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版本更新 · v2arXiv:2607.23379

When Activation Oracles Learn Not to Read: Concept-Specific Blind Spots in Fine-Tuned Oracles

Tobias Bersia, Tatiana Gaintseva

原文摘要

Activation Oracles (AOs) are language models trained to answer natural-language questions about another model's internal activations. They offer a flexible interface for reading hidden information from model states, especially when relevant information is internally represented but absent or incomplete in visible behavior. However, AOs are themselves learned systems: their answers are shaped by training data, objectives, and learned reporting behavior, rather than being neutral readouts of represented information. We study this in a controlled Taboo Word Guessing setting, where subject models are fine-tuned to internally use a hidden concept while avoiding direct disclosure. Contrary to the expectation that an AO trained on such a subject becomes a specialist reader, we find that fine-tuned AOs can become concept-specific anti-readers: they selectively fail to recover the concept persistently present during their own training. This failure is not simply explained by absence of the concept from the subject or oracle representations: the target remains decodable inside the oracle, while LogitLens and layer-ablation analyses indicate that the failure arises in the AO readout pathway. Our results show that behavioral leakage, representation-level decodability, and AO-verbalizability can come apart, raising a reliability concern for learned interpretability interfaces.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2603.10342

AgentServe: Algorithm-System Co-Design for Efficient Agentic AI Serving on a Consumer-Grade GPU

Yuning Zhang, Yan Yan, Nan Yang, Dong Yuan

原文摘要

Large language models (LLMs) are increasingly deployed as AI agents that operate in short reasoning-action loops, interleaving model computation with external calls. Unlike traditional chat applications, these agentic workloads require inference serving systems to balance low latency, stable token emission, and throughput under multiple request arrivals from different AI agents. Recent deployments highlight a shift toward running small language models (SLMs) locally on consumer-grade GPUs, driven by privacy, compliance, and cost constraints. When heterogeneous requests overlap on a single GPU, long prefills and short decodes contend for resources, creating head-of-line blocking that destabilizes interactive performance. By analyzing agent workloads, we observe that their execution naturally separates into cold prefills, which process long system prompts, resume prefills, which append tool outputs to cached contexts, and short decodes, which are latency-critical. This mix intensifies contention compared to conventional chatbot serving. We present AgentServe, a single-GPU serving system that ensures stable multi-agent execution under such conditions by isolating prefills from decodes, applying dynamic budgeting to resume prefills, and allocating GPU resources through pre-established CUDA Green Context slots with adaptive control. Evaluation results show that AgentServe significantly improves latency stability while sustaining competitive throughput, achieving up to 2.8x TTFT improvement and 2.7x TPOT improvement over state-of-the-art baselines across different settings.

cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07301

ArtiVidRM: Verifiable Artifact-as-Rubric Reward Modeling for Explicit Quality Articulation in Video Generation

Caorui Li, Yangguang Ji, Shuxia Lin, Yu Chen, YiCheng Xiao, Yongliang Wu, Zhenxiang Jiang, Licheng Tang 等 15 位作者

原文摘要

Reinforcement learning has become an effective approach for improving video generation, but its success depends heavily on reliable reward models. Existing methods either map videos directly to opaque scalar scores or generate free-form rationales that are not explicitly optimized as the basis of the final judgment. We propose ArtiVidRM, a verifiable, artifact-as-rubrics video reward model that follows an observe-then-score paradigm. It first identifies visible generation artifacts and organizes them into a structured artifact list, then uses these artifacts as explicit rubrics for quality assessment. This intermediate representation grounds each score in concrete video-level evidence, making the reward more interpretable and informative for optimization. We further introduce a multi-reward reinforcement learning strategy to jointly optimize artifact prediction and quality assessment. The reward decomposes into complementary objectives that evaluate artifact prediction quality, including semantic coverage and prediction efficiency, together with a pairwise preference objective that supervises quality ranking through score differences. By jointly optimizing the intermediate artifact representation and the downstream preference prediction, the model learns to produce informative artifact lists while improving the accuracy of video quality assessment. Experiments show that ArtiVidRM achieves state-of-the-art performance on video preference benchmarks, provides effective signals for video diffusion optimization, and enables artifact-guided refinement of closed-source video generators.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07298

Reducing Representational Interference in Retrieval Embeddings with Trainable Prefix Tokens

Seongtae Hong, Youngjoon Jang, Jungseob Lee, Chanjun Park, Heuiseok Lim

原文摘要

Embedding models compress variable-length text into fixed-size vector representations, but this compression can entangle semantic content with residual token-level information, such as artifacts arising from attention sink behavior. We propose a simple method that prepends trainable [DUMP] tokens to the input during embedding model training. The method keeps the model architecture, pooling strategy, and training loss unchanged, while optimizing the added tokens through the standard contrastive retrieval objective. By introducing trainable prefix positions that interact with regular tokens during encoding, [DUMP] tokens help reduce the influence of residual or uninformative token-level signals on the final retrieval representation. Experiments on standard retrieval and long-context benchmarks show that our method consistently improves over finetuned baselines across encoder and decoder embedding models. Further analysis shows that [DUMP] tokens alter token-level activation and attention patterns associated with low-information tokens. These results suggest that trainable prefix tokens provide a lightweight way to improve retrieval representations.

cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07297

Code, Commits, and Complexity in the GenAI Era: A Longitudinal Study of Team-Based Capstone Projects

Asma Shakil, Claus Brabrand, Paul Denny

原文摘要

Generative AI tools are now widely available to students, but little is known about how team-based project codebases have changed since they appeared. This matters when project courses use repository activity as evidence of progress and learning. Existing studies have largely examined self-reports, controlled tasks, or short individual assignments, leaving open questions around how student codebases evolve in authentic project settings. We present a ten-semester analysis of N=260 capstone team repositories from 2021 to 2025, spanning pre- and post-AI cohorts. We examine three dimensions: code size (lines of code), code characteristics (comment density, error-handling density, and cyclomatic complexity), and development behaviour (commit volume, edit size, and commit frequency). We find that end-of-semester codebases roughly triple, from about 3.4 KLOC in 2021--2023 to about 10 KLOC in 2024--2025. Code characteristics show a clear decoupling: cyclomatic complexity and error-handling density increase, while comment density does not. Later cohorts commit far more often and in greater volume, but individual commit sizes are largely unchanged, suggesting a shift in development rhythm rather than edit granularity. Most changes appear from 2024 onwards and are not uniformly monotonic. We did not directly observe AI use, so we report these as changes that coincide with increased GenAI availability rather than as effects of AI use. Our findings highlight the need to reconsider how student-produced artefacts are used and assessed in project courses.

cs.CY · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07296

Robust Ranking of Port Impacts from Impending Tropical Cyclones: A Two-Stage Recommendation System

Chenchen Kuai, Shixuan Tang, Chaolun Ma, Xiaoqiang Kong, Xiubin Bruce Wang, Yunlong Zhang, Zihao Li

原文摘要

When a tropical cyclone (TC) threatens several ports, preparedness planning depends on anticipating which ports are likely to be affected and where disruptions may last longest. Limited historical observations at individual ports and uncertainty in landfall location make these relative impacts difficult to estimate. We use a two-stage recommendation framework that first selects candidate ports based on their proximity to the expected landfall location and then ranks them by their estimated number of impact days. Using AIS-derived impact days for 37 ports and 31 TCs in the Gulf of Mexico study region, we compare three ways of representing port--cyclone interactions: pairwise feature interactions, tree-based feature combinations, and explicit feature crosses combined with learned embeddings. In tests on Hurricanes Nicole and Ian, the retrieval stage consistently identifies all observed affected ports under landfall uncertainty. Among the ranking models, Wide & Deep Learning achieves the closest agreement with the observed port rankings. Its mean ranking agreement exceeds that of the distance-based baseline by 85.5% for Nicole and 55.5% for Ian and is less sensitive to uncertainty in the landfall location. These rankings could help port authorities prioritize post-cyclone inspections and allocate recovery resources across ports threatened by the same event.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2511.17783

Variational Estimators for Node Popularity Models

Jony Karki, Dongzhou Huang, Yunpeng Zhao

原文摘要

Node popularity is recognized as a key factor in modeling real-world networks, capturing heterogeneity in connectivity across communities. This concept is equally important in bipartite networks, where nodes in different partitions may exhibit varying popularity patterns, motivating models such as the Two-Way Node Popularity Model (TNPM). Existing methods, such as the Two-Stage Divided Cosine (TSDC) algorithm, provide a scalable estimation approach but may have limitations in terms of accuracy or applicability across different types of networks. In this paper, we develop a computationally efficient and theoretically justified variational expectation-maximization (VEM) framework for the TNPM. We establish label consistency for the estimated community assignments produced by the proposed variational estimator in bipartite networks. Through extensive simulation studies, we show that our method achieves superior estimation accuracy across a range of bipartite as well as undirected networks compared to existing algorithms. Finally, we evaluate our method on real-world bipartite and undirected networks, further demonstrating its practical effectiveness and robustness.

stat.ML · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07294

Householder Motion Embedding: Noise Modulation for Motion-Controllable Video Generation

Tao Jun Lin, Jinhong Ni, Ruyi Zha, Yifu Wang, Xibin Song, Pan Ji, Hongdong Li

原文摘要

Diffusion models for video generation have achieved remarkable success, yet precise motion control under explicit user guidance remains challenging. Recent noise-warping methods introduce temporal correlations by warping the noise according to the user-provided motion signal. However, standard spatial warping generally disrupts the noise's i.i.d. Gaussian structure, requiring distribution correction, such as Jacobian-based correction, but at a substantial computational overhead. We propose Householder Motion Embedding (HME), which encodes the motion signal into the noise through a sequence of Householder reflections that together form an orthogonal transformation applied to each location's channel vector. HME exactly preserves the spatial Gaussian structure within each frame while introducing cross-frame correlations that promote temporally consistent video. HME is agnostic to the network architecture and integrates directly into standard video diffusion fine-tuning pipelines. Experiments on different scenarios show that HME matches or outperforms the state of the art, while achieving a 2.7x speedup over noise warping. These results demonstrate that channel-space Householder transformations offer a principled and efficient alternative to noise warping for motion-controllable video generation.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07291

How do Transformers Perform Low-Level Control In-Context?

Ebonye Smith, Aidan Andrews, Phoenix Wilson, Alexis Frias, Ayush Pandey, Gireeja Ranade

原文摘要

One of the remarkable abilities of Transformer-based neural networks is in-context learning. This motivates us to think about "in-context" control. Can we control a system knowing only (1) that it belongs to a particular family of systems and (2) some data on system evolution (provided as the context trajectory) but no specific parameter information? Specifically, we investigate the ability of Transformer-models to perform "in-context" control of unstable, nonlinear dynamical systems, where context consists only of the unforced system dynamics. We leverage a multi-head, GPT-2-style architecture, and we evaluate performance for two classical nonlinear systems -- the cartpole system and the two-link acrobot system, where the system parameters are unknown to the Transformer. We consider a setting where trajectories from an expert controller are available at training time but not at inference time. Here, we identify training techniques that are essential to train Transformers to perform low-level control. Through an analysis over checkpoints, we show that in-context control is possible, and the learned policy performance generally improves as context increases. Furthermore, the Transformer models can generalize to stabilize systems that are out-of-distribution.

cs.LG · eess.SY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07289

Patch-Based Generalized Neural Texture Upscaling

Shin Fujieda, Takahiro Harada

原文摘要

We propose a lightweight neural texture upscaling method. A single generalized MLP is trained on a diverse collection of texture patches and integrated into the texture sampling stage, upscaling low-resolution textures on-the-fly at rendering time. Because the model is generalized rather than overfit to specific content, no per-asset training is required - the same model applies to any existing scene without modifying texture data or the asset pipeline. Storing lower-resolution base textures reduces disk footprint, upscaling at sampling time eliminates the need to store high-resolution textures in VRAM, and sharing a single set of model weights across all textures ensures non-divergent GPU execution. We evaluate our method across multiple texture classes, demonstrating consistent improvement over analytic upscaling methods in perceptual quality.

cs.GR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07286

How Should Agents See Code? Rethinking Code Representations for Agentic Software Engineering

Melika Sepidband, Jiho Shin, Song Wang, Hadi Hemmati

原文摘要

LLM agents are increasingly used for repository-level software engineering tasks. However, most agents still access repositories through raw files, lexical search, and shell commands, treating code primarily as text. This paper investigates map-based code-representation workflows as a design variable in agentic software engineering, examining how different repository views change agents' retrieval behavior, task success, token use, and latency. In this paper, we study five code-representation workflows: abstract syntax trees, call graphs, module dependencies, documentation-enriched search, and a hybrid workflow that combines them. Each workflow exposes a repository map that the agent can query during a task. We evaluate Claude Code with Haiku 4.5 against a raw-tool baseline on four repository-level tasks: fault localization with LinuxFLBench, repository-level code generation and repair with SWE-bench Pro, test generation with SWT-bench, and security patching with SecBench. The results show that representation workflows are most useful as token-saving tools when localization is the bottleneck, while their success gains narrow when the decisive step is patch or test authoring. On LinuxFLBench, all five workflows improve recall@10 over the baseline (0.757-0.829 vs. 0.717) and reduce token usage by 25-39%. On SWE-bench Pro, resolution remains close to the baseline (44.3-50.6% vs. 49.0%) while token usage drops by 17-26%. On SecBench, Callgraph has the highest patch-resolution rate in this sample (34.3% vs. 28.9%) and uses fewer tokens, but all workflows increase latency. On SWT-bench, Hybrid and Docs have the highest reproducing-test rates in this sample (47.8% and 47.2% vs. 44.7%), but all workflows use more tokens and take longer. Overall, map-based workflows change both what the agent inspects and how much it spends, but their benefits are task-dependent rather than universal.

cs.SE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07283

Encoding and Propagation of Grammatical Number in Large Language Models

Jacob Solinsky, Serguei Pakhomov

原文摘要

Sparse autoencoders (SAEs) have become an increasingly popular means of translating Large Language Model (LLM) hidden state vectors into a human-comprehensible list of features or symbols. As such, SAEs may provide insight into an LLM's knowledge representation and internal ``mental'' grammar - topics of pragmatic interest for mechanistic interpretation of AI behavior and of theoretical interest for the study of in silico representations of human language. Language models with fewer than 100M parameters, trained on small corpora, nonetheless exhibit strong grammatical competence and discourse coherence, despite producing content of limited reliability. We use SAEs that we trained on one such model (Pythia-70M) to conduct an in-depth examination of how a single grammatical phenomenon, number agreement, is represented and processed in an LLM. We demonstrate the mechanism and the methodology by which SAEs can be used to find and propagate ``plural noun'', ``plural matrix subject'', and ``generate a plural verb'' features which cause the LLM to produce plural verb forms such as ``are'', ``do'', or ``have'' instead of ``is'', ``does'', and ``has'' in response to prompts such as ``the men in the park''. We show that intervening to remove these features from the hidden states of plural subject noun tokens causes the model to produce singular verbs instead, and vice versa. We also show that corresponding ``singular noun'' and ``generate a singular verb'' features are not as effective for this task. This asymmetry suggests that Pythia-70m makes use of a privative representation of grammatical number in English. These findings replicated with larger LLMs Gemma-2-2b and Llama-3.1-8b yielded similar results. Our main contribution is a novel approach to the use of SAEs to understanding how LLMs encode human language that addresses a number of technical and methodological challenges.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07282

Scenario Augmentation for Rare Financial Events via Multimodal Latent Diffusion

Mahdi Arab Loodaricheh, Anita Raja, Indranil SenGupta

原文摘要

Extreme market movements are scarce, heterogeneous, and difficult to learn from imbalanced historical data. We study whether generative augmentation can improve the representation and classification of CVaR-labeled rare financial windows while retaining the complementary structure exposed by different financial representations. Each market window is expressed through three aligned modalities: structured market variables, a spatial image transformation, and a sequence of portfolio returns. Separate variational autoencoders map the modalities to compact latent codes, and a class-conditional diffusion model learns their joint latent distribution. Conditional Value-at-Risk (CVaR) provides a risk-aware definition of rare windows and directs generation toward the minority regime. Across four window lengths on U.S. technology equities, the resulting synthetic samples improve fidelity and support relative to tabular diffusion baselines. An XGBoost classifier trained with real and generated samples attains AUCs of 0.953 - 0.960, exceeding both tabular generators and the corresponding real-only baselines. These results show that multimodal latent generation can provide useful synthetic stress scenarios for data-scarce financial risk models.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07280

Degree profiles of uniform polynomial consequences: Linear lower bounds for Nullstellensatz and Polynomial Calculus

Søren Riis

原文摘要

This paper proves asymptotically optimal linear degree lower bounds for Nullstellensatz and Polynomial Calculus, yielding a four-way polynomial-versus-exponential proof-size classification for uniform polynomial consequences over fields of positive characteristic. The size bounds use full, explicit coefficient lists, including zeros. Apart from a fixed finite initial range, exactly one of four cases occurs: $\mathrm T_1$, bounded degree; $\mathrm T_2$, degree at least linear in the universe size $n$; $\mathrm T_3$, constant degree on some residue classes and at least linear degree on the others; or $\mathrm T_4$, infinitely many recurring finite degrees, with bounded-degree subsequences and finite $Ω(n)$ peaks at arbitrarily large sizes. Thus the size patterns are polynomial bounds, exponential lower bounds, a periodic mixture, or polynomial subsequences with finite exponential peaks, respectively. Underivable targets have degree $\infty$, and both proof systems assign the same type. The result strengthens my 2008--2009 refutation classification and extends it to uniform consequences. The proof uses degree-preserving lifting with onset and period bounds linear in the degree. A common $p$-adic hardness spectrum describes the four types topologically. Distinguishing any two types is undecidable already for refutations. The linear degree bounds, four-way classification and pairwise undecidability results have been formalised and verified in Lean. The Lean formalisation, verification records and an accompanying tutorial are available in the supporting materials (https://doi.org/10.5281/zenodo.23965838).

cs.CC · cs.LO · math.LO

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2504.21323

How to Backdoor Image Knowledge Distillation

Qian Ma, Chen Wu, Prasenjit Mitra, Sencun Zhu

原文摘要

Knowledge distillation is widely used to transfer behavior from a large teacher model to a smaller student. It is often assumed to be safe when the teacher is clean, because classic backdoor attacks rely on poisoned labels and triggers in supervised training, whereas distillation trains the student to match a teacher's outputs. We show that this assumption can fail when the distillation dataset itself is poisoned. Our attack injects triggered and manipulated images that a clean teacher already predicts as an attacker chosen target label, which causes the student to learn a backdoor even though the teacher remains unaffected. We evaluate this threat across multiple manipulation strategies, including targeted adversarial perturbations and targeted GAN based class transitions, and study how distillation settings influence both accuracy and attack success. We show that the attack remains effective even at a 10% poisoning rates. The results demonstrate that a clean teacher alone is not a sufficient safeguard: poisoned distillation data can produce a strongly backdoored student while maintaining competitive performance on clean images. These findings show that the integrity and provenance of distillation data are part of the security boundary of data intensive KD pipelines, even when the teacher itself is trusted.

cs.CR · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07277

Graph Neural Networks for Resource Allocation in Integrated Sensing and Communication

Junyu Liao, Lili Chen, Tian Han, Jamie Evans

原文摘要

In vehicular integrated sensing and communication (ISAC) networks, each service-provider vehicle uses a limited power budget to serve multiple sensing targets and communication receivers. Maximizing the communication sum-rate subject to sensing signal-to-interference-plus-noise ratio (SINR) constraints is nonconvex, and iterative optimization is costly to rerun for every network layout. This paper proposes a graph neural network (GNN)-based power allocation algorithm, termed GNN-ISAC. Concretely, GNN-ISAC addresses the aforementioned problem by considering two distinct edge types in the graph representation, one capturing the inter-provider interference, the other representing the intra-provider power-budget sharing. GNN-ISAC is trained without labels using a sensing-penalized sum-rate loss. We also adapt the weighted mean-square error minimization (WMMSE) algorithm to this problem by introducing a sensing-power reservation step. Simulation results show that GNN-ISAC achieves communication sum-rates close to WMMSE with low sensing-link violation rates and much less computation. It also outperforms an existing heterogeneous GNN and a channel-blind baseline, and generalizes to larger networks without retraining.

cs.LG · cs.IT

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.37407

Constraining the Commit Boundary: A DIO/ODI-Informed Authorization Guardrail for Agentic Entity Resolution

Daniel Beranek

原文摘要

Agentic Entity Resolution (ER) systems iteratively plan actions, retrieve evidence, revise hypotheses, and propose graph mutations. An erroneous identity hypothesis may condition later retrieval and produce apparent confirmation. This paper proposes a Digital Identity Optimization (DIO) and Ontology of Digital Identity (ODI)-informed authorization boundary between evidence available for reasoning and evidence eligible to authorize persistent identity-changing mutations. A domain-governed constraint-binding function maps selected reconstruction-failure distinctions to identity-preserving constraints. An abstract two-phase supervisor permits commitment only when claim-specific authorization-eligible evidence supports every required proposition, relevant conflicts are resolved, scope is valid, and bound state and policy versions remain current. Admission as UNVERIFIED does not confer authorization eligibility; separate claim-specific promotion is required, and insufficient support or unresolved material conflict defers the mutation. The guarantee is conditional on adequate domain policy, sound claim-specific evidence promotion, and faithful enforcement; the specification does not independently establish promotion correctness or semantic truth. The proposed contribution is a DIO/ODI-informed diagnostic-to-constraint organization integrated with an explicit authorization contract for claim-specific evidence promotion and mutation-specific proposition requirements. Scope binding, conflict handling, and commit-time version checks are treated as necessary contract elements, not as novel mechanisms in isolation. This is a conceptual architecture without implementation or empirical validation. It does not prevent erroneous hypotheses or hypothesis-conditioned retrieval; dependency-aware evidence flow remains future research.

cs.AI · cs.CR · cs.DB

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07275

Efficient Diffusion Policy Fine Tuning with Latent Noise Representation Bridging

Yuanchu Liang, Yue Yang, An-Chi He, Hanna Kurniawati

原文摘要

Pre-trained diffusion and flow policies have emerged as powerful backbones for robotics, yet adapting them to novel data via reinforcement learning (RL) remains computationally expensive, sample inefficient and lacks theoretical guarantees. Prior approaches that fine-tune the initial noise bypass costly backpropagation through time but struggle with the "noise aliasing" problem: there does not exista natural link between the noise space value and the action space value. This paper resolves these challenges by introducing the Latent Noise Linear Markov Decision Process (LNL-MDP). We derive the Bridge Equation for LNL-MDPs which eliminates the noise aliasing problem by aligning values with a shared representation between the noise and the action space. Furthermore, our LNL-MDP fine tuning framework falls under the FineTuneRL theory with near-optimal guarantee. Leveraging these insights, we propose Latent Representation Bridging for Diffusion (LARBRID), an algorithm that efficiently learns the representation to optimize the initial distribution that steers the pre-trained model to act optimally in the environment. It yields up to 2-3$\times$ performance increases on challenging control problems across a diverse suite of robotic locomotion and manipulation tasks. Code can be found at: github.com/Maincode-Research/LARBRID.git.

cs.RO · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07272

VREgo: Consumer VR Headsets for Learning Robot Manipulation from Egocentric Demonstrations

Liuchuan Yu

原文摘要

VREgo trains manipulation policies from demonstrations recorded on consumer VR headsets; we instantiate it with EgoKit on one such headset, the PICO 4 Ultra. On-device head and hand tracking and stereo object localisation allow the operator to begin a demonstration at the table. We adapt HumanEgo's preprocessing to estimate grasp thresholds per recording, update object positions after release, and propagate segmentation masks between keyframes. We evaluate policies in simulation on two tabletop tasks recorded by one operator. For cube placement, we compare PICO and Project Aria recordings of the same 41 layouts. With 40 training demonstrations, the PICO policies placed the cube on the tray in 67, 74, and 60 of 100 evaluation layouts across three training seeds. The corresponding Aria results were 73, 78, and 0. For a two-stage stacking task recorded with the PICO alone, the baseline placed the block on the tray in 94 of 100 layouts and met the end-of-episode criterion for both placements in two. In one diagnostic episode, repeated replanning deferred release beyond the eight executed steps. Demonstration replays also showed that the open gripper could displace the cube before grasping it. After adapting the training trajectories and adding task-specific execution rules that use simulator object positions, the system met both placement criteria in 93.8% of episodes across four evaluation noise seeds. The same 100 layouts informed rule development and evaluation. VREgo is available at https://vrego.chuange.org/.

cs.RO · cs.HC

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.10938

ELF: Embedded Language Flows

Keya Hu, Linlu Qiu, Yiyang Lu, Hanhong Zhao, Tianhong Li, Yoon Kim, Jacob Andreas, Kaiming He

原文摘要

Diffusion and flow-based models have become the de facto approaches for generating continuous data, e.g., in domains such as images and videos. Their success has attracted growing interest in applying them to language modeling. Unlike their image-domain counterparts, today's leading diffusion language models (DLMs) primarily operate over discrete tokens. In this paper, we show that continuous DLMs can be made effective with minimal adaptation to the discrete domain. We propose Embedded Language Flows (ELF), a class of diffusion models in continuous embedding space based on continuous-time Flow Matching. Unlike existing DLMs, ELF predominantly stays within the continuous embedding space until the final time step, where it maps to discrete tokens using a shared-weight network. This formulation makes it straightforward to adapt established techniques from image-domain diffusion models, e.g., classifier-free guidance (CFG). Experiments show that ELF substantially outperforms leading discrete and continuous DLMs, achieving better generation quality with fewer sampling steps. These results suggest that ELF offers a promising path toward effective continuous DLMs.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07268

CRISP: Constraint-Resolved Interactions between Subsystems for Predictive Whole-Body Cooperation

Dario Valenzuela, Jeeseop Kim

原文摘要

This paper presents a layered control framework that recasts high-dimensional system dynamics as a composition of dynamically interconnected subsystems, with dynamic dual-arm manipulation on the humanoid serving as a representative application. The humanoid is decomposed into a single rigid body (SRB) representing the torso and floating-base dynamic models representing the articulated arms and lower-body. The rigid connections between arm and torso and the closed kinematic chain formed between the end-effectors during cooperative manipulation are represented as holonomic constraints. The corresponding Lagrange multipliers parametrize the interaction wrenches transmitted at the shoulders and between the end-effectors. The high-level nonlinear model predictive control (NMPC) jointly optimizes the subsystem state trajectories, arm torques, ground reaction forces (GRFs), and interaction wrenches, enabling online wrench design and optimization while preserving the dynamic coupling among the independently modeled subsystems. The optimized arm torques are applied directly for cooperative dual-arm manipulation, whereas the prescribed GRFs are mapped to lower-body joint torque for whole-body coordination. We validate the proposed framework through numerical simulations and hardware experiments on a G1 humanoid robot. The results demonstrate optimal interaction wrenches consistent with simulated contact measurement, cooperative dual-arm trajectory tracking, and stable whole-body coordination while executing the NMPC in online manner.

cs.RO

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新论文 · v1arXiv:2611.07265

How Deep is the Signal? Time-Context up to 30 Years for Colorectal Cancer Prediction in a Primary-Care EHR Model

Achille Raviez, Lan Wang, Brendan Delaney

原文摘要

EHR foundation models read medical events within a fixed context window, and long context has so far been measured only in tokens. How far back in time a model must look to capture the earliest predictive signal is unknown. We introduce time-context, the calendar lookback window before the prediction point, and provide, to our knowledge, the first systematic evaluation of decade-scale time-context for an EHR foundation model. We pretrained a decoder-only transformer (34.6M parameters) on 1.4B coded events from 3.6M primary-care patients in North West London and fine-tuned it to predict incident colorectal cancer under a 12-month pre-diagnostic buffer. A frozen cohort of 1,008 cases and 9,582 matched controls, all registered for at least 30 years, was evaluated at 15 nested lookback windows from 2 to 30 years, so that every truncation is compared within the same patients. Discrimination rose from an AUROC of 0.551 at 2 years to 0.590 at 18 years, then plateaued, with about 80% of the gain reached within 10 years; an XGBoost baseline converged to the same level (peak AUROC 0.589). A simulation further suggests that rotary position embeddings (RoPE) over elapsed time alias beyond about 20 years at the default base frequency, motivating a retuned $θ$. Time-context is a measurable design axis for clinical prediction models, distinct from token-context, and should be reported.

cs.LG · cs.AI · q-bio.QM

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arXiv ↗PDF ↗
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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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 ↗
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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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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