Understanding short online videos involves more than identifying visible objects and actions; video makers often include an underlying message or purpose in the clip. We introduce VidMsg, a benchmark for evaluating implicit message understanding in short, internet-native video clips. VidMsg contains 400 YouTube-derived clips across 9 practical topic areas and 52 fine-grained target messages, covering domains such as career and finance, education, health and well-being, culture, safety, sustainability, and lifestyle. VidMsg is constructed through a message-first pipeline: an LLM first translates target messages into indirect search scenarios, which are used to retrieve candidate clips. Human annotators then retain clips that convey the intended message without being overly explicit. VidMsg is designed primarily for bidirectional message-clip retrieval for scalable applications such as video search and recommendation, where systems must capture holistic video understanding. In addition to retrieval, VidMsg includes a diagnostic multiple-choice QA benchmark, where models select the intended message of a clip from semantically related alternatives. Experiments with contemporary video-language and retrieval models show that strong models often fail on VidMsg, because the task requires pragmatic inference, integration of contextual cues, and discrimination among semantically close messages. We also introduce VidVec-Msg, a baseline method that improves message-oriented retrieval while leaving substantial headroom for future work.

Assessing the quality of time series (TS) data is fundamental yet inherently challenging due to the multifaceted nature of quality dimensions. Recently, large language models (LLMs) have emerged as a promising paradigm for TS quality assessment via pairwise comparison and per-dimension evaluation. However, existing approaches rely on manually predefined quality dimensions and purely text-based reasoning, leaving it unknown whether LLMs can identify truly relevant quality dimensions or perform grounded and quantitative quality comparisons. To investigate this, we construct TSQBench, a dedicated benchmark for evaluating LLMs on two progressive capabilities: (i) understanding and identifying relevant quality dimensions, and (ii) performing quality comparison under specific dimensions. Our analysis reveals that current LLMs consistently struggle with both dimension identification and evidence-grounded quality comparison. To address these limitations, we propose TSQAgent, a novel agentic reasoning framework for TS quality rating consisting of three collaborative roles: Perceiver for focused dimension selection, Inspector for dimension-wise quantitative analysis, and Adjudicator that aggregates and refines the final judgment. In particular, we introduce an agentic reasoning strategy that instills the ability to identify and prioritize the most relevant quality dimensions, and further propose an agent workflow equipped with external analytical tools to enable precise quantitative comparisons over selected dimensions. Experiments on both the proposed benchmark and eleven real-world datasets demonstrate that our framework not only substantially improves LLMs' capabilities in quality understanding and quantitative comparison but also effectively translates these improvements into better quality-aware data selection, leading to enhanced downstream performance and data efficiency.

Large language models (LLMs) have achieved remarkable progress in open-ended text generation, yet they remain prone to hallucinating incorrect or unsupported content, which undermines their reliability. This issue is exacerbated in long-form generation due to hallucination snowballing, a phenomenon where early errors propagate and compound into subsequent outputs. To address this challenge, we propose a novel inference-time hallucination mitigation framework, named Segment-wise HAllucination Rejection Sampling (SHARS), which uses an arbitrary hallucination detector to identify and reject hallucinated segments during generation and resample until faithful content is produced. By retaining only confident information and building subsequent generations upon it, the framework mitigates hallucination accumulation and enhances factual consistency. To instantiate this framework, we adopt semantic uncertainty as the detector and introduce several vital modifications to address its limitations and better adapt it to long-form text. Our method enables models to self-correct hallucinations without requiring external resources such as web search or knowledge bases, while remaining compatible with them for future extensions. Empirical evaluations on standardized hallucination benchmarks demonstrate that our method substantially reduces hallucinations in long-form generation while preserving or even improving the informativeness of generation. Code is available at: https://github.com/TreeLLi/hallucination-rejection-sampling.

Vision-language models (VLMs) have been explored for visual programming, where they generate code to solve visual tasks. However, most prior work focuses on visual programming for productivity; it remains unclear how well current VLMs perform on education-oriented visual programming and what factors limit their performance. To bridge this gap, we introduce TurtleAI, a benchmark containing 823 tasks curated based on real-world visual programming tasks in the Turtle Graphics domain. Solving these tasks requires models to perceive geometric patterns, reason about spatial relationships, and synthesize Python code that faithfully reproduces geometric patterns. We evaluate 20+ VLMs, including GPT-5, GPT-4o, and Qwen2-VL-72B, and find that they struggle significantly, with most achieving success rates below 30%. To address these limitations, we propose a data generation technique that requires only a small set of seed samples. Fine-tuning Qwen2-VL-72B on the resulting synthetic data yields an improvement of about 20% on real-world tasks. Our failure analysis reveals that GPT-4o struggles with spatial reasoning and precise visual replication, whereas fine-tuning primarily improves the alignment between visual reasoning and code implementation.

Large Reasoning Models (LRMs) have demonstrated impressive capabilities in many tasks, yet they struggle with reliably following multiple instructions, either by failing to satisfy individual constraints or by struggling to balance competing constraints simultaneously. We formalize this challenge as the Constraint Adherence Problem (CAP). This paper introduces a novel framework that addresses CAP by representing instructions as a structured knowledge graph of constraints. Our approach, Constraint Relationship Graph Completion (CRGC), explicitly models relationships between constraints, identifies adherence challenges, and discovers ``bridge constraints'' that help the model better focus on and reconcile requirements. Bridge constraints act as auxiliary instructions that make primary constraints more salient and compatible. Unlike existing approaches that enhance instruction following through general training methods, CRGC specifically improves constraint satisfaction by leveraging the model's own knowledge to create better pathways for generation. Experiments across three popular instruction following datasets demonstrate that our approach reduces constraint violations by 39% compared to standard prompting while maintaining reasoning abilities of large reasoning models.

Self-distilled policy optimization (SDPO) has become a popular paradigm for LLM post-training, where a model learns from its own predictions conditioned on privileged information. SDPO, however, is sensitive to how much each update step should be trusted: corrections from a self-teacher can be highly informative on some batches and misleading on others, and applying them uniformly with a fixed step size can destabilize training. Drawing inspiration from viscous-fluid dynamics and formalizing the analogy at the SDE level, we propose Physics-Guided Policy Optimization (PGPO), which introduces an information-modulated step-size multiplier derived from a mutual-information estimate between the student's predictions and the feedback-conditioned teacher. We show that this modulation preserves the order-1 weak-approximation guarantees of vanilla SGD, and incurs negligible overhead per iteration. We evaluate PGPO on the Science-QA dataset, where it outperforms SDPO on 3 of the 4 domains with gains of up to +4.5 points, while remaining stable in a setting where SDPO collapses late in training.

AI-assisted coding agents are bottlenecked by input-token cost. Two pathologies of raw human input drive much of this overhead: tokenization inefficiency for non-English text and structural entropy in conversational prompts. Existing approaches act reactively by compressing already-bloated contexts or intervening after failures occur. We introduce a pre-flight, edge-side prompt-rewriting middleware that operates between the developer and the cloud agent. A local Llama 3.2 (3B) model performs cross-lingual translation into English, structural rewriting into a compact task-oriented format, and regex-validated rewrite-with-fallback safeguards to ensure the optimized prompt is never larger than the original. We evaluate on OMH-Polyglot, a multilingual coding benchmark spanning Turkish, Arabic, Chinese, and code-switched specifications. Across three commercial LLM backends, the middleware reduces prompt tokens by 34-47 percent and total tokens by up to 18.8 percent while preserving or improving task accuracy. Ablation studies show that gains arise primarily from the rewriting stage rather than simple function-name extraction. Compared with LLMLingua-2 at matched compression rates, our method consistently achieves superior OckScore performance across all evaluated backends. These results demonstrate that proactive prompt optimization can substantially reduce inference costs without sacrificing coding quality.

Skeleton-based action recognition aims to understand human behaviors from body joint sequences and is especially challenging in the one-shot setting, where only a single labeled exemplar is available for each novel action. A key challenge is learning representations that capture the hierarchical and compositional structure of human motion while aligning effectively with high-level action semantics under extreme data scarcity. Existing approaches, largely based on Euclidean embeddings and low-level motion cues, struggle to model the tree-like organization of skeleton data, limiting cross-modal alignment and generalization to unseen action categories. We propose SkelHCC, a unified skeleton hyperbolic CLIP-driven cache adaptation framework for one-shot skeleton-based action recognition. SkelHCC introduces an Explicitly Hierarchical Hyperbolic CLIP (EH-HCLIP) module that embeds skeleton sequences and action language into a shared hyperbolic space. By leveraging the negative curvature and exponential volume growth of hyperbolic geometry, EH-HCLIP naturally encodes the joint-part-body hierarchy of human anatomy and yields structurally consistent cross-modal representations. To support efficient one-shot adaptation, SkelHCC further integrates a training-free LLM-guided Multi-granularity Voting Cache (LMV-Cache) for context-aware inference. Experiments on NTU RGB+D 60, NTU RGB+D 120, and PKU-MMD demonstrate that SkelHCC consistently outperforms state-of-the-art methods.

Test-time reinforcement learning has emerged as a promising paradigm for enhancing the complex reasoning abilities of large language models in a completely label-free manner. Despite existing studies focusing on Pass@1 performance, optimizing Pass@k remains under-explored yet critical in label-free settings, which measures generation coverage for sustained exploration. Optimizing Pass@k in label-free setting is highly non-trivial, as directly applying the Pass@k advantage designs effective for RLVR yields unsatisfactory performance. Through in-depth empirical analysis, we discover the root causes hindering performance: pseudo-label estimations for low-confidence samples have a high probability of being incorrect, while candidate answers for high-confidence samples suffer from severe diversity collapse. To overcome these hurdles, we propose TTRL-CoCoV (Test-Time Reinforcement Learning with Confidence-Conditioned Verification), a novel confidence-adaptive framework that expands Pass@k coverage and improves Pass@1 performance. Based on our key insight that verification capability generally leads generation capability, TTRL-CoCoV employs a confidence-conditioned mechanism: for high-confidence samples, it bootstraps verifier and applies an exploration-enhancing reward to prevent diversity collapse; for low-confidence samples, it delegates pseudo-label selection to the verifier to filter incorrect pseudo-labels; and for medium-confidence samples, it bypasses verification entirely. Extensive experiments demonstrate that TTRL-CoCoV outperforms the best competing methods across 6 widely-recognized benchmarks, achieves average absolute gains of +9.8% in Pass@1 and +18.7% in Pass@16 over TTRL, and even achieves absolute Pass@1 improvements of up to +5.0% across multiple reasoning benchmarks when compared against fully supervised RL methods. Our code repository: https://github.com/shanjf666/CoCoV.

When asked what a meme or sarcastic post means, Large Vision Language Models (LVLMs) tend to describe what the image shows rather than what the author is trying to communicate. Standard instruction tuning entangles a post's literal content with its pragmatic meaning, letting surface-level details contaminate the final response. We reframe meme understanding as a problem of literal-pragmatic decomposition and propose \textbf{Intent Projection}, a framework that separates the two signals at the representation, output, and objective levels within a single LVLM backbone. At the representation level, an orthogonal projection module removes dominant unimodal directions from the fused image-text representation, retaining only the pragmatic residual, while a surface-real affect classifier anchors the decoder with a discrete tag that names the polarity gap. At the output level, the model externalizes a structured reasoning chain, and at the objective level a contrastive reward explicitly penalizes answers that restate the literal description. Across six multimodal benchmarks, Intent Projection consistently outperforms open-source baselines and narrows the gap to proprietary models, with the largest gains on high-divergence posts where literal collapse is most damaging.

World models and multimodal large language models (MLLMs) provide complementary capabilities for predicting future outcomes from static visual observations. World models can generate concrete visual rollouts of possible futures, while MLLMs can reason abstractly over questions, goals, and rules. However, generated rollouts are stochastic and may be visually plausible but task-incorrect, making it necessary to determine when visual simulation is useful, whether a rollout is credible, and how it should influence the final answer. We formulate this problem as controlled concrete reasoning, where a model learns to invoke, verify, and integrate visual future simulation alongside abstract reasoning. To study this setting, we construct two human-verified benchmarks, VRQABench for controllable spatial lookahead and OpenWorldQA for open-domain physical prediction, and propose Privileged-Future On-Policy Self-Distillation (PF-OPSD). During training, PF-OPSD uses ground-truth future videos and answers only as teacher-side privileged context to evaluate on-policy concrete-reasoning trajectories, while the deployable student never observes true futures at test time. Experimental results show that PF-OPSD outperforms baseline by 10.6% and 10.9% on VRQABench and OpenWorldQA, respectively, while increasing robustness to noisy or conflicting rollouts. Our code and dataset are available at https://github.com/yczhou001/PF-OPSD.

Causal discovery from observational data remains challenging due to the fundamental limitations of purely statistical methods, such as statistical distinguishability within equivalence classes and sensitivity to finite sample sizes. While large language models (LLMs) offer a promising source of domain knowledge to complement statistical inference, existing LLM-augmented methods are vulnerable to LLM errors and incur high token costs. Moreover, reliance on a single data-centric algorithm can make results sensitive to algorithm-specific biases. To address these limitations, we propose CauTion, a framework that reliably integrates LLM domain knowledge into an ensemble of statistical causal discovery algorithms through consensus filtering and LLM reliability estimation. CauTion proceeds in three stages. First, an algorithm ensemble utilizes a consensus voting to resolve up to 96% of edges on which algorithms agree, achieving near-perfect accuracy on the filtered consensus edges. Second, a trust-calibrated arbitration mechanism estimates the relative reliability of the LLM and the algorithms via an annotation-free trust calibration procedure, which is then utilized to govern a trust-weighted voting process that restricts LLM arbitration exclusively to edges with unreliable algorithmic evidence. Third, a cycle repair step is applied to guarantee the final causal graph is validly acyclic. Experiments on six datasets demonstrate that CauTion consistently outperforms both data-centric and LLM-augmented baselines, with larger gains on larger graphs and strong robustness to LLM errors. Code is available at https://github.com/OpenCausaLab/CauTion.

While safety alignment and guardrails help large language models (LLMs) avoid harmful outputs, they can also induce overrefusal, i.e., unwarranted rejection of benign queries that merely appear risky. We present DDOR (Delta Debugging for OverRefusal), a fully automated and explainable framework for overrefusal testing and repair in a black-box setting, where only model inputs and outputs are accessible and internal safety mechanisms remain opaque. DDOR applies delta debugging to localize minimal refusal-triggering fragments (mRTFs) that provide phrase-level, explainable evidence for why a refusal occurs. Conditioned on these mRTFs, DDOR generates diverse, context-rich prompts and performs multi-oracle validation to filter intrinsically unsafe or ambiguous cases, producing scalable and model-specific overrefusal test suites (approximately 1K cases per model). Beyond evaluation, we further leverage localized mRTFs to perform targeted prompt repair, substantially reducing overrefusal while preserving the original intent and maintaining safety on genuinely harmful inputs. Overall, DDOR offers a practical end-to-end solution to both evaluate and mitigate overrefusal, improving LLM usability without sacrificing safety.

Embodied AI systems are increasingly deployed in open-world environments, yet ensuring their reliability remains a fundamental challenge. Drawing on discussions from the AAAI'26 Bridge Program on "Making Embodied AI Reliable with Testing and Formal Verification", this article argues that reliability in embodied AI is inherently a lifecycle assurance problem arising from uncertainty, human interaction, and emergent behaviors across tightly coupled system components. We identify three complementary directions toward reliable embodied AI: (1) trustworthy scenario-based testing supported by validated specifications and meaningful coverage metrics, (2) compositional verification enabled by structured symbolic representations of system behavior and environmental context, and (3) runtime assurance mechanisms capable of adapting to uncertainty and distribution shifts during deployment. Rather than treating these approaches independently, we advocate integrated assurance workflows that connect testing, verification, and runtime adaptation through shared neuro-symbolic representations and continuous feedback across the system lifecycle. Such integration provides a foundation for building trustworthy embodied AI systems that can operate safely and reliably in complex real-world environments.

Kalman filter (KF)-based multi-object tracking (MOT) remains a strong baseline for autonomous driving due to its strong performance, computational efficiency and interpretability. In most practical systems, the process noise and measurement noise covariances are defined globally and shared across object classes, presuming identical uncertainty characteristics across heterogeneous traffic participants. This work revisits this assumption and proposes CANMOT, a class-aware and object-aligned noise modeling framework for KF-based 3D MOT. Class-specific diagonal process and measurement covariance matrices are introduced and optionally expressed in the object coordinate frame to preserve longitudinal-lateral anisotropy. Systematic experiments on the nuScenes benchmark show that class-aware and object-aligned noise modeling improves tracking performance and substantially reduces identity switches compared to state-of-the-art (SotA). In addition, the consistency of the estimated uncertainty is analyzed using the Average Normalized Estimation Error Squared (ANEES) and $χ^2$-based violation tests. The results reveal severe overconfidence in standard KF-based MOT baselines. While the proposed formulation improves calibration without modifying the underlying filtering framework, it still exhibits substantial inconsistency, highlighting the need for further research in this area. Code is available at https://github.com/rst-tu-dortmund/learned-3d-nms.

Equilibrium Propagation (EP) is a physics-based training framework that has primarily been employed in energy-based models, including continuous Hopfield networks, nonlinear resistive networks and coupled phase oscillators. However, EP's practical applications have so far remained limited to relatively small-scale problems. Predictive coding networks (PCNs), another class of energy-based models rooted in computational neuroscience, are typically trained with a specialized algorithm and have likewise not yet been demonstrated at large scale. In this work, we develop an EP-based training method for PCNs which combines the centered variant of EP with a novel equilibration scheme for PCNs. Using this approach, we train a 10-layer convolutional PCN (VGG10) on full-size ImageNet, achieving 13.23\% test error rate on the top-5 classification task, close to the 12.2\% backpropagation baseline. To our knowledge, this is the first demonstration of both PCNs and EP-based training at ImageNet scale. These results significantly extend the scalability of both approaches and suggest that the primary challenges in scaling EP in other physical systems may come more from the computational properties of these systems than from inherent limitations of the EP framework.

Unstructured scenes present unique challenges for autonomous driving, as irregular obstacles and sparse scene layouts undermine the effectiveness of traditional perception methods such as 3D object detection. 3D semantic occupancy prediction has emerged as a prominent focus due to its ability to provide dense spatial representations by assigning semantic labels to individual voxels in 3D space. However, directly applying 3D semantic occupancy prediction to unstructured scenes remains challenging because scene sparsity hinders effective cross-modal fusion and the more severe long-tail distribution in these scenarios further degrades prediction performance. To validate the effectiveness of our approach, we construct a dedicated dataset of unstructured scenes collected from open-pit mines. Based on this, we propose UnsOcc, a multi-modal 3D semantic occupancy prediction framework that improves robustness in unstructured environments. At its core, we introduce a rendering-based fusion module, RenderFusion, which enhances cross-modal feature alignment through bidirectional rendering supervision. Furthermore, we propose GSRefinement, a detail-aware auxiliary supervision method based on Gaussian Splatting that projects sparse 3D occupancy predictions into dense 2D semantic segmentation maps, enabling effective supervision for long-tail categories. Extensive experiments on both the open-pit mine dataset and the nuScenes dataset demonstrate that our method significantly outperforms existing state-of-the-art approaches.

Latent diffusion models leverage visual tokenizers to compress images into latent spaces for efficient generative modeling. However, better reconstruction quality of a tokenizer does not necessarily translate into better generation quality, suggesting that latent representations should be evaluated not only by fidelity but also by their diffusability. Recent studies have proposed diverse explanations for diffusion-friendly latent spaces, including semantic separability, affine equivariance, distribution uniformity, spatial structure, spectral smoothness, and manifold continuity. Yet these properties are often validated on a limited set of tokenizers, leaving it unclear which factors are most predictive of downstream generation quality and whether such conclusions hold beyond the specific settings in which they are introduced. In this work, we conduct a systematic study of latent diffusability by training a large collection of tokenizers with diverse regularization strategies, architectures, and latent configurations, and evaluating them with multiple downstream diffusion backbones. Our analysis identifies several latent properties that consistently correlate with generation quality and exhibit strong generalization across experimental settings. Beyond existing metrics, we introduce Velocity Irreducible Variance (VIV), a measure of velocity ambiguity induced by trajectory crossings. Extensive experiments show that VIV is one of the most stable predictors of generation quality.

Wide-baseline matching (WBM) requires integrating geometric understanding, viewpoint changes, fine-grained perception, and occlusion reasoning, making it a challenging testbed for spatial reasoning in multimodal large language models (MLLMs) deployed in physical environments. However, current MLLMs lack systematic evaluation and training frameworks for these capabilities. We introduce ReasonMatch-Bench, a benchmark stratified by viewpoint displacement and matching granularity across indoor, outdoor, and object-centric scenarios, and show that current MLLMs still struggle with fine-grained wide-baseline correspondence: on a difficult 90-sample subset, human annotators achieve 84.0 F1, while the best existing baseline reaches 37.2. To bridge this gap, we build a scalable data-generation pipeline that automatically extracts wide-baseline view pairs from large-scale video-3D corpora, including RGB-D videos and SfM reconstructions, yielding diverse and verifiable supervision. We further propose Dynamic Correspondence Reinforcement Learning (DCRL), which combines Image-Level Viewpoint Progression and Point-Level Correspondence Curriculum to improve WBM training through verifiable rewards without explicit CoT supervision. Extensive experiments show that DCRL substantially improves ReasonMatch-Bench and transfers to related spatial benchmarks, while maintaining general visual understanding performance with modest gains on several benchmarks.

Vision-Language Models (VLMs) have demonstrated remarkable capabilities but suffer from significant computational overhead during inference. While visual token pruning offers a promising solution, existing methods predominantly rely on initial attention scores. This single-metric paradigm presents a critical flaw: high attention scores inherently collapse onto semantically similar regions, thereby severely reducing feature diversity and discarding vital contextual details. To address this, we introduce Structure-to-Semantics (STS), a novel two-stage visual token pruning framework that explicitly decouples the pruning process. The first stage employs a repulsion-based sampling mechanism to maximize spatial and structural diversity. The second stage leverages instruction-aware cross-attention to precisely filter out prompt-irrelevant tokens. This two-stage synergy constitutes the core of STS, first ensuring geometric coverage and then refining the retained tokens according to semantic relevance. Extensive evaluations demonstrate that STS mitigates the redundancy caused by attention-based selection, improving both structural diversity and fine-grained task alignment of the preserved visual tokens.

Post-processing is a critical stage in LiDAR-based 3D object detection, where dense and overlapping proposals must be filtered for compact and reliable perception. This work introduces two learned filtering modules that replace heuristic non-maximum suppression (NMS) by leveraging relations among detections. D2D-Rescore employs transformer-based detection-to-detection (D2D) attention, while GossipNet3D adapts the 2D GossipNet concept to 3D through localized message passing in bird's-eye view. A metric-aware matching strategy aligned with the nuScenes evaluation protocol ensures consistent training and validation behavior, improving overall detection performance. Both approaches improve mean average precision (mAP), nuScenes detection score (NDS), and true positive quality compared to CircleNMS, particularly for small and infrequent classes, while adding minimal computational overhead. These results demonstrate that learned, detection-level filtering can enhance 3D detector reliability without modifying the base network, offering a principled alternative to heuristic suppression. Code is available at https://github.com/rst-tu-dortmund/learned-3d-nms .

Background: The lateral ventricle choroid plexus (LVCP) is gaining recognition as a key imaging biomarker for multiple sclerosis (MS) related to physical disability and neuroinflammation. Yet, manual segmentation of the LVCP is highly tedious, restricting its use in broad clinical trials and longitudinal assessments. This research aims to develop a SwinUNETR-driven pipeline that leverages targeted intra- and peri-ventricular small patch sampling to automatically segment the LVCP in MS from both standalone and multi-modal MRI inputs. Methods: We retrospectively assessed 3T MRI scans across three sets of data stemming from two separate MS-dominant cohorts (Dataset 1: n=177; Dataset 2: n=177; expanded test set: n=388). Our method employed a SwinUNETR architecture trained on 32x32x32 voxel patches, benchmarking it against the 3D UXNET model. The primary metric for evaluation was the Dice Similarity Coefficient (DSC), supplemented by computational demand (GFLOPs) and the 95th percentile Hausdorff Distance (HD95). Results: On the extended test set, the SwinUNETR model secured a mean DSC of 0.868 (95% CI: 0.863-0.872) with MPRAGE and FLAIR combined, showing a statistically significant gain over UXNET (DSC: 0.858 [95% CI: 0.853-0.862], p<0.0001). When restricted to standalone FLAIR inputs, the transformer-based approach sustained a high DSC of 0.863, while the spatial localization of UXNET worsened considerably (HD95: 1.86 vs. 3.00 mm). Importantly, the proposed framework lowered computational load by 99% (91.8 vs. 22,080 GFLOPs). By integrating localized patch sampling with a SwinUNETR architecture, this methodology offers an accurate, robust, and statistically superior alternative to current leading models for LVCP segmentation. Its vast reduction in computational cost makes it ideal for widespread implementation in clinical and research environments.

As generative AI capabilities expand, AI-driven virtual worlds face a growing architectural challenge. Users interact through in-world interfaces in multimodal ways, yet their requests demand fundamentally different AI backend models and computational resources. Embedding these capabilities directly into virtual world systems reduces extensibility, complicates maintenance, and limits the ability to coordinate services distributed across edge and cloud infrastructure. This paper presents an SLM-based Agent Orchestration Gateway, a lightweight runtime coordination mechanism that decouples a virtual world client from heterogeneous AI backends through intent-driven service routing. An edge-deployed SLM classifies the semantic intent of each user prompt, a configurable service registry validates and resolves the routing decision, and the selected backend is invoked transparently, enabling new AI capabilities to be introduced in the virtual world without modifying the client application. The gateway is implemented and evaluated within the InterwovenXR virtual museum testbed. The evaluation shows that compact SLMs can serve as reliable intent routers on edge hardware, and that task-specific fine-tuning can transform sub-billion-parameter models into practical, low-latency routers. A layered configuration pairing a fine-tuned sub billion-parameter model as router with a larger SLM for conversational response generation is shown to be deployable on mid-range edge hardware and more efficient than delegating both responsibilities to a single model. The findings show that SLMs can support practical AI service orchestration in virtual worlds and the work contributes an evaluated architecture for scalable, extensible, and edge-supported AI interaction, enabling virtual agents become access points to distributed generative AI services.

Vision-language-action (VLA) models are gaining attention in robotics, yet their robustness to adversarial attacks remains largely unexplored. Existing work shows that adversarial patches can mislead VLA-based robots but assumes full access to the entire execution trajectory, an unrealistic requirement in practice. We address this limitation by formulating a partially observable threat model, where the adversary can exploit only a short prefix of the trajectory to generate a fixed patch applied to all subsequent frames. Under this setting, we propose a two-phase framework. First, we localize the patch using the model's attention maps to identify visually critical regions that correspond to the full instruction. Then, we optimize the patch to disrupt the semantic grounding of target objects and increase the curvature of action trajectories, thereby compounding failures in both perception and control. Extensive experiments in simulation and real-world robotic environments show that our method sustains adversarial effects under partial observability, inducing long-horizon disruptions and significantly reducing task success rates.

Simulation has become a core infrastructure for robotics research. Unlike previous simulators, NVIDIA Isaac Sim leverages GPU acceleration to enable large-scale parallel training and physics-accurate modeling. Its synthetic data generation pipeline alleviates the scarcity of high-quality training data, supporting data-driven robot learning and large-scale simulation-centric experimentation. However, existing surveys often treat it as one simulator among many, without a systematic analysis of its architectural characteristics, usage patterns, and limitations. This survey reviews Isaac Sim from system and application perspectives, outlining its architecture and comparing it with widely used simulators. We analyze representative studies across five major domains and summarize common usage patterns, particularly in data generation and high-fidelity simulation. We also outline key future directions and challenges, including physics open-world learning, simulation-centric training and practical usability constraints.

Hyperparameter optimization (HPO) for Random Forest faces a specific difficulty in tuning the number of trees: the predictive score typically improves monotonically with ensemble size, so standard methods such as Tree-structured Parzen Estimator (TPE) and Hyperband require a predefined search range and often drive the estimate toward its right boundary. Early-stopping strategies avoid fixing such a range, but can be sensitive to score noise and prone to premature stopping. To address this, we propose an integrated triplet-based plateau-search algorithm that removes the number of trees from the direct TPE search space and still exploits information accumulated across HPO trials. The method adaptively tracks a near-minimal sufficient ensemble size by monitoring relative changes in the out-of-bag (OOB) score across a triplet of forest sizes and shifting this triplet accordingly. This yields an automated and user-interpretable procedure based on a tolerance parameter. We also provide a theoretical analysis: we relate the proposed relative OOB-score criterion to the gap between the current and limiting scores, and derive an asymptotic variance estimate for the corresponding OOB-based absolute relative difference. Experiments show that the selected number of trees can differ substantially from the common heuristic: for most classical benchmark datasets it is smaller, whereas for some high-dimensional bioinformatics datasets, such as Arcene and Dorothea, it is larger. The source code and reproducible experiments are available at https://github.com/lange-am/rf_plateau_hpo.

Event-based tactile sensing offers low-latency signal acquisition for contact-rich robotic interaction. This paper investigates contact-angle estimation using event streams from an event-based tactile sensor (NeuroTac) and compares three event-derived spatial contour representations: a dynamic representation capturing recent event activity, a static representation recovering a more persistent contact state, and their combined representation. Across the evaluated motion scenarios, all representation pipelines exhibited P99 processing latency below 10 ms at all tested sampling intervals, demonstrating their potential for high-frequency event-based tactile angle estimation in robotic manipulation. The static representation consistently achieved marginally better performance than the dynamic and combined representations under scenario-specific training, yielding a mean overall MAE of 0.160° during continuous sensor rolling and a stop-phase mean MAE of 0.251° during randomly inserted motion interruptions. It also exhibited smaller performance fluctuations across speed and indentation depth variations than the other two representations.

Self-improving language agents are typically evaluated in isolation: an agent attempts a task, receives feedback, and iteratively refines its own behavior. Yet agents increasingly operate alongside peers whose strategies and outcomes are publicly visible. This raises an under-studied question: when does shared experience produce improvements that self-improvement alone cannot achieve? We introduce SAGE (Social Agent Group Evolution),an evaluation framework that compares two compute-matched conditions: SocialEvo, where agents from five distinct model families co-evolve with access to all peers' histories; and SelfEvo, where each agent receives the same number of task attempts but sees only its own past, which is conventional in self-improving agent studies. We instantiate SAGE in three arenas: open-ended ML research, long-horizon economic planning, and strategic multiplayer play, evaluated across multiple evolutionary rounds. We find that group history is not a universal amplifier: the strongest agent does not exceed its self-evolution ceiling. However, agents that plateau under self-improvement can achieve significant breakthroughs when peer experience is available. In competitive settings, counterfactual controls reveal that agents improve generally rather than developing opponent-specific strategies. Across different forms of shared history, filtered peer traces and reflective summaries often outperform raw logs, indicating that social gains depend on abstraction rather than exposure volume. These findings reveal that peer-history gains are agent-specific, arena-dependent, and contingent on the capacity to abstract transferable knowledge from public traces.

Existing human attention (saliency) modeling methods persist as highly fragmented across modalities, scenes, and task formulations. Consequently, even with increasing model capacity and data scale, current models predominantly remain scene-dependent and task-specific, failing to practically generalize in real-world applications. To address the fundamental limitations, we present the Attend to Anything Model (AAM), a multi-modal foundation model that unifies attention modeling across various image, video, and audio-visual tasks and scenes. AAM reformulates attention as a cognitive entailment relationship organized in a general-to-specific hierarchy, implemented through language prompts with hierarchical embeddings in hyperbolic space. Furthermore, to unify static image and dynamic video attention, we adopt a fluid-dynamics perspective, formulating video-frame attention as a diffusive temporal evolution governed by the Fokker--Planck equation. Extensive experiments on 16 benchmarks demonstrate that AAM consistently outperforms state-of-the-art methods by an average of 6\% across various scenarios, while achieving approximately a 4$\times$ speedup in video inference. Overall, these results demonstrate that AAM provides a principled foundation for future research on attention and saliency-related tasks. The dataset and code will be available at https://github.com/wz-zhao/Attend-to-Anything.

Spatio-Temporal Video Grounding aims to localize object tubes based on textual queries. While recent methods have achieved remarkable success, they mainly focus on high-quality(HQ) inputs, neglecting the widespread presence of low-quality(LQ) videos in real-world scenarios. Although tuning methods like LoRA can adapt to degraded inputs, they inevitably disrupt pre-trained knowledge. To address this, we propose Null-Space Tuning (NST). This framework exploits the geometric property that adding vectors within the null-space of frozen weights to the layer input does not affect the output. Leveraging this, NST injects learnable residuals into input features that can be selectively invisible to the pre-trained backbone. Specifically, NST combines the Quality-Adaptive Unit and Dual-Space Reparameterization to synthesize these residuals by confining components for HQ inputs to the null-space, while directing restoration components for LQ inputs to the non-null space. As the frozen weights eliminate null-space components, we effectively rectify degraded inputs while preserving pre-trained knowledge for HQ inputs. Extensive experiments show that NST outperforms state-of-the-art methods on our Mixed-Quality benchmark.