for defending against instruction fine-tuning attacks in real-world large language model deployment. Artifact available at https://github.com/lijiawei20161002/Poison-Detection. Warning: this paper contains offensive data examples.

Much of federated learning (FL) focuses on settings where local dataset statistics remain the same between training and testing. However, this assumption often does not hold in practice due to distribution shifts, motivating the development of domain generalization (DG) approaches that leverage source domain data to train models capable of generalizing to unseen target domains. In this paper, we are motivated by two major gaps in existing work on FL and DG: (1) the lack of formal mathematical analysis of DG objectives; and (2) DG research in FL being limited to the star-topology architecture. We develop Decentralized Federated Domain Generalization with Style Sharing ($\textit{StyleDDG}$), a decentralized DG algorithm which allows devices in a peer-to-peer network to achieve DG based on sharing style information inferred from their datasets. Additionally, we provide the first systematic approach to analyzing style-based DG training in decentralized networks. We cast existing centralized DG algorithms within our framework, and employ their formalisms to model $\textit{StyleDDG}$. We then obtain analytical conditions under which convergence of $\textit{StyleDDG}$ can be guaranteed. Through experiments on popular DG datasets, we demonstrate that $\textit{StyleDDG}$ can obtain significant improvements in accuracy across target domains with minimal communication overhead compared to baseline decentralized gradient methods.

Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians while maintaining a safe and efficient vehicle behavior. So far, most research has concentrated on static or deterministic traffic participant behavior. This paper introduces a novel algorithm for motion planning in crowded spaces by combining social force principles for simulating realistic pedestrian behavior with a risk-aware motion planner. We evaluate this new algorithm in a 2D simulation environment to rigorously assess AV-pedestrian interactions, demonstrating that our algorithm enables safe, efficient, and adaptive motion planning, particularly in highly crowded urban environments - a first in achieving this level of performance. This study has not taken into consideration real-time constraints and has been shown only in simulation so far. Further studies are needed to investigate the novel algorithm in a complete software stack for AVs on real cars to investigate the entire perception, planning and control pipeline in crowded scenarios. We release the code developed in this research as an open-source resource for further studies and development. It can be accessed at the following link: https://github.com/TUM-AVS/PedestrianAwareMotionPlanning