Despite recent advances in generative models driving significant progress in text rendering, accurately generating complex text and mathematical formulas remains a formidable challenge. This difficulty primarily stems from the limited instruction-following capabilities of current models when encountering out-of-distribution prompts. To address this, we introduce GlyphBanana, alongside a corresponding benchmark specifically designed for rendering complex characters and formulas. GlyphBanana employs an agentic workflow that integrates auxiliary tools to inject glyph templates into both the latent space and attention maps, facilitating the iterative refinement of generated images. Notably, our training-free approach can be seamlessly applied to various Text-to-Image (T2I) models, achieving superior precision compared to existing baselines. Extensive experiments demonstrate the effectiveness of our proposed workflow. Associated code is publicly available at https://github.com/yuriYanZeXuan/GlyphBanana.

The rapid advancement of large language models (LLMs) has accelerated progress toward universal AI assistants. However, existing benchmarks for personalized assistants remain misaligned with real-world user-assistant interactions, failing to capture the complexity of external contexts and users' cognitive states. To bridge this gap, we propose LifeSim, a user simulator that models user cognition through the Belief-Desire-Intention (BDI) model within physical environments for coherent life trajectories generation, and simulates intention-driven user interactive behaviors. Based on LifeSim, we introduce LifeSim-Eval, a comprehensive benchmark for multi-scenario, long-horizon personalized assistance. LifeSim-Eval covers 8 life domains and 1,200 diverse scenarios, and adopts a multi-turn interactive method to assess models' abilities to complete explicit and implicit intentions, recover user profiles, and produce high-quality responses. Under both single-scenario and long-horizon settings, our experiments reveal that current LLMs face significant limitations in handling implicit intention and long-term user preference modeling.

While scaling laws guide compute allocation for LLM pre-training, analogous prescriptions for reinforcement learning (RL) post-training of large language models (LLMs) remain poorly understood. We study the compute-optimal allocation of sampling compute for on-policy RL methods in LLMs, framing scaling as a compute-constrained optimization over three resources: parallel rollouts per problem, number of problems per batch, and number of update steps. We find that the compute-optimal number of parallel rollouts per problem increases predictably with compute budget and then saturates. This trend holds across both easy and hard problems, though driven by different mechanisms: solution sharpening on easy problems and coverage expansion on hard problems. We further show that increasing the number of parallel rollouts mitigates interference across problems, while the number of problems per batch primarily affects training stability and can be chosen within a broad range. Validated across base models and data distributions, our results recast RL scaling laws as prescriptive allocation rules and provide practical guidance for compute-efficient LLM RL post-training.

Recent advances in Multi-modal Large Language Models (MLLMs) have predominantly focused on enhancing visual perception to improve accuracy. However, a critical question remains unexplored: Do models know when they do not know? Through a probing experiment, we reveal a severe confidence miscalibration problem in MLLMs. To address this, we propose Confidence-Driven Reinforcement Learning (CDRL), which uses original-noise image pairs and a novel confidence-based reward to enhance perceptual sensitivity and robustly calibrate the model's confidence. Beyond training benefits, calibrated confidence enables more effective test-time scaling as a free lunch. We further propose Confidence-Aware Test-Time Scaling (CA-TTS), which dynamically coordinates Self-Consistency, Self-Reflection, and Visual Self-Check modules guided by confidence signals. An Expert Model acts in multiple roles (e.g., Planner, Critic, Voter) to schedule these modules and provide external verification. Our integrated framework establishes new state-of-the-art results with consistent 8.8% gains across four benchmarks. More ablation studies demonstrate the effectiveness of each module and scaling superiority.

Multimodal Large Language Models (MLLMs) have demonstrated remarkable video reasoning capabilities across diverse tasks. However, their ability to understand human intent at a fine-grained level in egocentric videos remains largely unexplored. Existing benchmarks focus primarily on episode-level intent reasoning, overlooking the finer granularity of step-level intent understanding. Yet applications such as intelligent assistants, robotic imitation learning, and augmented reality guidance require understanding not only what a person is doing at each step, but also why and what comes next, in order to provide timely and context-aware support. To this end, we introduce EgoIntent, a step-level intent understanding benchmark for egocentric videos. It comprises 3,014 steps spanning 15 diverse indoor and outdoor daily-life scenarios, and evaluates models on three complementary dimensions: local intent (What), global intent (Why), and next-step plan (Next). Crucially, each clip is truncated immediately before the key outcome of the queried step (e.g., contact or grasp) occurs and contains no frames from subsequent steps, preventing future-frame leakage and enabling a clean evaluation of anticipatory step understanding and next-step planning. We evaluate 15 MLLMs, including both state-of-the-art closed-source and open-source models. Even the best-performing model achieves an average score of only 33.31 across the three intent dimensions, underscoring that step-level intent understanding in egocentric videos remains a highly challenging problem that calls for further investigation.

Recent advances in trajectory-controllable video generation have achieved remarkable progress. Previous methods mainly use adapter-based architectures for precise motion control along predefined trajectories. However, all these methods rely on a multi-step denoising process, leading to substantial time redundancy and computational overhead. While existing video distillation methods successfully distill multi-step generators into few-step, directly applying these approaches to trajectory-controllable video generation results in noticeable degradation in both video quality and trajectory accuracy. To bridge this gap, we introduce FlashMotion, a novel training framework designed for few-step trajectory-controllable video generation. We first train a trajectory adapter on a multi-step video generator for precise trajectory control. Then, we distill the generator into a few-step version to accelerate video generation. Finally, we finetune the adapter using a hybrid strategy that combines diffusion and adversarial objectives, aligning it with the few-step generator to produce high-quality, trajectory-accurate videos. For evaluation, we introduce FlashBench, a benchmark for long-sequence trajectory-controllable video generation that measures both video quality and trajectory accuracy across varying numbers of foreground objects. Experiments on two adapter architectures show that FlashMotion surpasses existing video distillation methods and previous multi-step models in both visual quality and trajectory consistency.

Understanding and reconstructing the 3D world through omnidirectional perception is an inevitable trend in the development of autonomous agents and embodied intelligence. However, existing 3D occupancy prediction methods are constrained by limited perspective inputs and predefined training distribution, making them difficult to apply to embodied agents that require comprehensive and safe perception of scenes in open world exploration. To address this, we present O3N, the first purely visual, end-to-end Omnidirectional Open-vocabulary Occupancy predictioN framework. O3N embeds omnidirectional voxels in a polar-spiral topology via the Polar-spiral Mamba (PsM) module, enabling continuous spatial representation and long-range context modeling across 360°. The Occupancy Cost Aggregation (OCA) module introduces a principled mechanism for unifying geometric and semantic supervision within the voxel space, ensuring consistency between the reconstructed geometry and the underlying semantic structure. Moreover, Natural Modality Alignment (NMA) establishes a gradient-free alignment pathway that harmonizes visual features, voxel embeddings, and text semantics, forming a consistent "pixel-voxel-text" representation triad. Extensive experiments on multiple models demonstrate that our method not only achieves state-of-the-art performance on QuadOcc and Human360Occ benchmarks but also exhibits remarkable cross-scene generalization and semantic scalability, paving the way toward universal 3D world modeling. The source code will be made publicly available at https://github.com/MengfeiD/O3N.

Graphical user interface (GUI) agents powered by large vision-language models (VLMs) have shown remarkable potential in automating digital tasks, highlighting the need for high-quality trajectory data to support effective agent training. Yet existing trajectory synthesis pipelines often yield agents that fail to generalize beyond simple interactions. We identify this limitation as stemming from the neglect of semantically ambiguous actions, whose meanings are context-dependent, sequentially dependent, or visually ambiguous. Such actions are crucial for real-world robustness but are under-represented and poorly processed in current datasets, leading to semantic misalignment between task instructions and execution. To address these issues, we propose HATS, a Hardness-Aware Trajectory Synthesis framework designed to mitigate the impact of semantic ambiguity. We define hardness as the degree of semantic ambiguity associated with an action and develop two complementary modules: (1) hardness-driven exploration, which guides data collection toward ambiguous yet informative interactions, and (2) alignment-guided refinement, which iteratively validates and repairs instruction-execution alignment. The two modules operate in a closed loop: exploration supplies refinement with challenging trajectories, while refinement feedback updates the hardness signal to guide future exploration. Extensive experiments show that agents trained with HATS consistently outperform state-of-the-art baselines across benchmark GUI environments.

Solving topological grid puzzles requires reasoning over global spatial invariants such as connectivity, loop closure, and region symmetry and remains challenging for even the most powerful large language models (LLMs). To study these abilities under controlled settings, we introduce TopoBench, a benchmark of six puzzle families across three difficulty levels. We evaluate strong reasoning LLMs on TopoBench and find that even frontier models solve fewer than one quarter of hard instances, with two families nearly unsolved. To investigate whether these failures stem from reasoning limitations or from difficulty extracting and maintaining spatial constraints, we annotate 750 chain of thought traces with an error taxonomy that surfaces four candidate causal failure modes, then test them with targeted interventions simulating each error type. These interventions show that certain error patterns like premature commitment and constraint forgetting have a direct impact on the ability to solve the puzzle, while repeated reasoning is a benign effect of search. Finally we study mitigation strategies including prompt guidance, cell-aligned grid representations and tool-based constraint checking, finding that the bottleneck lies in extracting constraints from spatial representations and not in reasoning over them. Code and data are available at github.com/mayug/topobench-benchmark.

When resources are scarce, will a population of AI agents coordinate in harmony, or descend into tribal chaos? Diverse decision-making AI from different developers is entering everyday devices -- from phones and medical devices to battlefield drones and cars -- and these AI agents typically compete for finite shared resources such as charging slots, relay bandwidth, and traffic priority. Yet their collective dynamics and hence risks to users and society are poorly understood. Here we study AI-agent populations as the first system of real agents in which four key variables governing collective behaviour can be independently toggled: nature (innate LLM diversity), nurture (individual reinforcement learning), culture (emergent tribe formation), and resource scarcity. We show empirically and mathematically that when resources are scarce, AI model diversity and reinforcement learning increase dangerous system overload, though tribe formation lessens this risk. Meanwhile, some individuals profit handsomely. When resources are abundant, the same ingredients drive overload to near zero, though tribe formation makes the overload slightly worse. The crossover is arithmetical: it is where opposing tribes that form spontaneously first fit inside the available capacity. More sophisticated AI-agent populations are not better: whether their sophistication helps or harms depends entirely on a single number -- the capacity-to-population ratio -- that is knowable before any AI-agent ships.

Modeling and generating 3D human-object interactions from text is crucial for applications in AR, XR, and gaming. Existing approaches often rely on score distillation from text-to-image models, but their results suffer from the Janus problem and do not follow text prompts faithfully due to the scarcity of high-quality interaction data. We introduce Hoi3DGen, a framework that generates high-quality textured meshes of human-object interaction that follow the input interaction descriptions precisely. We first curate realistic and high-quality interaction data leveraging multimodal large language models, and then create a full text-to-3D pipeline, which achieves orders-of-magnitude improvements in interaction fidelity. Our method surpasses baselines by 4-15x in text consistency and 3-7x in 3D model quality, exhibiting strong generalization to diverse categories and interaction types, while maintaining high-quality 3D generation.

Large language models struggle to catch errors in their own outputs when the review happens in the same session that produced them. This paper introduces Cross-Context Review (CCR), a straightforward method where the review is conducted in a fresh session with no access to the production conversation history. We ran a controlled experiment: 30 artifacts (code, technical documents, presentation scripts) with 150 injected errors, tested under four review conditions -- same-session Self-Review (SR), repeated Self-Review (SR2), context-aware Subagent Review (SA), and Cross-Context Review (CCR). Over 360 reviews, CCR reached an F1 of 28.6%, outperforming SR (24.6%, p=0.008, d=0.52), SR2 (21.7%, p<0.001, d=0.72), and SA (23.8%, p=0.004, d=0.57). The SR2 result matters most for interpretation: reviewing twice in the same session did not beat reviewing once (p=0.11), which rules out repetition as an explanation for CCR's advantage. The benefit comes from context separation itself. CCR works with any model, needs no infrastructure, and costs only one extra session.

We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the hand. Impacts concentrate at joints, while links carry most of the load. CRAFT places soft material at joints and keeps links rigid, and uses rollingcontact joint surfaces to keep flexion on repeatable motion paths. Fifteen motors mounted on the fingers drive the hand through tendons, keeping the form factor compact and the fingers light. In structural tests, CRAFT improves strength and endurance while maintaining comparable repeatability. In teleoperation, CRAFT improves handling of fragile and low-friction items, and the hand covers 33/33 grasps in the Feix taxonomy. The full design costs under $600 and will be released open-source with visionbased teleoperation and simulation integration. Project page: http://craft-hand.github.io/

With the rapid advances of large language models, it becomes increasingly important to systematically evaluate their multilingual and multicultural capabilities. Previous cultural evaluation benchmarks focus mainly on basic cultural knowledge that can be encoded in linguistic form. Here, we propose SommBench, a multilingual benchmark to assess sommelier expertise, a domain deeply grounded in the senses of smell and taste. While language models learn about sensory properties exclusively through textual descriptions, SommBench tests whether this textual grounding is sufficient to emulate expert-level sensory judgment. SommBench comprises three main tasks: Wine Theory Question Answering (WTQA), Wine Feature Completion (WFC), and Food-Wine Pairing (FWP). SommBench is available in multiple languages: English, Slovak, Swedish, Finnish, German, Danish, Italian, and Spanish. This helps separate a language model's wine expertise from its language skills. The benchmark datasets were developed in close collaboration with a professional sommelier and native speakers of the respective languages, resulting in 1,024 wine theory question-answering questions, 1,000 wine feature-completion examples, and 1,000 food-wine pairing examples. We provide results for the most popular language models, including closed-weights models such as Gemini 2.5, and open-weights models, such as GPT-OSS and Qwen 3. Our results show that the most capable models perform well on wine theory question answering (up to 97% correct with a closed-weights model), yet feature completion (peaking at 65%) and food-wine pairing show (MCC ranging between 0 and 0.39) turn out to be more challenging. These results position SommBench as an interesting and challenging benchmark for evaluating the sommelier expertise of language models. The benchmark is publicly available at https://github.com/sommify/sommbench.

Reinforcement learning (RL) has achieved remarkable success in a wide range of control and decision-making tasks. However, RL agents often exhibit unstable or degraded performance when deployed in environments subject to unexpected external disturbances and model uncertainties. Consequently, ensuring reliable performance under such conditions remains a critical challenge. In this paper, we propose minimax deep deterministic policy gradient (MMDDPG), a framework for learning disturbance-resilient policies in continuous control tasks. The training process is formulated as a minimax optimization problem between a user policy and an adversarial disturbance policy. In this problem, the user learns a robust policy that minimizes the objective function, while the adversary generates disturbances that maximize it. To stabilize this interaction, we introduce a fractional objective that balances task performance and disturbance magnitude. This objective prevents excessively aggressive disturbances and promotes robust learning. Experimental evaluations in MuJoCo environments demonstrate that the proposed MMDDPG achieves significantly improved robustness against both external force perturbations and model parameter variations.

The development of unified multimodal large language models (MLLMs) is fundamentally challenged by the granularity gap between visual understanding and generation: understanding requires high-level semantic abstractions, while image generation demands fine-grained pixel-level representations. Existing approaches usually enforce the two supervision on the same set of representation or decouple these two supervision on separate feature spaces, leading to interference and inconsistency, respectively. In this work, we propose EvoTok, a unified image tokenizer that reconciles these requirements through a residual evolution process within a shared latent space. Instead of maintaining separate token spaces for pixels and semantics, EvoTok encodes an image into a cascaded sequence of residual tokens via residual vector quantization. This residual sequence forms an evolution trajectory where earlier stages capture low-level details and deeper stages progressively transition toward high-level semantic representations. Despite being trained on a relatively modest dataset of 13M images, far smaller than the billion-scale datasets used by many previous unified tokenizers, EvoTok achieves a strong reconstruction quality of 0.43 rFID on ImageNet-1K at 256x256 resolution. When integrated with a large language model, EvoTok shows promising performance across 7 out of 9 visual understanding benchmarks, and remarkable results on image generation benchmarks such as GenEval and GenAI-Bench. These results demonstrate that modeling visual representations as an evolving trajectory provides an effective and principled solution for unifying visual understanding and generation.

Large Language Models (LLMs) have recently been shown to produce estimates of psycholinguistic norms, such as valence, arousal, or concreteness, for words and multiword expressions, that correlate with human judgments. These estimates are obtained by prompting an LLM, in zero-shot fashion, with a question similar to those used in human studies. Meanwhile, for other norms such as lexical decision time or age of acquisition, LLMs require supervised fine-tuning to obtain results that align with ground-truth values. In this paper, we extend this approach to the previously unstudied features of sentence memorability and reading times, which involve the relationship between multiple words in a sentence-level context. Our results show that via fine-tuning, models can provide estimates that correlate with human-derived norms and exceed the predictive power of interpretable baseline predictors, demonstrating that LLMs contain useful information about sentence-level features. At the same time, our results show very mixed zero-shot and few-shot performance, providing further evidence that care is needed when using LLM-prompting as a proxy for human cognitive measures.

The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently introduced dVRK-Si, built from da Vinci Si hardware, features a redesigned Patient Side Manipulator (PSM) with substantially larger gravity loading, which can degrade control if unmodeled. This paper presents the first complete kinematic and dynamic modeling framework for the dVRK-Si PSM. We derive a modified DH kinematic model that captures the closed-chain parallelogram mechanism, formulate dynamics via the Euler-Lagrange method, and express inverse dynamics in a linear-in-parameters regressor form. Dynamic parameters are identified from data collected on a periodic excitation trajectory optimized for numerical conditioning and estimated by convex optimization with physical feasibility constraints. Using the identified model, we implement real-time gravity compensation and computed-torque feedforward in the dVRK control stack. Experiments on a physical dVRK-Si show that the gravity compensation reduces steady-state joint errors by 68-84% and decreases end-effector tip drift during static holds from 4.2 mm to 0.7 mm. Computed-torque feedforward further improves transient and position tracking accuracy. For sinusoidal trajectory tracking, computed-torque feedforward reduces position errors by 35% versus gravity-only feedforward and by 40% versus PID-only. The proposed pipeline supports reliable control, high-fidelity simulation, and learning-based automation on the dVRK-Si.

Reinforcement Learning (RL) in Traffic Signal Control (TSC) faces significant hurdles in real-world deployment due to limited generalization to dynamic traffic flow variations. Existing approaches often overfit static patterns and use action spaces incompatible with driver expectations. This paper proposes a robust Multi-Agent Reinforcement Learning (MARL) framework validated in the Vissim traffic simulator. The framework integrates three mechanisms: (1) Turning Ratio Randomization, a training strategy that exposes agents to dynamic turning probabilities to enhance robustness against unseen scenarios; (2) a stability-oriented Exponential Phase Duration Adjustment action space, which balances responsiveness and precision through cyclical, exponential phase adjustments; and (3) a Neighbor-Based Observation scheme utilizing the MAPPO algorithm with Centralized Training with Decentralized Execution (CTDE). By leveraging centralized updates, this approach approximates the efficacy of global observations while maintaining scalable local communication. Experimental results demonstrate that our framework outperforms standard RL baselines, reducing average waiting time by over 10%. The proposed model exhibits superior generalization in unseen traffic scenarios and maintains high control stability, offering a practical solution for adaptive signal control.

Neural Architecture Search (NAS) automates network design, but conventional methods demand substantial computational resources. We propose a closed-loop pipeline leveraging large language models (LLMs) to iteratively generate, evaluate, and refine convolutional neural network architectures for image classification on a single consumer-grade GPU without LLM fine-tuning. Central to our approach is a historical feedback memory inspired by Markov chains: a sliding window of $K{=}5$ recent improvement attempts keeps context size constant while providing sufficient signal for iterative learning. Unlike prior LLM optimizers that discard failure trajectories, each history entry is a structured diagnostic triple -- recording the identified problem, suggested modification, and resulting outcome -- treating code execution failures as first-class learning signals. A dual-LLM specialization reduces per-call cognitive load: a Code Generator produces executable PyTorch architectures while a Prompt Improver handles diagnostic reasoning. Since both the LLM and architecture training share limited VRAM, the search implicitly favors compact, hardware-efficient models suited to edge deployment. We evaluate three frozen instruction-tuned LLMs (${\leq}7$B parameters) across up to 2000 iterations in an unconstrained open code space, using one-epoch proxy accuracy on CIFAR-10, CIFAR-100, and ImageNette as a fast ranking signal. On CIFAR-10, DeepSeek-Coder-6.7B improves from 28.2% to 69.2%, Qwen2.5-7B from 50.0% to 71.5%, and GLM-5 from 43.2% to 62.0%. A full 2000-iteration search completes in ${\approx}18$ GPU hours on a single RTX~4090, establishing a low-budget, reproducible, and hardware-aware paradigm for LLM-driven NAS without cloud infrastructure.

Cross-domain reinforcement learning (CDRL) is meant to improve the data efficiency of RL by leveraging the data samples collected from a source domain to facilitate the learning in a similar target domain. Despite its potential, cross-domain transfer in RL is known to have two fundamental and intertwined challenges: (i) The source and target domains can have distinct state space or action space, and this makes direct transfer infeasible and thereby requires more sophisticated inter-domain mappings; (ii) The transferability of a source-domain model in RL is not easily identifiable a priori, and hence CDRL can be prone to negative effect during transfer. In this paper, we propose to jointly tackle these two challenges through the lens of \textit{cross-domain Bellman consistency} and \textit{hybrid critic}. Specifically, we first introduce the notion of cross-domain Bellman consistency as a way to measure transferability of a source-domain model. Then, we propose $Q$Avatar, which combines the Q functions from both the source and target domains with an adaptive hyperparameter-free weight function. Through this design, we characterize the convergence behavior of $Q$Avatar and show that $Q$Avatar achieves reliable transfer in the sense that it effectively leverages a source-domain Q function for knowledge transfer to the target domain. Through experiments, we demonstrate that $Q$Avatar achieves favorable transferability across various RL benchmark tasks, including locomotion and robot arm manipulation. Our code is available at https://rl-bandits-lab.github.io/Cross-Domain-RL/.

Prevalent Computational Aberration Correction (CAC) methods are typically tailored to specific optical systems, leading to poor generalization and labor-intensive re-training for new lenses. Developing CAC paradigms capable of generalizing across diverse photographic lenses offers a promising solution to these challenges. However, efforts to achieve such cross-lens universality within consumer photography are still in their early stages due to the lack of a comprehensive benchmark that encompasses a sufficiently wide range of optical aberrations. Furthermore, it remains unclear which specific factors influence existing CAC methods and how these factors affect their performance. In this paper, we present comprehensive experiments and evaluations involving 24 image restoration and CAC algorithms, utilizing our newly proposed UniCAC, a large-scale benchmark for photographic cameras constructed via automatic optical design. The Optical Degradation Evaluator (ODE) is introduced as a novel framework to objectively assess the difficulty of CAC tasks, offering credible quantification of optical aberrations and enabling reliable evaluation. Drawing on our comparative analysis, we identify three key factors -- prior utilization, network architecture, and training strategy -- that most significantly influence CAC performance, and further investigate their respective effects. We believe that our benchmark, dataset, and observations contribute foundational insights to related areas and lay the groundwork for future investigations. Benchmarks, codes, and Zemax files will be available at https://github.com/XiaolongQian/UniCAC.

Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot performs localization locally using an Extended Kalman Filter, while sharing measurement information during update stages only when communication links are available and companion robots are successfully detected by LiDAR. The framework preserves cross-correlation consistency among robot state estimates while handling asynchronous sensor data with heterogeneous sampling rates and accommodating accelerations during dynamic maneuvers. Unlike methods that require pre-aligned coordinate systems, the proposed approach allows robots to initialize with arbitrary reference-frame orientations and achieves automatic alignment through transformation matrices in both the prediction and update stages. To improve robustness in feature-sparse environments, we introduce a dual-landmark evaluation framework that exploits both static environmental features and mobile robots as dynamic landmarks. The proposed framework enables reliable detection and feature extraction during sharp turns, while prediction accuracy is improved through information sharing from mutual observations. Experimental results in both Gazebo simulation and real-world basement environments show that DCL outperforms centralized cooperative localization (CCL), achieving a 34% reduction in RMSE, while the dual-landmark variant yields an improvement of 56%. These results demonstrate the applicability of DCL to challenging domains such as enclosed spaces, underwater environments, and feature-sparse terrains where conventional localization methods are ineffective.

Transcription factors (TFs) regulate gene expression through complex and co-operative mechanisms. While many TFs act together, the logic underlying TFs binding and their interactions is not fully understood yet. Most current approaches for TF binding site prediction focus on individual TFs and binary classification tasks, without a full analysis of the possible interactions among various TFs. In this paper we investigate DNA TF binding site recognition as a multi-label classification problem, achieving reliable predictions for multiple TFs on DNA sequences retrieved in public repositories. Our deep learning models are based on Temporal Convolutional Networks (TCNs), which are able to predict multiple TF binding profiles, capturing correlations among TFs andtheir cooperative regulatory mechanisms. Our results suggest that multi-label learning leading to reliable predictive performances can reveal biologically meaningful motifs and co-binding patterns consistent with known TF interactions, while also suggesting novel relationships and cooperation among TFs.

We present NBAvatar - a method for realistic rendering of head avatars handling non-rigid deformations caused by hand-face interaction. We introduce a novel representation for animated avatars by combining the training of oriented planar primitives with neural rendering. Such a combination of explicit and implicit representations enables NBAvatar to handle temporally and pose-consistent geometry, along with fine-grained appearance details provided by the neural rendering technique. In our experiments, we demonstrate that NBAvatar implicitly learns color transformations caused by face-hand interactions and surpasses existing approaches in terms of novel-view and novel-pose rendering quality. Specifically, NBAvatar achieves up to 30% LPIPS reduction under high-resolution megapixel rendering compared to Gaussian-based avatar methods, while also improving PSNR and SSIM, and achieves higher structural similarity compared to the state-of-the-art hand-face interaction method InteractAvatar.

We mathematically prove that chemical reaction networks without hidden layers can solve tasks for which spiking neural networks require hidden layers. Our proof uses the deterministic mass-action kinetics formulation of chemical reaction networks. Specifically, we prove that a certain reaction network without hidden layers can learn a classification task previously proved to be achievable by a spiking neural network with hidden layers. We provide analytical regret bounds for the global behavior of the network and analyze its asymptotic behavior and Vapnik-Chervonenkis dimension. In a numerical experiment, we confirm the learning capacity of the proposed chemical reaction network for classifying handwritten digits in pixel images, and we show that it solves the task more accurately and efficiently than a spiking neural network with hidden layers. This provides a motivation for machine learning in chemical computers and a mathematical explanation for how biological cells might exhibit more efficient learning behavior within biochemical reaction networks than neuronal networks.

The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height using a morphing-wing drone capable of temporarily sweeping in its wings mid-flight. This maneuver poses control challenges due to sudden lift loss during gap-passage at low flight speeds and the need for precisely timed wing-sweep actuation ahead of the gap. To address these challenges, we first develop an aerodynamic model for general wing-sweep morphing drone flight including low flight speeds and post-stall angles of attack. We integrate longitudinal drone dynamics into an optimal reference trajectory generation and Nonlinear Model Predictive Control framework with runtime adaptive costs and constraints. Validated on a 130 g wing-sweep-morphing drone, our method achieves an average altitude error of 5 cm during narrow-gap passage at forward speeds between 5 and 7 m/s, whilst enforcing fully swept wings near the gap across variable threshold distances. Trajectory analysis shows that the drone can compensate for lift loss during gap-passage by accelerating and pitching upwards ahead of the gap to an extent that differs between reference trajectory optimization objectives. We show that our strategy also allows for accurate gap passage on hardware whilst maintaining a constant forward flight speed reference and near-constant altitude.

Translations systematically diverge from texts originally produced in the target language, a phenomenon widely referred to as translationese. Translationese has been attributed to production tendencies (e.g. interference, simplification), socio-cultural variables, and language-pair effects, yet a unified explanatory account is still lacking. We propose that translationese reflects cognitive load inherent in the translation task itself. We test whether observable translationese can be predicted from quantifiable measures of translation task difficulty. Translationese is operationalised as a segment-level translatedness score produced by an automatic classifier. Translation task difficulty is conceptualised as comprising source-text and cross-lingual transfer components, operationalised mainly through information-theoretic metrics based on LLM surprisal, complemented by established syntactic and semantic alternatives. We use a bidirectional English-German corpus comprising written and spoken subcorpora. Results indicate that translationese can be partly explained by translation task difficulty, especially in English-to-German. For most experiments, cross-lingual transfer difficulty contributes more than source-text complexity. Information-theoretic indicators match or outperform traditional features in written mode, but offer no advantage in spoken mode. Source-text syntactic complexity and translation-solution entropy emerged as the strongest predictors of translationese across language pairs and modes.

Long-context autoregressive decoding remains expensive because each decoding step must repeatedly process a growing history. We observe a consistent pattern during decoding: within a sentence, and more generally within a short semantically coherent span, the dominant attention support often remains largely stable. Motivated by this observation, we propose Slow-Fast Inference (SFI), a training-free decoding framework that decouples generation into frequent low-cost fast steps and occasional dense-attention slow steps. Fast steps reuse a compact sparse memory for efficient decoding. Slow steps are triggered near semantic boundaries. At slow steps, the model revisits the broader context and uses the Selector to refresh the selected memory for subsequent fast steps. Across the evaluated context lengths, SFI delivers approximately $1.6\times$--$14.4\times$ higher decoding throughput while generally maintaining quality on par with the full-KV baseline across long-context and long-CoT settings. Because SFI is training-free and applies directly to existing checkpoints, it offers a practical path to reducing inference cost for contemporary autoregressive reasoning models in long-context, long-horizon, and agentic workloads.

Pattern recognition and image classification are essential tasks in machine vision. Autonomous vehicles, for example, require being able to collect the complex information contained in a changing environment and classify it in real time. Here, we experimentally demonstrate image classification at multi-kHz frame rates combining the technique of single pixel imaging (SPI) with a low complexity machine learning model. The use of a microLED-on-CMOS digital light projector for SPI enables ultrafast pattern generation for sub-ms image encoding. We investigate the classification accuracy of our experimental system against the broadly accepted benchmarking task of the MNIST digits classification. We compare the classification performance of two machine learning models: An extreme learning machine (ELM) and a backpropagation trained deep neural network. The complexity of both models is kept low so the overhead added to the inference time is comparable to the image generation time. Crucially, our single pixel image classification approach is based on a spatiotemporal transformation of the information, entirely bypassing the need for image reconstruction. By exploring the performance of our SPI based ELM as binary classifier we demonstrate its potential for efficient anomaly detection in ultrafast imaging scenarios.