3D Gaussian Splatting (3DGS) is a technique for creating and rendering 3D scenes, however its performance depends heavily on the quality of initial seed points. To improve 3DGS initialization, this study presents and evaluates several point cloud upsampling approaches: linear interpolation, triangular interpolation, spline-based surface reconstruction, moving least squares surface fitting, and Voronoi-based point generation. Additionally, this research introduces a depth-guided point lifting method that leverages depth maps to maintain geometric consistency with Structure-from-Motion (SfM) reconstructions. Through extensive experiments on the Mip-NeRF360 and Replica datasets, the proposed methods demonstrate improvements in reconstruction quality across diverse scene types. Results indicate that different upsampling strategies excel in different scenarios: surface reconstruction methods perform better with organic, detailed scenes, while simpler interpolation approaches are more suited for scenes dominated by piecewise-smooth geometries. In comparison, the depth-guided approach shows promise for adding geometry-aware points across the entire scene, importantly in texture-less regions. These findings, which provide preliminary practical guidelines for selecting appropriate upsampling methods based on scene characteristics and computational constraints, advances the understanding of how point cloud initialization affects 3DGS quality.

Orientation-aware manipulation is essential in post-harvest agricultural processing, where produce must be grasped and placed in consistent configurations. This paper presents ROG-Grasp, a geometry-based robotic grasping and placement framework that estimates the produce orientation from root surface geometry using RGB-D perception. A YOLO-based root detector and point cloud plane fitting are used to infer the root normal, enabling stable grasp pose generation and orientation-constrained Cartesian motion planning. Experiments on tomatoes and onions demonstrate high success rates and stable execution time in both isolated and cluttered scenarios. Compared with vision-language-action (VLA) policies, the proposed method achieves more reliable and accurate grasp completion with faster execution. These results highlight the effectiveness of geometry-driven perception for practical orientation-controlled manipulation tasks. A video of our paper is available online https://youtu.be/Ir2UtGODdMo.

Open-vocabulary 3D scene segmentation usually assumes RGB-D video, calibrated multi-view imagery, or a reconstructed mesh. GeoSAM-3D studies a lighter setting: a user uploads a short monocular video, clicks or names an object in one frame, and receives a propagated 3D mask over a Gaussian scene. The implementation combines frozen image and video foundation models with a monocular 3D Gaussian Splatting reconstruction and a differentiable graph-geodesic propagation kernel over Gaussian centroids. The central design choice is to propagate prompts by heat-kernel distance on the reconstructed scene graph, rather than by Euclidean nearest neighbors in 3D. This preserves continuity around curved surfaces and reduces leakage across nearby but disconnected objects. This paper describes the repository state, the mathematical kernel implemented in geosam3d.propagate, the feature head trained from Segment Anything masks, and the validation already present in the codebase. The evaluation protocol separates implementation validation, graph propagation quality, leakage control, and interactive latency.

Dark vessel detection requires fusing what vessels report through AIS with what satellites observe through radar and optical sensors. DarkVesselNet is a multi-modal remote sensing stack that combines Sentinel-1 SAR, Sentinel-2 optical imagery, geospatial foundation model backbones, AIS trajectory reasoning, TGARD-style gap detection, and a Pi-DPM-inspired anomaly head. The repository exposes the system as a tested Python package and a public Hugging Face Space. The paper presents the sensor stack, backbone abstraction, fusion path, anomaly head, and current validation. The evidence currently available is software-grounded: tests for SAR speckle filtering, optical band ratios, Haversine distance, TGARD gap emission, sensor coregistration, backbone token shapes, and differentiable anomaly scoring.

Integrating dynamic 3D reconstructions into physics simulation requires fixed mesh topology for efficient collision detection, but state-of-the-art methods like DG-Mesh produce varying topology optimized for geometric quality. We investigate whether topology conversion can enable physics integration while preserving reconstruction fidelity. We propose a dual-representation framework combining fixed-topology meshes for physics with Gaussian splatting for rendering, achieving 4.65$\times$ speedup over varying-topology baselines through runtime vertex buffer updates. We evaluate two conversion strategies, temporal correspondence tracking and template-based projection, against native fixed-topology methods (MaGS) on the DG-Mesh dataset. Our evaluation reveals that both conversion approaches incur 65-80% geometric degradation, producing results inferior to MaGS despite DG-Mesh's superior initial quality. This demonstrates that high-quality reconstruction and physics-compatible topology represent fundamentally distinct objectives that cannot be reconciled through post-processing. Our findings inform future development of physics-aware reconstruction methods and our framework enables real-time simulation with any fixed-topology approach.

Many machine learning techniques rely on approximating a loss function's curvature, but this is notoriously hard to do at the scale of modern deep networks. Surprisingly, no previous work has exploited the curvature constraints that arise from well known weight-space symmetries in loss landscapes. By analytically averaging over group actions that leave the loss invariant, we construct structured Hessian approximations from single gradients that can be tractably estimated, stored, and inverted. The choice of user-specified symmetry group directly governs the trade-off between approximation accuracy and computational cost. Moreover, our framework provides a unifying theoretical lens for viewing existing methods; in particular, a specific choice of symmetry group recovers Shampoo/Muon-like curvature estimates. We validate our method on a range of network architectures, and deploy it to second-order optimization benchmarks, including a small language model. Our curvature estimation framework might find applications in other machine learning problems such as uncertainty estimation, continual learning, compression/pruning, training data attribution, and more.

Reinforcement learning with verifiable rewards has rapidly advanced reasoning in vision--language models. However, for chest X-ray report generation, the standard rewards (i.e. exact-match accuracy and step-level processes) are incompatible because the reports consist of unordered and orthogonal findings, rather than a causal reasoning chain. We address this gap with a set-based view: each report is split into sentences and embedded by a frozen sentence transformer, yielding unordered embedding sets. We propose the use of set-to-set distances between generated and reference embeddings as continuous, permutation-invariant rewards. Across two datasets and three vision--language models (Qwen3-VL-2B/4B, Gemma3-4B), post-training with set-to-set distance based rewards via GRPO consistently outperforms supervised fine-tuning and exact-match GRPO on all headline metrics (BERTScore, RadGraph F1 and CheXbert F1 by average \%6.80, \%7.82 and \%4.45 relative improvements respectively). The same set distances also enable test-time best-of-$N$ selection: scoring candidates by their distance to training-report embeddings outperforms random selection on our trained models as well as three closed-source LLMs (Mistral-Small, Gemini-2.5 Flash-Lite, GPT-4o-mini) with on average \%16.4 relative improvement on BERTScore. Used as a streaming signal, they support a more efficient form of test-time scaling: pruning low-scoring candidates mid-generation reduces generated tokens by over 50\% while preserving the Findings quality of full best-of-$N$ selection. Together these results establish set-distance rewards as a unified signal for both post-training and test-time scaling in chest X-ray report generation. Our code is publicly \href{https://anonymous.4open.science/r/Set-Distance-Rewards-CXR-BFDA}{available}.

A central challenge in visual intelligence is learning the physical structure of scenes from raw videos: how regions form objects and the laws that govern their interactions. Solving these tasks requires world models capable of inferring distributional states of the world from partial observations - capabilities that current architectures do not provide. We introduce a new class of probabilistic world models that support estimation of the probability of any visual variable, such as appearance and dynamics, conditioned on any other variables. Here, we identify that these models can be trained efficiently with autoregressive sequence modeling, yielding world models from which rich object understanding emerges. First, we demonstrate that our model captures the physical laws governing how objects move by generating multiple plausible future states of the world through sequential inference. Then, by analyzing motion correlations across these futures, we extract objects and articulated object subparts. Having discovered these objects, we show that our world model can manipulate them in 3D. Finally, we demonstrate how physical relationships between objects can be computed from the world model, enabling applications such as Visual Jenga.

Process reward models (PRMs) are widely used in language-model training with dense step-level supervision. They assume PRM scores are stable proxies for step correctness under label-preserving transformations. These transformations change reasoning structure but preserve final answers. We argue this assumption is not well validated. Such transformations can change how PRM scores relate to correctness signals, leading to different failure modes across models.To address this gap, we introduce \textbf{EST-PRM}, a stress-testing framework for dense process rewards. It applies three transformations: (1) step inflation, (2) dependency-aware step reordering, and (3) confidence markers. A vulnerability decomposition is defined that separates reward inflation from loss of correctness sensitivity. Five PRM-style models are evaluated on 4,687 reasoning chains from MATH-500, GSM8K, and PRMBench.The results indicate clear differences in vulnerability patterns across models. Math-Shepherd shows the strongest sensitivity to position perturbations, with a Pearson correlation drop of $0.152 \pm 0.038$ and a $32.8 \pm 4.9\%$ score inflation rate. Qwen2.5-Math-PRM is most affected by step inflation, reaching a $47.6 \pm 4.3\%$ inflation rate. Confidence-based perturbations also distort reward calibration, revealing inconsistencies in correctness estimation. Three mitigation strategies are evaluated, highlighting trade-offs between robustness coverage and false-positive rates.

Vision-language models (VLMs) can produce confident visual answers even when the required visual evidence is missing, blank, or unrelated to the question. This failure mode, known as mirage (Asadi et al. 2026), is especially concerning in medical and document visual question answering, where plausible but visually ungrounded responses may be mistaken for image-based evidence. We study pre-release mirage detection: given an image-question pair, the goal is to determine whether a VLM should answer or abstain before producing a response. We propose Text-Conditioned Layer-wise Internal Alignment (TC-LIA), a model-agnostic method that probes patch-token representations across the layers of a CLIP ViT-H/14 vision encoder. TC-LIA projects layer-wise image patch tokens into the final CLIP embedding space and measures their similarity to the question embedding, allowing the method to track whether question-relevant visual evidence emerges across vision layers. The resulting alignment trajectory is summarized using final image-text cosine similarity, late-layer top-k patch-text alignment, early-to-late gain, and layer-wise slope. These features are combined with pixel-statistic blank/noise detection, zero-shot domain routing, and structured VLM self-assessment in an ensemble. Across five VQA domains, three input conditions, and twelve VLM backbones, the best systems achieve approximately 94.6-94.7% three-class detection accuracy with mirage rates below 3%, while baseline mirage rates range from 21.7% to 66.6%.

As retrieval-augmented generation (RAG) systems scale, it becomes increasingly challenging to ensure faithful grounding in external evidence. Large language models may still prioritize parametric knowledge over retrieved information when conflicts arise. We propose a novel training-free decoding framework, \emph{Grounded Decoding}, designed to improve factual consistency in RAG without modifying model parameters. Unlike standard approaches that rely on a single conditional distribution, our method constructs two matched-prompt distributions at every generation step: (1) a full RAG distribution conditioned on the query, retrieved documents, and generated prefix, and (2) a retrieval-only distribution conditioned solely on retrieved evidence and the same prefix. The final next-token distribution is derived as the unique solution to a KL-barycenter objective over the probability simplex, yielding a normalized geometric fusion of the two distributions.This formulation naturally recovers standard RAG when the grounding weight is zero and smoothly shifts probability mass toward retrieved evidence as grounding strength increases. We further introduce a conflict-aware adaptive weighting scheme that dynamically adjusts grounding based on distributional disagreement and retriever confidence. Experiments on ALCE, Natural Questions, and FActScore demonstrate consistent improvements in factual accuracy and citation quality over standard RAG and competitive decoding-time baselines, while maintaining fluency. Our results indicate that probability-level fusion provides a strong and efficient alternative to logit-level intervention methods for faithful RAG decoding.

Low-rank adapters are usually compared by sweeping a small set of ranks, but the rank also fixes the resolution of the parameter budget. For a $2048{\times}2048$ OPT attention projection, increasing LoRA by one rank stores $4096$ trainable scalars, leaving large gaps between feasible low-budget adapter sizes. This paper asks whether a tensorized adapter with finer capacity increments changes the observed accuracy--budget trade-off. We instantiate this question with fixed-component canonical polyadic (CP) tensor adapters. Under a $32{\times}64{\times}32{\times}64$ tensorization, one normalized CP component stores $193$ trainable scalars per projection, about $21$ times smaller than one LoRA rank step. We compare CP adapters and LoRA on OPT-1.3B across SST-2, RTE, and BoolQ under matched target modules, training protocol, data caps, and seed schedules. CP trains stably and fills the gaps between LoRA ranks, but the effect is task-dependent: SST-2 reaches an early low-budget plateau, BoolQ benefits from additional CP components before saturating slightly below LoRA, and RTE remains LoRA-favored. Finer parameter steps are therefore useful for diagnosing PEFT budget sensitivity, but they do not by themselves guarantee a better accuracy--budget curve.

State abstraction in reinforcement learning is usually formulated as a partition of states based on reward and transition similarity. This excludes a common structural pattern in navigation, graph, and hierarchical decision problems: interface states such as doors, hubs, and bottlenecks naturally participate in more than one region. We introduce \emph{tangle-core abstraction}, an overlapping state-abstraction framework based on graph tangles of empirical transition graphs. The method constructs abstract states from consistently oriented low-order separations and represents shared interfaces through a membership kernel rather than a hard partition. We give value-preservation guarantees for the induced overlapping abstract MDP under an explicit action-consistency condition, identify an interior-homogeneity/boundary-leakage error decomposition, and prove a quantitative interface-overlap result showing when hard partitions incur an avoidable boundary error. Empirically, tangle-core abstractions achieve favorable compression--return tradeoffs against reward-aware, learned, topological-map, and graph-partitioning baselines across bottlenecked tabular domains, procedurally generated mazes, and MiniGrid representations. We also identify a clear failure regime in which transition topology is uninformative, where tangles predictably offer little benefit. These results position graph tangles as an effective topology-aware abstraction prior for decision problems with shared interface structure.

Federated continual learning (FCL) lets distributed clients adapt language-model heads to evolving NLP tasks without sharing raw text. Under user-level differential privacy (DP), replay-based continual learning faces a structural obstacle: clients can release only small noisy lists of candidate replay summaries, and those lists are unordered across clients. We introduce Canonicalized Stable-List Replay (CSLR), where clients privately produce candidate replay distributions over a shared sentence-embedding space and the server aligns them using signatures induced by public anchor sentences. The anchors provide identifiability for aggregation rather than additional replay data. We prove that, under an observable anchor-signature margin, $O(\log(N/η)/p)$ anchors distinguish $N$ candidate list elements with probability at least $1-η$, and we give a scoped anchorless non-identifiability result for unordered-label oracle models. Across five seeds on continual classification, NER, and dialogue benchmarks, CSLR improves the final average task metric by 3.9--5.6 points over the strongest non-CSLR DP baseline at $\eps=4$ under the reported replay-release budget, while also outperforming Hungarian and optimal-transport matchers. The formal privacy guarantee covers replay release; end-to-end private training additionally requires composition with a private optimizer for task-head updates.

As large language models become stronger, weak supervisors may fail to provide reliable labels, preferences, or final judgments for complex outputs, limiting both weak-to-strong generalization and scalable oversight. We study a more tractable form of weak supervision: using a weak model as a critic rather than as a labeler or judge. Instead of solving the task or selecting the correct answer, the weak critic only needs to provide a non-misleading revision direction that helps the strong model better use its own knowledge. We call this setting *weak-critic strong oversight*. We first show that weak critiques can improve frozen strong models at inference time, and that critique quality is key to this improvement. We then propose progressive on-policy critique distillation (**OPCD**), which filters high-quality critiques and distills critic-guided behavior into the strong model through adaptive self-teacher signals. Experiments on reasoning and alignment benchmarks show that our method improves strong models over training epochs, suggesting an effective path for scalable oversight with weak supervision.

Soft robotics is increasingly explored in artistic contexts, where tactile interaction provides audiences with embodied engagement beyond visual or auditory signals. This work presents an interactive installation that maps semantic emotion analysis of narrative text into variable stiffness of soft pneumatic modules. A natural language model identifies two dominant emotions from a predefined set of six, driving the inflation of seven hexagonally arranged soft actuators. The central actuator represents the primary emotion, while the surrounding ones express the secondary. We develop and mechanically characterize silicone actuators, called soft modules, featuring a thin membrane layer, demonstrating how this morphological control expands the achievable stiffness range while preserving simplicity and low-cost fabrication. A user study with ten participants further evaluates how multisensory coupling of stiffness and LEDs intensity influences emotional perception. The results suggest that stiffness modulation accompanied by color change can support emotionally meaningful and engaging tactile interaction in soft robotic installations.

Cooperative perception is important for autonomous driving but remains fragile when cameras and LiDAR degrade in adverse weather. We address this challenge by integrating 4D imaging radar as a weather-robust modality into collaborative perception and introducing a Doppler-guided spatial attention mechanism for multi-agent fusion. Our approach extends two representative backbones: a radar-camera pipeline where radar substitutes LiDAR, and a LiDAR-radar pipeline where radar complements LiDAR. To support evaluation, we release radar-augmented benchmarks, OPV2V-R and Adver-City-R, with physics-based LiDAR degradation. Experiments show strong robustness gains in fog and rain, including substantial improvements when radar replaces degraded LiDAR. Additional validation on MAN TruckScenes demonstrates transfer beyond simulation. Overall, our results highlight 4D imaging radar as a robust modality for all-weather collaborative perception. Dataset and code are available at: https://url.fzi.de/SlimComm.

When many reinforcement-learning policies achieve near-optimal return, a post-hoc auditor may have to distinguish among many behaviorally distinct but return-equivalent policies. We formalize this phenomenon through an occupancy-measure analogue of Rashomon capacity: the metric entropy of the near-optimal occupancy region, computed relative to an audited deployment class. Because occupancy measures identify behavior only up to occupancy equivalence, we formulate auditing at the occupancy-class level and distinguish exact local-query oracles from noisy sample-query oracles. Our main exact-query result is conditional: if the audited class contains a $2/H$-separated near-optimal packing whose local signatures are $b$-sparse, then exact local-query auditing requires $Ω(M/b)$ queries; when the packing realizes deployment-class capacity and $b=O(1)$, this becomes $Ω(2^{\Hopt^\cF(\eps)})$. We give a finite discounted hidden-branch MDP attaining this bound and show the exact Bayes success law. For noisy hidden-trigger testing, we prove a mixture lower bound of order $M/β$, where $β$ is the per-sample KL signal, yielding $Ω(2^{\Hopt^\cF(\eps)}/(ρ^2Δ^2))$ for capacity-order packings with $β=O(ρ^2Δ^2)$. We also provide a static target-recognition information lower bound, a transcript-compatible oracle-cover verification upper bound, and a canonical occupancy regularizer whose regularized audited capacity collapses when a trusted reference occupancy is available. Controlled benchmarks distinguish positive sparse-signature instances from high-capacity negative controls where exact auditing is easy, and map the noisy-trigger law to post-processed continuous-control and visual-RL auditing regimes.

Implicit neural representations (INRs) model a signal as a continuous coordinate-to-value function. For terrain elevation data, this supports analytic derivatives, arbitrary-resolution decoding, and a smooth surface model of the underlying heightfield. However, fitting and storing a separate INR for every tile does not scale to large terrain datasets. Amortized neural representations reduce this cost with a shared network: a new tile is mapped to a compact per-tile payload, and a shared decoder reconstructs the heightfield from it. Most such methods are hypernetworks that predict the payload in a single forward pass, while others recover it through a short per-tile optimization. These methods were developed primarily for natural images, and their suitability for terrain heightfields remains unclear. We introduce a controlled benchmark on a 1 m/pixel terrain dataset and evaluate three representative methods under a unified protocol. Observing a clear cross-domain gap, we propose HUVR+SIREN, a hypernetwork that adapts the strongest benchmarked method (HUVR) by replacing its coordinate decoder with a smooth, analytically differentiable one. It attains the best height and derivative fidelity on the benchmark with no additional per-tile storage and lower decode cost, and tolerates aggressive post-training quantization with negligible quality loss, giving a compact terrain neural format. Ablations and diagnostics further identify which design choices transfer to terrain and show that the per-tile bottleneck is already near its useful limit, leaving the remaining gap in the shared hypernetwork's architectural design.

Continual instruction tuning updates a language model through a sequence of new domains, yet each update can progressively erode previously learned capabilities and alignment behavior. Replay is the standard mitigation, but fixed replay ratios are inherently limited because the optimal mixture varies with the current domain, the training stage, and the evolving vulnerability of prior behaviors. We propose PROX-YMIX, a framework that learns a dynamic replay controller on a small proxy model and transfers the frozen controller to a larger target. The controller never observes future tasks and constructs its state from normalized validation losses and their temporal dynamics, producing a masked mixture over the current task and accessible replay buffers. Our core empirical hypothesis is forgetting mirroring: task vulnerability rankings remain largely consistent across model scales even when absolute loss magnitudes differ. We validate this assumption empirically before transferring controllers across scales. On LLaMA-3-8B across five continual instruction tuning sequences, PROXYMIX improves average accuracy by 3.4 points, reduces final forgetting by 3.5 points, and raises safety score by 5.8 points over the strongest non-oracle baseline, at roughly 50x lower policy learning cost than Oracle Target RL. The framework is leakage free and architecture independent at the interface level, and we also identify settings where the proxy assumption breaks down, highlighting limitations for robust deployment.

Machine unlearning aims to remove the influence of specific training samples while preserving the model's utility. Existing single-objective approaches, such as gradient ascent or random relabeling, often induce catastrophic forgetting due to conflicting optimization dynamics and unbounded forgetting objectives that cause the model to drift from its pre-trained knowledge. We propose Reference-Aligned UnLearning (RAUL), a multi-objective framework that jointly optimizes forgetting and retention by replacing unbounded loss maximization with a bounded KL alignment of predictions on forgotten samples toward a reference distribution representing unseen data, instantiated either as a uniform distribution or an empirical distribution from a held-out reference set, which constrains the forgetting objective and reduces gradient conflict with retention. The resulting multi-objective optimization (MOO) problem is solved via Jacobian descent, which aggregates multiple gradients into a direction that does not conflict. Our results demonstrate that RAUL achieves the closest gap compared to full retraining.

Soft wearable robotic systems have emerged as a promising solution for assisting individuals with reduced hand function. This paper presents SoFiE, a modular soft finger exoskeleton designed to assist index-finger flexion during grasping tasks. The proposed system is primarily fabricated using 3D-printed flexible materials, enabling a lightweight, low-profile, and modular design. Actuation is achieved through a tendon-driven mechanism powered by a compact DC motor, while passive extension is provided by a compliant conductive spring. This element, termed StretchSense, also functions as a proprioceptive sensor by exhibiting resistance changes under deformation. Furthermore, a novel tactile sensing approach, MagSense, is introduced, using a magnet and magnetometer pair embedded in a soft fingertip structure to estimate contact force and object compliance. The system is fully untethered and controlled by an embedded microcontroller. In addition, actuator-level sensing through motor encoder feedback enables estimation of the system state, providing a foundation for safe and adaptive control strategies. Experimental validation demonstrates the capability of the system to provide reliable pose estimation, distinguish between materials with different stiffness, and generate distinct sensor signatures across different grasping tasks. This paper details the design, fabrication, and sensing concepts of the proposed exoskeleton as a proof of concept toward modular, soft, and assistive wearable robotics.

AI-text detectors are vulnerable to paraphrasing and detector-guided paraphrasing attacks, but existing detector-evasion methods often lack precise control over semantic preservation. In particular, optimizing directly for detector evasion can degrade fine-grained semantics, whereas scalarized reward designs provide only indirect, weight-sensitive control over the evasion-semantics trade-off. We address this limitation by formulating detector-evasive LLM paraphrasing as a Constrained Markov Decision Process, where detector evasion is the primary objective and semantic preservation is enforced as an explicit constraint. We propose Detector Evasion Policy Optimization (DEPO), a Lagrangian primal-dual reinforcement learning algorithm with a novel GRPO-style group-based policy update. DEPO adaptively balances semantic preservation and detector evasion during training, enabling the policy to improve attack success within a prescribed semantic-preservation region. Experiments on MAGE, M4, RAID, and peer-review datasets, evaluated against MAGE, RoBERTa, RADAR, Binoculars, and Fast-DetectGPT detectors, show that DEPO achieves strong detector evasion while precisely satisfying the semantic preservation constraint. DEPO also exhibits cross-domain, cross-detector, and prompt-level robustness.

We present Zamba2-VL, a suite of vision-language models built on Zamba2, a hybrid language-model architecture combining Mamba2 state-space layers with a small number of shared transformer blocks. Across a broad range of image understanding, reasoning, OCR, grounding, and counting benchmarks, Zamba2-VL is competitive with leading Transformer-based open-weight VLMs of comparable scale, including the Molmo2, Qwen3-VL, and InternVL3.5 families, and substantially outperforms prior SSM-based and hybrid VLMs such as VL-Mamba, Cobra, and mmMamba. Inheriting the near-linear prefill compute and small, near-constant recurrent state of its Zamba2 backbone, Zamba2-VL delivers roughly an order of magnitude lower time-to-first-token (TTFT) than these Transformer baselines at matched parameter scale, with the efficiency gap most pronounced at the smaller 1.2B and 2.7B scales most relevant to on-device and edge deployment. We release three models -- 1.2B, 2.7B, and 7B -- together with inference code at https://huggingface.co/collections/Zyphra/zamba2-vl.

Accurately modeling soft boundaries, e.g., hair and defocus blur, is a fundamental challenge in stereo conversion due to the ambiguous blending of foreground and background. Existing depth models primarily predict single-layer depth, leading to ambiguity in depth correspondence at soft boundaries. While matting techniques can capture opacity for layered modeling, they often struggle in complex scenes with multiple targets and usually require user intervention. This paper introduces αDepth, a layered representation that decomposes soft boundaries for high-fidelity stereo conversion. Specifically, we first resolve mixed color and depth ambiguity by estimating layered color and depth values at soft boundaries. Considering complex multi-target scenes, we design a Circular Alpha Representation (CAR) that shifts the paradigm from global target extraction to local boundary decomposition. Unlike prior matting methods restricted to a single foreground/background, CAR enables efficient scene-level inference without manual guidance. Extensive evaluations demonstrate that αDepth achieves state-of-the-art performance in stereo conversion, eliminating background bleeding and structural distortions at soft boundaries.

Sequential fine-tuning of large language models forces a choice: let the shared substrate keep learning and accept catastrophic forgetting, or freeze it after task one and foreclose cross-task refinement. Per-task adapter methods (LoRAHub, AdapterFusion, PackNet, Progressive Networks) take the second path. We introduce CRMA (Constrained Residual Mixing Adapter), a residual adapter whose internal mixing matrix M is doubly-stochastic at every forward pass via Sinkhorn normalization, so by Birkhoff's theorem ||M||_2 <= 1 holds by construction -- a structural bound, not a penalty. CRMA's spectrally bounded backbone provides a continuously trained shared substrate that earlier modular methods could not, while preserving their forgetting guarantees. On Mistral-7B across 5 sequential domains and 3 seeds, modular per-task LoRA on a CRMA backbone reduces loss-relative drift from +42.96% +/- 5.5 (naive sequential fine-tuning) to -0.17% +/- 0.17, with disjoint per-seed ranges, and improves prior-task holdout loss by 1.99% +/- 0.54 over a matched frozen-substrate baseline. Three independent experimental setups (Mistral-7B 4-domain controlled ablation, TinyLlama 3-domain contamination-controlled replication, Mistral-7B cross-domain probes at 7B) all show positive backward transfer -- without replay buffers, without growing per-task memory, and without distillation. An inference-time ablation on Gemma-2-9B confirms CRMA mediates access to sequentially trained knowledge: 98/100 vs. 38/100 on the same weights and same questions with only CRMA injection toggled. 867 logged training steps verify ||M||_2 = 1.0 within float32 precision (max deviation 1.2 x 10^-7). The forgetting-prevention effect holds across 1.1B-9.2B parameters and four architecture families.

Machine unlearning removes the influence of specific training data from a trained model without retraining it from scratch. Evaluating an unlearning method requires repeating training, unlearning, and evaluation across multiple seeds, which is computationally expensive. To our knowledge, existing image classification unlearning frameworks run on a single GPU, which limits how many seeds can be evaluated in reasonable time. We introduce SUPREME, an open-source framework that distributes these stages across multiple GPUs. SUPREME makes three contributions: a registry-based design for adding new methods, metrics, models, and scenarios; a multi-GPU architecture supporting multiple accelerators and precision modes; and a demonstration on Pins Face Recognition using ResNet18 and ViT under full-class and random-sample unlearning across ten seeds. The framework is available at https://github.com/pedroandreou/supreme-unlearning.

We present a non-learning stereo framework for disparity estimation from severely noisy images. Using the Field of Junctions (FoJ), it retains coarse visual features stable under severe noise for cost volume construction while discarding fine textures inseparable from photon noise. The resulting structural information guides boundary-aware Semi-Global Matching (SGM) that dynamically adapts smoothness penalties to preserve true disparity discontinuities. The output is a sparse disparity map more accurate than those of recent stereo algorithms over unmasked pixels on widely-used benchmark datasets.

Diffusion models have emerged as the backbone of modern generative AI, powering advances in vision, language, audio and other modalities. Despite their success, they suffer from hallucinations, implausible samples that lie outside the support of true data distribution, which degrade reliability and trust. In this work, we first empirically confirm previously proposed hypothesis that score smoothness causes hallucinations in Image Generation diffusion models and provide a density-based perspective. We further formalize this notion by linking the hallucinations probability mass to lipschitz constant of the learned score function. Motivated by this, we introduce a Variance-Guided Score Modulation (VSM) strategy that controls the score Jacobian, in turn reducing score smoothness and better approximating the ground truth score that decreases hallucinations. Empirical results on synthetic and real-world datasets demonstrate that our approach reduces hallucinations (up to ~25%) while maintaining high fidelity and diversity, providing a principled step toward more reliable diffusion-based image generation. We also propose two benchmark datasets with extreme semantic variation for systematic hallucination evaluation. Code and Datasets are publicly available at https://github.com/bhosalems/VSM.

Extended chain-of-thought reasoning can degrade performance on deterministic state-tracking tasks, not due to preference biases, but limits rooted in the information-theoretic capacity of decoder-only attention. We establish: (1) an Attention Bottleneck Theorem with a complementary achievability construction, bounding state-tracking capacity as $O(H \cdot \log(L/H) \cdot \sqrt{d_h})$; (2) a context-dependent error model yielding super-exponential accuracy decay; (3) the State-Space Jaccard metric distinguishing capability from preference failures; (4) a Deterministic Horizon $d^* \in [19, 31]$ beyond which tool delegation becomes necessary. Across 12 models and 8 task domains (including SWE-Bench, WebArena, and SQL-Multi), tool-integrated reasoning consistently outperforms neural chain-of-thought; on the primary model suite it reaches 86-94% accuracy versus 24-42% for neural chain-of-thought. Fine-tuning on optimal-length traces yields $<$5% improvement, confirming an architectural ceiling, and high cross-model correlation ($r = 0.81$-$0.91$) indicates these failures are architectural rather than training-specific. Our results provide principled guidance for when pure neural reasoning should yield to hybrid approaches in agentic systems.