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Modern video models possess strong visual priors, yet do not natively represent human action in metric 3D space. We present EgoGeneralist, which adapts pretrained video generators to unify action-conditioned egocentric video generation, pose estimation, and joint action-video generation. Our role-adaptive action renderer provides video-native representations for multidirectional action-video learning, making metric motion usable as both a spatial control signal and a recoverable generation target. Cross-stream action-video coupling establishes close correspondence between metric motion and visual dynamics through lightweight adaptation while preserving the pretrained visual prior. Together, these designs establish a generalist framework spanning five action-video tasks. Despite adaptation only on controlled laboratory recordings, EgoGeneralist generalizes to diverse unseen scenes and interactions with effective action control and visual quality, bridging pretrained visual knowledge and metric 3D human motion.

Temporary traffic control redirects vehicles through work zones, requiring automated vehicles to connect an interpretation of the visible devices to a continuous passing path. Geometric predictors provide several plausible paths, yet selecting the one consistent with the temporary control remains difficult. We propose SAGE (Semantic-to-Action Grounded Execution), a read-decide-execute-check framework that separates path construction, path preference, and control compliance within a shared candidate space. The central idea is to use a vision-language model's (VLM's) trajectory as a preference over intact geometric candidates. A role-decoupled generator constructs the candidates, and rank fusion combines each candidate's geometric score with its agreement with the VLM trajectory. Supervision structured around the Manual on Uniform Traffic Control Devices (MUTCD) trains SAGE-VLM to state the lane status and hazard side before its passage decision and trajectory. The predicted hazard side enters image-space predicates derived from MUTCD provisions, which support a final intervention bounded in score and displacement. On 2,306 real-world ROADWork validation episodes, the candidates include a path within 10 px of the human demonstration in 87% of episodes, yet selection regret accounts for 53% of the geometric ranker's error. SAGE reduces average and final displacement errors by 8.3% and 12.0% relative to the ranker and hard-constraint violations by 37%. The trajectory opinion improves all four tested generator-selector combinations. SAGE is comparable to state-of-the-art VLM modules in accuracy, with a faster-responding VLM, and outperforms four other adapted driving VLMs in displacement error and safety measures. Project page: https://hhjj233.github.io/SAGE-page/.

ML code should run where researchers choose, not where it was first written. Today, machine learning code mainly lives in two ecosystems, PyTorch on NVIDIA GPUs and JAX on Google TPUs. Migrating repositories between them means building and testing across frameworks and hardware. This migration is (1) a practical need, since it unlocks different hardware for researchers, and (2) a natural benchmark: it involves different frameworks and hardware, covers whole repositories, and is long-horizon and challenging. We introduce XStack, a benchmark that evaluates agents on migrating ML repositories between these two ecosystems. Each agent receives a PyTorch repository and a clean TPU machine and must deliver a JAX repository. Its output passes if it meets our grading criteria, based on the source repository's published result, authenticated and calibrated by us. Migration by agents remains unreliable: Claude Opus 5 passes 75%, GPT-5.6-sol 45%, and every other agent at most 40%. XStack is a step toward freeing ML code from its ecosystem. We release XStack to make progress toward reliable migration across frameworks and hardware measurable.

Vision-Language-Action (VLA) models can perform a wide range of robotic manipulation tasks, but often fail during deployment. Teaching them to recover from these failures requires substantial corrective data: existing approaches learn to recover from failures by directly associating corrective actions with the observations in which they were demonstrated. For instance, DAgger-like fine-tuning can require tens to hundreds of interactions, yet the resulting policy may still fail to generalize the learned corrections beyond the demonstrated scenarios. We hypothesize that semantics can capture the underlying reasons for failures and their corrections, enabling policies to learn from only a handful of corrective demonstrations and generalize those corrections to novel objects, and scene variations. We propose OopsieRecover, a framework that uses abduction to infer the intent behind a small set of corrective demonstrations and encodes the inferred knowledge as dense spatial representations and conditional costs. These costs capture when a behavior is undesirable and steer the policy toward more desirable action regions. We experiment across 6 tasks and variations in object poses, scenes, and related tasks, and find that only a handful of corrective demonstrations can enable a VLA to overcome failures across a broad range of novel situations, without requiring new corrective data for each variation. Please refer to https://robin-lab.cs.utexas.edu/oopsierecover for videos.

Learning dexterous manipulation from limited visual demonstrations is challenging because policies must acquire both perceptual grounding and precise control, while reinforcement learning (RL) in simulation can acquire rich control behaviors from large-scale interaction with privileged information. We introduce \textbf{Latent RL Prior}, a two-stage framework that reuses this control knowledge for data-efficient visual policy learning. During privileged pretraining, we distill large-scale RL rollouts into a flow-matching action decoder conditioned on proprioception and latent task context. During visual adaptation, we freeze the decoder and learn a visual interface that maps images to its latent context using action supervision alone, without privileged labels or latent targets. The same decoder can further be shared across arms by learning coordinated visual contexts for bimanual manipulation. Across three simulated tasks, our method outperforms full-parameter fine-tuning of $π_{0.5}$ and GR00T N1.7 in the low-data regime; on door lifting and bimanual assembly, it surpasses full-data baselines using $10\times$ and $5\times$ fewer demonstrations, respectively. Further analysis shows that direct visual-to-latent conditioning improves adaptation performance and training stability over routing visual predictions through the pretrained state encoder. Robustness to unseen mass variation and greater linear accessibility of contact-force information in decoder representations further provide evidence of retained RL-acquired control knowledge. Project website: https://yixiaowang7.github.io/latent-rl-prior-page/.

Creating images from noise is image generation; reconstructing fine details from coarse inputs is super-resolution. Despite their practical differences, both can be understood as reversing information loss across scales. We introduce $\textbf{SKILD}$, a $\textbf{S}$cale-invariant $\textbf{K}$-Space $\textbf{I}$mage $\textbf{L}$earning $\textbf{D}$iffusion model that unifies generation and continuous super-resolution within a single unconditional framework. Both natural images and critical physical systems exhibit scale invariance, and we leverage it to design a forward process that attenuates image content from fine to coarse scales while injecting spectrum-matched Gaussian noise, making scale an explicit coordinate of the diffusion dynamics. The same trained reverse process performs generation and continuous super-resolution by varying only the starting timestep: $\textit{no task-specific architecture, no conditioning branch, no classifier-free guidance, no retraining per scale factor}$. Empirically, SKILD reaches FID $2.61$ and Inception Score $9.65$ on unconditional CIFAR-10, performs $2\times$--$8\times$ super-resolution on ImageNet from a single unconditional checkpoint while outperforming conditional models across perceptual metrics, and reconstructs critical Ising models whose connected four-point correlations closely track the ground truth.

Models for physical AI tasks, such as robotics and autonomous driving, need not reason solely in language. They can use visual plans--points, bounding boxes, and trajectories--to represent spatial goals and anticipate motion. However, autoregressive vision-language models generate these plans one coordinate token at a time, making richer predictions increasingly costly. We introduce VFlash, a method for fast, accurate visual planning through Flash Primitive Decoding. VFlash exploits the known structure of visual primitives to predict their coordinates jointly, using a lightweight drafter that generates an entire primitive in one forward pass. The layout adapts to the primitive's type, dimensionality, and length, supporting compact boxes and long, variable-length trajectories. Crucially, spatial accuracy need not require reproducing an autoregressive model's exact token sequence. VFlash therefore trains on annotated primitives and directly accepts structurally valid predictions without target-token agreement. Across the evaluated 2D and 3D robot trajectory tasks, VFlash consistently reduces prediction errors relative to autoregressive decoding. Preliminary single-rollout measurements indicate approximately 25x faster generation for 3D point motion forecasting. A world action model conditioned on VFlash plans achieves 70.2% average success across four MolmoSpaces task suites, compared with 62.6% for the baseline.

State-of-the-art feedforward reconstruction models perform poorly on in-the-wild object-centric photo collections. They are trained largely on single-session object captures whose images vary in viewpoint while the object and its environment remain nearly fixed. Public photo archives contain a different form of multi-view data. They hold found photos of the same object or design: photos taken independently by many people across years, environments, cameras, and sometimes physical units. In this work, we introduce Trainspotting, a dataset of 12,068 objects and 311,886 photos from Wikimedia Commons. We reconstruct each object to recover camera poses, multi-view stereo depth, and object masks. We categorize the objects into three regimes: objects fixed at one site, objects that move between sites, and designs shared by many physical units. Evaluating recent feedforward reconstruction models on Trainspotting shows that they fail most severely in the last two regimes. Fine-tuning VGGT-$Ω$ on Trainspotting significantly improves camera pose, depth, and 3D geometry on held-out objects. We observe similar improvements on the independent NAVI in-the-wild benchmark, which contains photos of each object in different environments. Performance on conventional benchmarks remains largely unchanged.

Agentic forecasting is important for decision-making in dynamic environments, but it remains challenging because agents must reason from incomplete, time-limited evidence and produce calibrated probabilities before outcomes are resolved. Memory provides a natural mechanism for transferring experience from resolved forecasts to future prediction tasks. However, existing agent-memory methods are not tailored to forecasting, as they typically store past interactions, reflections, or factual associations without explicitly representing reusable predictive factors or calibration knowledge. We propose ForecastCompass (FoCo), an adaptive factor-based memory framework for agentic forecasting. FoCo organizes forecasting experience with a hierarchical forecasting-task taxonomy, enabling retrieval task-relevant forecasting knowledge. It maintains two complementary memory components: factor memory, which captures reusable predictive dimensions, and reasoning memory, which encodes probability updating, uncertainty handling, and calibration principles. Using retrospective analyses as learning signals, FoCo iteratively revises memory through a verbalized memory-revision procedure, enabling the agent to accumulate transferable forecasting knowledge over time. Experiments on Prophet Arena and FutureX with GPT-5-mini and Gemini-2.5-Flash show that FoCo improves both probabilistic accuracy and calibration.

For LLMs, skills are textual recipes encoding mature problem-solving experience. Despite widespread deployment, their utility is limited by the model's ability to comprehend and follow skill instructions. To address this limitation, we propose ParametricSkills, a framework that parameterizes textual skills at test time, enabling context-free management of the full skill lifecycle. Specifically, we first construct a large-scale and high-quality skill collection, and then synthesize single-turn and multi-turn skill-exploitation trajectories. Using this data, we then train a hypernetwork that parameterizes both the content and the exploitation methodologies of skills by converting textual skills into LoRA adapters. To facilitate the real-world application of our framework, we further align the hypernetwork on complex, long-horizon trajectories collected with OpenCode, enabling the models to operate reliably in realistic interactive workflows with ParametricSkills. Across evaluations, ParametricSkills effectively parameterizes skills, yielding substantial gains in task completion. More notably, as parametric skills accumulate as adapters rather than crowding the context, they open a preliminary but promising path toward continual learning at test time.

Low-rank adaptation (LoRA) is commonly used in both supervised fine-tuning (SFT) and reinforcement learning (RL), often under similar optimizer settings. Yet, how the different dynamics of the two stages manifest in the low-rank increment that LoRA optimizes remains unclear. Tracking the singular spectrum and subspaces of LoRA updates on mathematical reasoning tasks, we find that RL concentrates the spectrum at every learning rate, while SFT expands it at moderate learning rates; moreover, RL rotates the singular subspaces much faster than SFT at small learning rates. Interpolating between SFT and RL one ingredient at a time, we pinpoint group-mean baseline subtraction as the source of both contrasts. A quadratic multi-index model updated via LoRA unveils the underlying mechanism: group-mean baseline subtraction tilts the balance between two competing forces, coherent fitting and gradient noise, toward spectral concentration and faster subspace rotation, while forcing the risk-favorable learning rate to be low. Guided by these dynamics, we tailor LoRA updates to each stage: in SFT, we flatten the spectrum of the full update to spread adaptation across singular directions, whereas in RL, we flatten the part of the update outside the current LoRA increment span to promote subspace rotation. Experiments on mathematical reasoning tasks across multiple models show that the respective configurations for SFT and RL yield the best performance among the compared methods in most evaluated settings.

Vision-Language-Action (VLA) models enable end-to-end robot control, but inference is increasingly expensive. Each decision processes hundreds of visual tokens, often across multiple cameras, leading to substantial computation while allowing irrelevant background content to distract action prediction under distribution shift. We argue that these issues stem from two complementary forms of redundancy: many visual tokens are spatially irrelevant, while attention over the remaining tokens is often misallocated. Based on this observation, we propose T3R, a Training-Free Two-Stage Token Refinement framework. In the first stage, segmentation-guided token pruning removes irrelevant visual patches to reduce computation and eliminate distracting context. In the second stage, saliency-guided attention biasing reallocates attention toward action-critical visual regions and language instructions within the retained tokens. Together, pruning produces a cleaner candidate set, while attention biasing further emphasizes the most decision-relevant evidence, yielding a better accuracy-efficiency frontier than either stage alone. On LIBERO-Spatial, T3R removes 85% of scene-camera visual tokens while essentially matching the unpruned success rate, and improves success by up to 7 percentage points under out-of-distribution object-placement perturbations. The timing comparison attributes 7.8 ms per inference call to pruning and attention-bias application. As input resolution increases, LLM-forward profiling shows up to a 3.3x speedup over the unpruned baseline. Evaluations across LIBERO, SIMPLER, and RoboTwin with three VLA backbones show the strongest accuracy-efficiency benefits in multi-camera settings. These results demonstrate that training-free token refinement is a practical approach to efficient and robust VLA inference.

The growing use of AI in mathematics raises a question: can we detect AI involvement in proofs, separately from AI assistance with writing? Historical arXiv papers, recent papers disclosing substantive AI use, and manuscripts released by OpenAI provide a rich empirical basis for studying this question. However, several challenges remain: lack of matched case-control pairs; potential incompleteness of disclosure; and lack of ready-to-use features designed to capture signals of AI involvement in proofs. To address these challenges, we construct five cohorts comprising 8,281 papers by combining existing manuscripts with those we produced using generative AI. These cohorts span different levels of AI involvement and include matched pairs of papers addressing the same research problems. We then introduce ProofTrace, a framework that represents each paper as a graph of immediate proof support (GIPS) and extracts interpretable features of mathematical organization. Our study yields three discoveries. First, principal-component projections of our features reveal a qualitative gradient of AI involvement, where AI-reworded papers remain close to human papers, the two AI-generated cohorts depart in broadly shared directions, and papers disclosing substantive AI use occupy intermediate positions which shifts toward AI-generated cohorts over time. Second, we identify recurring signatures of AI-generated proofs, such as fewer externally cited results, greater reliance on intermediate conclusions, and altered graph connectivity; many of these signatures persist under controls for research field, manuscript length, or graph size. Finally, in a separate detection experiment, ProofTrace distinguishes human-written papers from those disclosing substantive AI use. Its performance remains stable under AI rewording, whereas the performance of state-of-the-art text-based detectors declines sharply.

While large-scale pretraining has revolutionized language modeling, its potential remains underexplored in healthcare with structured electronic health records (EHRs). We present RAVEN, a novel generative pretraining strategy for sequential EHR data based on Recurrence-Aware next-Visit EveNt prediction. Leveraging a dataset of over one million unique individuals, our model learns to autoregressively generate tokenized clinical events for the next visit conditioned on patient history. We introduce regularization on predicting repeated events and highlight a key pitfall in EHR-based foundation model evaluations: repeated event tokens can inflate performance metrics when new onsets are not distinguished from subsequent occurrences. Furthermore, we empirically investigate the scaling behaviors in a data-constrained, compute-saturated regime, showing that simply increasing model size is suboptimal without commensurate increases in data volume. We evaluate our model via zero-shot prediction for forecasting the incidence of a diverse set of diseases, where it rivals fully fine-tuned representation-based Transformer models and outperforms both standard simulation-based next-token approaches and a prompted medical large language model baseline. Finally, without additional parameter updates, we show that RAVEN can generalize to an external patient cohort under lossy clinical code mappings and feature coverage gaps.

Semantic filtering selects records that satisfy a natural-language predicate and is an important operation in data analytics based on large language models (LLMs). Executing an expensive model on every document incurs substantial inference cost. Existing approaches reduce this cost by accepting predictions from cheaper models and forwarding uncertain records to an oracle. Task Cascades further varies document portions and operations, and provides an accuracy-guaranteed extension. However, its threshold calibration follows a prescribed adjustment sequence after cascade assembly, rather than minimizing cost over alternative combinations of stage thresholds. Motivated by this, we propose CascadeFilter, a three-stage semantic filtering method that jointly searches the thresholds for a small language model operating on extracted evidence and full documents, with unresolved records forwarded to the oracle. For a fixed cascade, we formulate threshold selection as minimizing token-aware cost subject to an oracle-relative error constraint, and select the least-cost certified configuration in a pre-specified grid. A finite-population calibration procedure bounds oracle-relative error after selection, using fixed-sequence tests on threshold tracks to allocate the multiple-testing budget. We further combine lexical and dense retrieval, reranking, and neighborhood-supported confidence to improve evidence extraction and routing. These components enhance the cascade while leaving its certification interface unchanged. Across six datasets and 13 evaluation settings, the reported results have the highest benchmark accuracy and macro-averaged F1 score in 12 settings each. These comparisons describe the reported operating points; the accuracy guarantee concerns agreement with the oracle.

Ordinal information is central to tasks ranging from conference peer review to Reinforcement Learning from Human Feedback for large language models. In many such settings, there is no objective ground truth against which reports can be directly verified, making incentive-compatible elicitation challenging. Peer-prediction mechanisms have been designed to achieve truthful elicitation despite the lack of ground-truth verification. However, existing peer-prediction methods do not provide incentives for agents to truthfully compress rich private information (e.g. reviews) into coarser ordinal reports (e.g. rankings) requested by the mechanisms. We propose a simple ordinal peer-prediction mechanism that rewards agents based on pairwise agreement, measured by Kendall tau. Under a broad class of Bayesian Stochastically Order Consistent models---which includes classical models such as Mallows and Thurstone---we prove that truthful reporting is stochastically dominant, and strongly truthful under index-equivariant strategies. This provides robust incentives even for agents with non-linear utility functions, such as risk aversion. Our mechanism further accommodates heterogeneous agents, top-K reports, and subset assignments, where each agent is scored against one randomly drawn peer. Experiments on synthetic Mallows and Thurstone data, together with a real-data stress test on the SUSHI preference dataset, show right-shifted truthful-payment distributions and the highest normalized sensitivity among tested baselines.