Image steganalysis, the detection of hidden information embedded in digital images, is a core component of modern cybersecurity and digital forensics. Recent residual Transformer architectures, such as the Pixel-Difference-Convolution and Enhanced-Transformer-Network (PENet) [1], achieve strong detection accuracy, but their computational and memory demands hinder deployment in resource-constrained settings. We present PENet+, a lightweight steganalysis framework that preserves PENet's discriminative structure while substantially improving efficiency. Rather than redesigning or compressing the attention blocks, we retain PENet's self-attention topology for reproducibility and add a classifier-streamlining stage that progressively narrows the SPP-to-FC1 input channels (SPP: spatial pyramid pooling; FC1: first fully connected layer), yielding large reductions in parameters and FLOPs with negligible accuracy loss. We further refine the high-pass-filter (HPF) stem with an activation-aware mechanism that aggregates HPF responses early and selects a balanced SRM-Gabor top-K subset, and we replace PENet's backbone with a MobileNetV2-style inverted residual network. A balanced configuration with K=31 filters (16 Gabor + 15 SRM) matches or surpasses heavier settings at lower compute. Finally, we motivate PReLU from a steganalysis standpoint, arguing that preserving negative responses helps capture weak stego cues that ReLU suppresses. On a disjoint ALASKA2 JPEG QF90 protocol at 512x512 resolution (5,000 cover images for training, validation, and internal testing; a separate 19,000-cover evaluation set), PENet+ achieves up to 45.5% fewer parameters and about 97% fewer FLOPs than the re-evaluated PENet baseline, offering a computationally efficient direction for resource-constrained steganalysis. Device-level latency and power measurements remain future work.

Large language model inference is bottlenecked by autoregressive decoding, where each token requires a full forward pass. Multi-token prediction (MTP) offers a promising acceleration path, but existing approaches suffer from a fundamental architectural flaw: the MTP head for the first token competes with the backbone's own language model (LM) head, leading to severe quality degradation when predictions are accepted. We identify this head-backbone competition as the root cause of repetitive and incoherent outputs in prior MTP-based acceleration methods. To address this, we propose Backbone-as-Architect, a design principle where the backbone LM head always generates the first token, and MTP heads are responsible only for subsequent tokens. Building on this principle, we introduce CLP (Collocation-Length Predictor), a lightweight span-level decision layer that predicts how many additional tokens can be safely accepted at each decoding step. CLP uses only a single linear layer (4.6K--7.7K parameters), replacing the over-engineered 1M-parameter gate networks used in prior work. Experiments on Qwen2.5 models (0.5B, 1.5B, 7B) show that CLP achieves 1.20x--1.29x speedup on 1.5B and 1.14x--1.20x on 7B, with zero quality degradation (repetition ratio < 0.02), while gate-based approaches fail to accelerate (1.07x) or produce severely degraded outputs (repetition ratio > 0.5%). We further demonstrate that shorter prediction horizons (k=2) recover 24% higher MTP head accuracy on large models, establishing a scaling-aware design principle. We identify MTP head prediction accuracy as the binding constraint on acceleration and establish a clear roadmap for future improvements.

LLM-based coding agents are usually evaluated in familiar software settings: mainstream languages, common libraries, and public repositories. These benchmarks remain important, but they can hide how agents behave when the language itself is unfamiliar. We evaluate six contemporary coding agents on four esoteric programming languages using a sequential setup with file editing, local execution, and hidden-test grading. Our protocol exposes capability differences between these agents that mainstream coding and agentic benchmarks such as SWE-Bench Verified and Terminal-Bench 2.0 compress into much narrower bands. We observe that the strongest agents, Claude Opus 4.6 and GPT-5.4 xhigh, often avoid writing the target language directly. On Brainfuck and Befunge-98, they write Python programs that generate target-language code and debug those generators locally. Forbidding this metaprogramming strategy causes large performance drops. Text guidance distilled from this strategy does not materially improve weaker agents. In contrast, Opus-derived Python helper code for building generators, with no solved benchmark programs or hidden-test answers, sharply improves Sonnet 4.6 and GPT-5.4 mini on the same problems, while Haiku 4.5 remains low. More interpreter calls and output tokens improve stronger agents but leave weaker agents near their original performance, indicating that these resources amplify useful strategies rather than create them. Together, these results show that strong coding agents adapt to unfamiliar languages by using tools, feedback, and workspace state to build a working model of the target language. Metaprogramming is the clearest case, but the broader gap is constructing and debugging a strategy that works under the target language's rules.

We present Density Field State Space Models (DF-SSM), a framework for compressing SSMs to a 1-bit scaffold with int8 low-rank correction. Applied to Mamba-2 1.3B, we achieve a 278 MB model (9.7x smaller than the 2.7 GB FP16 teacher) that runs at 21.4x faster inference on GPU (batch=1, relative to the mamba-ssm reference implementation) while maintaining downstream task performance within 2-4 percentage points of BitMamba-2, a 1.58-bit model trained from scratch on 150B tokens. The distillation itself requires only 32M tokens and 6 hours on a single A100 GPU, though it presupposes a pretrained FP16 teacher. We develop an optimized inference pipeline combining cuBLAS INT8 tensor cores for the scaffold matmul, custom CUDA kernels for stateful SSM and convolution operations, and an AVX-512 CPU backend for efficient deployment on both GPU and CPU. Beyond compression, we investigate the internal knowledge organization of the resulting model, discovering three distinct processing phases: intent classification (layers 0-3, operating in an abstract space with no vocabulary alignment), knowledge retrieval (layers 25-35, where factual associations localize to a 5-layer window), and output formatting (layers 36-47, where category structure dissolves). Through systematic analysis of 445 factual prompts across 19 categories, we find that early-layer classification is syntactic (driven by template structure) rather than semantic, and that the model exhibits well-organized knowledge representations despite weak factual recall--suggesting that representational structure may precede factual strength.

Task vectors, LoRA, activation steering, and random search around pretrained weights all suggest that learned behaviour can be controlled by linear directions. We ask which linear structures actually exist and on what scale. In a synthetic multitask transformer and LoRA adapters on DistilGPT-2 / GPT-2 we find strong local low-rank task-gradient structure but reject the fixed-task-plane hypothesis: static bases miss the recovery direction, and the useful basis drifts substantially within 100 steps. However, the first recovery updates form a trajectory-prefix basis capturing 77% of the LoRA recovery displacement. We develop random search theory with a Gaussian local-linear theorem that justifies the effectiveness of random parameter search even in very high dimensions. We also study the relation between parameter perturbations and activation steering: a single gradient step produces an activation shift with 0.58 cosine to a labelled-contrast CAA steering vector, with a similar steering effect on Qwen-0.5B BoolQ statements. We validate our results with experiments on synthetic Transformers and LLMs. Our results suggest that linear structures in trained networks are not global task directions, but evolving local geometries that partially persist across parameter and activation spaces.

Lifelong embodied navigation in dynamic environments requires robots to form persistent scene understanding from fragmentary observations, which remains difficult for existing methods that rely on explicit maps or scene graphs and struggle to generalize beyond structured settings. We propose AllDayNav, a lifelong self-learning navigation framework that implicitly encodes scene dynamics into the billion-scale parameters of a large model via reinforcement learning, powered by a self-evolving multimodal memory that maintains and updates visual keyframes, semantic descriptions, and temporal context while autonomously generating open-vocabulary instructions, image goals, and structured rewards. Experiments in both synthetic and real-world environments across cross-room, cross-episode, and cross-task scenarios show that AllDayNav achieves success rates approaching $100\%$ and consistently surpasses strong map-based, VLM, and RL baselines in path efficiency and robustness, demonstrating implicit, memory-driven reinforcement learning as a scalable alternative to explicit mapping for reliable lifelong navigation.

Long-document question answering (QA) requires large language models (LLMs) to reason over evidence scattered across lengthy documents, where answers often depend on event order, section-level context, and cross-part evidence connections. Although retrieval-augmented generation (RAG) reduces the input context by retrieving relevant evidence, existing structured RAG methods still face three limitations: costly query-agnostic knowledge organization, insufficient use of original document structure, and no reuse of historical reasoning experience. To address these limitations, we propose DocTrace, a multi-agent RAG framework for long-document QA that supports query-triggered knowledge organization, document-structure-aware and experience-guided reasoning. DocTrace preserves document hierarchy with a lightweight document structural tree index, constructs agent-shared hypergraph-structured working memory on demand during reasoning, and stores successful reasoning plans in graph-structured experience memory for future reuse, enabling adaptive exploration across related long-document questions. Experiments on four long-document QA datasets show that DocTrace achieves the best performance on three datasets, surpassing the strongest baseline, ComoRAG, by up to 8.85% in F1 and 4.40% in EM, while reducing the overall computational cost by 53.32%

The recent trend in scaling models for robot learning has resulted in impressive policies that can perform various manipulation tasks and generalize to novel scenarios. However, these policies continue to struggle with following instructions, likely due to the limited linguistic and action sequence diversity in existing robotics datasets. This paper introduces Task Robustness via Re-Labelling Vision-Action Robot Data (TREAD), a scalable framework that leverages large Vision-Language Models (VLMs) to augment existing robotics datasets without additional data collection, harnessing the transferable knowledge embedded in these models. Our approach leverages a pretrained VLM through three stages: generating semantic sub-tasks from original instruction labels and initial scenes, segmenting demonstration videos conditioned on these sub-tasks, and producing diverse instructions that incorporate object properties, effectively decomposing longer demonstrations into grounded language-action pairs. We further enhance robustness by augmenting the data with linguistically diverse versions of the text goals. Evaluations on LIBERO demonstrate that policies trained on our augmented datasets exhibit improved performance on novel, unseen tasks and goals. Our results show that TREAD enhances both planning generalization through trajectory decomposition and language-conditioned policy generalization through increased linguistic diversity.

Although Large Language Model (LLM) agents have demonstrated strong performance on complex tasks, their learning is often limited by inefficient interaction feedback and static training environments, which hinder broader generalization. To address these limitations, this paper introduces Role-Agent, \textcolor{black}{a framework} that harnesses a single LLM to function concurrently as both the agent and the environment, enabling a bootstrapped co-evolution. Role-Agent comprises two synergistic components: World-In-Agent (WIA) and Agent-In-World (AIW). In WIA, the LLM acts as the agent and predicts future states after each action; the alignment between predicted and actual states is then used as a process reward, encouraging environment-aware reasoning. In AIW, the LLM analyzes failure modes from failed trajectories and retrieves tasks with similar failure patterns, thereby reshaping the training data distribution for targeted practice. Experiments on multiple benchmarks show that Role-Agent consistently improves performance, yielding an average gain of over 4\% over strong baselines.

We explore whether intrinsic symmetries of the training data lead to conserved quantities during gradient-flow training of neural networks. Under the assumption that the loss function is analytic and non-polynomial, we prove that data symmetries generically do not induce any additional integrals of motion. For mean squared error (MSE) loss, on the other hand, there are situations in which data augmentation yields extra conserved quantities. We build a framework, utilizing \emph{tensorizable networks} to describe this phenomenon. Tensorizable networks are a family of architectures whose dependence on parameters and inputs can be separated using an intermediate representation. They include linear and polynomial networks, as well as Lightning Attention.

Deepfake speech detectors often output a single score without explaining why an audio sample is flagged, where in the signal the evidence lies, or what cues drive the decision. We propose an audio-native explainability pipeline using Integrated Gradients on time-aligned self-supervised representations to localize decision evidence over time. We apply the proposed method to three WavLM-based detectors (AASIST, CA-MHFA, SLS) on ASVspoof 5 and manually annotate the highest-attribution regions to provide a semantic meaning of the most important cues. Despite similar performance, the detectors rely on different cues: AASIST emphasizes non-speech/environment cues, CA-MHFA focuses on localized phoneme artifacts, and SLS relies on word boundaries and spectral integrity. We move beyond speculative reasoning and validate our findings by causal masking of the primary detector cues. Observed performance degradation further supports the explained detector semantics.

Claims about the robustness and fairness of deepfake speech detectors are only as credible as the datasets used to train and evaluate those systems. We present a dataset-level audit of the deepfake speech landscape. We compile and analyze 39 deepfake speech datasets, examining key attributes including accessibility, documentation, demographic and language coverage, dataset scale, and the underlying bona fide speech sources. Our audit reveals two important takeaways. Firstly, fairness assessment is largely infeasible because most datasets lack demographic metadata, and only a few contain gender or language labels. This prevents any meaningful subgroup analysis and leaves other demographic attributes unaddressed. Secondly, we identify substantial overlap in underlying bona fide source corpora across datasets, which can undermine cross-dataset evaluation and lead to overstated generalization claims.

We introduce a spoofing countermeasure architecture conditioned on speaker-reference recordings, but observe that it converges to a solution that effectively ignores the reference during inference. Surprisingly, training with a reference channel induces invariance that improves deepfake detection, even when the reference is absent or mismatched during inference. Based on this observation, we propose a Reference-Augmented Training (RAT) strategy. RAT yields improved detection performance compared to single-utterance baselines, even when the reference recording is replaced with a zero vector at inference. Through rigorous analysis, we demonstrate that the optimization process rapidly diminishes the reference contributions, leading to inference largely independent of the reference channel. Using RAT, we achieve state-of-the-art 2.57% EER and 0.074 minDCF on the ASVspoof 5 benchmark with a single detector, surpassing even large ensemble systems.

Visual in-Context Learning (VICL) aims at making progress towards adaptive vision models, that can -- based on a few examples -- adapt to a new task at test-time. With the history of in-context learning in natural language processing research, where large, parameter-heavy models are in use, one pathway that current VICL methods take is model- and data-scaling as key ingredients. Yet, it is not clear, whether these ingredients are the key for in-context learning to take shape in vision models. To stress-test such large models, we challenge them with an extreme counterexample: we train a tiny visual in-context model with merely $1$ million parameters and a modest amount of $70,000$ images. We compare the results of this severely capacity capped tiny model to $7,000\times$ larger VICL models in different adaptive settings, (1) on image data with small distribution shifts, (2) on unseen task encodings and (3) on a completely new task, i.e., the setting VICL envisions. With the chasm of training resources between the tiny- and large models, our experiments showcase a lack in how adaptive capabilities are measured, with respect to how tasks are encoded, which tasks were used in pre-training and the choice of metrics. These gaps in current VICL benchmarking underscore a need for innovation in evaluation of adaptive capabilities.

Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple perception to a specific body, camera height, and footprint, making transfer from wheeled bases to legged platforms dependent on retraining or active depth hardware. This paper introduces AgniNav, a configuration-driven local navigation framework that standardizes cross-embodiment transfer at the collision-envelope level. Each robot is specified by a measurable four-parameter safety envelope: collision-relevant height, front length, rear length, and half width. The height parameter conditions an image-to-scan network to predict a one-dimensional, collision-relevant pseudo-laserscan from a monocular color image, while the remaining footprint parameters configure a dimension-aware local planner for collision checking. Training uses height-conditioned column-minimum scan labels generated from paired color-depth data, allowing the same image to supervise different safety envelopes without collecting robot-specific data. To the best of our knowledge, AgniNav is the first monocular local-navigation framework that jointly conditions perception and planning on a shared collision-envelope configuration for zero-retraining deployment across wheeled, quadruped, and humanoid platforms. Real-robot experiments on a Turtlebot2, Unitree Go2, and Accelerated Evolution K1 achieve 39/40, 18/20, and 18/20 successes with 0/40, 1/20, and 2/20 collisions, respectively, while running at 30 Hz on Jetson Orin.

Robotic manipulation has been widely applied in industrial scenarios. Compared with single-arm manipulation, bimanual manipulation is equipped with multiple cameras to capture information from different viewpoints. However, existing multi-view policies encode each view independently or fuse view features shallowly, resulting in limited sharing semantic perception and unreliable spatial awareness. In this paper, we propose \textbf{MV-Actor}, a multi-view perception framework that builds a unified semantic-spatial representation for bimanual manipulation. First, MV-Actor performs Multi-view Semantic Interaction to share semantic perception across views. Then it uses Semantic-Spatial Token Interaction to ground visual semantics with feed-forward reconstruction model features and acquire reliable spatial awareness. Finally, a Guided Metric Depth Repair module refines degraded sensor depth to provide more reliable metric anchors under consumer-grade depth noise. In simulation experiments conducted on the PerAct2 bimanual benchmark, MV-Actor achieves a state-of-the-art average success rate of 87.8\%. In real-world evaluations with more frequent viewpoint changes and unstable consumer-grade depth, MV-Actor outperforms both RGB and RGB-D baselines, further demonstrating the benefit of sharing semantic perception and reliable spatial awareness for bimanual manipulation.

We present \textbf{Flash-GMM}, a fused Triton kernel for efficient computation of Gaussian Mixture Models (GMMs) over large-scale data in a single GPU pass. By eliminating the need to materialize the full responsibility matrix in GPU memory, Flash-GMM achieves a \textbf{20$\times$} speedup over existing implementations and enables training on datasets more than \textbf{100$\times$} larger than previously feasible on one device. To demonstrate its impact, we integrate Flash-GMM into the IVF coarse quantizer for approximate nearest-neighbor (ANN) search. We show that soft GMM clustering is now a viable drop-in replacement for $k$-means, and that GMM responsibilities can be leveraged to assign border vectors to multiple clusters. Our approach reaches fixed recall targets with up to $1.7\times$ fewer distance computations, or equivalently, yields $+2$--$12$ recall@10 at matched computational cost. We release the kernel as an open-source project.

Post-training quantization (PTQ) compresses large language models by mapping weights to low-bit representations. The scaling factor that defines the quantization grid is typically chosen using simple, data-free heuristics. In this work, we present PiSO (Piecewise Scale Optimization), an algorithm that leverages calibration data to compute the optimal channel-wise weight scales exactly and efficiently under round-to-nearest quantization. PiSO partitions the scale search space into finitely many intervals on which the objective admits a closed-form minimizer. We extend PiSO to group-wise quantization via principled heuristics and propose effective strategies for interleaving scale optimization with error correction. Experiments on Llama and Qwen models across multiple model sizes and target weight bit-widths demonstrate consistent improvements in perplexity and downstream zero-shot accuracy, both standalone and combined with error correction. In particular, we observe increased benefits as the target bit-width narrows and quantization becomes more challenging.

Occlusion-based attribution methods provide an intuitive way to estimate feature importance by perturbing input features and measuring the resulting change in model output. However, their reliability is strongly affected by how feature removal is implemented: externally selected baselines can introduce bias, out-of-distribution samples, and unstable explanations, while in nonlinear models the occlusion of a set of features can also alter the contribution of non-occluded features. We refer to this effect as attribution shift, as the attribution scores of the non-occluded features drift from their initial values. To challenge these major issues that render explanations unstable, we introduce XtrAIn, a training-guided attribution method that transfers the occlusion operation from the input space to the parameter space. Instead of replacing input values with hand-crafted baselines, XtrAIn follows the model's training trajectory and measures how feature-associated parameter updates affect the output logits. We further introduce Xstep, a lightweight approximation for reducing computational cost, and XtrAIn+, a target-focused variant that emphasizes updates aligned with the target class. Experiments on controlled image datasets and PAM50 breast-cancer subtype classification show that the proposed methods produce cleaner and more interpretable attribution patterns than standard attribution baselines. Overall, XtrAIn provides a training-aware perspective on feature attribution and offers a useful diagnostic tool for studying how feature-level evidence is formed during training.

Large language models (LLMs) rely on tool use to act as autonomous agents, yet often fail in multi-step execution due to insufficient tool-related knowledge and ineffective knowledge activation. Therefore, we present a systematic study on how knowledge influences tool-use performance, covering the stages of knowledge acquisition, activation, and internalization. In the knowledge acquisition stage, we acquire and evaluate various forms of experiential knowledge, and our analysis shows that simple instance-level knowledge can already provide strong and reliable gains, while abstract intent-level knowledge offers limited benefits. At inference time, to activate knowledge, we find that prompting LLM to expand the depth of reasoning yields diminishing returns, whereas expanding the width of reasoning by parallel sampling with aggregation more effectively activates latent experiential knowledge. At training time, for knowledge internalization, post-training with knowledge-augmented data further improves performance, with reinforcement learning outperforming supervised fine-tuning. Based on these insights, we propose the Knowledge-Augmented Tool Execution (KATE), a knowledge-augmented tool execution framework that integrates experiential knowledge with reasoning-width-expanded inference and knowledge-aware training. Experiments on BFCL-V3 and AppWorld demonstrate consistent and substantial improvements over strong baselines across model scales. Our Code is available at https://github.com/hypasd-art/KATE.

Vision-Language-Action (VLA) models achieve strong performance on standard manipulation benchmarks, but most evaluations assume that task-relevant objects are fully visible. This assumption often fails in realistic settings, where occlusion makes manipulation partially observable. In this paper, we study \textit{scene-induced occlusion} as a fundamental challenge for VLA models and introduce \textbf{LIBERO-Occ}, an occlusion-oriented extension of LIBERO. Experiments show that state-of-the-art VLAs suffer substantial performance degradation under occlusion. To address this issue, we propose \textbf{Viewpoint Imagination (VIM)}, which generates a complementary view from an occluded primary observation and conditions action prediction on both observed and imagined evidence. VIM improves robustness across task suites, occlusion types, and severity levels without requiring additional cameras at deployment time, suggesting that viewpoint imagination is an promising mechanism for perception completion in partially observable manipulation. Our benchmark and corresponding code are available at: \href{https://github.com/litsh/Libero-Occ}{https://github.com/litsh/Libero-Occ}.

We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a certain rotor count (e.g., hexarotors or quadrotors) with a single set of network weights. The policy is conditioned on a physics-grounded embodiment descriptor: a mass and inertia-normalized control allocation matrix that captures how mass-normalized motor thrusts generate linear and angular accelerations in the body-frame. To train the policy, we sample from a broad distribution of arbitrary multirotor configurations, including non-planar and asymmetric systems, and optimize a single, compact network using Proximal Policy Optimization. Training requires only five minutes on an RTX 3090 GPU using a custom NVIDIA Warp-based dynamics simulator. Through extensive simulation experiments, we show that embodiment conditioning enables robust generalist control across arbitrary morphologies. We demonstrate zero-shot real-world transfer of this generalist policy on three diverse hexarotor systems, including a planar robot, a partially symmetric non-planar system, and a random asymmetric, non-planar configuration.

LLM deception is often evaluated through direct markers such as fabricated claims, explicit lies, or strategic concealment. However, many real-world misleading communications do not depend on false statements, rather, they arise from selective treatment of true material facts: omitting adverse evidence, softening unfavorable details, emphasizing favorable details, or replacing precise qualifications with vague language. Existing benchmarks largely miss this subtler and arguably more dangerous failure mode. We introduce JANUS, a benchmark for measuring goal-conditioned pragmatic distortion in fact-grounded LLM outputs. Each scenario in our benchmark provides a fixed pool of favorable and adverse facts and compares a neutral condition against a goal-directed condition, such as increasing adoption, enrollment, approval, or support, despite potential harm to directly affected individuals or groups. Because all outputs are constrained to use the same fact pool, JANUS isolates misleading net impressions from hallucination and fabrication. JANUS contains 160 scenarios across 8 domains, with each scenario paired with neutral and goal-conditioned prompts and annotated material facts. Extensive experiments across 12 LLMs reveal consistent goal-conditioned distortions, demonstrating that current models remain sensitive to incentive and framing objectives and lack robust safeguards against selectively misleading communication. We publicly release our corpus and code for future research.

We describe ConvMemory v2, an opt-in token-evidence reranker that sits after the lightweight ConvMemory v1 reranker and reorders only v1's protected top-10 candidate set. v2 is a fine-tuned ms-marco-MiniLM-L-6-v2 cross-encoder (22,713,601 parameters, measured from the released checkpoint) applied to the ten (query, memory) pairs that v1 has already selected; it does not change which ten memories are returned, so Recall@10 and Hit@10 are identical to v1 by construction, not by statistical coincidence. On the LoCoMo conversational memory benchmark (5 seeds, n = 4955 test rows), v2 raises FULL MRR from v1's 0.5824 to 0.6560 (paired bootstrap +0.0734, 95% CI [+0.0645, +0.0827]) and H@1 from 0.4440 to 0.5474. v2 closes most but not all of the gap to a much more expensive full-pool cross-encoder reference (mxbai-rerank-large-v1 over the top-500, MRR 0.6688): on FULL MRR v2 sits 0.013 below mxbai_top500, but on two raw-dense-hard slices (where v1's protected top-10 has higher recall than mxbai's own top-10) v2 exceeds mxbai_top500. A four-arm load-bearing ablation shows candidate-specific memory text is the mechanism: removing, shuffling, or replacing it collapses MRR below raw dense retrieval. v2 is best understood as a standard recall-preserving cascade pattern with LoCoMo-specific fine-tuning, an explicit anti-shortcut inference contract, and disciplined load-bearing analysis; its advantage over mxbai is slice-specific rather than a general dominance claim. This report extends the v1 technical report (arXiv:2605.28062).

Current identity-consistent video generation methods struggle to preserve appearance fidelity under large viewpoint changes. While introducing multi-view reference input offers a natural solution, progress remains constrained by the lack of effective frameworks for multi-view inputs and the scarcity of multi-view data. We address these challenges by proposing HarmoView, a robust framework for identity-consistent video generation that effectively integrates multi-view cues through three architectural refinements complemented by a staged training curriculum. Specifically, we first introduce Multi-level Feature Injection to anchor identity fidelity; by injecting raw ViT features from frontal references alongside text tokens via cross-attention, MFI provides persistent low-level appearance anchors that complement the high-level identity features within DiT blocks, leading to enhanced identity preservation. Then, we employ learnable proxy tokens to unify heterogeneous reference layouts across single-/multi-view settings while simultaneously resolving the reference-view mismatch problem. Jump-RoPE is further developed for identity-wise feature isolation to reduce identity crosstalk. To activate these structural capabilities while preserving the original generative priors, we propose the Progressive View Curriculum. This four-stage training strategy employs view dropout to facilitate a stable transition from vanilla T2V generation to high-fidelity, identity-persistent spatial reasoning. Furthermore, we construct a large-scale multi-view dataset to address the issue of data scarcity. Extensive evaluation on our multi-view benchmark, comprising 100 manually-curated cases spanning 52 unique identities, demonstrates that HarmoView significantly outperforms open-source baselines and matches leading closed-source engines, achieving state-of-the-art performance in identity-consistent video generation.

Periodic hard target updates are among the most common stabilization devices in modern deep Q-learning. Recent studies suggest that target updates can improve stability in Q-learning with function approximation, including linear function approximation. We introduce and analyze the so-called $λ$-target update, obtained by averaging the $m$-periodic target update maps with $λ$-geometric weights $(1-λ)λ^{m-1}$, $λ\in [0,1]$. The endpoint $λ=0$ recovers the one-period target update, while the continuous endpoint $λ\uparrow1$ recovers projected Q-value iteration. We study this mechanism for Q-learning with linear function approximation, namely linear Q-learning, using a switching-system model and related tools. For clarity, the paper treats a deterministic version; the formulation extends to stochastic reinforcement-learning settings.

Vision-Language Models (VLMs) demonstrate strong performance on general multimodal reasoning benchmarks, yet their ability to perform engineering reasoning remains largely unexplored. Unlike general visual question answering, engineering problem solving requires interpreting technical diagrams, selecting governing physical principles, and maintaining physically consistent multi-step reasoning. These capabilities are increasingly important for AI systems used in engineering education, scientific assistance, and technical decision-making, where reasoning failures may produce physically invalid yet superficially plausible solutions. Existing benchmarks primarily evaluate final answers and provide limited assessment of intermediate reasoning processes. We introduce EngVQA, a multimodal benchmark for evaluating engineering reasoning across 5 engineering subjects containing 696 problems. We introduce an 8-stage automatic evaluation framework for assessing VLM-generated solutions. The framework independently evaluates each stage of the solution, enabling fine-grained analysis of reasoning failures. We benchmark multiple state-of-the-art open and closed source VLMs on our evaluation framework and demonstrate substantial limitations in current engineering reasoning capabilities. Human evaluation shows strong agreement with our automated framework, achieving a Pearson correlation of 0.975 and a mean absolute error of 0.67 on a 10-point grading scale. Our results highlight the importance of process-oriented evaluation for reliable assessment of multimodal engineering reasoning systems.

Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical state estimation to provide a persistent directional reference. This reliance incurs additional sensory and computational overhead and deviates from fully end-to-end mobile autonomy. Furthermore, under partial observability, policies are prone to learn myopic behaviors, easily becoming trapped in dead ends and complex structural layouts. To address these limitations, we investigate a goal-initialized navigation setting, where the target is provided only once at the beginning of an episode, requiring the robot to operate based on intrinsic spatial memory without subsequent goal updates from external modules. In this work, we propose GUIDE, a fully end-to-end reinforcement learning framework designed to cultivate internal directional awareness. Specifically, GUIDE incorporates a spatial anchor predictor that leverages multi-frequency proprioceptive history to extract egomotion representations, thereby maintaining a persistent long-horizon spatial context for navigation. Concurrently, it utilizes raw depth streams to perceive local environmental geometry. We evaluate the proposed framework across both simulation and real-world scenarios on a quadruped robot. Experiments show that GUIDE learns reliable egomotion and directional awareness, enabling a fully end-to-end deployed policy to safely navigate through dense clutter and structured mazes without subsequent goal guidance or prior maps.

Masked diffusion language models can reduce inference steps by revealing multiple tokens per denoising iteration, but this parallelism is fragile: positions that are individually confident may be unsafe to commit together when their predictions are coupled. Existing training-free samplers such as Top-\(k\), Fast-dLLM, and EB-Sampler mainly control how many tokens to reveal, while often ranking candidates by token-wise scores that ignore interactions within the selected set. We propose ADAS, a training-free reranking rule for parallel masked diffusion decoding. ADAS leaves the base sampler's stopping rule unchanged and modifies only subset construction: it greedily discounts a candidate when it attends strongly to already selected positions whose predictions remain uncertain. Unlike graph-constrained methods that turn attention into hard compatibility constraints, ADAS keeps attention continuous and uses it as a soft marginal penalty. Across LLaDA-8B-Base and Dream-7B-Base on GSM8K, MATH500, HumanEval, and MBPP, plugging ADAS into Top-\(k\), Fast-dLLM, and EB-Sampler improves low-NFE performance at matched denoiser evaluations by \(9.11\) and \(10.46\) percentage points on average, respectively, with \(3.1\%\) per-forward runtime overhead. These results show that soft attention-discounted reranking is a simple and modular way to improve quality in highly parallel decoding for masked diffusion language models.

Diffusion policies (DPs) have emerged as expressive policy representations for robot learning, often used with imitation learning methods such as behavioral cloning (BC). However, while their success has largely been confined to BC, direct reinforcement learning (RL) fine-tuning remains challenging because actions are generated through a multi-step denoising process. In this work, we propose MODIP, a framework for the offline-to-online fine-tuning of DPs. Rather than directly applying RL to the DPs, MODIP leverages a world model (WM) to guide policy adaptation and keeps the simplicity and stability of BC. We utilize model predictive control (MPC) to generate high-quality trajectories within the WM, and use them as supervised targets for fine-tuning the DP. To make MPC planning efficient, MODIP uses a terminal state value instead of a policy-dependent state-action value, reducing inference time. Additionally, MODIP trains critics with policy-independent TD targets, reducing training time. Experiments on D4RL (MuJoCo, Kitchen) and RoboMimic tasks show that MODIP improves diffusion policies beyond BC, and is competitive with or outperforms diffusion policy RL fine-tuning methods and strong model-based baselines such as TD-MPC2.