Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold (EM) as a unified representation for tool-mediated interaction, and develops a closed-loop framework that integrates haptic estimation, online planning, and adaptive stiffness control. We establish a physical-geometric duality using an adaptive manipulation potential incorporating a differentiable contact model, which induces the manifold's geometric structure and ensures that complex physical interactions are encapsulated as continuous operations on the EM. Within this framework, we reformulate haptic estimation as a manifold parameter estimation problem. Specifically, a hybrid inference strategy (haptic SLAM) is employed in which discrete object shapes are classified via particle filtering, while the continuous object pose is estimated using analytical gradients for efficient optimization. By continuously updating the parameters of the manipulation potential, the framework dynamically reshapes the induced EM to guide online trajectory replanning and implement uncertainty-aware impedance control, thereby closing the perception-action loop. The system is validated through simulation and over 260 real-world screw-loosening trials. Experimental results demonstrate robust identification and manipulation success in standard scenarios while maintaining accurate tracking. Furthermore, ablation studies confirm that haptic SLAM and uncertainty-aware stiffness modulation outperform fixed impedance baselines, effectively preventing jamming during tight tolerance interactions.

Large language models (LLMs) have become a standard for multilingual evaluation, yet they exhibit a severe systematic translationese bias. In this paper, translationese bias is characterized as LLMs systematically favoring machine-translated text over human-authored references, particularly in low-resource languages. We attribute this bias to spurious correlations with (i) latent manifold alignment with English and (ii) cross-lingual predictability. To mitigate this bias, we propose DIBJudge, a robust fine-tuning framework that learns a minimally sufficient, judgment-critical representation via variational information compression, while explicitly isolating spurious factors into the dedicated bias branch. Furthermore, we incorporate a cross-covariance penalty that explicitly suppresses statistical dependence between robust and bias representations, thereby encouraging effective disentanglement. Extensive evaluations on multilingual reward modeling benchmarks and a dedicated translationese bias evaluation suite demonstrate that the proposed DIBJudge consistently outperforms strong baselines and substantially mitigates translationese bias.

Federated active learning (FAL) seeks to reduce annotation cost under privacy constraints, yet its effectiveness degrades in realistic settings with severe global class imbalance and highly heterogeneous clients. We conduct a systematic study of query-model selection in FAL and uncover a central insight: the model that achieves more class-balanced sampling, especially for minority classes, consistently leads to better final performance. Moreover, global-model querying is beneficial only when the global distribution is highly imbalanced and client data are relatively homogeneous; otherwise, the local model is preferable. Based on these findings, we propose FairFAL, an adaptive class-fair FAL framework. FairFAL (1) infers global imbalance and local-global divergence via lightweight prediction discrepancy, enabling adaptive selection between global and local query models; (2) performs prototype-guided pseudo-labeling using global features to promote class-aware querying; and (3) applies a two-stage uncertainty-diversity balanced sampling strategy with k-center refinement. Experiments on five benchmarks show that FairFAL consistently outperforms state-of-the-art approaches under challenging long-tailed and non-IID settings. The code is available at https://github.com/chenchenzong/FairFAL.

Vision-Language-Action (VLA) models demonstrate impressive zero-shot generalization but frequently suffer from a "Precision-Reasoning Gap" in cluttered environments. This failure is driven by background-induced feature dilution, where high-frequency semantic noise corrupts the geometric grounding required for precise manipulation. To bridge this gap, we propose Concept-Gated Visual Distillation (CGVD), a training-free, model-agnostic inference framework that stabilizes VLA policies. CGVD operates by parsing instructions into safe and distractor sets, utilizing a two-layer target refinement process--combining cross-validation and spatial disambiguation--to explicitly penalize false positives and isolate genuine manipulation targets. We then process the scene via Fourier-based inpainting, generating a clean observation that actively suppresses semantic distractors while preserving critical spatial geometry and visual proprioception. Extensive evaluations in highly cluttered manipulation tasks demonstrate that CGVD prevents performance collapse. In environments with dense semantic distractors, our method significantly outperforms state-of-the-art baselines, achieving a 77.5% success rate compared to the baseline's 43.0%. By enforcing strict attribute adherence, CGVD establishes inference-time visual distillation as a critical prerequisite for robust robotic manipulation in the clutter.

Reasoning Large Multi-modality Models (LMMs) have become the de facto choice for many applications. However, these models rely on a Chain-of-Thought (CoT) process that is lengthy and unpredictable at runtime, often resulting in inefficient use of computational resources (due to memory fragmentation) and sub-optimal accuracy (due to under- and over-thinking). We observe empirically that the CoT process follows a very simple form, whose behavior is independent of the specific generated samples. This suggests that the CoT length can be estimated ahead of time based on a hidden parameter representing the amount of "fuel" available to support the reasoning process. Based on this insight, we propose Fuel Gauge, the first method which extracts this hidden signal and predicts CoT length ahead of time. We demonstrate the utility on the Fuel Gauge on two downstream tasks: predictive KV cache allocation, which addresses memory fragmentation in LMM serving systems, and CoT length modulation, which mitigates under-thinking and over-thinking. Extensive experiments on LMMs across text-only, image-text, and video-text question answering benchmarks demonstrate the effectiveness, generalizability, and practical value of our Fuel Gauge. For example, on the GPQA-Diamond benchmark, our Fuel Gauge achieves less than half the CoT length prediction error compared to the baseline; this translates into a 13.37x reduction in the memory allocation frequency.

Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown strong closed-loop performance by iteratively denoising a full-horizon plan, but they remain difficult to certify and can fail catastrophically in rare or out-of-distribution scenarios. To address this challenge, we present PC-Diffuser, a safety augmentation framework that embeds a certifiable, path-consistent barrier-function structure directly into the denoising loop of diffusion planning. The key idea is to make safety an intrinsic part of trajectory generation rather than a post-hoc fix: we enforce forward invariance along the rollout while preserving the diffusion model's intended path geometry. Specifically, PC-Diffuser (i) evaluates collision risk using a capsule-distance barrier function that better reflects vehicle geometry and reduces unnecessary conservativeness, (ii) converts denoised waypoints into dynamically feasible motion under a kinematic bicycle model, and (iii) applies a path-consistent safety filter that eliminates residual constraint violations without geometric distortion, so the corrected plan remains close to the learned distribution. By injecting these safety-consistent corrections at every denoising step and feeding the refined trajectory back into the diffusion process, PC-Diffuser enables iterative, context-aware safeguarding instead of post-hoc repair...

Social media text shows promise for monitoring trends in the opioid overdose crisis; however, the overwhelming majority of social media text is unrelated to opioids. When leveraging social media text to monitor trends in the ongoing opioid overdose crisis, a common strategy for identifying relevant content is to use a lexicon of opioid-related terms as inclusion criteria. However, many slang terms for opioids, such as "smack" or "blues," have common non-opioid meanings, making them ambiguous. The advanced textual reasoning capability of large language models (LLMs) presents an opportunity to disambiguate these slang terms at scale. We present three tasks on which to evaluate four state-of-the-art LLMs (GPT-4, GPT-5, Gemini 2.5 Pro, and Claude Sonnet 4.5): a lexicon-based setting, in which the LLM must disambiguate a specific term within the context of a given post; a lexicon-free setting, in which the LLM must identify opioid-related posts from context without a lexicon; and an emergent slang setting, in which the LLM must identify opioid-related posts with simulated new slang terms. All four LLMs showed excellent performance across all tasks. In both subtasks of the lexicon-based setting, LLM F1 scores ("fenty" subtask: 0.824-0.972; "smack" subtask: 0.540-0.862) far exceeded those of the best lexicon strategy (0.126 and 0.009, respectively). In the lexicon-free task, LLM F1 scores (0.544-0.769) surpassed those of lexicons (0.080-0.540), and LLMs demonstrated uniformly higher recall. On emergent slang, all LLMs had higher accuracy (average: 0.784), F1 score (average: 0.712), precision (average: 0.981), and recall (average: 0.587) than the two lexicons assessed. Our results show that LLMs can be used to identify relevant content for low-prevalence topics, including but not limited to opioid references, enhancing data provided to downstream analyses and predictive models.

Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments. To solve this, we introduce ReST-RL, a hierarchical reinforcement learning architecture that explicitly decouples locomotion from payload stabilization, evaluated via the SteadyTray benchmark. Rather than relying on monolithic end-to-end learning, our framework integrates a robust base locomotion policy with a dynamic residual module engineered to actively cancel gait-induced perturbations at the end-effector. This architectural separation ensures steady tray transport without degrading the underlying bipedal stability. In simulation, the residual design significantly outperforms end-to-end baselines in gait smoothness and orientation accuracy, achieving a 96.9% success rate in variable velocity tracking and 74.5% robustness against external force disturbances. Successfully deployed on the Unitree G1 humanoid hardware, this modular approach demonstrates highly reliable zero-shot sim-to-real generalization across various objects and external force disturbances.

Judging the novelty of research ideas is crucial for advancing science, enabling the identification of unexplored directions, and ensuring contributions meaningfully extend existing knowledge rather than reiterate minor variations. However, given the exponential growth of scientific literature, manually judging the novelty of research ideas through literature reviews is labor-intensive, subjective, and infeasible at scale. Therefore, recent efforts have proposed automated approaches for research idea novelty judgment. Yet, evaluation of these approaches remains largely inconsistent and is typically based on non-standardized human evaluations, hindering large-scale, comparable evaluations. To address this, we introduce RINoBench, the first comprehensive benchmark for large-scale evaluation of research idea novelty judgments. It comprises 1,381 research ideas derived from and judged by human experts as well as nine automated evaluation metrics designed to assess both rubric-based novelty scores and textual justifications of novelty judgments. Using this benchmark, we evaluate several state-of-the-art large language models (LLMs) on their ability to judge the novelty of research ideas. Our findings reveal that while LLM-generated reasoning closely mirrors human rationales, this alignment does not reliably translate into accurate novelty judgments, which diverge significantly from human gold standard judgments - even among leading reasoning-capable models. Data and code available at: https://github.com/TimSchopf/RINoBench.

This work introduces a regime-aware in-context learning framework that leverages large language models (LLMs) for financial volatility forecasting under nonstationary market conditions. The proposed approach deploys pretrained LLMs to reason over historical volatility patterns and adjust their predictions without parameter fine-tuning. We develop an oracle-guided refinement procedure that constructs regime-aware demonstrations from training data. An LLM is then deployed as an in-context learner that predicts the next-step volatility from the input sequence using demonstrations sampled conditional to the estimated market label. This conditional sampling strategy enables the LLM to adapt its predictions to regime-dependent volatility dynamics through contextual reasoning alone. Experiments with multiple financial datasets show that the proposed regime-aware in-context learning framework outperforms both classical volatility forecasting approaches and direct one-shot learning, especially during high-volatility periods.

The rapid rise of large language models (LLMs) and their ability to capture semantic relationships has led to their adoption in a wide range of applications. Text-attributed graphs (TAGs) are a notable example where LLMs can be combined with Graph Neural Networks to improve the performance of node classification. In TAGs, each node is associated with textual content and such graphs are commonly seen in various domains such as social networks, citation graphs, recommendation systems, etc. Effectively learning from TAGs would enable better representations of both structural and textual representations of the graph and improve decision-making in relevant domains. We present GaLoRA, a parameter-efficient framework that integrates structural information into LLMs. GaLoRA demonstrates competitive performance on node classification tasks with TAGs, performing on par with state-of-the-art models with just 0.24% of the parameter count required by full LLM fine-tuning. We experiment with three real-world datasets to showcase GaLoRA's effectiveness in combining structural and semantical information on TAGs.

The remarkable progress of vision-language models (VLMs) has enabled GUI agents to interact with computers in a human-like manner. Yet real-world computer-use tasks remain difficult due to long-horizon workflows, diverse interfaces, and frequent intermediate errors. Prior work equips agents with external memory built from large collections of trajectories, but relies on flat retrieval over discrete summaries or continuous embeddings, falling short of the structured organization and self-evolving characteristics of human memory. Inspired by the brain, we propose Hybrid Self-evolving Structured Memory (HyMEM), a graph-based memory that couples discrete high-level symbolic nodes with continuous trajectory embeddings. HyMEM maintains a graph structure to support multi-hop retrieval, self-evolution via node update operations, and on-the-fly working-memory refreshing during inference. Extensive experiments show that HyMEM consistently improves open-source GUI agents, enabling 7B/8B backbones to match or surpass strong closed-source models; notably, it boosts Qwen2.5-VL-7B by +22.5% and outperforms Gemini2.5-Pro-Vision and GPT-4o.

A key challenge in travel demand analysis is the presence of unobserved factors that may generate non-causal dependencies, obscuring the true causal effects. To address the issue, the study introduces a novel deep learning based fully interpretable joint modelling framework, Copula-ResLogit, which integrates the flexibility of Residual Neural Network (ResNet) architectures with the dependence capturing capabilities of copula models. This hybrid structure enables us to first detect unobserved confounding through traditional copula function based joint modelling and then mitigate these hidden associations by incorporating deep learning components. The study applies this framework to two case studies, including the relationship between stress levels and wait time of pedestrians when crossing mid block in VR and the dependencies between travel mode choice and travel distance in London travel behaviour data. Results show that Copula-ResLogit substantially reduces or eliminates the dependencies, demonstrating the ability of residual layers to account for hidden confounding effects.

Geometry-grounded learning asks models to respect structure in the problem domain rather than treating observations as arbitrary vectors. Motivated by this view, we revisit a classical but underused primitive for comparing datasets: linear relations between two data matrices, expressed via the co-span constraint $Ax = By = z$ in a shared ambient space. To operationalize this comparison, we use the generalized singular value decomposition (GSVD) as a joint coordinate system for two subspaces. In particular, we exploit the GSVD form $A = HCU$, $B = HSV$ with $C^{\top}C + S^{\top}S = I$, which separates shared versus dataset-specific directions through the diagonal structure of $(C, S)$. From these factors we derive an interpretable *angle score* $θ(z) \in [0, π/2]$ for a sample $z$, quantifying whether z is explained relatively more by $A$, more by $B$, or comparably by both. The primary role of $θ(z)$ is as a *per-sample geometric diagnostic*. We illustrate the behavior of the score on MNIST through angle distributions and representative GSVD directions. A binary classifier derived from $θ(z)$ is presented as an illustrative application of the score as an interpretable diagnostic tool.

Aligning generative recommender systems to user preferences via post-training is critical for closing the gap between next-item prediction and actual recommendation quality. Existing post-training methods are ill-suited for production-scale systems: RLHF methods reward hack due to noisy user feedback and unreliable reward models, offline RL alternatives require propensity scores that are unavailable, and online interaction is infeasible. We identify exponential reward-weighted SFT with weights $w = \exp(r/λ)$ as uniquely suited to this setting, and provide the theoretical and empirical foundations that explain why. By optimizing directly on observed rewards without querying a learned reward model, the method is immune to reward hacking, requires no propensity scores, and is fully offline. We prove the first policy improvement guarantees for this setting under noisy rewards, showing that the gap scales only logarithmically with catalog size and remains informative even for large item catalogs. Crucially, we show that temperature $λ$ explicitly and quantifiably controls the robustness-improvement tradeoff, providing practitioners with a single interpretable regularization hyperparameter with theoretical grounding. Experiments on three open-source and one proprietary dataset against four baselines confirm that exponential reward weighting is simple, scalable, and consistently outperforms RLHF-based alternatives.

Scientists perform diverse manual procedures that are tedious and laborious. Such procedures are considered a bottleneck for modern experimental science, as they consume time and increase burdens in fields including material science and medicine. We employ a user-centered approach to designing a robot-assisted system for dialysis, a common multi-day purification method used in polymer and protein synthesis. Through two usability studies, we obtain participant feedback and revise design requirements to develop the final system that satisfies scientists' needs and has the potential for applications in other experimental workflows. We anticipate that integration of this system into real synthesis procedures in a chemical wet lab will decrease workload on scientists during long experimental procedures and provide an effective approach to designing more systems that have the potential to accelerate scientific discovery and liberate scientists from tedious labor.

We introduce Distribution Contractive Reinforcement Learning (DICE-RL), a framework that uses reinforcement learning (RL) as a "distribution contraction" operator to refine pretrained generative robot policies. DICE-RL turns a pretrained behavior prior into a high-performing "pro" policy by amplifying high-success behaviors from online feedback. We pretrain a diffusion- or flow-based policy for broad behavioral coverage, then finetune it with a stable, sample-efficient residual off-policy RL framework that combines selective behavior regularization with value-guided action selection. Extensive experiments and analyses show that DICE-RL reliably improves performance with strong stability and sample efficiency. It enables mastery of complex long-horizon manipulation skills directly from high-dimensional pixel inputs, both in simulation and on a real robot. Project website: https://zhanyisun.github.io/dice.rl.2026/.

We report the discovery and extraction of a compact hematopoietic algorithm from the single-cell foundation model scGPT, to our knowledge the first biologically useful, competitive algorithm extracted from a foundation model via mechanistic interpretability. We show that scGPT internally encodes a compact hematopoietic manifold with significant developmental branch structure, validated on a strict non-overlap Tabula Sapiens external panel and confirmed via frozen-head zero-shot transfer to an independent multi-donor immune panel. To isolate this geometry, we introduce a general three-stage extraction method consisting of direct operator export from frozen attention weights, a lightweight learned adaptor, and a task-specific readout, producing a standalone algorithm without target-dataset retraining. In 88-split donor-holdout benchmarks against scVI, Palantir, DPT, CellTypist, PCA, and raw-expression baselines, the extracted algorithm achieves the strongest pseudotime-depth ordering and leads on key subtype endpoints (CD4/CD8 AUROC 0.867, mono/macro AUROC 0.951). Compared to standard probing of frozen scGPT embeddings with a 3-layer MLP, the extracted head is BH-significantly better on 6/8 classification endpoints while completing a full 12-split evaluation campaign 34.5x faster with approximately 1000x fewer trainable parameters. The exported operator compresses from three pooled attention heads to a single head without statistically significant loss, and further to a rank-64 surrogate. Mechanistic interpretability of the compact operator reveals a concentrated four-factor core explaining 66.2% of ablation impact, with factors resolving into explicit T/lymphoid, B/plasma, granulocytic, and monocyte/macrophage gene programs. A supplementary second-manifold validation (intercellular communication geometry) confirms that the extraction method generalizes beyond hematopoiesis.

Existing video personalization methods preserve visual likeness but treat video and audio separately. Without access to the visual scene, audio models cannot synchronize sounds with on-screen actions; and because classical voice-cloning models condition only on a reference recording, a text prompt cannot redirect speaking style or acoustic environment. We propose ID-LoRA (Identity-Driven In-Context LoRA), which jointly generates a subject's appearance and voice in a single model, letting a text prompt, a reference image, and a short audio clip govern both modalities together. ID-LoRA adapts the LTX-2 joint audio-video diffusion backbone via parameter-efficient In-Context LoRA and, to our knowledge, is the first method to personalize visual appearance and voice in a single generative pass. Two challenges arise. Reference and generation tokens share the same positional-encoding space, making them hard to distinguish; we address this with negative temporal positions, placing reference tokens in a disjoint RoPE region while preserving their internal temporal structure. Speaker characteristics also tend to be diluted during denoising; we introduce identity guidance, a classifier-free guidance variant that amplifies speaker-specific features by contrasting predictions with and without the reference signal. In human preference studies, ID-LoRA is preferred over Kling 2.6 Pro by 73% of annotators for voice similarity and 65% for speaking style. On cross-environment settings, speaker similarity improves by 24% over Kling, with the gap widening as conditions diverge. A preliminary user study further suggests that joint generation provides a useful inductive bias for physically grounded sound synthesis. ID-LoRA achieves these results with only ~3K training pairs on a single GPU. Code, models, and data will be released.

Synthetic tabular data generation addresses data scarcity and privacy constraints in a variety of domains. Tabular Prior-Data Fitted Network (TabPFN), a recent foundation model for tabular data, has been shown capable of generating high-quality synthetic tabular data. However, TabPFN is autoregressive: features are generated sequentially by conditioning on the previous ones, depending on the order in which they appear in the input data. We demonstrate that when the feature order conflicts with causal structure, the model produces spurious correlations that impair its ability to generate synthetic data and preserve causal effects. We address this limitation by integrating causal structure into TabPFN's generation process through two complementary approaches: Directed Acyclic Graph (DAG)-aware conditioning, which samples each variable given its causal parents, and a Completed Partially Directed Acyclic Graph (CPDAG)-based strategy for scenarios with partial causal knowledge. We evaluate these approaches on controlled benchmarks and six CSuite datasets, assessing structural fidelity, distributional alignment, privacy preservation, and Average Treatment Effect (ATE) preservation. Across most settings, DAG-aware conditioning improves the quality and stability of synthetic data relative to vanilla TabPFN. The CPDAG-based strategy shows moderate improvements, with effectiveness depending on the number of oriented edges. These results indicate that injecting causal structure into autoregressive generation enhances the reliability of synthetic tabular data.

Brain imaging classification is commonly approached from two perspectives: modeling the full image volume to capture global anatomical context, or constructing ROI-based graphs to encode localized and topological interactions. Although both representations have demonstrated independent efficacy, their relative contributions and potential complementarity remain insufficiently understood. Existing fusion approaches are typically task-specific and do not enable controlled evaluation of each representation under consistent training settings. To address this gap, we propose a unified cross-view contrastive framework for joint imaging-ROI representation learning. Our method learns subject-level global (imaging) and local (ROI-graph) embeddings and aligns them in a shared latent space using a bidirectional contrastive objective, encouraging representations from the same subject to converge while separating those from different subjects. This alignment produces comparable embeddings suitable for downstream fusion and enables systematic evaluation of imaging-only, ROI-only, and joint configurations within a unified training protocol. Extensive experiments on the ADHD-200 and ABIDE datasets demonstrate that joint learning consistently improves classification performance over either branch alone across multiple backbone choices. Moreover, interpretability analyses reveal that imaging-based and ROI-based branches emphasize distinct yet complementary discriminative patterns, explaining the observed performance gains. These findings provide principled evidence that explicitly integrating global volumetric and ROI-level representations is a promising direction for neuroimaging-based brain disorder classification. The source code is available at https://anonymous.4open.science/r/imaging-roi-contrastive-152C/.

Teach and Repeat (T&R) topometric navigation enables robots to autonomously repeat previously traversed paths without relying on GPS, making it well suited for operations in GPS-denied environments such as underground mines and lunar navigation. State-of-the-art T&R systems typically rely on iterative closest point (ICP)-based estimation; however, in geometrically degenerate environments with sparsely structured terrain, ICP often becomes ill-conditioned, resulting in degraded localization and unreliable navigation performance. To address this challenge, we present a degeneracy-resilient Frequency-Modulated Continuous-Wave (FMCW) lidar T&R navigation system consisting of Doppler velocity-based odometry and degeneracy-aware scan-to-map localization. Leveraging FMCW lidar, which provides per-point radial velocity measurements via the Doppler effect, we extend a geometry-independent, correspondence-free motion estimation to include principled pose uncertainty estimation that remains stable in degenerate environments. We further propose a degeneracy-aware localization method that incorporates per-point curvature for improved data association, and unifies translational and rotational scales to enable consistent degeneracy detection. Closed-loop field experiments across three environments with varying structural richness demonstrate that the proposed system reliably completes autonomous navigation, including in a challenging flat airport test field where a conventional ICP-based system fails.

Recent studies show that the safety alignment of large language models (LLMs) can be easily compromised even by seemingly non-adversarial fine-tuning. To preserve safety alignment during fine-tuning, a widely used strategy is to jointly optimize safety and task objectives by mixing in the original alignment data, which is typically inaccessible even for open-weight LLMs. Inspired by generative replay in continual learning, we propose Generative Replay for Safety Alignment Preservation (GR-SAP), a unified framework that synthesizes domain-specific alignment data from LLMs and integrate them during downstream adaption to preserve safety alignment. Theoretical and empirical analyses demonstrate this synthetic data serves as a reliable proxy for the original alignment data. Experiments across various models and downstream tasks show that GR-SAP substantially mitigates fine-tuning-induced safety degradation while maintaining comparable downstream performance. Our code is available at https://github.com/chili-lab/gr-sap.

Class-incremental learning (CIL) aims to acquire new classes over time while retaining prior knowledge, yet most setups and methods assume balanced task streams. In practice, the number of classes per task often varies significantly. We refer to this as step imbalance, where large tasks that contain more classes dominate learning and small tasks inject unstable updates. Existing CIL methods assume balanced tasks and therefore treat all tasks uniformly, producing imbalanced updates that degrade overall learning performance. To address this challenge, we propose One-A, a unified and imbalance-aware framework that incrementally merges task updates into a single adapter, maintaining constant inference cost. One-A performs asymmetric subspace alignment to preserve dominant subspaces learned from large tasks while constraining low-information updates within them. An information-adaptive weighting balances the contribution between base and new adapters, and a directional gating mechanism selectively fuses updates along each singular direction, maintaining stability in head directions and plasticity in tail ones. Across multiple benchmarks and step-imbalanced streams, One-A achieves competitive accuracy with significantly low inference overhead, showing that a single, asymmetrically fused adapter can remain both adaptive to dynamic task sizes and efficient at deployment.

Deep learning models achieve remarkable predictive performance, yet their black-box nature limits transparency and trustworthiness. Although numerous explainable artificial intelligence (XAI) methods have been proposed, they primarily provide saliency maps or concepts (i.e., unstructured interpretability). Existing approaches often rely on auxiliary models (\eg, GPT, CLIP) to describe model behavior, thereby compromising faithfulness to the original models. We propose Interpretability to Explainability (I2X), a framework that builds structured explanations directly from unstructured interpretability by quantifying progress at selected checkpoints during training using prototypes extracted from post-hoc XAI methods (e.g., GradCAM). I2X answers the question of "why does it look there" by providing a structured view of both intra- and inter-class decision making during training. Experiments on MNIST and CIFAR10 demonstrate effectiveness of I2X to reveal prototype-based inference process of various image classification models. Moreover, we demonstrate that I2X can be used to improve predictions across different model architectures and datasets: we can identify uncertain prototypes recognized by I2X and then use targeted perturbation of samples that allows fine-tuning to ultimately improve accuracy. Thus, I2X not only faithfully explains model behavior but also provides a practical approach to guide optimization toward desired targets.

Evaluating student responses, from long essays to short factual answers, is a key challenge in educational NLP. Automated Essay Scoring (AES) focuses on holistic writing qualities such as coherence and argumentation, while Automatic Short Answer Grading (ASAG) emphasizes factual correctness and conceptual understanding. Despite their shared goal, these paradigms have progressed in isolation with fragmented datasets, inconsistent metrics, and separate communities. We introduce S-GRADES (Studying Generalization of Student Response Assessments in Diverse Evaluative Settings), a web-based benchmark that consolidates 14 diverse grading datasets under a unified interface with standardized access and reproducible evaluation protocols. The benchmark is fully open-source and designed for extensibility, enabling continuous integration of new datasets and evaluation settings. To demonstrate the utility of S-GRADES, we evaluate three state-of-the-art large language models across the benchmark using multiple reasoning strategies in prompting. We further examine the effects of exemplar selection and cross-dataset exemplar transfer. Our analyses illustrate how benchmark-driven evaluation reveals reliability and generalization gaps across essay and short-answer grading tasks, highlighting the importance of standardized, cross-paradigm assessment.

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of tasks. However, there is still a need for a decision-making algorithm that can seamlessly interface with the high-level task planner to carry out the sequence of tasks efficiently. In this work, building on the idea of nonlinear lexicographic optimization, we propose a novel Hierarchical-Task Model Predictive Control framework that is able to complete sequential tasks with improved performance and reactivity by effectively leveraging the robot's redundancy. Compared to the state-of-the-art task-prioritized inverse kinematic control method, our approach has improved hierarchical trajectory tracking performance by 42% on average when facing task changes, robot singularity and reference variations. Compared to a typical single-task architecture, our proposed hierarchical task control architecture enables the robot to traverse a shorter path in task space and achieves an execution time 2.3 times faster when executing a sequence of delivery tasks. We demonstrated the results with real-world experiments on a 9 degrees of freedom mobile manipulator.

Segmenting oil spills from Synthetic Aperture Radar (SAR) imagery remains challenging due to severe appearance variability, scale heterogeneity, and the absence of temporal continuity in real world monitoring scenarios. While foundation models such as Segment Anything (SAM) enable prompt driven segmentation, existing SAM based approaches operate on single images and cannot effectively reuse information across scenes. Memory augmented variants (e.g., SAM2) further assume temporal coherence, making them prone to semantic drift when applied to unordered SAR image collections. We propose OilSAM2, a memory augmented segmentation framework tailored for unordered SAR oil spill monitoring. OilSAM2 introduces a hierarchical feature aware multi scale memory bank that explicitly models texture, structure, and semantic level representations, enabling robust cross image information reuse. To mitigate memory drift, we further propose a structure semantic consistent memory update strategy that selectively refreshes memory based on semantic discrepancy and structural variation.Experiments on two public SAR oil spill datasets demonstrate that OilSAM2 achieves state of the art segmentation performance, delivering stable and accurate results under noisy SAR monitoring scenarios. The source code is available at https://github.com/Chenshuaiyu1120/OILSAM2.

As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but also on the robot's awareness and adaptivity to changes in the operating environment. While existing motion planners can generate whole-body trajectories to complete sequential tasks, they typically assume that the environment remains static and rely on precomputed maps. This assumption often breaks down during long-term operations, where semi-static changes such as object removal, introduction, or shifts are common. In this work, we propose a novel perceptive hierarchical-task model predictive control (HTMPC) framework for efficient sequential mobile manipulation in unstructured, changing environments. To tackle the challenge, we leverage a Bayesian inference framework to explicitly model object-level changes and thereby maintain a temporally accurate representation of the 3D environment; this up-to-date representation is embedded in a lexicographic optimization framework to enable efficient execution of sequential tasks. We validate our perceptive HTMPC approach through both simulated and real-robot experiments. In contrast to baseline methods, our approach systematically accounts for moved and phantom obstacles, successfully completing sequential tasks with higher efficiency and reactivity, without relying on prior maps or external infrastructure.

Intraoperative Cone Beam Computed Tomography (CBCT) provides a reliable 3D anatomical context essential for interventional planning. However, its static nature fails to provide continuous monitoring of soft-tissue deformations induced by respiration, probe pressure, and surgical manipulation, leading to navigation discrepancies. We propose a deformation-aware CBCT updating framework that leverages robotic ultrasound as a dynamic proxy to infer tissue motion and update static CBCT slices in real time. Starting from calibration-initialized alignment with linear correlation of linear combination (LC2)-based rigid refinement, our method establishes accurate multimodal correspondence. To capture intraoperative dynamics, we introduce the ultrasound correlation UNet (USCorUNet), a lightweight network trained with optical flow-guided supervision to learn deformation-aware correlation representations, enabling accurate, real-time dense deformation field estimation from ultrasound streams. The inferred deformation is spatially regularized and transferred to the CBCT reference to produce deformation-consistent visualizations without repeated radiation exposure. We validate the proposed approach through deformation estimation and ultrasound-guided CBCT updating experiments. Results demonstrate real-time end-to-end CBCT slice updating and physically plausible deformation estimation, enabling dynamic refinement of static CBCT guidance during robotic ultrasound-assisted interventions. The source code is publicly available at https://github.com/anonymous-codebase/us-cbct-demo.