In this paper, we introduce Exact Flow Linear Attention~(EFLA), an exact-flow formulation of delta-rule linear attention. We show that the delta-rule update can be interpreted as an explicit Euler discretization of an underlying continuous-time system. EFLA replaces this first-order update with the exact closed-form flow. By exploiting the rank-1 structure of the dynamics matrix, both the matrix exponential and the input integral collapse to a simple update that preserves delta-rule linear attention's algebraic structure, parameter count, linear-time complexity, and chunkwise parallelism. This attention mechanism removes the Euler discretization error of the delta-rule dynamics without introducing additional parameters. Experiments on robustness tests, language modeling benchmarks, and the MAD synthetic benchmark show that EFLA improves stability under corrupted and high-energy inputs, reduces perplexity, and achieves stronger downstream performance compared to SSM and Euler-style baselines. These results establish exact-flow integration as a principled and scalable update mechanism for delta-rule linear attention.

We present an end-to-end framework for planning supported by verifiers. An orchestrator receives a human specification written in natural language and converts it into a PDDL (Planning Domain Definition Language) model, where the domain and problem are iteratively refined by sub-modules (agents) to address common planning requirements, such as time constraints and optimality, as well as ambiguities and contradictions that may exist in the human specification. We support two categories of agents: hardcoded, which are informed by logs and error traces and have a pre-defined goal (e.g., fix issues with PDDL syntax, check temporal constraints), and dynamic, which have no predefined goal but adapt to the specific domain and revise the latent planning abstraction. The validated domain and problem are then passed to an external planning engine to generate a plan. The orchestrator and agents are powered by Large Language Models (LLMs) and require no human intervention at any stage of the process. Finally, a module translates the final plan back into natural language to improve human readability while maintaining the correctness of each step. We demonstrate the flexibility and effectiveness of our framework on GPT-\{4o, 5-mini, 5.4\}, and Gemini-\{2.5, 3\}-flash across more than ten domains and tasks, including the Google NaturalPlan benchmark, Planbench, and classic planning problems like Sokoban, Blocksworld and the Tower of Hanoi, where LLMs are known to struggle even with small instances. Our framework can be integrated with any PDDL planning engine and validator (we successfully tested Fast Downward, LPG, POPF, VAL, and uVAL) and represents a significant step toward end-to-end planning aided by LLMs.

Procedural activities are fundamentally driven by object state transitions, yet existing instructional video benchmarks remain action-centric and cannot evaluate whether models reason about how objects evolve toward task completion. In this work, we introduce ProcObject-10K, the first benchmark that jointly evaluates object-centric reasoning and temporal evidence grounding in instructional videos, across both egocentric and exocentric views. It comprises 10,522 open-ended VideoQA pairs grounded in 1,799 video clips, spanning 137 tasks across 9 domains and five reasoning types covering preconditions, state evolution, counterfactuals, mistakes, and readiness. Benchmarking 13 leading MLLMs reveals a substantial answering-grounding gap: models produce plausible answers while failing to localize the supporting evidence (mIoU < 45%), exposing their reliance on linguistic priors rather than fine-grained object dynamics. As a step toward closing this gap, we further provide an object-centric supervised fine-tuning baseline with pseudo object-level supervision and spatial-temporal constraints. Models fine-tuned on ProcObject-10K not only improve on the benchmark itself, but also transfer effectively to other grounded VideoQA and embodied planning tasks. The dataset, annotations, and evaluation toolkit will be publicly released to support future research on object-centric procedural understanding.

Despite significant progress in 3D object detection, point clouds remain challenging due to sparse data, incomplete structures, and limited semantic information. Capturing contextual relationships between distant objects presents additional difficulties. To address these challenges, we propose GraphFusion3D, a unified framework combining multi-modal fusion with advanced feature learning. Our approach introduces the Adaptive Cross-Modal Transformer (ACMT), which adaptively integrates image features into point representations to enrich both geometric and semantic information. For proposal refinement, we introduce the Graph Reasoning Module (GRM), a novel mechanism that models neighborhood relationships to simultaneously capture local geometric structures and global semantic context. The module employs multi-scale graph attention to dynamically weight both spatial proximity and feature similarity between proposals. We further employ a cascade decoder that progressively refines detections through multi-stage predictions. Extensive experiments on SUN RGB-D (70.6% AP$_{25}$ and 51.2% AP$_{50}$) and ScanNetV2 (75.1% AP$_{25}$ and 60.8% AP$_{50}$) demonstrate a substantial performance improvement over existing approaches.

Verified explanations are a principled way to explain the decisions taken by neural networks, which are otherwise black-box in nature. However, these techniques face significant scalability challenges, as they require multiple calls to neural network verifiers, each of them with an exponential worst-case complexity. We present FaVeX, a novel algorithm to compute verified explanations. FaVeX accelerates the computation by dynamically combining batch and sequential processing of input features, and by reusing information from previous queries, both when proving invariances with respect to certain input features, and when searching for feature assignments altering the prediction. Furthermore, we present a novel and hierarchical definition of verified explanations, termed verifieroptimal robust explanations, that explicitly factors the incompleteness of network verifiers within the explanation. Our comprehensive experimental evaluation demonstrates the superior scalability of both FaVeX, and of verifier-optimal robust explanations, which together can produce meaningful formal explanation on networks with hundreds of thousands of non-linear activations.

Large language models (LLMs) have achieved remarkable progress across diverse tasks, yet their internal mechanisms remain largely opaque. In this work, we investigate a fundamental question: to what extent can the original input text be recovered from a single last-token representation in an LLM? To this end, we propose Rep2Text, a novel framework for decoding text from last-token representations. Rep2Text employs a trainable adapter that maps a target model's last-token representation into the token embedding space of a decoding language model, which then autoregressively reconstructs the input text. Experiments across various model combinations (Llama-3.1-8B, Gemma-7B, Mistral-7B-v0.1, Llama-3.2-3B, etc.) show that, on average, roughly half of the tokens in 16-token sequences can be recovered from this compressed representation while preserving strong semantic coherence. Further analysis reveals a clear information bottleneck effect: as sequence length increases, token-level recovery declines, while semantic information remains relatively well preserved. We also find that scaling effects are less pronounced in inversion tasks. Finally, our framework demonstrates robust generalization to out-of-distribution clinical data.

Recent reasoning Large Language Models (LLMs) demonstrate remarkable problem-solving abilities but often generate long thinking traces whose utility is unclear. Our work aims to improve their efficiency, enabling them to reach high performance without overthinking. First, we analyze the entropy of token probabilities in reasoning traces. Across three models, we observe a consistent U-shaped entropy pattern: high entropy on easy problems despite high accuracy, low entropy on problems with medium difficulty, and high entropy on hard problems reflecting uncertainty. Specifically, we notice 22--25\% entropy reduction from easy to medium difficulty regions, suggesting an {overthinking} phenomenon on easy instances. Building on these insights, we introduce \textbf{DiffAdapt}, a lightweight framework that selects Easy/Normal/Hard inference strategies per question based on their difficulty and reasoning trace entropy. Each inference strategy consists of a fixed prompt, temperature and maximum token length. In contrast to existing efficiency optimization methods, our approach does not fine-tune base LLM but a small probe that classifies LLM's final hidden state, allowing inexpensive adaptation. We comprehensively evaluate our method on five models and eight benchmarks. Our method achieves comparable or improved accuracy while reducing token usage by up to 22.4\%, establishing a practical path toward compute-efficient reasoning.

While Model Predictive Control (MPC) delivers strong performance across robotics applications, solving the underlying (batches of) nonlinear trajectory optimization (TO) problems online remains computationally demanding. Existing GPU-accelerated approaches either parallelize single solves, handle large batches at sub-real-time rates, or sacrifice model generality for speed. This leaves a large gap in solver performance for many state-of-the-art MPC applications that require real-time batches of tens to low-hundreds of solves. As such, we present GATO, an open source, GPU-accelerated, batched TO solver co-designed across algorithm, software, and computational hardware to deliver real-time throughput for these moderate batch size regimes. Our approach leverages a combination of block-, warp-, and thread-level parallelism within and across solves for ultra-high performance. We demonstrate the effectiveness of our approach through a combination of: simulated benchmarks showing speedups of 18-21x over CPU baselines and 1.4-16x over GPU baselines as batch size increases; case studies highlighting improved disturbance rejection and convergence behavior; and finally a validation on hardware using an industrial manipulator. We open source GATO to support reproducibility and adoption.

Accurate online inertial parameter estimation is essential for adaptive robotic control, enabling real-time adjustment to payload changes, environmental interactions, and system wear. Traditional methods often struggle to track abrupt parameter shifts or incur high computational costs, limiting their effectiveness in dynamic environments and for computationally constrained robotic systems. We introduce TAG-K, a lightweight extension of the Kaczmarz method that combines greedy randomized row selection for rapid convergence with tail averaging for robustness under noise and inconsistency. This design enables fast, stable parameter adaptation while retaining the low per-iteration complexity inherent to the Kaczmarz framework. We evaluate TAG-K in synthetic benchmarks and quadrotor tracking tasks against RLS, KF, and other Kaczmarz variants. TAG-K achieves 1.5x-1.9x faster solve times on laptop-class CPUs and 4.8x-20.7x faster solve times on embedded microcontrollers. More importantly, these speedups are paired with improved robustness to measurement noise and a 25% reduction in estimation error, leading to nearly 2x better end-to-end tracking performance. Website, documentation, and code available at: https://a2r-lab.org/TAG-K/.

Neural networks are typically optimized with variants of stochastic gradient descent. Under a squared loss, however, the optimal solution to the linear last layer weights is known in closed-form. We propose to leverage this during optimization, treating the last layer as a function of the backbone parameters, and optimizing solely for these parameters. We show this is equivalent to alternating between gradient descent steps on the backbone and closed-form updates on the last layer. We adapt the method for the setting of stochastic gradient descent, by trading off the loss on the current batch against the accumulated information from previous batches. We provide theoretical analyses showing convergence of the method to an optimal solution in the neural tangent kernel regime, as well as quantifying the gains compared to standard SGD in a one-step analysis. Finally, we demonstrate the effectiveness of our approach compared with SGD and Adam on a squared loss in several regression tasks, including neural operators and causal inference.

State-of-the-art attribution methods rely on adversarial sample generation that applies an all-pass filter across the frequency spectrum, discarding fine-grained high-frequency information that is demonstrably important for accurate feature attribution in deep neural networks. By generating adversarial samples that selectively perturb high- and low-frequency components, we can probe which spectral features a model relies on most -- directly translating frequency-domain exploration into attribution signals. Building on this insight, we propose FAMPE (Frequency-Aware Model Parameter Explorer), a novel attribution method that introduces an FFT-based α-weighted perturbation scheme -- separately modulating high- and low-frequency components via an energy-driven spectral cutoff -- and, crucially, integrates this frequency-aware exploration directly into model parameter exploration for attribution, a connection that has not been established in prior work. Unlike prior frequency-aware adversarial approaches that target transferability or imperceptibility, FAMPE's specific formulation is designed and validated exclusively for explainability, translating spectral structure into fine-grained attribution maps without requiring any manual baseline selection. Evaluated on ImageNet across four architectures spanning CNNs and Vision Transformers, at fixed α= 0.1 FAMPE outperforms AttEXplore by 4.25% on Inception-v3 and 12.04% on MaxViT-T, with per-sample oracle selection further revealing that low-frequency-dominated images systematically benefit from high-frequency perturbations -- underscoring the potential of adaptive spectral exploration. Our ablation studies confirm that high-frequency perturbations are disproportionately responsible for attribution precision, while excessive low-frequency noise degrades global structural coherence.

While large language models (LLMs) appear to be increasingly capable of solving compositional tasks, it is an open question whether they do so using compositional mechanisms. In this work, we investigate how feedforward LLMs solve two-hop factual recall tasks, which can be expressed compositionally as $g(f(x))$. We first confirm that modern LLMs continue to suffer from the "compositionality gap", i.e. their ability to compute both $z = f(x)$ and $y = g(z)$ does not entail their ability to compute the composition $y = g(f(x))$. We then decode residual stream representations and identify two processing mechanisms: one which solves tasks $\textit{compositionally}$, computing $f(x)$ along the way to $g(f(x))$, and one which solves them $\textit{directly}$, without any detectable signature of the intermediate variable $f(x)$. Finally, we find that embedding space geometry is strongly related to which mechanism is employed, where the idiomatic mechanism is dominant when tasks are represented by translations from $x$ to $g(f(x))$ in the embedding spaces. We fully release our data and code at: https://github.com/apoorvkh/composing-functions.

We study the problem of zero-shot link prediction on knowledge graphs (KGs), which requires models to generalize to novel entities and novel relations. Knowledge graph foundation models (KGFMs) address this task by enforcing equivariance over both nodes and relations, which enables them to learn structural properties of nodes and relations that transfer to novel KGs with similar structure. However, the conventional notion of deterministic equivariance inherently limits the expressive power of KGFMs, as it prevents them from distinguishing relations that are structurally similar but semantically distinct. To overcome this limitation, we propose to leverage probabilistic node-relation equivariance, which preserves equivariance in distribution while using structured randomness to break symmetries at inference time. Building on this principle, we present Flock, a KGFM that iteratively samples random walks, encodes them into sequences, embeds them with a sequence model, and aggregates node and relation representations through learned pooling. Flock respects probabilistic node-relation equivariance and, crucially, is a universal approximator for isomorphism-invariant link-level functions over KGs. Empirically, Flock perfectly solves our new diagnostic dataset Petals on which current KGFMs fail, and achieves state-of-the-art performance on entity and relation prediction tasks across 54 KGs from diverse domains. Code is available at https://github.com/jw9730/flock.

Neural multivariate regression underpins a wide range of domains, including control, robotics, and finance, yet the geometry of its learned representations remains poorly characterized. While neural collapse has been shown to benefit generalization in classification, we find that analogous collapse in regression consistently degrades performance. To explain this contrast, we analyze regression models through the lens of intrinsic dimension. Across control tasks and synthetic datasets, we estimate the intrinsic dimension of last-layer features (ID_H) and compare it with that of the regression targets (ID_Y). Collapsed models exhibit ID_H < ID_Y, leading to over-compression and poor generalization, whereas non-collapsed models typically maintain ID_H > ID_Y. For the non-collapsed models, performance with respect to ID_H depends on the data quantity and noise levels. From these observations, we identify two regimes (over-compressed and under-compressed) that determine when expanding or reducing feature dimensionality improves performance. Our results provide new geometric insights into neural regression collapse and suggest practical strategies for enhancing generalization.

Search agents powered by Large Language Models (LLMs) have demonstrated significant potential in tackling knowledge-intensive tasks. Reinforcement learning (RL) has emerged as a powerful paradigm for training these agents to perform complex, multi-step reasoning. However, prior RL-based methods often rely on sparse or rule-based rewards, which can lead agents to commit to suboptimal or erroneous reasoning paths without the ability to recover. To address these limitations, we propose ReSeek, a novel self-correcting framework for training search agents. Our framework introduces a self-correction mechanism that empowers the agent to dynamically identify and recover from erroneous search paths during an episode. By invoking a special JUDGE action, the agent can judge the information and re-plan its search strategy. To guide this process, we design a dense, instructive process reward function, which decomposes into a correctness reward for retrieving factual information and a utility reward for finding information genuinely useful for the query. Furthermore, to mitigate the risk of data contamination in existing datasets, we introduce FictionalHot, a new and challenging benchmark with recently curated questions requiring complex reasoning. Being intuitively reasonable and practically simple, extensive experiments show that agents trained with ReSeek significantly outperform SOTA baselines in task success rate and path faithfulness.

Smoothness is a key inductive bias in machine learning and is closely related to generalization. Existing smoothness-inducing methods typically rely either on explicit gradient regularization, which often incurs substantial computational and memory overhead, or on data-mixing strategies, which are less naturally applicable to unsupervised and self-supervised settings. In this work, we propose $\textit{Dual Reconstruction Smoothing}$ (DReS), a nonparametric regularization framework that induces smoothness through a spline-based auxiliary branch with shared model parameters. The method introduces no additional trainable parameters and can be applied to arbitrary submodules, making it suitable for unsupervised, self-supervised, and supervised regimes. We show theoretically that the discrepancy between the target function and its DReS approximation is controlled by higher-order smoothness quantities of the function, establishing the method as an implicit higher-order smoothness regularizer. Empirically, DReS improves representation learning across several self-supervised methods, improves generation quality in generative modeling, and achieves strong performance relative to competitive baselines in supervised learning.

In federated learning (FL), local personalization of models has received significant attention, yet personalized fine-tuning of foundation models remains underexplored. In particular, there is a lack of understanding in the literature on how to personalize foundation models in settings where there exist heterogeneity not only in data, but also in tasks and modalities across the clients. To address this gap, we propose Two-Stage Adaptive Personalization (TAP). In the first stage, TAP leverages mismatched model architectures between clients and the server to selectively replace personalized parameters with global updates, explicitly limiting cross-task and cross-modality interference. In the second stage, TAP conducts post-FL distillation on the global model to recover a beneficial shared structure. By reintroducing generalizable knowledge only after the global model has stabilized, TAP enhances generalization without compromising personalization. In developing our methodology, we introduce the first convergence analysis of federated foundation model training at the server under modality-task pair heterogeneity across clients, and demonstrate the impact of the number of modality-task pairs on model fine-tuning. Through extensive experiments, we demonstrate the effectiveness of TAP across a variety of datasets and tasks in comparison to state-of-the-art baselines. The implementation code is publicly available at https://github.com/lee3296/TAP.

The rapid rise of synthetic media has made deepfake detection a critical challenge for online safety and trust. Progress remains constrained by the scarcity of large, high-quality datasets. Although multimodal large language models (LLMs) exhibit strong reasoning capabilities, their performance on deepfake detection is poor, often producing explanations that are misaligned with visual evidence or hallucinatory. To address this limitation, we introduce a reasoning-annotated dataset for deepfake detection and propose Paragraph-level Relative Policy Optimization (PRPO), a reinforcement learning algorithm that aligns LLM reasoning with image content at the paragraph level. Experiments show that PRPO improves detection accuracy by a wide margin and achieves the highest reasoning score of 4.55/5.0. Ablation studies further demonstrate that PRPO significantly outperforms GRPO under test-time conditions. These results underscore the importance of grounding multimodal reasoning in visual evidence to enable more reliable and interpretable deepfake detection.

The CLIP model has established itself as a cornerstone of large-scale retrieval systems. However, its performance often degrades under distributional shifts such as multilingual, long-form, or multimodal queries. To avoid the prohibitive costs associated with retriever retraining or corpus re-embedding, we propose GRAPE (Grouped Ranking-Aware Policy Optimization Enhancement), a plug-and-play approach that leverages LLM-based query rewriting to bridge these gaps. Unlike existing methods that lack explicit supervision, GRAPE integrates ranking signals into the rewriting LLM via Grouped Relative Policy Optimization (GRPO), ensuring rewritten queries are better aligned with the frozen retriever's latent distribution. Crucially, we identify a score inflation phenomenon in naive similarity-based finetuning - where irrelevant candidates receive indiscriminately high scores - and mitigate it with a novel corpus-relative ranking-based reward. Extensive experiments across multilingual (Flickr30k-CN, CVLUE, XM3600), long-form (Wikipedia), and multimodal (CIRR) benchmarks demonstrate that GRAPE consistently improves performance, achieving an average gain of 4.9% in Recall@10 without any modification to the underlying retriever. The code is available at https://github.com/mogulzhang/GRAPE.

Federated Learning (FL) enables distributed model training but is vulnerable to backdoor attacks, where malicious clients embed attacker-controlled behaviors into the global model. Existing defenses fail against adaptive adversaries. In this paper, we present "Hammer and Anvil", a principled theoretical framework that categorizes backdoors by the deviation, $δ$, of their updates to the mean of the updates. We identify two fundamental defense types: "Type 1 (The Anvil)", comprising outlier detection and robust aggregation effective against large-deviation attacks, and "Type 2 (The Hammer)", consisting of removal-based defenses effective against small-deviation attacks. We demonstrate that defenses of a single type and non-principled combined defenses inherently leave an exploitable gap for adaptive attackers. To bridge this gap, we propose the principled combination of Type 1 and Type 2 defenses. We evaluate our framework against a new, worst-case, full-information adaptive adversary that knows the benign updates, the aggregation algorithm, and its parameters, and yet this adversary fails against our combined defenses. Our empirical evaluation across various datasets and settings shows that single-typed and non-principled combined defenses are easily broken, often by a single malicious client. In contrast, our best combined defense variants, $HA_{Flame}^{CSFT}$, $HA_{Krum}^{CSFT}$, and $HA_{Multi-Metrics}^{CSFT}$, remain undefeated even in the most adversarial settings. Our results provide a principled approach for research on backdoors in federated learning.

The impressive capabilities of Large Language Models (LLMs) raise the possibility that synthetic agents can serve as substitutes for real participants in human-subject research. To evaluate this claim, prior research has largely focused on whether LLM-generated survey responses align with those produced by human respondents whom the LLMs are prompted to represent. In contrast, we address a more fundamental question: Do agents maintain empirical consistency; aligning to human behavioral models when examined under different experimental settings? To this end, we develop a study designed to (a) ask a set of questions which reveals an agent's latent profile and (b) examine agent behavioral consistency in a conversational setting with other agents. This design enables us to explore a set of behavioral hypotheses to assess whether an agent's conversational behavior is consistent with what we would expect from its revealed state. Our findings show significant inconsistencies in LLMs across model families and at differing model sizes. Most importantly, we find that, although agents may generate responses matching those of their human counterparts, they fail to be empirically consistent, representing a critical gap in their capabilities to accurately substitute for real participants in human-subject research.

Hierarchical reinforcement learning (RL) has the potential to enable effective decision-making over long timescales. Existing approaches, while promising, have yet to realize the benefits of large-scale training. In this work, we identify and solve several key challenges in scaling online hierarchical RL to high-throughput environments. We propose Scalable Option Learning (SOL), a highly scalable hierarchical RL algorithm which achieves a ~35x higher throughput compared to existing hierarchical methods. To demonstrate SOL's performance and scalability, we train hierarchical agents using 30 billion frames of experience on the complex game of NetHack, significantly surpassing flat agents and demonstrating positive scaling trends. We also validate SOL on MiniHack and Mujoco environments, showcasing its general applicability. Our code is open sourced at: github.com/facebookresearch/sol.

Equilibrium Propagation (EP) is a biologically inspired local learning rule first proposed for convergent recurrent neural networks (CRNNs), in which synaptic updates depend only on neuron states from two distinct phases. EP estimates gradients that closely align with those computed by Backpropagation Through Time (BPTT) while significantly reducing computational demands, positioning it as a potential candidate for on-chip training in neuromorphic architectures. However, prior studies on EP have been constrained to shallow architectures, as deeper networks suffer from the vanishing gradient problem, leading to convergence difficulties in both energy minimization and gradient computation. To alleviate the vanishing gradient problem in deep EP networks, we propose a novel EP framework that incorporates layer-wise learning signals to provide auxiliary supervision, which enhances the convergence of neuron dynamics. This is the first work to integrate knowledge distillation and local error signals into EP, enabling the training of significantly deeper architectures. Our proposed approach achieves state-of-the-art performance on the CIFAR-10 and CIFAR-100 datasets, showcasing its scalability on deep VGG architectures. These results represent a significant advancement in the scalability of EP, suggesting that intermediate learning signals can extend the practical applicability of EP to deeper architectures.

Human memory is fleeting. As words are processed, the exact wordforms that make up incoming sentences are rapidly lost. Cognitive scientists have long believed that this limitation of memory may, paradoxically, help in learning language - an idea supported by classic connectionist modelling work. The rise of Transformers appears to challenge this idea, as these models can learn language effectively, despite lacking memory limitations or other architectural recency biases. Here, we investigate the hypothesized benefit of fleeting memory for language learning in tightly controlled experiments on transformer language models. Training transformers with and without fleeting memory on a developmentally realistic training set, we find that fleeting memory consistently improves language learning (as quantified by both overall language modelling performance and targeted syntactic evaluation) but, unexpectedly, impairs surprisal-based prediction of human reading times. Interestingly, follow up analyses revealed that this discrepancy - better language modeling, yet worse reading time prediction - could not be accounted for by prior explanations of why better language models sometimes fit human reading time worse. Together, these results support a benefit of memory limitations on neural network language learning - but not on predicting behavior.

Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how Barrier-Rate guided Model Predictive Path Integral (BR-MPPI) control can solve navigation in such challenging environments. BR-MPPI embeds Control Barrier Function (CBF) constraints directly into the path-integral update. By steering the importance-sampling distribution toward collision-free, dynamically feasible trajectories, BR-MPPI enhances the exploration strength of MPPI and improves robustness of resulting trajectories. The method is evaluated in the high-fidelity CarMaker simulator on a 12 [m] tractor-trailer tasked with reverse and forward parking in a parking lot. BR-MPPI computes control inputs in above 100 [Hz] on a single GPU (for scenarios with eight obstacles) and maintains better parking clearance than a standard MPPI baseline and an MPPI with collision cost baseline.

Enteric methane measurement from ruminant livestock faces fundamental trade-offs between accuracy and operational feasibility. Existing methods quantify methane after eructation and atmospheric dilution, limiting temporal resolution and confounding biological signals with environmental variables. We present SCOUT (Smart Cannula-mounted Optical Unit for Trace-methane), the first autonomous system for continuous in-vivo monitoring of ruminal headspace methane concentrations. The system addresses a critical engineering barrier through closed-loop gas recirculation that maintains anaerobic ruminal conditions during persistent headspace sampling. SCOUT was deployed on cannulated Simmental heifers under contrasting dietary treatments. Headspace concentrations were 100 to 1000 times higher than concurrent ambient sniffer readings, providing substantially greater signal resolution for characterizing methane dynamics. High-frequency monitoring revealed behavior-production coupling previously inaccessible, including rapid concentration changes ($14.5 \pm 11.3k$ ppm) associated with postural transitions within 15-minute intervals. Cross-platform comparison with ambient sniffers showed scale-dependent correspondence between production and release measurements, with an optimal correlation (r = -0.564) at 40-minute averaging windows consistent with eructation cycles. These results demonstrate that the rumen headspace contains continuous, biologically interpretable methane signals that SCOUT can reliably access, establishing the measurement infrastructure necessary for developing concentration-to-flux models that would support precision phenotyping, emission proxy calibration, and mitigation strategy evaluation.

Dynamic urban scene modeling is a rapidly evolving area with broad applications. While current approaches leveraging neural radiance fields or Gaussian Splatting have achieved fine-grained reconstruction and high-fidelity novel view synthesis, they still face significant limitations. These often stem from a dependence on pre-calibrated object tracks or difficulties in accurately modeling fast-moving objects from undersampled capture, particularly due to challenges in handling temporal discontinuities. To overcome these issues, we propose a novel video diffusion-enhanced 4D Gaussian Splatting framework. Our key insight is to distill robust, temporally consistent priors from a test-time adapted video diffusion model. To ensure precise pose alignment and effective integration of this denoised content, we introduce two core innovations: a joint timestamp optimization strategy that refines interpolated frame poses, and an uncertainty distillation method that adaptively extracts target content while preserving well-reconstructed regions. Extensive experiments demonstrate that our method significantly enhances dynamic modeling, especially for fast-moving objects, achieving an approximate PSNR gain of 2 dB for novel view synthesis over baseline approaches.

The rapid progress of generative models, such as GANs and diffusion models, has facilitated the creation of highly realistic images, raising growing concerns over their misuse in security-sensitive domains. While existing detectors perform well under known generative settings, they often fail to generalize to unknown generative models, especially when semantic content between real and fake images is closely aligned. In this paper, we revisit the use of CLIP features for AI-generated image detection and uncover a critical limitation: the high-level semantic information embedded in CLIP's visual features hinders effective discrimination. To address this, we propose NS-Net, a novel detection framework that leverages NULL-Space projection to decouple semantic information from CLIP's visual features, followed by contrastive learning to capture intrinsic distributional differences between real and generated images. Furthermore, we design a Patch Selection strategy to preserve fine-grained artifacts by mitigating semantic bias caused by global image structures. Extensive experiments on an open-world benchmark comprising images generated by 40 diverse generative models show that NS-Net outperforms existing state-of-the-art methods, achieving a 7.4\% improvement in detection accuracy, thereby demonstrating strong generalization across both GAN- and diffusion-based image generation techniques.

Sequential computation via autoregressive generation can make difficult tasks learnable, but the generation order of intermediate states strongly affects whether training succeeds. We address the problem of discovering a learning-friendly target order automatically, rather than relying on task-specific design. Our key observation is that learning-friendly orders cause a faster loss drop in the early stage of training. We exploit this by \emph{loss profiling}, which ranks candidate orders by the early-stage loss of a single short run. To handle the factorial candidate space, we wrap loss profiling in a hierarchical global -- local search over block- and within-block-level orderings. On six order-sensitive tasks, the method discovers effective orders up to $L=13$ from random initialization and up to $L=40$ from structured initialization, lifting success rates from about 10\% to near 100\%. On integer multiplication, it rediscovers the reverse-digit order that was reported to be efficient in prior studies. On delay dynamical systems, as a case study of multi-variate recurrences, learnability varies sharply even among valid topological sorts of the dependency graph: loss profiling identifies a learning-friendly one, and the global search even discovers orders surpassing hand-designed candidates.

The loss landscapes of neural networks contain minima and saddle points that may be connected in flat regions or appear in isolation. We identify and characterize a special structure in the loss landscape: channels along which the loss decreases extremely slowly, while the output weights of at least two neurons, $a_i$ and $a_j$, diverge to $\pm$infinity, and their input weight vectors, $\mathbf{w_i}$ and $\mathbf{w_j}$, become equal to each other. At convergence, the two neurons implement a gated linear unit: $a_iσ(\mathbf{w_i} \cdot \mathbf{x}) + a_jσ(\mathbf{w_j} \cdot \mathbf{x}) \rightarrow σ(\mathbf{w} \cdot \mathbf{x}) + (\mathbf{v} \cdot \mathbf{x}) σ'(\mathbf{w} \cdot \mathbf{x})$. Geometrically, these channels to infinity are asymptotically parallel to symmetry-induced lines of critical points. Gradient flow solvers, and related optimization methods like SGD or ADAM, reach the channels with high probability in diverse regression settings, but without careful inspection they look like flat local minima with finite parameter values. Our characterization provides a comprehensive picture of these quasi-flat regions in terms of gradient dynamics, geometry, and functional interpretation. The emergence of gated linear units at the end of the channels highlights a surprising aspect of the computational capabilities of fully connected layers.