作者Mikhail Sannikov, Ilya Mikhalchuk, Konstantin Gubernatorov, Petr Kovalev, Ogunwoye Faith Oluwatobi, Dzmitry Tsetserukou
Contact-rich manipulation requires estimating forces, slip and contact geometry that can remain ambiguous in scene images. Optical tactile sensors provide both visual observations of the contact surface and mechanical measurements, yet learning from these signals raises two challenges: representing contact beyond appearance and transferring its benefits to a policy that does not require fingertip observations at deployment. We introduce HapticWAM, a world-action model that combines heterogeneous tactile encoding, structured contact prediction and teacher-student distillation. Its teacher encodes gel images together with deformation, shear, distributed forces, resultant wrench and derived contact state into a frozen video backbone. Rather than predicting tactile pixels alone, the model jointly generates actions and a contact package describing future events and mechanics. Anticipatory Contact Coupling uses the previously imagined package to condition attention, preserving a contact-related input when direct tactile observations are unavailable. Haptic-Imagination Distillation transfers both contact futures and action predictions to a student that retains the generative contact head but removes its fingertip input branches. On a real-world setup, across three contact-rich pick-and-place tasks, HapticWAM Student achieves a 77% per-task mean success rate (41 of 50 starts, 82% pooled), reaching 95% on one of the tasks, outperforming the evaluated teacher and baseline configurations.
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Contact-rich manipulation requires estimating forces, slip and contact geometry that can remain ambiguous in scene images. Optical tactile sensors provide both visual observations of the contact surface and mechanical measurements, yet learning from these signals raises two challenges: representing contact beyond appearance and transferring its benefits to a policy that does not require fingertip observations at deployment. We introduce HapticWAM, a world-action model that combines heterogeneous tactile encoding, structured contact prediction and teacher-student distillation. Its teacher encodes gel images together with deformation, shear, distributed forces, resultant wrench and derived contact state into a frozen video backbone. Rather than predicting tactile pixels alone, the model jointly generates actions and a contact package describing future events and mechanics. Anticipatory Contact Coupling uses the previously imagined package to condition attention, preserving a contact-related input when direct tactile observations are unavailable. Haptic-Imagination Distillation transfers both contact futures and action predictions to a student that retains the generative contact head but removes its fingertip input branches. On a real-world setup, across three contact-rich pick-and-place tasks, HapticWAM Student achieves a 77% per-task mean success rate (41 of 50 starts, 82% pooled), reaching 95% on one of the tasks, outperforming the evaluated teacher and baseline configurations.
Data acquisition (DAQ) systems at future particle physics experiments stand to benefit from the extremes of AI/ML development: large-scale foundation models can enhance the performance of feature extraction algorithms, and small-scale on-detector deployments can enable real-time intelligent data handling. This work provides the first fine-tuning of an industrial foundation model for particle physics DAQ. Starting from the backbone of Google Research's TimesFM (Time Series Foundation Model), we demonstrate fine-tuning on real-time regression tasks for drift chamber trackers and dual-readout calorimeters. Furthermore, the fine-tuned TimesFM model is distilled into a student and co-designed with FPGA implementation to enable these models to run in real-time at future colliders. The fine-tuned distillations meet or exceed the performance of previously published AI/ML solutions for each task. Further, the pipeline of distillation and model compression from TimesFM is generic and can be easily adapted to a variety of 1D waveform tasks across domains.
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Data acquisition (DAQ) systems at future particle physics experiments stand to benefit from the extremes of AI/ML development: large-scale foundation models can enhance the performance of feature extraction algorithms, and small-scale on-detector deployments can enable real-time intelligent data handling. This work provides the first fine-tuning of an industrial foundation model for particle physics DAQ. Starting from the backbone of Google Research's TimesFM (Time Series Foundation Model), we demonstrate fine-tuning on real-time regression tasks for drift chamber trackers and dual-readout calorimeters. Furthermore, the fine-tuned TimesFM model is distilled into a student and co-designed with FPGA implementation to enable these models to run in real-time at future colliders. The fine-tuned distillations meet or exceed the performance of previously published AI/ML solutions for each task. Further, the pipeline of distillation and model compression from TimesFM is generic and can be easily adapted to a variety of 1D waveform tasks across domains.
Multi-teacher on-policy distillation allows a student to learn from complementary specialists on its own trajectories. Domain-routed approaches, however, select one teacher per example and keep it fixed throughout the response. This design both depends on domain labels that mixed training corpora often lack and cannot adapt teacher selection when the expertise required changes within a trajectory. We observe that each specialist deviates more from a shared reference on in-domain prompts than on out-of-domain prompts, on average. Based on this observation, we propose TrustMOPD, which replaces example-level teacher selection with label-free, token-level supervision allocation. At each student-generated prefix, TrustMOPD measures this displacement in next-token preferences, calibrates its magnitude across teachers, and uses the resulting scores as proxies for local reliability to weight teacher-specific distillation losses. Evaluated across mathematics, code, and instruction following, TrustMOPD closes 91.5% and 98.0% of the overall-score gap between the initial student and oracle-routed teachers when trained on \textsc{SingleCap} and \textsc{MultiCap}, respectively, compared with 54.4% and 54.5% for the strongest label-free baseline in each setting. On \textsc{SingleCap}, it approaches label-based MOPD without using domain labels.
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Multi-teacher on-policy distillation allows a student to learn from complementary specialists on its own trajectories. Domain-routed approaches, however, select one teacher per example and keep it fixed throughout the response. This design both depends on domain labels that mixed training corpora often lack and cannot adapt teacher selection when the expertise required changes within a trajectory. We observe that each specialist deviates more from a shared reference on in-domain prompts than on out-of-domain prompts, on average. Based on this observation, we propose TrustMOPD, which replaces example-level teacher selection with label-free, token-level supervision allocation. At each student-generated prefix, TrustMOPD measures this displacement in next-token preferences, calibrates its magnitude across teachers, and uses the resulting scores as proxies for local reliability to weight teacher-specific distillation losses. Evaluated across mathematics, code, and instruction following, TrustMOPD closes 91.5% and 98.0% of the overall-score gap between the initial student and oracle-routed teachers when trained on \textsc{SingleCap} and \textsc{MultiCap}, respectively, compared with 54.4% and 54.5% for the strongest label-free baseline in each setting. On \textsc{SingleCap}, it approaches label-based MOPD without using domain labels.
High-dimensional count data are common in scientific applications, but most diffusion and flow models are designed for continuous or categorical data, and generation often requires many sequential model evaluations. We propose Count Flow Map, a generative model that learns finite-time transitions directly in count space for one- or few-step generation. Our model directly learns stochastic transitions over finite time intervals, using Poisson births and Binomial deaths to preserve nonnegative integer counts without a predefined maximum. These transition models are trained to match the underlying local birth--death dynamics and to maintain consistency across step sizes. We characterize the connection between local dynamics and finite-time transition consistency and derive a bound on the generation error. After validating Count Flow Map in several simulations, including a high-dimensional, high-count setting, we apply it to single-cell drug perturbation prediction and neural population forecasting, where it captures perturbation responses and supports forecasts of high-activity events with only one or a few model evaluations. Together, these experiments demonstrate that Count Flow Map enables high-quality generation directly in count space across inference budgets, from one-step to few-step generation, using a single trained model.
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High-dimensional count data are common in scientific applications, but most diffusion and flow models are designed for continuous or categorical data, and generation often requires many sequential model evaluations. We propose Count Flow Map, a generative model that learns finite-time transitions directly in count space for one- or few-step generation. Our model directly learns stochastic transitions over finite time intervals, using Poisson births and Binomial deaths to preserve nonnegative integer counts without a predefined maximum. These transition models are trained to match the underlying local birth--death dynamics and to maintain consistency across step sizes. We characterize the connection between local dynamics and finite-time transition consistency and derive a bound on the generation error. After validating Count Flow Map in several simulations, including a high-dimensional, high-count setting, we apply it to single-cell drug perturbation prediction and neural population forecasting, where it captures perturbation responses and supports forecasts of high-activity events with only one or a few model evaluations. Together, these experiments demonstrate that Count Flow Map enables high-quality generation directly in count space across inference budgets, from one-step to few-step generation, using a single trained model.
Single-image 3D object generation can now produce high-fidelity assets, yet accurately placing them into a coherent scene layout remains an open challenge. A central difficulty lies in how object layout is represented. Holistic methods absorb placement into a scene-level generation process, sacrificing object-level detail. Compositional methods preserve object fidelity by decoupling geometry from layout, but typically parameterize layout as sparse, unbounded pose variables that are difficult to learn and generalize poorly under scarce scene-level supervision. We present Mira-Scene, a compositional 3D scene reconstruction framework that replaces sparse pose regression with dense, bounded correspondence recovery. At its core is the Canonical Coordinate Map (CCM), a pixel-aligned field that maps each visible object pixel to a surface coordinate in the object's bounded canonical space. When paired with a scene-space Point Cloud Map (PCM) from monocular geometry estimation, CCM induces dense canonical-to-scene correspondences from which object transformations are recovered through robust geometric alignment. Because CCM operates in bounded canonical space, it provides a stable prediction target that can be trained from scalable object-level 3D data without requiring scene-level layout annotations. Mira-Scene further introduces a multimodal diffusion transformer that jointly generates object geometry and CCMs, using modality-specific expert streams with shared attention and positional encoding to promote geometry-layout consistency. Experiments on indoor, outdoor, synthetic, and in-the-wild scenes show that Mira-Scene substantially outperforms strong baselines in layout accuracy, achieving relative gains of 39.8% in 3D-IoU and 16.5% in 2D-IoU over SAM3D, using limited open-source training data.
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Single-image 3D object generation can now produce high-fidelity assets, yet accurately placing them into a coherent scene layout remains an open challenge. A central difficulty lies in how object layout is represented. Holistic methods absorb placement into a scene-level generation process, sacrificing object-level detail. Compositional methods preserve object fidelity by decoupling geometry from layout, but typically parameterize layout as sparse, unbounded pose variables that are difficult to learn and generalize poorly under scarce scene-level supervision. We present Mira-Scene, a compositional 3D scene reconstruction framework that replaces sparse pose regression with dense, bounded correspondence recovery. At its core is the Canonical Coordinate Map (CCM), a pixel-aligned field that maps each visible object pixel to a surface coordinate in the object's bounded canonical space. When paired with a scene-space Point Cloud Map (PCM) from monocular geometry estimation, CCM induces dense canonical-to-scene correspondences from which object transformations are recovered through robust geometric alignment. Because CCM operates in bounded canonical space, it provides a stable prediction target that can be trained from scalable object-level 3D data without requiring scene-level layout annotations. Mira-Scene further introduces a multimodal diffusion transformer that jointly generates object geometry and CCMs, using modality-specific expert streams with shared attention and positional encoding to promote geometry-layout consistency. Experiments on indoor, outdoor, synthetic, and in-the-wild scenes show that Mira-Scene substantially outperforms strong baselines in layout accuracy, achieving relative gains of 39.8% in 3D-IoU and 16.5% in 2D-IoU over SAM3D, using limited open-source training data.
Robots operating in human-centered environments are typically designed to execute explicit instructions, and most robot-learning datasets likewise pair observations with task instructions or low-level actions. Although recent work has begun to explore proactive embodied assistance, existing resources target different settings and action levels, leaving real-world human-centered multimodal decision-making underexplored. We formulate this problem as Proactive Robot Action Reasoning (ProRobo), an upstream cognitive decision problem in which a robot must determine which action to take based on multimodal human and environmental cues without explicit action instructions. To support ProRobo, we introduce ProAction, a real-world multimodal dataset containing 10K samples of visual observations, audio signals, and text inputs across 12 daily-life scenarios in five common scenes. To construct cognitively grounded high-level action supervision, we develop a two-stage human-in-the-loop pipeline that combines appraisal-guided candidate generation with Affective Theory-of-Mind-guided human refinement, explicitly incorporating contextual judgment about human states, urgency, feasibility, and potential risk into action annotation. Based on this supervision, we benchmark representative Multimodal Large Language Models (MLLMs) and introduce MMC2Act, a reference model that implicitly learns the mapping from multimodal observations to cognitively grounded high-level actions. Experiments across modality settings, subject-disjoint generalization, cross-dataset transfer, and human evaluation show that general-purpose MLLMs struggle with proactively reasoning high-level actions from multimodal cues, whereas training on ProAction substantially improves performance.
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Robots operating in human-centered environments are typically designed to execute explicit instructions, and most robot-learning datasets likewise pair observations with task instructions or low-level actions. Although recent work has begun to explore proactive embodied assistance, existing resources target different settings and action levels, leaving real-world human-centered multimodal decision-making underexplored. We formulate this problem as Proactive Robot Action Reasoning (ProRobo), an upstream cognitive decision problem in which a robot must determine which action to take based on multimodal human and environmental cues without explicit action instructions. To support ProRobo, we introduce ProAction, a real-world multimodal dataset containing 10K samples of visual observations, audio signals, and text inputs across 12 daily-life scenarios in five common scenes. To construct cognitively grounded high-level action supervision, we develop a two-stage human-in-the-loop pipeline that combines appraisal-guided candidate generation with Affective Theory-of-Mind-guided human refinement, explicitly incorporating contextual judgment about human states, urgency, feasibility, and potential risk into action annotation. Based on this supervision, we benchmark representative Multimodal Large Language Models (MLLMs) and introduce MMC2Act, a reference model that implicitly learns the mapping from multimodal observations to cognitively grounded high-level actions. Experiments across modality settings, subject-disjoint generalization, cross-dataset transfer, and human evaluation show that general-purpose MLLMs struggle with proactively reasoning high-level actions from multimodal cues, whereas training on ProAction substantially improves performance.
Point cloud completion aims to infer a complete 3D shape from a partial point cloud and serves as a fundamental building block for downstream tasks such as reconstruction, editing, and simulation. Despite the recent progress, existing learning-based methods often implicitly rely on access to the ground-truth shape scale (GT-scale) during both training- and testing-time normalization, assuming privileged information that is unavailable in real-world inference. This hidden assumption limits practical deployment and can lead to severe completion artifacts, e.g., over- or under-completion and nested shells, once the oracle GT-scale cue is removed. We observe that the recent foundation image generation models exhibit a strong capability of understanding objects and geometries, and producing multi-view consistent renderings, making them promising priors for GT-scale-free 3D completion. Motivated by this insight, we propose ScaleBlind, a novel framework that leverages foundation-model-based image completion to recover global scale directly from partial inputs and then faithfully produces the 3D completion. Specifically, ScaleBlind dreams out complete multi-view appearances from rendered partial views, lifts the inferred missing regions back into 3D to obtain a geometry-aware coarse completion, and further refines it via a powerful cross-modal fusion network with the original partial point cloud. By harnessing 2D foundation priors, our method eliminates the need for accessing GT-scale information at inference. Moreover, it provides a principled bridge between 2D generative priors and 3D point cloud completion. Extensive experiments demonstrate the superiority of our framework, making ScaleBlind the new state-of-the-art for the point cloud completion task.
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Point cloud completion aims to infer a complete 3D shape from a partial point cloud and serves as a fundamental building block for downstream tasks such as reconstruction, editing, and simulation. Despite the recent progress, existing learning-based methods often implicitly rely on access to the ground-truth shape scale (GT-scale) during both training- and testing-time normalization, assuming privileged information that is unavailable in real-world inference. This hidden assumption limits practical deployment and can lead to severe completion artifacts, e.g., over- or under-completion and nested shells, once the oracle GT-scale cue is removed. We observe that the recent foundation image generation models exhibit a strong capability of understanding objects and geometries, and producing multi-view consistent renderings, making them promising priors for GT-scale-free 3D completion. Motivated by this insight, we propose ScaleBlind, a novel framework that leverages foundation-model-based image completion to recover global scale directly from partial inputs and then faithfully produces the 3D completion. Specifically, ScaleBlind dreams out complete multi-view appearances from rendered partial views, lifts the inferred missing regions back into 3D to obtain a geometry-aware coarse completion, and further refines it via a powerful cross-modal fusion network with the original partial point cloud. By harnessing 2D foundation priors, our method eliminates the need for accessing GT-scale information at inference. Moreover, it provides a principled bridge between 2D generative priors and 3D point cloud completion. Extensive experiments demonstrate the superiority of our framework, making ScaleBlind the new state-of-the-art for the point cloud completion task.
作者Yueyan Li, Haibo Wang, Caixia Yuan, Xiaojie Wang
Despite impressive visual quality, state-of-the-art video diffusion models often generate content that violates real-world physical laws. While existing solutions rely on external priors or specialized data, we investigate the root cause by exploring the internal mechanisms of these models. Specifically, we present the first interpretability study on the ''motion planning'' process of text-to-video diffusion models, revealing how motion trajectories form during early denoising stages. Building upon the ''first shape, then details'' finding, we combine cross-attention trajectory patterns with causal head contributions to identify a specific subset of attention heads driving motion planning. Further, our self-attention analysis shows that Rotary Position Embedding (RoPE) induces excessive spatial attention decay. This causes early candidate regions to prematurely lock into physically implausible positions, suppressing reasonable trajectories in adjacent frames and triggering generation failure modes. To address this fundamental flaw, we propose a lightweight architectural modification that scales the frequency of RoPE across different denoising steps. This strategy reduces excessive attention decay, helping the model explore better candidate regions to establish coherent physical motion. Finally, training-free and training-based experiments confirm the effectiveness of our approach in enhancing the physical commonsense of generated videos.
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Despite impressive visual quality, state-of-the-art video diffusion models often generate content that violates real-world physical laws. While existing solutions rely on external priors or specialized data, we investigate the root cause by exploring the internal mechanisms of these models. Specifically, we present the first interpretability study on the ''motion planning'' process of text-to-video diffusion models, revealing how motion trajectories form during early denoising stages. Building upon the ''first shape, then details'' finding, we combine cross-attention trajectory patterns with causal head contributions to identify a specific subset of attention heads driving motion planning. Further, our self-attention analysis shows that Rotary Position Embedding (RoPE) induces excessive spatial attention decay. This causes early candidate regions to prematurely lock into physically implausible positions, suppressing reasonable trajectories in adjacent frames and triggering generation failure modes. To address this fundamental flaw, we propose a lightweight architectural modification that scales the frequency of RoPE across different denoising steps. This strategy reduces excessive attention decay, helping the model explore better candidate regions to establish coherent physical motion. Finally, training-free and training-based experiments confirm the effectiveness of our approach in enhancing the physical commonsense of generated videos.
As generative AI becomes increasingly used in anime-style image creation, distinguishing human-drawn, AI-inpainted, and text-to-image images is important for copyright attribution, visual provenance, and content governance. Existing AI-generated image detectors mainly target real-world photographs and often overlook anime-specific cues such as flat coloring, exaggerated structures, and artistic line control. To address this gap, we propose AniPrO, a multi-dimensional description-enhanced framework for interpretable anime image provenance. Built upon AnimeDL-2M, AniPrO contains 15,000 balanced samples from a 35,000-image candidate pool, covering Real, Inpainting, and Text2Image categories with structured five-dimensional descriptions. We further introduce AniPrO-SFD-Bench and AniPrO-MFR-Bench to evaluate provenance detection from statistical feature discrimination and multimodal fusion reasoning perspectives. Experiments show that structured semantic guidance reveals systematic AI-generation biases, such as the gap between global visual plausibility and local detail coherence, and improves the detection of challenging inpainting samples. The dataset and code will be released at: https://github.com/YAN-LIU05/AniPrO.
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As generative AI becomes increasingly used in anime-style image creation, distinguishing human-drawn, AI-inpainted, and text-to-image images is important for copyright attribution, visual provenance, and content governance. Existing AI-generated image detectors mainly target real-world photographs and often overlook anime-specific cues such as flat coloring, exaggerated structures, and artistic line control. To address this gap, we propose AniPrO, a multi-dimensional description-enhanced framework for interpretable anime image provenance. Built upon AnimeDL-2M, AniPrO contains 15,000 balanced samples from a 35,000-image candidate pool, covering Real, Inpainting, and Text2Image categories with structured five-dimensional descriptions. We further introduce AniPrO-SFD-Bench and AniPrO-MFR-Bench to evaluate provenance detection from statistical feature discrimination and multimodal fusion reasoning perspectives. Experiments show that structured semantic guidance reveals systematic AI-generation biases, such as the gap between global visual plausibility and local detail coherence, and improves the detection of challenging inpainting samples. The dataset and code will be released at: https://github.com/YAN-LIU05/AniPrO.
作者Alexander Christie, Miguel Moscoso, Alexei Novikov, George Papanicolaou, Chrysoula Tsogka
Dictionary learning seeks to recover an unknown dictionary $A$ from observations ${\bf y}_i = A{\bf x}_i$ with sparse coefficient vectors ${\bf x}_i$. We introduce the Iterative Atom Refinement (IAR) algorithm, a simple procedure for recovering individual dictionary atoms. Starting from a random direction, IAR repeatedly selects the observations most strongly correlated with the current iterate and updates the direction by averaging the selected data. Our main contribution is a rigorous convergence theory of IAR. Using high-dimensional probabilistic estimates and a novel monotonicity principle for atom-selection probabilities, we show that a small initial advantage of one atom is amplified until that atom is isolated. Under our model assumptions, IAR identifies a generating atom after only three refinement steps. Numerical experiments support the theory and show that the resulting dynamics accurately capture the behavior observed in dictionary refinement.
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Dictionary learning seeks to recover an unknown dictionary $A$ from observations ${\bf y}_i = A{\bf x}_i$ with sparse coefficient vectors ${\bf x}_i$. We introduce the Iterative Atom Refinement (IAR) algorithm, a simple procedure for recovering individual dictionary atoms. Starting from a random direction, IAR repeatedly selects the observations most strongly correlated with the current iterate and updates the direction by averaging the selected data. Our main contribution is a rigorous convergence theory of IAR. Using high-dimensional probabilistic estimates and a novel monotonicity principle for atom-selection probabilities, we show that a small initial advantage of one atom is amplified until that atom is isolated. Under our model assumptions, IAR identifies a generating atom after only three refinement steps. Numerical experiments support the theory and show that the resulting dynamics accurately capture the behavior observed in dictionary refinement.
作者Wenhong Huang, Jianwei Fei, Benedetta Tondi, Bin Ma, Fangjun Huang
The rapid development of video generative models (VGMs) has enabled the generation of highly realistic synthetic videos, raising concerns about the intellectual property rights (IPR) of these models. In particular, two closely related forensic tasks remain largely unaddressed: synthetic video verification (determining whether a video was generated by a protected VGM) and model ownership verification (determining whether a suspect VGM is an unauthorized copy of a protected VGM). In this paper, we propose a new in-generation watermarking scheme that can address the two verification tasks. First, a novel video watermarking network named VidMark is presented, which incorporates a two-scale discrete wavelet transform (DWT) decomposition and a global temporal attention block (GTAB) to enhance watermark robustness and imperceptibility. Second, we present a decoder-guided fine-tuning procedure. By leveraging the frozen VidMark decoder, this process enables VGMs to synthesize videos carrying an imperceptible, robust, and model-specific watermark. Finally, two verification frameworks are established to perform synthetic video verification and model ownership verification. Extensive experiments on representative VGMs demonstrate that the proposed scheme achieves over 99% watermark extraction accuracy and 100% verification accuracy on both tasks, with negligible impact on video generation quality. Furthermore, the watermarks exhibit strong robustness against a comprehensive range of video-level and model-level attacks.
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The rapid development of video generative models (VGMs) has enabled the generation of highly realistic synthetic videos, raising concerns about the intellectual property rights (IPR) of these models. In particular, two closely related forensic tasks remain largely unaddressed: synthetic video verification (determining whether a video was generated by a protected VGM) and model ownership verification (determining whether a suspect VGM is an unauthorized copy of a protected VGM). In this paper, we propose a new in-generation watermarking scheme that can address the two verification tasks. First, a novel video watermarking network named VidMark is presented, which incorporates a two-scale discrete wavelet transform (DWT) decomposition and a global temporal attention block (GTAB) to enhance watermark robustness and imperceptibility. Second, we present a decoder-guided fine-tuning procedure. By leveraging the frozen VidMark decoder, this process enables VGMs to synthesize videos carrying an imperceptible, robust, and model-specific watermark. Finally, two verification frameworks are established to perform synthetic video verification and model ownership verification. Extensive experiments on representative VGMs demonstrate that the proposed scheme achieves over 99% watermark extraction accuracy and 100% verification accuracy on both tasks, with negligible impact on video generation quality. Furthermore, the watermarks exhibit strong robustness against a comprehensive range of video-level and model-level attacks.
作者Md Sayed Tanveer, Mohammed A. Mostajo-Radji, Ge Wang
Generative models of neural activity could help characterize tissue dynamics, compare experimental conditions, and simulate population activity for applications ranging from disease and drug-response studies to closed-loop experimentation. Existing approaches, however, typically assume a fixed set of sorted neurons, whereas high-density microelectrode arrays produce extremely sparse, array-wide binary spike volumes in which the observed subset of electrodes varies across assays. We introduce a discrete generative model that represents this activity using a shared vocabulary of spatiotemporal motifs. A residual vector-quantized autoencoder learns the motif vocabulary, while a factorized masked transformer predicts where activity occurs and which motif appears at each active location. We evaluate the model on 31 assays spanning human brain organoids and acute ex vivo human hippocampal tissue. The learned motifs are broadly reused: assay identity explains only $9%$ of the entropy in motif use, and motif overlap across tissue types is comparable to overlap within them. When representation quality is evaluated independently of the generative prior, our approach achieves $5.2\times$ the voxel-level reconstruction average precision of a matched flat tokenizer. For masked completion and free generation, the full model achieves $1.4$--$2.6\times$ the site-level average precision of the matched generative baseline and outperforms it across all four families of generation metrics. These results establish a compact, reusable representation for array-wide spiking activity without learned assay-specific parameters, providing a scalable foundation for generative modeling across diverse neural preparations.
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Generative models of neural activity could help characterize tissue dynamics, compare experimental conditions, and simulate population activity for applications ranging from disease and drug-response studies to closed-loop experimentation. Existing approaches, however, typically assume a fixed set of sorted neurons, whereas high-density microelectrode arrays produce extremely sparse, array-wide binary spike volumes in which the observed subset of electrodes varies across assays. We introduce a discrete generative model that represents this activity using a shared vocabulary of spatiotemporal motifs. A residual vector-quantized autoencoder learns the motif vocabulary, while a factorized masked transformer predicts where activity occurs and which motif appears at each active location. We evaluate the model on 31 assays spanning human brain organoids and acute ex vivo human hippocampal tissue. The learned motifs are broadly reused: assay identity explains only $9%$ of the entropy in motif use, and motif overlap across tissue types is comparable to overlap within them. When representation quality is evaluated independently of the generative prior, our approach achieves $5.2\times$ the voxel-level reconstruction average precision of a matched flat tokenizer. For masked completion and free generation, the full model achieves $1.4$--$2.6\times$ the site-level average precision of the matched generative baseline and outperforms it across all four families of generation metrics. These results establish a compact, reusable representation for array-wide spiking activity without learned assay-specific parameters, providing a scalable foundation for generative modeling across diverse neural preparations.
Diffusion models generate high-quality images, yet often violate the physical laws governing mirror reflections. Reflections often suffer from geometric aberrations, including positional offsets, directional misalignment, proportional imbalance, and structural distortion. These failures remain evident even in contemporary state-of-the-art generative systems. Existing methods itigate this problem through synthetic data scaling or auxiliary depth conditioning, yet their merely reliance on latent-space noise reconstruction losses as implicit supervision prevents direct enforcement of reflection-specific geometric and perceptual constraints. To bridge this gap, we present PhysReflect, a geometry and perception guided diffusion framework that decodes the predicted clean latent into pixel space at each training step and applies annealed supervision through two complementary differentiable objectives. The Geometric Loss enforces mirror-induced spatial consistency through sparse epipolar correspondence and dense boundary projection alignment, where a SAM2-based TwinTrack mechanism provides stable in-mirror localization for boundary-aware supervision. The Perceptual Loss preserves reflected appearance by combining Semantic Consistency Loss, which maintains reflected identity and appearance via DINOv2 features, and Lighting Consistency Loss, which regularizes depth, surface-normal, and illumination coherence under monocular geometry priors. Experiments on synthetic and real-world benchmarks show that PhysReflect outperforms prior mirror-reflection methods in geometric, perceptual, and physical-plausibility metrics, as well as qualitative visual results.
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Diffusion models generate high-quality images, yet often violate the physical laws governing mirror reflections. Reflections often suffer from geometric aberrations, including positional offsets, directional misalignment, proportional imbalance, and structural distortion. These failures remain evident even in contemporary state-of-the-art generative systems. Existing methods itigate this problem through synthetic data scaling or auxiliary depth conditioning, yet their merely reliance on latent-space noise reconstruction losses as implicit supervision prevents direct enforcement of reflection-specific geometric and perceptual constraints. To bridge this gap, we present PhysReflect, a geometry and perception guided diffusion framework that decodes the predicted clean latent into pixel space at each training step and applies annealed supervision through two complementary differentiable objectives. The Geometric Loss enforces mirror-induced spatial consistency through sparse epipolar correspondence and dense boundary projection alignment, where a SAM2-based TwinTrack mechanism provides stable in-mirror localization for boundary-aware supervision. The Perceptual Loss preserves reflected appearance by combining Semantic Consistency Loss, which maintains reflected identity and appearance via DINOv2 features, and Lighting Consistency Loss, which regularizes depth, surface-normal, and illumination coherence under monocular geometry priors. Experiments on synthetic and real-world benchmarks show that PhysReflect outperforms prior mirror-reflection methods in geometric, perceptual, and physical-plausibility metrics, as well as qualitative visual results.
Modern conditional generative models face significant challenges when learning complex covariate dependencies. While sufficient dimension reduction (SDR) provides a principled approach to compress these dependencies, traditional SDR frameworks were not formulated for conditional generation. To bridge this gap, we propose Belted Engression, a unified and architecturally parameter-efficient framework for generative distributional regression. Our approach establishes an end-to-end compress-then-generate paradigm driven by sufficient representation learning, embedding a structural bottleneck into the generative architecture. Theoretically, we prove that the standard SDR condition is equivalent to a law-preserving generative factorization, which is achieved at the global optimum of the population Belted Engression objective. Furthermore, by uncovering a localized Bernstein-type control for the energy-score loss, we establish finite-sample convergence rates that are sharper than those of existing results. We also prove that this belted architecture is strictly smaller, operating with an asymptotically vanishing parameter count relative to the unstructured baseline. Extensive simulations and real-world applications demonstrate that Belted Engression achieves superior distributional prediction and SDR recovery with fewer trainable parameters.
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Modern conditional generative models face significant challenges when learning complex covariate dependencies. While sufficient dimension reduction (SDR) provides a principled approach to compress these dependencies, traditional SDR frameworks were not formulated for conditional generation. To bridge this gap, we propose Belted Engression, a unified and architecturally parameter-efficient framework for generative distributional regression. Our approach establishes an end-to-end compress-then-generate paradigm driven by sufficient representation learning, embedding a structural bottleneck into the generative architecture. Theoretically, we prove that the standard SDR condition is equivalent to a law-preserving generative factorization, which is achieved at the global optimum of the population Belted Engression objective. Furthermore, by uncovering a localized Bernstein-type control for the energy-score loss, we establish finite-sample convergence rates that are sharper than those of existing results. We also prove that this belted architecture is strictly smaller, operating with an asymptotically vanishing parameter count relative to the unstructured baseline. Extensive simulations and real-world applications demonstrate that Belted Engression achieves superior distributional prediction and SDR recovery with fewer trainable parameters.
Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL), in particular, has been used to encode spatio-temporal requirements for control synthesis in multi-agent systems, often under the assumption that agents are cooperative and their dynamics are known. However, real-world multi-agent applications, such as autonomous driving, typically involve stochastic and uncontrollable agents. Recent work explored robust control with worst-case or probabilistic formulations, but remains limited in that it either (1) certifies strict satisfaction of STL constraints without addressing feasibility recovery, or (2) relaxes infeasible constraints with ego-centric objectives. In this paper, we propose a model predictive control (MPC) framework that treats feasibility repair as a Pareto optimization problem to explicitly characterize tradeoffs among agent objectives. We further provide a probabilistic certificate on STL violation rate to formally quantify uncertainty under stochastic and uncontrollable agents. The proposed framework is evaluated on two autonomous driving scenarios. Results show that the framework recovers feasible control with demonstrated safe behaviors.
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Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL), in particular, has been used to encode spatio-temporal requirements for control synthesis in multi-agent systems, often under the assumption that agents are cooperative and their dynamics are known. However, real-world multi-agent applications, such as autonomous driving, typically involve stochastic and uncontrollable agents. Recent work explored robust control with worst-case or probabilistic formulations, but remains limited in that it either (1) certifies strict satisfaction of STL constraints without addressing feasibility recovery, or (2) relaxes infeasible constraints with ego-centric objectives. In this paper, we propose a model predictive control (MPC) framework that treats feasibility repair as a Pareto optimization problem to explicitly characterize tradeoffs among agent objectives. We further provide a probabilistic certificate on STL violation rate to formally quantify uncertainty under stochastic and uncontrollable agents. The proposed framework is evaluated on two autonomous driving scenarios. Results show that the framework recovers feasible control with demonstrated safe behaviors.
Memory systems are becoming a core component of LLM agents, but constructing and maintaining memory remains expensive because it relies on repeated calls to large proprietary language models. This cost creates a major barrier to deploying memory-enhanced agents at scale. In this paper, we present Pseudo Self-Distillation (PSD), a framework that enables small language models (SLMs) to construct hierarchical memory representations by distilling behavior from a strong black-box oracle through a multi-stage training pipeline. Standard distillation methods require access to teacher logits or hidden states, which closed models do not expose. Unlike conventional self-distillation settings, where supervision is derived from a model's own predictions, sampled rollouts, or aggregated outputs, PSD enables a single-model distillation setup while channeling external oracle knowledge through the prompt. PSD uses a single small model in two roles: a teacher that sees a privileged prompt containing the oracle's answer as reference context, and a student that sees only the task prompt. The student learns to reproduce the teacher's output distribution, absorbing oracle-guided behavior into its own weights without accessing the oracle's internals. On LoCoMo, PSD-trained Qwen3-0.6B, 1.7B, and 4B match or exceed GPT-4.1-mini on downstream retrieval at a fraction of the deployment cost, with off-policy PSD achieving the strongest results across most conditions. We further show that this memory-construction capability transfers out-of-distribution to LongMemEval, despite the students being trained exclusively on LoCoMo with no exposure to LongMemEval data.
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Memory systems are becoming a core component of LLM agents, but constructing and maintaining memory remains expensive because it relies on repeated calls to large proprietary language models. This cost creates a major barrier to deploying memory-enhanced agents at scale. In this paper, we present Pseudo Self-Distillation (PSD), a framework that enables small language models (SLMs) to construct hierarchical memory representations by distilling behavior from a strong black-box oracle through a multi-stage training pipeline. Standard distillation methods require access to teacher logits or hidden states, which closed models do not expose. Unlike conventional self-distillation settings, where supervision is derived from a model's own predictions, sampled rollouts, or aggregated outputs, PSD enables a single-model distillation setup while channeling external oracle knowledge through the prompt. PSD uses a single small model in two roles: a teacher that sees a privileged prompt containing the oracle's answer as reference context, and a student that sees only the task prompt. The student learns to reproduce the teacher's output distribution, absorbing oracle-guided behavior into its own weights without accessing the oracle's internals. On LoCoMo, PSD-trained Qwen3-0.6B, 1.7B, and 4B match or exceed GPT-4.1-mini on downstream retrieval at a fraction of the deployment cost, with off-policy PSD achieving the strongest results across most conditions. We further show that this memory-construction capability transfers out-of-distribution to LongMemEval, despite the students being trained exclusively on LoCoMo with no exposure to LongMemEval data.
Long-horizon conversational memory is especially challenging in multi-actor settings, where relevant evidence is distributed across participants and contexts and previously established information may later be revised. We introduce EGMEMORY, which formulates long-horizon multi-actor memory as a searchable state machine that separates persistent message-level evidence from an explicit active state. At write time, adaptive state resolution and an evidence-grounded propose-verify-commit protocol govern how this state evolves. At read time, adaptive evidence navigation iteratively resolves the state and supporting evidence required for a query, using conversational structure to narrow the search space and lexical-semantic relevance to rank candidates. The system operates through prompting and tool use without memory-specific policy training. EGMEMORY achieves 68.2% on GroupMemBench and 77.9% on EverMemBench, outperforming the strongest evaluated baselines by 22.7 and 21.4 percentage points, respectively. It further reaches 73.6% on the dyadic LoCoMo benchmark, demonstrating generalization beyond multi-actor conversations. We will release the codebase upon formal publication.
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Long-horizon conversational memory is especially challenging in multi-actor settings, where relevant evidence is distributed across participants and contexts and previously established information may later be revised. We introduce EGMEMORY, which formulates long-horizon multi-actor memory as a searchable state machine that separates persistent message-level evidence from an explicit active state. At write time, adaptive state resolution and an evidence-grounded propose-verify-commit protocol govern how this state evolves. At read time, adaptive evidence navigation iteratively resolves the state and supporting evidence required for a query, using conversational structure to narrow the search space and lexical-semantic relevance to rank candidates. The system operates through prompting and tool use without memory-specific policy training. EGMEMORY achieves 68.2% on GroupMemBench and 77.9% on EverMemBench, outperforming the strongest evaluated baselines by 22.7 and 21.4 percentage points, respectively. It further reaches 73.6% on the dyadic LoCoMo benchmark, demonstrating generalization beyond multi-actor conversations. We will release the codebase upon formal publication.
作者Suzhong Fu, Jingqi Dong, Xuan Ding, Rui Sun, Yiming Yang, Shuguang Cui, Zhen Li
The SYNTAX score is a clinically established tool for assessing anatomical lesion complexity in coronary artery disease and guiding subsequent treatment. However, automated SYNTAX scoring is commonly formulated as a direct regression problem from coronary angiography videos to patient-level scores. In this work, we reformulate SYNTAX scoring as a vessel segment identity-preserving anatomical reasoning problem and propose a hierarchical modeling framework that explicitly aligns learning with the clinical workflow. Our approach maintains vessel segment identity across frames and views, estimates stenosis severity at the segment level, and aggregates evidence hierarchically according to coronary anatomy. Simultaneously, to address the scarcity of domain-specific data, we integrate and complete multiple public coronary angiography datasets, constructing a large-scale resource featuring completed vessel segmentation and derived structural annotations. Experiments demonstrate that vessel segment-level stenosis embedding enhances explanatory power and reduces prediction variability compared to baseline models, with the R^2 score improving by 0.201 and dev STD decreasing by 18.4%. These results highlight the necessity of structure-aligned modeling for reliable and stable automated SYNTAX scoring from multi-view coronary angiography videos. The GitHub link is https://github.com/VersaceSu7/SYNTAX_score_777.
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The SYNTAX score is a clinically established tool for assessing anatomical lesion complexity in coronary artery disease and guiding subsequent treatment. However, automated SYNTAX scoring is commonly formulated as a direct regression problem from coronary angiography videos to patient-level scores. In this work, we reformulate SYNTAX scoring as a vessel segment identity-preserving anatomical reasoning problem and propose a hierarchical modeling framework that explicitly aligns learning with the clinical workflow. Our approach maintains vessel segment identity across frames and views, estimates stenosis severity at the segment level, and aggregates evidence hierarchically according to coronary anatomy. Simultaneously, to address the scarcity of domain-specific data, we integrate and complete multiple public coronary angiography datasets, constructing a large-scale resource featuring completed vessel segmentation and derived structural annotations. Experiments demonstrate that vessel segment-level stenosis embedding enhances explanatory power and reduces prediction variability compared to baseline models, with the R^2 score improving by 0.201 and dev STD decreasing by 18.4%. These results highlight the necessity of structure-aligned modeling for reliable and stable automated SYNTAX scoring from multi-view coronary angiography videos. The GitHub link is https://github.com/VersaceSu7/SYNTAX_score_777.
作者Liyang Fan, Yingcheng Shi, Yongbin Li, Chenghao Sun, Xin Chen, Xander Xu, Hu Wei, Shiwen Ni, Min Yang, Jieping Ye
Coding agents operate on real repository coding tasks, and persistent memory systems promise to reuse experience across tasks. Yet existing evaluations do not show whether those systems improve executable repository work. Repository benchmarks test code changes but do not isolate memory, while memory benchmarks score recall without measuring downstream coding outcomes. We introduce VibeMemBench, a benchmark for evaluating memory systems on 111 coding targets from 90 SWE-rebench V2 repositories and 3,634 history trajectories from the target repositories. The targets follow the SWE benchmark style and cover bug fixes, feature requests, interface changes, and configuration work. An agent edits each target codebase under a declared memory condition. Executable tests decide task resolution. Each target is retained only when injected history experience improves its executable outcome in a reference setting, so every target carries a prior experience whose usefulness is verified by execution in that setting. The frozen verified experience is then transferred to five held-out solvers. Direct injection raises observed task resolution on four of them by 1.1 to 4.5 percentage points while lowering agent steps on all five. Yet when four existing memory systems must construct and retrieve experience from the same history, eleven of twelve solver and system pairings fail to exceed the matched memory-off baseline. VibeMemBench exposes the gap between the useful experience that repository history holds and the experience existing memory systems deliver for repository coding tasks.
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Coding agents operate on real repository coding tasks, and persistent memory systems promise to reuse experience across tasks. Yet existing evaluations do not show whether those systems improve executable repository work. Repository benchmarks test code changes but do not isolate memory, while memory benchmarks score recall without measuring downstream coding outcomes. We introduce VibeMemBench, a benchmark for evaluating memory systems on 111 coding targets from 90 SWE-rebench V2 repositories and 3,634 history trajectories from the target repositories. The targets follow the SWE benchmark style and cover bug fixes, feature requests, interface changes, and configuration work. An agent edits each target codebase under a declared memory condition. Executable tests decide task resolution. Each target is retained only when injected history experience improves its executable outcome in a reference setting, so every target carries a prior experience whose usefulness is verified by execution in that setting. The frozen verified experience is then transferred to five held-out solvers. Direct injection raises observed task resolution on four of them by 1.1 to 4.5 percentage points while lowering agent steps on all five. Yet when four existing memory systems must construct and retrieve experience from the same history, eleven of twelve solver and system pairings fail to exceed the matched memory-off baseline. VibeMemBench exposes the gap between the useful experience that repository history holds and the experience existing memory systems deliver for repository coding tasks.
Automated kernel vulnerability reproduction is essential for bug triage, patch validation, and regression testing, but still lacks an effective and efficient solution. The core challenge is twofold: a reproducer must first recover the trigger scaffold needed to reach the vulnerable state and determine the precise concrete values that actually trigger the bug. Existing directed fuzzing approaches are ineffective at recovering the necessary trigger scaffold, while LLM-only generation is brittle because it struggles with concrete-value discovery and runtime nondeterminism. We design SyzHarness, a framework that combines LLM reasoning with coverage-guided fuzzing for patch-based Linux kernel vulnerability reproduction. Given a patch, SyzHarness uses an LLM agent grounded by code navigation tools to synthesize a parameterized fuzzing harness that fixes the prerequisite setup logic while exposing only uncertain, bug-critical input parameters to be mutated by Syzkaller. SyzHarness then translates this harness into a Syzkaller compatible interface and iteratively refines it using hierarchical reachability feedback. We evaluate SyzHarness on multiple datasets of triggerable real-world Linux kernel vulnerabilities. On 100 KernelCTF cases, SyzHarness achieves a 78% bug reproduction success rate. On the SyzDirect benchmark, SyzHarness achieves a 73% bug reproduction success rate, substantially outperforming prior directed greybox fuzzing. On 50 recent, known-triggerable syzbot bugs fixed after March 2026, SyzHarness reproduces 40/50 (80%) using only the fix commits as input.
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Automated kernel vulnerability reproduction is essential for bug triage, patch validation, and regression testing, but still lacks an effective and efficient solution. The core challenge is twofold: a reproducer must first recover the trigger scaffold needed to reach the vulnerable state and determine the precise concrete values that actually trigger the bug. Existing directed fuzzing approaches are ineffective at recovering the necessary trigger scaffold, while LLM-only generation is brittle because it struggles with concrete-value discovery and runtime nondeterminism. We design SyzHarness, a framework that combines LLM reasoning with coverage-guided fuzzing for patch-based Linux kernel vulnerability reproduction. Given a patch, SyzHarness uses an LLM agent grounded by code navigation tools to synthesize a parameterized fuzzing harness that fixes the prerequisite setup logic while exposing only uncertain, bug-critical input parameters to be mutated by Syzkaller. SyzHarness then translates this harness into a Syzkaller compatible interface and iteratively refines it using hierarchical reachability feedback. We evaluate SyzHarness on multiple datasets of triggerable real-world Linux kernel vulnerabilities. On 100 KernelCTF cases, SyzHarness achieves a 78% bug reproduction success rate. On the SyzDirect benchmark, SyzHarness achieves a 73% bug reproduction success rate, substantially outperforming prior directed greybox fuzzing. On 50 recent, known-triggerable syzbot bugs fixed after March 2026, SyzHarness reproduces 40/50 (80%) using only the fix commits as input.
作者Minkyoung Kim, Daeun Ji, Yohan Lee, Beomsoo Kim, Beakcheol Jang
Time series forecasting underpins critical decision-making across diverse domains. While large language models (LLMs) offer promising reasoning capabilities, existing LLM-based time series forecasting approaches either reduce them to numerical predictors that bypass their strengths, or allow direct forecast generation that destabilizes predictions in non-stationary settings. We introduce CTRL, a framework that decouples semantic reasoning from quantitative prediction. A frozen backbone generates base forecasts, while specialized LLM agents function as controllers that analyze backbone prediction errors through decomposed trend, seasonal, and irregular components, grounding reasoning in interpretable temporal structure. Each agent outputs compact control signals that a lightweight residual decoder translates into forecast corrections. CTRL incorporates label-free test-time adaptation that detects distribution shift from input statistics alone and readapts control signals with only 3-24 LLM calls via caching. CTRL is explicitly designed to improve robustness under non-stationary temporal dynamics and distribution shift, while remaining competitive on highly stationary time series where adaptive correction provides limited additional benefit.
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Time series forecasting underpins critical decision-making across diverse domains. While large language models (LLMs) offer promising reasoning capabilities, existing LLM-based time series forecasting approaches either reduce them to numerical predictors that bypass their strengths, or allow direct forecast generation that destabilizes predictions in non-stationary settings. We introduce CTRL, a framework that decouples semantic reasoning from quantitative prediction. A frozen backbone generates base forecasts, while specialized LLM agents function as controllers that analyze backbone prediction errors through decomposed trend, seasonal, and irregular components, grounding reasoning in interpretable temporal structure. Each agent outputs compact control signals that a lightweight residual decoder translates into forecast corrections. CTRL incorporates label-free test-time adaptation that detects distribution shift from input statistics alone and readapts control signals with only 3-24 LLM calls via caching. CTRL is explicitly designed to improve robustness under non-stationary temporal dynamics and distribution shift, while remaining competitive on highly stationary time series where adaptive correction provides limited additional benefit.
作者Donald Nguyen, Gurbinder Gill, Hadi Ahmadi, Christopher J. Rossbach
Graph databases are frequently positioned as categorically necessary for connected-data workloads, yet the systems dimension along which they actually differ - query planning, indexing, and data-readiness cost - is rarely isolated from vendor framing. We construct a synthetic, biomedical-shaped property graph (1.02 million nodes, 5.34 million total node and edge rows) and a twenty-query workload spanning neighborhood lookups, bounded paths, set intersections, anti-joins, grouped aggregation, top-k ranking, temporal filters, full scans, and relational joins. We benchmark Corvic AI - a purpose-built columnar query engine underlying Corvic's ontology management layer ("memories")- against seven purpose-built or graph-extension database systems (LoraDB, Ladybug, DuckPGQ, Memgraph, Neo4j, HugeGraph, and FalkorDB) at three graph scales spanning three orders of magnitude. We report query latency geomeans, bulk-ingest throughput, point-update latency, and answer correctness for each system, and we derive a simple total-cost-of-ownership model that expresses the ingest/query trade-off as a function of query volume. Our central finding is that no system in this sample is categorically fastest: a native graph engine (Ladybug) outperforms Corvic AI on narrow, bounded-neighborhood shapes, while Corvic AI is faster on shapes that scan or join a large fraction of the graph, and a system implementing graph query syntax via SQL/PGQ (DuckPGQ) is measurably slower purely due to query-plan choice. The dominant cost differential in our data is not query latency but the cost of making data queryable at all: bulk-ingest throughput varies by three orders of magnitude across engines (5.0k-4.3M rows/s), a gap that a simple crossover-point calculation shows dominates total cost for any workload with fewer than roughly 105 queries per data refresh.
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Graph databases are frequently positioned as categorically necessary for connected-data workloads, yet the systems dimension along which they actually differ - query planning, indexing, and data-readiness cost - is rarely isolated from vendor framing. We construct a synthetic, biomedical-shaped property graph (1.02 million nodes, 5.34 million total node and edge rows) and a twenty-query workload spanning neighborhood lookups, bounded paths, set intersections, anti-joins, grouped aggregation, top-k ranking, temporal filters, full scans, and relational joins. We benchmark Corvic AI - a purpose-built columnar query engine underlying Corvic's ontology management layer ("memories")- against seven purpose-built or graph-extension database systems (LoraDB, Ladybug, DuckPGQ, Memgraph, Neo4j, HugeGraph, and FalkorDB) at three graph scales spanning three orders of magnitude. We report query latency geomeans, bulk-ingest throughput, point-update latency, and answer correctness for each system, and we derive a simple total-cost-of-ownership model that expresses the ingest/query trade-off as a function of query volume. Our central finding is that no system in this sample is categorically fastest: a native graph engine (Ladybug) outperforms Corvic AI on narrow, bounded-neighborhood shapes, while Corvic AI is faster on shapes that scan or join a large fraction of the graph, and a system implementing graph query syntax via SQL/PGQ (DuckPGQ) is measurably slower purely due to query-plan choice. The dominant cost differential in our data is not query latency but the cost of making data queryable at all: bulk-ingest throughput varies by three orders of magnitude across engines (5.0k-4.3M rows/s), a gap that a simple crossover-point calculation shows dominates total cost for any workload with fewer than roughly 105 queries per data refresh.
Recent advances in Physical AI have accelerated the use of foundation models in autonomous systems such as unmanned aerial vehicles (UAVs), which must perceive, reason, plan, and act in dynamic environments. Existing benchmarks assess physical perception, intuitive physics, embodied navigation, and collaborative reasoning, but rarely evaluate the agentic decision-making required for reliable autonomy. We introduce PhysAI-Bench, a benchmark for evaluating this capability. It contains 10,178 standardized decision instances automatically extracted from conversational traces of autonomous UAV missions. Each instance preserves mission context, temporal dependencies, physical constraints, Model Context Protocol (MCP) tool calls, Agent-to-Agent (A2A) interactions, sensor observations, and AI-native 6G network conditions, including latency, packet loss, throughput, edge load, and network slicing. We expose only information preceding each decision, preventing future-event leakage and approximating online decision-making. We evaluate 29 foundation models using a two-stage protocol. We select model-specific configurations from 12 combinations of zero-, three-, and five-shot prompting and four temperatures, tested in three runs on a 35-instance, human-verified development set. We then freeze each selected configuration and evaluate it in three runs on a fixed, episode-disjoint set of 500 instances. GPT-5.3 achieves the highest accuracy (52.00%), followed by GPT-5.2 (49.40%) and Grok~4.5 (49.07%). Few-shot prompting generally improves performance, while temperature has limited influence. The results demonstrate that reliable agentic decision-making in Physical AI remains an open challenge. The dataset is available at https://github.com/maferrag/physai-bench
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Recent advances in Physical AI have accelerated the use of foundation models in autonomous systems such as unmanned aerial vehicles (UAVs), which must perceive, reason, plan, and act in dynamic environments. Existing benchmarks assess physical perception, intuitive physics, embodied navigation, and collaborative reasoning, but rarely evaluate the agentic decision-making required for reliable autonomy. We introduce PhysAI-Bench, a benchmark for evaluating this capability. It contains 10,178 standardized decision instances automatically extracted from conversational traces of autonomous UAV missions. Each instance preserves mission context, temporal dependencies, physical constraints, Model Context Protocol (MCP) tool calls, Agent-to-Agent (A2A) interactions, sensor observations, and AI-native 6G network conditions, including latency, packet loss, throughput, edge load, and network slicing. We expose only information preceding each decision, preventing future-event leakage and approximating online decision-making. We evaluate 29 foundation models using a two-stage protocol. We select model-specific configurations from 12 combinations of zero-, three-, and five-shot prompting and four temperatures, tested in three runs on a 35-instance, human-verified development set. We then freeze each selected configuration and evaluate it in three runs on a fixed, episode-disjoint set of 500 instances. GPT-5.3 achieves the highest accuracy (52.00%), followed by GPT-5.2 (49.40%) and Grok~4.5 (49.07%). Few-shot prompting generally improves performance, while temperature has limited influence. The results demonstrate that reliable agentic decision-making in Physical AI remains an open challenge. The dataset is available at https://github.com/maferrag/physai-bench
作者Zhengxuan Wu, Yuxuan Li, Oyvind Tafjord, Been Kim
Effective communication between users and AI agents is essential for human-AI collaboration. The XY problem is a well-known communication pitfall where a person asks about their attempted solution rather than their actual problem. We extend prior sycophancy evaluation to the XY problem in agentic settings, evaluating whether agents can resist plausible but misleading suggestions from users and communicate their reasoning. We introduce XYEval, a meta-evaluation framework that can transform an existing benchmark into an XY problem evaluation. We evaluate five models across six diverse benchmark suites. Agents suffer large XY drops under XY mutation across benchmarks, with relative drops reaching up to 46.7%. With $τ^2$-bench, we further show that agent performance drops more when encountering a pedantic user who requires detailed explanations before approving a better solution. Our findings suggest that current agents lack the ability to effectively reason and communicate when facing misleading suggestions. A simple system instruction baseline that encourages awareness of XY problems only offers partial mitigation. Extensive trace analyses provide behavioral insights into how and why these XY drops occur across execution trajectories. Our results show that mitigating the XY problem remains challenging, requiring agents to both recognize user misdirection and clearly communicate the underlying problem.
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Effective communication between users and AI agents is essential for human-AI collaboration. The XY problem is a well-known communication pitfall where a person asks about their attempted solution rather than their actual problem. We extend prior sycophancy evaluation to the XY problem in agentic settings, evaluating whether agents can resist plausible but misleading suggestions from users and communicate their reasoning. We introduce XYEval, a meta-evaluation framework that can transform an existing benchmark into an XY problem evaluation. We evaluate five models across six diverse benchmark suites. Agents suffer large XY drops under XY mutation across benchmarks, with relative drops reaching up to 46.7%. With $τ^2$-bench, we further show that agent performance drops more when encountering a pedantic user who requires detailed explanations before approving a better solution. Our findings suggest that current agents lack the ability to effectively reason and communicate when facing misleading suggestions. A simple system instruction baseline that encourages awareness of XY problems only offers partial mitigation. Extensive trace analyses provide behavioral insights into how and why these XY drops occur across execution trajectories. Our results show that mitigating the XY problem remains challenging, requiring agents to both recognize user misdirection and clearly communicate the underlying problem.
While test-time scaling enhances Large Language Model (LLM) agents in long-horizon software engineering (SWE), sparse binary rewards (Pass/Fail) create a severe credit assignment crisis and waste failed exploratory trajectories. Current trajectory optimization and scaling methods are costly and structurally limited, relying on heuristic state reuse without causal diagnosis or delayed scalar scoring without actionable online guidance. We propose FLARE (Full-Lifecycle Alignment and Reward Engine), a novel dense supervision paradigm driven by a lightweight Generative Reward Model (GRM). First, RADAR, an offline causal-aware diagnostic framework, extracts high-fidelity, hindsight-free supervision through causal-chain backtracking to distill a GRM providing real-time, step-level risk feedback. Second, FLARE uses this GRM to continuously optimize the agent across its entire lifecycle. During inference, FLARE acts as an Active Scaffold, autonomously intercepting high-risk generation steps for localized breakpoint re-execution, drastically reducing compute overhead. During post-training, the GRM's structured signals serve as process-supervised reranking scores for Supervised Fine-Tuning (SFT) and step-level dense rewards for Reinforcement Learning (RL), mitigating policy collapse in sparse environments. Extensive evaluations show that FLARE establishes a new Pareto frontier across the agent lifecycle: FLARE (N=1) outperforms Global Rollout (N=5) with a 5x reduction in token consumption. Extending FLARE to training overcomes the sparse reward problem in long-horizon interactive tasks, delivering relative performance gains of 19.13% in SFT through process-aware data curation and a consistent 9.19% improvement in RL.
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While test-time scaling enhances Large Language Model (LLM) agents in long-horizon software engineering (SWE), sparse binary rewards (Pass/Fail) create a severe credit assignment crisis and waste failed exploratory trajectories. Current trajectory optimization and scaling methods are costly and structurally limited, relying on heuristic state reuse without causal diagnosis or delayed scalar scoring without actionable online guidance. We propose FLARE (Full-Lifecycle Alignment and Reward Engine), a novel dense supervision paradigm driven by a lightweight Generative Reward Model (GRM). First, RADAR, an offline causal-aware diagnostic framework, extracts high-fidelity, hindsight-free supervision through causal-chain backtracking to distill a GRM providing real-time, step-level risk feedback. Second, FLARE uses this GRM to continuously optimize the agent across its entire lifecycle. During inference, FLARE acts as an Active Scaffold, autonomously intercepting high-risk generation steps for localized breakpoint re-execution, drastically reducing compute overhead. During post-training, the GRM's structured signals serve as process-supervised reranking scores for Supervised Fine-Tuning (SFT) and step-level dense rewards for Reinforcement Learning (RL), mitigating policy collapse in sparse environments. Extensive evaluations show that FLARE establishes a new Pareto frontier across the agent lifecycle: FLARE (N=1) outperforms Global Rollout (N=5) with a 5x reduction in token consumption. Extending FLARE to training overcomes the sparse reward problem in long-horizon interactive tasks, delivering relative performance gains of 19.13% in SFT through process-aware data curation and a consistent 9.19% improvement in RL.
Engineering predictions require physical mechanisms to be translated consistently into equations, discretization, code, and validation, yet errors can propagate despite local checks. Artificial-intelligence (AI) agents automate scientific tasks, but coordinating and independently auditing the theory-to-solver process under physical constraints and human oversight remains unresolved. We introduce a human-in-the-loop, physics-constrained multi-agent workflow where human experts define admissible physics and modeling boundaries, while agents retrieve evidence, derive equations, implement solvers, and audit the theory-to-code chain. Applied to soil-plug evolution during suction-caisson installation, the workflow generated and audited 6 formulations in 2.9 h of agent execution once physical knowledge and inputs were prepared. Among these formulations, adding seepage-driven soil void-ratio evolution to the geometric baseline reduced mean absolute final-heave error from 58.4% to 9.0% across 14 profiles; the selected model further incorporated near-wall dilation and achieved mean absolute percentage errors of 12.4% across 9 final-state cases and 4.2% at the endpoints of 5 process histories. Beyond predictive performance, blinded replay recovered all 9 target problems, while an independent audit uncovered 5 implementation problems after 36 predefined checks had passed. Overall, this work extends multi-agent AI beyond task automation toward human-governed engineering solvers.
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Engineering predictions require physical mechanisms to be translated consistently into equations, discretization, code, and validation, yet errors can propagate despite local checks. Artificial-intelligence (AI) agents automate scientific tasks, but coordinating and independently auditing the theory-to-solver process under physical constraints and human oversight remains unresolved. We introduce a human-in-the-loop, physics-constrained multi-agent workflow where human experts define admissible physics and modeling boundaries, while agents retrieve evidence, derive equations, implement solvers, and audit the theory-to-code chain. Applied to soil-plug evolution during suction-caisson installation, the workflow generated and audited 6 formulations in 2.9 h of agent execution once physical knowledge and inputs were prepared. Among these formulations, adding seepage-driven soil void-ratio evolution to the geometric baseline reduced mean absolute final-heave error from 58.4% to 9.0% across 14 profiles; the selected model further incorporated near-wall dilation and achieved mean absolute percentage errors of 12.4% across 9 final-state cases and 4.2% at the endpoints of 5 process histories. Beyond predictive performance, blinded replay recovered all 9 target problems, while an independent audit uncovered 5 implementation problems after 36 predefined checks had passed. Overall, this work extends multi-agent AI beyond task automation toward human-governed engineering solvers.
As AI agents become increasingly capable, agent-driven robotic control is emerging as a compelling paradigm. However, prevailing vision-language-action (VLA) models and world action models (WAMs) still rely on natural-language instructions to specify manipulation tasks, an ill-suited interface for agent-driven control: referentially ambiguous, spatially imprecise, redundant with the agent's inherent language understanding, and entangling intent with execution. We present AR-WAM, a visual-conditioned, agent-ready world action model that replaces language with two complementary conditions: a visual grounding prompt (a bounding box of the target) denoting the interaction object and location, and a learnable operation token dictating the atomic skill to execute. Our compact 0.5B-parameter model, with a frozen pretrained visual encoder and no language encoder, predicts scene evolution within compact latent states while decoding actions, exposing the policy's intent through explicit, supervisable reasoning signals. A model-agnostic compatibility layer provides three primitives (detect, execute, and query) so that local VLMs or online agent APIs can drive the policy directly, with long-horizon memory and closed-loop error recovery delegated to the agent side. On RoboTwin 2.0, RMBench, and a real Astribot S1 dual-arm platform, AR-WAM matches the strongest baselines on standard manipulation (87.2% average success) and outperforms them on memory-dependent and real-robot long-horizon tasks, improving success rates by 5.9% and 36.7%, respectively, while maintaining the lowest inference latency (14.1 ms).
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As AI agents become increasingly capable, agent-driven robotic control is emerging as a compelling paradigm. However, prevailing vision-language-action (VLA) models and world action models (WAMs) still rely on natural-language instructions to specify manipulation tasks, an ill-suited interface for agent-driven control: referentially ambiguous, spatially imprecise, redundant with the agent's inherent language understanding, and entangling intent with execution. We present AR-WAM, a visual-conditioned, agent-ready world action model that replaces language with two complementary conditions: a visual grounding prompt (a bounding box of the target) denoting the interaction object and location, and a learnable operation token dictating the atomic skill to execute. Our compact 0.5B-parameter model, with a frozen pretrained visual encoder and no language encoder, predicts scene evolution within compact latent states while decoding actions, exposing the policy's intent through explicit, supervisable reasoning signals. A model-agnostic compatibility layer provides three primitives (detect, execute, and query) so that local VLMs or online agent APIs can drive the policy directly, with long-horizon memory and closed-loop error recovery delegated to the agent side. On RoboTwin 2.0, RMBench, and a real Astribot S1 dual-arm platform, AR-WAM matches the strongest baselines on standard manipulation (87.2% average success) and outperforms them on memory-dependent and real-robot long-horizon tasks, improving success rates by 5.9% and 36.7%, respectively, while maintaining the lowest inference latency (14.1 ms).
End-to-end autonomous driving maps current observations directly to future trajectories, yet those trajectories must remain valid as the scene evolves. Future state modeling aims to address this temporal mismatch, but general representations often contain information unrelated to ego planning and affect trajectory generation only through auxiliary supervision, static conditioning, or proposal evaluation. We propose FeasibleFlow, a one-step end-to-end generative framework that jointly transports a configuration-space feasibility field and multimodal ego trajectories. Our Asymmetric Joint MeanFlow uses the pathwise Jacobian-vector product in the MeanFlow identity to incorporate field evolution into trajectory transport. Because safety feedback is sparser than progress feedback, we further introduce the Anchor-relative ranker (ARR) and Pareto-ReinFlow to balance safety and progress in candidate selection and generation, respectively. Experiments on the NAVSIM benchmark demonstrate the strong performance of FeasibleFlow and validate both the joint transport of feasibility and trajectories and the proposed safety-first mechanisms.
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End-to-end autonomous driving maps current observations directly to future trajectories, yet those trajectories must remain valid as the scene evolves. Future state modeling aims to address this temporal mismatch, but general representations often contain information unrelated to ego planning and affect trajectory generation only through auxiliary supervision, static conditioning, or proposal evaluation. We propose FeasibleFlow, a one-step end-to-end generative framework that jointly transports a configuration-space feasibility field and multimodal ego trajectories. Our Asymmetric Joint MeanFlow uses the pathwise Jacobian-vector product in the MeanFlow identity to incorporate field evolution into trajectory transport. Because safety feedback is sparser than progress feedback, we further introduce the Anchor-relative ranker (ARR) and Pareto-ReinFlow to balance safety and progress in candidate selection and generation, respectively. Experiments on the NAVSIM benchmark demonstrate the strong performance of FeasibleFlow and validate both the joint transport of feasibility and trajectories and the proposed safety-first mechanisms.
作者Iana Zhura, Satenik Akopyan, Roohan Ahmed Khan, Miguel Altamirano Cabrera, Aleksey Fedoseev, Dzmitry Tsetserukou
Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets. Efficient coordination depends on task bundling, where each drone visits multiple objectives along its route. Separate solvers for cost estimation, assignment, and execution incur redundant graph search and produce long, abrupt paths. We propose FlockDiffusion, a learned framework combining a scene graph encoder, an explicit allocation head, an assignment conditioned diffusion transformer, and a closed form trajectory decoder. An autoregressive teacher provides offline supervision for parallel fleet trajectory generation. PyBullet ablations show that bundling increases task completion from 50% to 100%, while our complete teacher further reduces route cost by 8.4% relative to MAGNNET with bundling. In the optimized scalability benchmark, evaluated on 100 scenes per density with ten drones, FlockDiffusion achieves 6.2 to 7.6 times faster inference and approximately 37% shorter routes than the classical pipeline. As nominal task counts increase from 20 to 40, latency rises from 7.8 to 11.1 ms, compared with 48.0 to 75.8 ms for the baseline. In a separate evaluation across five Gazebo environments, FlockDiffusion achieves 100% planner coverage and reduces planned route cost by 15.4% relative to the baseline with bundling. These results demonstrate efficient planning under increasing task density in configurations that are demanding to reproduce with physical drone fleets.
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Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets. Efficient coordination depends on task bundling, where each drone visits multiple objectives along its route. Separate solvers for cost estimation, assignment, and execution incur redundant graph search and produce long, abrupt paths. We propose FlockDiffusion, a learned framework combining a scene graph encoder, an explicit allocation head, an assignment conditioned diffusion transformer, and a closed form trajectory decoder. An autoregressive teacher provides offline supervision for parallel fleet trajectory generation. PyBullet ablations show that bundling increases task completion from 50% to 100%, while our complete teacher further reduces route cost by 8.4% relative to MAGNNET with bundling. In the optimized scalability benchmark, evaluated on 100 scenes per density with ten drones, FlockDiffusion achieves 6.2 to 7.6 times faster inference and approximately 37% shorter routes than the classical pipeline. As nominal task counts increase from 20 to 40, latency rises from 7.8 to 11.1 ms, compared with 48.0 to 75.8 ms for the baseline. In a separate evaluation across five Gazebo environments, FlockDiffusion achieves 100% planner coverage and reduces planned route cost by 15.4% relative to the baseline with bundling. These results demonstrate efficient planning under increasing task density in configurations that are demanding to reproduce with physical drone fleets.
Large language model agents are typically deployed with predefined configurations, although the required model capability, context, tools, permissions, memory, and computational resources can vary substantially across tasks. This study develops and evaluates AgentBetta, an adaptive AI Nano-Agent framework that represents these factors as an executable configuration and updates them through verification-driven diagnosis, selective expansion, and verification-based counterfactual contraction. The evaluation distinguishes controlled mechanism validation from external agent comparisons. On the AB-ConfigBench benchmark, AgentBetta achieved 91.38% verified success while reducing median context allocation from 64,000 to 8,000 context characters and median tool exposure from five tools to zero compared with the fully provisioned configuration. The configuration-deficiency diagnosis achieved a macro-F1 score of 0.819 with precision of 1.000 across the evaluated dimensions, and selective expansion avoided unnecessary changes to unrelated configuration dimensions. Post-success contraction preserved verification outcomes in 56.41% of evaluated one-dimension contraction probes, indicating that some successful configurations contained removable capability under the tested conditions. External evaluations indicate that adaptive configuration can improve the balance between verified task completion and capability exposure; however, the results vary across benchmarks and agent families. In particular, the cross-family replication did not reproduce the primary-backbone accuracy ordering, and specialized systems remained advantageous for certain task domains. These results support interpreting AgentBetta as a configuration-adaptation mechanism that regulates capability allocation and inference expenditure rather than as a universal replacement for specialized agent architectures.
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Large language model agents are typically deployed with predefined configurations, although the required model capability, context, tools, permissions, memory, and computational resources can vary substantially across tasks. This study develops and evaluates AgentBetta, an adaptive AI Nano-Agent framework that represents these factors as an executable configuration and updates them through verification-driven diagnosis, selective expansion, and verification-based counterfactual contraction. The evaluation distinguishes controlled mechanism validation from external agent comparisons. On the AB-ConfigBench benchmark, AgentBetta achieved 91.38% verified success while reducing median context allocation from 64,000 to 8,000 context characters and median tool exposure from five tools to zero compared with the fully provisioned configuration. The configuration-deficiency diagnosis achieved a macro-F1 score of 0.819 with precision of 1.000 across the evaluated dimensions, and selective expansion avoided unnecessary changes to unrelated configuration dimensions. Post-success contraction preserved verification outcomes in 56.41% of evaluated one-dimension contraction probes, indicating that some successful configurations contained removable capability under the tested conditions. External evaluations indicate that adaptive configuration can improve the balance between verified task completion and capability exposure; however, the results vary across benchmarks and agent families. In particular, the cross-family replication did not reproduce the primary-backbone accuracy ordering, and specialized systems remained advantageous for certain task domains. These results support interpreting AgentBetta as a configuration-adaptation mechanism that regulates capability allocation and inference expenditure rather than as a universal replacement for specialized agent architectures.