📄 Notable^* Recent AI/ML arXiv Papers

How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Within each VLA, we match demonstrations and training budgets. Additional comparisons examine pretraining data size and the roles of quality tags during fine-tuning and inference. Ac...

Generating information-rich visual artifacts such as slides, posters, and dashboards as code is appealing because the outputs are structured, editable, and verifiable. Yet code models cannot see how their choices of layout and color come together on the canvas, often limiting spatial planning and aesthetic quality. Image generators excel at visual design but can misrender requested content, making their outputs unreliable targets for direct reproduction. We therefore introduce AesCode, which gen...

Robot policies are expected to generalize across deployment environments, including variations in the robot itself: cameras are bumped and remounted, calibrations drift, controllers run at different rates, and end-effector pads wear down. We present LIBERO-RIG, a benchmark that perturbs only the robot's hardware and setup while holding every LIBERO task fixed. The benchmark spans eleven perturbation axes, including camera mounting and optics, camera-to-arm calibration, actuation gain, control ra...

Robots are increasingly autonomous in task execution, yet their improvement remains largely human-driven. This study investigates Physical Recursive Self-Improvement (Physical RSI), in which physical experience guides lasting updates to both a robot's capabilities and its improvement procedure, making subsequent improvement more effective across tasks. Physical RSI faces challenges from noisy observations, continuous dynamics, costly trials, and irreversible consequences. We present an L0-L5 fra...

It is difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, deformations, stiffness and friction. We present RoboSimStudio (RSS), an interactive toolkit that makes choices of solver, contact model, and physical parameters explicit and editable, allowing both humans and coding agents to iteratively refine simulations based on observed physical behavior. We implement RSS with the open Newt...

In this paper, we propose an extremely efficient, training-free method to extract token-level reward signals directly from an existing deep reward model. Our core idea is to attribute the overall process reward to individual tokens by estimating each token's influence. This influence is defined as the change in the final macroscopic reward (e.g., the process reward) when a token is replaced with a semantically null token. Naively calculating this influence is computationally infeasible, requirin...

World models (WMs) and world-action models (WAMs) focus on future world prediction and executable action generation, respectively. Although these models learn shared physical dynamics and interaction semantics from embodied trajectories, they are typically trained in isolation, which restricts knowledge reuse between prediction and control. The central challenge is therefore to develop a unified learning framework that shares these dynamics while preserving the distinct modeling capabilities req...

Online decision-making faces a tension between efficient inference and long-horizon reasoning. Value-based methods rely on short-horizon bootstrapping that limits the propagation of long-term information, while trajectory optimization methods plan explicitly but must solve a high-dimensional optimization problem at every decision step. We propose Generative Trajectory Planning (GTP), a model-based framework that addresses this tension by learning a generative model as a proposal distribution ove...

Summary-token architectures such as Kwai Summary Attention (KSA) compress distant context into learnable Summary token per chunk, and hybrid variants interleave these layers with full attention to retain exact access to the original text. In such hybrid KSA-Full architecture, the interleaving inserted summary tokens are served as a streaming flow role across different layers. Although effective, however, it also introduce some bottlenecks: (1) the different layers summary compression chunk must ...

Searching text-rich knowledge graphs requires following relations while examining textual evidence. Predefined graph interfaces constrain what evidence agents can access, even when they write code to combine tool calls or process retrieved subgraphs. We propose direct knowledge graph interaction (DKGI), a harness in which language model agents create graph access tools directly over complete node and edge files. The agent writes Python code to follow relations, combine node sets, and select text...

Buildings cause nearly 40\% of carbon emissions in the US. Of total building emissions, HVAC systems are responsible for approximately 40-60\% and account for 15\% of global energy consumption. Despite advances in artificial intelligence, most buildings still operate as inefficiently as they did decades ago. Building optimization, perhaps more so than any other optimization problem, has enormous potential for Machine Learning (ML) driven impact on climate change, in both the short and long term....

Egocentric video understanding spans diverse capabilities, modalities, and evaluation formats, yet these are often studied in isolation despite their tight coupling in real-world interaction. We propose the Ego-Action-World interaction loop as a unifying principle: the wearer perceives the world, forms goals, acts, changes the world, and uses feedback to guide subsequent behavior. Based on this view, we introduce EgoOmniWorld, a benchmark organized around four complementary interaction structure...

Given the growing global burden of liver tumors and diffuse liver diseases, non-contrast computed tomography (NCCT) is increasingly used for opportunistic screening because of its low cost and favorable safety profile. However, downstream tasks such as tumor detection and fine-grained disease diagnosis remain challenging due to NCCT's inherently low tissue contrast, lack of hemodynamic enhancement, and complex anatomical background. These limitations make subtle, heterogeneous, and multifocal he...

Vision-language models (VLMs) have been widely adopted for document parsing and optical character recognition (OCR), as they can accurately extract page-level elements. However, downstream applications such as retrieval-augmented generation (RAG) also require coherent document-level structure. Although these models indicate heading levels using different numbers of preceding ``\#'' symbols, page-by-page prediction often lacks document-level consistency. In practice, input-resolution and context-...

While AI agents are useful for many tasks, they regularly misbehave in destructive ways, such as deleting important data. While prior work has focused on preventing such misbehavior, we consider how to recover after an agent misbehaves. We propose verifiable agent insurance (VAI), a framework for agent providers to commit financially to promises, a list of programmatically-specified policies that an agent is meant to follow. These promises are embedded in a smart contract on an immutable ledger ...

On-policy self-distillation improves a model using guidance from the model itself, but it still requires a teacher that provides more useful predictions than the student. Existing approaches obtain such guidance by giving the teacher additional context or instructions. We ask whether it can instead come from changing how the same model uses its own layers. To address this, we introduce LoOPSD, which searches over a model's layer execution order to construct a stronger teacher and distills its ad...

Omnimodal large language models (OLLMs) are susceptible to cross-modal hallucinations under audio-visual interference. We find that, for a substantial fraction of incorrect joint predictions, the question-relevant unimodal branch can still recover the correct answer, suggesting that task-relevant evidence can remain recoverable from the relevant modality even when it is not reflected in the joint prediction. We refer to this recoverable failure pattern as \emph{modality misrouting}. We propose C...

AI has become increasingly helpful in scientific discovery, yet human expert review remains essential for those problems without reliable automated evaluation, posing a fundamental challenge as candidate generation scales beyond available review capacity. This paper studies verification under limited human effort, where rare valid solutions need to be prioritized while invalid candidates should be filtered out to reduce human workload. We adopt the one-sided verification objective that maximizes...

Scaling interactive environments is important for training long-horizon agents through reinforcement learning. These environments often require further testing and refinement after initial generation, and correcting defects in a task may also require updating its work context and verifier. However, existing construction pipelines offer limited support for such iterative refinement while keeping these components aligned. We introduce WorkRover, a framework for training long-horizon cowork agents ...

Long-term memory has become a core component of large language model (LLM) agents. As agents accumulate personal information over long-term use, users increasingly ask them to delete sensitive or outdated facts. A memory system should honor such requests. It should remove exactly what was requested and keep the rest of its memory intact. However, existing memory benchmarks evaluate only memory writing, retrieval, and organization, so whether agents can forget at the user's explicit request remai...

The design of attention mechanisms in long-context large language models faces an ``impossible triangle'' among KV cache size, training and prefill FLOPs, and model quality. GQA achieves strong quality but incurs high KV cache overhead; alternative approaches such as MLA and MFA can compress the cache, but MLA suffers from quality loss while MFA substantially increases training and prefill compute. We propose Virtual Head Attention (VHA), which simultaneously improves all three vertices through ...

Coding agents are tasked with producing sophisticated interactive applications such as websites, desktop applications, and games. While humans assess these applications interactively, current automated LLM evaluations primarily focus on code analysis and unit tests. This mismatch can cause LLM judges to miss failures that are immediately apparent to human users. We study Interaction-as-a-Judge, an evaluation paradigm where computer-use agents (CUAs) directly interact with an application. We demo...

Multimodal Diffusion Transformers (MM-DiTs) have recently emerged as a powerful framework for unified text-vision synthesis, surpassing traditional U-Net architectures in generative tasks. One key innovation lies in its Multimodal Self-Attention (MM-SA) interaction, where image and text tokens are concatenated and processed via self-attention. However, this mechanism poses significant challenges for editing, rendering conventional U-Net-based attention manipulation methods ineffective. To addres...

Graph fraud explanation generation emerges as an important task, which requires jointly leveraging graph structure and content information to produce human-readable explanations for a given risk label. An intuitive approach is to adapt existing graph-enhanced large language models (LLMs), which inject graph structure into LLMs via graph-conditioned instruction tuning or structure-aware embeddings. However, existing methods face two key challenges in graph fraud explanation generation: a lack of ...

Long-context training of large language and multimodal models couples structured attention masks (document, prefix-LM, share-question, sliding-window, block-sparse) with multi-node context parallelism, making the mask a dominant bottleneck. FlashMask's column-wise sparse mask compresses them from $O(n^2)$ to $O(n)$ via four query-axis boundary vectors, covering broad structured patterns. Implemented for Ampere GPUs, it neither exploits FlashAttention-3's TMA/WGMMA warp-specialized pipeline on Ho...

Discovering what drives an outcome from data is central to science and often requires deciding what is worth investigating before a specific hypothesis is known. Yet most existing hypothesis generation settings substantially narrow this search by providing a research question, target relationship, or curated context. We introduce open-ended multiple hypothesis discovery, where a system receives only a large tabular dataset and an outcome and must discover multiple data-supported hypotheses witho...

Contextual forecasting seeks to improve time series forecasting by incorporating forward-looking information, such as planned events, external conditions, and expert expectations. However, reliable evaluation remains difficult: existing benchmarks often have limited domain coverage, lack standardized history-future splits, or provide text that is not guaranteed to inform the future. We introduce GIFT-Eval-CTX, a benchmark that isolates whether forecasting methods can translate verified future in...

Large language model (LLM)-based multi-agent systems (MAS) are commonly organized around two coordination regimes. Centralized coordination provides explicit control but can create a bottleneck at a single coordination locus, whereas decentralized coordination offers local autonomy but must achieve effective collaboration through distributed decisions and experience. These trade-offs motivate a systematic study of the space between the two regimes. We introduce Degrees of Freedom (DoF), a contin...

Training recipes are tuned by hand for one model, cluster and workload, and every new model, accelerator, framework version or dataset means tuning again. Automated tuners search a fixed space of knobs and check only that a job runs, yet a configuration can run to completion while it silently changes training. ATTUNE is a single coding agent that tunes any working recipe for the workload and stack at hand, unattended, within a GPU-hour budget the user sets. It diagnoses each run and changes one ...

Browser agents need to make decisions and execute actions on behalf of users while consuming untrusted webpages, creating opportunities for malicious instructions embedded in webpages to redirect legitimate tasks. We introduce BrowseSafe++, which extends BrowseSafe from 14,719 pages to 38,675 pairs of pages. Most of its prompt injections were observed in the wild on production websites. We keep each injection unchanged and rewrite the sensitive parts of the page around it to protect privacy. Eac...

Language models are often evaluated alone but increasingly deployed together, routed between, made to debate, ensembled, or collaboratively trained. For a model inside a system, what matters most is not how well it performs on its own, but how much the system gains from its presence. We call this a model's compositional strength and formalize it using the Shapley value of a cooperative game over coalitions of a model pool, and use a model's leave-one-out contribution to the full coalition as a t...