Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the need for robust instance segmentation, real-time processing, and flexible open-set reasoning. Existing methods often rely on the closed-set assumption or dense per-pixel language fusion, which limits scalability and temporal consistency. We introduce OVI-MAP that decouples instance reconstruction from semantic inference. We propose to build a class-agnostic 3D instance map that is incrementally constructed from RGB-D input, while semantic features are extracted only from a small set of automatically selected views using vision-language models. This design enables stable instance tracking and zero-shot semantic labeling throughout online exploration. Our system operates in real time and outperforms state-of-the-art open-vocabulary mapping baselines on standard benchmarks.

As Large Language Models (LLMs) expand across multilingual domains, evaluating their performance in under-represented languages becomes increasingly important. European Portuguese (pt-PT) is particularly affected, as existing training data and benchmarks are mainly in Brazilian Portuguese (pt-BR). To address this, we introduce ALBA, a linguistically grounded benchmark designed from the ground up to assess LLM proficiency in linguistic-related tasks in pt-PT across eight linguistic dimensions, including Language Variety, Culture-bound Semantics, Discourse Analysis, Word Plays, Syntax, Morphology, Lexicology, and Phonetics and Phonology. ALBA is manually constructed by language experts and paired with an LLM-as-a-judge framework for scalable evaluation of pt-PT generated language. Experiments on a diverse set of models reveal performance variability across linguistic dimensions, highlighting the need for comprehensive, variety-sensitive benchmarks that support further development of tools in pt-PT.

Despite recent advances, efficient and robust turn-taking detection remains a significant challenge in industrial-grade Voice AI agent deployments. Many existing systems rely solely on acoustic or semantic cues, leading to suboptimal accuracy and stability, while recent attempts to endow large language models with full-duplex capabilities require costly full-duplex data and incur substantial training and deployment overheads, limiting real-time performance. In this paper, we propose JAL-Turn, a lightweight and efficient speech-only turn-taking framework that adopts a joint acoustic-linguistic modeling paradigm, in which a cross-attention module adaptively integrates pre-trained acoustic representations with linguistic features to support low-latency prediction of hold vs shift states. By sharing a frozen ASR encoder, JAL-Turn enables turn-taking prediction to run fully in parallel with speech recognition, introducing no additional end-to-end latency or computational overhead. In addition, we introduce a scalable data construction pipeline that automatically derives reliable turn-taking labels from large-scale real-world dialogue corpora. Extensive experiments on public multilingual benchmarks and an in-house Japanese customer-service dataset show that JAL-Turn consistently outperforms strong state-of-the-art baselines in detection accuracy while maintaining superior real-time performance.

Existing methods for text-to-CAD generation either operate in a single pass with no geometric verification or rely on lossy visual feedback that cannot resolve dimensional errors. We present CADSmith, a multi-agent pipeline that generates CadQuery code from natural language. It then undergoes an iterative refinement process through two nested correction loops: an inner loop that resolves execution errors and an outer loop grounded in programmatic geometric validation. The outer loop combines exact measurements from the OpenCASCADE kernel (bounding box dimensions, volume, solid validity) with holistic visual assessment from an independent vision-language model Judge. This provides both the numerical precision and the high-level shape awareness needed to converge on the correct geometry. The system uses retrieval-augmented generation over API documentation rather than fine-tuning, maintaining a current database as the underlying CAD library evolves. We evaluate on a custom benchmark of 100 prompts in three difficulty tiers (T1 through T3) with three ablation configurations. Against a zero-shot baseline, CADSmith achieves a 100% execution rate (up from 95%), improves the median F1 score from 0.9707 to 0.9846, the median IoU from 0.8085 to 0.9629, and reduces the mean Chamfer Distance from 28.37 to 0.74, demonstrating that closed-loop refinement with programmatic geometric feedback substantially improves the quality and reliability of LLM-generated CAD models.

Despite rapid progress in open large language models (LLMs), European Portuguese (pt-PT) remains underrepresented in both training data and native evaluation, with machine-translated benchmarks likely missing the variant's linguistic and cultural nuances. We introduce AMALIA, a fully open LLM that prioritizes pt-PT by using more high-quality pt-PT data during both the mid- and post-training stages. To evaluate pt-PT more faithfully, we release a suite of pt-PT benchmarks that includes translated standard tasks and four new datasets targeting pt-PT generation, linguistic competence, and pt-PT/pt-BR bias. Experiments show that AMALIA matches strong baselines on translated benchmarks while substantially improving performance on pt-PT-specific evaluations, supporting the case for targeted training and native benchmarking for European Portuguese.

Clinical notes contain valuable unstructured information. Named entity recognition (NER) enables the automatic extraction of medical concepts; however, benchmarks for Portuguese remain scarce. In this study, we aimed to evaluate BERT-based models and large language models (LLMs) for clinical NER in Portuguese and to test strategies for addressing multilabel imbalance. We compared BioBERTpt, BERTimbau, ModernBERT, and mmBERT with LLMs such as GPT-5 and Gemini-2.5, using the public SemClinBr corpus and a private breast cancer dataset. Models were trained under identical conditions and evaluated using precision, recall, and F1-score. Iterative stratification, weighted loss, and oversampling were explored to mitigate class imbalance. The mmBERT-base model achieved the best performance (micro F1 = 0.76), outperforming all other models. Iterative stratification improved class balance and overall performance. Multilingual BERT models, particularly mmBERT, perform strongly for Portuguese clinical NER and can run locally with limited computational resources. Balanced data-splitting strategies further enhance performance.

Computed tomography (CT) provides rich 3D anatomical details but is often constrained by high radiation exposure, substantial costs, and limited availability. While standard chest X-rays are cost-effective and widely accessible, they only provide 2D projections with limited pathological information. Reconstructing 3D CT volumes from 2D X-rays offers a transformative solution to increase diagnostic accessibility, yet existing methods predominantly rely on synthetic X-ray projections, limiting clinical generalization. In this work, we propose AXON, a multi-stage diffusion-based framework that reconstructs high-fidelity 3D CT volumes directly from real X-rays. AXON employs a coarse-to-fine strategy, with a Brownian Bridge diffusion model-based initial stage for global structural synthesis, followed by a ControlNet-based refinement stage for local intensity optimization. It also supports bi-planar X-ray input to mitigate depth ambiguities inherent in 2D-to-3D reconstruction. A super-resolution network is integrated to upscale the generated volumes to achieve diagnostic-grade resolution. Evaluations on both public and external datasets demonstrate that AXON significantly outperforms state-of-the-art baselines, achieving a 11.9% improvement in PSNR and a 11.0% increase in SSIM with robust generalizability across disparate clinical distributions. Our code is available at https://github.com/ai-med/AXON.

Large vision-language models (LVLMs) tend to hallucinate, especially when visual inputs are corrupted at test time. We show that such corruptions act as additional distribution shifts, significantly amplifying hallucination rates in real-world applications. To address this, we propose CLIP-guided Test-Time Training (ClipTTT), a method to adapt LVLMs under degraded conditions on the fly with a single test sample. Specifically, we leverage the image-text alignment strength of a pre-trained CLIP model as a stable guidance signal to identify reliable self-supervision targets, enabling rapid adaptation without altering the base LVLMs. Extensive experiments on standard hallucination benchmarks, with 15 common corruptions, demonstrate that ClipTTT effectively mitigates hallucinations and improves descriptive faithfulness under visual corruptions.

Privacy-preserving medical inference must balance data locality, diagnostic reliability, and deployment efficiency. This paper presents EcoFair, a simulated vertically partitioned inference framework for dermatological diagnosis in which raw image and tabular data remain local and only modality-specific embeddings are transmitted for server-side multimodal fusion. EcoFair introduces a lightweight-first routing mechanism that selectively activates a heavier image encoder when local uncertainty or metadata-derived clinical risk indicates that additional computation is warranted. The routing decision combines predictive uncertainty, a safe--danger probability gap, and a tabular neurosymbolic risk score derived from patient age and lesion localisation. Experiments on three dermatology benchmarks show that EcoFair can substantially reduce edge-side inference energy in representative model pairings while remaining competitive in classification performance. The results further indicate that selective routing can improve subgroup-sensitive malignant-case behaviour in representative settings without modifying the global training objective. These findings position EcoFair as a practical framework for privacy-preserving and energy-aware medical inference under edge deployment constraints.

Real time sensor based applications in pervasive computing require edge deployable models to ensure low latency privacy and efficient interaction. A prime example is sensor based human activity recognition where models must balance accuracy with stringent resource constraints. Yet many deep learning approaches treat temporal sensor signals as black box sequences overlooking spectral temporal structure while demanding excessive computation. We present SPECTRA a deployment first co designed spectral temporal architecture that integrates short time Fourier transform STFT feature extraction depthwise separable convolutions and channel wise self attention to capture spectral temporal dependencies under real edge runtime and memory constraints. A compact bidirectional GRU with attention pooling summarizes within window dynamics at low cost reducing downstream model burden while preserving accuracy. Across five public HAR datasets SPECTRA matches or approaches larger CNN LSTM and Transformer baselines while substantially reducing parameters latency and energy. Deployments on a Google Pixel 9 smartphone and an STM32L4 microcontroller further demonstrate end to end deployable realtime private and efficient HAR.

Motifs often recur in musical works in altered forms, preserving aspects of their identity while undergoing local variation. This paper investigates how such motivic transformations occur within their musical context in symbolic music. To support this analysis, we develop a probabilistic framework for modeling motivic transformations and apply it to Beethoven's piano sonatas by integrating multiple datasets that provide melodic, rhythmic, harmonic, and motivic information within a unified analytical representation. Motif transformations are represented as multilabel variables by comparing each motif instance to a designated reference occurrence within its local context, ensuring consistent labeling across transformation families. We introduce a multilabel Conditional Random Field to model how motif-level musical features influence the occurrence of transformations and how different transformation families tend to co-occur. Our goal is to provide an interpretable, distributional analysis of motivic transformation patterns, enabling the study of their structural relationships and stylistic variation. By linking computational modeling with music-theoretical interpretation, the proposed framework supports quantitative investigation of musical structure and complexity in symbolic corpora and may facilitate the analysis of broader compositional patterns and writing practices.

The rapid growth of hyperspectral data archives in remote sensing (RS) necessitates effective compression methods for storage and transmission. Recent advances in learning-based hyperspectral image (HSI) compression have significantly enhanced both reconstruction fidelity and compression efficiency. However, existing methods typically adapt variational image compression models designed for natural images, without adequately accounting for the distinct spatio-spectral redundancies inherent in HSIs. In particular, they lack explicit architectural designs to balance spatial and spectral feature learning, limiting their ability to effectively leverage the unique characteristics of hyperspectral data. To address this issue, we introduce spatio-spectral variational hyperspectral image compression architecture (HyVIC). The proposed model comprises four main components: 1) adjustable spatio-spectral encoder; 2) spatio-spectral hyperencoder; 3) spatio-spectral hyperdecoder; and 4) adjustable spatio-spectral decoder. We demonstrate that the trade-off between spatial and spectral feature learning is crucial for the reconstruction fidelity, and therefore present a metric-driven strategy to systematically select the hyperparameters of the proposed model. Extensive experiments on two benchmark datasets demonstrate the effectiveness of the proposed model, achieving high spatial and spectral reconstruction fidelity across a wide range of compression ratios (CRs) and improving the state of the art by up to 4.66dB in terms of BD-PSNR. Based on our results, we offer insights and derive practical guidelines to guide future research directions in learning-based variational HSI compression. Our code and pre-trained model weights are publicly available at https://git.tu-berlin.de/rsim/hyvic .

Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by leveraging human expertise through demonstrations. Typically, the assumption is that those demonstrations are performed by a single, highly competent expert. However, in many real-world applications that use user demonstrations for tasks or incorporate both user data and pretrained data, such as home robotics including assistive robots, this is unlikely to be the case. This paper presents research towards a system which can leverage suboptimal demonstrations to solve ambiguous tasks; and particularly learn from its own failures. This is a negative-feedback system which achieves significant improvement over purely positive imitation learning for ambiguous tasks, achieving a 90% improvement in success rate against a system that does not utilise negative feedback, compared to a 50% improvement in success rate when utilised on a real robot, as well as demonstrating higher efficacy, memory efficiency and time efficiency than a comparable negative feedback scheme. The novel scheme presented in this paper is validated through simulated and real-robot experiments.

Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, adapting high-dimensional coordinated bimanual skills to novel task variations at deployment remains a fundamental challenge. In this work, we present BiSAIL (Bimanual Skill Adaptation via Interactive Language), a novel framework that enables zero-shot online adaptation of offline-learned bimanual skills through interactive language feedback. The key idea of BiSAIL is to adopt a hierarchical reason-then-modulate paradigm, which first infers generalized adaptation objectives from multimodal task variations, and then adapts bimanual motions via diffusion modulation to achieve the inferred objectives. Extensive real-robot experiments across six bimanual tasks and two dual-arm platforms demonstrate that BiSAIL significantly outperforms existing methods in human-in-the-loop adaptability, task generalization and cross-embodiment scalability. This work enables the development of adaptive bimanual assistants that can be flexibly customized by non-expert users via intuitive verbal corrections. Experimental videos and code are available at https://rip4kobe.github.io/BiSAIL/.

DNA sequence classification requires not only high predictive accuracy but also the ability to uncover latent site interactions, combinatorial regulation, and epistasis-like higher-order dependencies. Although the standard Transformer provides strong global modeling capacity, its softmax attention is continuous, dense, and weakly constrained, making it better suited for information routing than explicit structure discovery. In this paper, we propose a Boltzmann-machine-enhanced Transformer for DNA sequence classification. Built on multi-head attention, the model introduces structured binary gating variables to represent latent query-key connections and constrains them with a Boltzmann-style energy function. Query-key similarity defines local bias terms, learnable pairwise interactions capture synergy and competition between edges, and latent hidden units model higher-order combinatorial dependencies. Since exact posterior inference over discrete gating graphs is intractable, we use mean-field variational inference to estimate edge activation probabilities and combine it with Gumbel-Softmax to progressively compress continuous probabilities into near-discrete gates while preserving end-to-end differentiability. During training, we jointly optimize classification and energy losses, encouraging the model to achieve accurate prediction while favoring low-energy, stable, and interpretable structures. We further derive the framework from the energy function and variational free energy to the mean-field fixed-point equations, Gumbel-Softmax relaxation, and the final joint objective. The proposed framework provides a unified view of integrating Boltzmann machines, differentiable discrete optimization, and Transformers for structured learning on biological sequences.

In this paper, we present a Koopman autoencoder-based least-squares policy iteration (KAE-LSPI) algorithm in reinforcement learning (RL). The KAE-LSPI algorithm is based on reformulating the so-called least-squares fixed-point approximation method in terms of extended dynamic mode decomposition (EDMD), thereby enabling automatic feature learning via the Koopman autoencoder (KAE) framework. The approach is motivated by the lack of a systematic choice of features or kernels in linear RL techniques. We compare the KAE-LSPI algorithm with two previous works, the classical least-squares policy iteration (LSPI) and the kernel-based least-squares policy iteration (KLSPI), using stochastic chain walk and inverted pendulum control problems as examples. Unlike previous works, no features or kernels need to be fixed a priori in our approach. Empirical results show the number of features learned by the KAE technique remains reasonable compared to those fixed in the classical LSPI algorithm. The convergence to an optimal or a near-optimal policy is also comparable to the other two methods.

Trajectory prediction systems are critical for autonomous vehicle safety, yet remain vulnerable to adversarial attacks that can cause catastrophic traffic behavior misinterpretations. Existing attack methods require white-box access with gradient information and rely on rigid physical constraints, limiting real-world applicability. We propose DTP-Attack, a decision-based black-box adversarial attack framework tailored for trajectory prediction systems. Our method operates exclusively on binary decision outputs without requiring model internals or gradients, making it practical for real-world scenarios. DTP-Attack employs a novel boundary walking algorithm that navigates adversarial regions without fixed constraints, naturally maintaining trajectory realism through proximity preservation. Unlike existing approaches, our method supports both intention misclassification attacks and prediction accuracy degradation. Extensive evaluation on nuScenes and Apolloscape datasets across state-of-the-art models including Trajectron++ and Grip++ demonstrates superior performance. DTP-Attack achieves 41 - 81% attack success rates for intention misclassification attacks that manipulate perceived driving maneuvers with perturbations below 0.45 m, and increases prediction errors by 1.9 - 4.2 for accuracy degradation. Our method consistently outperforms existing black-box approaches while maintaining high controllability and reliability across diverse scenarios. These results reveal fundamental vulnerabilities in current trajectory prediction systems, highlighting urgent needs for robust defenses in safety-critical autonomous driving applications.

Automatically verifying climate-related claims against scientific literature is a challenging task, complicated by the specialised nature of scholarly evidence and the diversity of rhetorical strategies underlying climate disinformation. ClimateCheck 2026 is the second iteration of a shared task addressing this challenge, expanding on the 2025 edition with tripled training data and a new disinformation narrative classification task. Running from January to February 2026 on the CodaBench platform, the competition attracted 20 registered participants and 8 leaderboard submissions, with systems combining dense retrieval pipelines, cross-encoder ensembles, and large language models with structured hierarchical reasoning. In addition to standard evaluation metrics (Recall@K and Binary Preference), we adapt an automated framework to assess retrieval quality under incomplete annotations, exposing systematic biases in how conventional metrics rank systems. A cross-task analysis further reveals that not all climate disinformation is equally verifiable, potentially implicating how future fact-checking systems should be designed.

Human mesh recovery from single images remains challenging due to inherent depth ambiguity and limited generalization across domains. While recent methods combine regression and optimization approaches, they struggle with poor initialization for test-time refinement and inefficient parameter updates during optimization. We propose a novel meta-learning framework that trains models to produce optimization-friendly initializations while incorporating uncertainty-aware adaptive updates during test-time refinement. Our approach introduces three key innovations: (1) a meta-learning strategy that simulates test-time optimization during training to learn better parameter initializations, (2) a selective parameter caching mechanism that identifies and freezes converged joints to reduce computational overhead, and (3) distribution-based adaptive updates that sample parameter changes from learned distributions, enabling robust exploration while quantifying uncertainty. Additionally, we employ stochastic approximation techniques to handle intractable gradients in complex loss landscapes. Extensive experiments on standard benchmarks demonstrate that our method achieves state-of-the-art performance, reducing MPJPE by 10.3 on 3DPW and 8.0 on Human3.6M compared to strong baselines. Our approach shows superior domain adaptation capabilities with minimal performance degradation across different environmental conditions, while providing meaningful uncertainty estimates that correlate with actual prediction errors. Combining meta-learning and adaptive optimization enables accurate mesh recovery and robust generalization to challenging scenarios.

Cervical dystonia (CD) is the most common form of dystonia, yet current assessment relies on subjective clinical rating scales, such as the Toronto Western Spasmodic Torticollis Rating Scale (TWSTRS), which requires expertise, is subjective and faces low inter-rater reliability some items of the score. To address the lack of established objective tools for monitoring disease severity and treatment response, this study validates an automated image-based head pose and shift estimation system for patients with CD. We developed an assessment tool that combines a pretrained head-pose estimation algorithm for rotational symptoms with a deep learning model trained exclusively on ~16,000 synthetic avatar images to evaluate rare translational symptoms, specifically lateral shift. This synthetic data approach overcomes the scarcity of clinical training examples. The system's performance was validated in a multicenter study by comparing its predicted scores against the consensus ratings of 20 clinical experts using a dataset of 100 real patient images and 100 labeled synthetic avatars. The automated system demonstrated strong agreement with expert clinical ratings for rotational symptoms, achieving high correlations for torticollis (r=0.91), laterocollis (r=0.81), and anteroretrocollis (r=0.78). For lateral shift, the tool achieved a moderate correlation (r=0.55) with clinical ratings and demonstrated higher accuracy than human raters in controlled benchmark tests on avatars. By leveraging synthetic training data to bridge the clinical data gap, this model successfully generalizes to real-world patients, providing a validated, objective tool for CD postural assessment that can enable standardized clinical decision-making and trial evaluation.

The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect a dataset, train an in-domain policy, and deploy it to the real world (1) in less than 120 minutes, (2) on a consumer laptop, (3) without any human intervention. Our method, MINav, formulates image-goal navigation as an offline goal-conditioned reinforcement learning problem, combining unsupervised data collection with hindsight goal relabeling and offline policy learning. Experiments in simulation and the real world show that MINav improves exploration efficiency, outperforms zero-shot navigation baselines in target environments, and scales favorably with dataset size. These results suggest that effective real-world robotic learning can be achieved with high computational efficiency, lowering the barrier to rapid policy prototyping and deployment.

Long-term traffic modelling is fundamental to transport planning, but existing approaches often trade off interpretability, transferability, and predictive accuracy. Classical travel demand models provide behavioural structure but rely on strong assumptions and extensive calibration, whereas generic deep learning models capture complex patterns but often lack theoretical grounding and spatial transferability, limiting their usefulness for long-term planning applications. We propose DeepDemand, a theory-informed deep learning framework that embeds key components of travel demand theory to predict long-term highway traffic volumes using external socioeconomic features and road-network structure. The framework integrates a competitive two-source Dijkstra procedure for local origin-destination (OD) region extraction and OD pair screening with a differentiable architecture modelling OD interactions and travel-time deterrence. The model is evaluated using eight years (2017-2024) of observations on the UK strategic road network, covering 5088 highway segments. Under random cross-validation, DeepDemand achieves an R2 of 0.718 and an MAE of 7406 vehicles, outperforming linear, ridge, random forest, and gravity-style baselines. Performance remains strong under spatial cross-validation (R2 = 0.665), indicating good geographic transferability. Interpretability analysis reveals a stable nonlinear travel-time deterrence pattern, key socioeconomic drivers of demand, and polycentric OD interaction structures aligned with major employment centres and transport hubs. These results highlight the value of integrating transport theory with deep learning for interpretable highway traffic modelling and practical planning applications.

Clinicians often need to retrieve patient-specific information from electronic health records (EHRs), a task that is time-consuming and error-prone. We present a locally deployable Clinical Contextual Question Answering (CCQA) framework that answers clinical questions directly from EHRs without external data transfer. Open-source large language models (LLMs) ranging from 4B to 70B parameters were benchmarked under fully offline conditions using 1,664 expert-annotated question-answer pairs derived from records of 183 patients. The dataset consisted predominantly of Finnish clinical text. In free-text generation, Llama-3.1-70B achieved 95.3% accuracy and 97.3% consistency across semantically equivalent question variants, while the smaller Qwen3-30B-A3B-2507 model achieved comparable performance. In a multiple-choice setting, models showed similar accuracy but variable calibration. Low-precision quantization (4-bit and 8-bit) preserved predictive performance while reducing GPU memory requirements and improving deployment feasibility. Clinical evaluation identified clinically significant errors in 2.9% of outputs, and semantically equivalent questions occasionally yielded discordant responses, including instances where one formulation was correct and the other contained a clinically significant error (0.96% of cases). These findings demonstrate that locally hosted open-source LLMs can accurately retrieve patient-specific information from EHRs using natural-language queries, while highlighting the need for validation and human oversight in clinical deployment.

Parliamentary debate constitutes a central arena of political power, shaping legislative outcomes and public discourse. Incivility within this arena signals political polarization and institutional conflict. This study presents a systematic investigation of incivility in the German Bundestag by examining calls to order (CtO; plural: CtOs) as formal indicators of norm violations. Despite their relevance, CtOs have received little systematic attention in parliamentary research. We introduce a rule-based method for detecting and annotating CtOs in parliamentary speeches and present a novel dataset of German parliamentary debates spanning 72 years that includes annotated CtO instances. Additionally, we develop the first classification system for CtO triggers and analyze the factors associated with their occurrence. Our findings show that, despite formal regulations, the issuance of CtOs is partly subjective and influenced by session presidents and parliamentary dynamics, with certain individuals disproportionately affected. An insult towards individuals is the most frequent cause of CtO. In general, male members and those belonging to opposition parties receive more calls to order than their female and coalition-party counterparts. Most CtO triggers were detected in speeches dedicated to governmental affairs and actions of the presidency. The CtO triggers dataset is available at: https://github.com/kalawinka/cto_analysis.

Uncertainty quantification is essential for deploying machine learning models in high-stakes domains such as scientific discovery and healthcare. Conformal Prediction (CP) provides finite-sample coverage guarantees under exchangeability, an assumption often violated in practice due to distribution shift. Under covariate shift, restoring validity requires importance weighting, yet accurate density-ratio estimation becomes unstable when training and test distributions exhibit limited support overlap. We propose KMM-CP, a conformal prediction framework based on Kernel Mean Matching (KMM) for covariate-shift correction. We show that KMM directly controls the bias-variance components governing conformal coverage error by minimizing RKHS moment discrepancy under explicit weight constraints, and establish asymptotic coverage guarantees under mild conditions. We then introduce a selective extension that identifies regions of reliable support overlap and restricts conformal correction to this subset, further improving stability in low-overlap regimes. Experiments on molecular property prediction benchmarks with realistic distribution shifts show that KMM-CP reduces coverage gap by over 50% compared to existing approaches. The code is available at https://github.com/siddharthal/KMM-CP.

Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to ensure effective and robust manipulation. While recent approaches have trained large-scale vision-language models to integrate part-level object segmentation with task-aware grasp planning, their instability in part recognition and grasp inference limits their ability to generalize across diverse objects and tasks. To address this issue, we introduce a novel, geometry-centric strategy for more generalizable TOG that does not rely on semantic features from visual recognition, effectively overcoming the viewpoint sensitivity of model-based approaches. Our main proposals include: 1) an object-part-task ontology for functional part selection based on intuitive human commands, constructed using a Large Language Model (LLM); 2) a sampling-based geometric analysis method for identifying the selected object part from observed point clouds, incorporating multiple point distribution and distance metrics; and 3) a similarity matching framework for imitative grasp planning, utilizing similar known objects with pre-existing segmentation and grasping knowledge as references to guide the planning for unknown targets. We validate the high accuracy of our approach in functional part selection, identification, and grasp generation through real-world experiments. Additionally, we demonstrate the method's generalization capabilities to novel-category objects by extending existing ontological knowledge, showcasing its adaptability to a broad range of objects and tasks.

Extended-thinking models expose a second text-generation channel ("thinking tokens") alongside the user-visible answer. This study examines 12 open-weight reasoning models on MMLU and GPQA questions paired with misleading hints. Among the 10,506 cases where models actually followed the hint (choosing the hint's target over the ground truth), each case is classified by whether the model acknowledges the hint in its thinking tokens, its answer text, both, or neither. In 55.4% of these cases the model's thinking tokens contain hint-related keywords that the visible answer omits entirely, a pattern termed *thinking-answer divergence*. The reverse (answer-only acknowledgment) is near-zero (0.5%), confirming that the asymmetry is directional. Hint type shapes the pattern sharply: sycophancy is the most *transparent* hint, with 58.8% of sycophancy-influenced cases acknowledging the professor's authority in both channels, while consistency (72.2%) and unethical (62.7%) hints are dominated by thinking-only acknowledgment. Models also vary widely, from near-total divergence (Step-3.5-Flash: 94.7%) to relative transparency (Qwen3.5-27B: 19.6%). These results show that answer-text-only monitoring misses more than half of all hint-influenced reasoning and that thinking-token access, while necessary, still leaves 11.8% of cases with no verbalized acknowledgment in either channel.

Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between temporal resolution and visual occlusion, failing to record the fine-grained hand motion of fast, contact-rich manipulation. Here we introduce T-800, a high-bandwidth data glove system that achieves synchronized, full-hand motion tracking at 800 Hz. By integrating a novel broadcast-based synchronization mechanism with a mechanical stress isolation architecture, our system maintains sub-frame temporal alignment across 18 distributed inertial measurement units (IMUs) during extended, vigorous movements. We demonstrate that T-800 recovers fine-grained manipulation details previously lost to temporal undersampling. Our analysis reveals that human dexterity exhibits significantly high-frequency motion energy (>100 Hz) that was fundamentally inaccessible due to the Nyquist sampling limit imposed by previous hardware constraints. To validate the system's utility for robotic manipulation, we implement a kinematic retargeting algorithm that maps T-800's high-fidelity human gestures onto dexterous robotic hand models. This demonstrates that the high-frequency motion data can be accurately translated while respecting the kinematic constraints of robotic hands, providing the rich behavioral data necessary for training robust control policies in the future.

Comparison and evaluation of graph-based representations of sentence meaning is a challenge because competing representations of the same sentence may have different number of nodes, and it is not obvious which nodes should be compared to each other. Existing approaches favor node mapping that maximizes $F_1$ score over node relations and attributes, regardless whether the similarity is intentional or accidental; consequently, the identified mismatches in values of node attributes are not useful for any detailed error analysis. We propose a node-matching algorithm that allows comparison of multiple Uniform Meaning Representations (UMR) of one sentence and that takes advantage of node-word alignments, inherently available in UMR. We compare it with previously used approaches, in particular smatch (the de-facto standard in AMR evaluation), and argue that sensitivity to word alignment makes the comparison of meaning representations more intuitive and interpretable, while avoiding the NP-hard search problem inherent in smatch. A script implementing the method is freely available.

In surgical training for medical students, proficiency development relies on expert-led skill assessment, which is costly, time-limited, difficult to scale, and its expertise remains confined to institutions with available specialists. Automated AI-based assessment offers a viable alternative, but progress is constrained by the lack of datasets containing realistic trainee errors and the multi-view variability needed to train robust computer vision approaches. To address this gap, we present Surgical-Hands (SHands), a large-scale multi-view video dataset for surgical hand-gesture and error recognition for medical training. \textsc{SHands} captures linear incision and suturing using five RGB cameras from complementary viewpoints, performed by 52 participants (20 experts and 32 trainees), each completing three standardized trials per procedure. The videos are annotated at the frame level with 15 gesture primitives and include a validated taxonomy of 8 trainee error types, enabling both gesture recognition and error detection. We further define standardized evaluation protocols for single-view, multi-view, and cross-view generalization, and benchmark state-of-the-art deep learning models on the dataset. SHands is publicly released to support the development of robust and scalable AI systems for surgical training grounded in clinically curated domain knowledge.