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版本更新 · v2arXiv:2610.06805

H-JEPA: End-to-End Learning of Hierarchical World Models for Visual Planning

Wancong Zhang, Basile Terver, Michael Rabbat, Yann LeCun, Randall Balestriero

原文摘要

Long-horizon planning with latent world models requires reasoning across timescales and levels of abstraction. Existing task-agnostic JEPA world models predict and plan in a single latent space, often at a single timescale. We introduce H-JEPA, an end-to-end recipe for training a hierarchy of action-conditioned JEPAs in which each level predicts farther ahead in its own learned latent space. Planning proceeds top-down: the top level optimizes progress toward the goal, and each level's predictions become subgoals for the planner below it. When factors in the data evolve at separated timescales, higher levels discard fast, unpredictable detail and retain slower task-relevant state. Across four simulated navigation and manipulation environments, hierarchical planning improves over a flat JEPA; on Visual AntMaze, a three-level hierarchy raises success from 18% to 73% using less planner compute. Ablations attribute these gains to both temporal decomposition and higher-level goal representations. With inverse-dynamics supervision, the approach extends to diverse real-robot videos from DROID, where hierarchy improves offline planning fidelity at lower planner compute.

cs.LG · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.28761

KathDB-FAO: Optimizing Multimodal Queries through Operator Grouping and Code Reuse

Guorui Xiao, Douglas Brown, Artur Borycki, Magdalena Balazinska

原文摘要

Advances in multimodal large language models (multimodal LLMs) allow data systems to answer analytical queries over text and images alongside relational tables, but at a significant cost for large-scale data. Existing systems reduce this cost through rewrite rules written in advance, which cannot use the logic of an individual query or the semantics of the data it processes. To address this challenge, we design, implement, and evaluate KathDB-FAO, a query evaluation system over multimodal data. KathDB-FAO decomposes a complex query into an execution plan of fine-grained steps, which we call Function-as-Operators (FAOs). To reduce execution cost, it searches for subsets of these FAOs to implement together as one function, enabling query-specific optimizations that make fewer model calls. Synthesizing these functions with a frontier model has its own cost, yet we observe that synthesized FAOs often recur across queries. To further reduce plan generation cost, KathDB-FAO uses pre-built functions and reuses functions synthesized for earlier queries. On SemBench and an additional workload, KathDB-FAO achieves quality comparable to the strongest competing system while reducing end-to-end cost per query by 76% on average.

cs.DB · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02251

Retrain, Alert, or Rollback? A Three-Response Decision Framework for Production ML Under Concept Drift

Ali Sadeghian, Alireza Shafaei, Hamid Hadibeik, Babak Hossein Khalaj

原文摘要

When a deployed model degrades under concept drift, an operator can retrain it, raise an alert and monitor, or roll back. Yet most drift-adaptation methods consider only retraining. We present RAR (Retrain-Alert-Rollback), a state machine that gives each response an explicit trigger and cost. Retraining is gated on drift detection, label availability, and measured degradation. Every retrained model must pass a two-stage canary before promotion, and corruption-triggered and quality-triggered rollbacks enter different hold states. Under a prospectively specified protocol we compare RAR with six baselines, including a cost-aware retraining policy, on 13 streams: eight real public streams and five semi-synthetic streams derived from them. RAR does not dominate. At low retraining cost, retrain-heavy baselines lead, and no policy's rank differs significantly from RAR's. At higher cost, RAR beats detector-triggered retraining, periodic retraining, and no response simultaneously on four streams, each within a bounded cost window. Its advantage over detector-triggered retraining is consistent with a latency-feasibility condition stated in advance. Against the cost-aware policy, results are heterogeneous. RAR retrains before true drift onsets one eighth to one third as often as detector-triggered retraining, but at lower net utility on most semi-synthetic streams. On H2's designated corruption stream (a registered follow-up), rollbacks fire yet RAR loses to retraining baselines. At $ρ= 1$, removing the canary, and thus rollback, raises utility on 11 of 13 streams. On a post-hoc follow-up stream, cause-specific hold release resumes adaptation where a single cooldown does not. We provide the harness, configurations, and per-cell results for reproduction.

cs.LG · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02248

Metamorphic Testing for Evaluating Robustness of Sentiment Analysis Models

Sowjanya Karanam, Jayanth Bhargav

原文摘要

Machine learning systems are challenging to test using traditional software testing methods because their behavior is learned from data rather than explicitly programmed. This challenge is particularly significant in natural language processing (NLP), where small input variations can lead to unexpected model behavior. Conventional evaluation metrics, such as accuracy and F1-score, often fail to capture such inconsistencies. Metamorphic testing addresses this limitation by evaluating expected relationships between original and transformed inputs. With the increasing prevalence of generative artificial intelligence (GenAI) and language-based AI systems, the need for systematic robustness testing has become even more pronounced. Motivated by this growing need, this paper presents a lightweight, batch-based metamorphic testing approach for evaluating the robustness of such systems. In particular, we consider sentiment analysis as a representative NLP task and evaluate a pretrained classifier under four transformations: synonym replacement, typo injection, word-order variation, and negation. Using consistency score, flip accuracy, and confidence change, we identify strengths in handling semantic variations and vulnerabilities to textual noise and logical transformations. These findings highlight the value of metamorphic testing in identifying behavioral inconsistencies beyond conventional performance metrics and demonstrate its potential as a systematic framework for evaluating the robustness of language-based AI systems and guiding performance improvements before deployment.

cs.LG · cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02245

Modeling Visual Cortex with Layerwise Multiscale Manifold Capacity Maximization

Thomas Yerxa, SueYeon Chung, Eero P. Simoncelli

原文摘要

Task-optimized deep neural networks have risen to prominence as the most predictive phenomenological models of responses in primate visual cortex, but leave much to be desired from the perspective of biological plausibility. One such limitation is the reliance on precise credit assignment through global backpropagation of error signals. Recent work has shown that this weakness can be circumvented by requiring each subsequent stage to solve a distinct and increasingly complex task, allowing for layerwise local learning signals. We propose a novel strategy for crafting such intermediate losses that uses an efficient coding framework formulated in terms of manifold capacity, and which can be computed using a sequence of {canonical cortical computations}. In particular, we leverage the relationship between the multiscale nature of visual signals and the dilation of receptive field sizes in cascaded visual representations to modulate complexity, allowing for the reapplication of these common loss computations at each stage of the hierarchy. We evaluate our approach on its ability to predict neural datasets spanning three areas of the ventral stream hierarchy in macaques, as well as human psychophysical data on an object classification task. We find that our unsupervised layerwise model matches or exceeds the performance of competitive architecture-matched baselines on all evaluations considered.

q-bio.NC · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02244

Can AI Reviewers See Your Efforts to Improve Your Paper? A Large-Scale Study of Paper Revision Trajectories

Yaochen Wang, Chenguang Wang, Ming Li, Haomin Zhuang, Xinyue Zeng, Han Chen, Kwesi Adu Cobbina, Dang Nguyen 等 11 位作者

原文摘要

AI reviewers are increasingly used to assess scientific manuscripts, yet it remains unclear whether their judgments reflect the improvements authors make through revision. We investigate this question using PaperTrajectory-2026, the 2026 release of PaperTrajectory, a dataset of 6,959 paper trajectories across five AI conferences, with automatic annotations of changes along 14 dimensions and separate judgments of overall quality. The annotations show that major improvements emphasize empirical evidence and framing, while later revisions tend toward incremental improvement. Using independent assessments of manuscript versions from eight AI reviewers, we examine whether annotated major improvements receive higher scores, which revision dimensions are associated with score changes, and whether user opinions can outweigh observed revision gains. Every reviewer leaves scores unchanged on most major improvements, and agreement on the direction of score changes is weak. Revision dimensions show some reviewer-specific associations with score increases, but provide limited predictive discrimination and no consistent guide across reviewers. Even when a revision earns a higher neutral score, a brief negative user opinion can erase or reverse that advantage, with substantial variation across reviewers. These findings show that substantive revisions are not consistently reflected in review scores and that observed scoring gains can be vulnerable to user framing, motivating assessments that connect manuscript evidence to overall judgments and remain stable when no scientific evidence changes.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02240

When to Probe and When to Act: Clarity-Aware Risk-Adaptive Control for Interactive Driving

Youran Wang, Devodita Chakravarty, Yiwei Lyu

原文摘要

Safe navigation in interactive traffic requires autonomous vehicles to reason about unobservable human characteristics and the reciprocal nature of multi-agent interactions. Traditional architectures often decouple prediction from planning, leading to the "Frozen Robot Problem" or unsafe maneuvers under high ambiguity because they treat risk assessment and information acquisition as independent objectives. We argue that the notion of safety should not remain static but must instead dynamically co-evolve with the system's internal confidence: the robot should actively clarify ambiguity when necessary while also recognizing the diminishing returns of information, and naturally transition toward task execution. We introduce a unified belief-space Model Predictive Control (MPC) framework that couples multistep information planning with a clarity-adaptive Conditional Value-at-Risk (CVaR) barrier mechanism. By treating clarity, a scalar informational state, as an explicit planning variable, the controller co-designs its probing strategy with its safety specification, tightening conservatism under high ambiguity and relaxing constraints as confidence improves. We further provide a performance analysis showing that the cost of information seeking and the expected planning-cost gap to a controller that knows the true human characteristic are bounded by residual ambiguity and solver error. We evaluate the framework in lane-merging and unsignalized-intersection scenarios against representative interactive-planning baselines. Across 5,000 simulations, the proposed method achieves the highest success rates (94.6% and 93.2%) and the lowest collision rates (1.2% and 1.4%) among the compared methods, providing a principled foundation for robust decision-making in human-centric environments.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2507.22524

HGCN(O): A Self-Tuning GCN HyperModel Toolkit for Outcome Prediction in Event-Sequence Data

Fang Wang, Paolo Ceravolo, Ernesto Damiani

原文摘要

Outcome prediction from event sequence data requires effective use of information at two distinct semantic levels: attributes of individual events and attributes of the complete sequence. Although graph models can explicitly represent temporal relations between events, existing approaches commonly rely on predefined representations and manually configured architectures, with limited consideration of how event and sequence information should be incorporated at their corresponding GNN levels or how GNN models should be fitted to different datasets without manual tuning. We propose HGCN(O), an end to end self tuning graph toolkit for hierarchical information representation and automated model configuration. Its core T-GCN architecture processes event information at the node level and sequence information at the graph level, while O-GCN provides a one level reference for early integration of sequence attributes. TP-GCN and TE-GCN extend T-GCN with a pseudo informative duration embedding and a learned activity embedding, respectively. HGCN(O) integrates these architecture specific designs with hypermodel optimization to jointly determine model structure and training configuration. The core T-GCN achieves F1 scores of 1.0000 on two balanced benchmarks and a weighted F1 of 0.8639 on a highly imbalanced dataset, compared with 0.8318 for GAT and 0.8453 for TransformerConv. Prefix and ablation analyses further demonstrate its effectiveness for outcome prediction from incomplete sequences and quantify the contributions of temporal edge weights and graph level sequence attributes.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.19060

Efficient Factorized Volume Synthesis with Lifted Inter-Slice Feature Trajectories

Xinhe Zhang, Yuyang Zhang, Pengfei Jin, Arnau Marin-Llobet, Na Li, Quanzheng Li

原文摘要

High-resolution 3D medical image generation remains challenging because fully volumetric models are computationally expensive, while efficient 2D slice generators often fail to preserve anatomical consistency across the third dimension. We propose LiFT, a framework for Lifted inter-slice Feature Trajectories that factorizes 3D volume synthesis into per-slice image generation and inter-slice trajectory learning. Rather than using a fully volumetric synthesis backbone, LiFT treats a volume as an ordered trajectory in feature space, capturing how anatomical structures appear, transform, and disappear across depth. We demonstrate the LiFT framework in both unconditional and conditional settings. In unconditional generation, a tri-planar drifting loss matches feature distributions between generated and real volumes across three orthogonal planes; in paired translation, a bidirectional $z$-context mixer trained with paired target supervision supplies through-plane coherence while preserving per-slice fidelity. We evaluate LiFT on BraTS 2023 for unconditional and missing-modality MR synthesis, and on SynthRAD2023 for MR-to-CT translation. LiFT achieves competitive image quality while retaining the efficiency of predominantly 2D synthesis, operating up to $390\times$ faster than a volumetric diffusion baseline and consistently improving through-plane coherence through explicit inter-slice modeling. These results establish lightweight inter-slice trajectory learning as an efficient approach to high-resolution 3D medical synthesis.

cs.CV · cs.AI · eess.IV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2602.04872

Multi-layer Cross-attention is Provably Optimal for Multi-modal In-context Learning

Nicholas Barnfield, Subhabrata Sen, Pragya Sur

原文摘要

Recent progress has rapidly advanced our understanding of the mechanisms underlying in-context learning in modern attention-based neural networks. However, existing results focus exclusively on unimodal data; in contrast, the theoretical underpinnings of in-context learning for multi-modal data remain poorly understood. We introduce a mathematically tractable framework for studying multi-modal learning and explore when transformer-like architectures can recover Bayes-optimal performance in-context. To model multi-modal problems, we assume the observed data arises from a latent factor model. Our first result comprises a negative take on expressibility: we prove that single-layer self-attention models fail to recover the Bayes-optimal predictor uniformly over the task distribution. To address this limitation, we introduce a novel, linearized cross-attention mechanism, which we study in the regime where both the number of cross-attention layers and the context length are large. We show that this cross-attention mechanism is provably Bayes optimal when optimized using gradient flow. Our results underscore the benefits of depth for in-context learning and establish the provable utility of cross-attention for multi-modal distributions.

stat.ML · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02237

Nonreciprocal Spherical Attention and Retrieval: Sharp Coarsening Clocks and Certified Score Correction

Faruk Alpay, Taylan Alpay

原文摘要

We develop nonreciprocal spherical attention as a mathematical framework for coarsening and compressed nearest-neighbor retrieval. For two shrinking acute blocks whose centers have zero skew pairing and whose total mass ratio is subexponential in inverse temperature, we prove $\lim_{β\to\infty}β^{-1}\log T_β=1-\cosφ$, without restricting particle-count growth. An explicit three-body flow has two rigorously separated metastable exponents. For finite compression, mass centering yields a sharp $O(r^2)$ attention-output error bound at fixed temperature, with an explicit spherical-normalization correction. We formulate skew query-side score calibration as a strictly convex moment problem and derive a unique normal equation, residual-based optimization certificates, and bounded low-rank projections. A norm-aware margin objective calibrates native squared-distance rankings. Experiments use semantic retrieval data, one million visual descriptors with three codebook seeds, and a ten-million-vector FAISS IVF-PQ index with recomputed exact cosine ground truth. On SIFT1M, skew margin calibration raises native-L2 hit@10 from 0.8926 to 0.8948; symmetric calibration reaches 0.8996. The ten-million-vector index reaches 0.8827 hit@10 at 0.1794 ms per query in a four-thread batch benchmark, while validation selects no skew update. Exact streamed attention over ten million keys evaluates compressed memory on 1,024 held-out queries. Independent matrix solves, automatic differentiation, finite differences, interval arithmetic, full-flow tests, and nine Rocq-checked algebra lemmas support reproducibility. Directionality alone does not establish retrieval superiority.

cs.LG · cs.IR · math.DS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2502.16617

Optimal Kernel Learning for Gaussian Process Models with High-Dimensional Input

Lulu Kang, Minshen Xu

原文摘要

Gaussian process (GP) regression is a popular surrogate modeling tool for computer simulations in engineering and scientific domains. However, it often struggles with high computational costs and low prediction accuracy when the simulation involves too many input variables. For some simulation models, the outputs may only be significantly influenced by a small subset of the input variables, referred to as the ``active variables''. We propose an optimal kernel learning approach to identify these active variables, thereby overcoming GP model limitations and enhancing system understanding. Our method approximates the original GP model's covariance function through a convex combination of kernel functions, each utilizing low-dimensional subsets of input variables. Inspired by the Fedorov-Wynn algorithm from optimal design literature, we develop an optimal kernel learning algorithm to determine this approximation. We incorporate the effect heredity principle, a concept borrowed from the field of ``design and analysis of experiments'', to facilitate efficient computation. Through several examples, we demonstrate that the proposed method provides competitive prediction and variable selection, with favorable computational performance in the examples considered. It is an effective solution for interpreting the surrogate GP regression and simplifying the complex underlying system.

cs.LG · stat.ME · stat.ML

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.38379

Aligned Data Can Induce Misalignment via Context Confusion

Yavuz Bakman, Duygu Nur Yaldiz, Baris Askin, Swastik Roy, Morteza Ziyadi, Salman Avestimehr, Sai Praneeth Karimireddy

原文摘要

Large language models are frequently updated for various use cases, where filtering out misaligned training samples is a common practice for preventing post-update misalignment. However, alignment is inherently context-dependent: a behavior that is aligned in one context may be inappropriate in another. For example, recommending that researchers retain their data for reproducibility is aligned, whereas recommending that a mobile app retain users' sensitive data may violate users' privacy. Starting from this observation, we identify a posttraining phenomenon where aligned training induces misaligned behavior in other contexts. We call this phenomenon context confusion. We demonstrate context confusion across three domains: (1) Gender Equality, (2) Privacy, and (3) Physical Safety. Unlike the broad misalignment seen in emergent misalignment, context confusion causes domain-specific misalignment that evades general alignment evaluations. Further, it is not effectively reduced by injecting general alignment training data, but can be substantially reduced by including targeted alignment data for the misaligned domain or providing in-context learning examples during inference. Lastly, we provide a mechanistic explanation of context confusion. We observe that queries from different domains can undergo similar representational shifts during the fine-tuning. Consequently, a query from a different domain may activate the same behavioral feature learned during fine-tuning, which causes the behavior to transfer to a context where it is misaligned. Based on our findings, we argue that it is difficult to predict the alignment state of a model after training by inspecting the training data alone, which highlights the importance of comprehensive post-training alignment evaluations.

cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02234

TIGER: Learning from Researcher Taste to Generate Tailored Research Ideas

Shane Gu, Yufeng Lin, Dixi Yao, Xuchen Gong, Chenhao Tan

原文摘要

In pairwise comparisons where each judge chooses between an idea generated by its corresponding TIGER-8B policy and one generated by GPT-4.1, the three LLM researchers select the TIGER-8B idea in 56.6%-68.4% of 76 comparisons per researcher. PhD1 and PhD2 select the TIGER-8B idea in 19 of 30 pairs (63.3%) and 17 of 30 pairs (56.7%), respectively. All six directed cross-policy comparisons likewise favor the judge's matched TIGER-8B policy over an off-target policy, supporting the use of individual preference feedback for tailored research ideation.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02230

Who Should Score the Cache? Mid-Depth Layers Are the Best Judges of KV-Cache Eviction

Ekaterina Seregina

原文摘要

Key-value (KV) cache eviction methods rank tokens by attention scores, and each layer scores its own cache. To our knowledge, no eviction method asks which layer should score. We find, across twenty-one models, that the depth of the scoring layer governs eviction quality. On the eighteen models with per-layer caches, spanning 0.5B to 109B, long-context retrieval accuracy collapses at shallow layers, peaks between 0.4 and 0.75 of depth, and degrades at the last layer. The curve arises because a layer judges tokens well only once it has used the question to find the answer, which takes several layers. Modeling eviction as a top-$k$ cut, we compute answer survival probability from prefill attention and reproduce the measured curves. This approach selects the scoring layer using calibration prompts with known answers, and the selected layer is the best layer measured on most models and never significantly below it. It improves on the own-layer default on sixteen of the eighteen models, with significant gains on seven, all at 14B or below, while on larger models the default is already close to the best mid-depth layer. Scoring every cache from the selected layer while keeping one set of tokens for all heads also beats per-head SnapKV by 18 to 43 points on five models up to 14B under tight budgets. This gain carries over to financial filings at 32K context, all at the same memory budget, with no extra forward pass. The same curve explains a penalty in shared-cache models, where several layers read one cache and the layer that writes it scores by default. On Gemma-4-E2B the writer is shallow and loses 28 points to a mid-depth reader at a 10% budget. We also find that in open-book question answering (LongBench) no mid-depth layer beats the own-layer default.

cs.LG · cs.CL

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2507.02976

How Safe Are AI-Generated Patches? A Large-scale Study on Security Risks in LLM and Agentic Automated Program Repair on SWE-bench

Amirali Sajadi, Kostadin Damevski, Preetha Chatterjee

原文摘要

Large language models (LLMs) and agentic frameworks are increasingly used for development tasks such as automated program repair (APR). Prior work has identified security risks in LLM-generated code, but most studies focus on synthetic, simplified, or isolated tasks. We present a large-scale security analysis of LLM-generated patches using 20,000+ GitHub issues from SWE-bench. We evaluate developer-written patches, two standalone LLMs (Llama 3.3 Instruct-70B and GPT-5.4 nano), and four agentic frameworks (OpenHands, AutoCodeRover, HoneyComb, and SWE-agent). We also analyze code, issue, and project-level factors associated with insecure patches. Under our evaluated SWE-bench setup, Llama 3.3 introduced 135 manually confirmed vulnerabilities across the train and test sets, compared with 12 in developer-written patches for the same issues. On the SWE-bench test set, GPT-5.4 nano introduced 3 vulnerabilities compared with 2 in developer patches. All four evaluated agentic frameworks also introduced vulnerabilities. OpenHands had the highest retained count, with 44 vulnerabilities across 11 issue instances. Vulnerabilities are associated with broader code modifications and with issues missing specific information. These results suggest that APR systems require proactive risk assessment methods that consider both generated code and issue context.

cs.CR · cs.LG · cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2603.19461

Hyperagents

Jenny Zhang, Bingchen Zhao, Wannan Yang, Jakob Foerster, Jeff Clune, Minqi Jiang, Sam Devlin, Tatiana Shavrina

原文摘要

Self-improving AI systems aim to reduce reliance on human engineering by learning to improve their own learning and problem-solving processes. Existing approaches to self-improvement rely on fixed, handcrafted meta-level mechanisms, fundamentally limiting how fast such systems can improve. The Darwin Gödel Machine (DGM) demonstrates open-ended self-improvement in coding by repeatedly generating and evaluating self-modified variants. Because both evaluation and self-modification are coding tasks, gains in coding ability can translate into gains in self-improvement ability. However, this alignment does not generally hold beyond coding domains. We introduce \textbf{hyperagents}, self-referential agents that integrate a task agent (which solves the target task) and a meta agent (which modifies itself and the task agent) into a single editable program. Crucially, the meta-level modification procedure is itself editable, enabling metacognitive self-modification, improving not only the task-solving behavior, but also the mechanism that generates future improvements. We instantiate this framework by extending DGM to create DGM-Hyperagents (DGM-H), eliminating the assumption of domain-specific alignment between task performance and self-modification skill to potentially support self-accelerating progress on any computable task. Across diverse domains, the DGM-H improves performance over time and outperforms baselines without self-improvement or open-ended exploration, as well as prior self-improving systems. Furthermore, the DGM-H improves the process by which it generates new agents (e.g., persistent memory, performance tracking), and these meta-level improvements transfer across domains and accumulate across runs. DGM-Hyperagents offer a glimpse of open-ended AI systems that do not merely search for better solutions, but continually improve their search for how to improve.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02218

Beyond Ensemble Disagreement: Predictive STL Monitoring of RL Locomotion under Distribution Shift

Qurban Ali, Badaruddin Chachar, Maqsood Ali, Sajjad Ali Rajper

原文摘要

RL locomotion policies trained under nominal simulation conditions may encounter distribution shifts that compromise safety. Predictive monitors could anticipate violations, but their world-model forecasts may become unreliable under shift, and ensemble disagreement is not calibrated. We evaluate predictive Signal Temporal Logic (STL) monitoring for frozen Ant-v5 and HalfCheetah-v5 policies using closed-loop world-model rollouts and a three-model ensemble. Across external-force, observation-noise, and mass shifts, predicted robustness ranks HalfCheetah's future STL violations strongly, whereas disagreement does not reliably track observation prediction error or violations. Under severe noise, violations remain common ($64.2\pm24.4\%$ at $K{=}20$ across three PPO seeds), yet current-state robustness without prediction comes within $0.03$ AUROC of predictive robustness. Penalizing predicted robustness by disagreement does not consistently improve ranking. Ant provides complementary per-specification evidence, but its composite target has no positive violations and its any-violation target is single-class in most evaluated seed-condition slices. Overall, predictive robustness provides useful STL-specific ranking but little demonstrated additional ranking value over the current state; these findings caution against treating ensemble disagreement as a reliable indicator of safety uncertainty.

cs.RO · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2601.16955

3D Molecule Generation from Rigid Motifs via SE(3) Flows

Roman Poletukhin, Marcel Kollovieh, Eike Eberhard, Stephan Günnemann

原文摘要

Three-dimensional molecular structure generation is typically performed at the level of individual atoms, yet molecular graph generation techniques often consider fragments as their structural units. Building on the advances in frame-based protein structure generation, we extend these fragmentation ideas to 3D, treating general molecules as sets of rigid-body motifs. Utilising this representation, we employ SE(3)-equivariant generative modelling for de novo 3D molecule generation from rigid motifs. In our evaluations, we observe results competitive with state-of-the-art bond-implicit methods, surpassing them in atom stability on GEOM-Drugs, while yielding a 2x to 10x reduction in generation steps and 3.5x compression in molecular representations compared to standard atom-based methods. We release our code at https://github.com/rpoletukhin/MotiFlow.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2511.00917

MAESTRO: Orchestrating Robotics Modules with Coding Agents for Zero-Shot Generalist Robots

Junyao Shi, Rujia Yang, Kaitian Chao, Selina Bingqing Wan, Yifei Shao, Jiahui Lei, Jianing Qian, Long Le 等 12 位作者

原文摘要

Today's dominant route to generalist robots scales robotics data to train end-to-end policies. We instead use a vision-language model (VLM) as a coding agent that writes robot programs using a curated library of perception, planning, and control tools. MAESTRO's orchestration harness packages multi-step perception and action procedures into callable tools and guides their use through a plan-act-replan loop, using visual and execution feedback to verify outcomes and recover from failures. With this tool library and harness, MAESTRO matches or surpasses state-of-the-art vision-language-action (VLA) models zero-shot in our tabletop comparison and performs diverse mobile manipulation tasks, without collecting new teleoperation data or invoking a VLA tool. Ablations show that expanding the tool library improves average task progress with the full harness, while adding tools without it does not reliably improve progress. Case studies illustrate MAESTRO's potential for autonomous code improvement across trials, faster execution with VLA tools, and automatic robot data generation. We show that expanding robotics tool libraries together with their orchestration harnesses offers a complementary route to general-purpose robots alongside scaling end-to-end robot training data. Project site: https://maestro-robot.github.io. Code: https://github.com/penn-pal-lab/maestro.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.22909

Learning to Charge More: How Q-Learning Firms Lock In Supracompetitive Prices

Cristian Chica, Yinglong Guo, Gilad Lerman

原文摘要

There is growing experimental evidence that $Q$-learning agents can learn to charge supracompetitive prices. We ask when such behavior persists, whether it emerges, and which strategies support it. In a repeated pricing game in which firms condition on the previous period's price profile, we give conditions on the learned action values under which supracompetitive prices become an absorbing state once experimentation ends. We then show that under softmax exploration these conditions are reached with positive and explicitly bounded probability, both from a random and from an all-zero initial $Q$-table. In the latter case firms lock in supracompetitive prices because they never learn that undercutting pays; the same mechanism can lock in the competitive price, so the long-run outcome is selected by the exploration path. Finally, we give sufficient conditions on the learned table under which the induced strategy is naive collusion, a grim trigger strategy or an increasing-price strategy; grim trigger strategies are subgame perfect under a standard discounting condition, whereas naive collusion is generally not an equilibrium.

econ.GN · cs.AI · cs.GT

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版本更新 · v2arXiv:2606.06252

Can Test-Time Reconstruction Close the Loop on Latent Reasoning?

Xiaopeng Yuan, Haibo Jin, Ye Yu, Peng Kuang, Lijun Yu, Yushun Dong, Haohan Wang

原文摘要

Recent work moves intermediate reasoning from natural-language traces into latent or cache-level representations to reduce token overhead and avoid a discrete communication bottleneck. However, this shift also removes a key advantage of textual reasoning: intermediate states are no longer inspectable, making it difficult to determine whether a latent state still preserves the constraints of the original query. As a result, latent reasoning typically operates in an open loop, where a latent state is produced and consumed without an input-anchored fidelity check. We propose ReLAT (Reconstruction-Guided Latent Reasoning At Test Time), a self-supervised test-time training method that closes this loop using the query itself as the reference. Our key observation is that if a latent state faithfully represents a query, the query should be recoverable from it; if the query cannot be recovered, the latent state has lost task-relevant information. ReLAT operationalizes this principle by constructing a differentiable Question -> Latent Thought -> Question cycle and optimizing query reconstruction loss through the latent thought before answer generation. This anchors opaque latent computation to the problem specification it is supposed to represent. Across mathematical reasoning, knowledge QA, and code generation benchmarks on the Qwen family, ReLAT consistently improves over single-model inference, text-based collaboration, open-loop latent collaboration, and alternative test-time training objectives. On Qwen3-8B, ReLAT raises AIME 2024 accuracy from 56.7% to 73.3%, a 16.6-point gain over the strongest open-loop latent baseline.

cs.AI

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新论文 · v1arXiv:2611.02215

Discrimination, Calibration, and Ranking: A Unified Matrix Framework

Ronaldo Cristiano Prati, Farangis Johari

原文摘要

Discrimination, calibration, and ranking are the three pillars of classifier evaluation, yet no single algebraic language spans all three. A recent indicator-matrix account unifies discrimination measures (precision, recall, F1, Matthews correlation) across binary, multiclass, multilabel and related settings, using Boolean cell operations on indicator label matrices, generalised to soft labels by t-norms. Calibration measures (Brier score, log-loss) and ranking measures (nDCG, AUC) fall outside it. We close the gap with two further classes of cell operators: deviation operators phi(y - yhat), which give a Calibration Framework, and rank- and slice-dependent operators (positional gains for DCG, column concordance cells for AUC), which give a Ranking Framework. Both inherit the micro/macro/exemplar aggregation architecture. For calibration, the three Brier aggregations collapse to one scalar; the Murphy decomposition holds in matrix form (unbinned, binned and isotonic); and, within the Brier-type class-indexed family, a measure is skew-invariant if and only if it depends only on the class-conditional errors alpha_j and beta_j, the calibration analogues of recall and specificity. For ranking, raw DCG collapses across aggregations while nDCG does not; per-class nDCG and per-class AUC are related by a row-column duality; micro-AUC differs from pooled ROC-AUC; raw positional scores are never strictly proper, and nDCG and AUC need not be proper. The skew-invariant per-class building blocks share one class-conditional expectation template. Experiments on two multilabel benchmarks illustrate the distinctions. Many of the results are machine-checked in Lean 4; the proofs, the experiments and the aggmetrics.scores package are public: https://github.com/rcprati/discrimination-calibration-ranking

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.09401

Can the Library Speak? Self-Advertised Method Selection for Formal Proving

Xiaopeng Yuan, Suijin Wang, Yanli Wang, Haibo Jin, Peng Kuang, Jerry Wang, Lijun Yu, Haohan Wang

原文摘要

LLM-based formal provers can retrieve relevant lemmas and prior proofs, but relevance alone does not say whether a mathematical method can be used on the current theorem. A method has prerequisites, a target, an intended action, and obligations that its use leaves to prove. Methods that look equally related to a theorem may therefore differ substantially in whether they offer a plausible next step. We formulate this as an applicability-aware method-selection problem and introduce self-advertisement: before candidates are ranked, a model generates a problem-specific proposal for each one, stating what part of the goal it targets, what action it would take, and what conditions that action requires. We organize 82 reusable methods from Putnam 2000-2014 as Method Contracts, which pair applicability descriptions with Mathlib anchors, a checked example or scaffold, and expected proof obligations. A single batched call elicits proposals across the library; vague or unsupported proposals are demoted, yielding a ranked shortlist accompanied by inspectable claims about each candidate's use. We analyze when similarity-based representations cannot distinguish methods with different applicability, how errors in applicability estimates affect shortlist quality, and what a checked scaffold guarantees under its stated assumptions. Against lexical, embedding, and embedding-plus-LLM reranking baselines, self-advertisement achieves 95.0% hit@5 on Putnam 2015-2025, compared with 84.2% for the strongest reranker. On IMO ProofBench, it achieves 91.7% compared with 88.3%. These results indicate improved coverage of annotated methods in the retrieved shortlists, particularly on Putnam.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2601.16724

Mitigating Bias in Automated Essay Scoring for ESL Learners via Contrastive Learning

Kevin Fan, Eric Yun

原文摘要

Automated Essay Scoring systems disproportionately penalize high-proficiency English as a Second Language (ESL) learners. We propose Contrastive Learning with Matched Essay Pairs (CL-MEP), a bi-directional alignment strategy. CL-MEP reduces this scoring bias by 39.9% while improving overall accuracy, successfully disentangling valid syntactic complexity from surface-level grammatical errors.

cs.CL

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新论文 · v1arXiv:2611.02211

Forecasting Earth Surface Change in Embedding Space

Jingtao Li, Sadiq Jaffer, Anil Madhavapeddy, Pedro Sousa, Anthony Ortiz, Kyle Gao, Zhengpeng Feng, Yanfei Zhong 等 10 位作者

原文摘要

Repeated satellite imagery permits understanding of how our planet changes over time, letting us predict its future and plan mitigating actions. Most existing studies that rely on a time series of satellite observations forecast the spectral values at each pixel for a future target date. However, clouds, shadows, and sensor noise often corrupt these observations, so that spectral forecasters waste much of their capacity on low-level features or noise rather than real change. With the advent of Earth foundation models, we argue that forecasting in embedding space is a feasible and more effective alternative. To this end, we design a token space that handles irregular histories from different sensors and foundation models and supports forecasts at any query date. Tokens from this space are inputs to our proposed forecaster, E$^2$Forecast, which is a transformer with two branches: a Gaussian branch that directly predicts a mean point forecast and per-dimension standard deviations, and a rectified-flow branch that generates forecast ensembles. On Sentinel-1 and Sentinel-2 benchmarks, forecasting embeddings instead of spectral values halves the cosine distance (from 0.20 to 0.10) and greatly reduces overconfidence, lowering the z-score standard deviation from 2.63 to 1.22. By comparing new observations with its forecasts, E$^2$Forecast can also detect anomalous changes without labels or retraining, raising F$_1$ from 41.58 to 48.70 on a global benchmark. This consistent superiority is validated on nine remote sensing foundation models. Beyond change detection, we believe our approach advances the field by permitting effective reuse of diverse pretrained task heads. Our code is publicly available at https://github.com/ucam-eo/e2forecast.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.16972

When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs

Negin Musavi, Gokul Puthumanaillam, Ruben Hernandez, William Schafer, Melkior Ornik

原文摘要

Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but onboard energy and compute budgets cap how often a full state estimation and re-planning step can be performed. This raises a question: \emph{when}, along a horizon, should a robot spend its limited budget? We formulate this problem in time-varying Markov decision processes (TVMDPs) with a known bound on the rate of transition drift. We model execution as a \emph{skip-update} scheme in which, at chosen update times, the agent estimates the transition kernel by maximum likelihood and computes a finite-horizon policy, and between updates reuses this policy under a propagated state estimate. We analyze the dynamic regret of this scheme and show how it grows during skip intervals in terms of the properties of the TVMDP and the skip lengths; the resulting bound answers the opening question via an online, regret-guided update rule that allocates the budget adaptively. We evaluate the rule in a simulated Mars-rover navigation task with time-varying slip dynamics and on a Crazyflie quadrotor in indoor obstacle fields. Adaptive allocation outperforms other budgeted baselines.

cs.RO · eess.SY

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.28449

Establishing the Minimal Clinically Important Difference (MCID) for Smartphone-Derived Gait Measures in Multiple Sclerosis

Mike D Rinderknecht, Bernhard Fehlmann, Dimitar Stanev, Cedric Simillion, Ernst Bos, Letizia Leocani, Agne Kazlauskaite, Gary Cutter 等 10 位作者

原文摘要

Background: Digital health technologies allow for frequent, remote gait monitoring in people with multiple sclerosis (MS). However, to differentiate daily variability from actual disease progression in longitudinal data, established minimal clinically important differences (MCID) are required. Currently, there is limited literature defining these thresholds for digital gait metrics. Objective: To establish MCIDs for digital gait measures reflecting progression in MS. Methods: Digital gait measures were captured via daily, remote, smartphone-based Two-Minute Walk Tests in CONSONANCE (NCT03523858), a phase 3b study of ocrelizumab in progressive MS. Using an anchor-based approach, median changes from baseline at Week 96 on digital gait measures were computed for patients showing clinically meaningful worsening on either Timed 25-Foot Walk, Ambulation Score, Expanded Disability Status Scale, or 12-item Multiple Sclerosis Walking Scale. These changes were subsequently triangulated to derive the MCID estimates. Results: 243 patients with progressive MS (female: n=125 (51%); mean [SD] age: 49.3 [9.3]; mean [SD] EDSS: 4.8 [1.4]) had digital gait data available at baseline and Week 96. Median changes were generally consistent across anchors. Triangulated MCIDs are: Step Velocity = -0.16 m/s, Step Velocity Scaled to Walking Time = -0.18 m/s, Step Duration = 0.06 s, Step Length = -0.07 m, Total Number of Steps = -28, and Total Distance Walked = -24 m. Conclusion: These MCIDs provide a framework for interpreting meaningful gait changes and integrating digital measures into MS outcome evaluation. Beyond facilitating novel clinical trial endpoints to evaluate treatment efficacy, they enable objective, real-world monitoring to advance personalized patient care.

q-bio.QM · cs.CV · physics.med-ph

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新论文 · v1arXiv:2611.02208

Test-Time Scaling for Open-Ended Reasoning at Small Model Scale

Adam Y. Ahmed, Abdullah G. Elafifi

原文摘要

A vote over a model's samples can only help when the samples disagree. For open-ended generation the binding question is therefore not how to combine samples but whether a model produces samples worth combining, a question test-time scaling has answered for math but not for free-form text. We study it at small scale with semantic cluster voting, a judge-free aggregator that groups a small instruct model's samples by meaning and returns the largest cluster's representative, with no reward model or self-judging. On a 250-prompt benchmark with three tiers of answer checkability, the same pattern holds across three model families (Qwen2.5-3B, Llama-3.2-3B, Gemma-2-2B) and two generation seeds: voting raises accuracy on the math control, where samples vary but stay checkable (a gain of +10 to +29 points across the three models), yet adds at most +0.30 judge points on open-ended text. On a larger 200-problem MATH-500 run with the primary model, the math gain is +8.5 points (95% CI [+4.0, +13.0]). Almost every open-ended sample falls into one meaning cluster, so there is little to select over. The collapse is consistent with instruction-tuning rather than model size, and raising decoding temperature does not recover usable diversity, because it costs more quality than it adds (net -0.64 judge points, 95% CI [-0.93, -0.37]).

cs.LG · cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02207

Built on Broken Assumptions (BOBA): Why Coding Agents Cannot Be Left Alone

Alejandro Cuadron, Arpit Gupta

原文摘要

Coding agents are autonomous developers. Given a request, they change the code and report back when done. As such, they can handle not only independent requests but whole chains of them, each request built on the last. Agents are known to report wrong work as done, yet benchmarks still test them one request at a time, on human-written code, checked once. We build BOBA-Bench, 280 chains of 20 consecutive requests drawn from 140 real open-source projects, and evaluate ten coding agents on both. All ten do far worse on chains. On average, they complete 95% of requests taken one at a time, but when requests are chained together, they complete 51%. Worse code is not the cause. Once checked, agent code is nearly as good a base for later requests as human code. The cause is the mistakes agents miss. Coding agents declare a request done once their own tests pass, even when those tests miss a mistake. The next request then builds on broken code and fails about twice as often. The mistake is rarely found later. Nor can agents catch such mistakes by reviewing code. Asked whether an implementation is correct, they are right 53% of the time, barely better than a coin flip. Coding agents are therefore heavily dependent on access to verification. A single external ``that's wrong'' after a failed request and one repair round lift chain completion from 51% to 59%, and a repaired mistake no longer hurts the requests that follow. In simpler terms, coding agents are only as reliable as the checks they can reach: without verification, every request that follows is built on broken assumptions.

cs.SE · cs.LG

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