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Preventing human error in physical assembly tasks requires assistance systems that can intervene before mistakes are made. This is especially challenging in settings where users are free to choose the construction order and correctness depends on the evolving assembly rather than a fixed next step. We present TanCRAFT, a four-stage real-time predictive assistance system that tracks the scene state, reasons about the current partial assembly, forecasts the near-future motion of manipulated pieces, and intervenes when the predicted placement is incompatible with the target. We instantiate our framework and confirm its effectiveness in a controlled tangram assembly task through offline benchmarks and a within-subject user study. Our findings show that the predictive feedback significantly reduces mistakes relative to unguided and reactive sessions, while yielding the lowest mean perceived workload and shortest mean completion time. Overall, these results demonstrate the value of predictive feedback for error prevention and provide a step toward cost-aware assistance for automation and human-robot workcells.

Generative driving planners can represent diverse ego futures, but a downstream scorer can choose only among sampled candidates; it cannot recover an absent maneuver. We present ForeseeDrive, which turns future scene evolution into a deployable interface for shaping candidate generation. Rather than reconstructing dense future states or scoring a fixed menu, ForeseeDrive derives query-indexed tokens from logged actor motion, occupancy evolution, route interactions, and TTC margins, and predicts the same token space from present context at deployment. The tokens condition trajectory geometry before candidates materialize. A zero-token-gated residual path and candidate-preservation loss limit unnecessary drift, while a TTC-margin guard targets brittle safe-to-unsafe boundary crossings. Under their respective benchmark protocols, ForeseeDrive reaches 89.2 PDMS on NAVSIM navtest, 0.41\,m average L2 and 0.05\% collision rate on nuScenes validation, and a 76.50 driving score on Bench2Drive. Controlled DiffusionDrive/NAVSIM diagnostics show an exact zero-token no-op, a small aligned-over-shuffled selected-PDM advantage under preservation, mixed oracle-best quality, and localized TTC-boundary failures. Together, the benchmark results and bounded mechanism tests support future-conditioned generation as a practical interface for anticipation. Code is included in the supplementary materials.

As large language models become more capable agents, they can exhibit deceptive behaviors, cheating human for higher rewards while appearing helpful. We attribute this failure to evaluation-side partial observability, where models are evaluated mainly from final outcome, without checking the faithfulness of underlying reasoning, tool use, and environmental effects. Prior mitigations address this partial observability by predefined evaluator latent belief space or one-shot monitoring, which do not extend to free-form language space and vulnerable to stronger deceptions that evade simple monitoring. In this work, we formulate deception mitigation as an Evaluation-Side Partially Observable Extensive Form Game (e-PoG), a max-min framework in which an agent maximizes reward, a monitor minimizes the agent's payoff by exposing deception from the full interaction trajectory, and a fixed verifier validates the monitor's claims and converts them into penalties. We define the solution concept as a Subgame-Perfect Oversight Equilibrium (SPOE) between agent and monitor, and prove its existence in finite games. With a perfect verifier, every SPOE is faithful; with an imperfect verifier, the guarantee persists if verifier errors do not reverse the ranking of monitor actions. To achieve faithful SPOE, we derive a two-timescale policy gradient algorithm and enhance the pipeline empirically with NLI verification and deterministic checks. Experiments with Gemma3-4B-IT and Qwen3-4B/8B on Agentic Role-Playing, SearchQA, and WebShop show that e-PoG mitigates multiple emergent deception modes, outperforming the strongest baselines by 26.0% in deception mitigation and by up to 39.8% in task success. These gains persist under weak-to-strong supervision. Code is available at https://github.com/Toyoid/deceptive-agent.

Researchers must often choose between Bayesian or neural network models of behavior, two paradigms with complementary strengths and weaknesses. An ideal paradigm would facilitate testing many kinds of representations and inductive biases; Bayesian models make this easy, while neural networks do not. Similarly, an ideal paradigm would avoid over-simplifications; neural networks make this easy, while Bayesian models do not. Here, we introduce Bayesian distillation with Behavioral Tuning (BBT) as an approach to getting the best of both traditions. BBT offers a simple recipe for model building: first, a neural network is trained to mimic a Bayesian model through synthetic data, and second, the network is fine-tuned on human behavior to capture additional structure and nuance. Across four case studies in human concept learning, we find that BBT outperforms traditional approaches at predicting human behavior while also revealing psychological insights, resulting in models that can both mimic Bayesian priors and capture heuristics and biases that violate simple modeling assumptions.

Tracking user motion in interactive and immersive applications is increasingly common (e.g., video games, XR systems, smartphones). Yet, processing and transmitting human motion data remain critical challenges, as current approaches strongly rely on the quality of the tracked motion signals. In general, affordable motion-capture systems may produce unnatural animations in the presence of calibration errors, occlusions, sensor drift, high-frequency noise, or other artifacts. More specifically, we simulate occlusions and high-frequency noise and propose to mitigate their effects with REACT, an interactive online motion-completion framework operating causally, frame by frame, without look-ahead. REACT is an S4-based autoregressive model that coordinates complementary motion estimates under specific reliability-dependent constraints and exposes several interpretable internal signals. We present a system-level contribution consisting of a structured formulation of interactive motion completion together with a coherent instantiation of this formulation. We evaluate REACT against several causal baselines and architectural variants under varying levels of occlusion severity, and report their respective inference latencies. Our results show that REACT achieves a relevant compromise between reconstruction accuracy, update smoothness, and interactive inference. Finally, we characterize how its fusion behaviour changes under missing input observations.