Graphical User Interface (GUI) grounding requires mapping natural language instructions to precise pixel coordinates. However, due to visually homogeneous elements and dense layouts, models typically grasp semantic intent yet struggle with achieving precise localization. While scaling sampling attempts (Pass@k) reveals potential gains, static self-consistency strategies derived from geometric clustering often yield limited improvements, as the model's predictions tend to be spatially dispersed. In this paper, we propose replacing static consistency strategies with a learnable selection mechanism that selects the optimal target by critiquing its own proposals rendered on the screenshot. Given the significant disparity between the model's grounding and critiquing capabilities, we propose a co-evolving Propose-then-Critic framework. To jointly optimize these, we introduce a maturity-aware adaptive co-evolutionary reinforcement learning paradigm. This approach dynamically balances the training objectives of proposer and critic, where the diversity of the proposer's outputs enhances critic robustness, while the critic's maturing discrimination capability conversely unlocks the proposer's potential for extensive spatial exploration, fostering the mutual reinforcement and co-evolution of both capabilities, thereby ensuring generalizability to adapt to diverse and complex interface layouts. Extensive experiments over 6 benchmarks show that our method significantly enhances both grounding accuracy and critic reliability.

We show that pre-training a Transformer on music before language significantly accelerates language acquisition. Using piano performances (MAESTRO dataset), a developmental pipeline -- music $\to$ poetry $\to$ prose -- yields a $17.5\%$ perplexity improvement over random initialization ($p < 0.001$, 5 seeds), with music and poetry improving orthogonal model components (internal computation and embeddings, respectively). Convergence tests confirm that this is not a transient head start: at $d\!=\!64$, multi-seed validation (5 seeds) shows a persistent 5.5\% gap at plateau ($p = 0.017$), with the pipeline converging faster and to a lower loss in every run. Real music matches the transfer ceiling of synthetic patterns with one-third the data, and scaling experiments reveal that optimal pre-training data volume shifts with model capacity ($-3\% \to +3\% \to +6\%$ advantage of larger datasets from $d\!=\!16$ to $d\!=\!64$). Across the scales we study ($d\!\in\!\{16,32,64\}$, up to ${\sim}400$K parameters), these results suggest a capacity-dependent data curation principle and indicate that structured human creative outputs can provide an efficient pre-training substrate for small language models; stronger conclusions at modern pre-training scale will require substantially larger experiments.

Person-Job Fit (PJF) is a critical component for online recruitment. Existing approaches face several challenges, particularly in handling low-quality job descriptions and similar candidate-job pairs, which impair model performance. To address these challenges, this paper proposes a large language model (LLM) based method with two novel techniques: (1) LLM-based data augmentation, which polishes and rewrites low-quality job descriptions by leveraging chain-of-thought (COT) prompts, and (2) category-aware Mixture of Experts (MoE) that assists in identifying similar candidate-job pairs. This MoE module incorporates category embeddings to dynamically assign weights to the experts and learns more distinguishable patterns for similar candidate-job pairs. We perform offline evaluations and online A/B tests on our recruitment platform. Our method relatively surpasses existing methods by 2.40% in AUC and 7.46% in GAUC, and boosts click-through conversion rate (CTCVR) by 19.4% in online tests, saving millions of CNY in external headhunting expenses.

\textbf{Background:} Regulatory frameworks for AI in healthcare, including the EU AI Act and FDA guidance on AI/ML-based medical devices, require clinical decision support to demonstrate not only accuracy but auditability. Existing formal languages for clinical logic validate syntactic and structural correctness but not whether decision rules use epistemologically appropriate evidence. \textbf{Methods:} Drawing on design-by-contract principles, we introduce meta-predicates -- predicates about predicates -- for asserting epistemological constraints on clinical decision rules expressed in a DSL. An epistemological type system classifies annotations along four dimensions: purpose, knowledge domain, scale, and method of acquisition. Meta-predicates assert which evidence types are permissible in any given rule. The framework is instantiated in AnFiSA, an open-source platform for genetic variant curation, and demonstrated using the Brigham Genomics Medicine protocol on 5.6 million variants from the Genome in a Bottle benchmark. \textbf{Results:} Decision trees used in variant interpretation can be reformulated as unate cascades, enabling per-variant audit trails that identify which rule classified each variant and why. Meta-predicate validation catches epistemological errors before deployment, whether rules are human-written or AI-generated. The approach complements post-hoc methods such as LIME and SHAP: where explanation reveals what evidence was used after the fact, meta-predicates constrain what evidence may be used before deployment, while preserving human readability. \textbf{Conclusions:} Meta-predicate validation is a step toward demonstrating not only that decisions are accurate but that they rest on appropriate evidence in ways that can be independently audited. While demonstrated in genomics, the approach generalises to any domain requiring auditable decision logic.

Policies for Partially Observable Markov Decision Processes (POMDPs) are often designed using a nominal system model. In practice, this model can deviate from the true system during deployment due to factors such as calibration drift or sensor degradation, leading to unexpected performance degradation. This work studies policy robustness against deviations in the POMDP observation model. We introduce the Policy Observation Robustness Problem: to determine the maximum tolerable deviation in a POMDP's observation model that guarantees the policy's value remains above a specified threshold. We analyze two variants: the sticky variant, where deviations are dependent on state and actions, and the non-sticky variant, where they can be history-dependent. We show that the Policy Observation Robustness Problem can be formulated as a bi-level optimization problem in which the inner optimization is monotonic in the size of the observation deviation. This enables efficient solutions using root-finding algorithms in the outer optimization. For the non-sticky variant, we show that when policies are represented with finite-state controllers (FSCs) it is sufficient to consider observations which depend on nodes in the FSC rather than full histories. We present Robust Interval Search, an algorithm with soundness and convergence guarantees, for both the sticky and non-sticky variants. We show this algorithm has polynomial time complexity in the non-sticky variant and at most exponential time complexity in the sticky variant. We provide experimental results validating and demonstrating the scalability of implementations of Robust Interval Search to POMDP problems with tens of thousands of states. We also provide case studies from robotics and operations research which demonstrate the practical utility of the problem and algorithms.

Model distillation is a primary driver behind the rapid progress of LLM agents, yet it often leads to behavioral homogenization. Many emerging agents share nearly identical reasoning steps and failure modes, suggesting they may be distilled echoes of a few dominant teachers. Existing metrics, however, fail to distinguish mandatory behaviors required for task success from non-mandatory patterns that reflect a model's autonomous preferences. We propose two complementary metrics to isolate non-mandatory behavioral patterns: \textbf{Response Pattern Similarity (RPS)} for verbal alignment and \textbf{Action Graph Similarity (AGS)} for tool-use habits modeled as directed graphs. Evaluating 18 models from 8 providers on $τ$-Bench and $τ^2$-Bench against Claude Sonnet 4.5 (thinking), we find that within-family model pairs score 5.9 pp higher in AGS than cross-family pairs, and that Kimi-K2 (thinking) reaches 82.6\% $S_{\text{node}}$ and 94.7\% $S_{\text{dep}}$, exceeding Anthropic's own Opus 4.1. A controlled distillation experiment further confirms that AGS distinguishes teacher-specific convergence from general improvement. RPS and AGS capture distinct behavioral dimensions (Pearson $r$ = 0.491), providing complementary diagnostic signals for behavioral convergence in the agent ecosystem. Our code is available at https://github.com/Syuchin/AgentEcho.

While LLMs demonstrate remarkable fluency in narrative generation, existing methods struggle to maintain global narrative coherence, contextual logical consistency, and smooth character development, often producing monotonous scripts with structural fractures. To this end, we introduce PLOTTER, a framework that performs narrative planning on structural graph representations instead of the direct sequential text representations used in existing work. Specifically, PLOTTER executes the Evaluate-Plan-Revise cycle on the event graph and character graph. By diagnosing and repairing issues of the graph topology under rigorous logical constraints, the model optimizes the causality and narrative skeleton before complete context generation. Experiments demonstrate that PLOTTER significantly outperforms representative baselines across diverse narrative scenarios. These findings verify that planning narratives on structural graph representations-rather than directly on text-is crucial to enhance the long context reasoning of LLMs in complex narrative generation.

The LASSO-Clip-EN (LCEN) algorithm was previously introduced for nonlinear, interpretable feature selection and machine learning. However, its design and use was limited to regression tasks. In this work, we create a modified version of the LCEN algorithm that is suitable for classification tasks and maintains its desirable properties, such as interpretability. This modified LCEN algorithm is evaluated on four widely used binary and multiclass classification datasets. In these experiments, LCEN is compared against 10 other model types and consistently reaches high test-set macro F$_1$ score and Matthews correlation coefficient (MCC) metrics, higher than that of the majority of investigated models. LCEN models for classification remain sparse, eliminating an average of 56% of all input features in the experiments performed. Furthermore, LCEN-selected features are used to retrain all models using the same data, leading to statistically significant performance improvements in three of the experiments and insignificant differences in the fourth when compared to using all features or other feature selection methods. Simultaneously, the weighted focal differentiable MCC (diffMCC) loss function is evaluated on the same datasets. Models trained with the diffMCC loss function are always the best-performing methods in these experiments, and reach test-set macro F$_1$ scores that are, on average, 4.9% higher and MCCs that are 8.5% higher than those obtained by models trained with the weighted cross-entropy loss. These results highlight the performance of LCEN as a feature selection and machine learning algorithm also for classification tasks, and how the diffMCC loss function can train very accurate models, surpassing the weighted cross-entropy loss in the tasks investigated.

While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language annotations that are weakly aligned with vehicle actions and terrain geometry. To address this misalignment, we propose a language refinement framework that restructures annotations into action-aligned pairs, enabling a VLM to generate refined scene descriptions and 3D future trajectories directly from a single image. To further encourage terrain-aware planning, we introduce a preference optimization strategy that constructs geometry-aware hard negatives and explicitly penalizes trajectories inconsistent with local elevation profiles. Furthermore, we propose off-road-specific metrics to quantify traversability compliance and elevation consistency, addressing the limitations of conventional on-road evaluation. Experiments on the ORAD-3D benchmark demonstrate that our approach reduces average trajectory error from 1.01m to 0.97m, improves traversability compliance from 0.621 to 0.644, and decreases elevation inconsistency from 0.428 to 0.322, highlighting the efficacy of action-aligned supervision and terrain-aware optimization for robust off-road driving.

Vision--Language--Action (VLA) models often use intermediate representations to connect multimodal inputs with continuous control, yet spatial guidance is often injected implicitly through latent features. We propose $CorridorVLA$, which predicts sparse spatial anchors as incremental physical changes (e.g., $Δ$-positions) and uses them to impose an explicit tolerance region in the training objective for action generation. The anchors define a corridor that guides a flow-matching action head: trajectories whose implied spatial evolution falls outside it receive corrective gradients, while minor deviations from contacts and execution noise are permitted. On the more challenging LIBERO-Plus benchmark, CorridorVLA yields consistent gains across both SmolVLA and GR00T, improving success rate by $3.4\%$--$12.4\%$ over the corresponding baselines; notably, our GR00T-Corr variant reaches a success rate of $83.21\%$. These results indicate that action-aligned physical cues can provide direct and interpretable constraints for generative action policies, complementing spatial guidance encoded in visual or latent forms. Code is available at https://github.com/corridorVLA.

Multi-table entity matching (MEM) addresses the limitations of dual-table approaches by enabling simultaneous identification of equivalent entities across multiple data sources without unique identifiers. However, existing methods relying on pre-trained language models struggle to handle semantic inconsistencies caused by numerical attribute variations. Inspired by the powerful language understanding capabilities of large language models (LLMs), we propose a novel LLM-based framework for multi-table entity matching, termed LLM4MEM. Specifically, we first propose a multi-style prompt-enhanced LLM attribute coordination module to address semantic inconsistencies. Then, to alleviate the matching efficiency problem caused by the surge in the number of entities brought by multiple data sources, we develop a transitive consensus embedding matching module to tackle entity embedding and pre-matching issues. Finally, to address the issue of noisy entities during the matching process, we introduce a density-aware pruning module to optimize the quality of multi-table entity matching. We conducted extensive experiments on 6 MEM datasets, and the results show that our model improves by an average of 5.1% in F1 compared with the baseline model. Our code is available at https://github.com/Ymeki/LLM4MEM.

Multimodal clinical records contain structured measurements and clinical notes recorded over time, offering rich temporal information about the evolution of patient health. Yet these observations are sparse, and whether they are recorded depends on the patient's latent condition. Observation patterns also differ across modalities, as structured measurements and clinical notes arise under distinct recording processes. While prior work has developed methods that accommodate missingness in clinical time series, how to extract and use the information carried by the observation process itself remains underexplored. We therefore propose a patient representation learning framework for multimodal clinical time series that explicitly leverages informative missingness. The framework combines (1) a multimodal encoder that captures signals from structured and textual data together with their observation patterns, (2) a Bayesian filtering module that updates a latent patient state over time from observed multimodal signals, and (3) downstream modules for offline treatment policy learning and patient outcome prediction based on the learned patient state. We evaluate the framework on ICU sepsis cohorts from MIMIC-III, MIMIC-IV, and eICU. It improves both offline treatment policy learning and adverse outcome prediction, achieving FQE 0.679 versus 0.528 for clinician behavior and AUROC 0.886 for post-72-hour mortality prediction on MIMIC-III.

Large language model assistants are increasingly expected to retain and reason over information accumulated across many sessions. We introduce EngramaBench, a benchmark for long-term conversational memory built around five personas, one hundred multi-session conversations, and one hundred fifty queries spanning factual recall, cross-space integration, temporal reasoning, adversarial abstention, and emergent synthesis. We evaluate Engrama, a graph-structured memory system, against GPT-4o full-context prompting and Mem0, an open-source vector-retrieval memory system. All three use the same answering model (GPT-4o), isolating the effect of memory architecture. GPT-4o full-context achieves the highest composite score (0.6186), while Engrama scores 0.5367 globally but is the only system to score higher than full-context prompting on cross-space reasoning (0.6532 vs. 0.6291, n=30). Mem0 is cheapest but substantially weaker (0.4809). Ablations reveal that the components driving Engrama's cross-space advantage trade off against global composite score, exposing a systems-level tension between structured memory specialization and aggregate optimization.

Facial action unit (AU) detection remains challenging because it involves heterogeneous, AU-specific uncertainties arising at both the representation and decision stages. Recent methods have improved discriminative feature learning, but they often treat the AU representations as deterministic, overlooking uncertainty caused by visual noise, subject-dependent appearance variations, and ambiguous inter-AU relationships, all of which can substantially degrade robustness. Meanwhile, conventional point-estimation classifiers often provide poorly calibrated confidence, producing overconfident predictions, especially under the severe label imbalance typical of AU datasets. We propose UAU-Net, an Uncertainty-aware AU detection framework that explicitly models uncertainty at both stages. At the representation stage, we introduce CV-AFE, a conditional VAE (CVAE)-based AU feature extraction module that learns probabilistic AU representations by jointly estimating feature means and variances across multiple spatio-temporal scales; conditioning on AU labels further enables CV-AFE to capture uncertainty associated with inter-AU dependencies. At the decision stage, we design AB-ENN, an Asymmetric Beta Evidential Neural Network for multi-label AU detection, which parameterizes predictive uncertainty with Beta distributions and mitigates overconfidence via an asymmetric loss tailored to highly imbalanced binary labels. Extensive experiments on BP4D and DISFA show that UAU-Net achieves strong AU detection performance, and further analyses indicate that modeling uncertainty in both representation learning and evidential prediction improves robustness and reliability.

Large language models (LLMs) have demonstrated remarkable capabilities across various tasks. However, their ability to generate human-like text has raised concerns about potential misuse. This underscores the need for reliable and effective methods to detect LLM-generated text. In this paper, we propose IRM, a novel zero-shot approach that leverages Implicit Reward Models for LLM-generated text detection. Such implicit reward models can be derived from publicly available instruction-tuned and base models. Previous reward-based method relies on preference construction and task-specific fine-tuning. In comparison, IRM requires neither preference collection nor additional training. We evaluate IRM on the DetectRL benchmark and demonstrate that IRM can achieve superior detection performance, outperforms existing zero-shot and supervised methods in LLM-generated text detection.

We introduce Sparse Forcing, a training-and-inference paradigm for autoregressive video diffusion models that improves long-horizon generation quality while reducing decoding latency. Sparse Forcing is motivated by an empirical observation in autoregressive diffusion rollouts: attention concentrates on a persistent subset of salient visual blocks, forming an implicit spatiotemporal memory in the KV cache, and exhibits a locally structured block-sparse pattern within sliding windows. Building on this observation, we propose a trainable native sparsity mechanism that learns to compress, preserve, and update these persistent blocks while restricting computation within each local window to a dynamically selected local neighborhood. To make the approach practical at scale for both training and inference, we further propose Persistent Block-Sparse Attention (PBSA), an efficient GPU kernel that accelerates sparse attention and memory updates for low-latency, memory-efficient decoding. Experiments show that Sparse Forcing improves the VBench score by +0.26 over Self-Forcing on 5-second text-to-video generation while delivering a 1.11-1.17x decoding speedup and 42% lower peak KV-cache footprint. The gains are more pronounced on longer-horizon rollouts, delivering improved visual quality with +0.68 and +2.74 VBench improvements, and 1.22x and 1.27x speedups on 20-second and 1-minute generations, respectively.

Transformers process tokens in parallel but are temporally shallow: at position $t$, each layer attends to key-value pairs computed based on the previous layer, yielding a depth capped by the number of layers. Recurrent models offer unbounded temporal depth but suffer from optimization instability and historically underutilize modern accelerators. We introduce the Recurrent Transformer, a simple architectural change where each layer attends to key-value pairs computed off its own activations, yielding layerwise recurrent memory while preserving standard autoregressive decoding cost. We show that the architecture can emulate both (i) a conventional Transformer and (ii) token-to-token recurrent updates under mild assumptions, while avoiding optimization instability. Naively, prefill/training appears bandwidth-bound with effective arithmetic intensity near $1$ because keys and values are revealed sequentially; we give an exact tiling-based algorithm that preserves the mathematical computation while reducing HBM traffic from $Θ(N^2)$ to $Θ(N\log N)$, increasing effective arithmetic intensity to $Θ(N/\log N)$ for sequence length $N$. On 150M and 300M parameter C4 pretraining, Recurrent Transformers improve cross-entropy over a parameter-matched Transformer baseline and achieve the improvement with fewer layers (fixed parameters), suggesting that recurrence can trade depth for width, thus reducing KV cache memory footprint and inference latency.

Current text anonymization evaluation relies on span-based metrics that fail to capture what an adversary could actually infer, and assumes a single data subject, ignoring multi-subject scenarios. To address these limitations, we present SPIA (Subject-level PII Inference Assessment), the first benchmark that shifts the unit of evaluation from text spans to individuals, comprising 675 documents across legal and online domains with novel subject-level protection metrics. Extensive experiments show that even when over 90% of PII spans are masked, subject-level inference protection drops as low as 33%, leaving the majority of personal information recoverable through contextual inference. Furthermore, target-subject-focused anonymization leaves non-target subjects substantially more exposed than the target subject. We show that subject-level inference-based evaluation is essential for ensuring safe text anonymization in real-world settings.

Online reviews have played a pivotal role in consumers' decision-making processes. Existing research has highlighted the significant impact of managerial review responses on customer relationship management and firm performance. However, a large portion of online reviews remains unaddressed due to the considerable human labor required to respond to the rapid growth of online reviews. While generative AI has achieved remarkable success in a range of tasks, they are general-purpose models and may not align well with domain-specific human preferences. To tailor these general generative AI models to domain-specific applications, finetuning is commonly employed. Nevertheless, several challenges persist in finetuning with domain-specific data, including hallucinations, difficulty in representing domain-specific human preferences, and over conservatism in offline policy optimization. To address these challenges, we propose a novel preference finetuning method to align an LLM with domain-specific human preferences for generating online review responses. Specifically, we first identify the source of hallucination and propose an effective context augmentation approach to mitigate the LLM hallucination. To represent human preferences, we propose a novel theory-driven preference finetuning approach that automatically constructs human preference pairs in the online review domain. Additionally, we propose a curriculum learning approach to further enhance preference finetuning. To overcome the challenge of over conservatism in existing offline preference finetuning method, we propose a novel density estimation-based support constraint method to relax the conservatism, and we mathematically prove its superior theoretical guarantees. Extensive evaluations substantiate the superiority of our proposed preference finetuning method.

In this work, we develop a novel reasoning approach to enhance the performance of large language models (LLMs) in future occupation prediction. In this approach, a reason generator first derives a ``reason'' for a user using his/her past education and career history. The reason summarizes the user's preference and is used as the input of an occupation predictor to recommend the user's next occupation. This two-step occupation prediction approach is, however, non-trivial as LLMs are not aligned with career paths or the unobserved reasons behind each occupation decision. We therefore propose to fine-tune LLMs improving their reasoning and occupation prediction performance. We first derive high-quality oracle reasons, as measured by factuality, coherence and utility criteria, using a LLM-as-a-Judge. These oracle reasons are then used to fine-tune small LLMs to perform reason generation and next occupation prediction. Our extensive experiments show that: (a) our approach effectively enhances LLM's accuracy in next occupation prediction making them comparable to fully supervised methods and outperforming unsupervised methods; (b) a single LLM fine-tuned to perform reason generation and occupation prediction outperforms two LLMs fine-tuned to perform the tasks separately; and (c) the next occupation prediction accuracy depends on the quality of generated reasons. Our code is available at https://github.com/Sarasarahhhhh/job_prediction.

Object detection models typically perform well on images captured in controlled environments with stable lighting, water clarity, and viewpoint, but their performance degrades substantially in real-world underwater settings characterized by high variability and frequent occlusions. In this work, we address these challenges by introducing a novel data augmentation framework designed to improve robustness in dense and unconstrained underwater scenes. Using the DeepFish dataset, which contains images of fish in natural environments, we first generate bounding box annotations from provided segmentation masks to construct a custom detection dataset. We then propose a pseudo-simulated annealing-based augmentation algorithm, inspired by the copy-paste strategy of Deng et al. [1], to synthesize realistic crowded fish scenarios. Our approach improves spatial diversity and object density during training, enabling better generalization to complex scenes. Experimental results show that our method significantly outperforms a baseline YOLOv10 model, particularly on a challenging test set of manually annotated images collected from live-stream footage in the Florida Keys. These results demonstrate the effectiveness of our augmentation strategy for improving detection performance in dense, real-world underwater environments.

Federated Large Language Models (FedLLMs) enable multiple parties to collaboratively fine-tune LLMs without sharing raw data, addressing challenges of limited resources and privacy concerns. Despite data localization, shared gradients can still expose sensitive information through membership inference attacks (MIAs). However, FedLLMs' unique properties, i.e. massive parameter scales, rapid convergence, and sparse, non-orthogonal gradients, render existing MIAs ineffective. To address this gap, we propose ProjRes, the first projection residuals-based passive MIA tailored for FedLLMs. ProjRes leverages hidden embedding vectors as sample representations and analyzes their projection residuals on the gradient subspace to uncover the intrinsic link between gradients and inputs. It requires no shadow models, auxiliary classifiers, or historical updates, ensuring efficiency and robustness. Experiments on four benchmarks and four LLMs show that ProjRes achieves near 100% accuracy, outperforming prior methods by up to 75.75%, and remains effective even under strong differential privacy defenses. Our findings reveal a previously overlooked privacy vulnerability in FedLLMs and call for a re-examination of their security assumptions. Our code and data are available at $\href{https://anonymous.4open.science/r/Passive-MIA-5268}{link}$.

Large Language Models (LLMs) have demonstrated remarkable fluency and versatility across a wide range of NLP tasks, yet they remain prone to factual inaccuracies and hallucinations. This limitation poses significant risks in high-stakes domains such as healthcare, law, and scientific communication, where trust and verifiability are paramount. In this paper, we introduce DAVinCI - a Dual Attribution and Verification framework designed to enhance the factual reliability and interpretability of LLM outputs. DAVinCI operates in two stages: (i) it attributes generated claims to internal model components and external sources; (ii) it verifies each claim using entailment-based reasoning and confidence calibration. We evaluate DAVinCI across multiple datasets, including FEVER and CLIMATE-FEVER, and compare its performance against standard verification-only baselines. Our results show that DAVinCI significantly improves classification accuracy, attribution precision, recall, and F1-score by 5-20%. Through an extensive ablation study, we isolate the contributions of evidence span selection, recalibration thresholds, and retrieval quality. We also release a modular DAVinCI implementation that can be integrated into existing LLM pipelines. By bridging attribution and verification, DAVinCI offers a scalable path to auditable, trustworthy AI systems. This work contributes to the growing effort to make LLMs not only powerful but also accountable.

Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon tasks and evaluated on benchmarks, such as BEHAVIOR1K (B1K), for solving complex household chores. The common metric for measuring progress in such benchmarks is success rate or partial score based on satisfaction of progress-agnostic criteria, meaning only the final states of the objects are considered, regardless of the events that lead to such states. In this paper, we argue that using such evaluation protocols say little about safety aspects of operation and can potentially exaggerate reported performance, undermining core challenges for future real-world deployment. To this end, we conduct a thorough analysis of state-of-the-art models on the B1K Challenge and evaluate policies in terms of robustness via reproducibility and consistency of performance, safety aspects of policies operations, task awareness, and key elements leading to the incompletion of tasks. We then propose evaluation protocols to capture safety violations to better measure the true performance of the policies in more complex and interactive scenarios. At the end, we discuss the limitations of the existing VLAs and motivate future research.

Prefix parsing asks whether an input prefix can be extended to a complete string generated by a given grammar. In the weighted setting, it also provides prefix probabilities, which are central to context-free language modeling, psycholinguistic analysis, and syntactically constrained generation from large language models. We introduce the prefix grammar transformation, an efficient reduction of prefix parsing to ordinary parsing. Given a grammar, our method constructs another grammar that generates exactly the prefixes of its original strings. Prefix parsing is then solved by applying any ordinary parsing algorithm on the transformed grammar without modification. The reduction is both elegant and practical: the transformed grammar is only a small factor larger than the input, and any optimized implementation can be used directly, eliminating the need for bespoke prefix-parsing algorithms. We also present a strategy-based on algorithmic differentiation-for computing the next-token weight vector, i.e., the prefix weights of all one-token extensions, enabling efficient prediction of the next token. Together, these contributions yield a simple, general, and efficient framework for prefix parsing.

Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven effective in enabling safe behaviors, but enforcing the high number of constraints needed for safe manipulation leads to theoretic and computational challenges. This work presents a framework for full-body collision avoidance for manipulators in dynamic environments by leveraging 3D Poisson Safety Functions (PSFs). In particular, given environmental occupancy data, we sample the manipulator surface at a prescribed resolution and shrink free space via a Pontryagin difference according to this resolution. On this buffered domain, we synthesize a globally smooth CBF by solving Poisson's equation, yielding a single safety function for the entire environment. This safety function, evaluated at each sampled point, yields task-space CBF constraints enforced by a real-time safety filter via a multi-constraint quadratic program. We prove that keeping the sample points safe in the buffered region guarantees collision avoidance for the entire continuous robot surface. The framework is validated on a 7-degree-of-freedom manipulator in dynamic environments.

We propose WildSplatter, a feed-forward 3D Gaussian Splatting (3DGS) model for unconstrained images with unknown camera parameters and varying lighting conditions. 3DGS is an effective scene representation that enables high-quality, real-time rendering; however, it typically requires iterative optimization and multi-view images captured under consistent lighting with known camera parameters. WildSplatter is trained on unconstrained photo collections and jointly learns 3D Gaussians and appearance embeddings conditioned on input images. This design enables flexible modulation of Gaussian colors to represent significant variations in lighting and appearance. Our method reconstructs 3D Gaussians from sparse input views in under one second, while also enabling appearance control under diverse lighting conditions. Experimental results demonstrate that our approach outperforms existing pose-free 3DGS methods on challenging real-world datasets with varying illumination.

We propose a learning-augmented framework for accelerating max-flow computation and image segmentation by integrating Graph Neural Networks (GNNs) with the Ford-Fulkerson algorithm. Rather than predicting initial flows, our method learns edge importance probabilities to guide augmenting path selection. We introduce a Message Passing GNN (MPGNN) that jointly learns node and edge embeddings through coupled updates, capturing both global structure and local flow dynamics such as residual capacity and bottlenecks. Given an input image, we propose a method to construct a grid-based flow network with source and sink nodes, extract features, and perform a single GNN inference to assign edge probabilities reflecting their likelihood of belonging to high-capacity cuts. These probabilities are stored in a priority queue and used to guide a modified Ford-Fulkerson procedure, prioritizing augmenting paths via an Edmonds-Karp-style search with bottleneck-aware tie-breaking. This avoids repeated inference over residual graphs while leveraging learned structure throughout optimization. We further introduce a bidirectional path construction strategy centered on high-probability edges and provide a theoretical framework relating prediction quality to efficiency via a weighted permutation distance metric. Our method preserves max-flow/min-cut optimality while reducing the number of augmentations in practice. We also outline a hybrid extension combining flow warm-starting with edge-priority prediction, establishing a foundation for learning-guided combinatorial optimization in image segmentation.

Point-Vision-Language Models promise to empower embodied agents with executable spatial reasoning, yet they frequently succumb to geometric hallucination where predicted 3D structures contradict the observed 2D reality. We identify a key cause of this failure not as a representation bottleneck but as a structural misalignment in reinforcement learning, where sparse geometric tokens are drowned out by noisy and broadcasted sequence-level rewards. To resolve this causal dilution, we propose Geometric Reward Credit Assignment, a framework that disentangles holistic supervision into field-specific signals and routes them exclusively to their responsible token spans. This mechanism transforms vague feedback into precise gradient updates and effectively turns generic policy optimization into targeted structural alignment. Furthermore, we internalize physical constraints via a Reprojection-Consistency term which serves as a cross-modal verifier to penalize physically impossible geometries. Validated on a calibrated benchmark derived from ShapeNetCore, our approach bridges the reliability gap by boosting 3D KPA from 0.64 to 0.93, increasing 3D bounding box intersection over union to 0.686, and raising reprojection consistency scores to 0.852. Crucially, these gains are achieved while maintaining robust 2D localization performance, marking a meaningful step from plausible textual outputs toward physically verifiable spatial predictions.

Intrinsic motivations are receiving increasing attention, i.e. behavioral incentives that are not engineered, but emerge from the interaction of an agent with its surroundings. In this work we study the emergence of behaviors driven by one such incentive, empowerment, specifically in the context of more than one agent. We formulate a principled extension of empowerment to the multi-agent setting, and demonstrate its efficient calculation. We observe that this intrinsic motivation gives rise to characteristic modes of group-organization in two qualitatively distinct environments: a pair of agents coupled by a tendon, and a controllable Vicsek flock. This demonstrates the potential of intrinsic motivations such as empowerment to not just drive behavior for only individual agents but also higher levels of behavioral organization at scale.