Adaptive agents operating under uncertainty must do more than optimize task outputs: they must maintain a workable internal state under noise, perturbation, and changing conditions. This paper introduces IRAM-Omega-Q, a computational framework for modeling uncertainty regulation in adaptive agents under stochastic disturbance. The framework combines a quantum-like state representation with closed-loop adaptive control over an internal entropy signal. The quantum-like formalism is used instrumentally: the evolving state is a normalized complex amplitude vector, coherent evolution is propagated exactly as psi(t + Delta t) = exp(-i H Delta t) psi(t), and a derived density matrix supports entropy and coherence-gap analysis. Two causal control orderings are compared. In regulation-first (RF) ordering, adaptive regulation is available before current-cycle disturbance and attenuates incoming exposure; in disturbance-first (DF) ordering, current-cycle disturbance is received before a new regulatory response can be computed, and stabilization acts reactively. Publication-mode, matched-seed simulations show broadly comparable coherence-gap trajectories but lower sustained adaptive gain under RF. Susceptibility maps based on post-burn-in temporal fluctuations further show that DF shifts the critical initial-gain ridge toward larger values across multiple disturbance intervals. These results identify ordering as an architectural determinant of regulatory demand and threshold location within an otherwise shared regime structure.

Text-to-image (TTI) diffusion models have achieved remarkable visual quality, yet they have been repeatedly shown to exhibit social biases across sensitive attributes such as gender, race and age. To mitigate these biases, existing approaches frequently depend on curated prompt datasets - either manually constructed or generated with large language models (LLMs) - as part of their training and/or evaluation procedures. Beside the curation cost, this also risks overlooking unanticipated, less obvious prompts that trigger biased generation, even in models that have undergone debiasing. In this work, we introduce Bias-Guided Prompt Search (BGPS), a framework that automatically generates prompts that aim to maximize the presence of biases in the resulting images. BGPS comprises two components: (1) an LLM instructed to produce attribute-neutral prompts and (2) attribute classifiers acting on the TTI's internal representations that steer the decoding process of the LLM toward regions of the prompt space that amplify the image attributes of interest. We conduct extensive experiments on Stable Diffusion 1.5 and a state-of-the-art debiased model and discover an array of subtle and previously undocumented biases that severely deteriorate fairness metrics. Crucially, the discovered prompts are interpretable, i.e they may be entered by a typical user, quantitatively improving the perplexity metric compared to a prominent hard prompt optimization counterpart. Our findings uncover TTI vulnerabilities, while BGPS expands the bias search space and can act as a new evaluation tool for bias mitigation.

Modern agricultural data is sourced from diverse platforms and spans multiple spatial scales, ranging from ground-level close-up photography to Unmanned Aerial Vehicle (UAV) aerial observation and satellite remote sensing imagery. Accordingly, agricultural multimodal reasoning demands robust cross-scale spatial understanding. However, due to the lack of multi-view agricultural benchmark datasets, existing multimodal large language models (MLLMs) exhibit severe ground-level bias, which leads to scale confusion then semantic collapse in agricultural perception tasks, such as misinterpreting farmland imagery as walls or floors. To address this, we introduce AgroOmni, a large-scale multi-view training corpus with 288K Visual Question Answering pairs covering 56 specialized task categories across 14 task types, designed to capture diverse scales in modern precision agriculture. Built on this dataset, we propose AgroNVILA, which achieves a new state-of-the-art of 62.32% on the AgroMind benchmark (+15.03% over GPT-5.2), effectively mitigating the multi-view cross-scale gap for holistic agricultural understanding. Diagnostic evaluations on AgMMU further reveal an inherent heterogeneity between macro-priors and micro-diagnostics through constrained zero-shot performance. Meanwhile, even minimal fine-tuning leads to a dramatic performance gain of AgroNVILA on AgMMU, strongly demonstrating its generalization capability empowered by AgroOmni. Full training scripts are publicly available at https://anonymous.4open.science/r/AgroOmni-6510.

The generative artificial intelligence (AI) ecosystem is undergoing rapid transformations that threaten its sustainability. As models transition from research prototypes to high-traffic products, the energetic burden has shifted from one-time training to recurring, unbounded inference. This is exacerbated by reasoning models that inflate compute costs by orders of magnitude per query. The prevailing pursuit of artificial general intelligence through scaling of monolithic models is colliding with hard physical constraints: grid failures, water consumption, and diminishing returns on data scaling. This trajectory yields models with impressive factual recall but struggles in domains requiring in-depth reasoning, possibly due to insufficient abstractions in training data. Current large language models (LLMs) exhibit genuine reasoning depth only in domains like mathematics and coding, where rigorous, pre-existing abstractions provide structural grounding. In other fields, the current approach fails to generalize well. We propose an alternative trajectory based on domain-specific superintelligence (DSS). We argue for first constructing explicit symbolic abstractions (knowledge graphs, ontologies, and formal logic) to underpin synthetic curricula enabling small language models to master domain-specific reasoning without the model collapse problem typical of LLM-based synthetic data methods. Rather than a single generalist giant model, we envision "societies of DSS models": dynamic ecosystems where orchestration agents route tasks to distinct DSS back-ends. This paradigm shift decouples capability from size, enabling intelligence to migrate from energy-intensive data centers to secure, on-device experts. By aligning algorithmic progress with physical constraints, DSS societies move generative AI from an environmental liability to a sustainable force for economic empowerment.

When a decoder-only transformer is forced to process matched correct and incorrect single-token continuations of a factual query, the two pathways through hidden-state space diverge in a specific way: displacement vectors from the query-only representation maintain approximately equal magnitude but rotate apart in direction. The angular separation grows through mid-depth, and late layers resolve the asymmetric outcome -a logit-lens preference that, in the incorrect run, falls far below the naive prior of equal probability, corresponding to the model assigning approximately 11.5 times more probability to the incorrect token than to the correct one. We characterize this two-phase pattern-rotational divergence in mid-depth followed by late-layer asymmetric commitment-as the empirical geometric signature of what looks externally like the model rejecting a wrong continuation, while remaining explicit that it is an observational characterization, not a causal account. The pattern is consistent across six decoder-only transformers including five architecture families from 1B to 13B parameters. A seventh model (Qwen2 1.5B) shows a flat profile under the present extraction protocol that is plausibly a tokenizer-fragmentation artefact rather than a real scale floor; the question of an emergence threshold is left open. Single-layer activation patching does not recover the correct token at any layer band, meaning the late-layer asymmetry is not localized to a discrete component under the protocol used. Taken together, the evidence is consistent with a distributed-by-trajectory account of factual constraint processing-geometric structure that emerges cumulatively across many layers rather than from a single localized circuit and inconsistent with the simplest single-layer localized-recall account.

Retrosynthesis prediction aims to identify reactants that can synthesize a given product molecule. Although molecular large language models (LLMs) have recently shown promising results, most existing methods either generate reactants directly or provide only generic product-level analysis, without explicitly reasoning about bond-disconnection strategies that justify specific reactant choices. This paper proposes RetroReasoner, a retrosynthetic reasoning model that captures chemists' strategic disconnection-based thinking. RetroReasoner is trained with supervised fine-tuning and reinforcement learning. For supervised fine-tuning, SyntheticRetro generates structured disconnection rationales paired with reactant predictions. For reinforcement learning, a round-trip reward evaluates predicted reactants by passing them through a forward synthesis model and rewarding predictions that reconstruct the original product. RetroReasoner can also be applied to multi-step retrosynthetic planning by incorporating it into a parallelized Monte Carlo tree search framework, reducing search time while increasing the number and diversity of valid synthetic pathways. Experimental results show that RetroReasoner outperforms prior baselines, including not only molecular LLMs but also retrosynthesis-specific expert models, and generates a broader range of feasible reactant proposals, especially for challenging reaction instances.

This paper describes our system for SemEval-2026 Task 6, which classifies clarity of responses in political interviews into three categories: Clear Reply, Ambivalent, and Clear Non-Reply. We propose a heterogeneous dual large language model (LLM) ensemble via self-consistency (SC) and weighted voting, and a novel post-hoc correction mechanism, Deliberative Complexity Gating (DCG). This mechanism uses cross-model behavioral signals and exploits the finding that an LLM response-length proxy correlates strongly with sample ambiguity. To further examine mechanisms for improving ambiguity detection, we evaluated multi-agent debate as an alternative strategy for increasing deliberative capacity. Unlike DCG, which adaptively gates reasoning using cross-model behavioral signals, debate increases agent count without increasing model diversity. Our solution achieved a Macro-F1 score of 0.85 on the evaluation set, securing 3rd place and tied with the second-best reported score.

Gaussian process (GP) bandits provide a powerful framework for performing blackbox optimization of unknown functions. The characteristics of the unknown function depend heavily on the assumed GP prior. Most work in the literature assume that this prior is known but in practice this seldom holds. Instead, practitioners often rely on maximum likelihood estimation to select the hyperparameters of the prior - which lacks theoretical guarantees. In this work, we study two algorithms for joint prior selection and regret minimization in GP bandits based on GP Thompson sampling (GP-TS): Prior-Elimination GP-TS (PE-GP-TS) that disqualifies priors with poor predictive performance, and HyperPrior GP-TS (HP-GP-TS) that utilizes a bi-level Thompson sampling scheme. We theoretically analyze the algorithms and establish a sublinear regret bound for HP-GP-TS. In addition, we demonstrate the effectiveness of these algorithms compared to the alternatives through extensive experiments with synthetic and real-world data.

Graph generation is a fundamental task with broad applications, such as drug discovery. Recently, discrete flow matching-based graph generation, \aka, graph flow model (GFM), has emerged due to its superior performance and flexible sampling. However, effectively aligning GFMs with complex human preferences or task-specific objectives remains a significant challenge. In this paper, we propose Graph-GRPO, an online reinforcement learning (RL) framework for training GFMs under verifiable rewards. Our method makes two key contributions: (1) We derive an analytical expression for the transition probability of GFMs, replacing the Monte Carlo sampling and enabling fully differentiable rollouts for RL training; (2) We propose a refinement strategy that randomly perturbs specific nodes and edges in a graph, and regenerates them, allowing for localized exploration and self-improvement of generation quality. Extensive experiments on both synthetic and real datasets demonstrate the effectiveness of Graph-GRPO. With only 50 denoising steps, our method achieves 95.0\% and 97.5\% Valid-Unique-Novelty scores on the planar and tree datasets, respectively. Moreover, Graph-GRPO achieves state-of-the-art performance on the molecular optimization tasks, outperforming graph-based and fragment-based RL methods as well as classic genetic algorithms.

Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not decide which skill to reuse when scenes change. Classical task-and-motion planning (TAMP) offers compositionality, but its high planning latency prevents real-time failure recovery. We introduce SymSkill, a unified framework that jointly learns predicates, operators, and skills from unlabeled, unsegmented demonstrations, combining compositional generalization with real-time recovery. Offline, SymSkill learns symbolic abstractions and goal-oriented skills directly from demonstrations. Online, given a conjunction of learned predicates, it uses a symbolic planner to compose and reorder skills to achieve symbolic goals while recovering from failures at both the motion and symbolic levels in real time. Coupled with a compliant controller, SymSkill supports safe execution under human and environmental disturbances. In RoboCasa simulation, SymSkill executes 12 single-step tasks with 85% success and composes them into multi-step plans without additional data. On a real Franka robot, it learns from 5 minutes of play data and performs 12-step tasks from goal specifications. Code and additional analysis are available at https://symskill.github.io/ .

We derive integral formulas that simplify the Vector Signal Tensor Product recently introduced by Xie et al., which generalizes the Gaunt tensor product to anti-symmetric couplings. In particular, we obtain explicit closed-form expressions for the anti-symmetric analogues of the Gaunt coefficients. This enables us to simulate the Clebsch-Gordan tensor product using a single Vector Signal Tensor Product, yielding up to a $9\times$ reduction in the required tensor product evaluations. Our results enable efficient and practical implementations of the Vector Signal Tensor Product, paving the way for applications of this generalization of Gaunt Tensor Products in $\mathrm{SO}(3)$-equivariant neural networks. Moreover, we discuss how the Gaunt and the Vector Signal Tensor Products allow to control the expressivity-runtime tradeoff associated with the usual Clebsch-Gordan Tensor Products. Finally, we investigate low rank decompositions of the normalizations of the considered tensor products in view of their use in equivariant neural networks.

Large language models (LLMs) often require fine-tuning (FT) to perform well on downstream tasks, but FT can induce safety-alignment drift even when the training dataset contains only benign data. Prior work shows that introducing a small fraction of harmful data can substantially compromise LLM refusal behavior, causing LLMs to comply with harmful requests. Existing defense methods often rely on model-wide interventions, such as restricting which parameters are updated or injecting additional safety data, which can limit generality and degrade downstream task performance. To address these limitations, we propose a fine-tuning framework called Preserving Safety Alignment via Constrained Tokens (PACT), which stabilizes the model's confidence on safety tokens. Our approach is motivated by the empirical observation that safety-aligned behavior is reflected in the model's token-level output confidence and is often concentrated on a small subset of safety-related tokens. During downstream fine-tuning, we regularize the fine-tuned model to match the aligned reference model's confidence on safety-related tokens at each response step, while leaving non-safety tokens largely unconstrained to allow effective task adaptation. This targeted constraint prevents alignment drift without imposing global restrictions that typically trade off with model utility. Our code is available at {https://github.com/Glresearch1/PACT}.

Current biomedical question answering (QA) systems often assume that medical knowledge applies uniformly, yet real-world clinical reasoning is inherently conditional: nearly every decision depends on patient-specific factors such as comorbidities and contraindications. Existing benchmarks do not evaluate such conditional reasoning, and retrieval-augmented or graph-based methods lack explicit mechanisms to ensure that retrieved knowledge is applicable to given context. To address this gap, we propose CondMedQA, the first benchmark for conditional biomedical QA, consisting of multi-hop questions whose answers vary with patient conditions. Furthermore, we propose Condition-Gated Reasoning (CGR), a novel framework that constructs condition-aware knowledge graphs and selectively activates or prunes reasoning paths based on query conditions. Our findings show that CGR more reliably selects condition-appropriate answers while matching or exceeding state-of-the-art performance on biomedical QA benchmarks, highlighting the importance of explicitly modeling conditionality for robust medical reasoning.

Recent progress in audio generation has made it increasingly easy to create highly realistic environmental soundscapes, which can be misused to produce deceptive content, such as fake alarms, gunshots, and crowd sounds, raising concerns for public safety and trust. While deepfake detection for speech and singing voice has been extensively studied, environmental sound deepfake detection (ESDD) remains underexplored. To advance ESDD, the first edition of the ESDD challenge was launched, attracting 97 registered teams and receiving 1,748 valid submissions. This paper presents the task formulation, dataset construction, evaluation protocols, baseline systems, and key insights from the challenge results. Furthermore, we analyze common architectural choices and training strategies among top-performing systems. Finally, we discuss potential future research directions for ESDD, outlining key opportunities and open problems to guide subsequent studies in this field.

Efficient and stable training of large language models (LLMs) remains a core challenge in modern machine learning systems. To address this challenge, Reparameterized Orthogonal Equivalence Training (POET), a spectrum-preserving framework that optimizes each weight matrix through orthogonal equivalence transformation, has been proposed. Although POET provides strong training stability, its original implementation incurs high memory consumption and computational overhead due to intensive matrix multiplications. To overcome these limitations, we introduce POET-X, a scalable and memory-efficient variant that performs orthogonal equivalence transformations with significantly reduced computational cost. POET-X maintains the generalization and stability benefits of POET while achieving substantial improvements in throughput and memory efficiency. In our experiments, POET-X enables the pretraining of billion-parameter LLMs on a single Nvidia H100 GPU, and in contrast, standard optimizers such as AdamW run out of memory under the same settings.

Recent progress in geospatial foundation models highlights the importance of learning general-purpose representations for real-world locations, particularly points-of-interest (POIs) where human activity concentrates. Existing approaches, however, focus primarily on place identity derived from static textual metadata, or learn representations tied to trajectory context, which capture movement regularities rather than how places are actually used (i.e., POI's function). We argue that POI function is a missing but essential signal for general POI representations. We introduce Mobility-Embedded POIs (ME-POIs), a framework that augments POI embeddings derived, from language models with large-scale human mobility data to learn POI-centric, context-independent representations grounded in real-world usage. ME-POIs encodes individual visits as temporally contextualized embeddings and aligns them with learnable POI representations via contrastive learning to capture usage patterns across users and time. To address long-tail sparsity, we propose a novel mechanism that propagates temporal visit patterns from nearby, frequently visited POIs across multiple spatial scales. We evaluate ME-POIs on five newly proposed map enrichment tasks, testing its ability to capture both the identity and function of POIs. Across all tasks, augmenting text-based embeddings with ME-POIs consistently outperforms both text-only and mobility-only baselines. Notably, ME-POIs trained on mobility data alone can surpass text-only models on certain tasks, highlighting that POI function is a critical component of accurate and generalizable POI representations.

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with specialised sensor configurations or 3D scene reconstruction. However, in the context of distant objects or tasks limited by the amount of available computational resources, neither solution is feasible. In this paper, we show that the task can be solved with either multi-view triangulation or particle filters, with the latter also providing shape and uncertainty estimates. We studied the solutions using 3D simulation and drone-based image segmentation sequences with global navigation satellite system (GNSS) based camera pose estimates. The results suggest that combining the proposed methods with pre-existing image segmentation models and drone-carried computational resources yields a reliable system for drone-based wildfire monitoring. The proposed solutions are independent of the detection method, also enabling quick adaptation to similar tasks. Code is available at https://fgi_nls.gitlab.io/public/distant-localisation

Few-Shot Action Recognition (FS-AR) has shown promising results but is often limited by a closed-set assumption that fails in real-world open-set scenarios. While Few-Shot Open-Set (FSOS) recognition is well-established for images, its extension to spatio-temporal video data remains underexplored. To address this, we propose an architectural extension based on a Feature-Residual Discriminator (FR-Disc), adapting previous work on skeletal data to the more complex video domain. Extensive experiments on five datasets demonstrate that while common open-set techniques provide only marginal gains, our FR-Disc significantly enhances unknown rejection capabilities without compromising closed-set accuracy, setting a new state-of-the-art for FSOS-AR. The project website, code, and benchmark are available at: https://hsp-iit.github.io/fsosar/.

Monocular re-localization enables robots to estimate camera poses from visual observations. However, many existing methods rely on dense maps or large reference image databases, which face scalability limitations and privacy risks. OpenStreetMap (OSM), as a lightweight privacy-preserving map, offers semantic and geometric information with global scalability. Nonetheless, OSM localization remains challenging due to cross-modal discrepancies between natural images and OSM, as well as the high cost of global map-based localization. In this paper, we propose an uncertainty-aware hierarchical search framework with semantic alignment for localization in OSM. First, object-centric DINO-ViT tokens are exploited to reduce the semantic gap between ground-view observations and OSM vectors. Second, global dense matching is decomposed into coarse FFT correlation and uncertainty-controlled local refinement. Extensive experiments demonstrate that our method significantly improves localization accuracy and speed. When trained on a single dataset, the 3$^\circ$ orientation recall of our method even outperforms the 5$^\circ$ recall of state-of-the-art methods.

Pre-trained vision encoders like DINOv2 have demonstrated exceptional performance on unimodal tasks. However, we observe that their features are poorly aligned across different visual modalities. For instance, the feature embedding for an RGB image and its corresponding depth map of the same scene exhibit a cosine similarity that is nearly identical to that of two random, unrelated images. To address this, we propose the Omnivorous Vision Encoder, a post-training framework that learns a modality-agnostic feature space. We fine-tune the encoder with a dual objective: first, to maximize the feature alignment between different modalities of the same scene; and second, a distillation objective that anchors the learned representations to a fully frozen teacher. The resulting student encoder becomes "omnivorous" by producing more consistent embeddings for a given scene, regardless of the input modality (RGB, Depth, Segmentation, etc.). This approach enables robust cross-modal understanding while retaining the discriminative semantics of the original foundation model. Omnivorous model weights are available at https://github.com/google-deepmind/representations4d.

Modeling event sequences of multiple event types with marked temporal point processes (MTPPs) provides a principled way to uncover governing dynamical rules and predict future events. Current neural network approaches to MTPP inference rely on training separate, specialized models for each target system. We pursue a radically different approach: drawing on amortized inference and in-context learning, we pretrain a deep neural network to infer, in-context, the conditional intensity functions of event histories from a context defined by sets of event sequences. Pretraining is performed on a large synthetic dataset of MTPPs sampled from a broad distribution of Hawkes processes. Once pretrained, our Foundation Inference Model for Point Processes (FIM-PP) can estimate MTPPs from real-world data without any additional training, or be rapidly finetuned to target systems. Experiments show that this amortized approach matches the performance of specialized models on next-event prediction across common benchmark datasets.

Cardiac cine magnetic resonance imaging (MRI) is central to functional cardiac assessment, yet a full current cine sequence may not always be directly available at the point of analysis. We introduce Chain of Flow (COF), an electrocardiography (ECG)-conditioned framework that combines patient-specific MRI and current ECG for subject-specific 4D cardiac cine generation. On the UK Biobank dataset, COF achieves strong image-level fidelity and downstream function-oriented performance on a shared same-visit evaluable benchmark. Multi-slice and multi-resolution analyses indicate stable structural generation quality across the short-axis stack and heterogeneous acquisition resolutions. Controlled phase-robustness analyses across resampled input MRI phases further provide same-visit proxy support for patient-specific MRI plus current ECG when a target MRI phase is not directly observed. A cross-visit route provides exploratory serial evidence, with the clearest gains in current-facing region-of-interest readout. Disease-category functional audits, case-level volume-trajectory evidence review further delineate where the current patient-specific MRI plus ECG formulation remains stable for anatomy-aware downstream cardiac analysis. Code is available at https://anonymous.4open.science/r/COF-paper-release-C88B.

Latent visual reasoning aims to mimic human's imagination process by meditating through hidden states of Multimodal Large Language Models. While recognized as a promising paradigm for visual reasoning, the underlying mechanisms driving its effectiveness remain unclear. Motivated to demystify the true source of its efficacy, we investigate the validity of latent reasoning using Causal Mediation Analysis. We model the process as a causal chain: the input as the treatment, the latent tokens as the mediator, and the final answer as the outcome. Our findings uncover two critical disconnections: (a) Input-Latent Disconnect: dramatic perturbations on the input result in negligible changes to the latent tokens, suggesting that latent tokens do not effectively attend to the input sequence. (b) Latent-Answer Disconnect: perturbations on the latent tokens yield minimal impact on the final answer, indicating the limited causal effect latent tokens imposing on the outcome. Furthermore, extensive probing analysis reveals that latent tokens encode limited visual information and exhibit high similarity. Consequently, we challenge the necessity of latent reasoning and propose a straightforward alternative named CapImagine, which teaches the model to explicitly imagine using text. Experiments on vision-centric benchmarks show that CapImagine significantly outperforms complex latent-space baselines, highlighting the superior potential of visual reasoning through explicit imagination.

Federated Learning (FL) facilitates decentralized collaborative learning without transmitting raw data. However, reliance on fixed global rounds or validation data for hyperparameter tuning hinders practical deployment by incurring high computational costs and privacy risks. To address this, we propose a data-free early stopping framework that determines the optimal stopping point by monitoring the task vector's growth rate using only server-side parameters. The numerical results on skin lesion/blood cell/colon pathology classification demonstrate that our approach is comparable to the validation-based early stopping across various state-of-the-art FL methods. In particular, the proposed framework requires an average of 45/12/31 (skin lesion/blood cell/colon pathology) additional rounds to achieve over 12.3%/8.9%/3.9% higher performance than early stopping based on validation data. Moreover, the proposed framework requires only 9/8/14 additional rounds to screen bad configurations, which is less than 3% of the fixed-round budget. To the best of our knowledge, this is the first work to propose a data-free early stopping framework for FL methods. Our code is available at this open repository.

Vision-Language-Action (VLA) models are advancing autonomous driving by replacing modular pipelines with unified end-to-end architectures. However, current VLAs face two expensive requirements: (1) massive dataset collection, and (2) dense reasoning annotations. In this work, we address both challenges with NORD (No Reasoning for Driving). Compared to existing VLAs, NORD achieves competitive performance while being fine-tuned on <60% of the data and no reasoning annotations, resulting in 3x fewer tokens. We identify that standard Group Relative Policy Optimization (GRPO) fails to yield significant improvements when applied to policies trained on such small, reasoning-free datasets. We show that this limitation stems from difficulty bias, which disproportionately penalizes reward signals from scenarios that produce high-variance rollouts within GRPO. NORD overcomes this by incorporating Dr. GRPO, a recent algorithm designed to mitigate difficulty bias in LLMs. As a result, NORD achieves competitive performance on Waymo and NAVSIM with a fraction of the training data and no reasoning overhead, enabling more efficient autonomous systems. Website: https://nord-vla-ai.github.io/

Predictions from ML models support human decision making in several fields, including high-stakes ones such as healthcare and the judiciary. Yet, we still lack a clear understanding of how decision makers learn from ML-based decision support (ML-DS). In this paper, we introduce a general computational framework, the 2-Step Agent, to capture this process. As a prediction from an ML model contains information about the training data, a prediction can also be used for inference. Our framework models (i) how a prediction for a new observation affects the beliefs of a rational Bayesian agent, and (ii) how this change in beliefs affects the estimation of causal effect, the downstream decision, and the subsequent outcome. In addition to the framework itself, we make three contributions. First, for the linear Gaussian setting, we derive a tractable solution for the challenging Bayesian inference problem we introduced, i.e. one in which the agent infers from an ML prediction. Second, we experimentally identify conditions under which ML-DS is beneficial. Third, we show that a single misaligned prior belief can be sufficient for ML-DS to lead to worse downstream outcomes compared to no decision support even when the ML model is well-specified and the agent is perfectly rational. Hence, even under ideal conditions, ML-DS can do more harm than good.

Graph Neural Networks (GNNs) are increasingly explored for physical design analysis in Electronic Design Automation, particularly for modeling Clock Tree Synthesis behavior such as clock skew and buffering complexity. However, practical deployment remains limited due to the prohibitive memory and runtime cost of operating on raw gate-level netlists. Graph coarsening is commonly used to improve scalability, yet its impact on CTS-critical learning objectives is not well characterized. This paper introduces CTS-Bench, a benchmark suite for systematically evaluating the trade-offs between graph coarsening, prediction accuracy, and computational efficiency in GNN-based CTS analysis. CTS-Bench consists of 4,860 converged physical design solutions spanning five architectures and provides paired raw gate-level and clustered graph representations derived from post-placement designs. Using clock skew prediction as a representative CTS task, we demonstrate a clear accuracy-efficiency trade-off. While graph coarsening reduces GPU memory usage by up to 17.2x and accelerates training by up to 3x, it also removes structural information essential for modeling clock distribution, frequently resulting in negative $R^2$ scores under zero-shot evaluation. Our findings indicate that generic graph clustering techniques can fundamentally compromise CTS learning objectives, even when global physical metrics remain unchanged. CTS-Bench enables principled evaluation of CTS-aware graph coarsening strategies, supports benchmarking of GNN architectures and accelerators under realistic physical design constraints, and provides a foundation for developing learning-assisted CTS analysis and optimization techniques.

Existing insertion-based masked diffusion models that generate sequences by interleaving token insertion with unmasking use fixed schedules that are not dependent on the data. For structured sequences like graphs and molecules, learning data-dependent generation orders can improve generation quality by reducing uncertainty over the action space. We propose LoFlexMDM, an insertion-based masked diffusion model with learnable order dynamics that learns data-dependent insertion and unmasking rates. We generalize the discrete flow matching framework to work with variable-length sequences, propose a tractable schedule parameterization and a training objective for joint training of the generator and the target order dynamics. On De Novo and fragment-constrained molecule generation, LoFlexMDM improves sample quality over FlexMDM by up to 17.5% and 6.7%, respectively. These results show that learning the target generation order can improve insertion-based diffusion models without giving up tractable training. We open source the code at https://github.com/dhruvdcoder/LoFlexMDM.

Vision-Language-Action (VLA) models leverage pretrained Vision-Language Models (VLMs) as backbones to map images and instructions to actions, demonstrating remarkable potential for generalizable robotic manipulation. To enhance performance, existing methods often incorporate extra observation cues (e.g., depth maps, point clouds) or auxiliary modules (e.g., object detectors, encoders) to enable more precise and reliable task execution, yet these typically require costly data collection and additional training. Inspired by the finding that Feed-Forward Network (FFN) in language models can act as "key-value memory", we propose Uncertainty-aware Observation Reinjection (UAOR), an effective, training-free and plug-and-play module for VLA models. Specifically, when the current language model layer exhibits high uncertainty, measured by Action Entropy, it reinjects key observation information into the next layer's Feed-Forward Network (FFN) through attention retrieval. This mechanism directly augments the hidden states with observation evidence at high-uncertainty layers, enabling more accurate and reliable action generation. Comprehensive experiments show that our method consistently improves diverse VLA models across simulation and real-world tasks with minimal overhead. Notably, UAOR eliminates the need for additional observation cues or modules, making it a versatile and practical plug-in for existing VLA pipelines. The project page is at https://uaor.jiabingyang.cn.

In this work we present Polaffini, a robust and versatile framework for anatomically grounded registration. Medical image registration is dominated by intensity-based registration methods that rely on surrogate measures of alignment quality. In contrast, feature-based approaches that operate by identifying explicit anatomical correspondences, while more desirable in theory, have largely fallen out of favor due to the challenges of reliably extracting features. However, such challenges are now significantly overcome thanks to recent advances in deep learning, which provide pre-trained segmentation models capable of instantly delivering reliable, fine-grained anatomical delineations. We aim to demonstrate that these advances can be leveraged to create new anatomically-grounded image registration algorithms. To this end, we propose Polaffini, which obtains, from these segmented regions, anatomically grounded feature points with 1-to-1 correspondence in a particularly simple way: extracting their centroids. These enable efficient global and local affine matching via closed-form solutions. Those are used to produce an overall transformation ranging from affine to polyaffine with tunable smoothness. Polyaffine transformations can have many more degrees of freedom than affine ones allowing for finer alignment, and their embedding in the log-Euclidean framework ensures diffeomorphic properties. Polaffini has applications both for standalone registration and as pre-alignment for subsequent non-linear registration, and we evaluate it against popular intensity-based registration techniques. Results demonstrate that Polaffini outperforms competing methods in terms of structural alignment and provides improved initialisation for downstream non-linear registration. Polaffini is fast, robust, and accurate, making it particularly well-suited for integration into medical image processing pipelines.