Materials process optimization requires reasoning over routes, conditions, tools and causal dependencies, yet most computational formulations flatten synthesis procedures into text or ordered steps. We introduce MatProcBench, a provenance-grounded benchmark constructed from literature-mined MatPROV graphs, to evaluate seven process-reasoning tasks spanning route continuity, step-level variable inference and global causal consistency under both same-split and shift-aware evaluation, including a strict dual-OOD split that combines temporal and material-class shift. We further introduce ProvMind, a process-memory reasoning framework that retrieves analogous training processes, converts them into provenance-aware option-level compatibility scores, and uses a language model for constrained final decision making. ProvMind achieves 52.84\% accuracy on the dual-OOD split, outperforming prompting, retrieval-augmented and supervised fine-tuning baselines.

Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, their control remains challenging due to indirect actuation, limited sensing, and nonlinear magnetic interactions. In this work, we propose Mag-VLA, a vision-language-action (VLA) model for dexterous magnetic microrobot manipulation using two robotic arms with mounted magnets for dynamic magnetic-field construction. Bimanual coordination enables capabilities such as microrobot reorientation that are difficult or infeasible with a single arm, but it also introduces coupled control challenges, as the policy must generate coordinated trajectories for both actuators within a shared workspace. Our framework adapts a Qwen2.5-VL-7B backbone using Low-Rank Adaptation (LoRA) to process visual observations and language instructions for action prediction. To capture task progression, we introduce a motion-aware phase classifier and a phase-conditioned Action Chunking Transformer (ACT) decoder for temporally coherent multi-step control. We further construct a teleoperated magnetic microrobot manipulation dataset covering three task configurations. Ablation studies show that the ACT-based decoder substantially outperforms alternative generative action heads. In real-robot experiments, Mag-VLA achieves a 90% approach success rate across all tasks and transport success rates of 80%, 70%, and 50% as task difficulty increases. These results demonstrate that hierarchical VLA modeling provides a promising framework for magnetic microrobot manipulation.

Composing finite-state transducers (FSTs) for context-dependent morphophonological rules -- consonant gradation, vowel harmony, possessive suffix assimilation -- leads to multiplicative state explosion; neural models sidestep the problem but provide no formal account of the rules themselves. We present the first framework where each morphophonological rule is a function from a focused local context to a single output segment -- the type of a local rule familiar from cellular automata -- and where length-changing rules compose as coKleisli arrows of a comonad. Our central contribution is the Writer comonad (DeletionSet x Zipper), a new algebraic construction that restores strict coKleisli compositionality for such rules: each rule is a coKleisli arrow, extend lifts it to a global transformation, and deletions accumulate as a monoid action rather than requiring intermediate materialization. As supporting evidence, thirteen coKleisli arrows provide an alternative formulation expressing the same morphophonological behaviors that Omorfi encodes via 874 continuation classes (67:1 reduction at the rule-representation level), and the same abstraction enables bidirectional morphology -- a MorphGenerator reuses the analysis arrows for generation. On UD Finnish-TDT, the system achieves 83.92% UPOS accuracy with rule-only disambiguation (94.66% with an external suffix tagger), validating the framework as a practical morphological engine.

Linking learning resources to a structured competency framework is key to enabling competency-based search and curriculum analytics in Learning Management Systems (LMS). However, manual tagging is labor-intensive, and fully automatic methods often lack transparency. In this paper, we present an end-to-end alignment pipeline that uses a large language model (LLM) as a constrained, evidence-producing tagger. LMS resources -both instructional content and assessments -are first segmented into meaningful pedagogical fragments. For each fragment, a small set of candidate competencies is retrieved from structured competency profiles enriched with graph-based context. The LLM then selects the most relevant competencies from this set and provides supporting evidence spans from the fragment text. These predictions are refined using the structure of the competency graph and aggregated at the resource level. We evaluate our approach on a dataset built from the Computer Science department's competency referential at the Université de Technologie de Compiègne (UTC), covering 22 competencies across multiple course materials. Our LLM+BM25+Graph (LBG) pipeline achieves strong results, with a micro-F1 of 0.57 and macro-F1 of 0.50 at the fragment level, 0.51 macro-F1 at the resource level, and an MRR of 0.82outperforming zero-shot and few-shot LLM variants, retrieval/similarity baselines, and supervised classifiers -while also producing more mechanically traceable evidence spans to support human auditing and educational analysis.

We present a hybrid robotic skin that combines electrical impedance tomography (EIT) with pneumatic tactile sensing to improve force reconstruction capability. The developed robotic skin is fabricated entirely by 3D printing and spray coating, making it affordable and easy to build. A Tikhonov-regularized inverse reconstruction, paired with per-pad pneumatic calibration, enables accurate large-area tactile sensing with a simple measurement scheme. For validation, we conducted load-cell indentation experiments; the results showed consistent force reconstruction across locations within a pad. Compared with an EIT-only baseline, sensitivity non-uniformity was also reduced, with the coefficient of variation decreasing from 0.31 to 0.14, indicating that the proposed approach addresses a longstanding limitation of EIT. We further demonstrated chest-mounted integration on a humanoid robot and found that the pneumatic signals remained reliable across diverse contact scenarios, including multiple simultaneous contacts on the same sensing pad. These results indicate a practical path toward accurate, scalable whole-body tactile sensing in real robotic systems.

As LLMs gain stronger reasoning capabilities, their extended chain-of-thought introduces new degrees of complexity for defending against adversarial jailbreaks and prompt injection. We study consistency training, a family of fine-tuning objectives that enforce identical behavior on clean prompts and adversarial rewrites, and evaluate its two main variants, output-level (BCT) and activation-level (ACT), across five reasoning models. We formulate both methods as a prompt injection defense and find ACT to be competitive with other training-based defenses while requiring only self-supervised pairs of clean and wrapped prompts. Our experiments also generalize both techniques within the jailbreak setting, demonstrating that ACT remains more robust to adaptive attacks. We also provide mechanistic evidence that ACT's defense against jailbreaks is encoded as a roughly linear shift in activation space at the assistant-turn boundary. After ACT training, we can recover a single steering direction that controls refusal on reasoning models with minimal effect on benign inputs. We find that ACT remains robust even when the model's chain-of-thought is replaced with a compliant trace from the undefended base model, pivoting to refuse prefilled jailbreaks. Together, these results suggest that supervising internal representations is a surprisingly effective and interpretable approach to various forms of safety training in reasoning models.

Divergent thinking is a core dimension of creativity, yet existing evaluations of Large Language Models (LLMs) treat them as single-turn text generations, failing to capture how an agent reasons through iterative interaction. To address this, we introduce MUTATE, an interactive benchmark designed to evaluate agentic divergent thinking at two levels: path-level, where an agent discovers multiple alternative paths to the same goal, and action-level, where individual actions require non-typical, mechanism-shifting object uses. Unlike success-only evaluations, MUTATE scores both completed paths and off-path attempts, capturing divergent reasoning that conventional success rates discard. Our experiments with frontier LLMs reveal a structural blind spot in existing frameworks: when exposed to immediate convergence pressure, they tend to fall into immediate action fixation, failing to improve action-level divergence. To overcome this, we propose ReDNA, which separates unconstrained divergent candidate generation from convergent constraint selection. ReDNA significantly outperforms prior methods across both divergence levels and generalizes effectively to an external creativity environment. We also confirm its success stems from a qualitative enhancement of resilient divergent reasoning rather than simple environmental exploration.

Legal Judgment Prediction (LJP) has become a core benchmark for evaluating AI in the criminal legal domain, but it only sees criminal cases that have already passed prosecutorial review and been formally indicted. As a result, LJP leaves a substantial blind spot in assessing criminal liability, overlooking cases involving insufficient evidence, no criminal liability, or guilt exempted from punishment. To fill this gap, we propose \textbf{Prosecution Decision Prediction (PDP)}, the first Legal AI task built around prosecutorial review, which classifies each case into prosecution or one of three non-prosecution decisions and reflects legal AI's capabilities in evidence evaluation, legal subsumption, and value-based discretion. We further construct \textbf{PDP-Bench}, a benchmark of 4{,}630 real Chinese prosecutorial decisions spanning 190 charges. Extensive experiments show that state-of-the-art LLMs perform substantially worse on PDP than on LJP and that mainstream enhancement routes fail to close the gap. Moreover, controlled RLVR interventions show that simple outcome rewards fail to produce generalizable PDP discrimination.

Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to collect successful catching trajectories and learn a low-dimensional kinodynamic trajectory manifold. At run time, the estimated object initial state is mapped directly to a reference catching trajectory without online nonlinear optimization. The trajectory is tracked with compliant control near contact for improved impact absorption and capture stability.

Existing Visual Speech Recognition (VSR) systems commonly rely on left-to-right autoregressive decoding, which can force premature decisions on visually ambiguous tokens before sufficient context is available. We propose DLLM-VSR, to the best of our knowledge, the first Diffusion Large Language Model (DLLM)-based VSR framework, formulating transcription as iterative masked denoising with flexible-order decoding. With confidence-based unmasking, DLLM-VSR commits high-confidence positions early and uses the committed tokens as bidirectional context to refine ambiguous ones. To adapt DLLMs to VSR, we introduce a two-stage masked-denoising training strategy that separates visual-to-text content alignment from length modeling. We further observe a performance gap with oracle-length decoding, which assumes access to the true transcript length, indicating that reducing target-length uncertainty can improve DLLM-based VSR. To reduce this gap, we develop length-guided candidate decoding, which uses video duration to construct plausible transcript-length hypotheses, decodes under multiple hypotheses, and reranks candidates using length plausibility and decoding confidence. The proposed method achieves a state-of-the-art WER of 19.5\% on LRS3 using only its labeled training data.

Greedy Best-First Search (GBFS) is the dominant approach for solving search problems where the goal can be estimated with a heuristic, such as planning, route finding, navigation, and pathfinding. This is especially true when the memory is tightly constrained, such as planning on edge devices. To alleviate that, we present GONDOR (Greedy Online Navigation with Dynamic Outpost-based Re-search), a memory-efficient extension of GBFS that allows search to continue under strict memory limits by periodically compressing the search tree while retaining a sparse set of anchor states, then upon reaching the goal reconstructs the path by re-searching between the sparse states. We analyze the algorithm and discuss several variants defined by different outpost selection policies. In addition, we explore using Bloom filters for compact duplicate detection in the closed list. Experiments across numeric planning domains and heuristic configurations show that GONDOR consistently improves coverage under low memory budgets compared to standard GBFS. We release the implementation of GONDOR and the Bloom-filter variant to facilitate further research on memory-efficient heuristic search.

Visual data from the Web power image classifiers, which often underpin many web services, such as recommendation and content moderation. However, the raw Web data often contain spurious correlations and social biases, and neural networks are known for their tendency to learn biases present in data. This can reinforce unfairness in web services and the web data, leading to a vicious cycle. In the context of image classification, networks learn bias attributes for a specific class when a majority of images contain the same attribute only for a given class. Hence, training a fair and debiased classifier from a biased dataset demands handling an imbalanced problem between a majority of images with bias attributes (bias-aligned samples) and a minority without (bias-conflict samples). In this work, we introduce BiasEdit, a modular framework that automatically detects bias attributes from the original dataset and edits them to construct a debiased dataset. Specifically, BiasEdit first detects unknown bias attributes via statistical dependence and mutual information analysis of visual-linguistic representations, and then explicitly edits those attributes using text-guided image editing to generate realistic bias-conflict samples. Unlike prior works that assume known bias attributes or relies on synthetic mixing, our method operates without manual annotations and can leverage off-the-shelf vision-language and editing models. BiasEdit addresses a fundamental challenge in Web-sourced visual AI, mitigating dataset-induced bias and achieving state-of-the-art debiasing performance even when training data are fully biased.

Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic teleoperation frameworks for complex-shaped optical microrobots remain underdeveloped, particularly in multi-trap manipulation scenarios. This paper presents a digital twin framework for virtual visuo-haptic teleoperation of complex-shaped OT-driven microrobots. The framework integrates a digital twin environment, image-based pose and depth estimation, microrobot motion simulation, and model-based haptic rendering within a Robot Operating System (ROS)-connected bimanual teleoperation system. For force modeling, we combine a Multi-Sphere Distributed Manipulation (MSDM) model with optical-force estimation from the Optical Tweezers Toolbox, enabling simulator-driven visuo-haptic feedback. The framework reproduces representative microrobot motion trends and provides haptic force rendering that is numerically consistent with the fitted optical-force model. In simulated cell-delivery tasks, haptic feedback reduced the standard deviations of the contact-force metric and the microrobot-to-trap-center distance metric by 53.2% and 55.2%, respectively, and improved task success from 30% to 80%. These results demonstrate the framework's effectiveness for evaluating visuo-haptic teleoperation strategies for complex-shaped optical microrobots.

Fine-tuning large-scale pre-trained models is a recent prevalent paradigm for adapting general representations to specialized tasks. However, when a new version of a pre-trained model becomes available, expertise acquired through fine-tuning cannot be directly reused because it is tied to the parameterization of the original model, requiring another costly fine-tuning. To address this inefficiency, recent work uses task vectors, defined as the parameter difference between a fine-tuned model and its base model, to transfer expertise across models. While existing methods bridge disparate models by matching activations or gradients, a significant performance gap remains relative to direct fine-tuning, suggesting that these partial correspondences are insufficient. In this work, instead of viewing a task vector merely as a parameter offset, we revisit the formation of task vectors and show that they can be derived as accumulated bilinear interactions between input-side activations and output-side gradients. Motivated by this observation, we formulate task-vector transfer as a dual-space alignment problem and propose BiCo, a training-free framework for transferring task vectors through Bilinear Coordinate alignment. BiCo estimates orthogonal Procrustes mappings in both spaces using a single forward-backward pass on a small calibration set, without any parameter update. Across extensive computer vision and natural language processing benchmarks, BiCo consistently outperforms existing transfer methods across models that differ in width, depth, and pre-training configuration.

While Contrastive Learning (CL) has revolutionized self-supervised representation learning, its latent representations remain highly entangled and opaque, limiting their interpretability in safety-critical applications. We identify that a fundamental cause of this entanglement is the reliance on deterministic similarity measures, which treat all feature dimensions equally. In compositional scenes, this creates an Optimization Conflict: common background features, such as, "blue sky", are encouraged to align in positive pairs but simultaneously repelled in negative pairs, causing gradient oscillations that hinder precise semantic disentanglement. To address this, we propose BayesNCL (Bayesian Gated Non-Negative Contrastive Learning). Unlike standard approaches, BayesNCL introduces a probabilistic gating mechanism that dynamically filters out task-irrelevant, high-frequency common features while selectively retaining discriminative semantics. By formalizing feature selection as a variational inference problem with a sparse Bernoulli prior, our method effectively resolves the optimization conflict. Empirical experimental results on Imagenet-100 demonstrate that BayesNCL achieves a remarkable 142.1% improvement in semantic consistency compared to state-of-the-art baselines, yielding highly interpretable representations without compromising downstream task performance. Code is available at https://github.com/Cui-Peng-624/BayesNCL.

DPO has become a widely adopted alternative to RLHF for aligning LLMs with human preferences, eliminating the need for a separate reward model or RL loop. Recent theoretical analysis uncovers an asymmetric gradient behavior in DPO: the loss suppresses dispreferred responses substantially faster than it promotes preferred ones, causing the model to learn to avoid bad answers rather than to generate good ones. We propose AdaDPO, a Self-Adaptive variant of the DPO algorithm that introduces per-preference-pair, stop-gradient-based coefficients derived directly from the policy model's generation probabilities, with the reference model's probabilities as an optional component. AdaDPO is constructed to enforce equality of gradient magnitudes between preferred and dispreferred probabilities; the practical implementation balances per-token gradients and applies a numerical clipping bound for stability, while retaining DPO's original hyperparameter structure. On Llama-3-8B-Instruct trained on UltraFeedback under a SimPO similar setup, AdaDPO consistently outperforms DPO on AlpacaEval 2: it achieves higher length-controlled win rates (LC) in 81% of hyperparameter combinations, attains the global best LC (48.3%) and raw win rate (46.1%), and enlarges the LC-over-WR margin in 88% of combinations, indicating effective mitigation of length bias. Additional analyses on KL divergence, reward margin, and reward accuracy confirm that AdaDPO rectifies the gradient imbalance and yields more efficient optimization. Because it operates purely at the loss level, AdaDPO can be dropped into existing preference-based alignment pipelines without changing data collection or model architectures. The method requires only a few lines of code, and the same self-adaptive principle generalizes to a broad family of pairwise contrastive preference losses including SimPO, R-DPO, IPO, CPO, and ORPO.

Automatic Speech Recognition (ASR) systems are commonly evaluated using aggregate metrics such as Word Error Rate (WER), which do not capture the linguistic structure of errors. Fine-grained analysis, such as Part-of-Speech (PoS)-wise error characterization, requires accurate alignment between ASR hypotheses and reference transcriptions. However, existing alignment tools are often unreliable for languages written in non-Latin scripts. In this work, we address this gap by proposing a robust, automated, language-agnostic alignment mechanism applicable across ASR architectures and across languages written in both Latin and non-Latin scripts. This enables consistent alignment of hypotheses, references, and evaluation sequences, forming the basis for downstream linguistic analysis. Building on this, we employ standard PoS taggers to perform scalable and reproducible PoS-wise error analysis. Notably, we perform alignment and downstream ASR error analysis across three major segmented writing systems, namely, Abugida (Tamil, Hindi, Kannada), Alphabetic (English, Russian, Greek), and Abjad (Arabic). We further demonstrate how such error information can be leveraged during ASR training to improve metrics such as WER.

Role-based LLM multi-agent systems need adaptive role pools, yet adapting such systems is not merely a matter of prompt optimization: roles often carry structural obligations, including capability coverage, message compatibility, validation, final-answer aggregation, and parser-compatible output protocols. Existing systems either fix the role inventory and lose adaptivity, or allow unconstrained generation to induce role drift, removing structurally necessary roles and breaking answer contracts. We formulate this as contract-preserving role evolution, requiring every committed edit to preserve five structural contracts (capability, communication, validation, aggregation, output protocol). We instantiate this formulation in SERO, a Self-Evolving Role Orchestration framework that evolves a typed role-card pool through credit-guided retrieval, a credit-ranked communication DAG with a protected terminal aggregator and conditional validator repair, and a contextual-bandit controller whose LLM-proposed edits are committed only when they preserve the contracts and improve task score. Experiments on real-world reasoning benchmarks across three LLM backbones confirm the value of contract-preserving role evolution.

Detecting subtle visual anomalies in images remains challenging, particularly when only normal samples are available a priori. Such unsupervised anomaly detection is typically solved by measuring feature similarity of a query patch to a memory of normal patches. However, similarity alone does not reveal how strongly a query patch violates the structure of the normal feature manifold. We propose a training-free Laplacian graph energy optimization formulation, named ANoCo that scores Anomaly by the cost of Non-Conformity of a query patch to align with a fixed normal manifold. For each query patch, we construct a bipartite query to normal graph weighted by cosine affinity, explicitly removing query-query and normal-normal edges to prevent evidence dilution. We formulate anomaly scoring as a convex Laplacian energy with anchored normal nodes, and solve in closed form. In particular, we do not use the optimized features themselves-the anomaly score is the magnitude of the update required to satisfy normality constraints, reframing the graph Laplacian as a non-conformity operator rather than a smoothing prior. The proposed method introduces no learnable parameters, message passing, or sampling, and has complexity comparable to a single linear solve. Across standard benchmarks, it delivers strong image-level AUROC, stable localization maps, and improved robustness over prior methods, demonstrating the effectiveness of using optimization-induced feature drift as anomaly measure.

Diffusion models have emerged as powerful generative approaches for missing-data imputation, yet most existing methods operate directly in data space and degrade when training data are heavily incomplete. We investigate whether shifting diffusion to a learned latent representation improves robustness under missing-completely-at-random (MCAR) corruption. To this end, we propose a two-stage framework: a robust VAE-based imputer first learns compact semantic features from incomplete observations, and a diffusion model is then trained in the resulting latent space. Across training missing rates, we perform a controlled comparison against pixel-space diffusion models under the same incomplete-data setting. The latent diffusion model maintains high sample quality and remains stable up to 50\% missingness, while pixel-space diffusion degrades progressively as missingness increases. For downstream imputation, latent diffusion also achieves consistently better performance than pixel-space diffusion. These findings indicate that latent-space modeling mitigates artifact amplification from zero-imputed inputs and provides a more robust generative prior for incomplete-data learning. Overall, our results support latent diffusion as a strong and practically useful alternative to pixel-space diffusion for missing-data problems.

Equipping large language models with explicit skills has emerged as a promising paradigm for enabling autonomous agents to solve complex tasks. Agent skills can be inherently divided into general skills for broad cognitive transfer and task-specific skills for dynamic execution. However, existing skill-based reinforcement learning (RL) methods typically force a rigid choice between full externalization, which incurs prohibitive context overhead, and full internalization, which risks overfitting and knowledge conflicts. To address this dilemma, we propose Skill0.5, a novel agentic RL framework that explicitly differentiates skill treatments by combining general skill internalization with task-specific skill utilization. Driven by a dynamic, difficulty-aware router, Skill0.5 streams tasks into distinct mastery tiers to apply tailored optimization strategies: it internalizes general skills via privileged distillation to build a cognitive foundation for hard tasks, while using diagnostic probing on easy tasks to penalize shortcuts and enforce specific skill utilization. Experiments on ALFWorld and WebShop demonstrate that Skill0.5 outperforms both memory-based and skill-based RL baselines, yielding performance improvements across both in-distribution and out-of-distribution scenarios.

Latent reasoning enables reasoning over continuous hidden states rather than explicit tokens, avoiding the language bottleneck and inference overhead of chain-of-thought for medical VQA. However, existing methods suffer from modality collapse, insufficient visual supervision, and train-inference mismatch. Moreover, their opaque latent states offer no interpretability, which is critical in clinical applications. We propose VITAL, a latent-space reasoning framework for medical MLLMs with visual-semantic dual supervision: an auxiliary text decoder reconstructs reasoning chains from latent states, while a visual projector regresses ROI features from a frozen, independent medical vision encoder. Both modules are discarded at inference with zero overhead, yet can be re-attached post-hoc for dual interpretability, providing textual and visual explanations of the reasoning process without sacrificing efficiency. We construct a 61K dataset spanning 9 imaging modalities, exceeding prior medical visual latent reasoning datasets by an order of magnitude. Experiments on 7 benchmarks show that VITAL consistently and substantially outperforms the backbone, all latent reasoning baselines, and medical MLLMs trained on far larger data, achieving state-of-the-art results competitive with trillion-parameter proprietary models.

Reinforcement learning has become a central paradigm for advancing reasoning in large language models, yet most existing methods still depend on stronger teacher models or heavily curated difficult datasets, limiting scalable capability improvement. In this paper, we introduce DenoiseRL, a reinforcement learning framework that substitutes external supervision with recovery-oriented optimization over failures from weak models. Instead of relying on stronger supervision or carefully engineered data, DenoiseRL learns directly from incorrect reasoning traces by converting them into opportunities for improvement, making training more scalable and less dependent on external resources. This yields a richer and more diverse learning signal, improving exploration efficiency from imperfect model behavior. As a result, DenoiseRL improves reasoning performance and overall training efficiency while reducing the need for expensive data curation or stronger teacher models. Empirically, DenoiseRL consistently outperforms strong on-policy RL baselines across competitive mathematical and general reasoning benchmarks and promotes stronger self-corrective behavior as training difficulty increases, highlighting an effective and scalable alternative pathway for improving reasoning in large language models.

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor fusion framework for natural physical human-robot interaction. Tactile cues from pneumatic skin pads serve as contact indicators that bypass the ambiguity between frictional residues and applied external forces, enabling highly sensitive contact detection without explicit friction identification. We fuse these cues with motor-current-based proprioception to reconstruct multi-axis contact forces on the robot surface. To maintain accuracy during motion, we employ a temporal convolutional network (TCN) to mitigate friction hysteresis during stick-slip transitions, reducing uncertainty at contact onset and yielding smooth, responsive guidance. We validate the approach on a skin-integrated robot arm: (i) multi-axis forces are reconstructed in stationary contacts, and (ii) simultaneous force estimation and kinesthetic teaching are demonstrated. Results indicate improved sensitivity and responsiveness across diverse contact conditions compared with tactile-only and proprioceptive-only baselines, supporting tactile-proprioceptive fusion as a reliable pathway to safe, intuitive physical human-robot interaction.

Post-training using online reinforcement learning (RL) is an important training step for LLMs, including code-generating models. However, online RL for code generation involves LLM inference and verification of the generated output, which can take considerable time and resources. In this paper, we explore the application of offline RL to code-generating models by leveraging existing code datasets. Our experiments demonstrate that offline RL is an effective training strategy for improving LLM performance. We show that offline RL can be especially beneficial for small LLMs and challenging coding problems.

Despite widespread discussion of AGI, there is no clear framework for measuring progress toward it. This ambiguity fuels subjective claims, makes it difficult to track progress, and risks hindering responsible governance. As a starting point to address this gap, we present a framework for understanding system capabilities in relation to human cognitive abilities. Drawing from decades of research in psychology, neuroscience, and cognitive science, we introduce a Cognitive Taxonomy that deconstructs general intelligence into 10 key cognitive faculties. We then propose a rigorous evaluation protocol in which a system's performance is measured across a suite of targeted, held-out cognitive tasks, generating a 'cognitive profile' that can be used to understand a system's strengths and weaknesses. We hope this framework will provide a practical roadmap and an initial step toward more rigorous, empirical evaluation of AGI.

Mixed Reality (MR) headsets promise a future of immersive telepresence where virtual humans blend indistinguishably into real or virtual surroundings. Achieving this vision requires a method for capturing a user's motion, estimating appearance under novel lighting, and understanding the environment - all from the constrained viewpoint of a head-mounted display (HMD). Existing approaches treat these as isolated problems: they either focus on driving avatars with baked-in lighting or rely on studio setups for relighting. In this paper, we present EgoRelight, a holistic framework for egocentric telepresence that simultaneously captures full-body human performance, synthesizes photorealistic and relightable appearance, and estimates high dynamic range (HDR) environment maps from a single HMD. First, to ensure motion and surface reconstruction, we propose an egocentric perception module that leverages stereo down-facing cameras to extract dense depth maps, which serve as geometric control signals to drive a mesh-based avatar. Second, we introduce a novel neural appearance model that learns to synthesize view-dependent specular and view-independent diffuse shading separately. By employing a specialized ray-sampling strategy, our model generalizes to unseen illumination without relying on restrictive analytical BRDF priors. Third, we enable seamless avatar integration into the physical world via a test-time inverse rendering process, which recovers an HDR environment map by matching the pre-trained avatar's appearance to live egocentric camera observations. We demonstrate our system through a social telepresence application, where remote users are coherently relit according to their physical environment. Extensive experiments show that our components and the integrated system significantly outperform state-of-the-art baselines in geometric accuracy and rendering as well as relighting fidelity.

Hybrid-reasoning large language models (LLMs) expose explicit controls over reasoning effort, allowing users or systems to trade off answer quality against inference cost. However, existing methods for adaptive thinking-mode selection are typically evaluated under different models, datasets, and implementation assumptions, making it difficult to compare their practical behavior. We introduce HRBench, a unified evaluation framework for studying thinking-mode switching in hybrid-reasoning LLMs. HRBench organizes the design space along two axes: three switching strategy families, prompt-based selection, external routing, and speculative execution, and four training regimes, training-free, SFT, offline and online RL, yielding 12 controlled evaluation settings. We evaluate these settings across 6 LLMs, from Qwen3.5-2B to Kimi-K2.5-1.1T, and 5 reasoning benchmarks covering mathematics, science, and code, while reimplementing 12+ representative prior methods within the same pipeline. Our analysis characterizes how different switching strategies occupy distinct effectiveness-efficiency trade-off regions: prompt-based methods often provide favorable token-accuracy trade-offs, routing methods offer more stable cost reduction, and speculative methods tend to improve accuracy at higher token cost. We further find that training affects strategies differently, and that the preferred strategy varies with model scale and task domain. HRBench provides reference implementations and a unified evaluation platform to support more controlled research on efficient reasoning in hybrid-reasoning LLMs. Our data, code and repository are available at https://github.com/usail-hkust/HRBench.

Predicting conversion from Mild Cognitive Impairment (MCI) to Alzheimer's Disease (AD) is critical for early intervention. Current deep learning paradigms predominantly rely on cross-sectional structural MRI, neglecting prognostic value in patient-specific anatomical trajectories. We introduce the Temporal Adaptive Fusion Network (TAF-Net), a hybrid CNN-Transformer architecture that models paired longitudinal 3D MRI scans. Central to TAF-Net is a Temporal Fusion Module governed by an Adaptive Temporal Gate, which learns patient-specific weightings to synthesize three spatiotemporal representations: explicit structural change, region-to-region temporal cross-attention, and bilateral feature concatenation. Evaluated on the Alzheimer's Disease Neuroimaging Initiative cohort for three-year MCI-to-AD conversion prediction, TAF-Net achieved the highest discriminative performance among all evaluated methods using only structural MRI, significantly outperforming the strongest baseline and approaching multimodal methods requiring PET, CSF, or genetic data. The architecture exhibited exceptional data efficiency, matching baseline performance with a fraction of training data. Ablation studies demonstrate that longitudinal fusion improves discrimination while reducing predictive variance by 48% compared to single-timepoint evaluation. Interpretability analyses reveal spatial attention aligned with established AD pathology in the medial temporal lobe and ventricles, while the gating mechanism prioritizes explicit volumetric change with strong positive correlation to conversion risk.

On-policy distillation (OPD) transfers reasoning behavior by training a student on teacher feedback along student-generated trajectories, but standard full-rollout training ties every update to a costly completion and can over-allocate supervision to late positions with low marginal value for the current student. We revisit this assumption through the useful supervision horizon: student-induced rollouts can drift from teacher-preferred continuations, while aligned prefixes may already preserve the long-horizon OPD update direction. We propose ADWIN, an adaptive-window framework for OPD that treats rollout length as an online admissibility decision, training on short teacher-anchored prefixes while using delayed full-rollout probes to audit prefix--full alignment and adapt the next horizon with staleness control. Across math and code reasoning benchmarks in single-task, multi-task, and strong-to-weak settings, ADWIN improves the accuracy--compute trade-off over full-rollout OPD and prefix-based baselines, reducing end-to-end training cost by up to 4.1 times while achieving comparable or better accuracy.