Failure Prediction and Classification in Vision-Language-Action Models Via Calibrated Latent Probing
Michal P. Podolinsky, Yunhao Yang, Daniel Little, Hong Lu, Rohan Siva, Olin Goudey, Neel P. Bhatt, Matthias Scheutz 等 9 位作者
AI 速览：提出轻量级潜层探测器 VLA-Tug，用于视觉-语言-动作模型的早期失败检测、误检/漏检率约束与失败模式分类。
Vision-Language-Action models (VLAs) enable general-purpose embodied intelligence, but their performance is brittle under distribution shift, where unanticipated failures can damage equipment or endanger people. Deploying VLAs in real-world systems therefore requires a runtime monitor that is timely, calibrated, and informative while being efficient enough to run on the edge. Existing methods fail to fulfill these requirements. We present VLA-Tug, a lightweight probe over the latent layers of a VLA backbone that improves early failure detection and bounds the missed-detection and false-alarm rates, with minimal inference overhead. We show that supervising on the pre-failure segment of a trajectory increases early failure detection at matched false-positive rates by up to 30% over the strongest learned baseline. Under shift to unseen tasks, the bounds on missed-detection and false-alarm rates remain valid in up to 86% of runs, versus at most 21% for baselines. Unlike existing methods, VLA-Tug predicts the failure mode to enable corrective actions, raising top-3 accuracy on unseen tasks by up to 44% over a majority baseline. VLA-Tug enables real-time monitoring where the well-timed and informative probe supports lightweight steering that improves task success. We release a dataset of 3,180 annotated manipulation episodes to support future work on latent failure detection in VLAs at https://vla-tug.github.io.
Suhong Luo, Pan Tang, Jianhua Zhang, Ji Wang, Yixuan Li, Xingwang Li
Secure uplink transmission in low-earth orbit (LEO) satellite constellations faces significant challenges due to the time-varying spatial distributions of serving and potential eavesdropping satellites, particularly when their angular separations are small and eavesdropper channel state information (CSI) is imperfect. To address these challenges, this paper investigates fluid antenna (FA)-aided robust secure uplink transmission in LEO satellite constellations. To avoid frequent antenna reconfiguration, the FA positions are optimized over an observation interval and remain fixed throughout the interval, while transmit beamforming dynamically adapts to the time-varying satellite channels. We formulate an average worst-case secrecy rate maximization problem by jointly optimizing FA positions and time-varying beamforming under norm-bounded eavesdropper CSI uncertainties and per-slot secrecy rate constraints. Two new alternating optimization (AO) algorithms are developed to solve the resulting non-convex problem. For robust beamforming optimization, the S-procedure, semidefinite relaxation (SDR), and first-order approximation are employed to construct a tractable convex problem, followed by Gaussian randomization for rank-one recovery. For FA position optimization, we derive concave surrogate functions for successive convex approximation (SCA) and develop a differential evolution (DE)-based search strategy to reduce computational complexity. Numerical results demonstrate that both FA-aided schemes consistently outperform conventional fixed-position antenna arrays across different constellation configurations and CSI uncertainty levels. Moreover, the two algorithms exhibit different performance-complexity tradeoffs as the number of FA elements increases, with DE offering a computational advantage for larger arrays while SCA can achieve higher secrecy rates.
VA-TDM: A Unified View for Improving Few-Step Diffusion Models by Velocity Adversarial Distillation
Yihong Luo, Tianyu Pang, Tianyang Hu
AI 速览：提出速度对抗蒸馏（VAD）框架并构建VA-TDM，以轨迹分布匹配和中间转移监督提升少步扩散/流模型的生成质量。
Few-step distillation offers efficient generation with diffusion and flow models, but preserving quality with only a few sampling steps remains challenging. Distribution-matching methods via score distillation provide a strong foundation, yet they rely on accurately tracking the student's changing distribution. At intermediate generation steps in few-step sampling, student-score estimation can be difficult, and commonly used estimators may describe a different distribution from the one used to update the student. Flow matching allows a more flexible approach to supervision through velocity fields constructed from the student's sampling process. Building on this perspective, we introduce Velocity Adversarial Distillation (VAD), which uses a learned critic to compare student and teacher fields and turn their disagreement into feedback for learning. VAD unifies score distillation, Fisher-based matching, and moment matching, also explaining existing heuristic MMD updates and delivering new training objectives. We further develop VA-TDM, which follows trajectory distribution matching: providing supervision for partial denoising along the student trajectory. Beyond this, VA-TDM combines transition-aware online velocity learning and dual-form VAD supervision across intermediate student transitions. Extensive results show that VA-TDM is powerful for learning few-step generators, achieving state-of-the-art four-step performance in both text-to-image and text-to-video generation across various backbones and scaling effectively to 33B MiniMax-H3. In particular, our VA-TDM-H3 notably outperforms the few-step Fast-H3 and is closer to the original many-step H3 according to human preference.
Zhi Hong, Qianlong Wang, Hongchen Wei, Aidan Wu, Daohong Ying, Mingze Kong, Bei Liu, Chong Luo
The performance of large language model (LLM) agents depends on both the underlying model and the harness that governs interaction with tools and the environment. Yet harness design remains largely manual, and automating it requires navigating an open-ended search space through costly end-to-end evaluations. We introduce HarnessFlow, a framework for optimizing complete executable harnesses under a limited candidate-evaluation budget, with the model and task environment held fixed. HarnessFlow organizes candidates and their evaluation histories in a refinement tree, using a Monte Carlo Tree Search (MCTS)-based policy to balance exploitation and exploration. A coding agent refines selected harnesses using archived code, execution feedback, and a library of reusable harness mechanisms. With 15 refinement attempts per benchmark, HarnessFlow achieves the highest mean test scores among the compared methods on six benchmarks spanning agentic tasks, coding, and web interaction. The optimized harnesses achieve an average score of 69.48%, outperforming the initial harnesses and Meta-Harness by 10.89 and 3.95 percentage points, respectively, while incurring lower average per-task execution costs than hand-engineered baselines. These results suggest that structured harness search offers a promising route toward automating the design of capable and efficient LLM agents.
Yu-Chao Wang, Yanhong Lu, Yingjie Victor Chen, Tim McGraw
In bespoke art commissions, laypeople know what they feel but lack the words to specify it: one participant wanted a laid-off truck driver depicted as "a ghost in his own machine" but left the medium, scale, and palette unsaid. We frame this as an articulation bottleneck at an under-served upstream stage: requirement discovery, which precedes any artist or image generator and forces the commissioner to constitute intent in the first place. We present MAIA (Multi-Agent Intent Articulation), a multi-agent system that scaffolds this stage through Socratic inquiry under a "Verification over Invention" rule, turning vague affect into a text-only brief of visual terms the user verifies. In a within-subjects study (N = 16), the full configuration produced a large, significant gain in Cognitive Support over a minimal baseline (r = 0.97, p_FDR = 0.003; LMM p_FDR < 0.001). Thematic analysis traces the same mechanism, and a validator gate structurally blocks unratified content. An exploratory blind review by three professional concept artists provides complementary descriptive evidence that the rewritten briefs were more complete and executable.
Medical multimodal reasoning models are typically trained on teacher-generated rationales, discarding the valid reasoning in students' own failed trajectories, while general-domain correction methods offer little guidance for errors in image reading, anatomical context, or differential diagnosis. We propose MedEvo, which uses medical knowledge, namely a tag taxonomy and error-type diagnosis, to navigate both trajectory repair and data selection. For each failed rollout, a gold-blind auditor locates the first consequential error and provides a minimal, answer-free hint; the same student retains the valid prefix and regenerates the erroneous suffix. After each round, MedEvo identifies capability gaps across medical tags on a held-out feedback set and prioritizes related questions for new rollouts and repairs. With supervised fine-tuning (SFT) alone, MedEvo raises Qwen3.5-9B mean accuracy across seven benchmarks from 65.57% to 69.12% (47.40% to 54.50% on the multimodal track of MedXpertQA (MedXpertQA-MM)), surpassing teacher-distillation SFT (66.93%). It also raises Qwen3.5-35B and Qwen3.5-397B mean accuracy from 67.91% to 73.04% and from 71.83% to 74.95%, respectively. Our analyses show that failed trajectories contain reasoning worth preserving, that repair success does not imply learning value, and that independent feedback is key to sustained improvement.
Electrocardiogram (ECG) models need supervision that targets evolving weaknesses and remains faithful to waveform evidence. We introduce ECG-RSI, a recursive self-improvement framework combining verified waveform synthesis with feedback-guided intervention search. Signal remeasurement verifies waveform edits; construction errors guide generator repair, while learner errors motivate interventions compared on a separate selection set. Across seven benchmarks, three rounds raise Qwen3.5-35B-A3B's mean question-answering accuracy from 34.57% to 56.04% and mean classification F1 from 24.27 to 34.03. Across the retained trajectory, the preferred supervision shifts from direct reinforcement to confusion-focused contrasts. Continued feedback correction yields diminishing external gains. These results motivate separating error diagnosis from intervention selection and checking whether gains on the feedback set transfer to independent benchmarks.
Zhen Lin Hefei University of Technology, Qiujie Xie Westlake University, Minjun Zhu, Shichen Li, QiYao Sun, Enhao Gu, Yiran Ding Westlake University, Ke Sun 等 13 位作者
High-quality scientific illustrations are essential for communicating complex scientific and technical concepts, yet existing automated systems remain limited in editability, stylistic controllability, and efficiency. We present AutoFigure-Edit, an end-to-end system that generates fully editable scientific illustrations from long-form scientific text while enabling flexible style adaptation through user-provided reference images. By combining long-context understanding, reference-guided styling, and native SVG editing, it enables efficient creation and refinement of high-quality scientific illustrations. To facilitate further progress in this field, we release the video at https://youtu.be/10IH8SyJjAQ, the full codebase at https://github.com/ResearAI/AutoFigure-Edit and provide a live demo for easy access and interactive use at https://autofigure.cc/.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表
Recent advances in artificial intelligence (AI) have accelerated the growth of both human-authored and AI-generated research outputs, placing increasing strain on traditional academic publishing systems and challenging the scalability of conference- and journal-centered paradigms amid rising submission volumes, reviewer workload, and venue size. To address these challenges, we explore an AI-era publishing paradigm in which both human and AI scientists participate as authors and readers, and papers evolve through continuous, feedback-driven iteration. We propose AiraXiv, an AI-driven open-access platform built on open preprints, AI-augmented analysis and review, and reader feedback. AiraXiv supports human scientists through an interactive UI and AI scientists through Model Context Protocol (MCP)-based interactions. We validate AiraXiv through real-world deployments, including serving as the submission platform for ICAIS 2025, demonstrating its potential as a fast, inclusive, and scalable research infrastructure for the AI era. AiraXiv is publicly available at https://airaxiv.com.
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cs.CL · cs.AI
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表
Xinyu Li, Kexi Chen, Jiajie Shen Fudan University, Ying Zheng, Hong Lu Fudan University, Jin Zhao Fudan University, Xin Wang Fudan University
In multivariate long-term time series forecasting, it is widely believed that the effectiveness of self-attention arises from its attention matrix. We challenge this assumption with a counterintuitive finding: our experiments, conducted on three classic and three latest Transformer models, show that dot-product attention can be replaced by element-wise operations without token interaction, such as the addition and Hadamard product, while maintaining or even improving accuracy. This leads to our central hypothesis: the effectiveness of self-attention in this task stems not from the dynamic attention matrix, but from the multi-branch feature extraction inherent in the parallel projections to Query, Key, and Value matrices and their fusion. To validate this, we construct a simple multi-branch MLP that isolates the ‘multi-branch mapping with element-wise operation’ structure from the Transformer and show that it achieves competitive performance. Our results indicate that the source of performance in self-attention has been misattributed, suggesting that the true benefit lies in the architectural principle of multi-branch mapping and fusion, not in the attention matrix.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表