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新论文 · v1arXiv:2611.02101

When Delay Meets Drift: Physical Safety of Robot Foundation Models Is a Cross-Layer Problem

Liangkai Liu, Bimal Thapa Magar

原文摘要

Robot foundation models now act in a closed loop, yet their safety is evaluated one variation at a time: robustness benchmarks perturb the scene while assuming instantaneous inference, and real-time execution methods study inference delay in nominal scenes. We argue that physical safety is not a property of the model alone, but emerges from how variations in the physical environment, the model, the computing platform, and execution interact in closed loop. We formalize this as cross-layer variation propagation across these system layers and use an interaction contrast to measure when joint variation creates more risk than the sum of its parts. In 4,000 paired closed-loop episodes of the pi0.5 vision-language-action model on LIBERO, a 400 ms inference delay raises the safety-violation rate by 3.5 percentage points under the training viewpoint but by 37 percentage points under a 60-degree camera shift: 33.5 percentage points (95% CI: 25-43) more than the two effects combined. We close with a research agenda toward predictable physical intelligence: predicting when variation becomes risk, and adapting compute, power, and control accordingly.

cs.RO · cs.CV · cs.ET

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.22516

SALE: Source-Aware Dynamic Pricing with Strategic Buyers

Jinjiang Zou, Yang Li, Zemin Zheng

原文摘要

In modern commerce, firms and platforms typically use customer features from different sources to personalize prices: some features are verified using seller records or third-party data, while others are self-reported and may be strategically manipulated by buyers seeking lower prices. In this paper, we study the problem of source-aware dynamic pricing with strategic buyers, where the buyer's valuation is a sparse linear function of her high-dimensional features plus market noise with an unknown distribution. We develop the Source-Aware Localized exploration and calibrated Exploitation (SALE) policy, which personalizes exploration using past learning and verified features, and corrects for strategic manipulation using verified and reported features during exploitation. Our novel personalized design aims to narrow the range of prices explored, reducing unnecessary exploration at excessively high or low prices. To support learning under this design, we derive a new population equation that enables sparse valuation parameter estimation and, in turn, nonparametric estimation of the unknown noise distribution, even when buyer features are dependent over time. By uncovering the intrinsic sparse structure, our analysis establishes estimation guarantees for both learning tasks using the same exploration data. With these guarantees, we show that SALE achieves a sublinear expected regret bound, explicitly quantifying the benefit of using verified features to narrow exploration intervals. Several numerical studies further demonstrate the appealing performance of SALE.

stat.ML · cs.LG · stat.ME

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02096

EarthJev: Calibrated, Non-Generative Answers to Natural-Language Questions about Sentinel-2 Land Cover

Domenico Benfenati, Antonio Maria Rinaldi, Cristian Tommasino

原文摘要

Vision-language models for remote sensing answer questions about satellite images by generating text: every answer costs a decoding loop, has to be parsed back to an option, and comes without a usable probability. We present EarthJev, a 0.8B-parameter model that answers typed questions about multispectral Sentinel-2 patches without generating any token. All 12 bands enter the vision encoder of Qwen3.5-0.8B through a widened input layer initialised from the RGB kernels, and, following the open OneJev recipe, the answer is read from the logits of the option letters at a single position and trained with cross-entropy plus Brier score. Under a pre-specified analysis plan, we compare it with the same backbone fine-tuned to generate the answer and with three multimodal language models fine-tuned with LoRA, all trained on the same 70,890 questions from 5% of BigEarthNet v2.0 and timed in one job on the same GPU; VQA models that classify over a fixed answer vocabulary are reported as a reference for the cost of answering only the questions seen in training. EarthJev answers a question in 19.9 ms, 4.3 to 8.7 times faster than the multimodal language models and 6.8 times faster than its own backbone used generatively; when all the questions about an image are asked together, it answers them in 42.8 ms, 3.7 to 10.1 times faster than the batched generative models. On 36,028 test questions it reaches 86.0% accuracy (three seeds), 0.6 and 1.2 points below the two 2B multimodal models and 3.5 points below the remote-sensing EarthDial-4B, with answers that are valid by construction and calibrated probabilities (ECE 0.006). Replacing the nine non-RGB bands with their mean costs 4.5 points, so the model uses the multispectral input, and in an ablation training the whole vision encoder raises accuracy to 88.4% at the same cost. Code and model: https://github.com/CosmoIknosLab/EarthJev

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02093

Bernoulli On-Policy Distillation: Don't Ignore High-Confidence Student Tokens

Mingyu Cao, Yaokai Jin, Shiwei Liu, Lu Yin

原文摘要

On-policy distillation (OPD) trains a student language model on its own trajectories using token-level supervision from a stronger teacher. We show that standard sampled reverse-KL OPD systematically suppresses updates to high-confidence tokens, such that their weak gradient contribution does not necessarily imply weak or uninformative teacher supervision. We introduce Bernoulli On-Policy Distillation (Bernoulli OPD), which directly matches the teacher and student probabilities for that token. This yields a bounded probability space correction that preserves teacher-student disagreement while avoiding the additional confidence-dependent suppression induced by vanilla OPD. Fixed-rollout analyses show that Bernoulli OPD substantially restores optimization signal to high-confidence tokens while remaining sensitive to teacher-student disagreement. We further analyze the resulting model behavior through confidence distributions, answer calibration, policy movement, and training dynamics, showing that Bernoulli OPD's gains cannot be explained simply by longer reasoning, larger optimization steps, or more uniform imitation of the teacher. Code is available at https://github.com/duterscmy/Bernoulli-OPD.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02091

HQNN-CL: Regime-Aware Hybrid Quantum Neural Network with Continual Learning for Financial Forecasting

Muhammad Atif Saeed, Akhtar Jamil, Subhan Ullah

原文摘要

Financial time-series forecasting is still difficult owing to the non-stationary nature of the market, regime changes, and catastrophic forgetting, which makes conventional deep learning models hard to adapt in the long term. To achieve uncertainty-aware robust financial forecasting in the face of changing market conditions, this study proposes a Hybrid Quantum-Classical Neural Network with Continual Learning (HQNN-CL). The proposed framework combines Gaussian Hidden Markov Model (HMM) based regime detection, BiLSTM temporal encoding, adaptive-depth parameterized quantum circuits, Elastic Weight Consolidation (EWC), experience replay, and probabilistic forecasting in a single architecture. The framework was tested on four real-time stock datasets: Microsoft, Systems Limited, Teradata and Tata Consultancy Services, and compared with seven state-of-the-art forecasting models, including recurrent and Transformer-based models. The experimental results show that HQNN-CL has outperformed other methods on the Systems Limited (RMSE = 3.0149) and Teradata (RMSE = 0.8909) datasets and is within 0.32% and 0.40% of the best baseline method for Microsoft and Tata Consultancy Services, respectively. The proposed framework also generates well-calibrated probabilistic forecasts within the range of 89.5% to 96.5% empirical coverage rate, has zero catastrophic forgetting (BWT = 0.0000) for all sequential learning tasks, and consistently shows positive forward transfer. Ablation and statistical significance analyses also validate the performance of adaptive quantum feature learning and continual adaptation under heterogeneous market conditions, regime-wise.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2512.17541

FLEG: Feed-Forward Language Embedded Gaussian Splatting from Any Views via Compact Semantic Representation

Qijian Tian, Jiayu Ying, Xuhong Wang, Yuan Xie, Lizhuang Ma, Xin Tan

原文摘要

We present FLEG, a feed-forward network that reconstructs language-embedded 3D Gaussians from multi-view images. Previous feed-forward language-embedded Gaussian reconstruction methods are restricted to a fixed number of input views and typically attach a language-aligned semantic embedding to each Gaussian, resulting in impractical input settings and semantic redundancy. In contrast, we introduce a geometry-semantic dual-branch distillation framework that supports a variable number of uncalibrated and unposed multi-view images as input. We also propose a novel-view-based distillation strategy during training that mitigates overfitting to input views. In addition, we observe that semantic representations are significantly sparser than geometric ones, and per-Gaussian language embedding is unnecessary. To exploit this sparsity, we design a decoupled language embedding strategy that represents language information with a sparse set of semantic Gaussians, rather than attaching embeddings to every Gaussian. Compared with dense pixel-aligned per-Gaussian embedding schemes, our method uses only 5% of the language embeddings while maintaining comparable semantic fidelity, effectively reducing storage costs. Extensive experiments demonstrate that FLEG outperforms state-of-the-art feed-forward reconstruction and language-embedded Gaussian methods in both reconstruction quality and language-aligned semantic representation.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.20258

It Takes Two: Complementary Self-Distillation for Contextual Integrity in LLMs

Sangwoo Park, Woongyeong Yeo, Seanie Lee, Yumin Choi, Hyomin Lee, Kangsan Kim, Jinheon Baek, Seong Joon Oh 等 9 位作者

原文摘要

Contextual Integrity (CI) defines privacy not merely as keeping information hidden, but as governing information flows according to the norms of a given context. As large language models are increasingly deployed as personal agents handling sensitive workflows, adhering to CI becomes critical. However, even frontier models remain unreliable in making disclosure decisions, and existing mitigation strategies often degrade underlying task performance. To overcome this privacy-utility trade-off, we propose SELFCI, a complementary self-distillation framework that decouples information suppression from task resolution. SELFCI jointly optimizes two independent reverse KL divergences over distinct teacher distributions derived from feedback: one encourages preserving task-relevant information for utility, while the other enforces minimal and appropriate disclosure. This complementary formulation induces a Product-of-Experts (PoE) target, aligning the policy with the intersection of capability and privacy requirements. Empirical evaluations demonstrate that SELFCI, without relying on costly external supervision, consistently outperforms competitive baselines such as online reinforcement learning algorithms (e.g., GRPO). These trends further extend to out-of-domain settings involving agentic workflows and accumulated private context, suggesting that SELFCI provides a practical path toward CI alignment.

cs.LG · cs.AI · cs.CR

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2609.36279

Proofs Without Nominals: Gödel's Ontological Argument, its Shallow Embedding, and the Open Questions of the Monatshefte Notes

Christoph Benzmüller

原文摘要

The shallow embedding of higher-order modal logic in classical higher-order logic, used in Benzmüller and Scott's Notes on Gödel's and Scott's variants of the ontological argument, reaches beyond the modal object language: its quantifiers range over domains containing the nominals and satisfaction operators of hybrid logic. A proof using one proves a theorem of the embedding, not necessarily of the modal logic. Whether a result is one of the modal logic can be settled by replaying it in an explicit calculus, or, more cheaply and for all results at once, by analysing what the embedding's proofs substitute. Every statement the Notes prove has a proof in the embedding substituting nothing outside the object language, 294 of them explicit. The Notes' own proofs substitute none either; what it flags are terms a prover introduced. A soundness theorem over general models closed under the object language, and a sentence of that language the embedding proves but which fails in such a model, fix what the certificate says. The Notes' three open questions are settled too, without nominals, but by the empty instance of the conjunction axiom, too cheaply to convince. Generalised to Gödel's "any number of summands", the axiom covers the empty conjunction and the singleton. This article restricts it to at least two different conjuncts, a non-degenerate reading of Gödel's footnote, and settles them again without nominals. In effect only the empty conjunction is excluded; the singleton comes back with the other axioms. In one variant the restriction refutes the possible existence of a God-like being; the answers return, with no side condition, once the Notes' non-emptiness clause is confined to Gödel's essence. Every theorem here is verified in Isabelle/HOL and independently in Lean 4, the separating model in its propositional part; the countermodels are Nitpick's, checked by the build.

cs.LO · cs.AI · math.LO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02090

Local Solution Repair for Multi-Agent Pickup and Delivery

Ethan Schneider, Jingkai Chen, Seth Hutchinson, Sonia Chernova

原文摘要

Multi-robot systems in automated warehouses must efficiently attend to a constant stream of pickup-and-delivery tasks while avoiding collisions. Existing Multi-Agent Pickup-and-Delivery (MAPD) solutions generate plans that are globally feasible but often locally inefficient. In large-scale, long-horizon deployments, these inefficiencies, such as robots backtracking from target goal locations and idling in congested areas, accumulate over time and degrade performance. This paper contributes Local Solution Repair (LSR), a goal replanning approach that detects suboptimal behaviors at run-time and locally improves plans to reduce conflict between agents. We demonstrate the utility of our approach by repairing solutions generated by state-of-the-art MAPD baselines, M2M and LNS-PBS. Our results in long-horizon warehouse simulations over three environments show upwards of 5.9% improvement in task throughput over current state-of-the-art methods by reducing the number of suboptimal instances by ~36k or by 14.6% with minor additional computation time.

cs.RO · cs.MA

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.08839

Mixture of Probes: Learning from Privileged Modalities in Multimodal LLMs Through Probing

Dominick Reilly, Qiyu Wu, Hiromi Wakaki, Srijan Das, Yuki Mitsufuji

原文摘要

Multimodal Large Language Models (MLLMs) are typically designed under the assumption that all modalities available during training will also be accessible at inference. However, many real-world settings violate this assumption, requiring models to operate under a privileged modality setting, where auxiliary modalities are available only during training. While these modalities contain valuable information, existing MLLMs largely fail to leverage them effectively, as they treat modalities as interchangeable inputs rather than sources of complementary supervision. We propose Mixture of Probes (MoP), a novel framework that disentangles modality-specific and modality-general signals within the MLLM, allowing the model to preserve modality-dependent structure while learning transferable representations across modalities. At its core, MoP achieves this through a structured probing mechanism that extracts and organizes information from intermediate representations of a shared modality encoder, rather than relying only on final-layer alignment as done in existing MLLMs. To support this disentanglement, we further introduce MoP Cross-modal Training (MoP-X), a training strategy for MoP centered around a probe disentanglement loss that prevents probe collapse and encourages cross-modal learning. We evaluate MoP across two domains spanning eight tasks and four modalities under a comprehensive evaluation protocol tailored to the privileged modality setting, where each modality is independently treated as the sole input at inference time. MoP consistently outperforms strong MLLM baselines, achieving up to 65% relative improvement, demonstrating that auxiliary modalities, even when unavailable at inference, can provide substantial gains when effectively leveraged during training. Code, model checkpoints, and evaluation protocols will be made available at https://github.com/Sony/MoP.

cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.38960

Efficient Agentic Audio-Visual Question Answering through Toolset Pruning and Modality Consolidation

Yi Wang, Tianzi Wang, Peter Bell

原文摘要

Fine-grained audio-visual question answering (AVQA) requires models to resolve complex cross-modal correspondences and temporally grounding from sparsely distributed evidence. Omni-modal agents, which autonomously orchestrate perception tools to actively collect evidence, achieve strong performance, but it remains unclear whether active perception from both audio and visual modalities depends on broad specialized toolsets, especially audio or visual modality-specific tools. Such systems may also introduce long execution trajectories and substantial inference cost. We investigate whether comparable performance can be retained with a compact workflow exposing only essential perceptual capabilities. Starting from the specialized-tool OmniAgent, we conduct staged controlled experiments that prune the toolset and progressively consolidate modality-specific tools into omni-modal tools, motivating a two-tool agent comprising only Omni-modal captioning and Omni-modal QA. Across three widely used AVQA benchmarks, our compact agent achieves comparable or better accuracy than the specialized-tool agent while reducing inference cost by around 70%.

cs.AI · cs.CL · eess.AS

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2608.22538

STAGE: Stateful Translation to Agentic Graph Execution with Policy-Scoped Context and Deterministic Control

Mengxi Luo, Changjia Chen, An Cao, Wanyi Dai, Zirong Huang, Shixiong Gao, Ruoqi Shu, John Chen 等 9 位作者

原文摘要

Enterprise agents are expected to deliver correct and consistent outcomes while executing complex procedures, adhering to governing policies, and operating within practical resource budgets. We present \textsc{Stage}, an integrated execution framework combining typed task nodes, shared execution memory, document tools, and deterministic orchestration. We evaluate \textsc{Stage} on SOP-Bench Referral Abuse, the Retail and Telecom domains of $τ^2$-bench, and two proprietary banking workflows, Smart Dispute and Paystub Fraud Detection. Using the same underlying model in each comparison, \textsc{Stage} improves single-run success and repeated-run reliability over the baseline in all 18 benchmark--model pairs. Success across all three runs (\(\mathrm{Pass}^{3}\)) increases by 7.5--66.0 percentage points. Fixed-graph ablations demonstrate the contributions of localized policy context and coordinator-owned routing. Further analysis of Smart Dispute shows improved coverage of required operations across procedure lengths. These findings show that integrating local reasoning, persistent state, and procedural control can improve reliable enterprise workflow completion without changing the underlying model.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.25421

Beyond Next-Observation Prediction: Agent-Authored World Modeling for Sequential Decision Making

Guangfeng Cai, Kaibing Yang, Shuo He, Yu Li, Shengtian Yang, Jiaqi Lv, Lei Feng

原文摘要

Recent studies on world modeling for Large Language Model (LLM) agents typically formulate the learning objective as next-observation prediction. However, this objective ties supervision to what a transition happens to reveal, which may omit the dynamics most relevant to the agent's current decision. To bridge this gap, we propose Agent-Authored World Modeling (AAWM), a training procedure that constructs supervision from the policy's own decision needs. Specifically, at each state, the agent identifies what it needs to understand about the environment before acting. These needs drive the retrieval of relevant transition evidence across trajectories, which is then synthesized into training targets that capture decision-oriented dynamics instead of reconstructing the next observation. This aligns the training objective with the dynamics the policy needs before acting, not with the contents of the next observation. Experimental results validate the effectiveness of AAWM across multiple environments and training settings. These results show that decision-aware world-model targets provide a more effective learning signal than next-observation prediction.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02086

Reduced Cost Influence Functions for Predict-then-Optimize under Noisy Data

William Zhang, Saurabh Amin, Georgia Perakis

原文摘要

Machine learning models deployed in decision-making pipelines, from vehicle routing to dynamic pricing to clinical decision support, must remain reliable in the face of low-quality training data. We study a predict-then-optimize setting in which an upstream model predicts the cost vector of a downstream linear program, with a large pool of noisy training data supplemented by a small curated set of clean data. We introduce Reduced Cost Influence Functions (RCIFs), which combine influence functions from robust statistics with the geometry of linear optimization to estimate how each training point shifts downstream decisions. Building on this, we propose a reweighting algorithm that uses RCIFs to downweight harmful training points and reduce downstream regret. Experiments on random linear programs and shortest-path problems show that our approach reduces regret, and accompanying theory characterizes properties of RCIFs and identifies regimes favorable to our method relative to baselines.

stat.ML · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02084

Black Hole Love Numbers with Physics-Informed Neural Networks

Maria J. Rodriguez, Luis Fernando Temoche, Pavlos Protopapas

原文摘要

We develop and validate a physics-informed neural network (PINN) framework for computing the tidal Love numbers of black holes directly from their perturbation equations. We consider static perturbations of the Kerr black hole, whose exact hypergeometric solutions provide a controlled benchmark for both the numerical solver and the extraction of the physical response. The framework combines exact enforcement of the horizon boundary conditions with an $H^2$-Sobolev loss that incorporates derivatives of the differential-equation residual. The Love number is then obtained by extracting the asymptotic coefficients of the learned solution, without using the analytic connection formula. Across the tested scalar, vector, and tensor perturbations, the method recovers the finite dissipative response with relative errors below $10^{-5}$. Controlled comparisons show that the higher-derivative loss terms improve solution accuracy by orders of magnitude, while independent tests of the extraction procedure distinguish solver errors from errors in recovering the response coefficients. The conservative response, which vanishes analytically, is constrained by the numerical error floor. These results demonstrate that PINNs can accurately compute black-hole tidal response and establish a validated framework for future extensions to frequency-dependent and non-separable perturbation problems.

gr-qc · cs.LG · hep-th · math.NA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02079

ParetoSaddler: Pareto-Guided Optimization of Agent Harnesses for Quality and Cost

Xingzhi Qian, Sungho Park, Rongyuan Tan, Jianbo Yu, Jue Zhang, Lorenzo Cavallaro, Menglin Xia, Yanzhi Chen 等 16 位作者

原文摘要

Harness optimization can substantially improve LLM agents without modifying model weights, but existing methods primarily optimize response quality. Extending them to joint quality--cost optimization introduces a challenge: applying the deployment preference during intermediate updates can prematurely reject candidates that are valuable for later improvements. We introduce ParetoSaddler, which addresses this mismatch by separating intermediate candidate promotion from final deployment selection. At each iteration, an optimizer updates a parent harness to produce a candidate, and then compares the two over repeated executions and uses Bayesian bootstrap Pareto support to promote candidates showing credible progress in either quality or cost. Promoted candidates receive broader development evaluation and remain available as parents for later optimization steps. We evaluate ParetoSaddler on ClawMark and GAIA2 using domain-disjoint splits. On ClawMark, ParetoSaddler improves quality from 70.86\% to 81.35\% while reducing cost from \$1.17 to \$1.01 per task; on GAIA2, it improves quality from 56.22\% to 62.89\% while reducing cost from \$0.78 to \$0.45 per task. The Pareto-selected harnesses also achieve higher quality at lower cost than quality-only harness optimization. Analysis shows that Pareto-aware optimization retains intermediate candidates that would be discarded by deployment preference but can support later improvements, while Bayesian bootstrap screening filters out candidates whose gains are weakly supported across runs.

cs.AI · cs.CL · cs.LG · cs.MA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02075

Decoupled Predictive Decision Making: A Shared Conditional Predictor for Agents

Lang Mo, Xingxuan Zhang, Qi Wang, Mingchao Hao, Hao Yuan, Chunjing Gan, Wang Lu, Peng Cui

原文摘要

Agent decisions depend on empirical relationships that deployment observations reveal and task descriptions alone may leave unresolved. We introduce Decoupled Predictive Decision Making (DPDM), an architecture that formulates heterogeneous agent decisions as conditional prediction with a shared pretrained learner. Language models provide semantic representations of current and historical records, while a general-purpose conditional predictor predicts task-defined targets from the represented evidence. Pretraining supplies reusable inference capability; deployment evidence instantiates problem-specific predictions without updating either model's neural parameters. Tool judgments, candidate preferences, and reasoning assessments share an evidence-and-query interface, with predictions mapped to choices by a decision rule. This architecture establishes complementary sources of agent capability: semantic knowledge acquired through language pretraining and empirical inference acquired through structured-data pretraining. A single frozen LimiX-2 predictor serves all five task categories. With Qwen3.5-27B as the semantic encoder, DPDM raises mean accuracy across 50 benchmarks from 78.80% with few-shot prompting to 84.92% under their respective evaluated history budgets, and reaches 82.33% with identical histories and queries. On ToolPRMBench's BFCL and ToolSandbox tasks, absolute accuracy gains are 34.26% and 28.87%, respectively, at the methods' respective evaluated history budgets. Accuracy improves as history grows. With identical imbalanced histories, mean balanced accuracy improves by an absolute 14.51% across five reasoning-step assessment tasks and four encoders. DPDM makes learning from experience an independently improvable foundation-model capability, creating a shared route for advances in conditional prediction to improve decisions across agent tasks.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02074

SWE-Trail: History-Guided Trajectory Collection for Coding Agent Training

Ziming Li, Lu Yu, Jiatan Huang, Qing Cui, Jun Zhou, Chuxu Zhang

原文摘要

Coding agents solve repository issues through long sequences of exploration, editing, and validation. These trajectories are increasingly used as post-training data, so how they are collected shapes what the trained model learns. A common approach is to sample multiple trajectories independently for each issue and then select or curate them. However, as more trajectories are sampled independently, later trajectories become increasingly redundant, even though earlier trajectories could guide where subsequent collection effort should be spent. A natural way to use this history is to expose it to the coding agent as advice. But training on such trajectories can make the model rely on advice that is unavailable at test time, creating a train-test mismatch. Instead, we argue that history should guide where collection effort is spent, while the coding agent decides what to generate. We introduce SWE-Trail, a trajectory collector that uses earlier trajectories to guide subsequent collection while keeping that history outside the coding agent's context. During a new rollout, SWE-Trail uses history to identify a state where additional collection effort may be useful. There, the coding agent proposes candidate next actions from its ordinary context, and SWE-Trail briefly executes them from the same checkpoint to decide which route continues. We evaluate collection approaches by training student models on the trajectories they produce. For a 124B student initialized from Ling-3.0-flash-base, SWE-Trail improves mean resolution over independent sampling by 2.33 and 1.60 percentage points on SWE-bench Multilingual and SWE-bench Pro, respectively. Without history, the same pipeline produces more resolved trajectories than independent sampling, but improves by only 0.11 points on Multilingual. These results show the value of using history to guide collection without exposing it to the coding agent.

cs.AI · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02073

Back to the Future: Predicting Long-Horizon Dynamics with Retrospective Correction for Disturbance-Aware Retrieval

Jiwoong Choi, Haoyu Li, Yiwei Lyu

原文摘要

Retrieving objects from densely packed storage requires anticipating how contact disturbs surrounding objects when limited clearance prevents lifting the target over clutter. However, contact can propagate beyond the target's immediate neighbors, while accumulated prediction errors make learned dynamics unreliable over long planning horizons. We introduce DARE (Disturbance-Aware REtrieval), a geometry-aware relational dynamics framework that uses retrospective correction to improve long-horizon prediction for disturbance-aware retrieval. DARE encodes compact object descriptors and predicts action-conditioned disturbance propagation through object-level message passing. When a sparse observation becomes available, a learned corrector uses the prediction discrepancy to amend an earlier predicted state and reruns the intervening dynamics, propagating the correction through the predicted contact chain. These predictions guide a receding-horizon planner that balances retrieval progress against displacement and rotation of surrounding objects, permitting necessary contact while discouraging harmful disturbance. Experiments in planar and RoboCasa environments evaluate long-horizon prediction, generalization, and robustness for disturbance-aware retrieval in dense clutter. See our project website: https://the-back-to-the-future.github.io

cs.RO · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02067

State-Aware Virtual Patient Simulation for Training Psychiatrists in Challenging Clinical Scenarios

Harsh Mohta, C Chandrahas Reddy, Sunhith Reddy Bojja, Manik Inder Singh Sethi, Vinesh Gupta, Raghuram Bharadwaj Diddigi

原文摘要

Psychiatrists must be prepared to manage patients exhibiting challenging psychological states, including suicidal ideation, hallucinations, and other high-risk behaviors. However, opportunities to safely practice such interactions are limited. While recent conversational agents can simulate patients, existing approaches largely rely on large language models (LLMs) to determine patient responses, making it difficult to consistently maintain psychological state, adapt to the clinician's responses, and generate clinically plausible challenges that meaningfully test the clinician. We present a state-aware virtual patient simulation pipeline for training psychiatrists in challenging clinical scenarios. The proposed system maintains an evolving patient state throughout the interaction and orchestrates patient behavior rather than leaving response generation entirely to an LLM. At each interaction, a learning-based behavioral strategy selector determines the type and level of challenge appropriate to the current patient and clinician context. The selected strategy, patient state, clinician response, interaction history, and relevant clinical knowledge are then provided as grounded context to an LLM to generate a semantically relevant and psychologically consistent patient response. Following each session, the system analyzes the interaction and provides feedback to the clinician on their communication and management of the virtual patient.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02066

Large Geometry Models Are Priors For Fast Physics Pretraining

Maggie Chlon, Leon Chlon

原文摘要

Language and vision models became data-efficient by pretraining on plentiful unlabelled data; physical field models have such data, over ten million 3D shapes, but geometry pretraining designs its targets rather than deriving them from the physics. Euler-Lagrange geometry pretraining derives them: for attached flow, a shape enters the flow's Euler-Lagrange equation only through coefficients that distance and normal line (the normal up to sign) fix to first order. Their reconstruction error therefore bounds what a representation loses about any field, and fine-tuning on costly simulations need only assemble the global field. We realise it in AREALS, a masked surface autoencoder whose areal tokens carry position, normal and area, pretrained self-supervised and sign-free on 61,822 raw meshes. Because the operating condition enters only through the far field, sensors can supply it: AREALS completes a hidden field in one forward pass without condition labels. It matches the accuracy of the same architecture trained from scratch with half the simulations on DrivAerML and DrivAerNet++ and about a quarter on WindsorML. On DoubleDelta wings, 20 sensors give $3.9\times$ and $4.0\times$ lower field and force error than GABI, a Bayesian inversion method with a learned prior, and beyond the training angles pretraining halves the error.

cs.LG · stat.ML

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新论文 · v1arXiv:2611.02065

Fragility Is Not Reducible to Hardness: Conditional Causal Difficulty for LLMs

Mohammad Reza Rezaei, Dingxian Wang, Nikhil Verma, Sajjad Pakdamansavoji, Andrew Rabinovich, Zhao Chen

原文摘要

Large language models show large and seemingly arbitrary performance drops when a task is rewritten in ways that leave its requirements untouched. We recast task difficulty as a causal quantity: the treatment effect of meaning-preserving perturbations on a model. A meaning-preserving rewrite can only be observed to hurt a task the model can already solve, so we place the estimand on the principal stratum where the degradation occurs: the conditional causal difficulty (CCD), the probability that a randomly drawn twin breaks a solvable task. Because harder tasks tend to be more phrasing-sensitive, complexity enters as an effect modifier rather than a confounder, and we residualize it out to obtain complexity-residualized difficulty (CRD); zero for a task exactly as fragile as its complexity predicts, positive for anomalously fragile ones. Current benchmarks do not supply the data CCD requires, so we introduce GlassGSM and GlassMATH, augmenting GSM8K and MATH with twins built from perturbation families, raising fragility on GlassGSM by $\approx 12\times$ over GSM-IC-style distractors on the same problems ($3.7\%\to44.9\%$) while keeping the answer key unchanged. Our predictor Frail learns the per-perturbation break probability and reaches $0.613{\pm}0.023$ of the suite reliability ceiling on GlassGSM and $0.557{\pm}0.023$ on GlassMATH, against $0.171$/$0.401$ for a surface-feature baseline and $0.444$/$0.463$ for supervised baselines such as VAP3, and, at a $5\%$ curation budget on GlassGSM, doubles random recall of fragile items, matching an oracle ranking. Additionally, cross-fitted residualization leaves CRD uncorrelated with the declared proxy in practice. Code is available at https://github.com/upwork/Conditional_Causal_Difficulty_for_LLMs

cs.LG

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新论文 · v1arXiv:2611.02056

Do Embodied VLMs Actually Use Their Scene-Graph Memory?

Shubh Garg, Divyansh Pandey, Vedant Khandelwal, Niyati Rawal, Amit Sheth

原文摘要

Embodied agents that answer questions about their route need a memory of what they saw, and scene graphs are a natural form for it. A vision-language model (VLM) can receive such a graph as text or through a graph encoder, but accuracy alone cannot show whether the graph holds the episode's facts, reaches the model, or is actually relied on. In this diagnostic study, we introduce a graph-swap test for the last of these: each episode is given another episode's graph, and we count how many answers change. On an embodied question-answering benchmark with routes through two to seven rooms, we use it to compare ways of delivering scene-graph memory to a fine-tuned VLM. As text, the memory is used strongly, adding 30 points on route questions. As a graph, it is not, and we trace why: the encoder preserves the information, but standard pooled and late fusion discard it. Giving each node its own input token recovers part of it, a gain of 8.3 points on route questions that the swap test confirms comes from the graph. The test also exposes a shortcut that accuracy hides: when the same facts appear in the text, the model ignores its graph. The test thus offers a cheap check of whether a VLM uses its scene-graph memory, and our analysis points to how that memory should be delivered.

cs.RO · cs.AI · cs.CV

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新论文 · v1arXiv:2611.02055

Rare Event Constrained Reinforcement Learning with Large Deviations

Rahul Misra

原文摘要

We study finite-horizon reinforcement learning with a safety constraint on the probability of reaching a failure set. In contrast to the well-studied safe reinforcement learning literature, we consider problems where the probability of reaching the failure set is vanishingly small, but the consequences of reaching the failure set are catastrophic. Direct simulation and estimation of the optimal policy is naturally ineffective when the failure probability is extremely small. Moreover, on a real system the controller can only choose actions, and this is not enough to make failures frequent. In contrast to the rare event simulation literature, our goal is not to estimate the probability of the rare event occurrence, but to upper bound it such that the failure constraint is satisfied. Thus, instead of sampling failures, we use the large deviations principle. We define a damage variable that on exceeding a certain threshold indicates failure. We study the cumulant generating function (CGF) as its positive root provides an upper bound on the failure probability via Cramer's theorem. We extend this approach to Markov decision processes with hitting times through state-action CGFs, and give finite-horizon and state-dependent versions of the bound. The state-action CGFs do not depend on the policy and can be estimated from regular transitions, so the bound can be checked for any policy a priori. This gives a policy improvement algorithm in which every policy satisfies the failure constraint with high probability.

stat.ML · cs.LG · eess.SY · math.OC · math.PR · math.ST

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版本更新 · v3arXiv:2606.21633

HERALD: High-Throughput Block Diffusion LLM Inference via CPU-GPU Cooperative KV Cache Retrieval

Omin Kwon, Doyeon Kim, Jongseok Park, Seung Yul Lee, Sehoon Kim, Ion Stoica, Jae W. Lee

原文摘要

Block diffusion LLMs (block dLLMs) improve decode throughput by generating tokens in parallel, and are emerging as a next-generation alternative to autoregressive LLMs. At long contexts, however, the KV cache remains a major throughput bottleneck in both memory bandwidth and capacity. For autoregressive LLMs, dynamic sparse attention is often combined with KV offloading to alleviate both bottlenecks, keeping the full KV cache in CPU DRAM and fetching only a critical subset to the GPU. However, KV subset selection and retrieval over bandwidth-limited PCIe incur substantial offloading overheads that often stall the GPU. We present HERALD, the first dynamic sparse attention method for block dLLMs that supports KV offloading. HERALD exploits a property of block dLLMs: a critical KV subset selected once per block is reused across all of its denoising steps, so the next block's selection can be hidden behind the current block's denoising. HERALD realizes this with a two-stage selection algorithm co-designed with its execution system. While the GPU denoises the current block, the CPU speculatively searches the full KV cache for the next block with a single query merged from the current block's B queries, cutting the selection compute by Bx; the GPU then refines the candidates into the final top-K subset with the next block's real queries. At K=1024, HERALD achieves near-lossless accuracy relative to Dense on LongBench and reasoning tasks across four block dLLMs, and improves decode throughput by up to 3.70x over Dense GPU-only inference, 2.59x over MAGE, a state-of-the-art block-dLLM sparse attention method, and 8.38x over MAGE-Offload, its direct KV-offloading extension.

cs.LG

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新论文 · v1arXiv:2611.03735

HyVox: Rethinking Low-Power Voice Intelligence towards Neuromorphic-von Neumann Edge Computing

Snehasis Addy, Eduardo Calle Ortiz, Prashant Shenoy, Phuc Nguyen

原文摘要

We present HyVox, a hybrid neuromorphic--von Neumann system for low-energy open-set speaker identification under tight energy budgets. HyVox splits the workload at the speaker embedding. A neuromorphic processor embeds the speech with sparse, event-driven computation, and a von Neumann microcontroller holds the speaker gallery and makes every decision: it scores queries by cosine similarity, rejects unknown speakers, and enrolls new users by writing a prototype, with no weight update. On the neuromorphic processor, a hierarchical temporal abstraction (HTA) SNN backbone learns a synaptic time constant per leaky integrate-and-fire (LIF) neuron, allocating 832 neurons across fast, medium, and slow timescales. A 32-neuron spiking embedding extractor (SEE), pretrained on episodes that each enroll new speakers and reject outsiders, turns the backbone output into an embedding for speakers unseen in training; its 32 spike counts are the only interface between the two processors. To fit the chip's synapse and integer budgets, we compress the backbone 6.5x to 29.0k synapses, train it for integer bit-shift dynamics, and fine-tune it with chip-accurate spiking training (CAST). CAST trains through a differentiable replica of the chip's integer neuron update, derived from its cycle-accurate simulator, so that gradient descent optimizes the exact weights and thresholds the chip runs; it doubles the top-1 accuracy of the mapped backbone on unseen speakers. On 20 Common Voice households of unseen speakers, HyVox reaches 99.6\% top-1 and 5.5\% rejection EER with 2 members and 94.9\% and 13.2\% with 20, and the network deployed on the neuromorphic chip matches its trained model. Each inference on a 3-s window takes 0.96 s and 1.63 mJ of dynamic energy, 42\% lower latency than the fastest embedded ANN baseline and 13.5x less dynamic and 5.8x less total energy than the most energy-efficient one.

cs.NE · cs.AI · cs.LG · cs.SD

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新论文 · v1arXiv:2611.02053

Learning to Look: A Foundation for Visual Understanding

Wenshuai Zhao, Yihao Wang, Benjamin Robson, Juho Kannala, Arno Solin

原文摘要

Vision-language models (VLMs) suffer from visual hallucination, such as saying an object that is not present in an image. We ask a more fundamental question: whether a VLM is even aware of where it is looking before understanding the semantic meaning in the image. We formulate this question as a LOOK task: identifying which parts of its visual input were available to the model. We construct the task in a self-supervised way without manually labeling the available region to the model. Our experiments show that existing VLMs fail to localize the visible region. We further show that fine-tuning VLMs on the proposed LOOK task improves a model's awareness of visual input.

cs.CV

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新论文 · v1arXiv:2611.02052

Same Function, Different Gradients: Evaluating Gradient Reliability under Reparameterization

Bum Jun Kim

原文摘要

Gradients are no longer used only to train models: Gradient magnitudes are now measurement instruments, used to rank attention heads for pruning, to decide per-example clipping in private training, to allocate adapter rank budgets, and to debug models. Across these workflows, larger gradient magnitudes are taken to mean greater importance. Even for a fixed input--output function, these gradients are computed in one of many possible parameter coordinate systems. For example, attention scores depend on the query and key projections only through the paired product $W_QW_K^\top$. Scaling a head's query projection by $c$ and the corresponding key projection by $1/c$ therefore leaves every output logit unchanged. This change in parameter coordinates rescales the corresponding query and key gradient norms by $1/c$ and $c$, respectively. To test whether gradient-based decisions remain unchanged under these coordinate changes, we introduce Gradient Reliability under Reparameterization (GRR). GRR rewrites a trained model in new parameter coordinates that compute exactly the same function, verifies that predictions are unchanged, and then tests whether the decisions derived from the gradients are unchanged too. Our audits span GLUE classifiers, a ViT on CIFAR-10, GPT-2-medium and GPT-2-large, a 1.1B-parameter Llama-style model on WikiText-2, and six trained LoRA adapters. Empirically, predictions are preserved throughout, but both the gradients and the gradient-based decisions change. Across 66 GLUE attention audits, the median top-3 overlap of raw head-gradient rankings is only $1/3$, and rankings and pruning masks change even under the mildest rescalings we test. In the largest of 14 global-pruning audits, the shifted ranking selects head masks that differ in four of 22 pruned heads and reach $50.92\%$ and $94.84\%$ validation accuracy on one ELECTRA SST-2 model.

cs.LG

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新论文 · v1arXiv:2611.02051

UniGS-SLAM: Monocular Gaussian SLAM with Enhanced Geometry and Open-Vocabulary Semantics

Xingyuan Ding, Sicheng Yu, Kaiyong Zhao, Hao Wang

原文摘要

Monocular semantic SLAM aims to reconstruct scene geometry and build semantic maps from RGB observations. Existing Gaussian-based methods often attach semantic labels or features to evolving Gaussian primitives, making semantic fusion difficult to maintain and increasing reconstruction overhead. Hybrid Gaussian--voxel representations provide more stable semantic support, but often rely on RGB-D input or known poses and do not revise historical semantic evidence after geometry updates. We present UniGS-SLAM, an RGB-only framework that decouples open-vocabulary semantics from Gaussian reconstruction while preserving bidirectional interaction. Foundation priors enhance monocular depth and pose estimation, while semantic observations are fused into an independent sparse voxel map with observation provenance, enabling historical contributions to be revised as reconstruction evolves. The fused semantics further guide Gaussian filtering and local surface refinement. Experiments on Replica, ScanNet, and KITTI-360 show leading tracking, rendering, and geometric reconstruction performance among representative RGB-only methods, together with strong open-set semantic mapping on Replica and ScanNet. We also achieve a 2.37-fold reconstruction speedup over the fastest compared semantic SLAM baseline. Project page: https://3dagentworld.github.io/UniGS-SLAM/.

cs.CV

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新论文 · v1arXiv:2611.02049

Reinforcement Learning in High-Energy Physics: A Survey from Accelerator Control to Theory Exploration

Luca Anzalone

原文摘要

Reinforcement learning (RL) is a machine learning paradigm in which an agent learns a decision-making policy by interacting with an environment, guided by a scalar reward rather than explicit supervision. Supervised and unsupervised learning have become indispensable tools in high-energy physics (HEP), but they learn from fixed datasets, whereas many HEP tasks are closed-loop decisions: the data an algorithm observes depend on its choices, the feedback is sparse or delayed, and the objective is often measured on a real machine or in a stochastic simulation, not by a differentiable model. This survey reviews the application of RL to such tasks: accelerator control and feedback, data quality monitoring, jet grooming, clustering, and representation, charged particle tracking, beyond-the-Standard-Model (BSM) and string model building, detector design, trigger control, analysis, and formal quantum field theory computation. It provides a self-contained introduction to the underlying RL methods, from model-free and model-based to multi-agent, offline, inverse, and bandit approaches, reviews each domain against its traditional methods, and summarizes the head-to-head comparisons. The applications range from policies deployed on real accelerators and evaluated on recorded collision data to exploratory studies in formal theory. RL is most advantageous for repeated tasks with a fast simulator, decisions inside fast control loops, operation under faults and corrupted measurements, physics-based rewards in place of labels, and sequential discrete constructions with a reusable policy, while Bayesian optimization, genetic algorithms, and differentiable methods remain competitive elsewhere. We conclude with the open challenges that recur across domains, including reward design, sim-to-real transfer, safety, the lack of shared benchmarks, and the statistical validity of policy-driven decisions.

hep-ex · cs.LG · hep-ph

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