Reconstructing accurate implicit surface representations from point clouds remains a challenging task, particularly when data is captured using low-quality scanning devices. These point clouds often contain substantial noise, leading to inaccurate surface reconstructions. Inspired by the Noise2Noise paradigm for 2D images, we introduce NoiseSDF2NoiseSDF, a novel method designed to extend this concept to 3D neural fields. Our approach enables learning clean neural SDFs from noisy point clouds through noisy supervision by minimizing the MSE loss between noisy SDF representations, allowing the network to implicitly denoise and refine surface estimations. We evaluate the effectiveness of NoiseSDF2NoiseSDF on benchmarks, including the ShapeNet, ABC, Famous, and Real datasets. Experimental results demonstrate that our framework significantly improves surface reconstruction quality from noisy inputs.

Despite considerable progress in the development of machine-text detectors, the ease with which machine-text can be manipulated to evade detection has led to suggestions that the problem is inherently intractable. In this work, we investigate the limits of such evasion strategies. We demonstrate that while current attacks, ranging from prompt engineering to detector-guided optimization can effectively degrade performance of standard detectors, they fail to erase the underlying stylistic "fingerprints" of machine text. We show that few-shot detectors that utilize the stylistic feature space are robust to these evasion attempts, reliably detecting samples even from models explicitly tuned to prevent detection. This raises the question: does style represent a universal defense against machine-detection attacks? We demonstrate that the answer is "no'' by introducing a novel paraphrasing approach that simultaneously optimizes for undetectability and adherence to specific human styles. We show that unlike prior methods, this attack effectively evades all considered detectors, including those that utilize writing style. However, we find that this evasion is not absolute: as the number of documents available for analysis grows, the human and machine distributions become distinguishable again. Overall, our findings suggest that reliable machine-text detection requires moving beyond single-document analysis to multi-document analysis.

Test-time scaling, primarily manifested through multi-step Chain-of-Thought (CoT) reasoning via Reinforcement Learning (RL), has emerged as a pivotal paradigm for enhancing the reasoning capabilities of Large Language Models (LLMs). However, a significant theoretical gap persists: traditional token-level analysis fails to capture the macroscopic dynamics of reasoning-level scaling. To address this, we introduce CoT-Space, a novel theoretical framework that recasts the reasoning process from a discrete token-prediction task to an optimization process within a continuous, reasoning-level semantic space. By modeling the reasoning trajectory from both noise and risk perspectives and revitalizing foundational principles from classical learning theory, we demonstrate that the observed convergence to an optimal CoT length is a natural consequence of the fundamental trade-off between underfitting and overfitting. We further utilize RL as a tool to elicit and verify these results in our experiments. Our findings provide a mechanistic explanation for the internal test-time scaling via RL, offering a principled theoretical foundation to optimize reasoning trajectories in modern LLMs.

Human gaze estimation is essential for applications such as human-computer interaction, social robotics, and assistive systems. However, achieving accurate, interpretable, and real-time performance in unconstrained environments remains challenging. Existing appearance-based methods often face trade-offs between spatial robustness, computational efficiency, and effective use of contextual information. To address this, we introduce CapStARE, a capsule-based architecture that combines a frozen ConvNeXt backbone for efficient feature extraction, capsule formation with attention-based routing for structured facial reasoning, and dual GRU decoders for lightweight sequential modeling over short-horizon observation windows. This design preserves interpretable part-whole facial relationships while improving prediction stability through local contextual consistency. Experimental results demonstrate strong performance on ETH-XGaze (3.36) and MPIIFaceGaze (2.65), while also generalizing competitively on Gaze360 (9.06), all with real-time inference (<10 ms). These findings suggest that the proposed method provides a practical and robust framework for appearance-based gaze estimation in real-world interactive environments. The related code and experimental results are publicly available at: https://github.com/toukapy/capsStare

Existing theory suggests that for linear regression problems categorized by capacity and source conditions, gradient descent (GD) is always minimax optimal, while both ridge regression and online stochastic gradient descent (SGD) are polynomially suboptimal for certain categories of such problems. Moving beyond minimax theory, this work provides instance-wise comparisons of the finite-sample risks for these algorithms on any well-specified linear regression problem. Our analysis yields three key findings. First, GD dominates ridge regression: with comparable regularization, the excess risk of GD is always within a constant factor of that of ridge, but ridge can be polynomially worse even when tuned optimally. Second, GD is incomparable with SGD. While it is known that for certain problems GD can be polynomially better than SGD, the reverse is also true: we construct problems, inspired by benign overfitting theory, where optimally stopped GD is polynomially worse. Finally, GD dominates SGD for a significant subclass of problems -- those with fast and continuously decaying covariance spectra -- which includes all problems satisfying the standard capacity condition.

Using diffusion transformers for media generation may require evaluating attention over extremely long sequences, with attention layers accounting for the majority of generation latency. Exploiting sparsity in attention maps offers a promising opportunity to reduce this cost. In this work, we show that attention maps in diffusion transformers exhibit significant fine-grained sparsity in video generation models. Existing sparse attention methods, however, are too coarse-grained, leaving a large fraction of redundant computation unaddressed, or incur high overheads at finer granularity. We propose FG-Attn, a novel, low-overhead fine-grained sparse attention mechanism that skips score computations at the granularity of a MxN tile, where N>=1 and M>=16, and where each block is the result of query-key dot products between M queries and N keys. FG-Attn addresses the key challenge of hardware underutilization in sparse attention kernels on GPUs, without incurring the overheads of irregular memory access and redundant operations. FG-Attn can fully supersede existing sparse attention methods and extend block sparse attention methods to finer granularities on modern GPUs. At 70% sparsity, FG-Attn is up to 2.45X faster than the state-of-art FlashInfer, and reduces attention kernel time by 14.7% on average. FG-Attn speeds up end-to-end video generation times by up to 1.40X (1.18X on average) over Flash Attention 3.

Generalist robots should be able to understand and follow user instructions. Despite providing a powerful architecture for mapping open-vocabulary language instructions to robot actions, current vision-language-action (VLA) models struggle to follow fine-grained commands. One cause for this is a lack of semantic diversity and language grounding in existing robot datasets and, specifically, a lack of fine-grained task diversity for similar observations. To address this, we present a novel method to augment existing robot datasets by leveraging vision-language models to create counterfactual labels. By augmenting existing datasets with these labels, we increase the diversity and granularity of language grounding for robot datasets, ultimately improving the language-following capabilities of VLAs. We evaluate the resulting model's ability to follow language instructions, ranging from simple object-centric commands to complex referential tasks, by conducting vision-language navigation experiments in 3 different indoor and outdoor environments. Our experiments show that counterfactual relabeling (without additional data collection) significantly improves instruction-following in VLA policies, outperforming state-of-the-art methods and doubling the success rate compared to VLAs trained on unaugmented data. We also evaluate our method for manipulation VLAs and find a similar gain in performance on tasks with distractors.

Conformal prediction (CP) is well-suited for uncertainty quantification in time series forecasting due to its distribution-free coverage guarantees. However, existing multi-step methods often struggle to balance coverage validity with efficiency: they either calibrate horizons independently, ignoring temporal correlations, or enforce strict simultaneous coverage, resulting in overly conservative intervals. In this work, we propose O2CP: Optimization-based Online Conformal Prediction, a unified framework for online conformal prediction that explicitly models multi-step error dependencies without sacrificing long-term marginal coverage guarantees. We first prove that standard online conformal updates maintain validity as long as calibration parameters remain within a defined "safe" region. Leveraging this theoretical insight, we introduce a two-layer architecture: an outer layer that defines admissible parameter sets to ensure validity, and an inner layer that performs constrained optimization to model joint error distributions and minimize horizon-wide objectives. To make this computationally feasible, we develop a lightweight sampling strategy that estimates joint distributions without requiring large calibration sets. Extensive experiments on real-world datasets, including autonomous driving, climate forecasting, and public health, demonstrate that O2CP consistently outperforms state-of-the-art baselines, achieving target coverage with significantly sharper prediction intervals and reduced regret over long horizons.

Large language models (LLMs) have created new opportunities to assist teachers and support student learning. While researchers have explored various prompt engineering approaches in educational contexts, the degree to which these approaches generalize across domains--such as science, computing, and engineering--remains underexplored. In this paper, we introduce Chain-of-Thought Prompting + Active Learning (CoTAL), an LLM-based approach to formative assessment scoring that (1) leverages Evidence-Centered Design (ECD) to align assessments and rubrics with curriculum goals, (2) applies human-in-the-loop prompt engineering to automate response scoring, and (3) incorporates chain-of-thought (CoT) prompting and teacher and student feedback to iteratively refine questions, rubrics, and LLM prompts. Our findings demonstrate that CoTAL improves GPT-4's scoring performance across domains, achieving gains of up to 38.9% over a non-prompt-engineered baseline (i.e., without labeled examples, chain-of-thought prompting, or iterative refinement). Teachers and students judge CoTAL to be effective at scoring and explaining responses, and their feedback produces valuable insights that enhance grading accuracy and explanation quality.

Autoregressive (AR) encoder-decoder models dominate high-quality multilingual ASR, but their left-to-right decoders make inference latency scale with transcript length. A natural alternative, CTC-style non-autoregressive (NAR) systems avoid this bottleneck but their conditional independence assumption sacrifices transcript-level generative modeling. Masked diffusion language models (e.g., LLaDA, MDLM) offer a competitive NAR text-generation approach. We ask whether such models can bring NAR ASR into the accuracy regime of strong AR ASR systems while removing the left-to-right bottleneck. We propose Whisfusion, which trains a dedicated masked diffusion decoder from scratch on top of frozen Whisper-large-v3 audio embeddings, denoising masked transcripts in just a few steps. We train on ~68k hours of 11-language speech with high-mask specialization to align training with the fully masked starting point of inference, and decode via Parallel Diffusion Decoding. Whisfusion surpasses Whisper-large-v3 on group-average accuracy across English, European, and CJK benchmarks, while running 4-5x faster, additionally surpassing Whisper-turbo in both accuracy and throughput. It reaches accuracy competitive with Canary and Qwen3-ASR while running 3-7x faster. These results establish masked diffusion as a Pareto-competitive non-autoregressive paradigm for high-throughput multilingual transcription. Code and model weights are available at https://github.com/taeyoun811/Whisfusion.

In time series forecasting, covariates represent external factors that influence target variables. Some covariates are observable only in the past (observed covariates, such as recorded weather data), while others are known in advance (known covariates, such as calendar events or discount schedules). Although covariates have the potential to enhance forecasting performance, most deep learning-based forecasting models struggle to address the length discrepancy between variables caused by the future portion of known covariates and fail to leverage them flexibly. Moreover, capturing dependencies between target variables and covariates is non-trivial, as models must accurately reflect the local impact of covariates while simultaneously modeling global cross-variate dependencies. To address these challenges, we propose CITRAS, a decoder-only Transformer that flexibly integrates multiple target variables, observed covariates, and known covariates. While preserving strong autoregressive modeling capabilities, CITRAS introduces two novel mechanisms within patch-wise cross-variate attention: Key-Value (KV) Shift and Attention Score Smoothing. KV Shift seamlessly incorporates the future portion of known covariates into the forecasting process by aligning them with target variables based on their concurrent dependencies. Attention Score Smoothing refines locally accurate patch-wise cross-variate dependencies into global variate-level dependencies by smoothing the historical attention scores. Experimentally, CITRAS demonstrates strong performance across a wide range of real-world datasets in both covariate-informed and multivariate settings, showcasing its versatile ability to leverage cross-variate and cross-time dependencies for improved forecasting accuracy.

Prior research indicates that users prefer assistive technologies whose personalities align with their own. This has sparked interest in automatic personality perception (APP), which aims to predict an individual's perceived personality traits. Previous studies in APP have treated personalities as static traits, independent of context. However, perceived personalities can vary by context and situation as shown in psychological research. In this study, we investigate the relationship between conversational speech and perceived personality for participants engaged in two work situations (a neutral interview and a stressful client interaction). Our key findings are: 1) perceived personalities differ significantly across interactions, 2) loudness, sound level, and spectral flux features are indicative of perceived extraversion, agreeableness, conscientiousness, and openness in neutral interactions, while neuroticism correlates with these features in stressful contexts, 3) handcrafted acoustic features and non-verbal features outperform speaker embeddings in inference of perceived personality, and 4) stressful interactions are more predictive of neuroticism, aligning with existing psychological research.

This paper investigates secure communications in rate-splitting multiple access (RSMA) enabled heterogeneous UAV networks, where multiple UAVs collaboratively serve ground terminals in the presence of eavesdroppers. By jointly considering secrecy rate maximization and propulsion energy consumption minimization, we formulate a multi-objective optimization problem involving UAV trajectory design, service association, power allocation, and secrecy precoding under mobility, collision-avoidance, service-capacity, and communication constraints. The formulated problem is highly non-convex due to the coupling among UAV trajectories, RSMA transmission variables, and secrecy constraints.To address the resulting non-convex and highly coupled optimization problem, we propose a hierarchical optimization framework. The inner layer uses a semidefinite relaxation (SDR)-based S2DC algorithm combining penalty functions and difference-of-convex (D.C.) programming to solve the secrecy precoding problem with fixed UAV positions. The outer layer introduces a Large Language Model (LLM)-guided heuristic multi-agent reinforcement learning approach (LLM-HeMARL) for trajectory optimization. LLM-HeMARL efficiently incorporates LLM-generated expert heuristic policy, enabling UAVs to learn energy-aware, security-driven trajectories without the inference overhead of real-time LLM calls. The simulation results show that our method outperforms existing baselines in secrecy rate and energy efficiency, with consistent robustness across varying UAV swarm sizes and random seeds.

Audio-visual Target Speaker Extraction (AV-TSE) aims to isolate a target speaker's voice from multi-speaker environments by leveraging visual cues as guidance. However, the performance of AV-TSE systems heavily relies on the quality of these visual cues. In extreme scenarios where visual cues are missing or severely degraded, the system may fail to accurately extract the target speaker. In contrast, humans can maintain attention on a target speaker even in the absence of explicit auxiliary information. Motivated by such human cognitive ability, we propose a novel framework called MeMo, which incorporates two adaptive memory banks to store attention-related information. MeMo is specifically designed for real-time scenarios: once initial attention is established, the system maintains attentional momentum over time, even when visual cues become unavailable. We conduct comprehensive experiments to verify the effectiveness of MeMo. Experimental results demonstrate that our proposed framework achieves SI-SNR improvements of at least 2 dB over the corresponding baseline.

With the rapid advancement of large language models (LLMs), aligning policy models with human preferences has become increasingly critical. Direct Preference Optimization (DPO) has emerged as a promising approach for alignment, acting as an RL-free alternative to Reinforcement Learning from Human Feedback (RLHF). Despite DPO's various advancements and inherent limitations, an in-depth review of these aspects is currently lacking in the literature. In this work, we present a comprehensive review of the challenges and opportunities in DPO, covering theoretical analyses, variants, relevant preference datasets, and applications. Specifically, we categorize recent studies on DPO based on key research questions to provide a thorough understanding of DPO's current landscape. Additionally, we propose several future research directions to offer insights on model alignment for the research community. An updated collection of relevant papers can be found on https://github.com/Mr-Loevan/DPO-Survey.

Despite their empirical success across a wide range of generative tasks, the fundamental principles underlying the ability of diffusion models to learn data distributions are poorly understood. In this work, we develop a new mathematical framework that explains how diffusion models can effectively learn low-dimensional distributions from a finite number of training samples without suffering from the curse of dimensionality. Specifically, motivated by the intrinsic low-dimensional structure of image data, we theoretically analyze a setting in which the data distribution is modeled as a mixture of low-rank Gaussians. Under suitable network parameterization, we show that optimizing the training objective of diffusion models is equivalent to solving the canonical subspace clustering problem over the training samples, where each subspace basis corresponds to the low-rank covariance of a Gaussian component. This equivalence allows us to show that the sample complexity for learning the underlying distribution scales linearly with the intrinsic dimension of the data, rather than exponentially with the ambient dimension. Our theoretical findings are further supported by empirical evidence that demonstrates phase transition phenomena in generalization on both synthetic and real-world image datasets. Moreover, we establish a correspondence between the learned subspace bases and semantic attributes of image data, providing a principled foundation for controllable image generation.

Peer review, the bedrock of scientific advancement in machine learning (ML), is strained by a crisis of scale. Exponential growth in manuscript submissions to premier ML venues such as NeurIPS, ICML, and ICLR is outpacing the finite capacity of qualified reviewers, leading to concerns about review quality, consistency, and reviewer fatigue. This position paper argues that AI-assisted peer review must become an urgent research and infrastructure priority. We advocate for a comprehensive AI-augmented ecosystem, leveraging Large Language Models (LLMs) not as replacements for human judgment, but as sophisticated collaborators for authors, reviewers, and Area Chairs (ACs). We propose specific roles for AI in enhancing factual verification, guiding reviewer performance, assisting authors in quality improvement, and supporting ACs in decision-making. Crucially, we contend that the development of such systems hinges on access to more granular, structured, and ethically-sourced peer review process data. We outline a research agenda, including illustrative experiments, to develop and validate these AI assistants, and discuss significant technical and ethical challenges. We call upon the ML community to proactively build this AI-assisted future, ensuring the continued integrity and scalability of scientific validation, while maintaining high standards of peer review.

Whole slide images (WSIs) play a crucial role in cancer diagnosis due to their ultra-high resolution and rich morphological information, and multiple instance learning (MIL) has become a prevalent paradigm to solve the massive size of WSIs and the scarcity of fine-grained annotations of instance. However, most existing MIL methods struggle to accurately identify diagnostically critical local regions (instance) using only slide-level labels, and suffer from modelling the relationship of instances efficiently. To address these defects, we propose a Dual-Stream Attention-Guided Learning (DSAGL) framework. DSAGL bridges slide-level supervision and instance-level learning through a teacher-student dual-stream architecture, and mitigates instance ambiguity by generating attention-guided pseudo labels. The framework employs a shared lightweight encoder to efficiently model long-range dependencies and an attention-based fusion mechanism to enhance sensitivity to sparse, informative regions. Extensive experiments on synthetic benchmarks and real-world pathological WSI datasets demonstrate that DSAGL consistently outperforms state-of-the-art MIL methods, achieving superior discriminative performance and robustness under weak supervision.

Diffusion models are well known for their ability to generate a high-fidelity image for an input prompt through an iterative denoising process. Unfortunately, the high fidelity also comes at a high computational cost due to the inherently sequential generative process. In this work, we seek to optimally balance quality and computational cost, and propose a framework to allow the amount of computation to vary for each prompt, depending on its complexity. Each prompt is automatically routed to the most appropriate text-to-image generation function, which may correspond to a distinct number of denoising steps of a diffusion model, or a disparate, independent text-to-image model. Unlike uniform cost reduction techniques (e.g., distillation, model quantization), our approach achieves the optimal trade-off by learning to reserve expensive choices (e.g., 100+ denoising steps) only for a few complex prompts, and employ more economical choices (e.g., small distilled model) for less sophisticated prompts. We empirically demonstrate on COCO and DiffusionDB that by learning to route to nine already-trained text-to-image models, our approach is able to deliver an average quality that is higher than that achievable by any of these models alone. Code is available at https://github.com/winglicopy/CATImage.

Large language models (LLMs) generate text that reinforces standard language ideology: a bias towards certain language varieties that are granted more prestige, authority, and legitimacy than others. This paper contributes a sociotechnically grounded faceted taxonomy that illustrates how generative AI systems reproduce standard language ideology and its societal implications. We introduce the concept of standard AI-generated language ideology to explain how AI systems confer legitimacy on certain language varieties while marginalizing others, structuring patterns of performance disparity, stereotyping, appropriation, and erasure. We then discuss ongoing tensions around what constitutes desirable system behavior, as well as advantages and drawbacks of generative AI tools attempting or refusing to imitate different language varieties. To address the power relations shaping generative AI and the mechanisms identified in our taxonomy--legitimation, stereotyping, appropriation, and erasure--we offer recommendations that emphasize accountability, community agency, control, and ownership. These recommendations recognize linguistic diversity as a resource to be protected, valued, and sustained as part of a just AI future.

Large Language Models (LLMs) are increasingly capable, but LLM agents still struggle to plan effectively in interactive, partially observable, long-horizon environments when search is unguided or recent history is insufficient. We introduce LWM-Planner, a fact-augmented lookahead planning framework that improves agent behavior purely through in-context learning. After each episode, the agent extracts task-critical atomic facts from its trajectories, validates candidates with a lightweight predictive-consistency filter (and optionally compresses them), and uses the resulting fact set to condition action proposal, single-step latent world-model simulation, and state-value estimation. Planning then proceeds via recursive, depth-limited lookahead over candidate trajectories conditioned on the accumulated facts and recent history, enabling online improvement without parameter updates. We provide abstraction-style motivation: treating facts as reducing state aliasing (proxy $ε_{\mathrm{sim}}$) and fact-conditioned simulation as lowering one-step error (proxy $δ_{\mathrm{model}}$), without claiming formal guarantees. Empirically, on text FrozenLake variants, CrafterMini, and ALFWorld, the approach improves cumulative return over ReAct/Reflexion and search-only baselines, suggesting that additional test-time search is most useful when grounded by compact, experience-derived facts.

Strategic litigation involves bringing a case to court with the goal of having an impact beyond resolving the particular dispute at hand. In a common law system, one way a case may have far-reaching impact is by establishing new legal precedent that later courts must follow. In this paper, we explore strategic litigation from the perspective of machine learning theory. We consider an abstract model of a common law legal system where a lower court decides new cases by applying a decision rule learned from a higher court's past rulings. In this model, we explore the power of a strategic litigator, who strategically brings cases to the higher court to influence the decision rule applied by the lower court in future cases. We explore questions including: What impact can a strategic litigator have? Which cases should a strategic litigator bring to court? Does it ever make sense for a strategic litigator to bring a case when they are sure the court will rule against them? We show that this strategic case selection problem has interesting structure, with even simple settings exhibiting counterintuitive phenomena. When cases are represented by points in one dimension and the lower court's learning algorithm is nearest neighbor, or as points in d dimensions and the lower court's learning algorithm is a support vector machine, we characterize the set of inducible decision rules and develop algorithms for selecting an optimal set of cases to bring to the higher court given the strategic litigator's objectives.

Convolutional Neural Networks (CNNs) have shown remarkable performance in image classification. However, interpreting their predictions is challenging due to the size and complexity of these models. State-of-the-art saliency methods generate local explanations highlighting the area in the input image where a class is identified but cannot explain how a concept of interest contributes to the prediction. On the other hand, concept-based methods, such as TCAV, provide insights into how sensitive the network is to a human-defined concept but cannot compute its attribution in a specific prediction nor show its location within the input image. We introduce Visual-TCAV, a novel explainability framework aiming to bridge the gap between these methods by providing both local and global explanations. Visual-TCAV uses Concept Activation Vectors (CAVs) to generate class-agnostic saliency maps that show where the network recognizes a certain concept. Moreover, it can estimate the attribution of these concepts to the output of any class using a generalization of Integrated Gradients. We evaluate the method's faithfulness via a controlled experiment where the ground truth for explanations is known, showing better ground truth alignment than TCAV. Our code is available at https://github.com/DataSciencePolimi/Visual-TCAV.

Large language models (LLMs) are increasingly applied to symbolic mathematics, yet existing evaluations often conflate pattern memorization with genuine reasoning. To address this gap, we present \textbf{ASyMOB}, a high-resolution dataset of \textit{35,368} validated symbolic math problems spanning integration, limits, differential equations, series, and hypergeometrics. Unlike prior benchmarks, \textbf{ASyMOB} systematically perturbs each seed problem using symbolic, numeric, and equivalence-preserving transformations, enabling a fine-grained assessment of generalization. Our evaluation reveals three key findings: (1) most models' performance collapses under minor perturbations, while top systems exhibit an apparent \textit{regime shift} in robustness; (2) integrated code tools stabilize performance, particularly for weaker models; and (3) we identify examples where Computer Algebra Systems (CAS) fail while LLMs succeed, as well as problems solved only via a hybrid LLM-CAS approach, highlighting a promising integration frontier. \textbf{ASyMOB} serves as a principled diagnostic tool for measuring and accelerating progress toward building verifiable, trustworthy AI for scientific discovery.

Accurate demand estimation is critical for the retail business in guiding the inventory and pricing policies of perishable products. However, it faces fundamental challenges from censored sales data during stockouts, where unobserved demand creates systemic policy biases. Existing datasets lack the temporal resolution and annotations needed to address this censoring effect. To fill this gap, we present FreshRetailNet-50K, the first large-scale benchmark for censored demand estimation. It comprises 50,000 store-product time series of detailed hourly sales data from 898 stores in 18 major cities, encompassing 863 perishable SKUs meticulously annotated for stockout events. The hourly stock status records unique to this dataset, combined with rich contextual covariates, including promotional discounts, precipitation, and temporal features, enable innovative research beyond existing solutions. We demonstrate one such use case of two-stage demand modeling: first, we reconstruct the latent demand during stockouts using precise hourly annotations. We then leverage the recovered demand to train robust demand forecasting models in the second stage. Experimental results show that this approach achieves a 2.73% improvement in prediction accuracy while reducing the systematic demand underestimation from 7.37% to near-zero bias. With unprecedented temporal granularity and comprehensive real-world information, FreshRetailNet-50K opens new research directions in demand imputation, perishable inventory optimization, and causal retail analytics. The unique annotation quality and scale of the dataset address long-standing limitations in retail AI, providing immediate solutions and a platform for future methodological innovation. The data (https://huggingface.co/datasets/Dingdong-Inc/FreshRetailNet-50K) and code (https://github.com/Dingdong-Inc/frn-50k-baseline}) are openly released.

This work develops a framework for post-training augmentation invariance, in which our goal is to add invariance properties to a pretrained network without altering its behavior on the original, non-augmented input distribution. We define this notion precisely and additionally introduce augmented encoders, which are probabilistic encoders that formalize augmentation-based encoding processes and that serve as our fundamental object of study. We introduce two losses for augmented encoders, namely, Markov-Wasserstein minimization and Wasserstein correlation maximization, and we demonstrate empirically that both losses can be used to train lightweight, one-hidden-layer MLP adapter networks $E_θ$ that, when appended to the latent space of a pretrained network $F$, do indeed lead to (approximate) post-training augmentation invariance. For example, on STL10 with $F=\text{DINO}$ features, the composite network $C\circ E_θ\circ F$, where $C$ is a linear classifier and where $E_θ$ is one of our proposed adapter networks, achieves 94% classification accuracy on arbitrarily rotated images, whereas a network of the form $C\circ F$ without the adapter $E_θ$ drops to 71% accuracy. Similarly, we can boost noise-invariant classification results from 58% up to 86%. Significantly, we obtain these results with no fine-tuning (the weights of $F$ remain frozen throughout), and our methods introduce little corruption to the original features, since $E_θ$ acts nearly isometrically on the non-augmented latent distribution. In contrast, we show that adapter networks trained with alternative candidate losses, specifically SimCLR and HSIC maximization, produce uncompetitive classification results and fundamentally corrupt the original latent space. Code available at https://github.com/keenan-eikenberry/augmentation_invariance

Robust machine learning depends on clean data, yet current image data cleaning benchmarks rely on synthetic noise or narrow human studies, limiting comparison and real-world relevance. We introduce CleanPatrick, the first large-scale benchmark for data cleaning in the image domain, built upon the publicly available Fitzpatrick17k dermatology dataset. We collect 496,377 binary annotations from 933 medical crowd workers, identify off-topic samples (4%), near-duplicates (21%), and label errors (32%), and employ an aggregation model inspired by item-response theory followed by expert review to derive high-quality ground truth. CleanPatrick formalizes issue detection as a ranking task and employs standard ranking metrics that mirror real audit workflows. We benchmark classical anomaly detectors, perceptual hashing, SSIM, Confident Learning, NoiseRank, FINE, BHN, and SelfClean. On CleanPatrick, self-supervised representations excel at near-duplicate detection, classical methods achieve competitive off-topic detection under constrained review budgets, and detecting implausible labels under conservative human judgment remains challenging for fine-grained medical classification. By releasing both the dataset and the evaluation framework, CleanPatrick enables a systematic comparison of image-cleaning strategies.

The increasing integration of Large Language Model (LLM) based search engines has transformed the landscape of information retrieval. However, these systems are vulnerable to adversarial attacks, especially ranking manipulation attacks, where attackers craft webpage content to manipulate the LLM's ranking and promote specific content, gaining an unfair advantage over competitors. In this paper, we study the dynamics of ranking manipulation attacks. We frame this problem as an Infinitely Repeated Prisoners' Dilemma, where multiple players strategically decide whether to cooperate or attack. We analyze the conditions under which cooperation can be sustained, identifying key factors such as attack costs, discount rates, attack success rates, and trigger strategies that influence player behavior. We identify tipping points in the system dynamics, demonstrating that cooperation is more likely to be sustained when players are forward-looking. However, from a defense perspective, we find that simply reducing attack success probabilities can, paradoxically, incentivize attacks under certain conditions. Furthermore, defensive measures to cap the upper bound of attack success rates may prove futile in some scenarios. These insights highlight the complexity of securing LLM-based systems. Our work provides a theoretical foundation and practical insights for understanding and mitigating their vulnerabilities, while emphasizing the importance of adaptive security strategies and thoughtful ecosystem design.

As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present HandCept, the first visual-inertial proprioception framework designed to overcome the challenges of traditional joint angle estimation methods for dexterous hands. HandCept addresses the difficulty of achieving accurate and robust joint angle estimation in dynamic environments where both visual and inertial measurements are prone to noise and drift. It leverages a zero-shot learning approach using a wrist-mounted RGB-D camera and 9-axis IMUs, fused in real time via a latency-free Extended Kalman Filter (EKF). Our results show that HandCept achieves joint angle estimation errors generally between $2^{\circ}$ and $4^{\circ}$ without observable drift, outperforming visual-only and inertial-only methods. Furthermore, we validate the stability and uniformity of the IMU system, demonstrating that a common base frame across IMUs simplifies system calibration. To support sim-to-real transfer, we also open-source our high-fidelity rendering pipeline, which is essential for training without real-world ground truth. This work offers a robust, generalizable solution for proprioception in dexterous hands, with significant implications for robotic manipulation and human-robot interaction. https://github.com/huangjund/blenderYCB

Navigation and manipulation are core capabilities in Embodied AI, but training agents to perform them directly in the real world is costly, time-consuming, and unsafe. Therefore, sim-to-real transfer has emerged as a key approach, yet the sim-to-real gap persists. This survey examines how physics simulators address this gap by analyzing properties that have received limited attention in prior surveys. We also analyze their features for navigation and manipulation tasks, as well as their hardware requirements. Additionally, we offer a resource with benchmark datasets, metrics, simulation platforms, and methods to help researchers select suitable tools while accounting for hardware constraints.