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新论文 · v1arXiv:2611.07263

HyFlash: A Prefix-Memory Prior for On-Device Speculative Decoding

Jongwoo Ko, Pashmina Cameron

原文摘要

Parallel block drafting accelerates speculative decoding by predicting multiple future positions in a single backbone pass, but on-device deployment constrains both drafter capacity and context storage. Under tight memory budgets, drafters must model long-range dependencies and fine-grained draft-position interactions without the growing KV-cache overhead of full-context attention. We propose HyFlash, a compact parallel drafter that introduces a prefix-memory prior to separate long-range context modeling from fine-grained draft-position interactions with limited capacity. Local attention captures recent context and draft-position interactions, while recurrent memory compresses historical target features into fixed-size states. This inductive bias enables effective local and long-range modeling with bounded draft-side memory. Experiments show that HyFlash achieves higher acceptance than full-context attention with substantially less KV storage and with larger gains for shallow drafters and long contexts.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.01739

Fixed-point neural samplers on discrete spaces

Jiajun He, Denis Blessing, Mouyang Cheng, Yuanqi Du, Carles Domingo-Enrich

原文摘要

Sampling from discrete, unnormalized distributions without access to data is a challenging problem. Neural samplers offer a promising approach by training generative models from density evaluations directly. However, existing discrete neural samplers are prone to mode collapse, come without convergence guarantees when trained via fixed-point iterations, and are often tied to a specific reference process such as masked or uniform diffusion. In this work, we introduce Discrete Gibbs Iterative Neural Sampler, a fixed-point neural sampler that addresses these limitations, enabling efficient, scalable learning, substantially reducing mode collapse in practice. Besides masked diffusion, the framework also extends to transport between arbitrary distributions. DIG-IN mitigates mode collapse on Ising and Potts models and scales to amortized sampling with up to 2,500 sites, recovers alloy phase diagrams, and learns to sample biomolecular Boltzmann distributions from energy alone. Its transport formulation accurately estimates solvation and conformational free energies. As a maximum-entropy RL policy, DIG-IN outperforms the Gaussian, diffusion, and flow policies we compare against across 20 continuous-control tasks.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07261

An Empirical Study of Reinforcement Learning for Keypoint Positioning of Deformable Linear Objects

Vinay Rodrigues, Sara Zeynalpour, Gokhan Solak, Sebastian Hjorth, Arash Ajoudani

原文摘要

Deformable linear object (DLO) manipulation is challenging because high-dimensional configurations, nonlinear contact dynamics, and diverse material and geometric properties produce a broad range of object responses that are both difficult to model and data-intensive to learn. This work studies reinforcement learning for planar manipulation of a one-end-grasped DLO, focusing on training efficiency, observation design, robustness, and zero-shot sim-to-real transfer. We compare three Proximal Policy Optimization training stacks and find that the GPU-parallel MuJoCo Playground stack enables faster convergence and more consistent performance than CPU-based alternatives under the same wall-clock budget. Relative keypoint observations and an asymmetric actor-critic formulation further improve learning efficiency. Policies trained with observation noise, delay, domain randomization, and disturbances achieve simulation success rates of 96.4% for single-point tracking, 98.0% for disturbance recovery, and 88.8% for two-point tracking. Using markerless RGB-D keypoint estimation, the policies transfer without real-world fine-tuning, succeeding in 9/10, 10/10, and 8/10 physical trials, respectively.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.22252

B-XAIC Dataset: Benchmarking Explainable AI for Graph Neural Networks Using Chemical Data

Magdalena Proszewska, Tomasz Danel, Antoni Antoszek, Dawid Rymarczyk

原文摘要

Understanding the reasoning behind deep learning model predictions is crucial in cheminformatics and drug discovery, where molecular design determines their properties. However, current evaluation frameworks for Explainable AI (XAI) in this domain often rely on artificial datasets or simplified tasks, employing data-derived metrics that fail to capture the complexity of real-world scenarios and lack a direct link to explanation faithfulness. To address this, we introduce B-XAIC, a novel benchmark constructed from real-world molecular data and diverse tasks with known ground-truth rationales for assigned labels. Through a comprehensive evaluation using B-XAIC, we reveal limitations of existing XAI methods for Graph Neural Networks (GNNs) in the molecular domain. This benchmark provides a valuable resource for gaining deeper insights into the faithfulness of XAI, facilitating the development of more reliable and interpretable models.

cs.LG · cs.CE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.26466

Soft Token Alignment for Cross-Lingual Reasoning

Jiayi He, Jungsoo Park, Wei Xu, Alan Ritter

原文摘要

Multilingual large language models often produce inconsistent reasoning and answers for semantically equivalent prompts in different languages. Prior work suggests that intermediate representations can be relatively language-agnostic, but generation becomes increasingly language-specific as models commit to discrete output tokens. This is problematic because language-specific lexical choices can cause semantically equivalent reasoning paths to diverge across languages. These divergences motivate searching for a cross-lingual alignment signal that is less tied to any single vocabulary item or script. We propose SOLAR, an auxiliary objective for supervised fine-tuning that aligns soft-token representations across languages, using English as a pivot. Soft tokens are probability-weighted mixtures over the vocabulary embeddings, yielding continuous representations that can aggregate information from semantically related tokens across languages. We then align each non-English soft-token summary to its English counterpart in the shared embedding space. Across four multilingual reasoning benchmarks, SOLAR improves accuracy by up to +17.7 points over the base model and +3.8 over standard supervised fine-tuning, with the largest gains on low-resource languages. SOLAR also strengthens final-layer cross-lingual similarity and substantially reduces language-cluster separability, suggesting that aligning soft-token representations helps preserve shared semantic structure during multilingual reasoning.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.22944

Invariant Discovery for Networked Systems

Hongyu Hè, Alexander Krentsel, Sylvia Ratnasamy, Maria Apostolaki

原文摘要

Invariants, the relations expected to hold among measured signals of a network, underpin applications from verification to traffic generation, telemetry imputation, and input validation. Yet, writing them by hand demands rare expertise in both formal logic and networking. Testing all possible combinations of telemetry variables statistically is intractable at network scale, while existing automatic tools still require a human-authored grammar of admissible invariants and learn only exact, "hard" rules that break under real-world noise. Our key idea is to use an LLM to inspect variable metadata, classify counter data types, and predict candidate syntactic relationships that form a compact grammar, followed by a deterministic statistical search within that grammar. If the initial grammar fails to recover trusted known invariants on held-out telemetry, Autogram instructs the LLM to iteratively widen the grammar until recovery succeeds. By confining the LLM to grammar induction and re-induction while delegating candidate verification to logical and statistical checks, Autogram turns non-deterministic AI proposals into auditable invariants with formal guarantees within the induced grammar. We design and prototype Autogram and evaluate it on both public and production WAN telemetry, recovering expert-derived invariants with full recall and low false positives. We close with a discussion of open problems on the path toward fully open-ended invariant discovery.

cs.NI · cs.AI · cs.LG · cs.SC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07258

Reweighting is not Harmless: Understanding the Role of Dataset Characteristics

Amalia Ionescu, Jose G. Hernandez, Emily F. Wong, Anil K. Saini, Jason H. Moore, Tiffani J. Bright

原文摘要

Reweighting is a widely used pre-processing method for promoting discrimination-free model behavior by assigning different weights to data points during model training. While it is often credited with improving fairness, particularly by mitigating systematic underestimation for underrepresented groups, it can also introduce unintended harms under certain data conditions. Using controlled simulations that vary group size and baseline event prevalence, we show how reweighting can yield misleading improvements in fairness by reducing underestimation for one group while introducing it for another. Across 3,000 simulated datasets with event prevalence of 7-14%, reweighting improved parity in positive classification and false negative rates (FNR) between groups, but did so partly by decreasing positive classifications and increasing FNR for the group with higher baseline prevalence. These effects were most pronounced when that group was a minority: its FNR rose by 6 percentage points, approximately 82 additional missed cases per 10,000 group members, and roughly three-quarters of the improvement in FNR parity came from this increase rather than from gains for the other group. The pattern held across six classifiers, from logistic regression to neural networks, while overall accuracy was essentially unchanged, leaving the shift invisible in aggregate performance metrics. These findings mirror patterns reported in real-world applications and underscore the critical role of data characteristics in shaping the impact of this fairness intervention. While reweighting may create desirable outcomes in some applications, practitioners should critically evaluate it relative to their problem area and goals. Specifically, when the goal is to reduce underestimation in one group without introducing underestimation in another, reweighting may not be the appropriate approach.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07256

TriAttention: Unified Sparse Mixed-Precision Attention for Long-Context LLM Inference

Hanzhi Zhang, Qiao Zhang, Qinglei Cao, Heng Fan, Yan Huang, Kewei Sha, Yunhe Feng

原文摘要

Sparsity and quantization reduce the cost of attention by skipping interactions and lowering the precision of those retained. However, useful interactions differ in their precision requirements: some tolerate low-precision scores while remaining sensitive to removal. We therefore introduce TriAttention, which assigns query-key (QK) tiles to skipping, 4-bit, or 8-bit computation, using 4-bit to retain quantization-tolerant interactions at lower cost. To represent compactly, we encode each head's computation regions with two diagonal-distance boundaries, keeping policy storage independent of context length. Offline calibration then evaluates candidate boundary pairs using normalized projected-output errors and complete-tile execution costs. Using these measurements, a model-wide allocator selects each head's boundaries to minimize calibration error under a shared computation budget. During prefill, the selected boundaries generate precision-grouped traversals for a fused kernel that skips omitted tiles and combines contributions from both QK precisions into one normalized attention output. The quantized keys and values prepared during prefill are then reused in a compressed key-value (KV) cache for decoding, reducing repeated reads of prompt data. Experiments show that TriAttention achieves end-to-end generation speedups of up to 7.88x over the Torch attention and 2.65x over the BF16 baseline. Meanwhile, TriAttention maintains quality comparable to the original models on general-purpose and long-context tasks. These results show how a compact retention-and-precision policy translates local sensitivities into attention computation and repeated KV-cache access. The implementation is https://github.com/HanzhiZhang-Ulrica/TriAttention.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07257

Evolutionary Adaptive Neighborhood Learning: A Genetic Algorithm for Instance-Dependent k Optimization in Nearest Neighbor Classification

Isaac Touza, Kaladzavi Guidedi, Kolyang

原文摘要

The number of neighbours k is the central hyperparameter of the k-nearest neighbour (k-NN) classifier and is usually selected globally through cross-validation or evolutionary search. However, the bias-variance trade-off is inherently local: dense and noise-free regions may favour small neighbourhoods, whereas sparse or noisy regions may require larger ones. Since global-k optimization is one-dimensional, replacing exhaustive search with a genetic algorithm offers little computational advantage. We therefore optimize an instance-dependent neighbourhood policy instead. We propose EANK (Evolutionary Adaptive Neighborhood K), which uses a low-dimensional policy to map local neighbourhood descriptors, including density, label entropy, vote margin, and concentration, to an adaptive number of neighbours k(x). A real-coded elitist genetic algorithm optimizes this policy using leave-one-out accuracy with a neighbourhood-smoothness penalty. Precomputed neighbour votes reduce fitness evaluation costs. We investigate theoretical properties of the method, including dominance over global-k solutions on the training criterion, evolutionary convergence, policy regularity, and generalization guarantees. Experiments on synthetic data with spatially heterogeneous structure and twelve public datasets evaluate predictive performance, robustness, and computational cost. Under nested cross-validation, EANK achieves competitive performance relative to tuned global-k baselines and improves upon the default k=5. We also examine the gap between training and test performance to assess the practical value of adaptive neighbourhood selection.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.10675

HiddenObjects: Scalable Spatial Prior Extraction for Object Placement from Diffusion Models

Marco Schouten, Ioannis Siglidis, Serge Belongie, Dim P. Papadopoulos

原文摘要

We learn explicit, class-conditioned spatial priors for object placement in natural scenes by distilling placement knowledge from text-conditioned diffusion models. Prior methods rely on sparse manual annotations or on inpainting object-removal pipelines, whose artifacts promote shortcut learning. To address these limitations, we propose a scalable pipeline that evaluates dense candidate placements by inserting objects into clean backgrounds. This produces HiddenObjects, a dataset of 27M bounding-box annotations (2M positives) across 27K diverse scenes and object categories. Human evaluation prefers our image editing composites over those guided by sparse annotations in 65.6% of comparisons. We distill the priors into a lightweight placement model that achieves the best accuracy among dedicated baselines and zero-shot vision-language models.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07254

Using Transformers for Teaching and Learning via Symbolic Distillation of Neural A-life Agents

Shuwei Wang, Vadim Bulitko, Matthew R. G. Brown, Michael Youngblood, Ramon Lawrence, Roscoe Smith, Shinichi Nakagawa, William Yeoh

原文摘要

Neural networks controlling behavior of A-life agents can evolve over multiple generations. While effective in making the agents survive, such networks are generally opaque to a human observer. Furthermore, the neural weights cannot be transferred between agents with different neural architectures. Distilling such neural networks into compact symbolic policies can help humans understand agent behavior in A-life. Additionally, it allows the agents to share their knowledge in a compact fashion, improving population-level learning. Distilling a neural policy into a symbolic policy is typically performed by searching the space of symbolic policies to find one that approximates the neural policy. However, even with a domain-specific language the space of policies can be large, necessitating incomplete stochastic search such as genetic algorithms. Yet the distillation remains computationally expensive. We propose to instead use a transformer pre-trained on readily available random percept-action data. Doing so speeds up distillation substantially. We derive the transformer architecture via a neural architecture search. Empirical results compare different distillation methods and the influence of the symbolic space on A-life population dynamics through self-reflection and teaching and learning.

cs.LG · cs.SC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.04373

Worst-Case Discovery and Runtime Protection for RL-Based Network Controllers

Hongyu Hè, Minhao Jin, Maria Apostolaki

原文摘要

RL-based controllers achieve strong average-case performance in networking tasks such as congestion control and adaptive bitrate streaming. Yet their performance can degrade severely under network conditions where strong performance is still achievable. Identifying such conditions and quantifying the resulting performance gap is intractable by enumeration, while the sequential and closed-loop nature of RL controllers makes formal verification methods impractical. We present ReGuard, a framework that discovers worst-case scenarios for a given RL controller and protects it against them at inference time without retraining. ReGuard formulates scenario discovery as a bilevel regret-maximization problem, certifying a lower bound on the controller's worst-case performance gap. ReGuard then analyzes the discovered counterfactual trajectories and compiles them into lightweight logic rules that intervene only when a risky state is detected, leaving the controller's behavior unchanged otherwise. We evaluate ReGuard across three RL-based network controllers: Pensieve, Sage, and Park. ReGuard discovers scenarios in which each controller suffers a 43-64% performance loss relative to what is achievable under the same conditions. ReGuard exposes performance gaps 57% to 6 times larger than those found by the strongest baselines and shrinks those gaps by 79-85% in its first iteration via lightweight rule-based protection, iteratively driving the remaining gap toward nominal levels. ReGuard's protection extends beyond the scenarios it discovers, improving performance across a wide range of network conditions.

cs.NI · cs.AI · eess.SY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2407.21665

A State-of-the-Art Review of Computational Models for Analyzing Longitudinal Wearable Sensor Data in Healthcare

Paula Lago

原文摘要

Wearable devices are increasingly used as tools for biomedical research, as the continuous stream of behavioral and physiological data they collect can provide insights about our health in everyday contexts. Long-term tracking, defined in the timescale of months of year, can provide insights of patterns and changes as indicators of health changes. These insights can make medicine and healthcare more predictive, preventive, personalized, and participative (The 4P's). However, the challenges in modeling, understanding and processing longitudinal data are a significant barrier to their adoption in research studies and clinical settings. In this paper, we review and discuss three models used to make sense of longitudinal data: routines, rhythms and stability metrics. We present the challenges associated with the processing and analysis of longitudinal wearable sensor data, with a special focus on how to handle the different temporal dynamics at various granularities. We then discuss current limitations and identify directions for future work. This review is essential to the advancement of computational modeling and analysis of longitudinal sensor data for pervasive healthcare.

cs.HC · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07247

Goal Revelation as a Bridge Between Information-Theoretic Empowerment and Capability-Based Human Power

Jaime Ruiz-Serra, Tomáš Gavenčiak, Jobst Heitzig

原文摘要

Power matters for AI safety. Optimal agents tend to acquire power across a wide range of objectives (instrumental convergence). As we embed AI agents into socio-technical systems, humans risk gradual disempowerment. Both concerns call for a formal, quantitative measure of power. Two such measures in the context of Markov games are information-theoretic empowerment, the capacity of the channel from an agent's actions to future states, and capability-based individual power, a measure of goal attainment built from the probabilities that a human would attain each goal in a family of candidates were they pursuing it. We show where the two meet. From individual power, Fano's inequality yields a floor $B(s)$. This floor is a lower bound on what we term goal revelation, the mutual information $\mathbb{I}(G;ξ\mid s)$ between the human's latent goal and the realised trajectory. Empowerment caps revelation from above, so that $B(s) \le \mathbb{I}(G;ξ\mid s) \le \mathbb{I}(\mathbf{A}_h \to ξ\mid s) \le \mathfrak{E}_h(s)$. Each quantity can be large while the one below it stays at zero, highlighting the following failure modes. An assistant maximising empowerment can prefer an interface offering broad influence over goal-irrelevant degrees of freedom to one that lets the human attain every goal they might hold. An assistant maximising revelation cannot tell a working interface from one rewired so that every goal yields the wrong outcome, since relabelling goals leaves mutual information unchanged while zeroing every attainment probability. Positive guarantees therefore come only from the attainment end of the chain. A satisfaction floor, computable from two statistics of interaction logs, offers a way to monitor the power users retain in a deployed system, and simulations in random environments show the three quantities are correlated but far from interchangeable.

cs.AI · cs.IT · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07246

KG-Neighbor: Knowledge-Guided Neighborhood Construction for Embedding Visualization

Chang Won Kim, Jaewook Lee, Haeun Min, JunNyeong Jeong, Minwoo Sim, Barom Kang, Kyohoon Jin

原文摘要

In embedding visualizations, nearby instances are interpreted as semantically related, although neighborhoods derived from input embeddings may not reflect content relationships. Neighborhood-based dimensionality reduction (DR) methods can propagate this limitation by optimizing layouts from embedding-based neighborhood graphs. We propose Knowledge-Guided Neighborhood Graph Construction (KGN), which represents relational knowledge derived from each instance as a set of knowledge graph (KG) triples. It uses the degree of triple sharing as pairwise semantic evidence to adjust embedding distances and reconstruct the top-k neighborhood graph; neither KG extraction nor neighborhood construction uses class labels. We also introduce IDProfile (IDP), which interprets residual mismatches by independently assessing whether the source content supports the assigned class label and the neighborhood-majority class. Across eight text and image dataset-encoder conditions, we characterize KGN over the full guidance-strength sweep and four KG similarity measures. Across this sweep, the maximum NMI and LT_2D each exceed the corresponding kNN baseline in all eight conditions, with the largest gains reaching 0.68 and 1.35, respectively. The gains and the extent of neighborhood reconfiguration vary across conditions and are larger under encoder conditions with lower kNN baseline scores. The IDP analysis shows that the largest reductions are concentrated in Placement Issue candidates, whereas Label Issue and Unresolved Case instances account for a larger share of the remaining review set. These results indicate that KGN can narrow the evaluated gap between embedding-based neighborhoods and content-supported semantic relations, while IDP shows that a residual mismatch should not automatically be interpreted as a projection failure.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07245

MAC-v2: Long-horizon model-based value expansion from pixels

Kwanyoung Park, Sergey Levine

原文摘要

We study whether \emph{long-horizon model-based value expansion} can serve as an effective framework in pixel-based offline reinforcement learning (RL). Long-horizon model-based value expansion from pixels is substantially harder than state-based environments, as the agent must learn both the representation and its dynamics, and errors from either can accumulate recursively over imagined trajectories. We introduce MAC-v2, which enables long-horizon model-based expansion from pixels by training a reconstruction-free latent world model with action chunking. By learning representations from prediction and control objectives, MAC-v2 does not need to encode control-irrelevant visual details that can hinder the dynamics prediction. Action chunking further mitigates the prediction error by reducing the number of recursive model predictions required for value expansion. Across diverse visual benchmarks including visual OGBench, MMBench2, Robomimic, and LIBERO-10, MAC-v2 achieves strong performance against model-free and model-based offline RL baselines. Our analyses show that long-horizon model-based value expansion is critical for the performance of MAC-v2, and that both action chunking and latent learning objectives are essential for reliable long-horizon latent imagination.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07241

$D^2$-OPD: Separating Direction and Distance in Extrapolative On-Policy Distillation

Bowen Fang, Dingmin Wang, Hengzhi Pei

原文摘要

On-policy distillation (OPD) trains a student model to match a teacher's next-token distributions on student-generated prefixes. Extrapolative OPD further extends the teacher's log-probability shift relative to a reference policy to construct stronger learning targets. However, existing methods couple extrapolation direction and distance, allowing the magnitude of the teacher's shift to dictate how far the target moves. We propose $D^2$-OPD, decoupling these two factors: a per-prefix hard KL constraint bounds the target's distance from the teacher, while an adaptive combination of the teacher's post-training shift and the initial student--teacher gap determines the extrapolation direction. We optimize the student toward this target using forward KL, providing learning signals even for low-probability tokens. We evaluate three settings: where standard OPD performs well, where it struggles with base-model initialization, and where no teacher reference is available. On mathematical reasoning benchmarks, $D^2$-OPD attains the highest score in all three settings, outperforming the strongest baseline by up to 9.45 points. Ablations validate the contributions of each component.

cs.LG · cs.CL

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.07104

Almost Sure Convergence Rates of Stochastic Approximation and Reinforcement Learning via a Poisson-Moreau Drift

Xinyu Liu, Zixuan Xie, Shangtong Zhang

原文摘要

Establishing almost sure convergence rates for stochastic approximation and reinforcement learning under Markovian noise is a fundamental theoretical challenge. We make progress towards this challenge for a class of stochastic approximation algorithms whose expected updates are contractive, a setting that arises in many reinforcement learning algorithms such as $Q$-learning and linear temporal difference learning. Specifically, for a power-law learning rate $O(n^{-η})$ with $η\in (1/2, 1)$, we obtain an almost sure convergence rate arbitrarily close to $o(n^{1 - 2η})$. For the harmonic learning rate $α_n=α/(n+1)$, the almost sure squared-error rate is $o(n^{-ζ})$ for every $ζ<\min\{1,2(1-κ)α\}$, where $κ$ is the contraction factor. Thus exponents arbitrarily close to one are available when $2(1-κ)α\geq1$. This approaches the $n^{-1}$ polynomial exponent of classical law-of-the-iterated-logarithm benchmarks. Key to our analysis is a novel Lyapunov drift construction that applies a Poisson-equation based correction for Markovian noise to the well-established Moreau-envelope smoothing for the contractive mapping.

cs.LG · math.OC · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07238

How Do AI Agents Waste Your Money?

Huimin Zeng, Yuxuan Lu, Jesse Cai, Eric Hanchen Jiang, Di Wu, Po-Nien Kung, Wenbo Hu, Ziyi Wang 等 11 位作者

原文摘要

AI agents may consume massive tokens across a wide range of tasks, but how many of those tokens are really necessary? Although prior work has shown that agents can incur unexpectedly high token costs, we still lack a systematic way to identify and measure token waste. In this work, we introduce a unified framework for measuring token waste across heterogeneous agent systems. Our framework records and normalizes complete agent trajectories, identifies removable spans using an LLM-as-a-Judge (LLMaJ), and maps the identified text spans back to the original trajectory for token-level measurement. We validate the identified waste through direct interventions by removing marked spans, resuming agent execution, and measuring changes in task outcomes and subsequent actions. In online pruning experiments, we remove 41-46% of the model's reasoning while largely preserving task performance across two distinct agent benchmarks. Using this framework, we analyze agents across multiple settings. Our analysis shows that token waste has a system-level structure that aggregate token usage alone cannot reveal. First, waste varies more across tasks and agent settings than across models. Second, reasoning and visible execution can exhibit different waste patterns. Third, different harnesses can introduce distinct sources of inefficiency even under the same model and task. Overall, our framework transforms token waste into an actionable optimization signal, enabling researchers and practitioners to train more efficient models, design better reasoning strategies, and optimize agent harnesses toward reducing unnecessary computation rather than merely reducing token usage.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07235

Adaptive Hybrid Force-Vision Control with EMG-Derived References for Deformable Bottle Manipulation

Jeffrey Lee, Geoffrey Hanks, Evangeline Bouganim, Yue Hu

原文摘要

Robotic automation of laboratory tasks has become a growing interest to remove researchers from hazardous environments and repetitive procedures. However, even equipment as simple as squeeze bottles poses a challenging manipulation problem due to its deformability. This paper presents an adaptive hybrid vision-force controller for robotic grippers to effectively manipulate laboratory squeeze bottles to dispense liquid. This approach integrates force and vision feedback according to the interaction state, enabling effective squeezing while accounting for bottle deformation and recovery. The proposed controller is validated by comparing its performance with a pure force controller on 12 combinations of conditions consisting of 2 target dispense volumes, 2 plastic squeeze bottles, and 1 to 3 squeezes used to dispense. Human demonstrations of these operating conditions were collected using electromyography (EMG) sensing mapped to a desired grip force, which was then used as the force reference for the controllers to squeeze the bottles. Results demonstrated that the proposed adaptive hybrid vision-force controller achieved more accurate liquid dispensing with a mean absolute error (MAE) of 6.54 mL compared to a MAE of 15.92 mL from the pure force controller, while also replicating the human action recorded from the EMG signal more closely.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07234

Archetypal contexts in the neurons of language models: an architecture for intelligence?

David Nordfors

原文摘要

We validate our previous hypothesis that a language model holds relational patterns apart from the subject domains that instantiate them (Nordfors, 2026). These archetypal contexts are patterns of relations that people recognize across many fields, such as the tipping point or winner takes all, held once and applied across domains. We show this inside the model, Qwen3.8-27B. One set of neurons carries the archetype, say the tipping point; another carries the topic, say politics, ecology or cell biology; a third carries the language, such as English, Spanish or Chinese. Silence the tipping point's neurons, and the model no longer identifies the pattern but still knows what the text is about. Silence the topic's, and it loses the topic but still names the pattern. In the neuron maps the layers organize themselves into a sandwich: the outer layers carry languages, the layers inside them topics, the layers at the heart archetypes. The sandwich emerges spontaneously during pretraining and appears in every model we mapped. Archetypes are the architecture for analogy, and we strongly suggest that this structure of archetypes and topics is the mechanism of a language model's intelligence: we see it self-organize as the model is trained. The neurons, the texts and the code are released with this paper as its reproduction package, so that anyone can repeat the test inside the model.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07233

Neural Compression over Equivalence Classes: Exact Gauges and Functional Rate-Distortion

Toshiaki Koike-Akino

原文摘要

Neural networks admit many parameterizations of the same or nearly the same function, but deployment typically stores whichever parameter vector training happens to produce. We show that this representational freedom can itself be used for compression. Rather than redesigning the codec, we search over exact function-preserving transformations and controlled functional perturbations, using the unchanged physical compressor itself to select cheaper representations. Exact gauge families provide a zero-distortion reference under the strict audit; allowing small functional changes exposes much larger rate-distortion gains. Across SmolLM2 and Qwen3, our method reduces Zstandard-compressed checkpoint size by up to 23.4\%, with similar relative reductions under gzip, Brotli, and ZipNN, establishing trained-network representational freedom as a practical storage resource.

cs.LG

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新论文 · v1arXiv:2611.07232

Recursive Sparse Attention: Million-Token Length Extrapolation at Logarithmic Cost

Ruitian Wang, Xinyu Yang, Minshen Zhang, Hao Zhang

原文摘要

At context lengths of about 1M tokens, dense attention is costly in prefill and decoding, and training typically relies on long documents, which become scarcer as the target length increases. Most sparse attention methods score all preceding blocks or tokens, so their selection cost per query is $O(L)$ at context length $L$; hierarchical selection reduces it to $O(\log L)$, but prior trainable hierarchical methods report accuracy only within their training length. We propose RecSA (Recursive Sparse Attention), which builds a tree over the KV cache in which each node summarizes its subtree with one key and one mean-pooled value. The keys come from one pooler per layer, shared by all levels and distilled from dense attention. Each level above the tokens selects at most $k$ candidates, so each query has $O(\log L)$ selection cost and reads $O(\log L)$ entries; the summaries of unselected candidates share one softmax with the exact tokens. Each entry's RoPE position is its index among the candidates of its level, so at any length every relative distance stays within the range seen during training. Initialized from Qwen3-4B and trained on 0.62B tokens at the original model's 32K training length, RecSA outperforms all baselines on RULER at every length from 131K to 2M; at 1M, it scores 60.5, compared with 40.0 for the best baseline, Dense + DCA. With our optimized kernels, RecSA is faster than dense attention in end-to-end prefill and decoding from 64K to 2M; at 524K on one H200 GPU, it accelerates prefill by 3.2x and decoding by 3.8x.

cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07229

Spatial-UMI-Dream: Scaling World Action Models with Metric Geometry for UMI Manipulation

Weiduo Yuan, Ze Yuan, Sihan Liu, Jionghao Wang, Liang Heng, Zhenyu Zhao, Yue Wang

原文摘要

The Universal Manipulation Interface (UMI) enables scalable demonstration collection independently of a specific robot. However, its moving, close-range gripper cameras entangle camera and object motion without a stable external view, leaving the metric geometry needed for precise manipulation implicit in RGB. We introduce Spatial-UMI-Dream, a 5B spatial World Action Model (WAM) pretrained on 605 hours of RGB-D UMI data through two-stage training -- world-only adaptation followed by joint world-action learning -- to jointly predict future RGB, fisheye-aligned metric depth, and actions. Stereo-derived depth makes scene scale and spatial relationships explicit within a unified dual-gripper RGB-D representation. Furthermore, evaluating UMI policies requires testing whether UMI's robot-independent demonstration collection translates into policy generalization across robot embodiments, alongside robustness to environmental changes. We introduce RoboTwin-UMI, a twenty-task simulation benchmark built on RoboTwin with UMI wrist-mounted fisheye observations, enabling controlled, repeatable evaluation of UMI policies under environment and embodiment changes separately and jointly without additional fine-tuning. On RoboTwin-UMI, Spatial-UMI-Dream achieves 79.10% in-domain success and 72.15% under combined embodiment and environment shifts, exceeding the strongest evaluated baseline in each setting by 4.65 and 10.30 percentage points, respectively. It also exhibits the smallest success-rate drop under embodiment transfer among the evaluated policies. In a matched pretraining ablation, RGB-only pretraining leads to a 5.75-percentage-point decrease in in-domain success compared with RGB-D pretraining. Across six real-world tasks, Spatial-UMI-Dream achieves 85.0% average success, exceeding the strongest baseline by 24.2 percentage points. Project page: https://weiduoyuan.com/spatial-umi-dream/

cs.RO

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新论文 · v1arXiv:2611.07228

Source-balanced Capped Fisher: Bounded Evidence Aggregation for User Inference in Language Models

Yang Liu, Ran Zou, Wanrong Zhu

原文摘要

User inference asks whether a source contributed documents to a language-model update, even when the auditor observes only fresh documents from that source. Document-level scores can provide evidence of participation, but combining this evidence is challenging: documents differ in baseline predictability and in how strongly they reflect information learned from other documents of the same source. We propose source-balanced capped Fisher (SCF), an aggregation method that uses known nonparticipating sources to assess how unusual each document score is. It transforms the resulting reference-tail frequencies into negative-log evidence, caps individual contributions, and averages them within each source. This limits the influence of isolated extreme scores while retaining evidence across multiple documents. We complete the inference procedure with a decision rule that tests source participation using a p-value calibrated against a separate set of known nonparticipating sources. The rule provides finite-sample Type-I error control under source exchangeability. Experiments across four real-world datasets show that SCF achieves the highest AUROC among the evaluated aggregation methods in four domains. With the calibration-based decision rule, SCF delivers consistently competitive detection power across the tested settings, achieving the highest power in many cases, while empirical false-positive rates remain generally close to or below the nominal levels.

cs.CL

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新论文 · v1arXiv:2611.07226

Loopback Transformer: Towards a Unified View of Residual Looped Transformers

Xuan Ouyang, Zefan Cai, Chenlong Zhang, Cheng Luo, Ke Wan, Junjie Hu

原文摘要

Looped Transformers reduce parameter count by repeatedly applying shared blocks, but parameter sharing alone does not determine how the results of repeated computation are reused. We take the depth-memory view of residual connections and analyze which representation is stored after each block application and how later reads weight it. A full block output contains both its input and its new update, so weighting that output also reweights the history already carried by the input. Reading individual updates instead, with the shared stack's input kept on a separate path, gives separate controls over input strength, total update weight, and allocation across updates. The Loopback Transformer implements these controls: geometric decay sets the total update weight and supplies a recency prior, and attention learns how to allocate that weight. On ClimbMix, Loopback reaches lower validation loss than standard Transformer baselines with 40-75% of their Transformer parameters (excluding token embeddings and the output head) at reference scales from 191M to 3B, with training tokens and executed depth matched. It also has higher mean accuracy over thirteen downstream tasks at 1.4B and 3B. At 191M, 374M, and 778M, it has the lowest validation loss and the highest thirteen-task mean among the standard Transformer and seven looped residual designs.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.09214

Fast Rates for Offline Contextual Bandits with Forward-KL Regularization under Single-Policy Concentrability

Qingyue Zhao, Kaixuan Ji, Heyang Zhao, Quanquan Gu

原文摘要

\emph{Kullback-Leibler} (KL) regularization is ubiquitous in reinforcement learning algorithms in the form of \emph{reverse} or \emph{forward} KL. Recent studies have demonstrated $ε^{-1}$-type fast rates for decision making under reverse KL regularization, in contrast to the standard $ε^{-2}$-type sample complexity. However, for forward-KL-regularized objectives, existing statistical analyses are either not applicable or result in $\tilde{O}(ε^{-2})$ slow rates. We take the first step towards addressing this problem via a streamlined analysis of forward-KL-regularized offline CBs. We give the first $\tilde{O}(ε^{-1})$ upper bounds in tabular and general function approximation settings, both under notions of \emph{single-policy concentrability}. In particular, our convex-analytical pipeline unifies these settings by exploiting the pessimism principle in a novel way and completely bypasses the proof routines in previous works based on the mean value theorem, which might be of independent interest. Moreover, we provide rate-optimal lower bounds, manifesting the tightness of our upper bounds in terms of statistical rates. Our lower bounds also demonstrate that the forward-KL-regularized sample complexity recovers the unregularized slow rate in the low-regularization regime, similarly to the reverse-KL regularization.

cs.LG · cs.AI · cs.IT · math.ST · stat.ML

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.16922

Motion Cues from Image-based Point Tracking for LiDAR Scene Flow Estimation

Youngdong Jang, Gyeongrok Oh, Jong Wook Kim, Hyunju Ryu, Hyung-gun Chi, SeungHyeon Kim, Seungryong Kim, Jonghyun Choi 等 9 位作者

原文摘要

Self-supervised LiDAR scene flow approaches rely on pseudo-labels that distinguish static and dynamic points, providing targeted supervision. These labels are typically derived from LiDAR geometry, making them unreliable in sparse or occluded regions. The resulting noise misguides motion supervision and degrades scene flow learning, yet existing methods remain largely dependent on the same geometric evidence. To address this, we introduce TrackCue, a tracking-guided framework that transfers dense image trajectories into reliable static-dynamic supervision. TrackCue anchors tracking queries to projected LiDAR points, yielding image-space trajectories that provide motion evidence beyond sparse LiDAR geometry. Since image-space displacement also reflects ego-vehicle motion, we present a visually consistent motion compensation strategy that compares each tracked trajectory with the rigid trajectory induced by ego-motion alone. It admits motion evidence only where both trajectories are valid and the deviation persists across frames, isolating true object motion while suppressing transient tracking errors. Finally, we perform visual motion cue lifting, which associates image-space object motion cues with LiDAR points for label refinement. As a result, TrackCue substantially improves the precision of dynamic pseudo-labels, providing more reliable supervision and leading to better self-supervised scene flow estimation.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.22535

TerminalWorld: Benchmarking Agents on Real-World Terminal Tasks

Zhaoyang Chu, Jiarui Hu, Xingyu Jiang, Pengyu Zou, Han Li, Chao Peng, Peter O'Hearn, Earl T. Barr 等 11 位作者

原文摘要

We introduce TerminalWorld, a scalable data engine that automatically reverse-engineers high-fidelity evaluation tasks from "in-the-wild" terminal recordings. Processing 80,870 terminal recordings, the engine yields a full benchmark of 1,530 validated tasks, spanning 18 real-world categories, ranging from short everyday operations to workflows exceeding 50 steps, and covering 1,280 unique commands. From these, we curate a Verified subset of 200 diverse, manually reviewed tasks. Comprehensive benchmarking on TerminalWorld-Verified across eight frontier models and six agents reveals that current systems still struggle with authentic terminal workflows, achieving a maximum pass rate of only 62.5%. Moreover, TerminalWorld captures real-world terminal capabilities distinct from existing expert-curated benchmarks (e.g., Terminal-Bench), with only a weak correlation to their scores (Pearson r=0.20). The automated engine makes TerminalWorld authentic and scalable by construction, enabling it to evaluate agents in real-world terminal environments as developer practices evolve.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.01640

Prescriptive Scaling Laws for Data Constrained Training

Justin Lovelace, Christian Belardi, Srivatsa Kundurthy, Shriya Sudhakar, Kilian Q. Weinberger

原文摘要

Training compute is increasingly outpacing the availability of high-quality data. This shifts the central challenge from optimal compute allocation to extracting maximum value from limited data. The widely adopted Chinchilla scaling law assumes every training token is unique. This limits its ability to guide pretraining decisions in data-constrained regimes. We model the excess loss under repetition with a simple additive overfitting penalty and find that it accurately describes model behavior. Our scaling law yields qualitatively new compute-optimal allocation advice. Beyond a point, further repetition is counterproductive and compute is better spent on model capacity. We show that following our law's recommended configuration improves performance in data-constrained regimes. Finally, because our one-parameter form isolates overfitting in a single coefficient, it enables direct comparison across training configurations. As a case study, we show that strong weight decay ($λ=1.0$) reduces this coefficient by approximately 70\%, providing a scaling-law explanation for recent findings that optimal weight decay in data-constrained regimes is an order of magnitude larger than standard practice.

cs.LG · cs.CL

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