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Computer Science Artificial Intelligence

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Wednesday 15 July

Artificial Intelligence · Cross-listed from cs.RO

MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning

Zihao Yu, Xiu Yuan and Chongjie Zhang

Embodied agents accumulate experience over time. We study how accumulated experience can be formed into persistent memory for future reasoning and action. We formulate Embodied Action Memory (EAM) as the capability to form and use memory over embodied experience, together with the persistent memory state produced by that process. We introduce MEMORA, a framework that instantiates EAM through a formation-consolidation-retrieval lifecycle and a multi-store world-memory architecture. MEMORA organizes experience into participant-specific Environment, Entity, Activity, and Inferred Knowledge stores: online editing revises memory as new evidence arrives, while offline consolidation abstracts repeated experience into reusable routines, habits, and preferences. We evaluate MEMORA with MEMORA-Bench, a 45-hour egocentric-video suite that measures both retrospective memory faithfulness and prospective memory-grounded planning. Across four open-weight answer models, MEMORA achieves the strongest aggregate planning performance among the evaluated memory interfaces, with its largest gains on out-of-distribution planning. On these tasks, MEMORA improves Robot-Grounded Plan score by up to 16.6 percent, suggesting that memory formed and consolidated across experience can support planning for new goals beyond directly observed episodes. A physical-robot demonstration further shows that memory formed solely from human egocentric video can ground high-level robot plans in participant-specific objects and preferences. Project website: https://github.com/yuzihaowashu/MEMORA
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Artificial Intelligence

The Steering Budget: Examples beat Knobs

Raj Kumar Rajendran

Generative models are steered with knobs – prompts, guidance scales, property tags. Turn one as hard as you like and, past a point, it stops moving the property you care about. We find that ceiling is not a shortcoming of the model but a budget, set by the training data before the model is trained: a property's movable range splits in two – the part a knob can reach, and a second, significant part that only examples – concrete instances of what you want more of – can reach. That second part is usually much larger, but not always, and the same budget says so in advance. Reaching that second part takes a different move: instead of turning a knob, you show the model examples, composed from what it already learned rather than added to its training. A cheap audit of the training data measures the budget; we give a recipe for building the example set that reaches all of it. This buys two things a knob can't. Reach: it moves a property across the whole budget, not just the part a knob reaches. Expressiveness: it steers toward targets you can only specify by example – including ones you can't put into words. We turn these into a handful of falsifiable claims and verify them in two unrelated domains, image and crystal-structure generation – marking where a knob is enough, and where only examples will do.
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Artificial Intelligence

Align AI to Dynamic Human-AI Workflows

Valerie Chen, Cleotilde Gonzalez, Anita Williams Woolley et al. (+4 more)

Current alignment approaches typically focus on emulating human behavior using static representations of human preferences, failing to capture the dynamic, context-dependent nature of real-world human-AI interactions. In this paper, we argue for a shift from static and emulative to interactive and complementary alignment, where preferences emerge through interaction and alignment is defined not by satisfying preferences alone. We first formalize this gap by contrasting existing alignment with a trajectory-level view in which human and model behavior co-evolve over time. Because these interaction dynamics have not been adequately captured within existing ML formulations, we ground this perspective in insights from an interdisciplinary workshop. We draw on lessons from social-science accounts of human-human collaboration and then argue that human-AI systems amplify these dynamics, introducing new asymmetries that make reasoning about uncertainty harder and introduce new coordination challenges. Based on these lessons and new challenges, we conclude by outlining a research agenda for developing AI systems that align with humans in interaction, requiring an interdisciplinary synthesis of machine learning and the social and decision sciences.
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All authors Valerie Chen, Cleotilde Gonzalez, Anita Williams Woolley, Michael Lee, Tongshuang Wu, Vincent Conitzer, Aarti Singh

Artificial Intelligence · Cross-listed from cs.RO

Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection

Yi Wang, Wendi Chen, Zimo Wen et al. (+8 more)

Pretrained vision-language-action (VLA) policies provide strong language-conditioned manipulation knowledge, but they remain largely vision-driven and can struggle once manipulation enters contact states where the scene is occluded, depth is ambiguous, or small force errors push execution off the offline demonstration distribution. We present LIFT (Late Reactive Injection of Force for VLA Post-Training), a force-aware post-training framework that adds contact reactivity to a pretrained VLA policy while preserving its output at initialization. LIFT grafts a reactive action expert beside the original action expert, initializes it from pretrained action weights, and injects recent 6D end-effector force through causal force memory and zero-initialized cross attention, enabling actions to be refreshed during execution. To address the policy-dependent distribution shift of contact feedback, LIFT further couples reactive force injection with an online DAgger loop that trains on a mixture of offline task-alignment data and human-corrected online rollouts. Across towel folding, book insertion, and Hanoi ring placement, LIFT learns faster and reaches higher peak and final performance than vision-only DAgger, while ablations show that reactive force memory and online corrective data are both important for robust contact-rich manipulation. Our code is publicly available at https://github.com/y-wng/lift
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All authors Yi Wang, Wendi Chen, Zimo Wen, Han Xue, Xueqi Li, Wenye Yu, Zhijie Chen, Hao Yang, Jun Lv, Chuan Wen, Cewu Lu

Artificial Intelligence · Cross-listed from cs.LG

LIGO-PINN: Learned Initialization via Gated Optimization to Alleviate Convergence Failures in Physics Informed Neural Networks

Nilay Anurag, Shital Adhikari, Taniya Kapoor et al. (+1 more)

Physics-informed neural networks (PINNs) have had a broad research impact in modeling domains governed by partial differential equations (PDE). However, PINNs have been shown to perform poorly, sometimes even converging to trivial solutions, in challenging PDE domains, or when generalizing to unseen but related PDE domains. Previously proposed solutions detail hyperparameter tuning to reduce loss imbalance between data-driven and physics guided losses, curriculum learning based training strategies, or dynamic re-sampling of hard collocation points. These methods face certain pitfalls: hyperparameter tuning is expensive, designing a training curriculum is ambiguous in multi-parameter PDE settings, and dynamic resampling still fails in complex PDE settings. Complementary to this line of thinking, we believe the initial PINN network weights also play a crucial role in the emergence of catastrophic failures during training, yet the effect of PINN weight initialization has been surprisingly under-investigated. To this end, we propose a framework for Learned Initialization via Gated Layerwise Optimization (LIGO-PINN) to overcome PINN convergence failures. Through rigorous evaluation on 1D and 2D PDE domains, including a challenging 2D fluid dynamics setting, we demonstrate that our methodology outperforms state-of-the-art methods designed to alleviate PINN failures, achieving a 91.5% average performance improvement across six baselines and 81% over the strongest baseline. We also verify that LIGO-PINN generalizes to 3D unstructured domains. Finally, we analyze training dynamics across all three PDE domains to explain both LIGO-PINN's improvement and the convergence failure of traditional PINNs. Code: https://github.com/scailab/ligo-pinn Keywords: Machine Learning, Physics-Informed Neural Networks, Deep Learning, PDE Modeling
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All authors Nilay Anurag, Shital Adhikari, Taniya Kapoor, Nikhil Muralidhar

Artificial Intelligence · Cross-listed from cs.CV

SeeSE3: Emergence of 3D Space in Vision Features

Caroline Chen, Sayna Ebrahimi, Fedor Kitashov et al. (+4 more)

In this paper, we ask whether vision foundation models construct representations that reflect the intrinsic properties of 3D Euclidean space. Unlike previous works that probe 3D awareness of vision features by regressing image-centric quantities such as depth or normals, we investigate the relation between the structure of the space of visual features and the group of Euclidean transformations $SE(3)$. We propose a set of probes to evaluate this relation from both topological and geometric perspectives: a mutual neighborhood metric that measures the alignment between feature neighborhoods and spatial topology, and a Poincaré Adapter to test the linear accessibility of the geometry of camera motion from latent displacements in static scenes. We show that self-supervised vision models, which, in principle, have not been trained with direct 3D supervision or active agency, possess latent subspaces that are remarkably strongly correlated with three-dimensional Euclidean space, when probed correctly. Building on this insight we propose a new class of "Latent-Space Navigation" techniques that perform visual odometry and localization purely in the latent space, bypassing the need for explicit 3D reconstruction.
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All authors Caroline Chen, Sayna Ebrahimi, Fedor Kitashov, Ming-Hsuan Yang, Leonidas Guibas, Viorica Pătrăucean, Maks Ovsjanikov

Artificial Intelligence · Cross-listed from cs.GR

Instant NuRec: Feed-Forward 3D Gaussian Reconstruction for Driving Scene Simulation

NVIDIA: Jiahui Huang, Jiawei Ren, Michal Tyszkiewicz et al. (+12 more)

3D simulation platforms are critical for autonomous driving because they enable end-to-end policy evaluation, thereby reducing development costs and improving safety. In recent years, neural simulation has become predominant, with methods such as NuRec playing a central role; however, these methods remain relatively slow and typically require per-scene tuning. In this work, we present Instant NuRec, a feed-forward neural reconstruction model that turns a short multi-view driving log into a fully simulatable 3D Gaussian Splatting (3DGS) world in a single forward pass. The model accepts multi-view input from a calibrated camera rig and emits a layered output consisting of static and dynamic 3DGS layers, a sky cubemap, and per-camera ISP corrections, while providing native support for non-pinhole camera models via 3DGUT. It reconstructs a 10-20-second multi-camera scene in roughly 1.5 seconds and achieves a PSNR on the Waymo Open Dataset that is 2.01 dB above the strongest evaluated baseline. Instant NuRec is deeply integrated into NuRec and is compatible with AlpaSim for closed-loop simulation.
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All authors NVIDIA: Jiahui Huang, Jiawei Ren, Michal Tyszkiewicz, Bjoern Haefner, Michael Shelley, Xin Kang, Seung Wook Kim, Ning Xu, Qi Wu, Janick Martinez Esturo, Shengyu Huang, Nick Schneider, Laura Leal-Taixe, Zan Gojcic, Sanja Fidler

Artificial Intelligence

How Artificial Intelligence LLM Engines Shape the Global Conflict Information Environment

Jason Miklian

Artificial Intelligence (AI) answer engines now field a growing share of the questions that analysts, scholars, and the public ask about issues of peace and conflict. Large Language Models (LLMs) are known to hallucinate under certain conditions, but do these errors have discernible patterns when they are asked about conflicts, and if so what can that teach us about the changing global conflict information environment? To answer, we first asked a battery of questions about 28 conflicts to five leading answer engines and scored their 5,460 answers against documented evidence. We found that the thinner the retrievable record around a given conflict, the more the engines invent, misattribute, and miscount. Thin records don't just encourage hallucination, but create structural exposure to mis- and disinformation, because they are the easiest records to warp through Generative Engine Optimization (GEO) to bias engine responses. Through an analysis of 1,048 websites that the AI LLMs pulled conflict facts from, we found that GEO source optimization is already happening, and while state-partisan digital capture remains incipient it is rapidly growing. We explain what these findings mean for scholarship with the rise of GEO information warfare, and for policy argue for a return to the deep local monitoring and translation-based research that AI tools cannot replicate, closing with a discussion of future research opportunities and challenges in this fast-moving space.
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Artificial Intelligence

RxBrain: Embodied Cognition Foundation Model with Joint Language-Visual Reasoning and Imagination

Haotian Liang, Mingkang Chen, Yufei Huang et al. (+27 more)

Embodied cognition requires agents to connect high-level task reasoning with the physical states to be achieved. We introduce Hy-Embodied-RxBrain, an embodied cognition foundation model with joint language-visual reasoning and imagination. Unlike vision-language models that emphasize scene understanding and textual decision making, or generative world models that mainly predict future visual states, RxBrain represents embodied plans in a single planning sequence where language and visual imagination play complementary roles. Language provides the abstract structure of a plan, including task decomposition, planning primitives, constraints, temporal order, and decision logic, while visual imagination grounds this structure through world state prediction and joint subgoal planning, associating each planning step with intermediate and final physical states. RxBrain adopts a unified multimodal Mixture-of-Transformers architecture that supports language, image, and video understanding and generation within one model. To train this capability, we build an automatic pipeline that converts embodied videos into joint text-visual planning supervision by decomposing videos into planning steps and aligning them with visual state transitions. We further introduce RxBrain-Bench to evaluate whether models can represent embodied plans through joint textual and visual components rather than separate understanding or generation. Experiments show that RxBrain maintains embodied understanding and generation abilities, and produces plans with coupled textual reasoning, world state prediction, and joint subgoal planning. We also extend RxBrain to continuous robot action generation, where it shows promising real-robot performance without large-scale action-data pretraining. These results provide an initial step toward foundation models for embodied cognition.
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All authors Haotian Liang, Mingkang Chen, Yufei Huang, Yuchun Guo, Xiaomeng Zhu, Xiangli Shi, Kaixuan Wang, Yunxuan Mao, Weijie Zhou, Ling Chen, Shirong Zeng, Yueyu Long, Yuchen Si, Yajuan Zhu, Xingyu Zhou, Minghui Wang, Wanjia He, Xin Yang, Lingzhu Xiang, Zhiqing Liu, Bohan Ma, Xiran Huang, Tianshuo Yang, Zhiheng Liu, Xuantang Xiong, Zisheng Lu, Ping Luo, Yao Mu, Han Hu, Zhengyou Zhang

Artificial Intelligence · Cross-listed from cs.SE

NexForge: Scaling Agent Capabilities through Requirement-Driven Task Synthesis for LLMs

Jiarong Zhao, Zhikai Lei, Zhiheng Xi et al. (+5 more)

Scaling executable agent training data for LLM post-training is bottlenecked by substrate-bound methods that tie task generation to predefined tools, repositories, or skill graphs: expanding coverage requires manual substrate engineering, each new domain demands a bespoke pipeline, and the resulting task distributions often reflect substrate biases rather than real-world demand. We introduce NexForge, a requirement-driven framework that takes high-level capability requirements as input and synthesizes diverse, executable agent tasks and expert trajectories for SFT. NexForge first investigates real-world demand to construct scenarios and task profiles, then performs distribution-aware compilation to generate task directives. For each directive, NexForge automatically retrieves or constructs the required files, dependencies, and runtime configurations, and finally collects expert rollouts to produce training trajectories. Without domain-specific infrastructure, NexForge produces 3.6K terminal and 2K office tasks, improving Qwen3.5-35B-A3B Base from 22.5% to 52.0% on Terminal-Bench 2.0 and from 813 to 1338 Elo on GDPval; scaling further to 43.2K terminal tasks yields 58.4%, on par with Claude Opus 4.6 equipped with Claude Code. Scaled further, NexForge-synthesized data contributes to the training of Nex-N2, a family of publicly available agent models that lift Qwen3.5-397B-A17B to 75.3% on Terminal-Bench 2.1 and to 1585 Elo on GDPval—achieving state-of-the-art open-source performance and surpassing several frontier proprietary systems. Nex-N2 models are available at https://nex.sii.edu.cn/.
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All authors Jiarong Zhao, Zhikai Lei, Zhiheng Xi, Rui Zheng, Hang Yan, Jie Zhou, Qin Chen, Liang He

Artificial Intelligence · Cross-listed from cs.LG

Closed-Loop Knowledge Dynamics: An Operational Framework for Saturation and Escape

Xuening Wu, Shan Yu and Shenqin Yin

Feedback-driven loops support iterative improvement in large language models, reinforcement learning, and autonomous discovery, yet their gains often diminish under repeated internal feedback. We study why closed-loop knowledge systems saturate and what external information can move them beyond their current attractors. We introduce a three-level operational framework in which knowledge states $x_t$ evolve through transition kernels $K_{\theta}$ indexed by a structural parameter $\theta$. The governing structure is defined as the observational equivalence class of $\theta$ induced by these kernels, while attractors and basins are properties of the fixed-$\theta$ dynamics. A structural intervention changes $\theta$ and produces a detectable kernel discrepancy on pre-specified probe states, making structural change falsifiable. Using a Lyapunov drift condition, we show that stable internal dynamics approach bounded stability regions with exponentially attenuated transients and a noise-controlled residual floor. We characterize escape through a metric condition on intervention-induced attractor displacement and a baseline-relative KL lower bound for increasing escape probability. This analysis also explains why conditional mutual information alone cannot certify escape: it measures variation among intervention-conditioned updates rather than departure from the no-intervention law. Case studies in LLM code repair, sparse-reward reinforcement learning, and Bayesian optimization use matched continuation controls to illustrate how feedback strength and alignment affect quality-improving escape. Our contribution is an operational connection among stability tools, measurable intervention effects, and cross-domain diagnostics.
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Artificial Intelligence · Cross-listed from cs.RO

Semantic Audio-driven Understanding for Dynamic Humanoid Whole Body Control

J. M. A. Marcelo, M. Brienza, E. Bugli et al. (+4 more)

Recent advances in humanoid robotics and reinforcement learning have enabled the acquisition of highly expressive whole-body motion policies. However, most robotic performances remain based on pre-scripted sequences or externally triggered behaviors, limiting autonomy and responsiveness to dynamic environments. In this work, we introduce a novel multi-modal orchestration framework for semantic audio-driven humanoid control, enabling robots to autonomously select and execute appropriate motion skills in real time. The system processes continuous audio streams and routes them into music or speech branches. Music input is handled via audio fingerprinting and semantic embeddings to retrieve track identity and temporal alignment, allowing dynamic mapping between musical segments and motion policies. Speech input is grounded into a discrete library of imitation-learned skills, enabling direct human-robot interaction. Both modalities share a unified interface that schedules skill execution over a reinforcement learning control pipeline. We validate the approach in simulation and on a Unitree G1 humanoid, showing robust sim-to-real transfer and consistent audio-conditioned policy selection. Supplementary materials are available at the following site: https://lab-rococo-sapienza.github.io/semantic-WBC/
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All authors J. M. A. Marcelo, M. Brienza, E. Bugli, L. Comito, D. Nardi, D. D. Bloisi, V. Suriani

Artificial Intelligence · Cross-listed from cs.LG

RENEW: Towards Learning World Models and Repairing Model Exploitation from Preferences

Logan Mondal Bhamidipaty, Mykel Kochenderfer and Subramanian Ramamoorthy

World models are widely used in offline reinforcement learning (RL) to improve sample efficiency and generate experience beyond a fixed dataset. However, they are vulnerable to model exploitation where data coverage is thin. Prior work addresses this either by collecting more expert demonstrations, which is often expensive, unsafe, or unavailable, or by conservative algorithms that avoid uncertain regions, which limits generalization. We propose instead to repair exploitation directly using human preferences over imagined rollouts, leveraging the strong intuitive physics that allows humans to easily spot egregious dynamics hallucinations. We formalize this as Dynamics Learning from Human Feedback (DLHF), a Bradley-Terry preference loss over trajectory log-likelihoods under a learned dynamics model. Unfortunately, naive DLHF is sample inefficient, so we introduce RENEW, which uses epistemic uncertainty to focus finetuning where the model is most exploitable. We evaluate on several Jumanji and classic control environments and find that while naive DLHF requires an outsize preference budget, RENEW makes the framework practical by improving sample efficiency, limiting catastrophic forgetting, and reducing exploitation in pretrained world models. Taken together, our results provide initial evidence that preferences can supervise world model dynamics directly, offering a new approach to addressing exploitation in offline model-based RL.
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Artificial Intelligence

ReasFlow: Assisting Reasoning-Centric Scientific Discovery in Applied Mathematics via a Knowledge-Based Multi-Agent System

Yutong He, Daibo Li, Guohong Li et al. (+15 more)

Recent advances in Large Language Models have fueled autonomous AI agents capable of tackling complex scientific tasks, yet existing automated research systems remain predominantly focused on empirically driven domains with quantitative benchmarks, leaving theory-driven discovery, particularly in mathematically grounded disciplines requiring rigorous proofs and synthesis of domain knowledge, largely underexplored. Key challenges include the difficulty of verifying theoretical reasoning at scale, insufficient reasoning ability for autonomous frontier exploration, and a scarcity of procedural heuristics in the literature. We introduce ReasFlow, an end-to-end autonomous agent system for reasoning-centric scientific discovery that operationalizes a collaborative paradigm where the human expert acts as Principal Investigator while the agent executes rigorous derivations as a capable graduate student. ReasFlow incorporates (i) a robust internal verification loop that audits logical coherence and corrects fundamental errors prior to human inspection, and (ii) an automated knowledge retrieval and self-improvement mechanism that proactively surfaces both declarative facts and overlooked procedural heuristics, substantially reducing expert intervention. The system unifies literature synthesis, algorithm design, theorem proving, experimentation, and manuscript preparation in a single system. Deployed to autonomously generate five complete research papers with rigorous theoretical and empirical content from minimal prompts, ReasFlow consistently achieves the highest evaluation scores among state-of-the-art open-access baselines under a curated LLM-based review rubric. ReasFlow is publicly accessible via the ReasLab platform, providing a collaborative workspace for AI-assisted theoretical research. Github repo: https://github.com/reaslab/ReasFlow.git.
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All authors Yutong He, Daibo Li, Guohong Li, Jiahe Geng, Zhengyang Huang, Can Ren, Zekun Zhang, Yifan Liu, Shuchen Zhu, Hengrui Zhang, Boao Kong, Ming Sun, Shu Li, Chenyi Li, Jiang Hu, Kun Yuan, Zaiwen Wen, Pingwen Zhang

Artificial Intelligence · Cross-listed from cs.DC

The Cost and Network Limits of Space-Based AI Compute

Kees van Berkel

This paper evaluates whether large-scale AI data centers deployed in low-Earth orbit (LEO) could become a cost-effective alternative to terrestrial facilities. The analysis compares orbital and ground-based systems across launch cost, power generation, cooling, radiation exposure, and atmospheric reentry, as well as compute-network performance. A key distinction is the shift from terrestrial Clos networks to space-based mesh networks using laser inter-satellite links. Using bisection bandwidth, bisection intensity, and roofline-style models, we show that while LEO-based inference may be feasible, training frontier-scale LLMs in orbit is unlikely to be competitive with terrestrial data centers.
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Artificial Intelligence

When a Verified World Model Still Loses: Play-Adequacy vs Prediction-Accuracy in LLM-Synthesized Code World Models

Javier Aguilar Martín

Large language models can synthesize a game's rules as executable code - a Code World Model (CWM) - which a classical planner then searches over. Such models are typically accepted when they reach high transition accuracy on sampled trajectories. We argue this is the wrong notion of adequacy for planning. We show four things. (1) An LLM-synthesized CWM can pass a sampling gate at 100% transition accuracy and be $\geq 98\%$ state-accurate on the planner's own search distribution, yet lose systematically at play, because the $<1\%$ it gets wrong is exactly the pivotal dynamics; the play cost of the omitted rule is $0.091$ (seed-clustered 95% CI $[0.065,0.117]$, $n=4800$). We call this the verified-vs-correct gap, and confirm it end-to-end through the synthesis pipeline. (2) The harm follows a quantitative law, $\mathrm{danger}=\mathrm{play\_cost}\times(1-\mathrm{rarity})^N$, whose $(1-\mathrm{rarity})^N$ gate-miss factor is proven exact and whose play cost is empirically bounded. (3) The failure is not repaired by more data: LLM synthesis behaves as rule translation, not rule inference, and did not infer the omitted rule across models (GPT-5.x) and data regimes (including DAgger and targeted examples). (4) The same mechanism recurs on the belief-inference function of imperfect-information CWMs: we prove a coverage bound (a size-$N$ gate is identifying when $N\gtrsim b^{d_{\max}}$), explaining why shallow games such as Kuhn poker show no gap, and hand-construct Beacon, a verified-but-wrong inference function that passes the gate yet loses every game. These results suggest adequacy for planning-oriented world models should be measured on the search distribution or by play directly, not by prediction accuracy on sampled transitions.
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Artificial Intelligence · Cross-listed from cs.SE

Structured Feedback Improves Repair in an LLM Agent Loop

Jaideep Ray and Ankit Goyal

LLM agents often retry after external validation rejects a candidate, but the interface between validation and the next model call remains underspecified. We introduce VeriHarness, a code-controlled agent loop in which models generate candidates while external validators control acceptance, budgets, and traces. We use it to compare raw diagnostics with feedback that identifies the failure location, observed value, and admissible alternatives. Across 50 paired TextWorld games under a four-call cap, feedback containing all three fields raises terminal success from 14/50 to 36/50 for Qwen2.5-Coder-14B (+44 percentage points) and from 8/50 to 29/50 for Llama-3.1-8B (+42 points). Ablations locate most of the gain in the admissible alternatives: feedback containing only the location and observed value remains near the raw diagnostic baseline. Presenting the complete repair information in prose instead of a keyed JSON record yields nearly the same success, providing no evidence that JSON syntax itself improves repair. The ordering persists across the tested call budgets and one sampled-decoding setting.
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Artificial Intelligence · Cross-listed from cs.SE

Towards Reliable AI-Assisted Analog Design: Template-Constrained LLM Agents for SAR ADC Generation

Dimple Vijay Kochar, Hae-Seung Lee and Anantha P. Chandrakasan

While Large Language Models (LLMs) have demonstrated significant capability in software code generation, their application to analog Electronic Design Automation (EDA) is bottlenecked. Owing to limited circuit topology understanding and data, directly prompting LLMs and multimodal models leads to hallucinations and failure to produce schematics capable of passing rigorous SPICE simulations, as we show in our work. Instead, we propose an end-to-end, multi-step LLM agentic framework ATLAS, capable of generating a functional Successive Approximation Register (SAR) Analog-to-Digital Converter (ADC) that successfully passes simulation validation. To adhere to the rigid constraints of analog design, we utilize expert knowledge to ground the LLM in its planning, selection, parameterization, and iterative modification. As part of ATLAS, we introduce Template-Constrained Generation - which unlike other template-based works - builds towards a more generalized SAR ADC generation flow. We demonstrate a strong proof-of-concept of our framework by developing SAR ADCs across technology nodes and input specs. Overall, our expert-knowledge grounded multi-step agentic ATLAS establishes a pragmatic foundation for integrating LLMs into reliable analog design methodologies.
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Artificial Intelligence

Deep Interaction: An Efficient Human-AI Interaction Method for Large Reasoning Models

Hefeng Zhou, Jinxuan Zhang, Jiong Lou et al. (+4 more)

The emergence of Chain-of-Thought (CoT) reasoning has significantly enhanced the ability of large language models (LLMs) to tackle complex, multi-step tasks. However, when errors occur, current interaction approaches typically involve re-generating another response that may make mistakes again, or users laboriously flag the faulty step in follow-up turns that may get responses <You are right, I made a mistake here> followed by similar errors recurring. To address this issue, we propose an efficient human intervention mechanism for precisely correcting reasoning errors in LLMs, termed Deep Interaction. Our approach enables direct editing of the original response, allowing erroneous parts to be corrected while preserving accurate reasoning steps. We refine the edited CoT into a distilled prompt, which then steers the LLM along the corrected reasoning path. Experimental results show that our method achieves over a 25% improvement in correction success rate and reduces token usage by approximately 40% on STEM tasks reasoning compared to baseline approaches.
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All authors Hefeng Zhou, Jinxuan Zhang, Jiong Lou, Yuxin Liu, Chaochao Lu, Jingjing Qu, Jie Li

Artificial Intelligence

Earthquaker-AI: A Retrieval-Augmented Generation Framework with Rubric-Based Assessment for Primary School Earthquake Education

Xanthi Kokkinou, Chaido Mizeli, Nafsika Koulaxidou et al. (+2 more)

This paper presents Earthquaker-AI, a hybrid educational framework building upon a previously implemented educational robotics project by integrating a conversational AI assistant based on Retrieval-Augmented Generation. It aims to enhance earthquake preparedness and conscious action among primary-school students. The system extends the award-winning STEM project Earthquaker moving from mechanical simulation with Lego WeDo2 to cognitive and metacognitive processing. The robotics component uses Lego WeDo2 automation to simulate seismic response, letting students interact with sensors and actuators as tangible representations of protective actions. The assistant operates as a guided learning mechanism aligning student responses with safety guidelines, while providing rubric-based verbal feedback that supports self-regulated learning and calmness under emergency conditions. Earthquaker-AI follows a progressive learning trajectory aligned with cognitive development. In early grades, the focus is on basic recognition of safety actions through multiple-choice questions, assessed via a two-dimensional rubric. In middle grades, students identify correct action sequences through multiple-choice questions, evaluated via a three-axis rubric. In upper grades, the approach shifts to verbal production, requiring short written responses assessed via a four-dimensional rubric that includes clarity of expression. The dialogic module uses RAG to match student queries semantically with official guidelines, generating safe, accurate responses. Experimental evaluation shows high groundedness and accuracy, with a low hallucination rate. Overall, Earthquaker-AI combines hands-on engagement, information processing, and reflective practice. Combining robotics, rubrics, and AI promotes technological literacy, self-regulation, and responsible use of digital systems, contributing to early crisis-management skills.
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All authors Xanthi Kokkinou, Chaido Mizeli, Nafsika Koulaxidou, Marina Delianidi, Konstantinos Diamantaras

Artificial Intelligence

AI-accelerated End-to-End Framework for Rapid Professional Upskilling

Tam Nguyen, Hung Nguyen and Robert Ogburn

By 2030, 59 of every 100 workers will need reskilling or upskilling, yet the average time to close an enterprise skills gap grew from roughly 3 days in 2014 to 36 days in 2018. Most current frameworks accelerate single stages of upskilling programs and generally lack industry validation. We present an end-to-end framework that applies AI acceleration across five stages of knowledge acquisition, content development, content review and verification, teaching, and assessment development; with a strong focus on both production and learning efficiency. Three strong external signals validates the framework: the US National Association of State Boards of Accountancy reviewed and approved an upskilling program built on the framework for continuing-professional-education credits; 3 learners followed the program and passed the NVIDIA Certified Professional in Agentic AI exam in a significantly short amount of time, with 14 more in progress; the program's knowledge base supports complex downstream analysis such as the production of a robust 1,267 risk item dataset for managing multi-agent AI system risks.
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Artificial Intelligence · Cross-listed from cs.CV

Multi-Expert Routing for Multi-Domain Low-Resource OCR: A Manchu Case Study

Zhan Chen, Jiqiao Ma and Chih-wen Kuo

Historical Manchu OCR must accommodate various visually distinct writing styles, including regular script, running script, and the semi-cursive chancery hand used in palace memorials, despite limited labeled data. We study a multi-expert system that reuses checkpoints from an iterative fine-tuning process as domain specialists and uses a lightweight page-level image classifier to dispatch pages by visual style. When the checkpoint pool lacks a suitable specialist, we train an additional expert for that domain. On three frozen test sets, the routed system matches the selected specialist for each style at two-decimal precision: 0.30 percent CER on regular script, 1.57 percent on memorials, and 4.83 percent on running script. The router achieves 99.3 percent page-level domain accuracy and matches the domain-label oracle at the same precision. Two of the three selected specialists were not trained specifically for their final domain; only the running-script expert was trained with that domain as its target. We report the evaluation protocol, router design, and per-page predictions to make the comparison reproducible.
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Artificial Intelligence · Cross-listed from cs.SE

Early Adoption of Agentic Coding Tools by GitHub Projects

Maliha Noushin Raida and Daqing Hou

Agentic coding tools are increasingly capable of generating and submitting pull requests (PRs) to software projects, introducing new forms of human-agent collaboration in software development. While prior studies have examined PR-level outcomes of agent-generated contributions, less is known about how agentic coding tools are adopted and managed at the project level. In this paper, we analyze 25,264 agentic PRs from 2,361 popular GitHub repositories to investigate (1) the adoption of agentic coding tools, (2) project-level agentic PR productivity, and (3) human-agent collaboration patterns. Our results show that the median repository generates only one to two agentic PRs during a three-month period, indicating that intensive adoption remains concentrated in a small subset of projects. At the same time, small projects (1-5 contributors) exhibit higher participation ratios and average levels of agentic PR activity than medium-sized and large projects. We also observe substantial variation in project-level agentic PR productivity. While a small number of projects exceed an industry-reported estimate of 36 PRs per participant during the three-month observation period, most projects remain below this threshold. Finally, human-agent collaboration is dominated by a single-human oversight model, in which one developer reviews and/or modifies the agent's contributions, while multi-human collaboration patterns remain uncommon. These findings provide early empirical evidence on how open-source projects organize human oversight around agentic coding tools and suggest that successful integration of agent-generated contributions depends not only on advances in agent capabilities but also on the human and organizational processes that govern their use. Because this study captures an early snapshot of agent adoption, future work should continue to track how adoption patterns evolve over time.
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Artificial Intelligence · Cross-listed from cs.LG

Improving Wind and Solar Power Prediction with Efficient Wrapper-based Feature Selection: An Empirical Study

Daniel Grillmeyer, Marius Hadry, Michael Stenger et al. (+3 more)

With rising global energy demand and growing awareness of climate change and its impacts, the share of renewable energies in the global energy mix continues to grow. Unlike conventional power generation, the output of renewable energy sources cannot be controlled as consistently due to their dependence on environmental conditions. Therefore, reliable prediction of current and future energy production is essential. In this paper, we report findings from two structured literature reviews on real-world renewable energy prediction tasks: wind turbine power curve modeling and photovoltaic power prediction. For the former, we conducted a comprehensive literature review ourselves, while for the latter, we synthesize the key findings regarding frequently selected input features based on an existing survey. Across both domains, our analysis reveals that despite the large number of available monitoring and environmental variables, only limited or unsystematic methods for feature selection exist. To address this gap, we propose Cluster-based Sequential Feature Selection (CSFS), a novel, model-agnostic, clustering-based wrapper method for automatic, efficient, and reliable feature selection in renewable energy prediction pipelines. To support reproducibility and reuse, we provide an open-source implementation of CSFS on GitHub. We empirically evaluate the proposed approach on both use cases and compare it with established feature selection techniques such as wrapper-based sequential feature selection (SFS), filter-based methods, and Random Forest's embedded feature importance. The results show that the wrapper-based methods overall provide better-performing selections of features. CSFS achieves a predictive performance comparable to SFS while reducing computational cost by an average of 21%.
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All authors Daniel Grillmeyer, Marius Hadry, Michael Stenger, Vanessa Borst, Veronika Lesch, Samuel Kounev

Artificial Intelligence · Cross-listed from cs.LG

Transforming Rank: How Architecture Navigates the Spectral Pathologies of Depth

Katie Everett

We investigate how each component of the Transformer feedforward block architecture design determines how much rank survives across depth at initialization. We reinterpret skip connections and normalization, long understood as controlling magnitude, as mechanisms for preserving gradient rank across depth, since the very matrix multiplications and nonlinear activations that make the network expressive also reduce the rank. We show that skip connections trade off rank collapse against ensemble-like behavior, controlled by the relative scales of the branch and the skip: skip connections route the gradient around the residual branch, where rank is lost, rather than along the long gradient paths that encourage the layers to compose. The placement of the normalization layer controls this same tradeoff by setting the branch-to-skip ratio across depth, unifying much of the normalization placement and depth scaling literature, in particular why rank collapses for Post-Norm but plateaus for Pre-Norm. Other aspects of the architecture, like the two-matrix structure that expands and contracts the width, use additional parameters to preserve the representation or branch Jacobian rank. The second matrix decorrelates a coherent mean spike that would grow across blocks with a single matrix and uncentered activation, preventing the residual representation from collapsing. The width expansion between the two matrices keeps the branch Jacobian full rank: applying the rank-reducing activation in this expanded space leaves enough directions to span the original, at a width that follows a Marchenko–Pastur law. The initialization rank of the input–output Jacobian predicts which networks train on CIFAR-10. Taken together, we recast architecture design for deep networks as navigating an intrinsic tradeoff among rank collapse, ensemble-like behavior, and parameter count.
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Artificial Intelligence · Cross-listed from cs.CR

Rethinking Penetration Testing for AI-Enabled Systems: From Resource Compromise to Behavioral Objective Violation

Mohammad Allahbakhsh, Mohammad Hassan Bahari and Moslem Attar-Raouf

Penetration testing traditionally evaluates whether adversaries can exploit weaknesses in software, infrastructure, configurations, or operational controls to achieve security-relevant compromise. This paradigm remains necessary for AI-enabled systems, but it is no longer sufficient. In such systems, adversaries may influence prompts, retrieved content, sensor inputs, training data, memory, tools, or human-AI interaction loops to alter system behavior without directly compromising the underlying infrastructure. This paper reframes penetration testing for AI-enabled systems as objective-driven behavioral evaluation. We define an AI-enabled system as one in which learned models materially influence behavior affecting operational outcomes, and we define AI-enabled penetration as the feasible induction of AI-governed behavior that violates one or more operational objectives under an explicit threat model. This definition preserves conventional penetration testing while extending it to adversarial pathways such as prompt injection, indirect prompt injection, data poisoning, sensor manipulation, retrieval poisoning, tool misuse, and agentic misalignment. We further propose a testing workflow that identifies operational objectives, maps AI-governed behavior, analyzes adversarial influence surfaces, defines behavioral failure criteria, executes scenario-based tests, and reports evidence linking adversarial action to objective violation. A running example involving an AI-enabled security operations center assistant illustrates how penetration may occur through behavioral influence rather than infrastructure compromise. Together, the definitions, workflow, and example provide a technical framework for evaluating adversarial success in deployed AI-enabled systems.
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Artificial Intelligence

Do Agent Optimizers Compound? A Continual-Learning Evaluation on Terminal-Bench 2.0

Wenxiao Wang, Priyatham Kattakinda and Soheil Feizi

Most reported gains from agent-optimization methods are one-shot: an agent is optimized against a fixed benchmark and the resulting improvement is reported as if it were a stable property of the method. This does not test the setting that matters for deployed agents, where optimization is applied recursively as new failures and new tasks appear over time. The central question this raises is whether optimizer-driven gains compound: after an agent has been optimized once, can it be optimized again on newly arrived tasks without eroding the gains the first round produced? We study this question with a two-phase continual-learning evaluation built from hard tasks in Terminal-Bench 2.0, comparing three approaches to agent-harness optimization (GEPA, Meta Harness, and RELAI's Verifiable Continual Learning, RELAI-VCL) under identical optimization budgets. All three methods improve over the baseline agent in the conventional, static, single-phase setting. However, once new tasks are introduced, the methods diverge sharply: GEPA's optimized agent transfers below the unoptimized baseline, Meta Harness transfers well but fails to improve further once given a second optimization budget, and RELAI-VCL is the only method that both transfers positively to unseen tasks and continues improving after those tasks are folded into the optimization objective, reaching the highest pass rate at every evaluated stage and the highest lifelong average pass rate overall (76.4% vs. 66.0% for GEPA, 64.6% for Meta Harness, and 58.7% for the baseline). Our key observation was that optimization gains compounded only when regression control was built into the optimization loop, providing an inductive bias against shortcut solutions that fail to generalize.
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Artificial Intelligence · Cross-listed from cs.SI

The Dynamic Verifiable Multi-Agent Human Agentic Loyalty Loop (DVM-HALL) Model and the Net Human-Agent Score (NHAS) in Autonomous Commerce

Sai Srikanth Madugula, Peplluis Esteva de la Rosa and Daya Shankar

The rapid proliferation of Agentic Artificial Intelligence fundamentally disrupts traditional customer loyalty paradigms. As AI evolves from passive recommendation algorithms to autonomous, goal-directed agents capable of executing purchasing decisions, the conventional understanding of consumer-brand relationships requires a structural reevaluation. By synthesizing extant literature across human-machine teaming, consumer decision-making, and algorithmic trust dynamics, we demonstrate that traditional loyalty models fail to account for algorithmic bounded rationality and constructed autonomy. To address this, we introduce the Dynamic Verifiable Multi-Agent Human Agentic Loyalty Loop (DVM-HALL) model. We formalize brand choice via a softmax probability formulation where human emotional equity, agentic machine-experience utility, calibrated trust, delegated authority, and verifiable execution jointly determine selection. The model features recursive updating mechanisms to dynamically calibrate trust and delegation after each interaction. Crucially, the framework integrates a verifiable execution layer for Decentralized Finance (DeFi) and tokenized loyalty settings, incorporating execution risks – such as gas costs, slippage, MEV exposure, and smart-contract vulnerabilities – as core predictors of agentic brand preference. Furthermore, we introduce the Net Human-Agent Score (NHAS), an auditable, risk-weighted metric designed to measure human-agent alignment using human feedback, execution logs, benchmark comparisons, and verifiable receipts. Finally, we propose a comprehensive three-stage empirical validation plan spanning controlled shopping experiments, multi-agent market simulations, and DeFi testbeds. This framework provides the foundational theory required for brands to navigate the impending transition toward machine customers.
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Artificial Intelligence · Cross-listed from cs.CV

Music-to-Dance Generation via Atomic Movements

Xinhao Cai, Yixuan Sun, Minghang Zheng et al. (+4 more)

Music-driven dance generation aims to produce human motion that is both rhythmically synchronized and semantically consistent with music. While recent neural approaches have achieved impressive visual realism, they typically model motion as a continuous signal and neglect its compositional nature, making generated dances structurally incoherent and difficult to control. In this work, we introduce a structure-aware framework that models choreography as a sequence of atomic movements-semantically interpretable motion events that serve as the building blocks of dance. To construct this atomic movement vocabulary, we first segment large-scale dance data and cluster them into atomic movement groups. We then employ a large language model to semantically relabel and refine the clusters, yielding a set of interpretable and reusable atomic movements. Based on these atomic movement annotations, we design a two-stage generation framework that mirrors the human choreography process. In the atomic movement planning stage, the model predicts the type, duration, and timing of atomic movements conditioned on the input music, forming a symbolic dance allocation. In the completion stage, a transition-aware generator synthesizes smooth and stylistically coherent motion conditioned on the planned structure. Extensive experiments demonstrate that our method produces dances with significantly improved structural coherence, rhythmic alignment, and perceptual naturalness compared to existing baselines, while providing enhanced interpretability and controllable editing through explicit structural representation.
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All authors Xinhao Cai, Yixuan Sun, Minghang Zheng, Qingchao Chen, Xin Jin, Song-chun Zhu, Yang Liu

Artificial Intelligence

A Self-Evolving Agent for Longitudinal Personal Health Management

Haoran Li, Jiebi Deng, Tong Jin et al. (+11 more)

Medical large language models and agents show strong single-encounter question answering and evidence interpretation but struggle to accumulate and govern experience across encounters. We present HealthJev, an open-source agent separating shared safety rules and medical knowledge from a private longitudinal memory and distilling lessons from completed cases. To filter out erroneous lessons before they affect future behaviour, we self-train JevGate, a lightweight System-One model that decides which lessons enter memory; each decision takes a median of 86 milliseconds and about 1,000 input tokens, sustaining experience accumulation at negligible run-time overhead. On a longitudinal benchmark of 90-day simulated daily interactions for 20 users built from real MIMIC-IV trajectories, HealthJev outperformed a memory-free ReAct agent and three memory-augmented frameworks, with all paired comparisons significant. Across six tasks spanning clinical records, medical imaging, genomics and clinical text, HealthJev improved every task with a mean gain of 13.3 percentage points over the base condition, surpassing all baselines. The frozen library transferred to six further backbones with macro-average gains of 6.8 to 15.1 percentage points, and one task's library brought gains on other tasks. These results indicate that governed, self-evolving memory supports longitudinal personal health management beyond single encounters. HealthJev is publicly available at https://github.com/HC-Guo/Self-Evolving_HealthJev.
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All authors Haoran Li, Jiebi Deng, Tong Jin, Jinghong Han, Yuxin Wang, Zexin Wang, Jinyu Sun, Qingyi Si, Weikang Gong, Xiahai Zhuang, Jia You, Wei Cheng, Jianfeng Feng, Hongcheng Guo