Self-evolving personal agents act for users and learn from user feedback. However, if an agent obeys an instruction that an untrusted third party hides in content, the third party gains control of the agent. Such indirect prompt injection (IPI) poses severe risks. We investigate whether self-evolution degrades the robustness of personal agents to IPI. To study this question, we design a controlled two-phase methodology. In the adaptation phase, the user asks the agent to read external content and complete the task described in it, a common request in daily use. The agent then learns from the user's feedback and improves itself as designed. In the test phase, a third party writes a similar task into new external content, but the user's test request does not authorize the injected task. Using this methodology, we build multiple tasks with diverse test instances in different domains for a real personal agent. Our extensive experiments reveal that self-evolution substantially degrades robustness to IPI. Specifically, compared with the base agent, which does not evolve from user feedback, the average attack success rate rises by 14.0--48.8 percentage points under skill evolution and by 3.0--39.3 percentage points under reinforcement learning, posing safety risks. The code is available at https://github.com/SaFo-Lab/Evolve-IPI
Proactive agents must decide whether, when, and how far to assist without an explicit request. Existing evaluations often rely on automated scores or binary verdicts, offering limited human diagnosis of evidence use and intervention quality. To address these gaps, we introduce HALO, Human-Grounded GrAnular EvaLuation of PrOactive Agents. HALO-Arena covers 4 proactive need types, Dependency, Blockage, Risk, and Opportunity, across 10 everyday domains and 50 personal environments. Scenarios require agents to retrieve evidence from structured databases or unstructured documents before judging whether assistance is warranted and choosing its scope. On HALO-Arena, we construct HALO-8K, a dataset of 8,000 responses from 10 models across 400 scenarios, annotated by 20 experts for action level, acceptability verdicts, and human diagnosis. For rejected responses, human diagnosis covers timing, intensity, and other issues. Recorded reasoning tokens and retrieval rounds measure the effort behind these responses. The best proprietary and open-source models achieve 72.88% and 56.63% acceptability, respectively. Our central finding is that over-proactivity is the dominant observed failure mode, with Premature timing or Excessive intensity accounting for 61.20% of rejected responses. Further analyses yield complementary findings on the balance between intervention and restraint, evidence acquisition, and the calibration of timing and intensity.
Typed decision models are an emerging class of language models that make decisions instead of generating free-text responses. They answer in a single fast and cheap query and are increasingly used, including in security-sensitive tasks. However, red teaming of these models leaves two gaps: existing adaptive attacks do not use their speed, and few studies have searched for universal adversarial examples. We fill both gaps on Jev, the representative typed decision model, with a quick black-box query-based attack that calls no attacker language model. We conduct extensive experiments on 12 datasets with different data types and application scenarios. The results show that Jev resists common prompt injections: no strategy changes a correct answer in 10,240 paired tests. In contrast, our attack finds short suffixes that flip confident answers within minutes. These suffixes are universal: one suffix per dataset flips 43% of unseen documents. Because typed decision models, unlike classic NLP models, can serve many tasks, we test whether these suffixes transfer across tasks. We find that one suffix generated from one task can flip 90-100% of the samples in other tasks. We therefore believe the evaluation of typed decision models must include strict adaptive attacks to fully reveal their robustness.
Zhuoyun Li, Boxuan Wang, Jinwei Hu, Xiaowei Huang, Yi Dong
Large Language Models (LLMs) are increasingly being used as cognitive interfaces that shape how users interpret evidence, communicate, and make decisions. As deployed systems become more multimodal, tool-using, and multi-agent, safety failures no longer arise only from isolated harmful outputs, but also from how agents update, store, and propagate epistemic commitments across retrieval, memory, tools, and peer communication. In this paper, we define belief as an engineering abstraction for evidence-based commitments that guide downstream action. Building on this view, we propose the Explicit Belief Multi-Agent System (EB-MAS), which externalizes belief states into a structured substrate, uses belief operators to propose candidate updates, and applies a Cognitive Firewall to bound or reject updates that are weakly evidenced but strongly driven by vulnerability cues. We also discuss the risk of group belief at the group level, including manufactured consensus, collusion, and cascading misinformation, and outline practical integration challenges around grounding, false positives, scalability, and ethical misuse. Therefore, scalable agent safety requires not only better output filtering or stronger base models, but also explicit interfaces for tracing, calibrating, and constraining belief revision at runtime.
Jev enables efficient decision-making with large language models (LLMs) through typed querying primitives, allowing the same semantic state to be expressed in different formats, such as binary and multiple-choice queries. However, the consistency of decisions across primitives has not been systematically evaluated. This work introduces PrimaCons, a four-axis benchmark for assessing cross-primitive consistency while preserving the semantics of the query. Evaluations across three Jev sizes reveal consistency violations across all four axes. Our analysis shows that these violations follow systematic patterns and that cross-primitive discrepancies predict decision failure with a ROC-AUC of 0.91. To mitigate these inconsistencies, we propose the Cross-Primitive Residual Calibrator (CPRC), which attaches a lightweight residual network to a frozen backbone and jointly optimizes predictive accuracy and cross-primitive consistency. Under a leave-one-domain-out protocol, CPRC reduces cross-primitive inconsistency by 58.57% and improves accuracy by +2.97%., demonstrating its effectiveness in both in-domain and out-of-domain settings. Our findings establish cross-primitive consistency as a key dimension for evaluating Jev and provide a practical approach to improving the reliability of its decisions. Code and benchmark is available at https://github.com/67L1/PrimaCons-CRPR.
A memory can be outdated for present-day reasoning yet indispensable for reconstructing the past. Relevance-based retrieval overlooks this tension: semantic relevance, evidence-grounded validity, and query-specific eligibility are distinct. We propose CALM, a conflict-aware lifecycle memory governance framework that decouples persistent memory preservation from query-time admission. CALM converts heterogeneous records into evidence-grounded memory cells, updates validity and lifecycle states using support, conflict, and dependency signals, and admits query-appropriate evidence through training-free or learned gating informed by temporal applicability. Across LongMemEval-S and LoCoMo with Qwen and GPT backbones, CALM outperforms state-of-the-art baselines, achieving the best overall accuracy. Compared with simple filtering and reranking, query-conditioned admission further improves evidence selection. Conflict-blocking and robustness analyses show CALM suppresses erroneous retrieved memories while retaining useful evidence. Historical-reconstruction experiments demonstrate that preserving superseded records supports accurate earlier-state reasoning without compromising current-state answers.
Chumeng Liang, Linxuan Wang, Xinyu Peng, Huabin Liu, XiaoXu Guo, Yuxin Chen, Ge Liu, Guang Lin 等 10 位作者
Speculative decoding accelerates language model inference by verifying multiple draft tokens in a single target-model pass. Recent parallel drafters have achieved breakthrough performance in frontier production models, but their effectiveness deteriorates as the entropy of target distributions increases due to insufficient draft diversity. To overcome this bottleneck without sacrificing parallelism, we introduce UBTree, a parallel drafter that couples a Unigram proposer with a Bigram selector to construct drafting Trees. The unigram proposer is trained with the standard cross-entropy objective to generate candidate tokens independently for each position, while a lightweight bigram selector predicts transition scores between adjacent candidate pairs. Unlike the proposer, the selector is trained with a renormalized KL objective on high-temperature data. This tree-native training broadens the supervision beyond the greedy path, encouraging plausible alternative branches that improve the chance of accepting additional tokens during tree verification. Across seven standardized benchmarks with Qwen3-4B and Qwen3-8B, UBTree achieves an average speedup of $5.84$--$6.94\times$ over autoregressive decoding and outperforms DARTree in all 28 comparisons. Production-scale evaluation further demonstrates UBTree's advantage over frontier baselines such as DSpark.
Jiahui Li, Jiawei Sun, Zixiang Ren, Ming Liu, Jiamin Shi, Ruiteng Zhao, Zhiyang Liu, Liying Liu 等 10 位作者
Recent perception-free end-to-end (E2E) autonomous driving methods bypass explicit perception outputs by compressing dense image patch tokens into compact scene tokens for downstream trajectory generation and scoring. While these scene tokens form a compact visual bottleneck for the planner, they receive supervision solely from the planning objective, providing limited constraints on the encoded visual information. To address this limitation, we introduce Neural Token Reconstruction (NTR), a representation learning framework to directly constrain the compact scene-token bottleneck in perception-free driving. NTR introduces a self-distillation masked latent reconstruction objective that reconstructs masked patch-level latent features using only compact scene tokens as reconstruction memory. This forces reconstruction gradients to pass exclusively through the scene-token bottleneck, encouraging scene tokens to preserve richer and less redundant visual representations for planning. We further introduce semantic priors derived from foundation-model annotations as a weak semantic interface biasing reconstruction targets toward driving-related structures without introducing explicit perception heads. All auxiliary reconstruction components are removed at inference time, leaving the deployed planner unchanged. NTR achieves state-of-the-art performance on three public autonomous driving benchmarks, including 8.0461 RFS on Waymo E2E and 94.1 PDMS / 90.9 EPDMS on NavSim1&2. The learned scene tokens exhibit lower pairwise redundancy and higher effective rank, indicating that effective bottleneck supervision improves both compact visual representation learning and planning performance.
Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipulation remains vulnerable to accumulated execution error and visual aliasing across task stages. Successful rollouts provide useful corrective evidence, yet current frame retrieval can return progress-misaligned actions,while direct replay or time-domain fusion can overwrite the reactive structure of the policy proposal. We introduce Retrieve in Time, Correct in Frequency (RTCF), a training-free test-time correction framework that improves frozen VLA performance with low model-side overhead.RTCF separates which experience to retrieve from which part of its action to transfer. Progressive Memory Alignment (PMA) causally aligns the growing visual execution history with complete successful trajectories through incrementally updated monotonic frontiers, jointly identifying a relevant memory and the current aligned memory position without stage labels. From the aligned action chunk,RTCF transfers a coefficient-wise-clipped low-frequency residual on motion channels. Higher-frequency components and gripper decisions remain inherited from the frozen policy. Across four LIBERO suites and 2,000 episodes per condition, RTCF raises aggregate success from 86.4% to 88.4% and improves LIBERO-Long from 61.6% to 68.6%.These gains require no parameter updates, repeated VLA inference, or additional GPU resources: correction can be performed on the client CPU after a single policy invocation, and the median latencies sum to only 10.99 ms per action chunk
Junzhang Liu, Hao Yuan, Yiming Wu, Qi Zhang, Long Chen, Zhecan Wang
Effective video agents must learn not only how to answer, but also where to look next. Transferring this capability to smaller models is challenging because each observation serves two purposes: supporting an answer and guiding the search for further evidence. Textual descriptions may capture what is currently visible while omitting cues needed for subsequent acquisition. We introduce Latent Agentic Reasoning for Video Analysis (LARVA), a framework that distills multi-round video agents through jointly learned latent reasoning and visual observations. Rather than communicating through captions, an observer passes compact continuous representations to a reasoner that selects the next acquisition action or produces the final answer. Crucially, action and answer supervision propagate through this interface, training the observer to communicate information useful for downstream decisions. Observation reconstruction and reasoning-distribution alignment provide auxiliary supervision from textual teacher trajectories. Across five video-understanding benchmarks, LARVA achieves strong performance with 4B and 7B backbones. On VideoHolmes, Video-MME, and LVBench, the 7B model outperforms a textual CoT student trained on the same teacher trajectories by 5.1, 2.5, and 3.7 percentage points, respectively. These results highlight the value of jointly learning how agents represent evidence and act on it when distilling video-understanding capabilities.
Visual foundation models learn rich pathological morphology but lack explicit concept-level supervision. Vision--language pretraining can provide this supervision but requires costly image--text pairs. Here, we introduce GloSAGE, a semantic self-distillation framework that uses lesion profiles predicted by a pretrained visual teacher to construct structured pathology descriptions. Reliability-guided selection identifies image--text anchors, while Knowledge-Structured Pathology Text Synthesis and Evidence-Guided Negative-pair Construction account for partially observed lesions. Image--text alignment trains projection layers while retaining the frozen visual encoder; an intermediate Semantic Transfer Layer supplies features for downstream tasks. Developed on GloMillion and evaluated across seven glomerulus- and case-level cohorts, GloSAGE supported zero-shot lesion recognition, image--text retrieval, hard-negative discrimination and concept-intervention analyses. It outperformed its source visual model in most lesion-recognition tasks and improved lesion grading, while supporting competitive case-level disease classification, injury grading and baseline renal function estimation. Ablations supported the combined contributions of knowledge-structured text and evidence-guided negatives, and the intermediate transfer layer improved mean lesion-recognition ROC-AUC relative to the complete projection output. A frozen language model conditioned on GloSAGE features generated glomerular descriptions. These findings suggest that teacher-derived lesion profiles can provide annotation-efficient semantic supervision for extending a glomerular visual foundation model.
In this work, we explore 2D Gaussian splat as a new primitive for representing and compressing videos, showing its promise as an alternative to traditional signal-based primitives. We introduce GSVC, a new Gaussian splatting-based video codec that incorporates common techniques used in classical video codecs to exploit temporal redundancy between nearby frames. In GSVC, each frame is represented by a set of overlapping Gaussian splats, which, when rendered together, approximate the original frame. Gaussian splats for the first frame and subsequent frames following scene changes (called anchor frames) are learned from scratch, while the remaining frames (called propagation frames) are initialized from the Gaussian splats of their previous frames and then fine-tuned. Scene changes are detected through loss differences during the training process. To capture large motion or newly appeared objects, we randomly add Gaussian splats to propagation frames before fine-tuning. GSVC supports a knob for rate-distortion trade-offs through controlling the number of Gaussian splats for each frame. Gaussian splats with low contributions to the frame quality can be removed during training. GSVC supports two-pass encoding by propagating the Gaussian splats from a future propagation frame back to an anchor frame, further improving the video quality for challenging video scenes. To achieve efficient compression, GSVC uses a residual-based Gaussian splats quantization framework that encodes only changes to the Gaussian parameters between frames. Experimental results show that GSVC achieves rate-distortion performance comparable to state-of-the-art video codec implementations for AV1 and VVC. GSVC inherits the advantages of Gaussian splatting in rendering, allowing it to achieve the rendering speed of 1500 fps for a $1920\times 1080$ video. Project page: https://longanwang-cs.github.io/gsvc/.
Junfeng Hao, Wenxian Wang, Tao Leng, Xingshu Chen, Hao Ren, Haizhou Wang
Reliable detection of large language model (LLM)-generated text must remain effective under meaning-preserving text revisions, such as rewriting, polishing, and expansion. In practice, LLM outputs are often rewritten, polished, expanded, translated, or lightly edited before publication, weakening the lexical, syntactic, and local discourse cues used by many existing detectors. We introduce \textbf{M}atched \textbf{C}onditional-\textbf{R}esponse \textbf{P}robing (\textbf{MCRP}), a frozen-LLM probing framework that measures how a candidate text responds when a semantically matched condition is introduced, removed, or replaced. For each candidate, the frozen probe LLM first generates a short semantic condition and then compares token-level losses and prompt--target attention measurements under matched, null, and control conditions. It aggregates bidirectional conditioned alignment, counterfactual sensitivity, and internal attention coupling into a probe representation, on which it trains a lightweight supervised random-forest classifier while keeping the probe LLM frozen. Across standard detection, robustness to meaning-preserving text revisions, multilingual, and multidomain evaluations, MCRP achieves consistently strong performance. Under rewriting, polishing, and expansion, it reaches 93.97\% F1 and 96.24\% ROC-AUC, outperforming the strongest evaluated baseline by 19.50 and 25.77 percentage points, respectively. Component ablations show that the response feature groups make complementary contributions to predictive performance. In the condition-control study, matched conditions consistently outperform random, mismatched, and corrupted alternatives, demonstrating a measurable incremental benefit from semantic matching.
Dian Wang, Jisang Park, Xiaomeng Xu, Han Zhang, Shuran Song, Jeannette Bohg
Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are better represented in a base-aligned frame. However, modern diffusion-based visuomotor policies typically commit to a single predefined action frame, forcing one denoiser to model action distributions that are often unnecessarily complex in that frame. We propose Mixture of Frames Policy (MoF), a diffusion policy that performs synchronized action denoising across multiple coordinate frames. MoF maintains a single canonical diffusion state, re-expresses it in several task-relevant frames, applies frame-specialized denoisers, and fuses their noise predictions back in the canonical frame. To make this possible for intermediate noisy diffusion states, we adopt a column-based 6D rotation representation within an SE(3) action parameterization that supports exact, differentiable frame transformations without requiring noisy rotations to lie on the SO(3) manifold. Across nine simulated bimanual manipulation tasks, we show that the best action frame is task-dependent and that MoF improves over oracle frame selection and standard Mixture-of-Experts (MoE) baselines. We further evaluate MoF on two real-world bimanual mobile manipulation tasks, demonstrating that it outperforms all constituent single-frame baselines.
Xuan Wang, Tianqi Zhang, Gabrielle De Micheli, Yujin Nam, Keming Fan, Augusto Vega, Minxuan Zhou, Tajana Rosing
Fully Homomorphic Encryption (FHE) enables computation on encrypted data and is promising for privacy-preserving computing. However, FHE deployment remains constrained due to massive computational, memory, and data-movement overheads. Existing acceleration strategies often overlook the storage I/O bottleneck caused by the enormous size of FHE data in large-scale applications, as most prior works focus on small benchmarks that fit in main memory. Our studies show that state-of-the-art FHE systems spend 71\% to 85\% of their execution time moving data between storage and compute units rather than performing useful computation. To address the I/O bottleneck, we present Rosemary, a heterogeneous FHE acceleration system that incorporates a novel in-storage processing (ISP) architecture with compiler-level and algorithmic optimizations. Our key innovations include 1) an adaptable hardware-aware FHE engine inside a NAND flash-based solid-state drive (SSD) for efficient and cost-effective in-storage FHE processing, 2) a Throughput-Data-Aware Program Allocator (TDAP) that partitions FHE workloads into heterogeneous programs, and 3) a Compiler-Level Ciphertext-Aware Optimizer (CLCAO) that exploits ISP-friendly FHE kernels for low-cost ISP execution. Across a diverse set of FHE workloads, including encrypted deep learning inference and cloud database queries, Rosemary achieves geometric-mean speedups of $185.7\times$ over state-of-the-art CPU/GPU implementations and $3.7\times$ over prior FHE accelerators, while improving energy efficiency by up to $3.9\times$ and Energy-Delay-Area-Product (EDAP) by up to $16.5\times$.
Existing code reveals past implementation decisions but rarely explains the reasoning behind them. When coding agents implement new features or modify existing functionality, past decisions may conflict with new task instructions. This raises a fundamental question for agentic software evolution: when multiple implementations satisfy the same functional requirements, how do coding agents decide whether to follow existing code or new task instructions? We investigate this question through bidirectional, controlled experiments in purpose-built repositories, followed by validation in real-world open-source repositories. Our approach isolates three competing sources of guidance: (1) agents' default preferences, (2) repository precedents, and (3) explicit task instructions. We conduct 5,625 trials across four coding agents and six implementation pairs, with validation in four open-source repositories spanning three programming languages. We find that agents share the same default implementation choices, yet overwhelmingly follow repository precedent when it conflicts with those defaults (359/360 trials). Crucially, not all precedents carry equal influence: three supporting local files yield 96% adoption, compared with only 4% for sibling-resource files, and changing file placement alone can shift adoption from 0% to 100% at a fixed example count. When new task intent conflicts with existing code, written priority rules achieve substantially higher success than code examples alone (59/60 versus 38/60 joint successes for two agents on two implementation pairs). The effectiveness of explicit rules also extends to open-source repositories, where a harness-loaded rule raises joint success from 0/120 to 117/120. These findings motivate design-decision traceability that preserves not only implementation choices but also the rationale and priorities that should guide future changes.
Zejian Wang, Yifan Zhao, Kaihui Ren, Xiaoling Zhou, Yubin Wang, Chenhao Guan, Lin Zhang, Yufeng Li 等 14 位作者
Fully Sharded Data Parallelism (FSDP2) maintains parameters and gradients as per-parameter tensors, whereas its collective path operates on flat, rank-major buffers. Converting between these layouts copies all-gather outputs into parameter storage and packs gradients into full-group fp32 buffers. Layout conversion alone accounts for 6.4% of step time in Llama-3.1 70B training at 8K tokens per GPU. Communication kernels impose a second cost: a default NCCL reduce-scatter can slow a concurrent GEMM that would otherwise complete in a single wave by 69%. We present TIDE, a set of zero-copy collectives built on public NCCL 2.31+ APIs. TIDE preserves FSDP2's per-parameter storage and compute kernels while folding layout placement into collective addressing. TIDE-AG delivers shards directly to parameter storage using NVSwitch multicast and paced recursive-doubling RDMA, with no SMs used for transport or placement. TIDE-RS consumes per-parameter bf16 gradients directly and reduces them into fp32 shards (a mixed-precision mode that NCCL does not provide) using copy engines and short-lived thread blocks (CTAs) for node-local accumulation and NVSwitch for cross-node reduction. A two-phase pipeline separates gradient reads from network progress; Slot-Reuse optionally stages gradients in vacated all-gather slots. On 64 GPUs, TIDE reduces step time by up to 27.1% relative to Stock FSDP2 and 6.0% relative to FSDP2+SymmMem across Llama-3.1 70B, Wan2.2, and Qwen3-30B-A3B. It reduces reduce-scatter SM time by factors of 12.5-14.5 and cuts interference with concurrent compute by up to an order of magnitude. Its reduce-scatter buffer remains nearly constant from 16 to 64 GPUs at a fixed per-GPU output size, and its peak memory is up to 4.7 GiB below FSDP2+SymmMem's and, with Slot-Reuse on Wan2.2, below Stock FSDP2's.
Renzhe Xu, Haotian Wang, Xingxuan Zhang, Bo Li, Peng Cui
In this paper, we present the Proportional Payoff Allocation Game (PPA-Game), which characterizes situations where agents compete for divisible resources. In the PPA-game, agents select from available resources, and their payoffs are proportionately determined based on heterogeneous weights attributed to them. Such dynamics simulate content creators on online recommender systems like YouTube and TikTok, who compete for finite consumer attention, with content exposure reliant on inherent and distinct quality. We first conduct a game-theoretical analysis of the PPA-Game. While the PPA-Game does not always guarantee the existence of a pure Nash equilibrium (PNE), we identify prevalent scenarios ensuring its existence. Simulated experiments further prove that the cases where PNE does not exist rarely happen. Beyond analyzing static payoffs, we further discuss the agents' online learning about resource payoffs by integrating a multi-player multi-armed bandit framework. We propose an online algorithm facilitating each agent's maximization of cumulative payoffs over $T$ rounds. Theoretically, we establish that the regret of any agent is bounded by $O(\log^{1 + η} T)$ for any $η> 0$. Empirical results further validate the effectiveness of our online learning approach.
Jiayi Li, Penghao Jiang, Baiyu Chen, Yifan Duan, Hira Saleem, Zhaonan Wang, Piotr Koniusz, Flora D. Salim
Neural operators efficiently simulate dynamical systems by repeatedly predicting the next state. However, small errors at each step can accumulate, causing long-term predictions to drift from the true trajectory. Long-term error reflects both the propagation of earlier prediction errors and new errors introduced at each step. How to reduce these errors is therefore a critical question. We propose the Spectral Generator Neural Operator (SGNO), which combines a linear estimate of the next state with a learned correction. The linear component uses consecutive states in the training data to fit a map from the current state to the next. A neural network corrects this prediction by learning changes that the linear model does not capture, including nonlinear interactions. Both components are trained jointly toward the same next-state target. Experiments across 13 periodic PDE configurations in one to three dimensions show that SGNO accurately learns state evolution on linear tasks and reduces 100-step rollout error by 13-74% over the strongest baseline under the main comparison protocol on each nonlinear task. Longer-horizon extrapolation tests show lower late-window prediction errors on several nonlinear tasks. These results show that combining fitted propagation with learned state-dependent correction can improve long-horizon autoregressive prediction on the evaluated PDE tasks. Code is available at https://github.com/cruiseresearchgroup/SGNO.
Zhefan Rao, Meng Chu, Xuan Billy Zhang, Jingfan Chen, Guohao Cai, Runyi Li, Shiyi Du, Xu Huang 等 92 位作者
World Models (WMs) can support Multimodal Agents (MAs) through simulated experience, while Agent trajectories can inform World Model refinement. Evaluating this interaction requires separate evidence about action selection and state evolution. We introduce Dual Exam, which tests Agents under fixed environment response mechanisms and World Models under fixed action interventions across physical, digital, social, and scientific domains. The Agent track compares 10 configurations on 1,088 items in 15 reporting categories. The World Model track contains 400 cases across eight scenarios; 15 configurations have full coverage and one covers six scenarios. GPT 6 Astra leads the case-weighted Agent Index at 31.3, and GPT-Image-2 leads the full-coverage WM Overall at 21.7. These scores use different tasks and metrics and are not directly comparable. A 150-case pilot of one coupled pairing records zero task successes and motivates component-level diagnosis. Results reveal uneven task performance and failures to preserve task-relevant state. Their value for predicting coupled success or sustained reciprocal learning remains to be established.
Xuan Wang, Jianan Jiang, Rongqian Chen, Tian Lan, Bin Li
Effective firefighter training requires practice under dynamic and stressful emergency conditions, yet real-world live-fire exercises are costly, risky, and difficult to scale. Virtual Reality (VR) offers a safe and controllable alternative, but many existing VR firefighter training systems rely on fixed scenarios or provide limited difficulty adaptation, making it difficult to maintain an appropriate level of challenge for skill development as trainees' performance changes over time. To address this limitation, we present ProACT, a performance-driven adaptive training system that regulates scenario difficulty through closed-loop interactions between trainee performance and simulated fire dynamics. Specifically, ProACT combines a global module that continuously adjusts scene-level fire spread dynamics in real time based on trainee performance with a local module that periodically updates object-level flammability across the environment. Our evaluation shows that ProACT improves both objective training performance and subjective user experience compared with existing adaptive and non-adaptive baselines. We further discuss how adaptive immersive environments can extend beyond firefighting to broader training domains.
Fixed-wing unmanned aerial vehicles experience operating-condition transitions, asynchronous sensor sampling, and control-system compensation that can obscure fault signatures. Existing temporal detection methods have limited capacity to represent coupled faults across subsystems, track their evolution, and constrain language-model diagnoses with quantitative evidence. This paper proposes TGTV, an interpretable fault detection and traceability framework that integrates spatiotemporal graph learning with a large language model. A temporal convolutional network and a graph attention network with weighted fused adjacency extract multiscale temporal patterns and spatial dependencies among sensors. A hybrid temporal Transformer and variational autoencoder then evaluates window-level anomalies using prediction errors and reconstruction probabilities. Continuous-time Shapley attribution identifies critical sensors and high-contribution intervals while preserving the temporal continuity of fault evolution. A structured evidence package combines detection results, graph relationships, temporal attribution, sensor attribution, and operating context. An evidence-constrained diagnosis protocol uses this package to generate flight-level conclusions with traceable evidence identifiers. Cross-flight holdout experiments on the public ALFA fixed-wing flight dataset yield a window-level area under the precision-recall curve of 0.976, accuracy of 0.973, recall of 0.902, and F1 score of 0.920. Flight-level fault diagnosis achieves recall of 0.943 and an F1 score of 0.944. These results demonstrate accurate anomaly detection and quantitatively supported fault-tracing cues, providing a basis for interpretable post-flight fault review and analysis.
We introduce Nemotron 3.5 Super and Nemotron 3.5 Lightning, open and efficient Mixture-of-Experts Hybrid Mamba-Transformer models designed for reasoning, long-context understanding, and agentic workloads. Super is a 120B-parameter, 12B-active multimodal model, while Lightning is a smaller 30B-parameter, 3B-active text model; both designed for efficient deployment. Both models combine large-scale distillation, long-context training, and native speculative decoding, while Super further incorporates Indic continued pretraining and agentic software-engineering mid-training. We develop a comprehensive post-training pipeline spanning supervised fine-tuning and reinforcement learning (RLVR and RLHF), complemented in Super by specialized teacher training and multi- teacher on-policy distillation (MOPD). This transforms Super from a text-only base model into a multimodal agent capable of reasoning over text, images, video, and interactive tool environments. We further explore test-time scaling through parallel agent execution and self-verification. Across training and deployment, we jointly optimize capability and efficiency. Indic continued pretraining improves Indian-language benchmarks by up to 9.82 percentage points, while agentic mid-training strengthens software-engineering capabilities and robustness across agent harnesses. The post-trained Super model achieves 51.78% on SWE-bench Pro, surpassing Nemotron 3 Ultra despite using approximately 4.6x fewer active parameters. Post-training MTP boosting improves speculative- decoding acceptance length by up to 21.8% under probabilistic draft sampling, while NVFP4 quantization achieves 99.62% median accuracy recovery relative to BF16. Inference optimizations enable up to 4,856 output tokens/s/GPU on GB200 while sustaining at least 50 tokens/s/user.
Rahi Navelkar, Andrea Cosolo, Iago Maceda Porto, Bogdan Bintu, Yubao Cheng, Vincent Gardeux, Silvia Gutnik, Taihei Fujimori 等 40 位作者
In recent years, multiplexed Fluorescence In Situ Hybridization (FISH) or FISH-omics methods have rapidly expanded, enabling the quantification of chromatin organization in single cells, often in conjunction with measurements of RNAs and proteins. These approaches have deepened our understanding of how 3D chromosome architecture relates to transcriptional activity and cell states in health and disease. Despite these advances, results from Chromatin Tracing FISH-omics experiments remain challenging to share, reuse, and analyze due to the absence of standardized data exchange specifications. Building on the release of microscopy metadata standards, we introduce the FISH Omics Format-Chromatin Tracing (FOF-CT), a community-developed standard for processed results from diverse imaging modalities. We describe the FOF-CT file format and present a curated collection of datasets deposited in the 4D Nucleome Data Portal and the OME Image Data Resource (IDR). We also highlight their potential for reuse, integration, and modeling by outlining example analysis pipelines and illustrating biological insights enabled by standardized, FAIR-compliant Chromatin Tracing datasets. FOF-CT natively represents both ball-and-stick and volumetric Chromatin Tracing data, unifying the two modalities within a single, modular table-based architecture (FOF-bas-CT and FOF-vol-CT, respectively).
Subjective judgments such as offensiveness often vary substantially across individuals, motivating pluralistic modeling approaches that incorporate annotators' socio-demographic information to capture this variation. However, prior findings on the benefits of socio-demographic information for pluralistic modeling are mixed, calling for a systematic analysis of both its effectiveness and the mechanisms through which it improves prediction. In this work, we study $\textbf{when}$ and $\textbf{where}$ socio-demographics benefit pluralistic offensiveness modeling, as well as $\textbf{the role of explicit reasoning}$ in leveraging this information. Across three multi-annotator datasets with prompted and trained LLMs, we first show that demographic gains are small and inconsistent for individual predictions but become clearer at the group and population levels, because aggregation attenuates the idiosyncratic variation that masks small but systematic demographic signals. Second, using a reasoning and prediction format that explicitly decomposes individual judgment into an overall baseline and a demographic-specific deviation, we show that the gains arise from both components: demographic information improves baseline estimation and enables meaningful demographic-specific shifts, and interventions show that better component estimates improve final predictions. Finally, comparing direct demographic conditioning with explicit reasoning about how the text interacts with annotator demographics, we find that reasoning yields more accurate baseline and shift estimates as well as final predictions, whereas conditioning alone rarely produces informative shifts. These results suggest that the mixed evidence in prior work may partly stem from individual-level evaluation, and that the value of socio-demographic information depends on both how it is evaluated and how models are guided to use it.
Linhan Wang, Zijian An, Mingyuan Zhang, Chen Dai, Yi Xu, Can Cui, Jiayan Wang, Zichong Yang 等 11 位作者
Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at control rate is latency-prohibitive, while abandoning test-time visual imagination sacrifices task success. We show that visual imagination achieves both real-time inference and superior success rates when generated asynchronously off the critical path and consumed directly in latent space. We introduce GlanceWAM, which decouples imagination from control on a single shared video DiT backbone: an asynchronous proposer glances ahead on a slow clock to imagine a single lookahead frame seconds into the future in the background, while an action head decodes action chunks at control rate (48 ms) purely in latent space without blocking. Enabled by a non-interfering attention mask that isolates video representations and staleness-robust horizon training that accommodates asynchronous lookahead aging, GlanceWAM breaks the speed-success dilemma. Trained purely on demonstrations, it attains 72.2% on the 24-task RoboCasa kitchen benchmark (vs. 67.1% for synchronous Cosmos Policy) and 99.0% on LIBERO while cutting per-chunk control latency 24x relative to synchronous world-action models (48 ms on one A100). In single-arm and bimanual real-robot manipulation, it achieves higher average success than $π_{0.5}$ without any robot-data pretraining. Code is available at https://github.com/linhanwang/GlanceWAM and real-robot videos at https://linhanwang.github.io/glancewam/.
Large language models are increasingly used as proxies for human subjects in social science research, yet external validity requires matching the response distributions of target human populations. We study population-level survey alignment: reconstructing aggregate survey responses from limited public survey data, without individual-level demographic profiles or model finetuning. We formalize this problem as preference reconstruction: rather than matching proxy agents to demographic profiles, we construct a functional basis of proxy agents and recover population preferences by weighted aggregation. We instantiate this idea via Prompts to Proxies ($\texttt{P2P}$), a two-stage inference-time system. Stage 1 uses structured attribute-based prompting with entropy-guided adaptive sampling to construct a diverse proxy pool spanning the latent preference space. Stage 2 employs L1-regularized regression to select a compact weighted ensemble matching observed target-population responses. Across 14 American Trends Panel waves, $\texttt{P2P}$ achieves an average test MSE of 0.014 at approximately 0.8 USD per survey, improving over prompting and demographic-conditioning baselines. On the World Values Survey, cross-locale transfer experiments show that basis expressiveness can outperform locale matching on average, while locale-specific generation helps on culturally divergent questions. A stress test against an SFT-aligned survey model shows competitive performance using less than 3\% of the training data. These results position preference reconstruction as a lightweight, externally verifiable alternative for survey-based population alignment. Code is available at https://github.com/bingchen-wang/P2P.
Vision-language models are shifting from offline passive understanding toward online proactive interaction. However, prevailing methods largely rely on explicit requests while overlooking implicit user intents (e.g., "where should I click next?" when a user is navigating a website) and fail to continuously update their understanding as user intents evolve. These limitations make them less suitable for intent-aware interaction in real-world scenarios. To address these challenges, we introduce StreamVibe-Bench, a new benchmark that serves as a testbed for user intent understanding and interaction, comprising 4.1K evaluation samples and 85K training samples spanning explicit, implicit, and dynamic intents. Building on this benchmark, we develop StreamVibe-VL, a streaming proactive model that infers implicit user intents from continuous observations and dynamically adapts its interactions as these intents evolve. We further introduce StreamVibe-Harness, which maintains user intents as persistent states with flexible lifecycles through hierarchical memory, enabling it to track the latest user intents and environmental states. Our experiments reveal three key findings: (i) StreamVibe-VL preserves strong general video understanding capabilities while improving response timing and answer quality by 10.7% over existing baselines; (ii) existing proactive models remain limited in understanding user intents and determining when to respond, especially under implicit and dynamic intents; and (iii) StreamVibe-Harness further improves response consistency and adaptation during sustained interactions, resulting in a 12.3% gain in proactive interaction performance.
Han Wang, Jingyuan Bao, Juntao Wu, Saiao Zhou, Yuman Nie
Event cameras, spiking cochleas and similar sensors emit asynchronous events, yet most learning systems first bin them into frames or packets, so the output depends on how the stream was sliced. Networks whose state is updated exactly at every event and evolves in closed form between events are invariant to this slicing. We ask what more makes the output (i) independent of the processing order of simultaneous events and (ii) continuous in the time stamps, even when two events cross in time, while (iii) staying sensitive to temporal order. For arbitrary nonlinear event models we prove that (i) and (ii) are each equivalent to pairwise commutation of the event updates, and that once updates commute, all order dependence comes from their non-commutation with the inter-event dynamics and vanishes linearly in the time lag. This identifies a class of time-mediated non-commutative (TM) models and yields a resolution-robustness bound for any model. We construct the minimal TM layer, a learnable, provably Lipschitz generalization of the Hassenstein-Reichardt correlator; prove that no single additive layer can uniformly represent ordered pair interactions, whereas a three-dimensional TM state can; show that each TM layer adds two levels of temporal nesting versus one for additive layers; and give a single-layer higher-order construction (TM-k) and a stacking rule preserving all three properties. We instantiate these results as the Clock-Free Event (CFE) layer, linear in the number of events, give a topology-free variant for temporal point processes with closed-form likelihoods, and specify a preregistered clock-robustness protocol with a physical-time threat model for spike-retiming attacks. In preliminary development-set experiments, the TM state beats an otherwise identical additive state by 3.5-9.1 points on DVS128 Gesture and by 24.5 and 30.6 points on SHD and Speech Commands.
Preference modeling aims to capture heterogeneous human values and increasingly relies on learning latent components to represent this variation without fine-grained supervision. What these components actually represent, however, is rarely examined. We audit Mixture-of-Experts (MoE) reward models along three rungs---semantic coherence, functional correspondence, and composability---in controlled and real-world settings, holding the architecture and training data fixed so that differences isolate the effect of the training objective. Our diagnosis is that the components conventional MoE reward models learn are entangled, which limits not only interpretability but also the personalization such models are built for. The entanglement is not intrinsic to the architecture but a property of the training objective: off-the-shelf sparsity and diversity regularizers already substantially reduce it. The resulting configuration, which we call sparse MoE, recovers all underlying semantic categories without domain supervision in a controlled setting, reaching 84.8% expert purity against 60.8% for conventional MoE; on real-world data its experts admit human-interpretable task- and domain-level descriptions aligned with their functional strengths. Targeted interventions on routing weights produce predictable preference changes, showing that these interpretations are behaviorally grounded rather than merely descriptive. Crucially, the disentanglement induced by this objective also makes the experts composable: lightweight router updates yield a 25.81-point improvement in few-shot personalization with 50 examples, roughly 2.7 times the gain of the identical architecture and adaptation procedure applied to entangled experts. Together, these results show that MoE reward models can learn interpretable expert structure, and that the same structure can substantially improve personalization.