Terminal agents have demonstrated strong potential for autonomous command-line execution, yet their training remains constrained by the scarcity of high-quality and diverse execution trajectories. Existing approaches mitigate this bottleneck by synthesizing large-scale terminal task instances for trajectory sampling. However, they primarily focus on scaling the number of tasks while providing limited control over the diversity of execution trajectories that agents actually experience during training. In this paper, we present SkillSynth, an automated framework for terminal task synthesis built on a scenario-mediated skill graph. SkillSynth first constructs a large-scale skill graph, where scenarios serve as intermediate transition nodes that connect diverse command-line skills. It then samples paths from this graph as abstractions of real-world workflows, and uses a multi-agent harness to instantiate them into executable task instances. By grounding task synthesis in graph-sampled workflow paths, SkillSynth explicitly controls the diversity of minimal execution trajectories required to solve the synthesized tasks. Experiments on Terminal-Bench demonstrate the effectiveness of SkillSynth. Moreover, task instances synthesized by SkillSynth have been adopted to train Hy3 Preview, contributing to its enhanced agentic capabilities in terminal-based settings.

Modern enterprise AI applications increasingly rely on compound AI systems - architectures that compose multiple models, retrievers, and tools to accomplish complex tasks. Deploying such systems in production demands inference infrastructure that can efficiently serve concurrent, heterogeneous model invocations while maintaining cost-effectiveness and low latency. This paper presents a production deployment study of a modular, platform-agnostic inference architecture developed at Salesforce to support compound AI use cases including Agentforce (autonomous AI agents) and ApexGuru (AI-powered code analysis). The system integrates serverless execution, dynamic autoscaling, and MLOps pipelines to deliver consistent low-latency inference across multi-component agent workflows. We report production results demonstrating over 50% reduction in tail latency (P95), up to 3.9x throughput improvement, and 30 to 40% cost savings compared to prior static deployments. We further present a novel analysis of compound-system-specific challenges including multi-model fan-out overhead, cascading cold-start propagation, and heterogeneous scaling dynamics that emerge uniquely when serving agentic workloads. Through detailed case studies and operational lessons, we illustrate how the architecture enables compound AI systems to scale model invocations in parallel, handle bursty multi-agent workloads, and support rapid model iteration - capabilities essential for operationalizing agentic AI at enterprise scale.

Despite strong performance of deep learning models in retinal disease detection, most systems produce static predictions without clinical reasoning or interactive explanation. Recent advances in multimodal large language models (MLLMs) integrate diagnostic predictions with clinically meaningful dialogue to support clinical decision-making and patient counseling. In this study, OcularChat, an MLLM, was fine-tuned from Qwen2.5-VL using simulated patient-physician dialogues to diagnose age-related macular degeneration (AMD) through visual question answering on color fundus photographs (CFPs). A total of 705,850 simulated dialogues paired with 46,167 CFPs were generated to train OcularChat to identify key AMD features and produce reasoned predictions. OcularChat demonstrated strong classification performance in AREDS, achieving accuracies of 0.954, 0.849, and 0.678 for the three diagnostic tasks: advanced AMD, pigmentary abnormalities, and drusen size, significantly outperforming existing MLLMs. On AREDS2, OcularChat remained the top-performing method on all tasks. Across three independent ophthalmologist graders, OcularChat achieved higher mean scores than a strong baseline model for advanced AMD (3.503 vs. 2.833), pigmentary abnormalities (3.272 vs. 2.828), drusen size (3.064 vs. 2.433), and overall impression (2.978 vs. 2.464) on a 5-point clinical grading rubric. Beyond strong objective performance in AMD severity classification, OcularChat demonstrated the ability to provide diagnostic reasoning, clinically relevant explanations, and interactive dialogue, with high performance in subjective ophthalmologist evaluation. These findings suggest that MLLMs may enable accurate, interpretable, and clinically useful image-based diagnosis and classification of AMD.

Safety mechanisms for large language models (LLMs) remain predominantly English-centric, creating systematic vulnerabilities in multilingual deployment. Prior work shows that translating malicious prompts into other languages can substantially increase jailbreak success rates, exposing a structural cross-lingual security gap. We investigate whether such attacks can be mitigated through language-agnostic semantic similarity without retraining or language-specific adaptation. Our approach compares multilingual query embeddings against a fixed English codebook of jailbreak prompts, operating as a training-free external guardrail for black-box LLMs. We conduct a systematic evaluation across four languages, two translation pipelines, four safety benchmarks, three embedding models, and three target LLMs (Qwen, Llama, GPT-3.5). Our results reveal two distinct regimes of cross-lingual transfer. On curated benchmarks containing canonical jailbreak templates, semantic similarity generalizes reliably across languages, achieving near-perfect separability (AUC up to 0.99) and substantial reductions in absolute attack success rates under strict low-false-positive constraints. However, under distribution shift - on behaviorally diverse and heterogeneous unsafe benchmarks - separability degrades markedly (AUC $\approx$ 0.60-0.70), and recall in the security-critical low-FPR regime drops across all embedding models.

Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controllers often struggle with hysteresis-induced oscillations, while conventional learning-based approaches suffer from poor generalization to out-of-distribution trajectories. This paper proposes a reference-augmented offline learning framework for precise 6-DOF tracking control of TDCRs. By leveraging a differentiable RNN-based dynamics surrogate as a gradient bridge, we optimize a control policy through an augmented reference distribution. This multi-scale augmentation scheme incorporates stochastic bias, harmonic perturbations, and random walks, forcing the policy to internalize diverse tracking error recovery mechanisms without additional hardware interaction. Experimental results on a three-section TDCR platform demonstrate that the proposed policy achieves a 50.9\% reduction in average position error compared to non-augmented baselines and significantly outperforms Jacobian-based methods in both precision and stability across various speeds.

Most multi-modal knowledge graph completion (MMKGC) models use one embedding scorer to do both retrieval over the full entity set and final decision making. We argue that this coupling is a core bottleneck: global high-recall search and local fine-grained disambiguation require different inductive biases. Therefore, we propose a Retrieval-Augmented Discrete Diffusion (RADD) framework to decouple retrieve and reranking for MMKGC. A relation-aware multimodal KGE retriever serves as both global retriever and distillation teacher, while a conditional discrete denoiser performs shortlist-level entity-identity generation for reranking. Training combines KGE supervision, denoising cross-entropy, and temperature-scaled distillation from the retriever to the denoiser. At inference, the designed Diff-Rerank first forms a top-$K$ shortlist with the retriever and then reranks it with the denoiser, ensuring that recall is a strict prerequisite for precision. Experiments on three MMKGC benchmarks show that RADD achieves the best performance and consistent gains over strong unimodal, multimodal, and LLM-based baselines, while ablations further verify the contribution of each component.

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that integrates high-fidelity dynamics modeling with robust neural control. We develop a GRU-based dynamics model featuring bidirectional multi-channel connectivity and residual prediction to effectively suppress compounding errors during long-horizon auto-regressive prediction. By treating this model as a gradient bridge, an end-to-end neural control policy is optimized through backpropagation, allowing it to implicitly internalize compensation for intricate nonlinearities. Experimental validation on a physical three-section TDCR demonstrates that our framework achieves accurate tracking and superior robustness against unseen payloads, outperforming Jacobian-based methods by eliminating self-excited oscillations.

Binary spike coding enables sparse and event-driven computation in spiking neural networks (SNNs), yet its 1-bit-per-timestep representation fundamentally limits information throughput. This bottleneck becomes increasingly restrictive in deep architectures under short simulation horizons. We propose the Quantized Burst-LIF (QB-LIF) neuron, which reformulates burst spiking as a saturated uniform quantization of membrane potentials with a learnable scale. Instead of relying on predefined multi-threshold structures, QB-LIF treats the quantization scale as a trainable parameter, allowing each layer to autonomously adapt its spiking resolution to the underlying membrane-potential statistics. To preserve hardware efficiency, we introduce an absorbable scale strategy that folds the learned quantized scale into synaptic weights during inference, maintaining a strict accumulate-only (AC) execution paradigm. To enable stable optimization in the discrete multi-level space, we further design ReLSG-ET, a rectified-linear surrogate gradient with exponential tails that sustains gradient flow across burst intervals. Extensive experiments on static (CIFAR-10/100, ImageNet) and event-driven (CIFAR10-DVS, DVS128-Gesture) benchmarks demonstrate that QB-LIF consistently outperforms binary and fixed-burst SNNs, achieving higher accuracy under ultra-low latency while preserving neuromorphic compatibility.

The rapid deployment of autonomous AI agents across enterprise, healthcare, and safety-critical environments has created a fundamental governance gap. Existing approaches, runtime guardrails, training-time alignment, and post-hoc auditing treat governance as an external constraint rather than an internalized behavioral principle, leaving agents vulnerable to unsafe and irreversible actions. We address this gap by drawing on how humans self-govern naturally: before acting, humans engage deliberate cognitive processes grounded in executive function, inhibitory control, and internalized organizational rules to evaluate whether an intended action is permissible, requires modification, or demands escalation. This paper proposes a neurocognitive governance framework that formally maps this human self-governance process to LLM-driven agent reasoning, establishing a structural parallel between the human brain and the large language model as the cognitive core of an agent. We formalize a Pre-Action Governance Reasoning Loop (PAGRL) in which agents consult a four-layer governance rule set: global, workflow-specific, agent-specific, and situational before every consequential action, mirroring how human organizations structure compliance hierarchies across enterprise, department, and role levels. Implemented on a production-grade retail supply chain workflow, the framework achieves 95% compliance accuracy and zero false escalations to human oversight, demonstrating that embedding governance into agent reasoning produces more consistent, explainable, and auditable compliance than external enforcement. This work offers a principled foundation for autonomous AI agents that govern themselves the way humans do: not because rules are imposed upon them, but because deliberation is embedded in how they think.

Unaddressed pain in neonates can lead to adverse effects, including delayed development and slower weight gain, emphasising the need for more objective and reliable pain assessment methods. Hence, automated methods using behavioural and physiological pain indicators have been developed to aid healthcare professionals in the Neonatal ICU. Traditional contact-based methods for physiological parameter estimation are unsuitable for long-term monitoring and increase the risk of spreading diseases like COVID-19. We introduce a novel approach using remote photoplethysmography (rPPG) to estimate pulse signals in a non-contact manner and employ them for neonatal pain detection. The temporal signals acquired from regions-of-interest (ROIs) affected by skin deformations may exhibit lower quality and provide erroneous rPPG signals. Therefore, we incorporated a quality parameter to select the temporal signals obtained from ROIs that are least affected by skin deformations. Further, we employed signal-to-noise ratio as a fitness parameter to extract the rPPG signal corresponding to the clip that is least affected by noise. Experimental findings demonstrate that the rPPG signals provide useful information for neonatal pain detection, and signals extracted from the blue colour channel outperform those extracted from other colour channels. We also show that combining rPPG and audio features provides better results than individual modalities.

Multilingual retrieval-augmented generation (mRAG) is often implemented within a fixed retrieval space, typically via query or document translation or multilingual embedding vector representations. However, this approach may be inadequate for culturally grounded queries, in which retrieval-condition misalignment may occur. Even strong retrievers and generators may struggle to produce culturally relevant answers when sourcing evidence from inappropriate linguistic or regional contexts. To this end, we introduce CORAL (COntext-aware Retrieval with Agentic Loop, an adaptive retrieval methodology for mRAG that enables iterative refinement of both the retrieval space (corpora) and the retrieval probe (query) based on the quality of the evidence. The overall process includes: (1) selecting corpora, (2) retrieving documents, (3) critiquing evidence for relevance and cultural alignment, and (4) checking sufficiency. If the retrieved documents are insufficient to answer the query correctly, the system (5) reselects corpora and rewrites the query. Across two cultural QA benchmarks, CORAL achieves up to a 3.58%p accuracy improvement on low-resource languages relative to the strongest baselines.

Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in wearable robotics. However, surface electromyography (EMG) remains difficult to deploy robustly outside laboratory settings due to electrode sensitivity, signal non-stationarity, and strong subject dependence. In this work, we propose an adaptive IMU-to-EMG learning framework that reconstructs continuous muscle activation envelopes from wearable inertial measurements across heterogeneous movement conditions. The approach combines a Transformer encoder with Gaussian Error Gated Linear Units (GEGLU-Transformer) to enhance cross-subject generalization and enable rapid subject-specific personalization. Under a strict leave-one-subject-out (LOSO) protocol on a multi-condition lower-limb biomechanics dataset, the proposed architecture achieves r = 0.706 +/- 0.139 and R^2 = 0.474 +/- 0.208 without subject-specific adaptation. With only 0.5% adaptation data, performance increases to r = 0.761 +/- 0.030 and R^2 = 0.559 +/- 0.047, demonstrating rapid adaptation and early performance saturation. These results support attention-based architectures combined with lightweight adaptation as a practical and scalable alternative to direct EMG sensing for real-world wearable robotic applications.

Reliable evaluation of large language model (LLM)-generated summaries remains an open challenge, particularly across heterogeneous domains and document lengths. We conduct a comprehensive meta-evaluation of 14 automatic summarization metrics and LLM-based evaluators across seven datasets spanning five domains, covering documents from short news articles to long scientific, governmental, and legal texts (2K-27K words) with over 1,500 human-annotated summaries. Our results show that traditional lexical overlap metrics (e.g., ROUGE, BLEU) exhibit weak or negative correlation with human judgments, while task-specific neural metrics and LLM-based evaluators achieve substantially higher alignment, especially for linguistic quality assessment. Leveraging these findings, we propose LLM-ReSum, a self-reflective summarization framework that integrates LLM-based evaluation and generation in a closed feedback loop without model finetuning. Across three domains, LLM-ReSum improves low-quality summaries by up to 33% in factual accuracy and 39% in coverage, with human evaluators preferring refined summaries in 89% of cases. We additionally introduce PatentSumEval, a new human-annotated benchmark for legal document summarization comprising 180 expert-evaluated summaries. All code and datasets will be released in GitHub.

Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TMS), a widely used non-invasive brain stimulation procedure in clinical treatment and neuroscience research. Despite its potential, the development of Robo-TMS remains challenging due to the need for multidisciplinary expertise spanning medical imaging, computer vision, and robotics. This paper presents SlicerRoboTMS, an open-source 3D Slicer extension that provides a unified interaction infrastructure for Robo-TMS research. By leveraging 3D Slicer's medical image computing and visualisation capabilities, the extension supports Magnetic Resonance Imaging (MRI)-based neuronavigation and interfaces with robotic systems through standardised communication protocols and configurable system descriptions. An example integration is presented to demonstrate how SlicerRoboTMS can be incorporated into a representative Robo-TMS workflow. Designed to support diverse hardware configurations and rapid prototyping, SlicerRoboTMS lowers the barrier to entry and facilitates reproducible and extensible research in Robo-TMS. The extension is available at https://github.com/OpenRoboTMS/SlicerRoboTMS.

Although the cultural (mis)alignment of Large Language Models (LLMs) has attracted increasing attention -- often framed in terms of cultural bias -- until recently there has been limited work on the design and development of datasets for cultural assessment. Here, we review existing approaches to such datasets and identify their main limitations. To address these issues, we propose design guidelines for annotators and report on the construction of a dataset built according to these principles. We further present a series of contrastive experiments conducted with this dataset. The results demonstrate that our design yields test sets with greater discriminative power, effectively distinguishing between models specialized for a given culture and those that are not, ceteris paribus.

Large Vision-Language Models (LVLMs) have achieved remarkable progress in visual-textual understanding, yet their reliability is critically undermined by hallucinations, i.e., the generation of factually incorrect or inconsistent responses. While recent studies using steering vectors demonstrated promise in reducing hallucinations, a notable challenge remains: they inadvertently amplify the severity of residual hallucinations. We attribute this to their exclusive focus on the decoding stage, where errors accumulate autoregressively and progressively worsen subsequent hallucinatory outputs. To address this, we propose Prefill-Time Intervention (PTI), a novel steering paradigm that intervenes only once during the prefill stage, enhancing the initial Key-Value (KV) cache before error accumulation occurs. Specifically, PTI is modality-aware, deriving distinct directions for visual and textual representations. This intervention is decoupled to steer keys toward visually-grounded objects and values to filter background noise, correcting hallucination-prone representations at their source. Extensive experiments demonstrate PTI's significant performance in mitigating hallucinations and its generalizability across diverse decoding strategies, LVLMs, and benchmarks. Moreover, PTI is orthogonal to existing decoding-stage methods, enabling plug-and-play integration and further boosting performance. Code is available at: https://github.com/huaiyi66/PTI.

Unified multimodal models (UMMs) integrate visual understanding and generation within a single framework. For text-to-image (T2I) tasks, this unified capability allows UMMs to refine outputs after their initial generation, potentially extending the performance upper bound. Current UMM-based refinement methods primarily follow a refinement-via-editing (RvE) paradigm, where UMMs produce editing instructions to modify misaligned regions while preserving aligned content. However, editing instructions often describe prompt-image misalignment only coarsely, leading to incomplete refinement. Moreover, pixel-level preservation, though necessary for editing, unnecessarily restricts the effective modification space for refinement. To address these limitations, we propose Refinement via Regeneration (RvR), a novel framework that reformulates refinement as conditional image regeneration rather than editing. Instead of relying on editing instructions and enforcing strict content preservation, RvR regenerates images conditioned on the target prompt and the semantic tokens of the initial image, enabling more complete semantic alignment with a larger modification space. Extensive experiments demonstrate the effectiveness of RvR, improving Geneval from 0.78 to 0.91, DPGBench from 84.02 to 87.21, and UniGenBench++ from 61.53 to 77.41.

Online comments play a crucial role in shaping public sentiment and opinion dynamics on social media. However, evaluating their popularity remains challenging, not only because it depends on linguistic quality, originality, and emotional resonance, but also because stylistic preferences vary widely across platforms and user groups, causing the same comment to resonate differently in different communities. In this work, we present HotComment, a multimodal benchmark integrating video and text modalities that comprehensively quantifies popularity from three enhanced aspects: (1) Content Quality, which evaluates semantic similarity with ground-truth human comments and extends quality assessment through four interpretable dimensions; (2) Popularity Prediction, based on trends from models trained on real-world interaction data; and (3) User Behavior Simulation, which models the distribution of platform users and approximates \textbf{engagement scores} through an agent-based framework. Furthermore, we propose StyleCmt, inspired by social ripple effects, where multiple stylistic dimensions align to amplify socially resonant expressions and suppress incongruent ones.

Understanding learners' cognitive and affective states underpins adaptive educational systems and effective teaching. Although research links nonverbal cues to internal states, no framework calibrates them to evidence. We present the Nonverbal Syntax Framework, drawn from a systematic review of 908 studies and 17,043 cue-state mappings (Turaev et al., 2026). The framework addresses three challenges: terminological fragmentation (behaviors described inconsistently), evidence heterogeneity (single observations to replicated findings), and state ambiguity (similar patterns indicating multiple states). Normalization consolidated 5,537 state labels into 2,010 canonical states (63.7%) and 11,521 cues into 6,434 normalized cues (44.2%) across nine behavioral channels. Dual-evidence assessment separately evaluates Component Evidence (coverage of cues and states) and Relationship Evidence (independent studies per cue-state link). 52% of "Very High" relationships rest on one paper, so separation enables calibrated rather than overconfident inference from preliminary findings. The framework's four levels comprise a Cue Vocabulary of 6,434 indicators classified as observable/instrumental; State Clusters linking 2,010 states to indicative cues; State Profiles with multimodal behavioral signatures and actionable specifications; and Discriminative Analysis distinguishing 1,215 confusable state pairs. We identify 480 actionable R1-R4 relationships (three or more independent papers), the replicated core of six decades of research, covering 35.5% of mappings across 47 key learning states and 111 distinct indicators. The remaining 91.5% (9,653 single-paper findings) form exploratory hypotheses for replication. The framework gives researchers an empirical foundation for identifying gaps, practitioners evidence-based tools for state inference, and technologists validated features for multimodal detection.

Real-time automatic speech recognition (ASR) systems face a fundamental trade-off between transcription accuracy and computational efficiency, particularly when deploying large-scale transformer models like Whisper. Existing streaming approaches either sacrifice accuracy through aggressive chunking or incur prohibitive memory costs through unbounded context accumulation. We present WhisperPipe, a novel streaming architecture that achieves bounded memory consumption while maintaining transcription quality through three key innovations a hybrid Voice Activity Detection (VAD) pipeline combining Silero VAD with energy-based filtering to reduce false activations by 34%, a dynamic buffering mechanism with overlapping context windows that prevents information loss at segment boundaries, and an adaptive processing strategy that balances latency and accuracy based on speech characteristics. Evaluated on 2.5 hours of diverse audio data, WhisperPipe demonstrates a median end-to-end latency of 89ms (90th percentile: 142ms) while consuming 48% less peak GPU memory and 80.9% lower average GPU utilization compared to baseline Whisper implementations. The system maintains stable memory usage over extended sessions, with zero growth rate across 150-minute continuous operation. Comparative analysis against related work shows that WhisperPipe achieves competitive accuracy (WER within 2% of offline Whisper) while operating at 3-5x lower latency than existing streaming solutions. The architecture's modular design enables deployment across resource-constrained environments, from edge devices to cloud infrastructure. Our results demonstrate that careful architectural design can reconcile the competing demands of real-time responsiveness and model sophistication in production ASR systems.

We introduce DualFact, a dual-layer, multimodal factuality evaluation framework for procedural video captioning. DualFact separates factual correctness into conceptual facts, capturing abstract semantic roles (e.g., Action, Ingredient, Tool, Location), and contextual facts, capturing their grounded predicate-argument realizations in video. To support complete and role-consistent evaluation, DualFact incorporates implicit argument augmentation (VIA) and contrastive fact sets. We instantiate DualFact in two modes: DualFact-T, which verifies facts against textual evidence, and DualFact-V, which verifies facts against video-grounded visual evidence. Experiments on YouCook3-Fact and CraftBench-Fact show that state-of-the-art multimodal language models produce fluent but often factually incomplete captions, with systematic omissions and role-level inconsistencies. DualFact correlates more strongly with human factuality judgments than standard metrics, particularly for contextual facts, and reveals that caption-only evaluation overestimates hallucinations compared to video-grounded verification. Overall, DualFact offers an interpretable and human-aligned evaluation protocol that highlights persistent challenges in multimodal factual grounding, extending beyond surface-level fluency.

The closure of Perspective API at the end of 2026 discards what has functioned as the de facto standard for automated toxicity measurement in NLP, CSS, and LLM evaluation research. We document the structural dependence that the communities built on this single proprietary tool and discuss how this dependence caused epistemic problems that have affected - and will likely continue to affect - collective research efforts. Perspective's model was periodically updated without versioning or disclosure, its annotation structure reflected a single corporate operationalisation of a contested concept, and its scores were used simultaneously as an evaluation target and an evaluation standard. Its closure leaves behind non-updatable benchmarks, irreproducible results, and ultimately a field at risk of perpetuating these issues by turning to closed-source LLMs. We use Perspective's announced termination as an opportunity to call for an independent, valid, adaptable, and reproducible toxicity and hate speech measurement infrastructure, with the technical and governance requirements outlined in this paper.

We present Marco-MoE, a suite of fully open multilingual sparse Mixture-of-Experts (MoE) models. Marco-MoE features a highly sparse design in which only around 5\% of the total parameters are activated per input token. This extreme sparsity, combined with upcycling from dense models, enables efficient pre-training on 5T tokens. Our models surpass similarly-sized competitors on English and multilingual benchmarks, achieving a best-in-class performance-to-compute ratio. We further post-train these models to create Marco-MoE-\textsc{Instruct} variants, which surpass the performance of competing models possessing $3$--$14\times$ more activated parameters. Our analysis reveals that Marco-MoE learns structured expert activation patterns shared across related languages, while maintaining highly specialized utilization for linguistically isolated ones. We further show that Marco-MoE allows for scalable language expansion without the interference typical of dense models. To support the community, we disclose our full training datasets, recipes, and model weights.

In autonomous driving, camera-radar fusion offers complementary sensing and low deployment cost. Existing methods perform fusion through input mixing, feature map mixing, or query-based feature sampling. We propose a new fusion paradigm, termed heterogeneous query interaction, and present ConFusion, a camera-radar 3D object detector. ConFusion combines image queries, radar queries, and learnable world queries distributed in 3D space to improve query initialization and object coverage. To encourage cross-type interaction among heterogeneous queries, we introduce heterogeneous query mixing (QMix), which performs dedicated cross-type attention after feature sampling to consolidate complementary object evidence. We further propose interactive query swap sampling (QSwap), which improves feature sampling by allowing related queries to exchange informative feature tokens under attention and geometric constraints. Experiments on the nuScenes dataset show that ConFusion achieves state-of-the-art performance, reaching 59.1 mAP and 65.6 NDS on the validation set, and 61.6 mAP and 67.9 NDS on the test set.

Spiking Transformers have shown strong potential for long-range visual modeling through spike-driven self-attention. However, their quadratic token interactions remain fundamentally misaligned with the sparse and event-driven nature of spiking neural computation. To address this limitation, we propose Vision SmolMamba, an energy-efficient spiking state-space architecture that integrates spike-driven dynamics with linear-time selective recurrence. The key idea is a Spike-Guided Spatio-Temporal Token Pruner (SST-TP), which estimates token importance using both spike activation strength and first-spike latency. This mechanism progressively removes redundant tokens while preserving salient spatio-temporal information, enabling efficient scaling with token sparsity. Based on this mechanism, the proposed SmolMamba block incorporates spike events directly into bidirectional state-space recurrence, forming a spiking state-space vision backbone for efficient long-range modeling. Extensive experiments on both static and event-based benchmarks, including ImageNet-1K, CIFAR10/100, CIFAR10-DVS, and DVS128 Gesture, demonstrate that Vision SmolMamba consistently achieves superior accuracy-efficiency trade-offs. In particular, it reduces the estimated energy cost by at least 1.5x compared with prior spiking Transformer baselines and a Spiking Mamba variant while maintaining competitive or improved accuracy. These results demonstrate that combining spike-guided token sparsity with state-space modeling offers a scalable and energy-efficient paradigm for spiking vision systems.

3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed artificial skins, we present a hybrid time-of-flight (ToF) and self-capacitance (SC) sensing skin that demonstrates multi-modal sensing integration, soft compliant coverings for impact absorption and pressure sensing, and a streamlined electrical interface between printed conductive traces and external electronics. We show that combining ToF and SC modalities enables contact detection, scene reconstruction, and pressure-correlated tactile responses with the compliant covering by deploying six artificial skin units with 40 sensing elements over an FR3 robot arm.

Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing coverage; type; and range, to enable avoidant behavior remains unclear. In this work, we present a reinforcement learning framework for whole-body collision avoidance on a humanoid H1-2 robot and use it to characterize how sensor properties shape learned avoidance behavior. Using dodgeball as a benchmark task, we ablate the properties of sensors distributed across the upper body of the robot and find that raw proximity measurements can substitute for explicit object localization provided the sensing range is sufficient and that sparse non-directional proximity signals outpace dense directional alternatives in sample efficiency.

Recurrent Graph Neural Networks (RGNNs) extend standard GNNs by iterating message-passing until some stopping condition is met. Various RGNN models have been proposed in the literature. In this paper, we study three such models: converging RGNNs, where all vertex representations must stabilise; output-converging RGNNs, where only the output classifications must stabilise; and halting RGNNs, where a per-vertex halting classifier determines when to stop. We establish expressiveness relationships between these models: over undirected graphs, converging RGNNs are equally expressive as graded-bisimulation-invariant halting RGNNs, while output-converging RGNNs are at least as expressive. Combined with prior results on halting RGNNs, this shows that, relative to the classifiers expressible in monadic second-order logic (MSO), converging RGNNs express exactly the graded modal $μ$-calculus ($μ$GML), and output-converging RGNNs express at least $μ$GML. These results hold even when restricting to ReLU networks with sum aggregation. The main technical challenge is simulating halting RGNNs by converging ones: without a global halting classifier, vertices may locally decide to halt at different times, causing desynchronisation. We develop a "traffic-light" protocol that enables vertices to coordinate despite this asynchrony. Our results answer an open question from Bollen et al. (2025) and show that the RGNN model of Pflueger et al. (2024) retains full $μ$GML expressiveness even when convergence is guaranteed.

SignSGD compresses each stochastic gradient coordinate to a single bit, offering substantial memory and communication savings, but its 1-bit quantization removes magnitude information and is known to leave a generalization gap relative to well-tuned SGD. We revisit SignSGD from a 1-bit quantization and dithering perspective and contribute three improvements. First, we derive a small-batch convergence rate for SignSGD under unimodal symmetric gradient noise using a signal-to-noise weighted stationarity measure, removing the large-batch assumption of prior analyses. Second, we inject annealed Gaussian noise before the sign operator, which acts as a classical dithering mechanism and probabilistically restores magnitude information lost to hard thresholding. Third, we adapt the SWATS strategy to sign-based updates with a projection-based learning-rate calibration that smoothly transitions from SignSGD to SGD. Single-worker experiments on ResNet-18 isolate optimizer effects from communication aspects: pre-sign dithering surpasses Adam on CIFAR-100, and the calibrated switch reaches 92.18% test accuracy on CIFAR-10, outperforming both pure SGD 91.38% and pure SignSGD with momentum 90.82%.

LLMs deployed for natural-language querying of analytical databases suffer from two intertwined failures - incorrect answers and confident hallucinations - both rooted in the same cause: the model is forced to infer business semantics that the schema does not encode. We test whether supplying those semantics as context closes the gap. We benchmark three frontier LLMs (Claude Opus 4.7, Claude Sonnet 4.6, GPT-5.4) on 100 natural-language questions over the Cleaned Contoso Retail Dataset in ClickHouse, using a paired single-shot protocol. Each model is evaluated twice: once given only the warehouse schema, and once given the schema plus a 4 KB hand-authored markdown document describing the dataset's measures, conventions, and disambiguation rules. Adding the document improves accuracy by +17 to +23 percentage points across all three models. With it, the three models are statistically indistinguishable (67.7-68.7%); without it, they are also indistinguishable (45.5-50.5%). Every cross-cluster comparison is significant at p < 0.01. The presence of the semantic-layer document accounts for essentially all of the significant variance; model choice within tier does not. We interpret this as a structural result: explicit business semantics suppress the dominant class of text-to-SQL errors not by making the model more capable, but by changing what the model is being asked to do.