Structure predictors like ESMFold fold proteins using neural network computation and have transformed structural biology. However, the driving mechanism from amino-acid (AA) sequence to 3D structure is insufficiently understood, and biological meaning remains locked in the dense network. Sparse autoencoders (SAEs) have shown promising results in obtaining interpretable concept features over an overcomplete basis of intermediate protein sequence-model representations. Yet folding models, which predict physical shape from AA sequence semantics, have no such account. We hypothesize that the features carrying the folding computation evolve in the 3D structural regression process. In this paper, we interpret the folding trunk in three steps. First, a pilot analysis on the representation distribution across modules and recycles locates distinct spatial computation in the trunk. Second, the dictionaries expose a division of labor: the single representation carries inherited semantics, and the pair representation computes the pairwise geometry. Third, we interpret the dictionary at scale with a reasoning language model, trace how the concepts compose across blocks by gradient-based attribution, and follow the interpreted code to the model's folding output, verifying where the computation aligns with, or departs from, known biochemistry. Together, the sparse dictionaries we train capture the relational geometry the trunk computes beyond the sequence model, and their concept activations forecast the model's own fold quality, turning the black-box folding trunk into a sparse, interpretable, and scientifically verifiable circuit.
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA, a recovery-driven policy optimization framework that assigns distinct roles to success, recovery, and failure trajectories. RePO-VLA first applies Recovery-Aware Initialization (RAI), slicing each corrective suffix into a new episode so corrective actions depend on the current adverse state rather than the preceding failure. It then learns a Progress-Aware Semantic Value Function (PAS-VF), aligning spatiotemporal trajectory features with instructions and successful references. The resulting labels salvage useful failure prefixes via reliability decay, while low-value labels mark drift and terminal breakdowns, teaching differences among nominal, failed, and corrective actions. The data engine turns adverse states into planner-generated or human-collected corrective rollouts, teaching recovery to the success manifold. Value-Conditioned Refinement (VCR) trains the policy to prefer high-progress actions. At deployment, a fixed high-value token biases actions toward the learned success manifold without online failure detectors or heuristic retries. We introduce the Failure-Recovery Benchmark (FRBench), with standardized error injection and recovery-focused evaluation. Across simulated and real-world bimanual tasks, RePO-VLA improves robustness, raising adversarial success from 20% to 75% on average and up to 80% in scaled real-world trials. Code and video results are available at https://1018weijia.github.io/RePO-VLA-Web/.
Visualizations themselves have become a data format. Akin to other data formats such as text and images, visualizations are increasingly created, stored, shared, and (re-)used with artificial intelligence (AI) techniques. In this survey, we probe the underlying vision of formalizing visualizations as an emerging data format and review the recent advance in applying AI techniques to visualization data (AI4VIS). We define visualization data as the digital representations of visualizations in computers and focus on data visualization (e.g., charts and infographics). We build our survey upon a corpus spanning ten different fields in computer science with an eye toward identifying important common interests. Our resulting taxonomy is organized around WHAT is visualization data and its representation, WHY and HOW to apply AI to visualization data. We highlight a set of common tasks that researchers apply to the visualization data and present a detailed discussion of AI approaches developed to accomplish those tasks. Drawing upon our literature review, we discuss several important research questions surrounding the management and exploitation of visualization data, as well as the role of AI in support of those processes. We make the list of surveyed papers and related material available online at ai4vis.github.io.