Existing embodied control research demonstrates remarkable performance improvements by scaling training data and model size. We instead explore inference-time strategy as an alternative axis. Non-deterministic generative models, such as diffusion and autoregressive models, have been widely adopted in the field of embodied control. However, the single-shot inference paradigm limits their performance. In this paper, we propose \textbf{TapSampling}, a plug-and-play framework for inference-time sampling. First, we introduce an Action-VAE that represents actions in a low-dimensional latent space by mapping policy-generated initial actions into a compressed posterior distribution, from which any number of latent samples can be drawn and decoded into candidate actions that approximate the true action distribution. Second, we formulate action verification as task-progress outcome prediction, using the intrinsic sequential structure of robotic datasets to train a semantically grounded verifier for interpretable action selection. Furthermore, TapSampling is a policy-agnostic framework. Extensive experiments in both simulated and real-world environments demonstrate that our method substantially improves multiple generalist policies without further policy finetuning. Code and models are available at the project page.

Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must be satisfied during real-robot operation. However, existing approaches remain limited because kinematic safety guarantees can be degraded in the presence of unknown disturbances, such as model uncertainties, trajectory-tracking errors, and external perturbations. This paper presents a hierarchical safety-critical whole-body control framework for humanoid robots based on input-to-state safe control barrier functions (ISSf-CBFs). The proposed architecture integrates a kinematic-level whole-body controller (KinWBC), an ISSf-CBF safety filter, and a dynamic-level whole-body controller (DynWBC). KinWBC generates nominal joint-motion references from prioritized tasks; the ISSf-CBF filter minimally modifies these references to satisfy kinematic safety constraints under bounded disturbances; and DynWBC tracks the filtered references while enforcing full-body dynamic feasibility and contact stability. Safety constraints are imposed on a whole-body kinematic model, and the ISSf-CBF parameters are conservatively tuned so that the resulting kinematic safety guarantees can be transferred to full-order humanoid dynamics under unknown disturbances. Simulation and real-robot experiments demonstrate that the proposed framework improves safety margins under model mismatch and reliably enforces multiple safety constraints in real time during locomotion, teleoperation, and single-leg balancing with hand control. Project website: https://kwlee365.github.io/SafeWBC-Website/

Accurate traffic forecasting is essential for intelligent transportation systems, supporting a wide range of real-world applications. However, it remains challenging due to two key factors:~(1) Traffic series contain heterogeneous temporal patterns, where stable periodic regularities coexist with event-driven fluctuations. Existing methods often treat them within a unified representation, limiting their ability to capture fine-grained temporal dynamics.~(2)Spatial dependencies among nodes are inherently dynamic and sparse, while dense all-pairs attention often introduces redundant interactions and amplifies noise. To address these issues, we propose ADMFormer, an Adaptive-Decomposition Transformer with Time-Varying Masked Spatial Attention. Specifically, ADMFormer first employs a time-node adaptive gating mechanism to decouple traffic signals into dominant regularities and residual fluctuations that vary across time and nodes. A dual-branch temporal module is then designed to separately capture global periodic dependencies and high-frequency irregular variations from these two decomposed components. Furthermore, ADMFormer introduces a time-varying masked spatial attention that sparsifies spatial interactions based on real-time traffic states, thereby effectively preserving dynamic and informative dependencies. Extensive experiments on four real-world datasets demonstrate that ADMFormer achieves state-of-the-art performance.

Alzheimer's disease (AD) is a progressive neurodegenerative disorder and the leading cause of dementia, affecting memory, reasoning, communication, and daily functioning. Early diagnosis is particularly important, as timely intervention may help slow cognitive decline and improve patient care. Recent studies have demonstrated that spontaneous speech contains valuable linguistic and acoustic biomarkers associated with dementia. However, existing approaches often rely on independently trained modality-specific models, feature concatenation strategies, ensemble methods, or attention-based fusion mechanisms that do not explicitly maximize the dependency between speech and transcript representations. In this work, we propose a multimodal deep learning framework for automatic dementia detection that jointly exploits speech and transcript information in an end-to-end trainable manner. Specifically, speech recordings are divided into 10-second segments and passed through a pre-trained HuBERT model to extract contextualized acoustic representations. To better capture informative temporal speech characteristics, attentive statistics pooling is employed to aggregate frame-level acoustic embeddings. For the textual modality, transcripts are encoded using a pre-trained BERT model, where the [CLS] token representation is used as the linguistic embedding. The acoustic and textual representations are subsequently combined using an attention-based Audio-Text Fusion (AT-Fusion) mechanism. In addition, we introduce a MINE objective to maximize the mutual information between modalities and improve multimodal representation alignment. The fused multimodal representation is finally used for dementia classification. Experiments conducted on the publicly available ADReSS Challenge and PROCESS-2 dataset demonstrate the effectiveness and robustness of the proposed approach for speech-based dementia assessment.

Real-time chunking (RTC) lets chunked action policies operate under inference delay by conditioning a newly generated action chunk on actions already committed by the previous chunk. Training-time RTC simulates this delay during learning and avoids expensive guidance at deployment, but its binary prefix mask treats all non-prefix tokens as fully unconstrained. This under-models asynchronous execution: early overlap actions are fixed, while later overlap actions remain editable but should still stay close to the previous plan. We propose Soft RTC, a training-time RTC generalization based on action-prior denoising. Soft RTC constructs corrupted overlap tokens from partially denoised states instead of pure noise and injects the aligned previous chunk as the same prior during inference through a lightweight token-wise blending rule. On the 12 released large Kinetix levels, a short soft window nearly matches hard training-time RTC in overall solve rate (0.809 vs. 0.815), while a medium window reduces high-delay action delta and jerk by 9.1% and 9.6% relative to hard RTC. Both variants keep near-naive runtime, unlike inference-time RTC baselines. A small preliminary real-robot sorting study provides additional evidence that training-time RTC can improve completion and that Soft RTC gives the lowest commanded-action finite-difference metrics among the tested policies.

Existing large language model (LLM) based memory systems apply universal, static policies that overlook a fundamental reality: the contexts that are worth storing in memory are different across users. This misalignment wastes limited memory budget on transient interactions while failing to preserve critical context for long horizon tasks. To address this gap, we investigate an underexplored question: can LLM based memory systems learn personalized memory policies? We introduce PerMemBench, the first benchmark for evaluating personalized memory systems, featuring multi year, multi domain interaction histories across diverse user personas. We further present the first empirical study of memory personalization, proposing session level storage gating, a lightweight framework that selectively bypasses memory operations for transient sessions. Our study confirms that personalization yields substantial retention gains under perfect gating, yet reveals that accurate gating remains an open and critical challenge.

Multimodal Large Language Models (MLLMs) excel at structural reasoning yet suffer from a sharp logical brittleness in structural consistency. We term this phenomenon Structural Cognitive Overload (SCO), a byproduct of the contention between deep reasoning and safety alignment. However, prior work has predominantly targeted typographic and pixel-level perturbations, leaving the study of SCO largely unexplored. To this end, we propose StructBreak, an automated end-to-end framework designed to quantify SCO. By leveraging StructBreak, we uncover a novel higher-order cognitive overload attack paradigm; notably, this attack operates under a practical black-box setting, requiring no internal model access. Consequently, we utilize this framework to establish a comprehensive benchmark spanning ten diverse threat scenarios. Empirical evaluations on six leading MLLMs reveal that SCO readily triggers toxic generation, yielding a 92% average ASR (up to 97% on Gemini 2.5). To elucidate the mechanism of SCO, we further conduct model-level interpretations spanning attention dynamics, latent space topology, and geometric analysis. Our findings reveal that StructBreak acts as a novel structural channel to circumvent safety filters. Furthermore, the limited efficacy of inherent safety mechanisms underscores that current alignment paradigms are insufficient for the era of complex multimodal reasoning.

Building height, the third dimension (3D) of urban spatial data, is absent in over 95% of structures in global geospatial databases. For the emerging low-altitude economy, this data gap forces each aerial platform to rely on real-time onboard sensing rather than pre-computed 3D scene geometry. We present the Location Prior Generation Framework (LPGF), a multi-source data fusion pipeline that integrates Sentinel-2 imagery, UAV telemetry, vehicle GPS trajectories, and OpenStreetMap footprints into structured, reusable urban location priors. LPGF assigns building heights through a three-tier priority hierarchy: (1) explicit OSM height tags where available, (2) floor count multiplied by 3.2 m per story where recorded, and (3) building-type default heights otherwise, yielding a worst-case error of approximately 5.5 m. An optional shadow-based height estimation module (SHEM) is activated only when a four-criterion quality gate is satisfied; when any criterion fails, the pipeline routes to structured fallback. On the MiTra A50 Milan dataset, the quality gate correctly identified two imaging failure modes: sub-pixel shadows at 10 m GSD and ground shadow merging at 0.93 m GSD, producing a consistent 27-building prior in both cases. Tier 3 type-default heights were validated against manual floor counts (n=15), achieving MAE=3.07 m within the 5.0 m uncertainty bound. The framework demonstrates that structured, quality-gated fusion of universally available data streams can bootstrap 3D scene coverage for low-altitude urban operations.

This paper studies reinforcement learning for high-frequency trading on limit order books by pairing an Order-Flow-based state model with policy-gradient methods. Instead of value-based RL techniques like tabular Q-learning, our approach deploys policy-based methods like vanilla PPO and DeepSeekMath-inspired variants like GRPO and GSPO, that use group-normalized updates and downside-aware shaping. On backtests with financial assets AMZN, AAPL, and GOOG under a simplified backtesting setup based on spread-scaled rewards, these new policies improve net average PnL, profitability, and drawdown over the Q-Learning baseline. Our results show that (1) Order-Flow signals are an adequate state for policy RL and (2) group-aware PPO surrogates are preferable over value-based baselines.

Continual learning enables large language models to adapt to evolving tasks without retraining from scratch, yet catastrophic forgetting remains a central obstacle. Among continual learning methods, regularization-based approaches are widely used to constrain model updates and reduce forgetting, operating in weight space, gradient space, or output space. However, these dense representation spaces suffer from feature superposition, where multiple concepts are encoded in overlapping dimensions, making it difficult to selectively protect previously learned knowledge without impeding new-task learning. To address this issue, we propose \method (Sparse Autoencoder Feature Distillation), which anchors model representations in the sparse feature space of a pre-trained Sparse Autoencoder, where dense activations are decomposed into a sparse overcomplete basis that reduces representational entanglement, enabling more targeted regularization with less interference to new-task learning. Experiments on two continual learning benchmarks across three model architectures show that \method consistently outperforms existing regularization-based methods, achieving up to 52.70% average accuracy with only -0.46 backward transfer.

Reliable spatial reasoning remains a core bottleneck for vision-language models (VLMs). Existing mainstream training paradigms for spatial reasoning largely rely on outcome alignment or process imitation, lacking explicit constraints on the reasoning process, and therefore struggle to ensure genuine visual dependence and stable reasoning trajectories. In this paper, we construct a high-quality CoT dataset covering diverse spatial phenomena and diagnose the model's reasoning process, revealing two typical types of process degradation during reinforcement learning optimization: Spurious Grounding, which bypasses visual evidence, and Tail Instability, where uncertainty abnormally rises in the later stage of reasoning. To address these issues, we propose ProSR, a process-shaping optimization framework for spatial reasoning. Through a Counterfactual Invariance Penalty and a Tail Drift Penalty, ProSR extends the optimization objective from single answer correctness to two process-level dimensions: visual dependence and trajectory stability. Experiments on multiple complex and out-of-distribution spatial reasoning benchmarks show that ProSR improves answer accuracy while generating reasoning trajectories that are more stable and more dependent on visual evidence.

Predicting a label correctly does not necessarily require representing the operation that produces it. Transformer representations are known to carry label-level information, but whether they encode semantic operations producing those labels is unclear. We investigate this in Natural Language Inference using controlled premise-hypothesis pairs that differ by a single semantic transformation. Using layer-wise activations, we estimate operation-level subspaces via SVD and test their causal relevance through activation steering in four open-weight decoder models. Transformation effects are decodable with $84.8$-$99\%$ accuracy and occupy partially distinct but overlapping subspaces, exceeding random-subspace baselines. Steering experiments show that these directions causally influence predictions, though steerability varies across models; cross-operation steering further reveals structured interference and a dissociation between subspace selectivity and cross-operation independence. These findings indicate that the models encode not only that a hypothesis relates to a premise but also, in part, how it does so, implying that mechanistic analysis and control should operate at the level of semantic operations rather than predicted labels alone.

Breast ultrasound imaging is an important noninvasive method for early breast cancer diagnosis, but automatic benign/malignant classification remains challenging due to tumor heterogeneity, blurred boundaries, and data imbalance. To improve feature representation and classification accuracy, this paper proposes the Cross-Stage Attention Mixture-of-Experts Network (CSA-MoE-Net). It adopts a Cross-Stage Attention-enhanced ResNet-18 as the backbone, in which the Cross-Stage Attention module adaptively recalibrates multi-level features, thereby enhancing key tumor features and suppressing redundancy. A three-branch Mixture of Experts (MoE) Block learns complementary features from the Whole Tumor Image, Tumor Core, and Boundary, and an Adaptive Gating Network fuses them to capture morphological, textural, and contextual information. The fused features are denoted as Fused Expert Feature (FEF) in the architecture. Experiments on a balanced dataset of 2,129 breast ultrasound images show that, averaged over 20 independent runs, the model achieves an accuracy of 96.33\%, precision of 94.09\%, recall of 98.53\%, F1-score of 96.25\%, and AUC of 99.50\%. Compared to the baseline ResNet-18, these metrics improve by 3.01, 0.70, 5.37, 2.98, and 5.42 percentage points, respectively. The proposed mechanism requires no invasive modification and can be seamlessly embedded into VGG-16, DenseNet-121, etc., yielding stable performance gains, thus providing reliable support for computer-aided diagnosis.

AI answer engines generate answers from retrieved pages but cite only a few sources. This makes visibility depend not just on ranking, but on being cited. We study competitive Generative Engine Optimization (GEO): when two retrieved candidates compete, what makes one more likely to be cited first? We build a controlled two-document retrieval-augmented generation (RAG) testbed that injects exactly two candidate sources into the model context and measures which source is referenced by the first citation marker in the output. Across six LLMs we execute 252,000 trials, repeated paired comparisons under one factorial program over 18 content factors. In each trial the two sources differ in exactly one factor; we use brand anonymization and counterbalanced source order to separate content effects from position bias. Mixed-effects models show that topical relevance and list position are the biggest drivers of being cited first. Including explicit price information and a recent timestamp also helps consistently. Completeness and trust cues add smaller gains, while formatting-only edits have little impact. We release a reproducible evaluation protocol and a prioritized GEO checklist for practitioners, and we exercised it in an early internal pilot at Sprinklr, where teams reported positive qualitative feedback on workflow usability.

Recent advancements in Reinforcement Learning (RL), particularly Group Relative Policy Optimization (GRPO), have significantly enhanced the reasoning capabilities of Large Language Models. However, applying these problem-centric optimization methods to role-playing agents often leads to a loss of character fidelity and style collapse, as they prioritize context-specific utility over persona alignment. To address this, we propose Character-Centric Group Relative Policy Optimization (CRPO), a framework designed to realign RL objectives with the role-playing task. CRPO improves character distinctiveness through three mechanisms: decoupling task logic from stylistic rewards to resolve gradient conflicts, dynamically adapting optimization constraints based on character complexity, and utilizing generic responses as negative baselines to prevent the model from reverting to a common distribution. Extensive experiments demonstrate that CRPO outperforms existing methods in consistency, emotion and others.

At very high sparsity, neural network pruning does more than decide which weights remain. It also determines where pruning induced damage is placed across the network, and whether that damage can be recovered by a fixed lightweight repair procedure. We study this problem through the lens of repair conditioned sparsity allocation. We introduce Relative Repairability (RR), a calibration based diagnostic that compares the raw activation distortion caused by layerwise pruning with the residual distortion left after channelwise variance matching repair. RR estimates the fraction of local damage that remains after repair, using only unlabeled calibration data. Across ResNet18, ResNet34, and VGG16 BN on CIFAR10 and CIFAR100, we find that RR is not a universally dominant allocation rule. Instead, it is most useful near an architecture dependent recoverability transition, where standard structural or magnitude based allocation priors begin to lose reliability but post repair recovery has not yet fully collapsed. On CIFAR100 ResNet18, a fine grained sweep shows that RR improves over ERK across the central transition band and surpasses LAMP near the upper part of this band. A projection forced ablation further shows that capped ERK can over protect projection layers, shifting excessive sparsity onto regular convolutions and reducing post repair recovery. These results suggest that high sparsity pruning should allocate not only retained weights, but also repairable damage.

Neural Signed Distance Functions (SDFs) excel at reconstructing watertight manifolds but fail on thin structures and open boundaries due to strict inside--outside constraints. Conversely, Unsigned Distance Fields (UDFs) accommodate general geometries but suffer from gradient singularities at the zero-level set, hindering optimization and extraction. We introduce Metric--Phase Fields (MPFs), a decoupled implicit representation that separates metric proximity from topological phase. Given an unoriented point cloud, MPFs learn (i) an unsigned metric field $r$ and (ii) a smooth phase field $θ$, for which we derive a bounded phase indicator $P=\tanh(βθ)$ that provides soft inside--outside cues where they are meaningful. We couple the two fields via a gated-metric formulation with a residual phase injection to obtain a signed implicit function with stable near-surface gradients. The phase coefficient $β$ is learnable, allowing MPFs to adaptively control the sharpness of the phase transition and the degree of saturation of the soft sign indicator. Experiments on both synthetic and scanned thin-shell and thin-plate shapes demonstrate that MPFs preserve thin and layered structures more faithfully than recent SDF-based methods, while also enabling more robust training and more reliable surface extraction than UDF-based approaches. Check out \href{https://github.com/JIAYI-Scarlett/ICML2026-MPF}{MPFs-GitHub} for source code and test models.

Educational aspect-based sentiment analysis (ABSA) can support course improvement, but public aspect-labeled student feedback remains scarce because educational reviews are private, institution-specific, and expensive to annotate. This study introduces a controlled synthetic benchmark for educational ABSA built from 10,000 synthetic course reviews with explicit train-validation-test splits and a 20-aspect pedagogical schema spanning instructional quality, assessment and course management, learning demand, learning environment, and engagement. The corpus is generated with sampled target labels, sampled nuance attributes, and a realism-tuned prompt refined through a three-cycle judge-editor procedure. On the resulting benchmark, local baselines with TF-IDF, two-step transformers, and joint encoders show that the task is nontrivial; the strongest untuned model, BERT, reaches a held-out detection micro-F1 of 0.2760, while a modest lower-rate BERT schedule improves this to 0.2930. Full-test GPT-based inference with gpt-5.2 reaches 0.2519 micro-F1 in zero-shot mode and 0.2501 with retrieval-based few-shot prompting, placing batch inference above the classical baseline and close to the compact joint encoders. A conservative external evaluation on 2,829 mapped student-feedback reviews from Herath et al. yields a micro-F1 of 0.4593 for BERT on a 9-aspect overlap, indicating partial synthetic-to-real transfer. Realism and faithfulness analyses are reported as generator diagnostics that clarify how the benchmark was stabilized and where label noise remains. The study therefore contributes a synthetic educational ABSA corpus, a documented generation procedure, and a reproducible benchmark setting for a domain in which public labeled data remain difficult to obtain.

Generating 4D scenes from a single-view video is inherently ill-posed: a single viewpoint lacks the information needed to recover a complete, dynamic scene with full coverage. Existing methods are typically limited to monocular videos, simple 3D effects, or only small viewpoint perturbations around the original viewpoint, falling short of true 4D generation. Meanwhile, the lack of large-scale datasets capturing full-scope 4D scenes with synchronized multi-view videos further hinders progress in this direction. We propose a novel single-view video-to-4D framework that casts full-scope 4D generation as a multi-view video synthesis followed by optimization-based 4D reconstruction from the generated views. To instantiate this formulation end-to-end, we make three key contributions. First, we introduce Real-MV-4D, a large-scale dataset of synchronized multi-view videos captured in diverse real-world environments to provide the 4D supervision. Second, we train a multi-view video diffusion model driven by a novel fused time(T)-view(V) attention mechanism that directly embeds geometric reprojection priors and explicit camera conditioning into its view-time interactions. Unlike basic feature fusion, this direct binding strictly aligns the generation process with physical 3D priors to produce a dense, synchronized T$\times $V video grid. Third, rather than relying on non-interactive and inconsistent 2D video interpolations, we lift the synthesized multi-view videos into an explicit 4D representation (i.e. 4DGS), regularized by a Flow Matching Distillation loss that exploits the multi-view prior to improve novel-view rendering. Extensive experiments demonstrate that our method outperforms existing approaches in both visual fidelity and geometric consistency, enabling full-scope 4D scene generation from single-view videos.

Importance weighting (IW) is a golden solver for joint distribution shift, where the joint distributions differ between the training and test data. To solve this problem, IW estimates test-to-training density ratios as importance weights and reweights the training losses accordingly. Recent advances in dynamic IW (DIW) integrate weight estimation into model training, enabling scalable IW for deep models and achieving strong performance on large modern datasets. Despite its promise, DIW remains limited in two aspects. First, it incurs substantial computational overhead by solving a kernel mean matching (KMM)-induced optimization problem to convergence in every mini-batch. Second, it relies solely on KMM for weight estimation, whereas the IW literature contains diverse estimation methods based on different divergence measures. In this paper, we propose accelerated DIW (ADIW), a unified and efficient IW framework for deep learning under joint distribution shift. ADIW performs a few lightweight projected gradient descent updates that warm-start from previously updated weights, substantially improving efficiency. Moreover, ADIW generalizes DIW into a unified divergence-minimization framework that supports diverse weight-estimation methods in a plug-and-play manner, including those based on the Kullback-Leibler divergence, squared distance, and Wasserstein-1 distance. We establish convergence guarantees for ADIW under mild conditions, and empirical results demonstrate that ADIW achieves state-of-the-art IW performance while being substantially more efficient.

Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer layers: shallow layers exhibit substantial domain gaps (CKA < 0.5), whereas deep layers transfer effectively (CKA > 0.7). Based on this observation, we propose RepSAM, a representation-guided parameter-efficient fine-tuning (PEFT) framework for adapting foundation models to robotic vision. RepSAM employs a theoretically grounded CKA-guided rank allocation strategy combined with a multi-modal fusion module for robust handling of challenging robotic scenarios, including transparent objects and cluttered scenes. Experimental evaluation across six benchmarks and robotic manipulation tasks demonstrates that RepSAM achieves 97.9% of full fine-tuning performance (89.0% vs. 90.9% mIoU) while reducing trainable parameters by 158x (from 632M to 4.0M). RepSAM outperforms DoRA by 7.9% mIoU with just 4 hours of training on a single A100 GPU (a 96x reduction from full fine-tuning, which takes 384 GPU-hours). These improvements are statistically significant (p < 0.01) and translate to a 12.0% absolute improvement in robotic manipulation success rates over the LoRA (RGB) baseline.

Pairwise model comparisons drawn from foundation-model benchmarks ("A is safer than B") are read as quantitative verdicts but hinge on harness choices benchmark papers under-specify. We close one theory-benchmark loop on this primitive: a finite-envelope proposition tying a measurable pairwise-disagreement rate to whether the strict ordering admits a configuration-pair reversal, paired with a commit-stamped evaluation protocol that operationalises it on widely cited alignment benchmarks. On every benchmark we test, configuration choice alone can flip the pairwise verdict; the proposition isolates this strict-reversal failure mode.

Visual analytics (VA) workflows are inherently complex, involving data transformation, feature engineering, visual representation, and human interpretation. They are typically described in unstructured prose, hindering systematic comparison, reuse of proven strategies, and training of novices. We present Artifact-Transform Workflow Language (ATWL), a domain-agnostic, declarative language that formally represents VA workflows by capturing their structure and underlying analytical intent. ATWL is built upon a modular ontology of eight artifact types (entities, features, arrangements, visualisations, patterns, models, knowledge, specifications) and transforms characterised by standardised intents (e.g., define-unit, characterise, contextualise, abstract). To show that formalisation effort need not impede adoption, we extract workflows from research papers through supervised interaction with LLM agents, reducing the human role to review and refinement. Using this process, we constructed a library of seventeen ATWL workflows from published VA papers. Cross-workflow analysis reveals structural regularities -- a recurrent meta-structure, recurring motifs, reusable building blocks, diverse iterative strategies, and cross-domain equivalences -- that remain invisible in prose. We further evaluate practical utility through a controlled experiment in which the same LLM addressed two analytical problems with the library supplied either as original papers or as ATWL representations. Both forms enabled useful recommendations, but the formal representation systematically added explicit iteration structure, typed data flow, fragment-level adaptation provenance, and compactness supporting scaling beyond what prose libraries can fit in an LLM's context. ATWL enables a transition from narrative descriptions to formally represented, comparable, and reusable analytical knowledge.

Audio-driven talking-head generation has achieved remarkable progress with recent models such as AniTalker, FLOAT, and Sonic. Despite their success, most existing approaches rely on a single static reference image to condition the entire video generation process at inference stage. This static conditioning paradigm often creates a mismatch between fixed identity features and dynamically evolving facial motion, leading to identity drift, temporal inconsistency, and degraded perceptual quality. We introduce Test-Time Self-Adaptive Conditioning (TT-SAC), a parameter-free inference framework that enables pretrained talking-head generators to adapt their conditioning representations during inference without retraining, gradient updates, or additional supervision. Instead of treating the reference portrait as immutable, TT-SAC composes the generator with its encoder in a feedback loop: the generator's own outputs are re-encoded to construct a refined conditioning representation that better aligns with the temporal dynamics of the synthesized sequence. A single adaptation step approximates a self-consistent equilibrium of the generative process, stabilizing identity and motion across time. We further provide theoretical analysis showing that test-time conditioning adaptation reduces feature variance and improves generative stability under mild Lipschitz assumptions, while exhibiting a principled bias-variance tradeoff that governs the optimal strength of adaptation. Extensive experiments on state-of-the-art talking-head generators and benchmark datasets demonstrate consistent improvements in lip-sync accuracy, temporal coherence, identity preservation, and perceptual fidelity. TT-SAC offers a model-agnostic and training-free strategy for enhancing generative video models, establishing test-time conditioning adaptation as an effective mechanism for stabilizing audio-driven portrait animation.

Adapting large vision-language models (VLMs) such as CLIP to downstream tasks remains challenging, as full fine-tuning is computationally prohibitive and prone to overfitting in low-data regimes. Parameter-efficient fine-tuning (PEFT) alleviates these issues with lightweight prompt- or adapter-based modules, and cross-modal coupling has proven especially effective by strengthening interactions between vision and language. However, existing coupling mechanisms predominantly rely on external auxiliary modules, leading to indirect, coarse-grained interactions that are structurally decoupled from the original VLM and thus limit representational expressiveness. In this paper, we propose Multi-Modal Interactive Agent Layer (MAIL), a PEFT paradigm that embeds cross-modal coupling directly into the intrinsic computation modules of VLMs. MAIL freezes the backbone and inserts lightweight agent layers after core modules, such as LayerNorm, to approximate the parameter updates induced by full fine-tuning. To couple visual and textual streams at this level, we introduce a bottleneck-based text-to-image bridge that jointly optimizes paired agent layers across modalities, coordinating the adaptation of corresponding computation modules. We further present MAIL++, which enables bidirectional cross-modal exchange through a meta agent layer, a meta-text bridge, and a meta-image bridge. At inference time, all agent layers are re-parameterized into the frozen backbone, preserving the original computational efficiency. Extensive experiments on few-shot image classification and few-shot universal cross-domain retrieval demonstrate that MAIL and MAIL++ consistently outperform state-of-the-art PEFT methods.

The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies consistently fall short of the reliability required for real-world deployment. Reinforcement learning (RL) fine-tuning offers a promising path to bridge this gap, but existing approaches either train from scratch without fully leveraging pretrained priors, or fine-tune VLAs without achieving the sample efficiency and success rates that practical deployment demands. We present EXPO-FT, a system for stable, sample-efficient RL finetuning of pretrained VLA policies that closes this gap. Our system solves a suite of challenging manipulation tasks, including routing string lights and inserting the plug to light it up, striking a pool ball into a pocket, and inserting a flower into a wine bottle, each requiring combinations of high precision, dynamic actions, and robustness to varied initial states. Our system achieves perfect task performance (30/30 successes) across all evaluated tasks within an average of 19.1 minutes of online robot data, outperforming both prior RL-from-scratch and VLA finetuning approaches. We release an open-source codebase with the aim of facilitating broader adoption of RL finetuning of VLA models in robotics.

Large Language Models (LLMs) are increasingly expected to operate over long contexts, yet standard softmax attention incurs a KV cache that grows linearly with sequence length, quickly becoming the bottleneck for long context inference. A practical remedy is to evict less important KV entries; however, existing eviction policies are largely heuristic and struggle to capture the rich, input-dependent distribution of token importance. In this work, we introduce a learnable indexer that predicts KV importance, enabling more accurate retention of critical tokens. Meanwhile, naively evicting tokens permanently discards their information, leading to irreversible forgetting and degraded retrieval over long ranges. To address this, we propose a lightweight latent memory module that compresses evicted tokens into a compact, online-updated state and provides residual readouts to compensate for the attention contributions lost through KV eviction. Collectively, our method enables accurate long-context inference under a bounded KV budget, delivering consistent improvements on RULER (4K/16K) across Qwen, Mistral, and Llama models (up to 25 points under aggressive eviction), markedly more stable Needle-in-a-Haystack retrieval, and superior LongBench scores and compression curves compared to existing eviction policies.

TypedCSIP is a typed counterfactual pretraining method for the conflict-classification task of the LCR-CN benchmark (Zhao et al., 2026): given a (superior, subordinate) provision pair, predict whether the pair conflicts and which of four legal-doctrine types (Responsibility, Condition, Sanction, Definition) describes the inconsistency. We exploit LCR-CN's expert-written minimal revisions as training-time counterfactual supervision; at test time the classifier reads only the original pair. Stage 1 pretrains a shared encoder with a typed Counterfactual Selective Intervention Pretraining objective on (superior, subordinate, expert-revised) triplets, treating the expert revision as a counterfactual that the typed factor head must classify as carrying no conflict evidence. Stage 2 transfers the encoder to a five-way classification head. The confirmatory test was registered on the Open Science Framework before observing v6 measurements: 18 seeds, locked rule requiring mean per-seed difference at least 0.8 pp with both seed-bootstrap and Student-t 95% lower bounds above zero. On the 696-record test split, the v2 variant improves macro-F1 over the strongest single-model baseline by +0.916 pp on chinese-roberta-wwm-ext and +1.288 pp on the SAILER cross-backbone replication; both cells pass the rule. A cold-start stratified result on the 244 Unseen-gB records keeps the gain positive on both backbones. A cross-task diagnostic shows the Stage-2 encoder is classification-specialized and does not transfer to LCR-CN's superior-law retrieval task, so we scope the contribution to conflict classification. We release code, 72 pre-registered prediction files, matched-seed and MLM-control auxiliaries, and the OSF pre-registration record.

Quantization-aware training (QAT) is widely deployed but typically relies on the Straight-Through Estimator (STE), which passes gradients through non-differentiable quantizers by fiat. This often makes training brittle near bin boundaries and weakly aligned with the actual behavior of the low-precision model. We introduce JacQuant, a QAT framework that learns a lightweight surrogate of the model's local sensitivity to parameter changes and uses it to stabilize and accelerate training within standard variance-reduced optimizers. The surrogate is inexpensive (diagonal or block-diagonal), data-driven, and compatible with common weight and activation quantizers. On code-preserving training phases, we prove convergence for non-convex objectives and obtain linear rates under a PL condition, and we relate the learned sensitivity to end-to-end output fidelity via a simple calibration argument. Across LLM benchmarks at $\leq 2$ bits, JacQuant consistently reaches higher accuracy than STE-based QAT, and the runtime analyses on various models show that the added cost remains negligible under practical group sizes. The method is drop-in and requires no changes to the forward quantizers; our empirical claims are scoped to ultra-low-bit LLM QAT.

Metaphorical videos are prevalent across various real-world scenarios to convey complex ideas, and understanding them typically requires high-order cognitive capabilities. The lack of systematic studies on metaphorical video understanding not only constrains the real-world applicability of MLLMs but also impedes the thorough assessment of their high-order cognitive capabilities. To bridge this gap, we propose MetaphorVU-Bench, the first systematic and comprehensive benchmark dedicated to metaphorical video understanding. Through experiments, we find current MLLMs struggle with accurate metaphorical video understanding, lagging far behind human level, primarily due to defective cross-domain mapping. Motivated by this finding, we construct a metaphor knowledge graph as mapping augmentation and propose MetaphorBoost, an inference-time enhancement framework achieving consistent performance improvement. Our benchmark, analysis, and method provide useful insights and a foundation for future research on advancing MLLMs.