David Almog, Romain Gauriot, Lionel Page, Daniel Martin
We study how algorithmic review changes error composition using Hawk-Eye records from professional tennis. Within 20 mm of the line, mistaken "in" call rates increase by 8.6 percentage points, while mistaken "out" call rates decrease by 4.1 points. Within matches, calls shift toward avoiding previously overturned errors. We find no evidence that initial accuracy deteriorates within 100 mm of the line, despite concerns that workers may rely on correction as a safety net. We derive an investment framework incorporating human responses alongside correction benefits and remedy costs, showing that holding human decisions fixed can misstate the organizational returns to review.
Michal Korniak, Marco Bagatella, Ralf Römer, Michal Nauman, Yarden As, Pranav Vignesh, Manan Agarwal, Leander Diaz-Bone 等 24 位作者
AI 速览：作者系统评估通用机器人策略能否在部署阶段通过在线强化学习实现多任务同时改进，并探索使该改进泛化到未训练任务的关键算法配方。
The introduction of generalist robot policies has enabled a single, large model to learn to perform a variety of tasks from a vast pre-training corpus. While these models often exhibit powerful zero-shot generalization capabilities, they typically require an adaptation phase to achieve sufficient performance in deployment. Iterated self-improvement via reinforcement learning (RL) has demonstrated promise in enabling this adaptation, yet such approaches have been largely explored in single-task settings - where the goal is to simply improve on a narrow deployment task - which lies in stark contrast to the multi-task capabilities of the base policy. In this work we ask whether generalist robot policies are capable of multi-task, generalist improvement in deployment - targeting many diverse tasks simultaneously - and what algorithmic recipe enables this. To answer this question, we first develop a set of structured evaluations to test generalist improvement capabilities, and systematically evaluate algorithmic and practical design choices regarding value estimation, policy extraction and resource allocation. We show that not only can generalist policies be improved online across diverse tasks, but that the right recipe can enable generalization and increase performance on tasks not considered during online training. We characterize when this generalization occurs and show that both the training task distribution and the use of value-based RL are critical. To the best of our knowledge, this is among the first evidence for online generalist improvement for robot foundation models.
Li Guan, Rachael Granberry, Sahar Aseeri, Sahar Rostami, Taylor Niehues, Sai Dhanoosh Marri, Mia Huang, Dingtian Zhang 等 104 位作者
Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world model learning - yet no existing wearable platform provides both calibrated fingertip force sensing and occlusion-resilient hand tracking in a form factor that preserves natural manipulation behavior. We present Tactus, a textile-integrated sensing glove that co-optimizes three design pillars: (1) a thin, conformal 3D-knit form factor (1.5 mm fingertip stackup) designed to minimize interference with natural manipulation, (2) strategically placed capacitive tactile sensors at manipulation-relevant regions informed by empirical contact studies, and (3) IMU-fused pose tracking that maintains accuracy through the hand-object occlusions where manipulation data is most valuable. Tactus includes a documented calibration pipeline for cross-glove consistency and per-session calibration for subject-dependent correction. To enable objective comparison, we introduce standardized benchmarking protocols for tactile force regression and hand pose estimation, and apply them to Tactus and two commercially available tactile gloves - to our knowledge the first quantitative cross-platform evaluation of this kind. Tactus resolves a minimum detectable force of 0.59 N at 95% confidence, 1.6 - 2.7x lower than the commercial baselines, and with 0.87 cross-participant consistency, while our pose tracking sustains 11.0 mm fingertip keypoint relative error during manipulation, when occlusion is heaviest. We show that these combined signals support object property estimation, slip detection, and representative recording of hand-object interaction - yielding demonstration data with the fidelity required for contact-aware manipulation policies and world models.
Seungbin Park, Thibault Heintz, Rachit Saluja, Francesca Khani, Timothy McClure, Daniel Margolis, Mert R. Sabuncu, Heejong Kim
Accurate prediction of Prostate Imaging Reporting and Data System (PI-RADS) scores from multiparametric MRI (mpMRI) remains challenging, more so than clinically significant prostate cancer (csPCa) detection. Given the importance of lesion location in PI-RADS scoring, we evaluated whether incorporating prostate zonal masks improves PI-RADS prediction and csPCa detection across multiple architectures (3D ResNet-18, ResNet-50, and ViT) using a large-scale internal dataset. Anatomical guidance generally improved performance across architectures, with the best results achieved by ResNet-18 with 2-zone guidance for PI-RADS prediction (QWK = 0.511) and ResNet-50 with 5-zone guidance for csPCa detection (AUC = 0.809). Fine-tuned results on external datasets further demonstrated the benefits of anatomical guidance. Furthermore, models with anatomical guidance improved the utility of model-predicted PI-RADS scores for PI-RADS-based csPCa detection (positive defined as PI-RADS>=3). Combining model-predicted and expert-assigned PI-RADS scores significantly increased the AUC from 0.711 to 0.756 (p < 0.05), suggesting that AI-derived PI-RADS scores may provide complementary information to expert assessment for csPCa detection. Overall, our findings highlight the value of incorporating prostate zonal anatomy into deep learning-based prostate MRI assessment.
Abhishek Gupta, Dongge Han, Daniel Madrigal Diaz, Wei-Ning Chen, Mayukh Das, Victor Rühle, Saravan Rajmohan
Long-horizon dialogue agents require effective memory systems to recall facts, events, and relationships from interaction histories. In this work, we propose a hybrid-memory architecture comprising episodic memories and structured relational memories and a consolidation mechanism which preserves efficiency. We conduct an empirical study across two benchmarks: LoCoMo and LongMemEval-S. Our experiments demonstrate that the two memory types are consistently complementary, combining both outperform state-of-the-art memory frameworks and achieves 90.2% accuracy on LoCoMo and 85.5% on LongMemEval-S.
We introduce Nemotron 3.5 Super and Nemotron 3.5 Lightning, open and efficient Mixture-of-Experts Hybrid Mamba-Transformer models designed for reasoning, long-context understanding, and agentic workloads. Super is a 120B-parameter, 12B-active multimodal model, while Lightning is a smaller 30B-parameter, 3B-active text model; both designed for efficient deployment. Both models combine large-scale distillation, long-context training, and native speculative decoding, while Super further incorporates Indic continued pretraining and agentic software-engineering mid-training. We develop a comprehensive post-training pipeline spanning supervised fine-tuning and reinforcement learning (RLVR and RLHF), complemented in Super by specialized teacher training and multi- teacher on-policy distillation (MOPD). This transforms Super from a text-only base model into a multimodal agent capable of reasoning over text, images, video, and interactive tool environments. We further explore test-time scaling through parallel agent execution and self-verification. Across training and deployment, we jointly optimize capability and efficiency. Indic continued pretraining improves Indian-language benchmarks by up to 9.82 percentage points, while agentic mid-training strengthens software-engineering capabilities and robustness across agent harnesses. The post-trained Super model achieves 51.78% on SWE-bench Pro, surpassing Nemotron 3 Ultra despite using approximately 4.6x fewer active parameters. Post-training MTP boosting improves speculative- decoding acceptance length by up to 21.8% under probabilistic draft sampling, while NVFP4 quantization achieves 99.62% median accuracy recovery relative to BF16. Inference optimizations enable up to 4,856 output tokens/s/GPU on GB200 while sustaining at least 50 tokens/s/user.
Adrien Petralia, Alexandre Gavaudan, Artjom Joosen, Etienne Goffinet, Richard Kurle, Yassine El Ouahidi, Yassir Bendou, Abdelaziz Bounhar 等 356 位作者
We introduce Timestral, a family of four time series foundation models for probabilistic forecasting, with 5M, 28M, 123M, and 209M parameters. Timestral sets a new state of the art on GIFT-Eval, TIME, and fev-bench, where Timestral-209M and Timestral-123M take the top two places on every metric. We achieve this with three ingredients: Decoupled Horizon Forecasting (DHF), which separates prediction tokens from the causally encoded context, so that longer horizons are trained without masking context and each observed value is both a forecast target and context for later forecasts; a covariate framework that natively supports known-future covariates within a causal architecture; and a two-stage pipeline that pretrains exclusively on a diverse, large-scale synthetic corpus before post-training on a mix of real and synthetic data with extended context. This report describes the model design and its benchmark results. Weights for all four models are available on Hugging Face and inference code on GitHub.