Manufacturing has passed through four widely recognized paradigms - mechanization, electrification, programmable automation, and Smart Manufacturing - each defined by the kind of work it shifted from humans to machines. In every case, one layer of industrial work remained fundamentally human: the coordinative cognition of production, comprising the interpretive, allocative, diagnostic, negotiative, and governance work exercised by engineers, planners, and operational managers. We argue that a fifth transition is now underway in which this layer, rather than the physical or routine-cognitive layers below it, is what foundation-model-based autonomous agents primarily redistribute. We name this paradigm Agent Manufacturing and define it operationally: a manufacturing system is an instance of Agent Manufacturing when its principal coordination mechanism is reasoning performed by foundation-model agents that can interpret open-ended goals, plan over long horizons, invoke tools and machines, and negotiate with other agents and humans. This is a narrower and more falsifiable definition than the existing literature on cognitive manufacturing or Industry 5.0 provides, and it distinguishes the paradigm sharply from classical multi-agent manufacturing systems, which were autonomous only within closed protocol spaces.

Deploying multimodal systems in real-world environments often entails handling modality-missing scenarios, where one or more modalities are unavailable. While recent studies address this challenge for the general Multimodal Transformer (MT) architecture via prompt tuning, we identify a fundamental limitation in these methods: the Implicit Modality-Reduction bottleneck. By conditioning prompts solely on the observed modalities, they inadvertently restrict the reasoning scope of MTs to the modality-reduced subspace, cutting off access to the latent information sources of the missing modalities. To overcome this limitation, we propose AOEPT, which pioneers a novel modal-contextualized prompting fashion. Specifically, we introduce lightweight Modal-Contextualized Prompts (MCPs) that distill global modality-wise priors from training data, serving as latent repositories of the information sources for missing modalities. Conditioned on the remaining modalities, these MCPs are instantiated into instance-aware prompts that selectively augment missing-modality information for each sample, thereby restoring the reasoning scope of MTs beyond the observed-modality-only subspace. Experiments across various multimodal benchmarks and backbones confirm the strong performance of AOEPT, with minimal computational overhead.

Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. However, standard MPPI relies on cost-based soft penalties that cannot guarantee hard-constraint satisfaction, severely limiting its applicability to highly constrained tasks such as closed-chain manipulation. To address this, we propose Manifold-Constrained MPPI (MC-MPPI), a real-time sampling-based control framework that enforces manifold-based equality constraints while preserving the computational advantages of MPPI. The key idea is to decouple the constrained optimal control problem into latent-space planning and execution-level correction. At the planning stage, a Variational Autoencoder (VAE) learns a low-dimensional latent representation of the constraint manifold, enabling MPPI to efficiently generate near-feasible candidate trajectories without per-sample modification. Since this reference enables accurate linearization of the equality constraints, an execution-level Quadratic Programming (QP) controller resolves the residual manifold mismatch in a single solve rather than through iterative projection. Experiments on a 14-DoF closed-chain dual-arm system in both simulation and real-world settings demonstrate that MC-MPPI operates stably at 100 Hz, reliably navigates dynamic environments while effectively maintaining hard equality constraints, and significantly outperforms baseline methods in tracking accuracy. Supplementary videos and implementation details are available at https://rcilab.github.io/mcmppi.

Large language models (LLMs) have achieved strong performance in code generation, but most methods rely on autoregressive decoding without global planning, often leading to locally coherent yet globally suboptimal solutions (e.g., failing test cases or inefficient complexity). While recent approaches such as Chain-of-Thought (CoT) and multi-agent systems (MAS) introduce planning, their limited role specialization and coordination hinder performance on complex tasks. To address the challenges of coordination and specialization in multi-agent code generation, we propose Collaborative Reinforcement Code (CoRe-Code), a framework for role specialized LLM agents that enhances inter-agent coordination to generate more accurate and efficient code. CoRe-Code adopts a simple Planner-Coder paradigm, where the Planner produces high-level plans and the Coder executes them to generate code. We further introduce a collaboration-aware reinforcement learning stage based on Group Relative Policy Optimization (GRPO) to enhance role specialization and alignment. Experiments show that CoRe-Code outperforms a wide range of existing RL-based and multi-agent methods. In addition, we demonstrate that CoRe-Code can generalize to other multi-agent frameworks (e.g., Retrieval and Debugging agents), highlighting its flexibility and scalability. We evaluate CoRe-Code on multiple benchmarks of varying difficulty using three base models. Compared to existing baselines, the results show consistent improvements in accuracy, while also achieving higher efficiency in terms of execution time and memory usage, demonstrating the effectiveness and practicality of CoRe-Code.

Off-dynamics offline reinforcement learning seeks to learn a target-domain policy from a large source dataset and a limited target dataset under mismatched transition dynamics. Existing approaches such as reward augmentation and data filtering are constrained to the source dataset and cannot synthesize new target behavior to improve coverage beyond the collected source trajectories. While recent model-based methods attempt to address this by learning target-aware dynamics, the generated experience is constructed only at the transition level, which leads to accumulated errors over long horizons. These limitations necessitate a shift toward trajectory-level generation for off-dynamics offline RL. We propose CEDGE, a Cross-domain Energy-guided Diffusion GEneration framework. CEDGE trains a trajectory diffusion model on source-domain trajectories and adapts the generated samples to the target domain through energy guidance. This guidance is derived by minimizing the distribution mismatch between the source and desired target-domain trajectories and is decomposed into return, domain, and behavior energy components. The resulting energy-guided trajectories are useful both for direct planning and as synthetic data for policy learning. Since target adaptation is achieved via energy guidance rather than retraining the diffusion model, CEDGE can be efficiently adapted to new target dynamics compared to previous methods. Experiments on the ODRL benchmark demonstrate that trajectory-level energy-guided generation improves diffusion planning under dynamics shifts and produces synthetic data that improves downstream target policy learning.

Confounding bias is a key challenge in causal effect estimation from observational data. Double Machine Learning (DML) addresses this issue by estimating treatment and outcome nuisance functions, constructing treatment and outcome residuals, and estimating causal effects from the residuals. However, DML often produces biased and unstable estimates in highdimensional or finite-sample scenarios. One reason is that DML estimates nuisance functions using all covariates without disentangling distinct latent factors, resulting in unreliable nuisance function estimation. Another is that imprecise nuisance estimation further introduces residual dependence between the treatment residual and the remaining outcome error, undermining the accuracy of causal effect estimates. To address these issues, in this paper, we propose Disentangled Double Machine Learning (DDML), a novel algorithm that integrates two key strategies. First, a causal role disentanglement strategy decomposes covariates into confounders, treatment-specific factors, and outcomespecific factors for enabling reliable nuisance function estimation. And second, a residual dependence orthogonalization strategy mitigates residual dependence caused by nuisance estimation errors for enhancing the precision of causal effect estimates. Experimental results on synthetic, semi-synthetic, and real-world datasets demonstrate that DDML significantly outperforms 13 state-of-the-art baseline algorithms in both MAE and RMSE.

Promptable foundation models such as the Segment Anything Model (SAM) produce high-quality masks but remain semantically blind, relying on external prompts to specify categories. Existing vision-language approaches address this limitation by using external prompt coupling, where a vision-language model generates spatial prompts for SAM as a separate stage. We propose CLIP-Guided SAM, a parameter-efficient segmentation framework built on internal semantic conditioning. Instead of using semantic signals only to generate prompts, we inject CLIP-derived text, vision, and similarity features directly into SAM's image encoder through lightweight multi-modal semantic adapters. These adapters condition SAM's internal feature representations, allowing semantic information to influence mask prediction while preserving SAM's original promptable interface. Our framework is designed for low labeled-data settings and applies to both general-domain benchmarks and specialized downstream tasks. It supports two operating modes: Manual mode, for interactive segmentation with both text and spatial prompts, and Semi-Automatic text-only mode, for applications that require concept-specific segmentation using only textual input. We show that robustness depends on aligning training with the type of prompts used at inference, making train-test prompt consistency an important design principle. Through extensive experiments and ablations, we evaluate our method against SAM+PEFT baselines without semantic conditioning, vision-language + SAM pipelines, SAM 3, and strong semi-supervised segmentation methods that rely on large amounts of unlabeled data. Across these settings, CLIP-Guided SAM consistently achieves superior or competitive performance while remaining parameter-efficient in both training and deployment.

Large audio and language models have recently demonstrated zero-shot reasoning capabilities across various domains. However, it remains unclear how the form of audio input, whether handcrafted acoustic features extracted from speech or the raw audio waveform itself, affects performance for Parkinson's disease (PD) detection across different languages. In this study, we systematically compare two input modalities for zero-shot PD detection: (i) handcrafted acoustic features extracted from speech recordings analyzed by a general-purpose LLM, and (ii) direct waveform input analyzed by audio-capable models. Experiments on PD speech datasets in four languages show that performance varies across input modalities, speech tasks, and languages. Handcrafted acoustic features provide more stable performance in a low-resource language (e.g., Bengali), whereas audio input yields dataset-dependent gains. These findings highlight the impact of input modality on zero-shot PD detection from speech.

Large-scale controllable 3D assets are critical for computer graphics, embodied AI, robotics, and interactive content creation, yet creating diverse 3D assets remains challenging due to the high cost of manual modeling and rigging. Shape deformation offers a natural way to generate variations from existing meshes, but existing data-driven methods often rely on sparse user inputs, while parametric editing frameworks require manually designed control structures and category-specific configurations. Inspired by natural creatures, where a central spine governs global shape and cross-sectional ribs control local variation, we introduce Fishbone, a unified rib-spine representation for general shapes that supports controllable parametric mesh deformation, reduced-space dynamics, and animation. Given an input mesh, Fishbone computes a geodesic scalar field with an adaptive heat method, extracts iso-contours as cross-sectional ribs, constructs a smooth geometry-aware spine through rib centers, and associates surface vertices with nearby rib and spine structures using Gaussian-weighted skinning. The resulting representation enables real-time and predictable deformation: ribs control local profiles such as thickness, orientation, and cross-sectional variation, while the spine controls global bending, twisting, and stretching. The same structure also supports reduced-space simulation and keyframe animation. We further construct Fishbone-136K by augmenting Hunyuan3D with rib-spine structures, and demonstrate applications in controllable 3D generation, deformation-based data augmentation for robot learning, interactive mesh editing, and agentic generation. Experiments demonstrate the effectiveness, efficiency, and versatility of the proposed framework.

A key goal in stochastic contextual linear bandits is to efficiently learn a near-optimal policy. Prior algorithms for this problem learn a policy by strategically sampling actions but naively (passively) sampling contexts from the underlying context distribution. However, in many practical scenarios -- including online content recommendation, survey research, and clinical trials -- practitioners can actively sample or recruit contexts based on prior knowledge of the context distribution. Despite this potential for active learning, the role of strategic context sampling in stochastic contextual linear bandits is underexplored. We propose an algorithm that learns a near-optimal policy by strategically sampling rewards of context-action pairs. We prove instance-dependent theoretical guarantees demonstrating that our active context sampling strategy can improve over the minimax rate by up to a factor of $\sqrt{d}$, where $d$ is the linear dimension. We show empirically that our algorithm reduces the number of samples needed to learn a near-optimal policy, in tasks such as warfarin dose prediction and joke recommendation.

Multimodal Large Language Models (MLLMs) have demonstrated strong capabilities across a wide range of vision language tasks. However, when applied to large scale image classification, their performance degrades significantly as the label space expands a phenomenon we define as Performance Collapse in Long Sequence Recognition. Through an information theoretic analysis, we reveal that this collapse stems from a fundamental conflict between the escalating information entropy and the prominent attention dilution and decay within attention mechanisms, which impairs the model's ability to maintain a sufficient signal-to-noise ratio when processing extremely long prompts. To mitigate this, we propose Divide-and-Conquer Inference (DCI), a novel test-time scaling strategy for visual recognition with MLLMs. DCI recursively decomposes complex global classification tasks into multiple simpler, localized subproblems and employs a dynamic pruning mechanism to compress the search space. This method effectively improves the local signal to noise ratio and model accuracy by mitigating the inherent weight dilution issues in long-sequence inference. Moreover, while traditional self-attention incurs a prohibitive quadratic computational complexity, DCI achieves more favorable scaling behavior and substantially accelerates inference in large scale classification scenarios. Extensive experiments on benchmarks such as ImageNet-1K and ImageNet-21K demonstrate that DCI consistently improves classification accuracy. This enables lightweight open-source models to rival or even surpass frontier closed-source giants without any additional training or fine-tuning. As a model-agnostic, plug-and-play paradigm, DCI offers an efficient approach for scaling the inferential precision of MLLMs in large-scale scenarios.

Deep neural networks trained with backpropagation have achieved outstanding performance in vision tasks but remain biologically implausible, computationally demanding, and difficult to interpret. The Forward-Forward (FF) algorithm offers a promising alternative by training each layer independently through local goodness objectives. However, its purely local optimization lacks hierarchical coordination across layers, and the decoupling of goodness from features leaves the representations unconstrained and semantically ambiguous. We propose a Hierarchical and Contrastive Learning FF framework (HCL-FF) to address these limitations. HCL-FF introduces (1) a coarse-to-fine hierarchical learning strategy that guides representations from low-level cues to high-level semantics, and (2) a supervised contrastive objective that enforces class-discriminative alignment after goodness decoupling. Experiments on CIFAR-10, CIFAR-100, and Tiny-ImageNet demonstrate that HCL-FF achieves new state-of-the-art performance among FF-based methods, with notable accuracy gains of +5.46%, +17.00%, and +12.51%, respectively.

Reinforcement learning (RL) has emerged as an effective paradigm for improving the reasoning capability of vision-language models (VLMs). However, RL-based optimization typically depends on costly high-quality annotations that are difficult to scale. Existing unsupervised alternatives may drift toward biased solutions due to weak visual grounding and the lack of reliable verification signals. We propose a self-evolving post-training framework, DUEL, where supervision emerges from adversarial interactions between two policies initialized from the same pretrained VLM. A Challenger generates an image-grounded true claim together with a minimally perturbed hard-negative counterpart, while a Solver verifies both claims against the image, encouraging fine-grained visual discrimination under near-neighbor semantics. To stabilize optimization, we introduce a length-normalized log-likelihood reward that preserves informative optimization signals beyond binary outcome supervision and improves learning stability under sparse feedback. Experiments show that DUEL consistently improves visual reasoning and robust discrimination without additional human annotations, external reward models, or image editing tools.

Speculative decoding (SPD) accelerates large language model (LLM) inference by letting a smaller draft model propose multiple future tokens that are verified in parallel by a larger target model. The dominant SPD paradigm treats the target model as the sole reliable teacher, accepting a draft token only when it exactly matches the target prediction. This design implicitly assumes that the target is always the better choice at every position. In practice, this assumption does not hold. Although the draft is the weaker model overall, it is not uniformly inferior at the token level. In a meaningful fraction of cases where draft and target disagree, the draft's choice is the one that leads to the correct final answer. Inspired by this, we introduce \textbf{Collaborative Speculative Decoding (CoSpec)}, a generalization of SPD that no longer treats the target model as the sole token-level authority. CoSpec trains an arbitration policy via reinforcement learning to decide whether to accept tokens from the draft or target model, selectively accepting draft tokens at mismatches when doing so is likely to yield a correct final answer. Experimental results show that CoSpec maintains substantial speedups while surpassing target-only performance. By shifting the emphasis from imitation to collaboration, CoSpec suggests a new perspective on speculative decoding.

The major limitations of gastrointestinal (GI) endoscopy AI systems arise from a shortage of annotated data, strict privacy policies, and significant bottlenecks in conventional model fine-tuning. Such limitations impede the successful application of sophisticated AI models in clinical practice, particularly affecting the reliability and scalability of diagnosis. In this paper, we present a dual-pipeline PEFT model that addresses two fundamental problems: medical Visual Question Answering (VQA) and the generation of privacy-preserving synthetic data. For clinical VQA, we adopt the Florence-2 vision-language model. Leveraging PEFT enhances model interpretability while substantially reducing the computational cost of training. Simultaneously, we employ Low-Rank Adaptation (LoRA) with Stable Diffusion 2.1 to generate high-quality GI images that enhance training databases without violating patient privacy. This research utilized the Kvasir-VQA dataset. Our Florence-2 VQA model achieved ROUGE-1 of 0.92, ROUGE-L of 0.91, and BLEU score improvements from 0.08 to 0.24. Fine-tuning on private datasets consistently showed better results than fine-tuning on public datasets. The rank-4 LoRA synthesis achieved optimal performance with a fidelity score of 0.290, an agreement score of 0.730, and a Frechet BiomedCLIP Distance (FBD) of 1450, reducing computational costs by almost 90 percent. This framework improves the clinical potential of AI in GI endoscopy. Compared to FLUX, MSDM, and Kandinsky 2.2, our model demonstrates superior FBD and strong semantic alignment. While other models lead in Fidelity or Agreement, our lower FBD indicates better image-text coherence. These results establish our approach as a robust solution for enhancing VQA and synthetic data generation in clinical AI.

Vision Transformer (ViT) models, utilizing self-attention mechanisms, have demonstrated robust generalization capabilities across various vision tasks, including image classification. However, these models, typically pretrained on general public datasets, often lack the specialized domain knowledge necessary for medical imaging applications. In this study, we investigate the adaptation of ViT models, specifically for cardiac magnetic resonance (MR) images, using an in-house dataset. We found that pretrained ViT features do not effectively transfer to the cardiac MR domain. To overcome this limitation, we introduce an adaptation strategy that utilizes image-based self-supervised contrastive learning, demonstrating superior performance compared to traditional supervised training approaches. Moreover, our adapted ViT model exhibits strong generalization to external MR datasets such as BraTS and ADNI. Through ablation studies, we further investigate the impact of batch size and dataset scale on performance. Ultimately, our adapted model achieves classification AUC exceeding 0.75 across the four most common cardiac MR sequences.

Long-horizon LLM inference turns the key--value (KV) cache into the dominant GPU memory consumer and makes per-token attention increasingly expensive. Many common eviction policies use static recency windows or historical attention, leaving unused a signal computed on every decoding step: the model's current uncertainty. We introduce CONF-KV, a KV-cache manager that converts the next-token distribution into a scalar confidence score and uses it to choose the per-step cache budget, retaining more context when the model is uncertain and pruning aggressively when it is confident. Within each budget, tokens are ranked by a composite of accumulated attention mass and recency, while a protected recent window preserves local coherence. We combine the policy with blockwise online-softmax attention, mixed FP16/INT8 storage, and a pyramidal per-layer budget variant. Across four model families and generated lengths up to 4K, CONF-KV stays near the footprint of a fixed 512-token sliding window while remaining within 1.5--2.1 perplexity points of full KV. On Needle-in-a-Haystack up to 32K tokens, CONF-KV reaches 91.4% retrieval accuracy versus 53.8% for sliding windows and 80.6% for H2O; on 75 VisualWebArena tasks it retains 95.3% of full-KV success at 2.8 times lower peak memory.

Domain scientists increasingly develop Python scripts to analyze satellite imagery but they lack scalability to large-scale data. This paper demonstrates GRAIL, an agentic translation system that converts Python geospatial workflows into executable Spark-based programs without requiring scientists to learn a new framework. Rather than fine-tuning a specialized LLM model, GRAIL adapts RDPro, a Scala library for satellite data analysis, to make it LLM-ready using structured documentation, API alias functions, and repair-oriented error logs. Translation is structured as a LangGraph pipeline that decomposes code generation into explicit sections with guided inputs and outputs, enabling targeted repair without regenerating the full program. We demonstrate GRAIL on real-world geospatial workflows and showcase the correctness and scalability of the translated code.

Submodular optimization has become a fundamental paradigm for data selection, retrieval, summarization, and representation learning due to its ability to model coverage, diversity, and representativeness. However, classical submodular objectives optimize only the selected subset and do not explicitly preserve structural information between the selected subset and the remaining data. In many modern machine learning applications, including train/validation/test splitting, benchmark construction, and robust subset selection, the quality of a selection depends critically on preserving balanced structure across both the selected subset and its complement. In this work, we introduce Complement Submodular Information (CSI), a new class of complement-aware submodular objectives that quantify shared structural information between a subset and its complement. Our framework induces complement-aware variants of several classical submodular functions including Facility Location, Graph Cut, LogDet, Saturated Coverage, Set Cover, Probabilistic Set Cover, and Feature Based Functions. We analyze the theoretical properties of CSI objectives and show that they exhibit approximate monotonicity under bounded curvature conditions, leading to near-$(1-1/e)$ greedy approximation guarantees. Empirically, CSI objectives consistently outperform standard submodular objectives on robust hidden-slice-aware subset selection. In particular, CSI objectives significantly improve preservation of coherent rare/tail semantic structure while simultaneously suppressing noisy and isolated outliers, leading to substantially improved downstream predictive performance. Synthetic experiments further illustrate how different CSI instantiations capture complementary notions of representativeness, diversity, connectivity, and balanced neighborhood preservation.

LiDAR model selection is a critical issue in roadside sensing systems, as it directly determines both perception capability and deployment cost. However, the lack of empirical benchmarks for comparing perception performance across different LiDAR configurations has greatly constrained scientific sensor selection and deployment planning. To address this gap, we present MR-LiDAR, a controlled multi-resolution LiDAR benchmark for roadside perception diagnostics. Using 16-, 32-, 80-, and 128-beam LiDARs in identical roadside scenarios, we collect point clouds and ground-truth annotations for diverse traffic participants, including vehicles and vulnerable road users (VRUs), across varying distances. This controlled design isolates intrinsic LiDAR specifications, particularly beam count and beam distribution, as the key variables for precise performance diagnostics. Based on MR-LiDAR, we conduct systematic empirical analyses to examine how beam count, beam distribution, target distance, object category, and vehicle occlusion affect LiDAR perception performance. The results reveal that all of these factors have substantial impacts. In particular, contrary to the common assumption that higher beam counts always yield better perception, we show that an 80-beam LiDAR with optimized beam distribution can match or even outperform a 128-beam LiDAR with uniform beam distribution. In addition, we provide a practical reference guide for LiDAR selection, including target point-count statistics and detection performance comparisons based on two widely used detection algorithms. This work offers a diagnostic benchmark and practical guidance for determining cost-effective LiDAR configurations in roadside perception applications.

Recent advances in monocular 3D human pose estimation enable accurate body tracking from video. However, translating these kinematic estimates into physical quantities, such as joint torques, remains challenging due to noise amplification through inverse dynamics. In this work, we provide a systematic analysis of how pose estimation noise propagates through the inverse dynamics pipeline. We present three key findings: (1) pose noise is amplified by approximately 1,000x when computing joint torques via numerical differentiation, (2) proximal joints (spine, hips) are up to 10x more sensitive to noise than distal joints (wrists, hands), and (3) low-pass filtering before differentiation substantially reduces this amplification. To enable this analysis, we develop SMPL-Dynamics, a fully differentiable inverse dynamics module for the SMPL body model that requires no external physics simulators. Our module supports end-to-end gradient computation, and we demonstrate this through differentiable pose refinement, which reduces torque error by 93% with negligible change in pose.

Operating LLMs as coordinated multi-agent research systems over multi-hour runs surfaces failure modes that single-shot evaluation cannot: upstream providers throttle without warning, sub-agents drift the task to fit accessible tools, narrate machinery instead of using it, open revision iterations with self-apology, or treat upstream context as executable directives. We present PRIMA, whose primary contributions are three operational patterns for surviving these failure modes: (1) a resilience-and-recovery layer that detects upstream rate-limit signals, persists a typed pause record to disk, and resumes long-running runs without re-executing converged work even across process restarts; (2) a sub-agent operating discipline encoding task-fidelity, tool-use, revision, and inter-step context-boundary norms as a structural prompt layer; (3) a multi-phase application pattern for structured engineering deliverables pairing orthogonal draft steps with an explicit cross-document harmonization pass before final synthesis. These sit atop a foundational protocol: a research-program specification language with explicit convergence criteria, a dual-metric scoring engine (LLM-judged rubric plus sandboxed code), an outer meta-optimization loop, event-driven persistence, hook-based middleware, context compaction, and a multi-provider LLM abstraction. Agent identities derive from prime powers, giving collision-free identifiers and trivially-verifiable cluster membership without a central registry. Theoretical guarantees include $O(k)$ verification, $O(V+E)$ DAG validation, and identity collision freedom by the Fundamental Theorem of Arithmetic. A Graph Isomorphism case study grounds the architectural claims in a generated artifact: a six-step protocol that produced a research paper proposing a new canonical-form algorithm with three theorems and five conjectures.

We propose Hermite-NGP, a gradient-augmented multi-resolution hash encoding designed to enable fast and accurate computation of spatial derivatives for neural PDE solvers. Unlike existing NGP-based approaches that rely on automatic differentiation or finite differences and suffer from instability or high cost, Hermite-NGP explicitly stores function values and mixed partial derivatives at hash grid vertices, allowing fully analytic evaluation of gradients, Jacobians, and Hessians via Hermite interpolation. This design preserves the efficiency and spatial adaptivity of NGP while supporting analytic differential operators up to second order. We further introduce a multi-resolution curriculum training strategy analogous to multigrid V-cycles to enable coarse-to-fine optimization. Across a range of 2D and 3D PDE benchmarks, Hermite-NGP achieves up to approximately 20 times lower error than prior neural PDE methods, and reduces wall-clock convergence time by 2 to 10 times compared to other solvers, with per-epoch training times as low as 3.5 ms for models with up to 17M parameters.

Annotator disagreement in emotion classification reflects ambiguity intrinsic to emotion concepts and is essential for predictor-quality assessment in subjective NLP. Yet no prior work integrates soft-label learning with Bayesian deep learning to evaluate uncertainty along axes including annotator-distribution fidelity. We train a linear head on a frozen RoBERTa via cyclical stochastic gradient Markov chain Monte Carlo (cSG-MCMC), targeting the empirical annotator distribution with a soft-label objective under a five-axis evaluation. On the 28-emotion GoEmotions benchmark, the proposed method outperforms Monte Carlo Dropout and Deep Ensemble simultaneously on three axes -- Jensen-Shannon divergence (JSD) to the annotator distribution, Spearman correlation between per-emotion aleatoric uncertainty and disagreement, and selective-prediction Area Under the Risk-Coverage Curve (AURC) and Area Under the ROC Curve (AUROC) -- showing independent axes are jointly attainable from one posterior. Post-hoc temperature scaling exhibits a bidirectional effect, establishing hard-label calibration and annotator-JSD as independent dimensions and motivating joint reporting as an honest protocol.

Classical noisy-label theory predicts that downstream performance under weak supervision is bounded above by the labeler's accuracy, implying a sharp crossover: once a gold-trained classifier matches the labeler, weak labels stop helping and start hurting. The prediction is theoretical; what is missing is a benchmark calibration that turns it into an instance-level statement for modern foundation-model labelers. We provide such a calibration for BiomedCLIP-generated weak labels on three medical-imaging benchmarks (PCAM, ISIC, NIH-CXR) and six downstream architectures spanning an 11x parameter range. The crossover predicted by theory appears at ng~100 on PCAM, 20-50 on ISIC, and 250-500 on NIH-CXR; weak labels above the crossover degrade AUC by up to -0.10. The location is architecture-invariant for four of five pretrained architectures, and a within-family DenseNet sweep (2.5x parameters, identical pretraining) supports the view that the labeler, not the student, is the dominant constraint. The calibration in turn produces a decision rule operable from 10-20 gold labels: compare gold-only AUC to VLM accuracy on the user's gold set. A structured-vs-random noise sign flip on NIH-CXR shows that the rate-only formulation of the bound is incomplete and identifies a concrete refinement (label-space projection) that future benchmarks can be designed to test.

Muon is a recently developed matrix-aware optimizer that has shown strong results in transformer training, but its behavior in vision transformers (ViTs) is not yet well understood. We study Muon for ViT training, largely on ImageNet-100 and Pl@ntNet-300K, comparing against AdamW under standard vision recipes involving mixup, cutmix, smoothing, and random augmentation and erasing. Muon consistently outperforms AdamW, with especially large gains on long-tailed Pl@ntNet macro top-1. These gains are also recipe-dependent, where Muon benefits much more than AdamW from advanced and significant data augmentation techniques. To understand this interaction, we analyze the singular-value structure of matrix gradients throughout the ViT. Within Muon training runs, removing heavy data augmentation induces a late-training spectral concentration and mode collapse in gradient matrices, primarily in deep MLP-down blocks. Under a fixed "full" augmentation recipe, the clearest Muon-AdamW contrast appears instead in QKV gradients, where AdamW gradient energy remains concentrated in a much narrower basis while Muon spreads energy across substantially more singular modes. Muon in ViTs is therefore best understood as an optimizer-recipe interaction. Under a fixed recipe, Muon differs from AdamW most clearly in attention projections, where its gradients consist of a broader spectral basis. Within Muon, a full training recipe is important for preventing late spectral concentration and mode collapse in deep feedforward blocks. We further demonstrate efficacy in training ViTs on image segmentation and masked autoencoder models, where Muon outperforms AdamW in all settings considered.

Hyperspectral image restoration faces several challenges, including limited training data, strong sensor specificity, and high spectral dimensionality. These limitations hinder the learning of robust hyperspectral priors, motivating the reuse of priors learned from large-scale RGB data. In this work, we propose a minimally trained, lightweight adapter that repurposes frozen pretrained RGB denoisers for hyperspectral restoration through a projection mapping. The method denoises low-dimensional spectral projections and reconstructs the hyperspectral cube through constrained linear aggregation, while preserving plug-and-play compatibility and the stability properties of the underlying RGB denoiser. Experiments on denoising, deblurring, and super-resolution across multiple datasets demonstrate consistent improvements over hyperspectral-specific baselines, showing the strong transferability of large-scale RGB priors.

Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states, particularly during low-dynamic motion. In this work, we propose utilizing past GNSS measurements alongside a motion model to extract meaningful vehicle acceleration information. This acceleration measurement is then integrated into the INS/GNSS filter to improve its robustness and accuracy. The proposed approach is evaluated on two real-world unmanned ground vehicle datasets collected from different mobile platforms and inertial sensor grades. Results demonstrate consistent positioning accuracy improvements relative to the standard position-aided filter, with mean position root mean square error improvements of 11.40 % and 20.74 % on the two datasets, respectively.

This work presents a high-fidelity computational fluid dynamics (CFD) and data-driven modeling framework for assembly-level flow characterization in a four-loop pressurized water reactor (PWR). A full lower-plenum and core-inlet domain was constructed using publicly available geometry and operating conditions, enabling transient simulations with pump-induced swirl boundary conditions. The results show that cold-leg swirl and lower-plenum transport generate strongly heterogeneous assembly-wise inlet flow distributions, particularly near the lower core region, while axial resistance and mixing progressively homogenize the flow at higher elevations. These physics-informed datasets were subsequently used to evaluate machine learning (ML) applications for partial field reconstruction and short-term autoregressive prediction. A 3D convolutional-based inpainting model successfully recon-structed missing assembly-level mass flow rates from partial observations, with errors concentrated in the highly turbulent base (bottom) layer and diminishing significantly in upper layers. Comparative analysis across multiple ML models demon-strates that spatially aware architectures, particularly ConvLSTM, significantly outperform sequence-based (LSTM) and operator-learning (DeepONet) approaches by effectively capturing coupled spatio-temporal dynamics. The study also high-lights key challenges, including the sensitivity of inlet flow predictions to turbulence and mesh resolution, as well as the absence of full-scale experimental validation data. Despite these limitations, the results remain consistent with expected physical behavior. Overall, this work establishes high-fidelity CFD as a critical foundation for developing data-driven surrogates, sparse sensing strategies, and future multiphysics coupling frameworks.

High-resolution datasets are essential for advancing super-resolution (SR) and text-to-image (T2I) diffusion research. However, current publicly available datasets lack both the native 4K resolution and the extensive scale necessary for training state-of-the-art models. To address this gap, we introduce a 4K Large Scale Dataset and Benchmark (4KLSDB), a large-scale, diverse dataset consisting of 129,484 carefully curated 4K resolution images spanning multiple categories such as nature, urban scenes, people, food, artwork, and CGI, alongside distinct validation and test sets containing 2,000 and 1,984 images respectively. Images were sourced from established open datasets including Photo Concept Bucket, Laion2B, and PD12M. 4KLSDB underwent rigorous multi-stage automated filtering and annotation pipelines involving both human annotators and Large Multimodal Models (LMMs) to ensure high aesthetic quality and dataset consistency. We demonstrate 4KLSDB's effectiveness by training representative super-resolution and diffusion models, observing significant improvements in performance on native 4K benchmarks. Comprehensive experiments illustrate a positive correlation between training on true 4K resolution data and improved fidelity in image restoration task, especially on 4K resolution. We provide the research community a valuable resource to drive progress toward genuinely high-fidelity image synthesis and restoration by providing 4KLSDB. Our project page is available at: https://4klsdb.github.io/.