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2604.14148 2026-04-16 cs.CV

Seedance 2.0: Advancing Video Generation for World Complexity

Team Seedance, De Chen, Liyang Chen, Xin Chen, Ying Chen, Zhuo Chen, Zhuowei Chen, Feng Cheng, Tianheng Cheng, Yufeng Cheng, Mojie Chi, Xuyan Chi, Jian Cong, Qinpeng Cui, Fei Ding, Qide Dong, Yujiao Du, Haojie Duanmu, Junliang Fan, Jiarui Fang, Jing Fang, Zetao Fang, Chengjian Feng, Yu Gao, Diandian Gu, Dong Guo, Hanzhong Guo, Qiushan Guo, Boyang Hao, Hongxiang Hao, Haoxun He, Jiaao He, Qian He, Tuyen Hoang, Heng Hu, Ruoqing Hu, Yuxiang Hu, Jiancheng Huang, Weilin Huang, Zhaoyang Huang, Zhongyi Huang, Jishuo Jin, Ming Jing, Ashley Kim, Shanshan Lao, Yichong Leng, Bingchuan Li, Gen Li, Haifeng Li, Huixia Li, Jiashi Li, Ming Li, Xiaojie Li, Xingxing Li, Yameng Li, Yiying Li, Yu Li, Yueyan Li, Chao Liang, Han Liang, Jianzhong Liang, Ying Liang, Wang Liao, J. H. Lien, Shanchuan Lin, Xi Lin, Feng Ling, Yue Ling, Fangfang Liu, Jiawei Liu, Jihao Liu, Jingtuo Liu, Shu Liu, Sichao Liu, Wei Liu, Xue Liu, Zuxi Liu, Ruijie Lu, Lecheng Lyu, Jingting Ma, Tianxiang Ma, Xiaonan Nie, Jingzhe Ning, Junjie Pan, Xitong Pan, Ronggui Peng, Xueqiong Qu, Yuxi Ren, Yuchen Shen, Guang Shi, Lei Shi, Yinglong Song, Fan Sun, Li Sun, Renfei Sun, Wenjing Tang, Boyang Tao, Zirui Tao, Dongliang Wang, Feng Wang, Hulin Wang, Ke Wang, Qingyi Wang, Rui Wang, Shuai Wang, Shulei Wang, Weichen Wang, Xuanda Wang, Yanhui Wang, Yue Wang, Yuping Wang, Yuxuan Wang, Zijie Wang, Ziyu Wang, Guoqiang Wei, Meng Wei, Di Wu, Guohong Wu, Hanjie Wu, Huachao Wu, Jian Wu, Jie Wu, Ruolan Wu, Shaojin Wu, Xiaohu Wu, Xinglong Wu, Yonghui Wu, Ruiqi Xia, Xin Xia, Xuefeng Xiao, Shuang Xu, Bangbang Yang, Jiaqi Yang, Runkai Yang, Tao Yang, Yihang Yang, Zhixian Yang, Ziyan Yang, Fulong Ye, Bingqian Yi, Xing Yin, Yongbin You, Linxiao Yuan, Weihong Zeng, Xuejiao Zeng, Yan Zeng, Siyu Zhai, Zhonghua Zhai, Bowen Zhang, Chenlin Zhang, Heng Zhang, Jun Zhang, Manlin Zhang, Peiyuan Zhang, Shuo Zhang, Xiaohe Zhang, Xiaoying Zhang, Xinyan Zhang, Xinyi Zhang, Yichi Zhang, Zixiang Zhang, Haiyu Zhao, Huating Zhao, Liming Zhao, Yian Zhao, Guangcong Zheng, Jianbin Zheng, Xiaozheng Zheng, Zerong Zheng, Kuan Zhu, Feilong Zuo

Comments Seedance 2.0 Model Card

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英文摘要

Seedance 2.0 is a new native multi-modal audio-video generation model, officially released in China in early February 2026. Compared with its predecessors, Seedance 1.0 and 1.5 Pro, Seedance 2.0 adopts a unified, highly efficient, and large-scale architecture for multi-modal audio-video joint generation. This allows it to support four input modalities: text, image, audio, and video, by integrating one of the most comprehensive suites of multi-modal content reference and editing capabilities available in the industry to date. It delivers substantial, well-rounded improvements across all key sub-dimensions of video and audio generation. In both expert evaluations and public user tests, the model has demonstrated performance on par with the leading levels in the field. Seedance 2.0 supports direct generation of audio-video content with durations ranging from 4 to 15 seconds, with native output resolutions of 480p and 720p. For multi-modal inputs as reference, its current open platform supports up to 3 video clips, 9 images, and 3 audio clips. In addition, we provide Seedance 2.0 Fast version, an accelerated variant of Seedance 2.0 designed to boost generation speed for low-latency scenarios. Seedance 2.0 has delivered significant improvements to its foundational generation capabilities and multi-modal generation performance, bringing an enhanced creative experience for end users.

2604.14147 2026-04-16 cs.CV

ROSE: Retrieval-Oriented Segmentation Enhancement

Song Tang, Guangquan Jie, Henghui Ding, Yu-Gang Jiang

Comments CVPR 2026 Findings, Project Page: https://henghuiding.com/ROSE/

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Existing segmentation models based on multimodal large language models (MLLMs), such as LISA, often struggle with novel or emerging entities due to their inability to incorporate up-to-date knowledge. To address this challenge, we introduce the Novel Emerging Segmentation Task (NEST), which focuses on segmenting (i) novel entities that MLLMs fail to recognize due to their absence from training data, and (ii) emerging entities that exist within the model's knowledge but demand up-to-date external information for accurate recognition. To support the study of NEST, we construct a NEST benchmark using an automated pipeline that generates news-related data samples for comprehensive evaluation. Additionally, we propose ROSE: Retrieval-Oriented Segmentation Enhancement, a plug-and-play framework designed to augment any MLLM-based segmentation model. ROSE comprises four key components. First, an Internet Retrieval-Augmented Generation module is introduced to employ user-provided multimodal inputs to retrieve real-time web information. Then, a Textual Prompt Enhancer enriches the model with up-to-date information and rich background knowledge, improving the model's perception ability for emerging entities. Furthermore, a Visual Prompt Enhancer is proposed to compensate for MLLMs' lack of exposure to novel entities by leveraging internet-sourced images. To maintain efficiency, a WebSense module is introduced to intelligently decide when to invoke retrieval mechanisms based on user input. Experimental results demonstrate that ROSE significantly boosts performance on the NEST benchmark, outperforming a strong Gemini-2.0 Flash-based retrieval baseline by 19.2 in gIoU.

2604.14144 2026-04-16 cs.CV cs.CL

SpatialEvo: Self-Evolving Spatial Intelligence via Deterministic Geometric Environments

Dinging Li, Yingxiu Zhao, Xinrui Cheng, Kangheng Lin, Hongbo Peng, Hongxing Li, Zixuan Wang, Yuhong Dai, Haodong Li, Jia Wang, Yukang Shi, Liang Zhao, Jianjian Sun, Zheng Ge, Xiangyu Zhang, Weiming Lu, Jun Xiao, Yueting Zhuang, Yongliang Shen

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Spatial reasoning over three-dimensional scenes is a core capability for embodied intelligence, yet continuous model improvement remains bottlenecked by the cost of geometric annotation. The self-evolving paradigm offers a promising path, but its reliance on model consensus to construct pseudo-labels causes training to reinforce rather than correct the model's own geometric errors. We identify a property unique to 3D spatial reasoning that circumvents this limitation: ground truth is a deterministic consequence of the underlying geometry, computable exactly from point clouds and camera poses without any model involvement. Building on this insight, we present SpatialEvo, a self-evolving framework for 3D spatial reasoning, centered on the Deterministic Geometric Environment (DGE). The DGE formalizes 16 spatial reasoning task categories under explicit geometric validation rules and converts unannotated 3D scenes into zero-noise interactive oracles, replacing model consensus with objective physical feedback. A single shared-parameter policy co-evolves across questioner and solver roles under DGE constraints: the questioner generates physically valid spatial questions grounded in scene observations, while the solver derives precise answers against DGE-verified ground truth. A task-adaptive scheduler endogenously concentrates training on the model's weakest categories, producing a dynamic curriculum without manual design. Experiments across nine benchmarks demonstrate that SpatialEvo achieves the highest average score at both 3B and 7B scales, with consistent gains on spatial reasoning benchmarks and no degradation on general visual understanding.

2604.14142 2026-04-16 cs.LG cs.AI cs.CL

From $P(y|x)$ to $P(y)$: Investigating Reinforcement Learning in Pre-train Space

Yuqiao Tan, Minzheng Wang, Bo Liu, Zichen Liu, Tian Liang, Shizhu He, Jun Zhao, Kang Liu

Comments Preprint. Our code is available at https://github.com/Trae1ounG/Pretrain_Space_RLVR

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While reinforcement learning with verifiable rewards (RLVR) significantly enhances LLM reasoning by optimizing the conditional distribution P(y|x), its potential is fundamentally bounded by the base model's existing output distribution. Optimizing the marginal distribution P(y) in the Pre-train Space addresses this bottleneck by encoding reasoning ability and preserving broad exploration capacity. Yet, conventional pre-training relies on static corpora for passive learning, leading to a distribution shift that hinders targeted reasoning enhancement. In this paper, we introduce PreRL (Pre-train Space RL), which applies reward-driven online updates directly to P(y). We theoretically and empirically validate the strong gradient alignment between log P(y) and log P(y|x), establishing PreRL as a viable surrogate for standard RL. Furthermore, we uncover a critical mechanism: Negative Sample Reinforcement (NSR) within PreRL serves as an exceptionally effective driver for reasoning. NSR-PreRL rapidly prunes incorrect reasoning spaces while stimulating endogenous reflective behaviors, increasing transition and reflection thoughts by 14.89x and 6.54x, respectively. Leveraging these insights, we propose Dual Space RL (DSRL), a Policy Reincarnation strategy that initializes models with NSR-PreRL to expand the reasoning horizon before transitioning to standard RL for fine-grained optimization. Extensive experiments demonstrate that DSRL consistently outperforms strong baselines, proving that pre-train space pruning effectively steers the policy toward a refined correct reasoning subspace.

2604.14140 2026-04-16 cs.LG cs.AI

LongCoT: Benchmarking Long-Horizon Chain-of-Thought Reasoning

Sumeet Ramesh Motwani, Daniel Nichols, Charles London, Peggy Li, Fabio Pizzati, Acer Blake, Hasan Hammoud, Tavish McDonald, Akshat Naik, Alesia Ivanova, Vignesh Baskaran, Ivan Laptev, Ruben Glatt, Tal Ben-Nun, Philip Torr, Natasha Jaques, Ameya Prabhu, Brian Bartoldson, Bhavya Kailkhura, Christian Schroeder de Witt

Comments Long-Horizon Reasoning Benchmark

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As language models are increasingly deployed for complex autonomous tasks, their ability to reason accurately over longer horizons becomes critical. An essential component of this ability is planning and managing a long, complex chain-of-thought (CoT). We introduce LongCoT, a scalable benchmark of 2,500 expert-designed problems spanning chemistry, mathematics, computer science, chess, and logic to isolate and directly measure the long-horizon CoT reasoning capabilities of frontier models. Problems consist of a short input with a verifiable answer; solving them requires navigating a graph of interdependent steps that span tens to hundreds of thousands of reasoning tokens. Each local step is individually tractable for frontier models, so failures reflect long-horizon reasoning limitations. At release, the best models achieve <10% accuracy (GPT 5.2: 9.8%; Gemini 3 Pro: 6.1%) on LongCoT, revealing a substantial gap in current capabilities. Overall, LongCoT provides a rigorous measure of long-horizon reasoning, tracking the ability of frontier models to reason reliably over extended periods.

2604.14130 2026-04-16 eess.SY cs.SY math.DS

Joint Identification of Linear Dynamics and Noise Covariance via Distributional Estimation

Yang Hu, Na Li

Comments 25 pages, 5 figures

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In this paper, we propose a novel framework for the joint identification of system dynamics and noise covariance in linear systems, under general noise distributions beyond Gaussian. Specifically, we would like to simultaneously estimate the dynamical matrix $A$ and the noise covariance matrix $\varSigma$ using state transition data. The formulation builds upon a novel parameterization of the state-transition distribution, which enables more effective use of distributional "shape" information for improved identification accuracy. We introduce two practical estimators, namely the maximum likelihood estimator (MLE) and the score-matching estimator (SME), to solve the joint dynamics-covariance identification problem, and provide rigorous analysis of their statistical properties and sample complexity. Simulation results show that the proposed estimators outperform the ordinary least squares (OLS) baseline.

2604.14129 2026-04-16 cs.CV

Don't Let the Video Speak: Audio-Contrastive Preference Optimization for Audio-Visual Language Models

Ami Baid, Zihui Xue, Kristen Grauman

Comments Project page: https://vision.cs.utexas.edu/projects/acpo/

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While Audio-Visual Language Models (AVLMs) have achieved remarkable progress over recent years, their reliability is bottlenecked by cross-modal hallucination. A particularly pervasive manifestation is video-driven audio hallucination: models routinely exploit visual shortcuts to hallucinate expected sounds, discarding true auditory evidence. To counteract this deeply ingrained visual dominance, we propose Audio-Contrastive Preference Optimization (ACPO). This dual-axis preference learning framework introduces an output-contrastive objective to penalize visual descriptions masquerading as audio facts, alongside an input-contrastive objective that swaps audio tracks to explicitly penalize generation invariant to the true auditory signal. Extensive experiments demonstrate that ACPO establishes highly faithful audio grounding and mitigates audio hallucination without compromising overarching multimodal capabilities.

2604.14126 2026-04-16 cs.DL

AI-assisted writing and the reorganization of scientific knowledge

Erjia Yan, Chaoqun Ni

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Generative AI systems such as ChatGPT are increasingly used in scientific writing, yet their broader implications for the organization of scientific knowledge remain unclear. We examine whether AI-assisted writing intensity, measured as the share of text in a paper that is predicted to exhibit features consistent with LLM-generated text, is associated with scientific disruption and knowledge recombination. Using approximately two million full-text research articles published between 2021 and 2024 and linked to citation networks, we document a sharp temporal pattern beginning in 2023. Before 2023, higher AI-assisted writing intensity is weakly or negatively associated with disruption; after 2023, the association becomes positive in within-author, within-field analyses. Over the same period, the positive association between AI-assisted writing intensity and cross-field citation breadth weakens substantially, and the negative association with citation concentration attenuates. Thus, the post-2023 increase in disruption is not accompanied by broader knowledge sourcing. These patterns suggest that generative AI is associated with more disruptive citation structures without a corresponding expansion in cross-field recombination. Rather than simply broadening the search space of science, AI-assisted writing may be associated with new forms of recombination built from relatively narrower knowledge inputs.

2604.14121 2026-04-16 cs.CL

Correct Prediction, Wrong Steps? Consensus Reasoning Knowledge Graph for Robust Chain-of-Thought Synthesis

Zipeng Ling, Shuliang Liu, Shenghong Fu, Yuehao Tang, Seonil Son, Yao Wan, Xuming Hu

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LLM reasoning traces suffer from complex flaws -- *Step Internal Flaws* (logical errors, hallucinations, etc.) and *Step-wise Flaws* (overthinking, underthinking), which vary by sample. A natural approach would be to provide ground-truth labels to guide LLMs' reasoning. Contrary to intuition, we show that this yields no improvement in reasoning ability. We then propose CRAFT, a unified framework that mitigates both types of Step flaws, which builds a Reasoning Knowledge Graph (RKG) based on the consensus parts of multiple candidate traces, and synthesizes a high-quality trace through topological generation. Our approach improves label-prediction accuracy by 10+% on average, and consistently outperforms all baselines across both logical and mathematical reasoning benchmarks. Further, detailed benchmark evaluation proves that our method also improves the quality of LLMs' reasoning traces in multiple dimensions.

2604.14118 2026-04-16 cs.LG math.SP

Complex Interpolation of Matrices with an application to Multi-Manifold Learning

Adi Arbel, Stefan Steinerberger, Ronen Talmon

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Given two symmetric positive-definite matrices $A, B \in \mathbb{R}^{n \times n}$, we study the spectral properties of the interpolation $A^{1-x} B^x$ for $0 \leq x \leq 1$. The presence of `common structures' in $A$ and $B$, eigenvectors pointing in a similar direction, can be investigated using this interpolation perspective. Generically, exact log-linearity of the operator norm $\|A^{1-x} B^x\|$ is equivalent to the existence of a shared eigenvector in the original matrices; stability bounds show that approximate log-linearity forces principal singular vectors to align with leading eigenvectors of both matrices. These results give rise to and provide theoretical justification for a multi-manifold learning framework that identifies common and distinct latent structures in multiview data.

2604.14114 2026-04-16 cs.IR cs.LG

ID and Graph View Contrastive Learning with Multi-View Attention Fusion for Sequential Recommendation

Xiaofan Zhou, Kyumin Lee

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Sequential recommendation has become increasingly prominent in both academia and industry, particularly in e-commerce. The primary goal is to extract user preferences from historical interaction sequences and predict items a user is likely to engage with next. Recent advances have leveraged contrastive learning and graph neural networks to learn more expressive representations from interaction histories -- graphs capture relational structure between nodes, while ID-based representations encode item-specific information. However, few studies have explored multi-view contrastive learning between ID and graph perspectives to jointly improve user and item representations, especially in settings where only interaction data is available without auxiliary information. To address this gap, we propose Multi-View Contrastive learning for sequential recommendation (MVCrec), a framework that integrates complementary signals from both sequential (ID-based) and graph-based views. MVCrec incorporates three contrastive objectives: within the sequential view, within the graph view, and across views. To effectively fuse the learned representations, we introduce a multi-view attention fusion module that combines global and local attention mechanisms to estimate the likelihood of a target user purchasing a target item. Comprehensive experiments on five real-world benchmark datasets demonstrate that MVCrec consistently outperforms 11 state-of-the-art baselines, achieving improvements of up to 14.44\% in NDCG@10 and 9.22\% in HitRatio@10 over the strongest baseline. Our code and datasets are available at https://github.com/sword-Lz/MMCrec.

2604.14113 2026-04-16 cs.CV cs.AI cs.CL

UI-Zoomer: Uncertainty-Driven Adaptive Zoom-In for GUI Grounding

Fei Tang, Bofan Chen, Zhengxi Lu, Tongbo Chen, Songqin Nong, Tao Jiang, Wenhao Xu, Weiming Lu, Jun Xiao, Yueting Zhuang, Yongliang Shen

Comments Project Page: https://zju-real.github.io/UI-Zoomer Code: https://github.com/ZJU-REAL/UI-Zoomer

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GUI grounding, which localizes interface elements from screenshots given natural language queries, remains challenging for small icons and dense layouts. Test-time zoom-in methods improve localization by cropping and re-running inference at higher resolution, but apply cropping uniformly across all instances with fixed crop sizes, ignoring whether the model is actually uncertain on each case. We propose \textbf{UI-Zoomer}, a training-free adaptive zoom-in framework that treats both the trigger and scale of zoom-in as a prediction uncertainty quantification problem. A confidence-aware gate fuses spatial consensus among stochastic candidates with token-level generation confidence to selectively trigger zoom-in only when localization is uncertain. When triggered, an uncertainty-driven crop sizing module decomposes prediction variance into inter-sample positional spread and intra-sample box extent, deriving a per-instance crop radius via the law of total variance. Extensive experiments on ScreenSpot-Pro, UI-Vision, and ScreenSpot-v2 demonstrate consistent improvements over strong baselines across multiple model architectures, achieving gains of up to +13.4\%, +10.3\%, and +4.2\% respectively, with no additional training required.

2604.14111 2026-04-16 cs.CL

Interpretable Stylistic Variation in Human and LLM Writing Across Genres, Models, and Decoding Strategies

Swati Rallapalli, Shannon Gallagher, Ronald Yurko, Tyler Brooks, Chuck Loughin, Michele Sezgin, Violet Turri

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Large Language Models (LLMs) are now capable of generating highly fluent, human-like text. They enable many applications, but also raise concerns such as large scale spam, phishing, or academic misuse. While much work has focused on detecting LLM-generated text, only limited work has gone into understanding the stylistic differences between human-written and machine-generated text. In this work, we perform a large scale analysis of stylistic variation across human-written text and outputs from 11 LLMs spanning 8 different genres and 4 decoding strategies using Douglas Biber's set of lexicogrammatical and functional features. Our findings reveal insights that can guide intentional LLM usage. First, key linguistic differentiators of LLM-generated text seem robust to generation conditions (e.g., prompt settings to nudge them to generate human-like text, or availability of human-written text to continue the style); second, genre exerts a stronger influence on stylistic features than the source itself; third, chat variants of the models generally appear to be clustered together in stylistic space, and finally, model has a larger effect on the style than decoding strategy, with some exceptions. These results highlight the relative importance of model and genre over prompting and decoding strategies in shaping the stylistic behavior of machine-generated text.

2604.14108 2026-04-16 cs.LG math.DS math.OC stat.ML

Momentum Further Constrains Sharpness at the Edge of Stochastic Stability

Arseniy Andreyev, Advikar Ananthkumar, Marc Walden, Tomaso Poggio, Pierfrancesco Beneventano

Comments 40 pages, 38 figures

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Recent work suggests that (stochastic) gradient descent self-organizes near an instability boundary, shaping both optimization and the solutions found. Momentum and mini-batch gradients are widely used in practical deep learning optimization, but it remains unclear whether they operate in a comparable regime of instability. We demonstrate that SGD with momentum exhibits an Edge of Stochastic Stability (EoSS)-like regime with batch-size-dependent behavior that cannot be explained by a single momentum-adjusted stability threshold. Batch Sharpness (the expected directional mini-batch curvature) stabilizes in two distinct regimes: at small batch sizes it converges to a lower plateau $2(1-β)/η$, reflecting amplification of stochastic fluctuations by momentum and favoring flatter regions than vanilla SGD; at large batch sizes it converges to a higher plateau $2(1+β)/η$, where momentum recovers its classical stabilizing effect and favors sharper regions consistent with full-batch dynamics. We further show that this aligns with linear stability thresholds and discuss the implications for hyperparameter tuning and coupling.

2604.14107 2026-04-16 math.NA cs.NA

Bound-Preserving Flux-Corrected Transport Methods for Solving Richards' Equation

Arnob Barua, Christopher E. Kees, Dmitri Kuzmin

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Simulating infiltration in porous media using Richards' equation remains computationally challenging due to its parabolic structure and nonlinear coefficients. While a wide range of numerical methods for differential equations have been applied over the past several decades, basic higher-order numerical methods often fail to preserve physical bounds on water pressure and saturation, leading to spurious oscillations and poor iterative solver convergence. Instead, low-order, bound-preserving methods have been preferred. The combination of mass lumping and relative permeability upwinding preserves bounds but degrades accuracy to first order in space. Flux-corrected transport is a high-resolution numerical technique designed for combining the bound-preserving property of low-order schemes with the accuracy of high-order methods, by blending the two methods through limited anti-diffusive fluxes. In this work, we extend flux-corrected transport schemes to the nonlinear, degenerate parabolic structure of Richards' equation, verify attainment of second-order convergence on unstructured meshes, and demonstrate applications to stormwater management infrastructure.

2604.14090 2026-04-16 cs.CL

From Weights to Activations: Is Steering the Next Frontier of Adaptation?

Simon Ostermann, Daniil Gurgurov, Tanja Baeumel, Michael A. Hedderich, Sebastian Lapuschkin, Wojciech Samek, Vera Schmitt

Comments Accepted to ACL 2026 (Main)

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Post-training adaptation of language models is commonly achieved through parameter updates or input-based methods such as fine-tuning, parameter-efficient adaptation, and prompting. In parallel, a growing body of work modifies internal activations at inference time to influence model behavior, an approach known as steering. Despite increasing use, steering is rarely analyzed within the same conceptual framework as established adaptation methods. In this work, we argue that steering should be regarded as a form of model adaptation. We introduce a set of functional criteria for adaptation methods and use them to compare steering approaches with classical alternatives. This analysis positions steering as a distinct adaptation paradigm based on targeted interventions in activation space, enabling local and reversible behavioral change without parameter updates. The resulting framing clarifies how steering relates to existing methods, motivating a unified taxonomy for model adaptation.

2604.14089 2026-04-16 cs.RO cs.AI

UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception

Ziming Wang

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We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular visual SLAM makes it vulnerable to occlusions, dynamic scenes, and tracking failures, limiting its applicability in real-world environments. UMI-3D addresses these limitations by introducing a lightweight and low-cost LiDAR sensor tightly integrated into the wrist-mounted interface, enabling LiDAR-centric SLAM with accurate metric-scale pose estimation under challenging conditions. We further develop a hardware-synchronized multimodal sensing pipeline and a unified spatiotemporal calibration framework that aligns visual observations with LiDAR point clouds, producing consistent 3D representations of demonstrations. Despite maintaining the original 2D visuomotor policy formulation, UMI-3D significantly improves the quality and reliability of collected data, which directly translates into enhanced policy performance. Extensive real-world experiments demonstrate that UMI-3D not only achieves high success rates on standard manipulation tasks, but also enables learning of tasks that are challenging or infeasible for the original vision-only UMI setup, including large deformable object manipulation and articulated object operation. The system supports an end-to-end pipeline for data acquisition, alignment, training, and deployment, while preserving the portability and accessibility of the original UMI. All hardware and software components are open-sourced to facilitate large-scale data collection and accelerate research in embodied intelligence: \href{https://umi-3d.github.io}{https://umi-3d.github.io}.

2604.14075 2026-04-16 math.OC cs.LG stat.ML

Multistage Conditional Compositional Optimization

Buse Şen, Yifan Hu, Daniel Kuhn

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We introduce Multistage Conditional Compositional Optimization (MCCO) as a new paradigm for decision-making under uncertainty that combines aspects of multistage stochastic programming and conditional stochastic optimization. MCCO minimizes a nest of conditional expectations and nonlinear cost functions. It has numerous applications and arises, for example, in optimal stopping, linear-quadratic regulator problems, distributionally robust contextual bandits, as well as in problems involving dynamic risk measures. The naïve nested sampling approach for MCCO suffers from the curse of dimensionality familiar from scenario tree-based multistage stochastic programming, that is, its scenario complexity grows exponentially with the number of nests. We develop new multilevel Monte Carlo techniques for MCCO whose scenario complexity grows only polynomially with the desired accuracy.

2604.14074 2026-04-16 cs.CV

Training-Free Semantic Multi-Object Tracking with Vision-Language Models

Laurence Bonat, Francesco Tonini, Elisa Ricci, Lorenzo Vaquero

Comments Accepted to the 20th IEEE International Conference on Automatic Face and Gesture Recognition (FG 2026)

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Semantic Multi-Object Tracking (SMOT) extends multi-object tracking with semantic outputs such as video summaries, instance-level captions, and interaction labels, aiming to move from trajectories to human-interpretable descriptions of dynamic scenes. Existing SMOT systems are trained end-to-end, coupling progress to expensive supervision, limiting the ability to rapidly adapt to new foundation models and new interactions. We propose TF-SMOT, a training-free SMOT pipeline that composes pretrained components for detection, mask-based tracking, and video-language generation. TF-SMOT combines D-FINE and the promptable SAM2 segmentation tracker to produce temporally consistent tracklets, uses contour grounding to generate video summaries and instance captions with InternVideo2.5, and aligns extracted interaction predicates to BenSMOT WordNet synsets via gloss-based semantic retrieval with LLM disambiguation. On BenSMOT, TF-SMOT achieves state-of-the-art tracking performance within the SMOT setting and improves summary and caption quality compared to prior art. Interaction recognition, however, remains challenging under strict exact-match evaluation on the fine-grained and long-tailed WordNet label space; our analysis and ablations indicate that semantic overlap and label granularity substantially affect measured performance.

2604.14073 2026-04-16 cs.LG cs.NE

Neural architectures for resolving references in program code

Gergő Szalay, Gergely Zsolt Kovács, Sándor Teleki, Balázs Pintér, Tibor Gregorics

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Resolving and rewriting references is fundamental in programming languages. Motivated by a real-world decompilation task, we abstract reference rewriting into the problems of direct and indirect indexing by permutation. We create synthetic benchmarks for these tasks and show that well-known sequence-to-sequence machine learning architectures are struggling on these benchmarks. We introduce new sequence-to-sequence architectures for both problems. Our measurements show that our architectures outperform the baselines in both robustness and scalability: our models can handle examples that are ten times longer compared to the best baseline. We measure the impact of our architecture in the real-world task of decompiling switch statements, which has an indexing subtask. According to our measurements, the extended model decreases the error rate by 42%. Multiple ablation studies show that all components of our architectures are essential.

2604.14072 2026-04-16 cs.PL

Persistent Iterators with Value Semantics

Yihe Li, Gregory J. Duck

Comments 22 pages, 9 figures, 2 tables, to appear at Programming Language Design and Implementation (PLDI) 2026

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Iterators are a fundamental programming abstraction for traversing and modifying elements in containers in mainstream imperative languages such as C++. Iterators provide a uniform access mechanism that hides low-level implementation details of the underlying data structure. However, iterators over mutable containers suffer from well-known hazards including invalidation, aliasing, data races, and subtle side effects. Immutable data structures, as used in functional programming languages, avoid the pitfalls of mutation but rely on a very different programming model based on recursion and higher-order combinators rather than iteration. However, these combinators are not always well-suited to expressing certain algorithms, and recursion can expose implementation details of the underlying data structure. In this paper, we propose persistent iterators -- a new abstraction that reconciles the familiar iterator-based programming style of imperative languages with the semantics of persistent data structures. A persistent iterator snapshots the version of its underlying container at creation, ensuring safety against invalidation and aliasing. Iterator operations operate on the iterator-local copy of the container, giving true value semantics: variables can be rebound to new persistent values while previous versions remain accessible. We implement our approach in the form of LibFPP -- a C++ container library providing persistent vectors, maps, sets, strings, and other abstractions as persistent counterparts to the Standard Template Library (STL). Our evaluation shows that LibFPP retains the expressiveness of iterator-based programming, eliminates iterator-invalidation, and achieves asymptotic complexities comparable to STL implementations. Our design targets use cases where persistence and safety are desired, while allowing developers to retain familiar iterator-based programming patterns.

2604.14070 2026-04-16 cs.CY

From Disclosure to Self-Referential Opacity: Six Dimensions of Strain in Current AI Governance

Tony Rost

Comments 22 pages, 4 tables, 2 figures. Interdisciplinary paper on AI governance and political theory

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Governance opacity over AI systems shifts in kind as capability asymmetry grows, and the strongest forms defeat the disclosure-based remedies governance ordinarily relies on. This paper applies a six-dimension framework from political theory (legitimacy, accountability, corrigibility, non-domination, subsidiarity, institutional resilience) to six AI governance arrangements already in operation, ordered by increasing capability asymmetry between system and overseer. Proprietary secrecy yields to disclosure at the low end, but at the high end the governed system either games its own evaluation or sits inside the governance process, and transparency remedies lose traction. Legitimacy and non-domination strain more consistently across the sample than corrigibility and resilience, which respond more readily to institutional design quality. The sample cannot separate institutional design maturity from capability asymmetry, and the patterns are offered as hypotheses for multi-rater validation.

2604.14069 2026-04-16 cs.CV

Towards Unconstrained Human-Object Interaction

Francesco Tonini, Alessandro Conti, Lorenzo Vaquero, Cigdem Beyan, Elisa Ricci

Comments Accepted to the 20th IEEE International Conference on Automatic Face and Gesture Recognition (FG 2026)

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英文摘要

Human-Object Interaction (HOI) detection is a longstanding computer vision problem concerned with predicting the interaction between humans and objects. Current HOI models rely on a vocabulary of interactions at training and inference time, limiting their applicability to static environments. With the advent of Multimodal Large Language Models (MLLMs), it has become feasible to explore more flexible paradigms for interaction recognition. In this work, we revisit HOI detection through the lens of MLLMs and apply them to in-the-wild HOI detection. We define the Unconstrained HOI (U-HOI) task, a novel HOI domain that removes the requirement for a predefined list of interactions at both training and inference. We evaluate a range of MLLMs on this setting and introduce a pipeline that includes test-time inference and language-to-graph conversion to extract structured interactions from free-form text. Our findings highlight the limitations of current HOI detectors and the value of MLLMs for U-HOI. Code will be available at https://github.com/francescotonini/anyhoi

2604.14064 2026-04-16 cs.NE

Deep Neural Network-guided PSO for Tracking a Global Optimal Position in Complex Dynamic Environment

Stephen Raharja, Toshiharu Sugawara

Comments 10 pages, 5 figures, 5 tables. Accepted at ISMSI 2026 (10th International Conference on Intelligent Systems, Metaheuristics & Swarm Intelligence ), Cebu, Philippines, April 24-26, 2026. To appear in the ACM International Conference Proceedings Series

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We propose novel particle swarm optimization (PSO) variants incorporated with deep neural networks (DNNs) for particles to pursue globally optimal positions in dynamic environments. PSO is a heuristic approach for solving complex optimization problems. However, canonical PSO and its variants struggle to adapt efficiently to dynamic environments, in which the global optimum moves over time, and to track them accurately. Many PSO algorithms improve convergence by increasing the swarm size beyond potential optima, which are global/local optima but are not identified until they are discovered. Additionally, in dynamic environments, several methods use multiple sub-population and re-diversification mechanisms to address outdated memory and local optima entrapment. To track the global optimum in dynamic environments with smaller swarm sizes, the DNNs in our methods determine particle movement by learning environmental characteristics and adapting dynamics to pursue moving optimal positions. This enables particles to adapt to environmental changes and predict the moving optima. We propose two variants: a swarm with a centralized network and distributed networks for all particles. Our experimental results show that both variants can track moving potential optima with lower cumulative tracking error than those of several recent PSO-based algorithms, with fewer particles than potential optima.

2604.14062 2026-04-16 cs.CV cs.MM

OneHOI: Unifying Human-Object Interaction Generation and Editing

Jiun Tian Hoe, Weipeng Hu, Xudong Jiang, Yap-Peng Tan, Chee Seng Chan

Comments Accepted at CVPR2026. This paper moves toward unifying HOI generation and editing within a single model

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英文摘要

Human-Object Interaction (HOI) modelling captures how humans act upon and relate to objects, typically expressed as <person, action, object> triplets. Existing approaches split into two disjoint families: HOI generation synthesises scenes from structured triplets and layout, but fails to integrate mixed conditions like HOI and object-only entities; and HOI editing modifies interactions via text, yet struggles to decouple pose from physical contact and scale to multiple interactions. We introduce OneHOI, a unified diffusion transformer framework that consolidates HOI generation and editing into a single conditional denoising process driven by shared structured interaction representations. At its core, the Relational Diffusion Transformer (R-DiT) models verb-mediated relations through role- and instance-aware HOI tokens, layout-based spatial Action Grounding, a Structured HOI Attention to enforce interaction topology, and HOI RoPE to disentangle multi-HOI scenes. Trained jointly with modality dropout on our HOI-Edit-44K, along with HOI and object-centric datasets, OneHOI supports layout-guided, layout-free, arbitrary-mask, and mixed-condition control, achieving state-of-the-art results across both HOI generation and editing. Code is available at https://jiuntian.github.io/OneHOI/.

2604.14061 2026-04-16 cs.IT math.IT math.PR stat.ML

Two-Sided Bounds for Entropic Optimal Transport via a Rate-Distortion Integral

Jingbo Liu

Comments IEEE International Symposium on Information Theory (ISIT) 2026

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英文摘要

We show that the maximum expected inner product between a random vector and the standard normal vector over all couplings subject to a mutual information constraint or regularization is equivalent to a truncated integral involving the rate-distortion function, up to universal multiplicative constants. The proof is based on a lifting technique, which constructs a Gaussian process indexed by a random subset of the type class of the probability distribution involved in the information-theoretic inequality, and then applying a form of the majorizing measure theorem.

2604.14059 2026-04-16 econ.GN cs.LG q-fin.EC

A Comparative Study of Dynamic Programming and Reinforcement Learning in Finite Horizon Dynamic Pricing

Lev Razumovskiy, Nikolay Karenin

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This paper provides a systematic comparison between Fitted Dynamic Programming (DP), where demand is estimated from data, and Reinforcement Learning (RL) methods in finite-horizon dynamic pricing problems. We analyze their performance across environments of increasing structural complexity, ranging from a single typology benchmark to multi-typology settings with heterogeneous demand and inter-temporal revenue constraints. Unlike simplified comparisons that restrict DP to low-dimensional settings, we apply dynamic programming in richer, multi-dimensional environments with multiple product types and constraints. We evaluate revenue performance, stability, constraint satisfaction behavior, and computational scaling, highlighting the trade-offs between explicit expectation-based optimization and trajectory-based learning.

2604.14055 2026-04-16 quant-ph cs.IT math.FA math.IT math.OA

Two-Indexed Schatten Quasi-Norms with Applications to Quantum Information Theory

Jan Kochanowski, Omar Fawzi, Cambyse Rouzé

Comments 61pages

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We define 2-indexed $(q,p)$-Schatten quasi-norms for any $q,p > 0$ on operators on a tensor product of Hilbert spaces, naturally extending the norms defined by Pisier's theory of operator-valued Schatten spaces. We establish several desirable properties of these quasi-norms, such as relational consistency and the behavior on block diagonal operators, assuming that $|\frac{1}{q} - \frac{1}{p}| \leq 1$. In fact, we show that this condition is essentially necessary for natural properties to hold. Furthermore, for linear maps between spaces of such quasi-norms, we introduce completely bounded quasi-norms and co-quasi-norms. We prove that the $q \to p$ completely bounded co-quasi-norm is super-multiplicative for tensor products of quantum channels for $q \geq p>0$, extending an influential result of [Devetak, Junge, King, Ruskai, 2006]. Our proofs rely on elementary matrix analysis and operator convexity tools and do not require operator space theory. On the applications side, we demonstrate that these quasi-norms can be used to express relevant quantum information measures such as Rényi conditional entropies for $α\geq \frac{1}{2}$ or the Sandwiched Rényi Umlaut information for $α< 1$. Our multiplicativity results imply a tensorizing notion of reverse hypercontractivity, additivity of the completely bounded minimum output Rényi-$α$-entropy for $α\geq\frac{1}{2}$ extending another important result of [Devetak, Junge, King, Ruskai, 2006], and additivity of the maximum output Rényi-$α$ entropy for $α\geq \frac{1}{2}$.

2604.14053 2026-04-16 cs.CL

From Where Words Come: Efficient Regularization of Code Tokenizers Through Source Attribution

Pavel Chizhov, Egor Bogomolov, Ivan P. Yamshchikov

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Efficiency and safety of Large Language Models (LLMs), among other factors, rely on the quality of tokenization. A good tokenizer not only improves inference speed and language understanding but also provides extra defense against jailbreak attacks and lowers the risk of hallucinations. In this work, we investigate the efficiency of code tokenization, in particular from the perspective of data source diversity. We demonstrate that code tokenizers are prone to producing unused, and thus under-trained, tokens due to the imbalance in repository and language diversity in the training data, as well as the dominance of source-specific, repetitive tokens that are often unusable in future inference. By modifying the BPE objective and introducing merge skipping, we implement different techniques under the name Source-Attributed BPE (SA-BPE) to regularize BPE training and minimize overfitting, thereby substantially reducing the number of under-trained tokens while maintaining the same inference procedure as with regular BPE. This provides an effective tool suitable for production use.

2604.14051 2026-04-16 cs.IR

Enhancing Local Life Service Recommendation with Agentic Reasoning in Large Language Model

Shiteng Cao, Xiaochong Lan, Yuwei Du, Jie Feng, Yinxing Liu, Xinlei Shi, Yong Li

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Local life service recommendation is distinct from general recommendation scenarios due to its strong living need-driven nature. Fundamentally, accurately identifying a user's immediate living need and recommending the corresponding service are inextricably linked tasks. However, prior works typically treat them in isolation, failing to achieve a unified modeling of need prediction and service recommendation. In this paper, we propose a novel large language model based framework that jointly performs living need prediction and service recommendation. To address the challenge of noise in raw consumption data, we introduce a behavioral clustering approach that filters out accidental factors and selectively preserves typical patterns. This enables the model to learn a robust logical basis for need generation and spontaneously generalize to long-tail scenarios. To navigate the vast search space stemming from diverse needs, merchants, and complex mapping paths, we employ a curriculum learning strategy combined with reinforcement learning with verifiable rewards. This approach guides the model to sequentially learn the logic from need generation to category mapping and specific service selection. Extensive experiments demonstrate that our unified framework significantly enhances both living need prediction performance and recommendation accuracy, validating the effectiveness of jointly modeling living needs and user behaviors.