We present a framework for the simultaneous symbolic recovery of a function and its antiderivative from data. The framework rests on three ideas. First, a derivative algebra: the observation that the product rule $\frac{d}{dx}[f \cdot g] = f'g + fg'$ and the chain rule, applied to a seed set of elementary functions, generate a self-expanding system of function-derivative pairs -- a living library that grows each time a new function is discovered. Second, two complementary primitives -- EML$\,(e^u - \ln v)$, which is theoretically complete for all elementary functions, and SOL$\,(\sin u - \cos v)$, introduced here, which makes trigonometric atoms available at depth~1 instead of depth~$\sim$8 -- that seed the library with core atoms cheaply. Third, additive atomic forests: finite sums of primitive trees, optionally composed via multiplicative nodes, whose derivatives are fitted to data by continuous optimisation or by exhaustive search over the library. Because differentiation of each atom is determined by construction, the forest simultaneously encodes a symbolic expression $F$ and its derivative $F'$; no symbolic integration step is required. The library is not a fixed object: it self-constructs from a small seed set by recursive application of the product rule, chain rule, and the two primitives, and it can grow as newly discovered functions are folded back in. The larger the library, the richer the expressible class of candidate functions. We give conditional completeness, additive-depth, and analytic simultaneous-recovery results for the framework. Empirically, in our reported runs on 17 classification benchmarks, sparse atom combinations match or exceed XGBoost on 13 datasets while producing interpretable formulas.

Unified multimodal understanding and generation models enable richer human-AI interaction. Yet jointly customizing a character's persona, dialogue style, and visual identity while maintaining output consistency across modalities remains largely unexplored. To mitigate this gap, we introduce a new task, Customized Multimodal Role-Play (CMRP). We construct the RoleScape-20 dataset comprising 20 characters, including training and evaluation data that cover persona, stylistic descriptions, visual/expressive cues, and text-image interactions. Building on a unified model, we devise UniCharacter, a two-stage training framework containing Unified Supervised Finetuning (Unified-SFT) and character-specific group relative policy optimization (Character-GRPO). Given only 10 images plus corresponding interaction examples, the model acquires the target character and exhibits coherent persona, style, and visual identity in both generated text and images. This process takes about 100 GPU hours. Experiments on the RoleScape-20 dataset show that the proposed method substantially outperforms prior approaches. Ablation studies further validate the effectiveness of our cross-modal consistency design and few-shot customization strategy. We argue that CMRP, coupled with unified modeling, provides a basis for next-generation characterful and immersive interactive agents.

Gene Regulatory Network (GRN) inference is essential for understanding complex cellular mechanisms, rendered tractable through single-cell transcriptomic data. With the emergence of single-cell Foundation Models (scFMs), enhanced transcriptomic encoding is widely expected to revolutionize GRN inference. However, we observe that their performance remains far from satisfactory. The primary reason is that the standard reconstruction-based pre-training objectives often fail to explicitly capture latent regulatory signals. To bridge this gap, we first introduce a GRN generalization benchmark designed to evaluate regulatory predictions on unseen genes and datasets, which relies on the zero-shot capabilities of scFMs and is inherently challenging for traditional methods. Furthermore, to unlock the regulatory knowledge within the foundation models, we propose two novel methods, Virtual Value Perturbation and Gradient Trajectory, to distill implicit regulatory information from scFMs into highly generalizable inter-gene features. Extensive experiments demonstrate that our approach significantly outperforms existing methods, establishing a new paradigm for leveraging the potential of scFMs in universal GRN inference.

Tian (2025) proves a repulsion theorem (Theorem 6) for the matrix $ B = (\widetilde{F}^\top \widetilde{F} + ηI)^{-1} $ during the interactive feature-learning stage of grokking: similar features have negative off-diagonal entries $ B_{j\ell} $, producing an effective repulsive force that drives them apart. However, the theorem does not specify when this mechanism becomes empirically observable, nor whether it leaves a measurable spectral signature in the parameter updates. We test this directly on Tian's modular addition setup ($ M = 71 $, $ K = 2048 $, MSE loss) and observe a clear structure-mechanism dissociation. The predicted sign rule holds robustly on the top-200 most-similar feature pairs across activations (empirical sign-match rising from 0.865 to 0.985 on $ σ= x^2 $ across 5 seeds, and saturating at 1.000 on $ σ= \operatorname{ReLU} $). However, the spectral signature in the parameter updates is strongly activation-dependent. With $ σ= x^2 $, a simple slope detector on the rolling eigengap $ σ_2 / σ_3 $ of $ ΔW $ fires in 15/15 grokking seeds at epoch 174 (IQR [173,174]) and in 0/15 non-grokking controls, with 229$ \times $ late-stage magnitude separation; the spectrum is rank-2. In contrast, with $ σ= \operatorname{ReLU} $, the detector never fires and the spectrum remains effectively rank-1. This dissociation aligns with Tian's Theorem 5 distinction between focused (power-law) and spreading (ReLU) memorization: while the sign structure of $ B $ depends only on $ \widetilde{F}^\top \widetilde{F} $, how feature repulsion translates into weight updates critically depends on the activation derivative $ σ' $.

We analyse three KV cache quantization schemes under a fair bit budget: \textbf{KV} (scalar MSE baseline), \textbf{KQV} (WHT + MSE on $K$; WHT + MSE + QJL on $V$), and \textbf{QKQV} (WHT + MSE + QJL on both). Starting from the Beta distribution on the hypersphere, we trace how QJL on $K$ inflates inner product variance by $π/2$, which softmax amplifies nonlinearly via Jensen's inequality, and we present statistical inference and information metrics to highlight practical differences. Three empirical findings emerge. (1)~At $n=4$ (the practically dominant budget), KQV wins on every measure -- KL divergence, geometric $K$ error, and 6D distance -- across all distributions and ranks tested. (2)~The K--V asymmetry is unconditional: QKQV is consistently worse than KQV in KL divergence at every budget and distribution. (3)~A budget-dependent crossover exists: QKQV achieves better geometric $K$ reconstruction at $n \in \{2,3,5\}$, KQV at $n \in \{4,6\}$, invariant to rank and tail weight -- an open rate-distortion problem. $\mathrm{KL}(p_{\mathrm{ref}} \| p_{\mathrm{quant}})$, K-only by construction, bridges K direction error to routing corruption and output collapse. We present a sufficient condition when the Jensen mechanism amplifies superlinearly through the softmax. At $n \in \{2,3,5\}$, QKQV wins geometrically because this assumption does not bind. At $n=4$, elevated K error and KL divergence for QKQV strongly suggest the Jensen mechanism is the operative cause of the crossover, providing a new perspective and explanation.

Accurate predictions of smallholder maize yields across national boundaries are critical for food security planning in sub-Saharan Africa, yet most published benchmarks report within-country performance that overstates true generalisability. This paper evaluates whether geospatial foundation model embeddings, specifically Prithvi-EO-1.0-100M and ViT-Base, outperform traditional Sentinel-2 spectral features under a Leave-One-Country-Out cross-validation scheme on 6,404 maize field observations from five African countries. The results show a clear generalisability gap: within-country random cross-validation yields moderate R^2 values, but all feature sets perform poorly under cross-country testing, with universally negative R^2. Frozen Prithvi-EO embeddings provide no meaningful advantage over engineered spectral features for cross-country prediction in this setting. The paper argues that the main limitation is a shift in yield distribution between countries rather than representation quality and releases a reproducible negative benchmark for future work.

The widespread availability of complex time series data in various domains such as environmental science, epidemiology, and economics demands robust causal discovery methods that can identify intricate contemporaneous and lagged relationships in non-stationary, nonlinear, and noisy settings. Existing constraint-based methods often rely heavily on conditional independence tests that degrade for limited data samples and complex distributions, while score-based methods impose strong statistical assumptions. Recent methods address special cases such as change point detection or distribution shifts, but struggle to provide a unified solution. We propose the Transformer Integrated Temporal Causal Discovery (TTCD) Framework, a novel end-to-end approach that learns contemporaneous and lagged causal relations from non-stationary time series. TTCD introduces a Non-Stationary Feature Learner integrating temporal and frequency-domain attention with dynamic non-stationarity profiling, and a custom Causal Structure Learner. A key innovation is reconstruction-guided causal signal distillation, to distill essential causal signals through the reconstruction process of the transformer decoder, which mitigates noise and spurious correlations while preserving meaningful dependencies. The Causal Structure Learner operates on distilled reconstructed signals to infer the underlying causal graph without restrictive assumptions on noise distributions or data generation processes. Experiments on synthetic, benchmark, and real world datasets show that TTCD consistently outperforms state-of-the-art baselines in both accuracy and consistency with domain knowledge, demonstrating the approach's effectiveness for causal discovery in challenging real world contexts.

Low-Rank Adaptation (LoRA) has become the standard for fine-tuning large pre-trained models at reduced computational cost. However, its low-rank point-estimate updates limit expressiveness, leave a persistent gap relative to full fine-tuning accuracy, and provide no built-in uncertainty quantification, limiting its applicability in settings where reliability matters as much as accuracy. We introduce BaLoRA, a Bayesian extension of LoRA with a novel input-adaptive Bayesian parameterization of LoRA matrices that adds minimal parameters and compute. Surprisingly, not only does the Bayesian extension yield well-calibrated uncertainty estimates, but the adaptive noise injection underlying our approach also significantly improves prediction accuracy, narrowing the gap with full fine-tuning across both natural language reasoning and vision tasks. When applied to band gap prediction in metal-organic frameworks, BaLoRA produces zero-shot test-time uncertainty estimates that correlate more strongly with model error than a trained ensemble of LoRA models, and improve monotonically with compute without sacrificing accuracy.

Inertial microfluidic devices (IMDs) offer low-cost, high-throughput alternative techniques for many traditional particle- (or cell-) manipulation tasks, but simulating them requires being able to predict particle migration, and thus particle lift forces, under a variety of possible channel geometries. Recent work has demonstrated that machine learning models can be used to drastically speed up these numerical simulations, but doing so required training individual models for every unique channel cross-section type (e.g., rectangular, triangular) -- shifting the burden from the simulation step to the training step. In this paper, we develop a novel approach for predicting particle lift forces that contains no explicit geometric parameters. We train a neural network model using a new parameter set and show that while it performs comparably to existing models on channel geometries in the training set, it is able to generalize to unseen channel geometries far more effectively. We show that the lift force model developed herein can be easily transferred to particle tracing simulation software, where it is capable of predicting particle migration patterns consistent with the literature across a variety of channel designs.

This paper explores the application of the Soft Actor-Critic (SAC) algorithm within a Distributional Reinforcement Learning setting and introduces an implementation of such algorithm named Cramér-based Distributional Soft Actor-Critic (C-DSAC). The novel approach employs distributional reinforcement learning to represent state-action values, and minimizes the squared Cramér distance for learning the distribution. Empirical results across various robotic benchmarks indicate that our algorithm surpasses the performance of baseline SAC and contemporary distributional methods, with the performance advantage becoming increasingly pronounced in high-complexity environments. To explain the efficiency of the new approach, we conduct an analysis showing that its superior performance is partly due to \textit{confidence-driven} Q-value updates: High-variance target distributions (low confidence in target) lead to more conservative model updates, thereby attenuating the impact of overestimated values. This work deepens the understanding of distributional reinforcement learning, offering insights into the algorithmic mechanisms governing convergence and value estimation.

We propose PathBoost, a gradient tree boosting method for graph-level classification and regression that learns discriminative path-based features directly from the input graph structure. Building on a previous work, which was tailored to a specific chemistry application, PathBoost introduces three key extensions: (i) adaptation to binary classification through gradient boosting with a logistic loss, (ii) incorporation of multiple node and edge attributes into the path feature space via a prefix-based decomposition, and (iii) automatic anchor node selection based on categorical attribute diversity, eliminating the need for the user to specify the starting point of the considered path features. We compared PathBoost to graph neural networks and graph kernel approaches on several benchmark datasets, obtaining better results in half of them, and comparable results in the rest. PathBoost shows better performances on graphs with larger average node counts. Overall, the results demonstrate that path-based boosting methods can be competitive with more complex black-box approaches.

Kirigami is an increasingly useful fabrication method to produce shape-programmable metamaterial structures. However, inverse design remains difficult because deployment is nonlinear, and feasible cut layouts must satisfy discrete compatibility rules, avoid overlap, and map one target shape to valid designs. We present RL-Kirigami, an inverse design framework that combines optimal-transport conditional flow matching (OT-CFM) with reinforcement learning to generate compatible ratio fields for compact reconfigurable parallelogram quad kirigami. A marching decoder enforces global geometric compatibility, and Group Relative Policy Optimization (GRPO) aligns the generator with nondifferentiable rewards for silhouette matching, feasibility, and ratio-field regularity. Across procedurally generated target shape instances, a single sample from the pretrained OT-CFM prior reached $94.2%$ sIoU and outperformed solver baselines while reducing forward simulator evaluations from hundreds to 1. GRPO improved accuracy to $94.91%$ sIoU and, with regularity included, reduced $\mathrm{TV}(\mathbf{x})$ from 0.95 to 0.81 while maintaining $94.83%$ sIoU. Generated layouts were exported to DXF and laser-cut in $50~μ\mathrm{m}$ polymeric sheets to produce deployable prototypes in $8.0 \pm 1.0$ minutes per part. These results support a manufacturing-aware inverse design workflow for deployable kirigami metamaterials under hard geometric feasibility constraints.

Reinforcement learning has become the standard for improving reasoning in large language models, yet evidence increasingly suggests that RL does not teach new strategies; it redistributes probability mass over solutions the base model already contains. In this work, we ask: if RL merely steers the model toward paths it already knows, is the RL optimization loop itself necessary? Through token-level analysis across multiple model families and RL algorithms, we find that RL's beneficial footprint is a sparse, predictable correction concentrated at high-entropy decision points where the model is uncertain which branch to take. Only 1--3\% of token positions are affected, the promoted token always lies within the base model's top-5 alternatives, and targeted corrections at those few positions causally recover a large fraction of RL's accuracy gain, while random corrections fail. The base model's own entropy identifies these positions without any RL-trained model, and the entire correction is low-dimensional, representable in a tiny fraction of model parameters. These findings reframe reasoning improvement as sparse policy selection, not capability acquisition. We translate this insight into ReasonMaxxer, a minimal RL-free method that applies contrastive loss only at entropy-gated decision points, using a few hundred base-model rollouts and no online generation. Across three model families, six scales, and six math reasoning benchmarks, ReasonMaxxer matches or exceeds full RL performance while requiring only tens of problems and minutes of single-GPU training, a reduction in training cost of roughly three orders of magnitude.

LLM watermarks must be detectable without compromising text quality, yet most existing schemes bias the next-token distribution and pay for detection with measurable quality loss. We present SLAM (Structural Linguistic Activation Marking), a novel white-box watermarking scheme that sidesteps this cost by writing the mark into structural geometry rather than token frequencies: sparse autoencoders identify residual-stream directions encoding linguistic structure (e.g., voice, tense, clause order), and we causally steer those directions at generation time, leaving lexical sampling and semantics unconstrained. On Gemma-2 2B and 9B, SLAM achieves 100% detection accuracy with a quality cost of only 1-2 reward points - compared to 7.5-11.5 for KGW, EWD, and Unigram - with naturalness and diversity preserved at near-unwatermarked levels across both models. The trade-off is a complementary robustness profile: SLAM resists word-level edits but is vulnerable to paraphrase that restructures syntax (at a quality cost), the converse of token-distribution methods.

Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for autonomous racing offer a practical path to hardware validation, but often suffer from limited modularity, high integration complexity, or restricted extensibility. This paper presents TEACAR, a 1/14- to 1/16-scale autonomous driving platform designed with modular mechanical architecture, hardware abstraction, and ROS 2-based software. The system adopts a four-layer deck structure that physically decouples sensing, computation, actuation, and power subsystems, improving structural rigidity while simplifying reconfiguration. We constructed and comprehensively evaluated the prototype of TEACAR. Its mechanical stability, structural characteristics, and software performance were quantified based on three CNN-based steering controllers. Inference latency, power consumption, and system operating time were measured to evaluate computational capability and robustness. Our experiments demonstrated that TEACAR offers a scalable, modular, and cost-effective testbed for ITS research, education, and development. Our project repository is available on GitHub.

Chain-of-Thought (CoT) reasoning has become a powerful driver of trajectory prediction in VLA-based autonomous driving, yet its autoregressive nature imposes a latency cost that is prohibitive for real-time deployment. Latent CoT methods attempt to close this gap by compressing reasoning into continuous hidden states, but consistently fall short of their explicit counterparts. We suggest that this is due to purely linguistic latent representations compressing a symbolic abstraction of the world, rather than the causal dynamics that actually govern driving. Thus, we present OneVL (One-step latent reasoning and planning with Vision-Language explanations), a unified VLA and World Model framework that routes reasoning through compact latent tokens supervised by dual auxiliary decoders. Alongside a language decoder that reconstructs text CoT, we introduce a visual world model decoder that predicts future-frame tokens, forcing the latent space to internalize the causal dynamics of road geometry, agent motion, and environmental change. A three-stage training pipeline progressively aligns these latents with trajectory, language, and visual objectives, ensuring stable joint optimization. In inference, the auxiliary decoders are discarded, and all latent tokens are prefilled in a single parallel pass, matching the speed of answer-only prediction. Across four benchmarks, OneVL becomes the first latent CoT method to surpass explicit CoT, delivering superior accuracy at answer-only latency. These results show that with world model supervision, latent CoT produces more generalizable representations than verbose token-by-token reasoning. Code has been open-sourced to the community. Project Page: https://xiaomi-embodied-intelligence.github.io/OneVL

Vector Symbolic Architectures (VSAs) provide a well-defined algebraic framework for compositional representations in hyperdimensional spaces. We introduce HyperSpace, an open-source framework that decomposes VSA systems into modular operators for encoding, binding, bundling, similarity, cleanup, and regression. Using HyperSpace, we analyze and benchmark two representative VSA backends: Holographic Reduced Representations (HRR) and Fourier Holographic Reduced Representations (FHRR). Although FHRR provides lower theoretical complexity for individual operations, HyperSpaces modularity reveals that similarity and cleanup dominate runtime in spatial domains. As a result, HRR and FHRR exhibit comparable end-to-end performance. Differences in memory footprint introduce additional deployment trade-offs where HRR requires approximately half the memory of FHRR vectors. By enabling modular, system-level evaluation, HyperSpace reveals practical trade-offs in VSA pipelines that are not apparent from theoretical or operator-level comparisons alone.

EEG foundation models (EFMs) achieve strong cross-subject and cross-task generalization through large-scale pretraining and downstream fine-tuning. Through empirical analysis, we observe that (i) task-adapted EFMs provide strong decoding performance but incur substantial overhead when retained as inference backbones, making knowledge distillation a natural route for optimizing compact students; and (ii) direct distillation from a fixed teacher representation underutilizes EFM knowledge, as task-discriminative information is distributed across intermediate layers rather than concentrated in the final layer. These observations motivate DLink (Distilling Layer-wise and Dominant Knowledge), a spectrally guided distillation framework with input-conditioned layer routing for transferring EFM knowledge into compact students. DLink uses a lightweight router to aggregate teacher layers for each input, and aligns magnitude and phase spectra to mitigate compression-induced spectral distortion in learned representations. The routed teacher knowledge is internalized by a project-then-compress student; the teacher and router are used only during training. Experiments on four EEG benchmarks show that DLink improves matched compact students and remains competitive with lightweight baselines, narrowing the gap to fine-tuned EFMs while substantially reducing parameters, FLOPs, and CPU-only inference latency.

Dynamical systems describe how a physical system evolves over time. Physical processes can evolve faster or slower in different environmental conditions. We use time-warping as rescaling the time in a model of a physical system. This thesis proposes a new method of transfer learning for Recurrent Neural Networks (RNNs) based on time-warping. We prove that for a class of linear, first-order differential equations known as time lag models, an LSTM can approximate these systems with any desired accuracy, and the model can be time-warped while maintaining the approximation accuracy. The Time-Warping method of transfer learning is then evaluated in an applied problem on predicting fuel moisture content (FMC), an important concept in wildfire modeling. An RNN with LSTM recurrent layers is pretrained on fuels with a characteristic time scale of 10 hours, where there are large quantities of data available for training. The RNN is then modified with transfer learning to generate predictions for fuels with characteristic time scales of 1 hour, 100 hours, and 1000 hours. The Time-Warping method is evaluated against several known methods of transfer learning. The Time-Warping method produces predictions with an accuracy level comparable to the established methods, despite modifying only a small fraction of the parameters that the other methods modify.

Item Price Elasticity is used to quantify the responsiveness of consumer demand to changes in item prices, enabling businesses to create pricing strategies and optimize revenue management. Sectors such as store retail, e-commerce, and consumer goods rely on elasticity information derived from historical sales and pricing data. This elasticity provides an understanding of purchasing behavior across different items, consumer discount sensitivity, and demand elastic departments. This information is particularly valuable for competitive markets and resource-constrained businesses decision making which aims to maximize profitability and market share. Price elasticity also uncovers historical shifts in consumer responsiveness over time. In this paper, we model item-level price elasticity using large-scale transactional datasets, by proposing a novel elasticity estimation framework which has the capability to work in an absence of treatment control setting. We test this framework by using Machine learning based algorithms listed below, including our newly proposed Monodense deep neural network. (1) Monodense-DL network -- Hybrid neural network architecture combining embedding, dense, and Monodense layers (2) DML -- Double machine learning setting using regression models (3) LGBM -- Light Gradient Boosting Model We evaluate our model on multi-category retail data spanning millions of transactions using a back testing framework. Experimental results demonstrate the superiority of our proposed neural network model within the framework compared to other prevalent ML based methods listed above.

Predicting long-term bone remodeling after mandibular reconstruction would be of great clinical benefit, yet standard generative models struggle to maintain trajectory-level consistency and anatomical fidelity over long horizons. We introduce OsteoFlow, a flow-based framework predicting Year-1 post-operative CT scans from Day-5 scans. Our core contribution is Lyapunov-guided trajectory distillation: Unlike one-step distillation, our method distills a continuous trajectory over transport time from a registration-derived stationary velocity field teacher. Combined with a resection-aware image loss, this enforces geometric correspondence without sacrificing generative capacity. Evaluated on 344 paired regions of interest, OsteoFlow significantly outperforms state of-the-art baselines, reducing mean absolute error in the surgical resection zone by ~20%. This highlights the promise of trajectory distillation for long-term prediction. Code is available on GitHub: OsteoFlow.

Bayesian change-point and segmentation models provide uncertainty-aware piecewise-constant representations of ordered data, but exact inference is often limited to narrow likelihood classes, single sequences, or index-uniform designs. We present \texttt{BayesBreak}, a modular offline Bayesian segmentation framework that separates local block scoring from global inference: each candidate block supplies a marginal likelihood and any needed moment numerators, while a dynamic program combines these scores to compute posteriors over segment counts, boundaries, and latent signals. For weighted exponential-family likelihoods with conjugate priors, block evidences and posterior moments are available in closed form from cumulative sufficient statistics, enabling exact sum-product inference for $p(y\mid k)$, $p(k\mid y)$, boundary marginals, and Bayes regression curves. We distinguish these summaries from the \emph{joint} MAP segmentation, recovered by a separate max-sum recursion. BayesBreak supports design-aware partition priors for irregular observations, exact pooling across replicates with shared boundaries, and latent-template mixtures with exact EM updates. For non-conjugate GLM blocks, the same DP layer can use deterministic local approximations such as Laplace, variational methods, EP, or quadrature. We prove a posterior-odds stability bound: uniform per-block log-evidence error $\varepsilon$ perturbs $k$-odds and boundary-odds by at most $(k+k')\varepsilon$ and $2k\varepsilon$. Validation includes synthetic recovery, calibration, and scaling experiments, plus four real-data illustrations: well-log geology, array-CGH copy number, equity-return volatility, and CpG-atlas methylation.

Test-time scaling evaluates reasoning LLMs by sampling multiple outputs per prompt, but ranking models in this regime remains underexplored. We formalize dense benchmark ranking under test-time scaling and introduce Scorio, a library that implements statistical ranking methods such as paired-comparison models, item response theory (IRT) models, voting rules, and graph- and spectral-based methods. Across $20$ reasoning models on four Olympiad-style math benchmarks (AIME'24, AIME'25, HMMT'25, and BrUMO'25; up to $N=80$ trials), most full-trial rankings agree closely with the Bayesian gold standard $\mathrm{Bayes}_{\mathcal{U}}@80$ (mean Kendall's $τ_b = 0.93$--$0.95$), and $19$--$34$ methods recover exactly the same ordering. In the single-trial regime, the best methods reach $τ_b \approx 0.86$. Using greedy decoding as an empirical prior ($\mathrm{Bayes}_{\mathbf{R}_0}@N$) reduces variance at $N=1$ by $16$--$52\%$, but can bias rankings when greedy and stochastic sampling disagree. These results identify reliable ranking methods for both high- and low-budget test-time scaling. We release Scorio as an open-source library at https://github.com/mohsenhariri/scorio.

Recent work shows that flow matching can be effective for scalar Q-value function estimation in reinforcement learning (RL), but it remains unclear why or how this approach differs from standard critics. Contrary to conventional belief, we show that their success is not explained by distributional RL, as explicitly modeling return distributions can reduce performance. Instead, we argue that the use of integration for reading out values and dense velocity supervision at each step of this integration process for training improves TD learning via two mechanisms. First, it enables robust value prediction through \emph{test-time recovery}, whereby iterative computation through integration dampens errors in early value estimates as more integration steps are performed. This recovery mechanism is absent in monolithic critics. Second, supervising the velocity field at multiple interpolant values induces more \emph{plastic} feature learning within the network, allowing critics to represent non-stationary TD targets without discarding previously learned features or overfitting to individual TD targets encountered during training. We formalize these effects and validate them empirically, showing that flow-matching critics substantially outperform monolithic critics (2$\times$ in final performance and around 5$\times$ in sample efficiency) in settings where loss of plasticity poses a challenge e.g., in high-UTD online RL problems, while remaining stable during learning.

Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used for simultaneous localization and mapping. In soft and continuum robotics, however, these high-resolution sensors are too large for practical use. This, combined with the deformable nature of such robots, has resulted in continuum robot (CR) localization and mapping in unstructured environments being a largely untouched area. In this work, we present a localization technique for CRs that relies on small, low-resolution ToF sensors distributed along the length of the robot. By fusing measurement information with a robot shape prior, we show that accurate localization is possible despite each sensor experiencing frequent degenerate scenarios. We achieve an average localization error of 2.5cm in position and 7.2° in rotation across all experimental conditions with a 53cm long robot. We demonstrate that the results are repeated across multiple environments, in both simulation and real-world experiments, and study robustness in the estimation to deviations in the prior map.

Synthetic tabular data has gained attention for enabling privacy-preserving data sharing. While substantial progress has been made in single-table synthetic generation where data are modeled at the row or item level, most real-world data exists in relational databases where a user's information spans items across multiple interconnected tables. Recent advances in synthetic relational data generation have emerged to address this complexity, yet release of these data introduce unique privacy challenges as information can be leaked not only from individual items but also through the relationships that comprise a complete user entity. To address this, we propose a novel Membership Inference Attack (MIA) setting to audit the empirical user-level privacy of synthetic relational data and show that single-table MIAs that audit at an item level underestimate user-level privacy leakage. We then propose Multi-Table Membership Inference Attack (MT-MIA), a novel adversarial attack under a No-Box threat model that targets learned representations of user entities via Heterogeneous Graph Neural Networks. By incorporating all connected items for a user, MT-MIA better targets user-level vulnerabilities induced by inter-tabular relationships than existing attacks. We evaluate MT-MIA on a range of real-world multi-table datasets and demonstrate that this vulnerability exists in state-of-the-art relational synthetic data generators, employing MT-MIA to additionally study where this leakage occurs.

Post-training quantization (PTQ) enables efficient deployment of large language models by mapping pretrained weights to low-bit formats without retraining, typically using a small calibration set to minimize a layer-wise calibration objective. However, this sequential procedure induces a mismatch: errors from earlier quantized layers alter the inputs received by later layers, causing the activations to deviate from those of the full-precision model. Recent approaches introduce mismatch-aware calibration objectives to compensate for this effect, but leave open how much of the observed mismatch should shift each layer's calibration target. Fully applying this correction can overfit limited calibration data, while scaling the mismatch correction with a fixed coefficient ignores varying reliability of mismatch estimates across layers. To address these limitations, we propose CoreQ, a learning-free PTQ framework that applies a closed-form coefficient for mismatch correction derived from a geometric decomposition of the mismatch. The resulting coefficient adapts the correction across layers, reduces overfitting to finite calibration data, and requires no hyperparameter tuning. Given the corrected target, CoreQ minimizes the induced triangular least-squares objective with an efficient greedy successive-rounding solver and a bounded beam-search extension, K-CoreQ, that trades modest additional compute for improved performance. Across multiple LLM families, scales, bit-widths, and quantization settings, CoreQ improves perplexity and downstream accuracy over strong PTQ baselines.

Large Language Models (LLMs) have recently demonstrated remarkable performance in generating high-quality tabular synthetic data. In practice, two primary approaches have emerged for adapting LLMs to tabular data generation: (i) fine-tuning smaller models directly on tabular datasets, and (ii) prompting larger models with examples provided in context. In this work, we show that popular implementations from both regimes exhibit a tendency to compromise privacy by reproducing memorized patterns of numeric digits from their training data. To systematically analyze this risk, we introduce a simple No-box Membership Inference Attack (MIA) called LevAtt that assumes adversarial access to only the generated synthetic data and targets the string sequences of numeric digits in synthetic observations. Using this approach, our attack exposes substantial privacy leakage across a wide range of models and datasets, and in some cases, is even a perfect membership classifier on state-of-the-art models. Our findings highlight a unique privacy vulnerability of LLM-based synthetic data generation and the need for effective defenses. To this end, we propose two methods, including a novel sampling strategy that strategically perturbs digits during generation. Our evaluation demonstrates that this approach can defeat these attacks with minimal loss of fidelity and utility of the synthetic data.

We present Prophecy, a tool for automatically inferring formal properties of feed-forward neural networks. Prophecy is based on the observation that a significant part of the logic of feed-forward networks is captured in the activation status of the neurons at inner layers. Prophecy works by extracting rules based on neuron activations (values or on/off statuses) as preconditions that imply certain desirable output property, e.g., the prediction being a certain class. These rules represent network properties captured in the hidden layers that imply the desired output behavior. We present the architecture of the tool, highlight its features and demonstrate its usage on different types of models and output properties. We present an overview of its applications, such as inferring and proving formal explanations of neural networks, compositional verification, run-time monitoring, repair, and others. We also show novel results highlighting its potential in the era of large vision-language models.

We study online convex optimisation with $\ell_q$-Lipschitz losses, $\ell_p$-regularised FTRL, and randomised two-point finite-difference gradient estimators based on cone-measure sampling from $\ell_r$-spheres. For random Lipschitz losses whose mean is convex, we prove unified high-probability regret bounds for all $p,q,r \in [1,\infty]$. The analysis is driven by all-moment bounds for the gradient estimator in the dual FTRL norm, yielding time-uniform control of the quadratic variation. The algorithm is anytime and data-driven; in the special cases previously studied, its rates recover the known in-expectation guarantees while strengthening them to time-uniform high probability. Together with constant-probability lower bounds, these results establish optimality for $q\in[1,2]$ under appropriate sampling geometry, and expose a gap for $q>2$ that appears intrinsic to the estimators themselves.