Audio deepfake detection systems trained on one dataset often fail when deployed on data from different sources due to distributional shifts in recording conditions, synthesis methods, and acoustic environments. We present a modular pipeline for unsupervised domain adaptation that combines pre-trained Wav2Vec 2.0 embeddings with statistical transformations to improve cross-domain generalization without requiring labeled target data. Our approach applies power transformation for feature normalization, ANOVA-based feature selection, joint PCA for domain-agnostic dimensionality reduction, and CORAL alignment to match source and target covariance structures before classification via logistic regression. We evaluate on two cross-domain transfer scenarios: ASVspoof 2019 LA to Fake-or-Real (FoR) and FoR to ASVspoof, achieving 62.7--63.6\% accuracy with balanced performance across real and fake classes. Systematic ablation experiments reveal that feature selection (+3.5%) and CORAL alignment (+3.2%) provide the largest individual contributions, with the complete pipeline improving accuracy by 10.7% over baseline. While performance is modest compared to within-domain detection (94-96%), our pipeline offers transparency and modularity, making it suitable for deployment scenarios requiring interpretable decisions.

Multi-hop question answering (QA) is widely used to evaluate the reasoning capabilities of large language models, yet most benchmarks focus on final answer correctness and overlook intermediate reasoning, especially in long multimodal documents. We introduce BRIDGE, a benchmark for multi-hop reasoning over long scientific papers that require integrating evidence across text, tables, and figures. The dataset supports both chain-like and fan-out structures and provides explicit multi-hop reasoning annotations for step-level evaluation beyond answer accuracy. Experiments with state-of-the-art LLMs and multimodal retrieval-augmented generation (RAG) systems reveal systematic deficiencies in evidence aggregation and grounding that remain hidden under conventional answer-only evaluation. BRIDGE provides a targeted testbed for diagnosing reasoning failures in long multimodal documents.

One of the crucial challenges taken in document analysis is mathematical expression recognition. Unlike text recognition which only focuses on one-dimensional structure images, mathematical expression recognition is a much more complicated problem because of its two-dimensional structure and different symbol size. In this paper, we propose using a Hybrid Vision Transformer (HVT) with 2D positional encoding as the encoder to extract the complex relationship between symbols from the image. A coverage attention decoder is used to better track attention's history to handle the under-parsing and over-parsing problems. We also showed the benefit of using the [CLS] token of ViT as the initial embedding of the decoder. Experiments performed on the IM2LATEX-100K dataset have shown the effectiveness of our method by achieving a BLEU score of 89.94 and outperforming current state-of-the-art methods.

Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain perception and reliable foothold selection. Existing methods often rely on forward-facing depth cameras, which create blind zones that restrict omnidirectional mobility. Furthermore, sparse post-contact unsafe stepping penalties lead to low learning efficiency and suboptimal strategies. To realize safe stair-traversal gaits, this paper introduces a single-stage training framework incorporating a dense unsafe stepping penalty that provides continuous feedback as the foot approaches a hazardous placement. To obtain stable and reliable elevation maps, we build a rolling point-cloud mapping system with spatiotemporal confidence decay and a self-protection zone mechanism, producing temporally consistent local maps. These maps are further refined by an Edge-Guided Asymmetric U-Net (EGAU), which mitigates reconstruction distortion caused by sparse LiDAR returns on stair risers. Simulation and real-robot experiments show that the proposed method achieves a near-100\% safe stepping rate on stair terrains in simulation, while maintaining a remarkably high safe stepping rate in real-world deployments. Furthermore, it completes a continuous long-distance walking test on complex outdoor terrains, demonstrating reliable sim-to-real transfer and long-term stability.

Large healthcare institutions typically operate multiple business intelligence (BI) teams segmented by domain, including clinical performance, fundraising, operations, and compliance. Due to HIPAA, FERPA, and IRB restrictions, these teams face challenges in sharing patient-level data needed for analytics. To mitigate this, A metric aggregation table is proposed, which is a precomputed, privacy-compliant summary. These abstractions enable decision-making without direct access to sensitive data. However, even aggregated metrics can inadvertently lead to privacy risks if constructed without rigorous safeguards. A modular AI framework is proposed that evaluates SQL-based metric definitions for potential overexposure using both semantic and syntactic features. Specifically, the system parses SQL queries into abstract syntax trees (ASTs), extracts sensitive patterns (e.g., fine-grained GROUP BY on ZIP code or gender), and encodes the logic using pretrained CodeBERT embeddings. These are fused with structural features and passed to an XGBoost classifier trained to assign risk scores. Queries that surpass the risk threshold (e.g., > 0.85) are flagged and returned with human-readable explanations. This enables proactive governance, preventing statistical disclosure before deployment. This implementation demonstrates strong potential for cross-departmental metric sharing in healthcare while maintaining compliance and auditability. The system also promotes role-based access control (RBAC), supports zero-trust data architectures, and aligns with national data modernization goals by ensuring that metric pipelines are explainable, privacy-preserving, and AI-auditable by design. Unlike prior works that rely on runtime data access to flag privacy violations, the proposed framework performs static, explainable detection at the query-level, enabling pre-execution protection and audit readiness

Unregistered hyperspectral image (HSI) super-resolution (SR) typically aims to enhance a low-resolution HSI using an unregistered high-resolution reference image. In this paper, we propose an unmixing-based fusion framework that decouples spatial-spectral information to simultaneously mitigate the impact of unregistered fusion and enhance the learnability of SR models. Specifically, we first utilize singular value decomposition for initial spectral unmixing, preserving the original endmembers while dedicating the subsequent network to enhancing the initial abundance map. To leverage the spatial texture of the unregistered reference, we introduce a coarse-to-fine deformable aggregation module, which first estimates a pixel-level flow and a similarity map using a coarse pyramid predictor. It further performs fine sub-pixel refinement to achieve deformable aggregation of the reference features. The aggregative features are then refined via a series of spatial-channel abundance cross-attention blocks. Furthermore, a spatial-channel modulated fusion module is presented to merge encoder-decoder features using dynamic gating weights, yielding a high-quality, high-resolution HSI. Experimental results on simulated and real datasets confirm that our proposed method achieves state-of-the-art super-resolution performance. The code will be available at https://github.com/yingkai-zhang/UAFL.

Modern agents powered by thinking LLMs achieve high accuracy through long chain-of-thought reasoning but incur substantial inference costs. While many LLMs now support configurable reasoning levels (e.g., high/medium/low), static strategies are often ineffective: using low-effort modes at every step leads to significant performance degradation, while random selection fails to preserve accuracy or provide meaningful cost reduction. However, agents should reserve high reasoning effort for difficult steps like navigating complex website structures, while using lower-effort modes for simpler steps like opening a target URL. In this paper, we propose Ares, a framework for per-step dynamic reasoning effort selection tailored for multi-step agent tasks. Ares employs a lightweight router to predict the lowest appropriate reasoning level for each step based on the interaction history. To train this router, we develop a data generation pipeline that identifies the minimum reasoning effort required for successful step completion. We then fine-tune the router to predict these levels, enabling plug-and-play integration for any LLM agents. We evaluate Ares on a diverse set of agent tasks, including TAU-Bench for tool use agents, BrowseComp-Plus for deep-research agents, and WebArena for web agents. Experimental results show that Ares reduces reasoning token usage by up to 52.7% compared to fixed high-effort reasoning, while introducing minimal degradation in task success rates.

Although learned video compression methods have exhibited outstanding performance, most of them typically follow a hybrid coding paradigm that requires explicit motion estimation and compensation, resulting in a complex solution for video compression. In contrast, we introduce a streamlined yet effective video compression framework founded on a direct transform strategy, i.e., nonlinear transform, quantization, and entropy coding. We first develop a cascaded Mamba module (CMM) with different embedded geometric transformations to effectively explore both long-range spatial and temporal dependencies. To improve local spatial representation, we introduce a locality refinement feed-forward network (LRFFN) that incorporates a hybrid convolution block based on difference convolutions. We integrate the proposed CMM and LRFFN into the encoder and decoder of our compression framework. Moreover, we present a conditional channel-wise entropy model that effectively utilizes conditional temporal priors to accurately estimate the probability distributions of current latent features. Extensive experiments demonstrate that our method outperforms state-of-the-art video compression approaches in terms of perceptual quality and temporal consistency under low-bitrate constraints. Our source codes and models will be available at https://github.com/cshw2021/GTEM-LVC.

Vision-Language Models (VLMs), such as CLIP, have significantly advanced zero-shot image recognition. However, their performance remains limited by suboptimal prompt engineering and poor adaptability to target classes. While recent methods attempt to improve prompts through diverse class descriptions, they often rely on heuristic designs, lack versatility, and are vulnerable to outlier prompts. This paper enhances prompt by incorporating class-specific concepts. By treating concepts as latent variables, we rethink zero-shot image classification from a Bayesian perspective, casting prediction as marginalization over the concept space, where each concept is weighted by a prior and a test-image conditioned likelihood. This formulation underscores the importance of both a well-structured concept proposal distribution and the refinement of concept priors. To construct an expressive and efficient proposal distribution, we introduce a multi-stage concept synthesis pipeline driven by LLMs to generate discriminative and compositional concepts, followed by a Determinantal Point Process to enforce diversity. To mitigate the influence of outlier concepts, we propose a training-free, adaptive soft-trim likelihood, which attenuates their impact in a single forward pass. We further provide robustness guarantees and derive multi-class excess risk bounds for our framework. Extensive experiments demonstrate that our method consistently outperforms state-of-the-art approaches, validating its effectiveness in zero-shot image classification. Our code is available at https://github.com/less-and-less-bugs/CGBC.

Accurate intraoperative navigation is essential for robot-assisted endoluminal intervention, but remains difficult because of limited endoscopic field of view and dynamic artifacts. Existing navigation platforms often rely on external localization technologies, such as electromagnetic tracking or shape sensing, which increase hardware complexity and remain vulnerable to intraoperative anatomical mismatch. We present a vision-only autonomy framework that performs long-horizon bronchoscopic navigation using preoperative CT-derived virtual targets and live endoscopic video, without external tracking during navigation. The framework uses hierarchical long-short agents: a short-term reactive agent for continuous low-latency motion control, and a long-term strategic agent for decision support at anatomically ambiguous points. When their recommendations conflict, a world-model critic predicts future visual states for candidate actions and selects the action whose predicted state best matches the target view. We evaluated the system in a high-fidelity airway phantom, three ex vivo porcine lungs, and a live porcine model. The system reached all planned segmental targets in the phantom, maintained 80\% success to the eighth generation ex vivo, and achieved in vivo navigation performance comparable to the expert bronchoscopist. These results support the preclinical feasibility of sensor-free autonomous bronchoscopic navigation.

Vision-language models (VLMs) have emerged as a promising direction for end-to-end autonomous driving (AD) by jointly modeling visual observations, driving context, and language-based reasoning. However, existing VLM-based systems face a trade-off between high-level reasoning and motion planning: large models offer strong semantic understanding but are costly to adapt for precise control, whereas small VLM models can be fine-tuned efficiently but often exhibit weaker reasoning. We propose NaviDriveVLM, a decoupled framework that separates reasoning from action generation using a large-scale Navigator and a lightweight trainable Driver. This design preserves reasoning ability, reduces training cost, and provides an explicit interpretable intermediate representation for downstream planning. Experiments on the nuScenes benchmark show that NaviDriveVLM outperforms large VLM baselines in end-to-end motion planning.

The reliable operation of modern power grids requires probabilistic load forecasts with well-calibrated uncertainty estimates. However, existing deep learning models produce overconfident point predictions that fail catastrophically under extreme weather distributional shifts. This study proposes a Bayesian Transformer (BT) framework that integrates three complementary uncertainty mechanisms into a PatchTST backbone: Monte Carlo Dropout for epistemic parameter uncertainty, variational feed-forward layers with log-uniform weight priors, and stochastic attention with learnable Gaussian noise perturbations on pre-softmax logits, representing, to the best of our knowledge, the first application of Bayesian attention to probabilistic load forecasting. A seven-level multi-quantile pinball-loss prediction head and post-training isotonic regression calibration produce sharp, near-nominally covered prediction intervals. Evaluation of five grid datasets (PJM, ERCOT, ENTSO-E Germany, France, and Great Britain) augmented with NOAA covariates across 24, 48, and 168-hour horizons demonstrates state-of-the-art performance. On the primary benchmark (PJM, H=24h), BT achieves a CRPS of 0.0289, improving 7.4% over Deep Ensembles and 29.9% over the deterministic LSTM, with 90.4% PICP at the 90% nominal level and the narrowest prediction intervals (4,960 MW) among all probabilistic baselines. During heat-wave and cold snap events, BT maintained 89.6% and 90.1% PICP respectively, versus 64.7% and 67.2% for the deterministic LSTM, confirming that Bayesian epistemic uncertainty naturally widens intervals for out-of-distribution inputs. Calibration remained stable across all horizons (89.8-90.4% PICP), while ablation confirmed that each component contributed a distinct value. The calibrated outputs directly support risk-based reserve sizing, stochastic unit commitment, and demand response activation.

Open-set active learning (OSAL) aims to identify informative samples for annotation when unlabeled data may contain previously unseen classes-a common challenge in safety-critical and open-world scenarios. Existing approaches typically rely on separately trained open-set detectors, introducing substantial training overhead and overlooking the supervisory value of labeled unknowns for improving known-class learning. In this paper, we propose E$^2$OAL (Effective and Efficient Open-set Active Learning), a unified and detector-free framework that fully exploits labeled unknowns for both stronger supervision and more reliable querying. E$^2$OAL first uncovers the latent class structure of unknowns through label-guided clustering in a frozen contrastively pre-trained feature space, optimized by a structure-aware F1-product objective. To leverage labeled unknowns, it employs a Dirichlet-calibrated auxiliary head that jointly models known and unknown categories, improving both confidence calibration and known-class discrimination. Building on this, a logit-margin purity score estimates the likelihood of known classes to construct a high-purity candidate pool, while an OSAL-specific informativeness metric prioritizes partially ambiguous yet reliable samples. These components together form a flexible two-stage query strategy with adaptive precision control and minimal hyperparameter sensitivity. Extensive experiments across multiple OSAL benchmarks demonstrate that E$^2$OAL consistently surpasses state-of-the-art methods in accuracy, efficiency, and query precision, highlighting its effectiveness and practicality for real-world applications. The code is available at github.com/chenchenzong/E2OAL.

Databricks job orchestration systems (e.g., LeJOT) reduce cloud costs by selecting low-priced compute configurations while meeting latency and dependency constraints. Accurate execution-time prediction under heterogeneous instance types and non-stationary runtime conditions is therefore critical. Existing pipelines rely on static, manually engineered features that under-capture runtime effects (e.g., partition pruning, data skew, and shuffle amplification), and predictive signals are scattered across logs, metadata, and job scripts-lengthening update cycles and increasing engineering overhead. We present LeJOT-AutoML, an agent-driven AutoML framework that embeds large language model agents throughout the ML lifecycle. LeJOT-AutoML combines retrieval-augmented generation over a domain knowledge base with a Model Context Protocol toolchain (log parsers, metadata queries, and a read-only SQL sandbox) to analyze job artifacts, synthesize and validate feature-extraction code via safety gates, and train/select predictors. This design materializes runtime-derived features that are difficult to obtain through static analysis alone. On enterprise Databricks workloads, LeJOT-AutoML generates over 200 features and reduces the feature-engineering and evaluation loop from weeks to 20-30 minutes, while maintaining competitive prediction accuracy. Integrated into the LeJOT pipeline, it enables automated continuous model updates and achieves 19.01% cost savings in our deployment setting through improved orchestration.

We introduce SMGI, a structural theory of general artificial intelligence, and recast the foundational problem of learning from the optimization of hypotheses within fixed environments to the controlled evolution of the learning interface itself. We formalize the Structural Model of General Intelligence (SMGI) via a typed meta-model $θ= (r,\mathcal H,Π,\mathcal L,\mathcal E,\mathcal M)$ that treats representational maps, hypothesis spaces, structural priors, multi-regime evaluators, and memory operators as explicitly typed, dynamic components. By enforcing a strict mathematical separation between this structural ontology ($θ$) and its induced behavioral semantics ($T_θ$), we define general artificial intelligence as a class of admissible coupled dynamics $(θ, T_θ)$ satisfying four obligations: structural closure under typed transformations, dynamical stability under certified evolution, bounded statistical capacity, and evaluative invariance across regime shifts. We prove a structural generalization bound that links sequential PAC-Bayes analysis and Lyapunov stability, providing sufficient conditions for capacity control and bounded drift under admissible task transformations. Furthermore, we establish a strict structural inclusion theorem demonstrating that classical empirical risk minimization, reinforcement learning, program-prior models (Solomonoff-style), and modern frontier agentic pipelines operate as structurally restricted instances of SMGI.

Pathology foundation models learn morphological representations through self-supervised pretraining on large-scale whole-slide images, yet they do not explicitly capture the underlying molecular state of the tissue. Spatial transcriptomics technologies bridge this gap by measuring gene expression in situ, offering a natural cross-modal supervisory signal. We propose MINT (Molecularly Informed Training), a fine-tuning framework that incorporates spatial transcriptomics supervision into pretrained pathology Vision Transformers. MINT appends a learnable ST token to the ViT input to encode transcriptomic information separately from the morphological CLS token, preventing catastrophic forgetting through DINO self-distillation and explicit feature anchoring to the frozen pretrained encoder. Gene expression regression at both spot-level (Visium) and patch-level (Xenium) resolutions provides complementary supervision across spatial scales. Trained on 577 publicly available HEST samples, MINT achieves the best overall performance on both HEST-Bench for gene expression prediction (mean Pearson r = 0.440) and EVA for general pathology tasks (0.803), demonstrating that spatial transcriptomics supervision complements morphology-centric self-supervised pretraining.

Multi-Agent Path Finding (MAPF) aims to compute collision-free paths for multiple agents and has a wide range of practical applications. LaCAM*, an anytime configuration-based solver, currently represents the state of the art. Recent work has explored the use of guidance paths to steer LaCAM* toward configurations that avoid traffic congestion, thereby improving solution quality. However, existing approaches rely on Frank-Wolfe-style optimization that repeatedly invokes single-agent search before executing LaCAM*, resulting in substantial computational overhead for large-scale problems. Moreover, the guidance path is static and primarily beneficial for finding the first solution in LaCAM*. To address these limitations, we propose a new approach that leverages LaCAM*'s ability to construct a dynamic, lightweight traffic map during its search. Experimental results demonstrate that our method achieves higher solution quality than state-of-the-art guidance-path approaches across two MAPF variants.

We propose image segmentation as a visual diagnostic testbed for coalition formation in hedonic games. Modeling pixels as agents on a graph, we study how a granularization parameter shapes equilibrium fragmentation and boundary structure. On the Weizmann single-object benchmark, we relate multi-coalition equilibria to binary protocols by measuring whether the converged coalitions overlap with a foreground ground-truth. We observe transitions from cohesive to fragmented yet recoverable equilibria, and finally to intrinsic failure under excessive fragmentation. Our core contribution links multi-agent systems with image segmentation by quantifying the impact of mechanism design parameters on equilibrium structures.

Medical image segmentation is crucial for computer-aided diagnosis, which necessitates understanding both coarse morphological and semantic structures, as well as carving fine boundaries. The morphological and semantic structures in medical images are beneficial and stable clues for target understanding. While the fine boundaries of medical targets (like tumors and lesions) are usually ambiguous and noisy since lesion overlap, annotation uncertainty, and so on, making it not reliable to serve as early supervision. However, existing methods simultaneously learn coarse structures and fine boundaries throughout the training process. In this paper, we propose a structure and progress-aware diffusion (SPAD) for medical image segmentation, which consists of a semantic-concentrated diffusion (ScD) and a boundary-centralized diffusion (BcD) modulated by a progress-aware scheduler (PaS). Specifically, the semantic-concentrated diffusion introduces anchor-preserved target perturbation, which perturbs pixels within a medical target but preserves unaltered areas as semantic anchors, encouraging the model to infer noisy target areas from the surrounding semantic context. The boundary-centralized diffusion introduces progress-aware boundary noise, which blurs unreliable and ambiguous boundaries, thus compelling the model to focus on coarse but stable anatomical morphology and global semantics. Furthermore, the progress-aware scheduler gradually modulates noise intensity of the ScD and BcD forming a coarse-to-fine diffusion paradigm, which encourage focusing on coarse morphological and semantic structures during early target understanding stages and gradually shifting to fine target boundaries during later contour adjusting stages.

The ability to distinguish subtle differences between visually similar images is essential for diverse domains such as industrial anomaly detection, medical imaging, and aerial surveillance. While comparative reasoning benchmarks for vision-language models (VLMs) have recently emerged, they primarily focus on images with large, salient differences and fail to capture the nuanced reasoning required for real-world applications. In this work, we introduce VLM-SubtleBench, a benchmark designed to evaluate VLMs on subtle comparative reasoning. Our benchmark covers ten difference types - Attribute, State, Emotion, Temporal, Spatial, Existence, Quantity, Quality, Viewpoint, and Action - and curate paired question-image sets reflecting these fine-grained variations. Unlike prior benchmarks restricted to natural image datasets, our benchmark spans diverse domains, including industrial, aerial, and medical imagery. Through extensive evaluation of both proprietary and open-source VLMs, we reveal systematic gaps between model and human performance across difference types and domains, and provide controlled analyses highlighting where VLMs' reasoning sharply deteriorates. Together, our benchmark and findings establish a foundation for advancing VLMs toward human-level comparative reasoning.

Inference-time methods that aggregate and prune multiple samples have emerged as a powerful paradigm for steering large language models, yet we lack any principled understanding of their accuracy-cost tradeoffs. In this paper, we introduce a route to rigorously study such approaches using the lens of *particle filtering* algorithms such as Sequential Monte Carlo (SMC). Given a base language model and a *process reward model* estimating expected terminal rewards, we ask: *how accurately can we sample from a target distribution given some number of process reward evaluations?* Theoretically, we identify (1) simple criteria enabling non-asymptotic guarantees for SMC; (2) algorithmic improvements to SMC; and (3) a fundamental limit faced by all particle filtering methods. Empirically, we demonstrate that our theoretical criteria effectively govern the *sampling error* of SMC, though not necessarily its final *accuracy*, suggesting that theoretical perspectives beyond sampling may be necessary.

Enhancing the ability of large language models (LLMs) to follow complex instructions is critical for their deployment in real-world applications. However, existing evaluation methods often oversimplify instruction complexity as a mere additive combination of atomic constraints, failing to adequately capture the high-dimensional complexity arising from the intricate interplay of content and format, logical workflow control, and real-world applications. This leads to a significant gap between current evaluation practices and practical demands. To bridge this gap, we introduce CCR-Bench, a novel benchmark designed to assess LLMs' adherence to complex instructions. CCR-Bench is characterized by: (1) deep entanglement of content and formatting requirements in task specifications; (2) instructions that involve intricate task decomposition, conditional reasoning, and procedural planning; and (3) evaluation samples derived entirely from real-world industrial scenarios. Extensive experiments on CCR-Bench demonstrate that even state-of-the-art models exhibit substantial performance deficiencies, clearly quantifying the gap between current LLM capabilities and the demands of realworld instruction understanding. We believe that CCR-Bench offers a more rigorous and realistic evaluation framework, advancing the development of LLMs toward the next generation of models capable of understanding and executing complex tasks in industrial applications.

Human-robot interaction combines robotics, cognitive science, and human factors to study collaborative systems. This paper introduces a method for identifying influential robot actions using transfer entropy, a statistic that measures directed information transfer between time series. TE is effective for capturing complex, nonlinear interactions. We apply this method to analyze how robot actions affect human behavior during a conversation with a remotely controlled robot avatar. By focusing on the impact of proximity, our approach demonstrates TE's capability to identify key actions influencing human responses, highlighting its potential to improve the design and adaptability of robotic systems.

Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observations, resulting in brittle behavior under appearance shifts such as background changes and object recoloring. We propose a task-aware observation interface that canonicalizes visual input into a shared representation, improving robustness to out-of-distribution (OOD) appearance changes without modifying or fine-tuning the policy. Given an RGB image and an open-vocabulary specification of task-relevant entities, we use SAM3 to segment the target object and robot/gripper. We construct an L0 observation by repainting segmented entities with predefined semantic colors on a constant background. For tasks requiring stronger geometric cues, we further inject monocular depth from Depth Anything 3 into the segmented regions via depth-guided overwrite, yielding a unified semantic--geometric observation (L1) that remains a standard 3-channel, image-like input. We evaluate on RoboMimic (Lift), ManiSkill YCB grasping under clutter, four RLBench tasks under controlled appearance shifts, and two real-world Franka tasks (ReachX and CloseCabinet). Across benchmarks and policy backbones (Flow Matching Policy and SmolVLA), our interface preserves in-distribution performance while substantially improving robustness under OOD visual shifts.

Contrastive Language-Image Pre-training (CLIP) has shown impressive performance in aligning visual and textual representations. Recent studies have extended this paradigm to 3D vision to improve scene understanding for autonomous driving. A common strategy is to employ pairwise cosine similarity between modalities to guide the training of a 3D encoder. However, considering the similarity between individual modality pairs rather than all modalities jointly fails to ensure consistent and unified alignment across the entire multimodal space. In this paper, we propose a Contrastive Tensor Pre-training (CTP) framework that simultaneously aligns multiple modalities in a unified embedding space to enhance end-to-end autonomous driving. Compared with pairwise cosine similarity alignment, our method extends the 2D similarity matrix into a multimodal similarity tensor. Furthermore, we introduce a tensor loss to enable joint contrastive learning across all modalities. For experimental validation of our framework, we construct a text-image-point cloud triplet dataset derived from existing autonomous driving datasets. The results show that our proposed unified multimodal alignment framework achieves favorable performance for both scenarios: (i) aligning a 3D encoder with pretrained CLIP encoders, and (ii) pretraining all encoders from scratch.

Recent advances in Vision-Language Models (VLMs) have demonstrated impressive multimodal understanding in general domains. However, their applicability to decision-oriented domains such as hospitality remains largely unexplored. In this work, we investigate how well VLMs can perform visual question answering (VQA) about hotel and facility images that are central to consumer decision-making. While many existing VQA benchmarks focus on factual correctness, they rarely capture what information users actually find useful. To address this, we first introduce Informativeness as a formal framework to quantify how much hospitality-relevant information an image-question pair provides. Guided by this framework, we construct a new hospitality-specific VQA dataset that covers various facility types, where questions are specifically designed to reflect key user information needs. Using this benchmark, we conduct experiments with several state-of-the-art VLMs, revealing that VLMs are not intrinsically decision-aware-key visual signals remain underutilized, and reliable informativeness reasoning emerges only after modest domain-specific finetuning.

Artificial neural networks are often overconfident, undermining trust because their predicted probabilities do not match actual accuracy. Inspired by biological sleep and the role of spontaneous replay in memory and learning, we introduce Sleep Replay Consolidation (SRC), a novel calibration approach. SRC is a post-training, sleep-like phase that selectively replays internal representations to update network weights and improve calibration without supervised retraining. Across multiple experiments, SRC is competitive with and complementary to standard approaches such as temperature scaling. Combining SRC with temperature scaling achieves the best Brier score and entropy trade-offs for AlexNet and VGG19. These results show that SRC provides a fundamentally novel approach to improving neural network calibration. SRC-based calibration offers a practical path toward more trustworthy confidence estimates and narrows the gap between human-like uncertainty handling and modern deep networks.

Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible approaches. In this paper we present an end-to-end pipeline for language-guided grasping that bridges open-vocabulary target selection to safe grasp execution on a real robot. Given a natural-language command, the system grounds the target in RGB using open-vocabulary detection and promptable instance segmentation, extracts an object-centric point cloud from RGB-D, and improves geometric reliability under occlusion via back-projected depth compensation and two-stage point cloud completion. We then generate and collision-filter 6-DoF grasp candidates and select an executable grasp using safety-oriented heuristics that account for reachability, approach feasibility, and clearance. We evaluate the method on a quadruped robot with an arm in two cluttered tabletop scenarios, using paired trials against a view-dependent baseline. The proposed approach achieves a 90% overall success rate (9/10) against 30% (3/10) for the baseline, demonstrating substantially improved robustness to occlusions and partial observations in clutter.

Text-to-audio diffusion models produce high-fidelity audio but require tens of function evaluations (NFEs), incurring multi-second latency and limited throughput. We present SoundWeaver, the first training-free, model-agnostic serving system that accelerates text-to-audio diffusion by warm-starting from semantically similar cached audio. SoundWeaver introduces three components: a Reference Selector that retrieves and temporally aligns cached candidates via semantic and duration-aware gating; a Skip Gater that dynamically determines the percentage of NFEs to skip; and a lightweight Cache Manager that maintains cache utility through quality-aware eviction and refinement. On real-world audio traces, SoundWeaver achieves 1.8--3.0$ \times $ latency reduction with a cache of only ${\sim}$1K entries while preserving or improving perceptual quality.

Research Agents enable models to gather information from the web using tools to answer user queries, requiring them to dynamically interleave internal reasoning with tool use. While such capabilities can in principle be learned via reinforcement learning with verifiable rewards (RLVR), we observe that agents often exhibit poor exploration behaviors, including premature termination and biased tool usage. As a result, RLVR alone yields limited improvements. We propose SynPlanResearch-R1, a framework that synthesizes tool-use trajectories that encourage deeper exploration to shape exploration during cold-start supervised fine-tuning, providing a strong initialization for subsequent RL. Across seven multi-hop and open-web benchmarks, \framework improves performance by up to 6.0% on Qwen3-8B and 5.8% on Qwen3-4B backbones respectively compared to SOTA baselines. Further analyses of tool-use patterns and training dynamics compared to baselines shed light on the factors underlying these gains. Our code is publicly available at https://github.com/HansiZeng/syn-plan-research.