Score-based query attacks pose a serious threat to deep learning models by crafting adversarial examples (AEs) using only black-box access to model output scores, iteratively optimizing inputs based on observed loss values. While recent runtime defenses attempt to disrupt this process via output perturbation, most either require access to model parameters or fail when attackers adapt their tactics. In this paper, we first reveal that even the state-of-the-art plug-and-play defense can be bypassed by adaptive attacks, exposing a critical limitation of existing runtime defenses. We then propose Dashed Line Defense (DLD), a plug-and-play post-processing method specifically designed to withstand adaptive query strategies. By introducing ambiguity in how the observed loss reflects the true adversarial strength of candidate examples, DLD prevents attackers from reliably analyzing and adapting their queries, effectively disrupting the AE generation process. We provide theoretical guarantees of DLD's defense capability and validate its effectiveness through experiments on ImageNet, demonstrating that DLD consistently outperforms prior defenses--even under worst-case adaptive attacks--while preserving the model's predicted labels.

Large language models (LLMs) are increasingly used as evaluators for natural language generation, applying human-defined rubrics to assess system outputs. However, human rubrics are often static and misaligned with how models internally represent language quality. We introduce GER-Eval (Generating Evaluation Rubrics for Evaluation) to investigate whether LLMs can design and apply their own evaluation rubrics. We evaluate the semantic coherence and scoring reliability of LLM-defined criteria and their alignment with human criteria. LLMs reliably generate interpretable and task-aware evaluation dimensions and apply them consistently within models, but their scoring reliability degrades in factual and knowledge-intensive settings. Closed-source models such as GPT-4o achieve higher agreement and cross-model generalization than open-weight models such as Llama. Our findings position evaluation as a learned linguistic capability of LLMs, consistent within models but fragmented across them, and call for new methods that jointly model human and LLM evaluative language to improve reliability and interpretability.

Machine learning methods have been successful in many areas, like image classification and natural language processing. However, it still needs to be determined how to apply ML to areas with mathematical constraints, like solving PDEs. Among various approaches to applying ML techniques to solving PDEs, the data-driven discretization method presents a promising way of accelerating and improving existing PDE solver on structured grids where it predicts the coefficients of quasi-linear stencils for computing values or derivatives of a function at given positions. It can improve the accuracy and stability of low-resolution simulation compared with using traditional finite difference or finite volume schemes. Meanwhile, it can also benefit from traditional numerical schemes like achieving conservation law by adapting finite volume type formulations. In this thesis, we have implemented the shallow water equation and Euler equation classic solver under a different framework. Experiments show that our classic solver performs much better than the Pyclaw solver. Then we propose four different deep neural networks for the ML-based solver. The results indicate that two of these approaches could output satisfactory solutions.

Fairness is a crucial concern for generative models, which not only reflect but can also amplify societal and cultural biases. Existing fairness notions for generative models are largely adapted from classification and focus on balancing the probability of generating samples from each sensitive group. We show that such criteria are brittle, as they can be met even when different sensitive groups are modeled with widely varying quality. To address this limitation, we introduce a new fairness definition for generative models, termed as equalized generative treatment (EGT), which requires comparable generation quality across all sensitive groups, with quality measured via a reference f-divergence. We further analyze the trade-offs induced by EGT, demonstrating that enforcing fairness constraints necessarily couples the overall model quality to that of the most challenging group to approximate. This indicates that a simple yet efficient min-max fine-tuning method should be able to balance f-divergences across sensitive groups to satisfy EGT. We validate this theoretical insight through a set of experiments on both image and text generation tasks. We demonstrate that min-max methods consistently achieve fairer outcomes compared to other approaches from the literature, while maintaining competitive overall performance for both tasks.

Synthetic data have gained increasing attention across various domains, with a growing emphasis on their performance in downstream prediction tasks. However, most existing synthesis strategies focus on maintaining statistical information. Although some studies address prediction performance guarantees, their single-stage synthesis designs make it challenging to balance the privacy requirements that necessitate significant perturbations and the prediction performance that is sensitive to such perturbations. We propose a two-stage synthesis strategy. In the first stage, we introduce a synthesis-then-hybrid strategy, which involves a synthesis operation to generate pure synthetic data, followed by a hybrid operation that fuses the synthetic data with the original data. In the second stage, we present a kernel ridge regression (KRR)-based synthesis strategy, where a KRR model is first trained on the original data and then used to generate synthetic outputs based on the synthetic inputs produced in the first stage. By leveraging the theoretical strengths of KRR and the covariant distribution retention achieved in the first stage, our proposed two-stage synthesis strategy enables a statistics-driven restricted privacy--prediction trade-off and guarantee optimal prediction performance. We validate our approach and demonstrate its characteristics of being statistics-driven and restricted in achieving the privacy--prediction trade-off both theoretically and numerically. Additionally, we showcase its generalizability through applications to a marketing problem and five real-world datasets.

Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. However, traditional modular pipelines often incur cumulative latency, whereas purely reinforcement learning (RL) approaches typically provide limited formal safety guarantees. To bridge this gap, we propose an end-to-end RL framework augmented with model-based safety mechanisms. We incorporate physical priors in both training and deployment. During training, we design a physics-informed reward structure that provides global navigational guidance. During deployment, we integrate a real-time safety filter that projects the policy outputs onto a provably safe set to enforce strict collision-avoidance constraints. This hybrid architecture reconciles high-speed flight with robust safety assurances. Benchmark evaluations demonstrate that our method outperforms both traditional planners and recent end-to-end obstacle avoidance approaches based on differentiable physics. Extensive experiments demonstrate strong generalization, enabling reliable high-speed navigation in dense clutter and challenging outdoor forest environments at velocities up to 7.5m/s.

As a fundamental data mining task, unsupervised time series anomaly detection (TSAD) aims to build a model for identifying abnormal timestamps without assuming the availability of annotations. A key challenge in unsupervised TSAD is that many anomalies are too subtle to exhibit detectable deviation in any single view (e.g., time domain), and instead manifest as inconsistencies across multiple views like time, frequency, and a mixture of resolutions. However, most cross-view methods rely on feature or score fusion and do not enforce analysis-synthesis consistency, meaning the frequency branch is not required to reconstruct the time signal through an inverse transform, and vice versa. In this paper, we present Learnable Fusion of Tri-view Tokens (LEFT), a unified unsupervised TSAD framework that models anomalies as inconsistencies across complementary representations. LEFT learns feature tokens from three views of the same input time series: frequency-domain tokens that embed periodicity information, time-domain tokens that capture local dynamics, and multi-scale tokens that learns abnormal patterns at varying time series granularities. By learning a set of adaptive Nyquist-constrained spectral filters, the original time series is rescaled into multiple resolutions and then encoded, allowing these multi-scale tokens to complement the extracted frequency- and time-domain information. When generating the fused representation, we introduce a novel objective that reconstructs fine-grained targets from coarser multi-scale structure, and put forward an innovative time-frequency cycle consistency constraint to explicitly regularize cross-view agreement. Experiments on real-world benchmarks show that LEFT yields the best detection accuracy against SOTA baselines, while achieving a 5x reduction on FLOPs and 8x speed-up for training.

AI safety via debate uses two competing models to help a human judge verify complex computational tasks. Previous work has established what problems debate can solve in principle, but has not analysed the practical cost of human oversight: how many queries must the judge make to the debate transcript? We introduce Debate Query Complexity}(DQC), the minimum number of bits a verifier must inspect to correctly decide a debate. Surprisingly, we find that PSPACE/poly (the class of problems which debate can efficiently decide) is precisely the class of functions decidable with O(log n) queries. This characterisation shows that debate is remarkably query-efficient: even for highly complex problems, logarithmic oversight suffices. We also establish that functions depending on all their input bits require Omega(log n) queries, and that any function computable by a circuit of size s satisfies DQC(f) <= log(s) + 3. Interestingly, this last result implies that proving DQC lower bounds of log(n) + 6 for languages in P would yield new circuit lower bounds, connecting debate query complexity to central questions in circuit complexity.

Causal discovery is essential for advancing data-driven fields such as scientific AI and data analysis, yet existing approaches face significant time- and space-efficiency bottlenecks when scaling to large graphs. To address this challenge, we present CauScale, a neural architecture designed for efficient causal discovery that scales inference to graphs with up to 1000 nodes. CauScale improves time efficiency via a reduction unit that compresses data embeddings and improves space efficiency by adopting tied attention weights to avoid maintaining axis-specific attention maps. To keep high causal discovery accuracy, CauScale adopts a two-stream design: a data stream extracts relational evidence from high-dimensional observations, while a graph stream integrates statistical graph priors and preserves key structural signals. CauScale successfully scales to 500-node graphs during training, where prior work fails due to space limitations. Across testing data with varying graph scales and causal mechanisms, CauScale achieves 99.6% mAP on in-distribution data and 84.4% on out-of-distribution data, while delivering 4-13,000 times inference speedups over prior methods. Our project page is at https://github.com/OpenCausaLab/CauScale.

Vision Transformers have emerged as powerful, scalable and versatile representation learners. To capture both global and local features, a learnable [CLS] class token is typically prepended to the input sequence of patch tokens. Despite their distinct nature, both token types are processed identically throughout the model. In this work, we investigate the friction between global and local feature learning under different pre-training strategies by analyzing the interactions between class and patch tokens. Our analysis reveals that standard normalization layers introduce an implicit differentiation between these token types. Building on this insight, we propose specialized processing paths that selectively disentangle the computational flow of class and patch tokens, particularly within normalization layers and early query-key-value projections. This targeted specialization leads to significantly improved patch representation quality for dense prediction tasks. Our experiments demonstrate segmentation performance gains of over 2 mIoU points on standard benchmarks, while maintaining strong classification accuracy. The proposed modifications introduce only an 8% increase in parameters, with no additional computational overhead. Through comprehensive ablations, we provide insights into which architectural components benefit most from specialization and how our approach generalizes across model scales and learning frameworks.

Multilingual large language models (LLMs) have gained significant popularity for their ability to process and generate text across multiple languages. However, deploying these models in production can be inefficient when only a subset of the supported languages is of interest. There has been some research conducted on identifying whether machine translation models have language-specific or language-agnostic heads, however no research has been conducted for multilingual LLMs, to the best of our knowledge, that as we know are capable of performing diverse tasks beyond just translation. This paper explores whether multilingual LLMs have specialized language attention heads for each language, and investigates the possibility of removing language-specific heads for unwanted languages without degrading performance in the targeted languages. Our findings could inform more efficient deployment strategies for multilingual LLMs, enabling reduced model complexity while maintaining high accuracy for targeted languages.

By introducing routers to selectively activate experts in Transformer layers, the mixture-of-experts (MoE) architecture significantly reduces computational costs in large language models (LLMs) while maintaining competitive performance, especially for models with massive parameters. However, prior work has largely focused on utility and efficiency, leaving the safety risks associated with this sparse architecture underexplored. In this work, we show that the safety of MoE LLMs is as sparse as their architecture by discovering unsafe routes: routing configurations that, once activated, convert safe outputs into harmful ones. Specifically, we first introduce the Router Safety importance score (RoSais) to quantify the safety criticality of each layer's router. Manipulation of only the high-RoSais router(s) can flip the default route into an unsafe one. For instance, on JailbreakBench, masking 5 routers in DeepSeek-V2-Lite increases attack success rate (ASR) by over 4$\times$ to 0.79, highlighting an inherent risk that router manipulation may naturally occur in MoE LLMs. We further propose a Fine-grained token-layer-wise Stochastic Optimization framework to discover more concrete Unsafe Routes (F-SOUR), which explicitly considers the sequentiality and dynamics of input tokens. Across four representative MoE LLM families, F-SOUR achieves an average ASR of 0.90 and 0.98 on JailbreakBench and AdvBench, respectively. Finally, we outline defensive perspectives, including safety-aware route disabling and router training, as promising directions to safeguard MoE LLMs. We hope our work can inform future red-teaming and safeguarding of MoE LLMs. Our code is provided in https://github.com/TrustAIRLab/UnsafeMoE.

Recent work leverages Vision Foundation Models as image encoders to boost the generative performance of latent diffusion models (LDMs), as their semantic feature distributions are easy to learn. However, such semantic features often lack low-level information (\eg, color and texture), leading to degraded reconstruction fidelity, which has emerged as a primary bottleneck in further scaling LDMs. To address this limitation, we propose LV-RAE, a representation autoencoder that augments semantic features with missing low-level information, enabling high-fidelity reconstruction while remaining highly aligned with the semantic distribution. We further observe that the resulting high-dimensional, information-rich latent make decoders sensitive to latent perturbations, causing severe artifacts when decoding generated latent and consequently degrading generation quality. Our analysis suggests that this sensitivity primarily stems from excessive decoder responses along directions off the data manifold. Building on these insights, we propose fine-tuning the decoder to increase its robustness and smoothing the generated latent via controlled noise injection, thereby enhancing generation quality. Experiments demonstrate that LV-RAE significantly improves reconstruction fidelity while preserving the semantic abstraction and achieving strong generative quality. Our code is available at https://github.com/modyu-liu/LVRAE.

Point cloud is a prevalent 3D data representation format with significant application values in immersive media, autonomous driving, digital heritage protection, etc. However, the large data size of point clouds poses challenges to transmission and storage, which influences the wide deployments. Therefore, point cloud compression plays a crucial role in practical applications for both human and machine perception optimization. To this end, the Moving Picture Experts Group (MPEG) has established two standards for point cloud compression, including Geometry-based Point Cloud Compression (G-PCC) and Video-based Point Cloud Compression (V-PCC). In the meantime, the Audio Video coding Standard (AVS) Workgroup of China also have launched and completed the development for its first generation point cloud compression standard, namely AVS PCC. This new standardization effort has adopted many new coding tools and techniques, which are different from the other counterpart standards. This paper reviews the AVS PCC standard from two perspectives, i.e., the related technologies and performance comparisons.

Recent Speech Large Language Models~(LLMs) have achieved impressive capabilities in end-to-end speech interaction. However, the prevailing autoregressive paradigm imposes strict serial constraints, limiting generation efficiency and introducing exposure bias. In this paper, we investigate Masked Diffusion Modeling~(MDM) as a non-autoregressive paradigm for speech LLMs and introduce VocalNet-MDM. To adapt MDM for streaming speech interaction, we address two critical challenges: training-inference mismatch and iterative overhead. We propose Hierarchical Block-wise Masking to align training objectives with the progressive masked states encountered during block diffusion decoding, and Iterative Self-Distillation to compress multi-step refinement into fewer steps for low-latency inference. Trained on a limited scale of only 6K hours of speech data, VocalNet-MDM achieves a 3.7$\times$--10$\times$ decoding speedup and reduces first-chunk latency by 34\% compared to AR baselines. It maintains competitive recognition accuracy while achieving state-of-the-art text quality and speech naturalness, demonstrating that MDM is a promising and scalable alternative for low-latency, efficient speech LLMs.

Composed image retrieval (CIR) requires complex reasoning over heterogeneous visual and textual constraints. Existing approaches largely fall into two paradigms: unified embedding retrieval, which suffers from single-model myopia, and heuristic agentic retrieval, which is limited by suboptimal, trial-and-error orchestration. To this end, we propose OSCAR, an optimization-steered agentic planning framework for composed image retrieval. We are the first to reformulate agentic CIR from a heuristic search process into a principled trajectory optimization problem. Instead of relying on heuristic trial-and-error exploration, OSCAR employs a novel offline-online paradigm. In the offline phase, we model CIR via atomic retrieval selection and composition as a two-stage mixed-integer programming problem, mathematically deriving optimal trajectories that maximize ground-truth coverage for training samples via rigorous boolean set operations. These trajectories are then stored in a golden library to serve as in-context demonstrations for online steering of VLM planner at online inference time. Extensive experiments on three public benchmarks and a private industrial benchmark show that OSCAR consistently outperforms SOTA baselines. Notably, it achieves superior performance using only 10% of training data, demonstrating strong generalization of planning logic rather than dataset-specific memorization.

Quality Estimation (QE) aims to assess the quality of machine translation (MT) outputs without relying on reference translations, making it essential for real-world, large-scale MT evaluation. Large Language Models (LLMs) have shown significant promise in advancing the field of quality estimation of machine translation. However, most of the QE approaches solely rely on scalar quality scores, offering no explicit information about the translation errors that should drive these judgments. Moreover, for low-resource languages where annotated QE data is limited, existing approaches struggle to achieve reliable performance. To address these challenges, we introduce the first segment-level QE dataset for English to Malayalam, a severely resource-scarce language pair in the QE domain, comprising human-annotated Direct Assessment (DA) scores and Translation Quality Remarks (TQR), which are short, contextual, free-form annotator comments that describe translation errors. We further introduce ALOPE-RL, a policy-based reinforcement learning framework that trains efficient adapters based on policy rewards derived from DA score and TQR. Integrating error-aware rewards with ALOPE-RL, enables LLMs to reason about translation quality beyond numeric scores. Despite being trained on a small-scale QE dataset, ALOPE-RL achieves state-of-the-art performance on English to Malayalam QE using compact LLMs (<=4B parameters}) fine-tuned with LoRA and 4-bit quantization, outperforming both larger LLM-based baselines and leading encoder-based QE models. Our results demonstrate that error-aware, policy-based learning can deliver strong QE performance under limited data and compute budgets. We release our dataset, code, and trained models to support future research.

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform grasping without force feedback, risking damage to fragile objects. To address these limitations, we propose a novel force-aware grasping framework incorporating six low-cost, sensitive skin-like tactile sensors. We introduce a magnetic-based tactile sensing module that provides high-precision three-dimensional force measurements. We eliminate geomagnetic interference through a reference Hall sensor and simplify the calibration process compared to previous work. The proposed framework enables precise force-aware grasping control, allowing safe manipulation of fragile objects and real-time weight measurement of grasped items. The system is validated through comprehensive real-world experiments, including balloon grasping, dynamic load variation tests, and ablation studies, demonstrating its effectiveness in various aerial manipulation scenarios. Our approach achieves fully onboard operation without external motion capture systems, significantly enhancing the practicality of force-sensitive aerial manipulation. The supplementary video is available at: https://www.youtube.com/watch?v=mbcZkrJEf1I.

Link prediction is a fundamental task in graph machine learning with widespread applications such as recommendation systems, drug discovery, knowledge graphs, etc. In the foundation model era, how to develop universal link prediction methods across datasets and domains becomes a key problem, with some initial attempts adopting Graph Foundation Models utilizing Graph Neural Networks and Large Language Models. However, the existing methods face notable limitations, including limited pre-training scale or heavy reliance on textual information. Motivated by the success of tabular foundation models (TFMs) in achieving universal prediction across diverse tabular datasets, we explore an alternative approach by TFMs, which are pre-trained on diverse synthetic datasets sampled from structural causal models and support strong in-context learning independent of textual attributes. Nevertheless, adapting TFMs for link prediction faces severe technical challenges such as how to obtain the necessary context and capture link-centric topological information. To solve these challenges, we propose TFMLinker (Tabular Foundation Model for Link Predictor), aiming to leverage the in-context learning capabilities of TFMs to perform link prediction across diverse graphs without requiring dataset-specific fine-tuning. Specifically, we first develop a prototype-augmented local-global context module to construct context that captures both graph-specific and cross-graph transferable patterns. Next, we design a universal topology-aware link encoder to capture link-centric topological information and generate link representations as inputs for the TFM. Finally, we employ the TFM to predict link existence through in-context learning. Experiments on 6 graph benchmarks across diverse domains demonstrate the superiority of our method over state-of-the-art baselines without requiring dataset-specific finetuning.

PageRank (PR) is a fundamental algorithm in graph machine learning tasks. Owing to the increasing importance of algorithmic fairness, we consider the problem of computing PR vectors subject to various group-fairness criteria based on sensitive attributes of the vertices. At present, principled algorithms for this problem are lacking - some cannot guarantee that a target fairness level is achieved, while others do not feature optimality guarantees. In order to overcome these shortcomings, we put forth a unified in-processing convex optimization framework, termed FairRARI, for tackling different group-fairness criteria in a ``plug and play'' fashion. Leveraging a variational formulation of PR, the framework computes fair PR vectors by solving a strongly convex optimization problem with fairness constraints, thereby ensuring that a target fairness level is achieved. We further introduce three different fairness criteria which can be efficiently tackled using FairRARI to compute fair PR vectors with the same asymptotic time-complexity as the original PR algorithm. Extensive experiments on real-world datasets showcase that FairRARI outperforms existing methods in terms of utility, while achieving the desired fairness levels across multiple vertex groups; thereby highlighting its effectiveness.

Offline safe reinforcement learning (RL) aims to learn policies from a fixed dataset while maximizing performance under cumulative cost constraints. In practice, deployment requirements often vary across scenarios, necessitating a single policy that can adapt zero-shot to different cost thresholds. However, most existing offline safe RL methods are trained under a pre-specified threshold, yielding policies with limited generalization and deployment flexibility across cost thresholds. Motivated by recent progress in conditional sequence modeling (CSM), which enables flexible goal-conditioned control by specifying target returns, we propose RCDT, a CSM-based method that supports zero-shot deployment across multiple cost thresholds within a single trained policy. RCDT is the first CSM-based offline safe RL algorithm that integrates a Lagrangian-style cost penalty with an auto-adaptive penalty coefficient. To avoid overly conservative behavior and achieve a more favorable return--cost trade-off, a reward--cost-aware trajectory reweighting mechanism and Q-value regularization are further incorporated. Extensive experiments on the DSRL benchmark demonstrate that RCDT consistently improves return--cost trade-offs over representative baselines, advancing the state-of-the-art in offline safe RL.

Photorealistic color retouching plays a vital role in visual content creation, yet manual retouching remains inaccessible to non-experts due to its reliance on specialized expertise. Reference-based methods offer a promising alternative by transferring the preset color of a reference image to a source image. However, these approaches often operate as novice learners, performing global color mappings derived from pixel-level statistics, without a true understanding of semantic context or human aesthetics. To address this issue, we propose SemiNFT, a Diffusion Transformer (DiT)-based retouching framework that mirrors the trajectory of human artistic training: beginning with rigid imitation and evolving into intuitive creation. Specifically, SemiNFT is first taught with paired triplets to acquire basic structural preservation and color mapping skills, and then advanced to reinforcement learning (RL) on unpaired data to cultivate nuanced aesthetic perception. Crucially, during the RL stage, to prevent catastrophic forgetting of old skills, we design a hybrid online-offline reward mechanism that anchors aesthetic exploration with structural review. % experiments Extensive experiments show that SemiNFT not only outperforms state-of-the-art methods on standard preset transfer benchmarks but also demonstrates remarkable intelligence in zero-shot tasks, such as black-and-white photo colorization and cross-domain (anime-to-photo) preset transfer. These results confirm that SemiNFT transcends simple statistical matching and achieves a sophisticated level of aesthetic comprehension. Our project can be found at https://melanyyang.github.io/SemiNFT/.

This study investigates the dynamics of Score-based Generative Models (SGMs) by treating the score estimation error as a stochastic source driving the Fokker-Planck equation. Departing from particle-centric SDE analyses, we employ an SPDE framework to model the evolution of the probability density field under stochastic drift perturbations. Under a simplified setting, we utilize this framework to interpret the robustness of generative models through the lens of geometric stability and displacement convexity. Furthermore, we introduce a candidate evaluation metric derived from the quadratic variation of the SPDE solution projected onto a radial test function. Preliminary observations suggest that this metric remains effective using only the initial 10% of the sampling trajectory, indicating a potential for computational efficiency.

Linear regression analysis focuses on predicting a numeric regressand value based on certain regressor values. In this context, k-Nearest Neighbors (k-NN) is a common non-parametric regression algorithm, which achieves efficient performance when compared with other algorithms in literature. In this research effort an optimization of the k-NN algorithm is proposed by exploiting the potentiality of an introduced arithmetic method, which can provide solutions for linear equations involving an arbitrary number of real variables. Specifically, an Arithmetic Method Algorithm (AMA) is adopted to assess the efficiency of the introduced arithmetic method, while an Arithmetic Method Regression (AMR) algorithm is proposed as an optimization of k-NN adopting the potentiality of AMA. Such algorithm is compared with other regression algorithms, according to an introduced optimal inference decision rule, and evaluated on certain real world data sources, which are publicly available. Results are promising since the proposed AMR algorithm has comparable performance with the other algorithms, while in most cases it achieves better performance than the k-NN. The output results indicate that introduced AMR is an optimization of k-NN.

Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuable research and testing environment for advancing autonomous driving technology and improving road safety. This article presents the algorithms and deployment strategies developed by the TUM Autonomous Motorsport team for the inaugural Abu Dhabi Autonomous Racing League (A2RL). We showcase how our software emulates human driving behavior, pushing the limits of vehicle handling and multi-vehicle interactions to win the A2RL. Finally, we highlight the key enablers of our success and share our most significant learnings.

Training of large-scale models is both computationally intensive and often constrained by the availability of labeled data. Model merging offers a compelling alternative by directly integrating the weights of multiple source models without requiring additional data or extensive training. However, conventional model merging techniques, such as parameter averaging, often suffer from the unintended combination of non-generalizable features, especially when source models exhibit significant weight disparities. Comparatively, model ensembling generally provides more stable and superior performance that aggregates multiple models by averaging outputs. However, it incurs higher inference costs and increased storage requirements. While previous studies experimentally showed the similarities between model merging and ensembling, theoretical evidence and evaluation metrics remain lacking. To address this gap, we introduce Merging-ensembling loss (M-Loss), a novel evaluation metric that quantifies the compatibility of merging source models using very limited unlabeled data. By measuring the discrepancy between parameter averaging and model ensembling at layer and node levels, M-Loss facilitates more effective merging strategies. Specifically, M-Loss serves both as a quantitative criterion of the theoretical feasibility of model merging, and a guide for parameter significance in model pruning. Our theoretical analysis and empirical evaluations demonstrate that incorporating M-Loss into the merging process significantly improves the alignment between merged models and model ensembling, providing a scalable and efficient framework for accurate model consolidation.

Large language models (LLMs) are commonly treated as stateless: once an interaction ends, no information is assumed to persist unless it is explicitly stored and re-supplied. We challenge this assumption by introducing implicit memory-the ability of a model to carry state across otherwise independent interactions by encoding information in its own outputs and later recovering it when those outputs are reintroduced as input. This mechanism does not require any explicit memory module, yet it creates a persistent information channel across inference requests. As a concrete demonstration, we introduce a new class of temporal backdoors, which we call time bombs. Unlike conventional backdoors that activate on a single trigger input, time bombs activate only after a sequence of interactions satisfies hidden conditions accumulated via implicit memory. We show that such behavior can be induced today through straightforward prompting or fine-tuning. Beyond this case study, we analyze broader implications of implicit memory, including covert inter-agent communication, benchmark contamination, targeted manipulation, and training-data poisoning. Finally, we discuss detection challenges and outline directions for stress-testing and evaluation, with the goal of anticipating and controlling future developments. To promote future research, we release code and data at: https://github.com/microsoft/implicitMemory.

We introduce FLAG-4D, a novel framework for generating novel views of dynamic scenes by reconstructing how 3D Gaussian primitives evolve through space and time. Existing methods typically rely on a single Multilayer Perceptron (MLP) to model temporal deformations, and they often struggle to capture complex point motions and fine-grained dynamic details consistently over time, especially from sparse input views. Our approach, FLAG-4D, overcomes this by employing a dual-deformation network that dynamically warps a canonical set of 3D Gaussians over time into new positions and anisotropic shapes. This dual-deformation network consists of an Instantaneous Deformation Network (IDN) for modeling fine-grained, local deformations and a Global Motion Network (GMN) for capturing long-range dynamics, refined through mutual learning. To ensure these deformations are both accurate and temporally smooth, FLAG-4D incorporates dense motion features from a pretrained optical flow backbone. We fuse these motion cues from adjacent timeframes and use a deformation-guided attention mechanism to align this flow information with the current state of each evolving 3D Gaussian. Extensive experiments demonstrate that FLAG-4D achieves higher-fidelity and more temporally coherent reconstructions with finer detail preservation than state-of-the-art methods.

We consider how model-based solvers can be leveraged to guide training of a universal policy to control from any feasible start state to any feasible goal in a contact-rich manipulation setting. While Reinforcement Learning (RL) has demonstrated its strength in such settings, it may struggle to sufficiently explore and discover complex manipulation strategies, especially in sparse-reward settings. Our approach is based on the idea of a lower-dimensional manifold of feasible, likely-visited states during such manipulation and to guide RL with a sampler from this manifold. We propose Sample-Guided RL, which uses model-based constraint solvers to efficiently sample feasible configurations (satisfying differentiable collision, contact, and force constraints) and leverage them to guide RL for universal (goal-conditioned) manipulation policies. We study using this data directly to bias state visitation, as well as using black-box optimization of open-loop trajectories between random configurations to impose a state bias and optionally add a behavior cloning loss. In a minimalistic double sphere manipulation setting, Sample-Guided RL discovers complex manipulation strategies and achieves high success rates in reaching any statically stable state. In a more challenging panda arm setting, our approach achieves a significant success rate over a near-zero baseline, and demonstrates a breadth of complex whole-body-contact manipulation strategies.

Subjective ratings contain inherent noise that limits the model-human correlation, but this reliability issue is rarely quantified. In this paper, we present $ρ$-Perfect, a practical estimation of the highest achievable correlation of a model on subjectively rated datasets. We define $ρ$-Perfect to be the correlation between a perfect predictor and human ratings, and derive an estimate of the value based on heteroscedastic noise scenarios, a common occurrence in subjectively rated datasets. We show that $ρ$-Perfect squared estimates test-retest correlation and use this to validate the estimate. We demonstrate the use of $ρ$-Perfect on a speech quality dataset and show how the measure can distinguish between model limitations and data quality issues.