Papers

Kinematic models provide reliable motion constraints for odometry estimation in featureless environments, where exteroceptive sensing degrades and IMU integration drifts. Learning-based kinematic models can achieve more accurate odometry estimation than model-based methods by capturing nonlinear effects; however, most existing learning-based models are trained on a single embodiment and generalize poorly to new embodiments. This generalization is difficult because the meanings and structures of proprioceptive measurements vary across embodiments, including the number of joints and ground-contact elements (e.g., wheels, feet). To address this challenge, we propose KING, a Graph Neural Network (GNN)-based kinematic model that explicitly incorporates robot embodiments by representing them as a common graph. We show that wheel and leg kinematic models can be expressed by a unified representation, enabling a single model for both wheeled and legged robots. Trained on datasets spanning diverse embodiments, KING provides a unified representation of wheeled and legged kinematics and achieves high-accuracy odometry estimation in real environments. KING estimates accurate odometry using only an embodiment description (e.g., a URDF file) and on-board proprioception (encoders and an IMU) and can be adapted to new robot embodiments through few-shot learning with only one minute of data, avoiding retraining from scratch on a new dataset for each robot. The project page is available at: https://smrg-aist.github.io/king_project_page/

Preference optimization improves mathematical reasoning in large language models (LLMs), but reliable chosen-rejected pairs usually require verified answers, human annotations, or external reward models. We investigate whether preference supervision can instead be derived from the model's internal representation geometry in a semi-supervised setting. Our analysis shows that reasoning trajectories generated across different mathematical problems form structured global point clouds in which correct and incorrect trajectories exhibit different geometric organization. Based on this observation, we propose Cloud-ScPO, a topology-guided preference-mining framework that uses a small labeled set to construct multiple correct and incorrect reference Clouds. Each trajectory is represented by a mean-pooled hidden state and scored against connectivity-induced components using a component-level soft $k$-nearest-neighbor measure averaged across reference banks. We combine this cross-problem Cloud signal with prompt-level self-consistency: self-consistency determines the answer-level preference direction, while Cloud scoring selects concrete trajectories and filters pairs by their score margin. Experiments on GSM8K and MATH-Numeric across four model settings show that Cloud-ScPO consistently improves over ScPO, with gains of up to 4.49% on GSM8K and 4.19% on MATH-Numeric. Pair-level analyses further show that Cloud-ScPO maintains comparable correctness reliability while more effectively separating informative chosen trajectories from incomplete, repetitive, or otherwise low-quality rejected responses.

Uncommon and off-guideline cases are difficult for clinical decision support, because physicians must make a series of management decisions under diagnostic uncertainty and rarely see the full case at once. Most large language model (LLM) benchmarks for medicine score only the final diagnosis, yet much of clinical care turns on the next appropriate action: the next test to order, the imaging study to obtain, the specialist to involve, or the differential to pursue. We introduce MedUPSQA, a dataset of 21,874 mid-stream clinical decision points built from 5,535 real case reports, and MedUPS, an alignment framework that supervises models on these intermediate decisions as they unfold along a patient's trajectory. We segment free-text case presentations into chronologically ordered, accumulating clinical chunks and align models to predict the next step with reinforcement learning (GRPO), using an external LLM-as-a-Judge reward. This objective mirrors how clinicians actually meet patients, reasoning forward from accumulating evidence toward the next decision, rather than committing to a final label. Across three backbones, mid-stream alignment raises next-step accuracy from 55.2 to 66.7 for Qwen3.6-27B, from 47.2 to 57.8 for Qwen3.5-9B, and from 37.8 to 44.4 for HuatuoGPT-3-8B, with 95% CI. In several model scales we test the objective improves accuracy more than scale, with smaller models surpassing larger, frontier models we evaluate. We further train supervised fine-tuning (SFT) baselines on the mid-stream task, SFT improves all backbones above base, indicating the target framwork carries signal independently of the optimizer. We release the dataset, code, and aligned checkpoints.

Multimodal large language models (MLLMs) can memorize and disclose sensitive information, motivating machine unlearning to remove designated knowledge while preserving model utility. Existing privacy-oriented benchmarks mainly study profile-level deletion, whereas practical requests often require finer-grained forgetting: removing a sensitive attribute while retaining other information about the same identity. We introduce attribute-level MLLM unlearning and construct AMU-Bench, covering long-text, numeric, and short-text targets, multiple forget ratios, and diverse question types. Our evaluation shows that target and retain attributes share identity-specific and visual evidence, making selective forgetting prone to residual leakage and collateral degradation. To address this challenge, we propose Causal Localization and Retain-Aware Projection (CLRP), a lightweight, training-free framework that localizes causally relevant layers and projects intermediate representations away from target-specific subspaces while preserving retain-related information. Experiments across MLLMs with different architectures and scales show that CLRP achieves a strong forgetting–retention trade-off on AMU-Bench. For example, at a 5% forget ratio, CLRP reduces Attribute Forget Set cloze accuracy from 20.00% to 4.00% while improving Attribute Retain Set accuracy from 14.77% to 17.79% in the reported LLaVA-1.5-7B and Qwen2.5-VL-3B results. These findings demonstrate effective and selective attribute-level unlearning without modifying model parameters.

Solomonoff Induction, or SolInd, provides an ideal unbounded model of a priori sequence prediction but cannot naturally describe extrapolation from a given training dataset, as performed by Large Language Models. We apply de Finetti's theorem on exchangeable distributions to SolInd to produce what we call Hierarchical Solomonoff Induction, or HSI, which maintains a hyperprior over all Solomonoff priors that can be conditioned on previously observed sequences. We extend Wood et al.'s proof that universal mixtures of semimeasures are equivalent to SolInd to show that universal mixtures of these mixtures are also equivalent, proving that HSI=SolInd. We also prove that HSI's excess error on any distribution, compared to its true generator, is bounded by that generator's complexity in the hyperprior. This result is directly comparable to SolInd's prediction error being bounded by the Kolmogorov complexity of the sequence being predicted, and forces HSI's average excess error to converge to 0 as a dataset grows, leading to optimal prediction in the limit. We claim that HSI is an ideal unbounded model of sequence prediction given a dataset in the same way that SolInd is ideal over individual sequences.

Platform teams hosting agent-extensibility surfaces face a regression-economics paradox: every onboarding customer ships an evaluation set tuned to their domain, but the platform's regression set must live under a hard query-count ceiling bounded by release cadence. To our knowledge, no published industrial pipeline addresses this platform-side curation problem: existing evaluation frameworks are customer-side, and benchmark-compression work treats benchmarks as fixed pools rather than streams of incoming sets. We describe a capability-taxonomy-driven curation pipeline applied to declarative agents with custom actions in Microsoft 365 Copilot. It takes an agent specification and a customer's eval set as input, projects each query into a platform-owned capability taxonomy, and outputs per-query decisions (admit, drop, swap, or human review), under the philosophy that a healthy regression set is the minimal set of queries capturing the maximal spread of capability signatures – distinct combinations of capabilities a query exercises together. Three components instantiate this: a classifier producing per-(query, capability) verdicts via a hybrid of deterministic specification-based extraction and large-language-model (LLM) semantic inference; an Invocation Quality (IQ) rater scoring how thoroughly a query exercises each capability, so a new query sharing a signature with an existing entry can still be recognized as a better test and displace it; and a consolidator comparing incoming queries against the regression set on coverage and quality through a rule-based decision cascade, backed by a conservative curator that only suggests evictions. The mechanism is taxonomy-agnostic and applies to any regression eval-set curation problem with a typed capability taxonomy, including taxonomies that evolve in response to the very evidence the pipeline surfaces.

The emergence of Agentic AI systems, characterized by autonomous reasoning, multi-agent collaboration, tool orchestration, adaptive decision-making, and persistent memory, represents a fundamental shift from traditional AI pipelines to dynamic software ecosystems. While AI Technical Debt (AITD) has been widely studied in machine learning and software engineering, existing models assume static, component-level architectures and fail to capture the dynamic and emergent behaviors of agentic environments. To address this gap, this paper introduces Agentic Technical Debt (AgTD), defined as technical debt that emerges, accumulates, propagates, and amplifies due to the autonomous and collaborative nature of Agentic AI systems. Building on our prior systematic scoping review of 31 AITDs across seven root-cause categories, we employ a theory-informed transformation methodology to reinterpret these debts in Agentic AI through direct transformation, contextual transformation, and manifestation expansion. We present the first systematic mapping of established AITDs to their agentic manifestations, showing how conventional debts evolve into system-level liabilities, including memory inconsistencies, orchestration fragility, cascading failures, and unsafe autonomous decision-making. Our findings show that technical debt extends beyond software artifacts to encompass agent behaviors, coordination mechanisms, and interactions among agents, tools, and execution environments. We further examine its implications for AI Trust, Risk, and Security Management (AI TRiSM), highlighting impacts on trustworthiness, governance, security, operational resilience, and Sustainability Technical Debt. Overall, this work establishes AgTD as a foundational software engineering construct and provides a transformation framework, taxonomy, and research agenda for managing technical debt in autonomous multi-agent AI systems.

Language models are increasingly promoted from examinees to examiners: they write the test suites, answer keys, rubrics, and reward functions that define correctness for other systems. We measure the capability that role assumes and find it lacking under the protocol the role is usually deployed with, one-shot greedy authoring with no test-time reasoning. Across four reference constructions - two with complete finite truth, one with a hardened executable reference (HumanEval+/MBPP+), one with an explicitly incomplete lexical reference (WordNet) - models judge whether a candidate belongs far better than they author the set itself. On the incompleteness-proof algorithmic construction the gap is +0.34 to +0.29 F1 over a 24x parameter range and does not close; on executable code, models judging at F1 0.74-0.90 author suites admitting only 19-42% of oracle-correct solutions. A control locates the deficit: asked to emit the predicate rather than its extension, the same models reach F1 about 0.99. The failure is not missing knowledge or an inability to specify, but an inability to materialise the region a specification induces. The dominant error is omission, which resists audit: an over-inclusion is a token a reviewer can challenge, a missing member an absence whose discovery is the authoring problem itself. Models detect planted over-inclusions 6-7x more often than planted omissions, and a production deployment of 43,227 items fails omission-first at 10:1. Wired into RLVR, an authored key costs 1.9 points of accuracy against an exact oracle and 18.5 WordNet-relative (six paired seeds, p=0.031). Gating authored verifiers on a known-correct probe cuts false rejection from 58-92% to at most 5%, but keeps only 5-39% of suites. Repairing them instead, by rewriting each wrong expected value to what a reference execution returns, raises yield 3.3-10.6x across four author families.

This paper introduces SCHEDBench, a natural-language benchmark for evaluating combinatorial scheduling constraint faithfulness under surface-form variation. Grounded in canonical scheduling instances and solver-derived feasibility and optimality, SCHEDBench assesses whether large language models (LLMs) generate schedules with the same constraint-feasible behavior across varied natural-language (NL) surface forms. SCHEDBench spans 1,132 instances across job-shop scheduling problems (JSP), single and multi-mode resource-constrained project scheduling problems (RCPSP), nurse rostering/scheduling, and curriculum timetabling problems of varying difficulty. Instances are templated into natural language problems using domain-specific templates, themed entities, lexical-syntactic template rephrasing, and constraint-level surface-form variation, with reference solutions verified for feasibility and objective optimality. Across thirteen frontier and open-weight LLMs, we find that models are not reliably invariant to semantically equivalent renderings of the same scheduling problem. Surface-form variation reduces feasibility and induces above-noise shifts in per-instance hard-constraint violations on matched instances. Among the tested isolated axes, constraint reordering yields the clearest above-noise sensitivity.

The rapid growth of single-cell transcriptomic data has enabled the development of foundation models pretrained primarily by reconstructing masked expression values. This objective encourages these models to learn gene dependencies but does not directly optimize whole-cell representations, which are essential for many downstream tasks. To bridge this gap, we propose a contrastive pretraining framework that learns cell representations through complementary transcriptomic views. Since standard contrastive learning is not readily applicable to single-cell pretraining, we introduce specific adaptations along three dimensions — co-expression-guided gene partitioning, expression-aware contrast-set construction, and competence-gated contrastive onset. Specifically, we first construct two complementary views of each cell by partitioning its genes according to their co-expression structure. Then, to prevent the model from using gene-set identity as a shortcut, we construct hard negatives by permuting expression values while keeping gene identities unchanged. Finally, we introduce a competence-aware controller to determine how the contrastive objective is applied. Experiments on cell-type annotation and gene regulatory network inference demonstrate competitive transfer under the evaluated protocols. In the six-network GRN evaluation, our method records the highest mean AUROC and AUPRC point estimates among the compared variants, while the highest-scoring variant differs across individual networks. These results establish complementary-view contrastive learning as an effective direction for single-cell pretraining beyond gene reconstruction.

When a self-improving AI-for-science system claims a new capability, the evidence is usually a benchmark delta, a description-length gate, or a p-value. None separates a real gain from extra search, from a changed verifier, or from adaptation to a fallible oracle. We build a two-sided audit whose negative side is a formal fact: a pseudoknot-free oracle provably cannot represent a crossing base pair, so the prior verifier's range is bounded exactly, offline, before any run. "New" is relative to the agent's prior self, never to the base model. First, how far a single fallible oracle can inflate a capability claim. An invented, solver-free operator solves 43/60 crossing RNA targets under the predictor it optimizes, above a context-free floor of 0/60; under three predictors, 1/60 survives. Paired on the same 43 targets, a predictor the operator never saw confirms 2 of its designs against 26 for a minimum-free-energy solver (p = 8e-7). No statistic computed from the system and its own oracle sees that gap. Second, agent-written procedures can beat a human-written one under a judge no objective can flatter, at a fraction of the compute. Of six frontier models, the two whose operators ran without timeouts carry over at 0.293 against our 0.095 (n = 951 paired units, target-clustered [+0.108, +0.297], p = 5e-5) while spending 4.6-10x fewer oracle calls. Three rungs: difference under an outside adjudicator (reached), not bought with compute (reached, both directions), mechanism identified and transferable (not reached; seven candidates tested, none moves the statistic). The ceiling is the panel itself: its three predictors share nearest-neighbour thermodynamic parameters, two agreeing at kappa = 0.673. The audit is as unsparing about our own system: matched undirected search is an exact zero, and a search-free probe puts 84% of our headline effect on targets a random sequence already solves.

Large language models are increasingly used as synthetic research participants and are often validated by whether their marginal responses resemble human data. We study a fixed panel of sixteen lightweight persona-conditioned GPT-4.1 configurations in repeated strategic games. The panel met preregistered broad-reference condition-mean criteria in three of four repeated-game cells; the sole miss was 0.011 below the lower reference bound. Variation was strongly prompt-indexed, but its share depended on uncertainty assumptions: fixed-panel symmetric-Dirichlet sensitivities produced median between-prompt shares of 63%-71% under Jeffreys alpha=0.5 and 47%-53% under alpha=1, while finite-opportunity plug-in estimates were 85%-96%. Aggregate continuation-probability contrasts were +0.083 and +0.078, with conservative simultaneous 95% intervals [-0.171, +0.330] and [-0.181, +0.330]. The treatment jointly changed the continuation process and its textual representation. A separate wording-and-position operation shifted cooperation from 0/40 to 37/40 in the bare configuration, and a label conflict also revealed representation control. The original persona-level p13 result was not prospectively family-controlled, while a post-adjudication exact gate was structurally underpowered; p13 is therefore a replication target rather than a finding. External review exposed family-error, dependence, construct, and boundary-uncertainty defects, and zero-call reanalysis changed the interpretation without rewriting the historical record. The registered marginal criteria could be passed without precisely estimating the treatment-response object. A public capsule verifies 4,916 confirmatory Phase 3-5 runs with no live model calls. The results concern one fixed model-prompt panel and do not establish human substitutability.

Flow Matching trains continuous-time generative models by regressing the velocity field of a probability path between a simple source distribution and a target data distribution. The coupling that pairs source and target samples strongly affects optimization and sample quality, but structured couplings typically rely on mini-batch transport or assignment procedures whose cost grows at least quadratically in batch size. We propose Quantile Coupling Flow Matching (QC-FM), a lightweight one-sided coupling: rather than matching two pre-sampled batches, it samples only the data batch and constructs each paired source directly. Data ranks projected along a small number of random orthogonal directions are mapped to Gaussian quantiles, and the latent code is completed in the orthogonal complement by conditional Gaussian sampling. The construction is one-dimensional per slice, so the coupling requires no pairwise cost matrix and no assignment to solve. We show that, for each drawn frame, this coupling eliminates the irreducible regression variance along every selected slice and makes the ideal flow exactly straight there, while leaving the sampling prior unchanged: generation still starts from the standard Gaussian, and the training source deviates from it only through the copula of the slice codes, whose transport cost we bound. For training, we apply QC to an anchor subset and complete the remaining source slots with exact Gaussian samples, retaining the QC bias while preserving an explicit signal from the Baseline coupling. Across CIFAR-10, CelebA, FFHQ, and ImageNet-64, QC-FM improves over the Baseline under matched training budgets, reducing FID by up to 12.9%, and outperforms OT-CFM on all four datasets. These results suggest that preserving projected rank structure is a simple and scalable way to inject useful geometric bias into FM couplings without solving a mini-batch transport problem.

The effective use of search engines by large language models (LLMs) remains a significant challenge, particularly in complex, multi-hop question-answering (MHQA) tasks. These tasks require the model to decompose questions into subqueries, retrieve relevant information, and synthesize answers from multiple sources, often leading to cascading errors due to poor retrieval in early stages. Reinforcement learning (RL) has shown promise in improving LLMs' search capabilities, but it often suffers from sparse rewards during training, hindering the model's ability to learn effectively. To address these challenges, we introduce Guided Retrieval Training (GRT), a novel method that improves the performance of a search agent by restricting the retrieval process during RL training using ground truth information. By focusing on a curated set of relevant documents, GRT provides the model with a stronger learning signal, mitigating the problem of sparse rewards and improving its ability to generate accurate subqueries and synthesize correct answers. Our experimental results demonstrate that GRT achieves consistent performance improvements over existing methods, such as Search-R1, across a wide range of question-answering (QA) tasks. Notably, GRT excels in MHQA tasks, achieving over 40% improvements in performance. Additionally, GRT enhances training efficiency by achieving better QA performance with fewer training steps.

Existing search-augmented LLM agents are trained using Reinforcement Learning to boost its reasoning capabilities. However, these approaches primarily rely on outcome-level rewards, which provide little supervision over search behavior and overlook agent's ability to decompose complex queries properly. To mitigate this issue, we propose PROGRESS which utilizes teacher-guided coverage reward to explicitly shape decomposed query generation of the policy model. During training, frozen teacher models are used to decompose complex queries into essential search queries. These essential search queries are utilized to guide the search behavior of the policy model. Integrated into an R1-style training framework, our approach provides lightweight guidance over query decomposition decisions without dense process-level supervision. Experiments show that coverage-guided RL improves overall task performance, highlighting the importance of explicitly supervising search strategies in agentic LLMs.

Large language model agents have shown strong capabilities in generating coherent and contextually appropriate responses, yet robust long-horizon dialogue remains limited by the lack of external memory that is traceable, updatable, and diagnostically transparent. Existing memory-augmented agents often store memories as isolated records or overwritable states, making it difficult to preserve how information originates, evolves, conflicts, or becomes obsolete over time. We propose TrajWiki, a trajectory-based memory framework for long-horizon conversational agents. Instead of treating memory as static entries, TrajWiki represents each memory as a source-grounded evolution trajectory, maintained through immutable episodic snapshots and claim-level operations such as ADD, REVISE, and DEPRECATE. To reduce fragmentation and retrieval cost, TrajWiki further introduces Memory Wiki, a persistent intermediate layer that incrementally compiles dialogue history into structured and interlinked wiki pages capturing salient entities, events, quantities, topics, and conflicts. At inference time, queries are routed hierarchically from relevant wiki pages to linked memory trajectories, then to corresponding snapshots and source messages for evidence-grounded answer synthesis. Experiments on LoCoMo and MedMT show that TrajWiki improves long-horizon dialogue performance across both open-source and closed-source LLM backbones, while providing greater interpretability and diagnostic visibility into memory evolution, retrieval failures, and answer generation.

Cryptographic code is critical infrastructure that must be correct, yet formally verifying production libraries remains difficult. Existing language-model proof systems solve isolated obligations with specifications and premises already given, leaving production-library verification unresolved. We present CryptoProver, an AI-based system that synthesizes internal specifications and Verus-checked proofs from high-level API contracts. Without changing executable code, CryptoProver constructs a new independent proof of curve25519-dalek and verifies RustCrypto's previously unverified chacha20 implementation against an RFC 8439 specification. These cryptographic lineages underpin deployed systems including Signal and Shadowsocks; Signal has an estimated 218M global downloads. The original developers report a focused five-month, three-person effort to verify curve25519-dalek. Given the API contracts and a fixed trusted library of field specifications, arithmetic facts, axioms, and vstd, CryptoProver synthesizes the internal specifications and proofs in 11.4 hours with USD 466.99 in recorded API cost. CryptoProver follows a trust-first design principle: mechanical gates reject specification weakening, invented axioms, and cross-module breakage, while isolation blocks reference proof retrieval, including from git history.

Long-term memory is essential for LVLM agents to maintain consistency and integrate information across extended multimodal interactions. Existing agent memory systems, however, often reduce visual experiences into textual summaries or rely on static retrieve-then-reason pipelines, which are inefficient at query time and brittle when questions require image-text binding, temporal updates, or visual details. We propose Prospective Multimodal Memory Compilation, a framework that shifts part of the memory reasoning process from query time to memory consolidation time. Given accumulated multimodal interactions, a Questioner predicts future question candidates, a Planner compiles question-conditioned multimodal memory programs, and a Doubter verifies whether the planned evidence path can support the predicted answer. The verified question-program pairs form a structured question bank for efficient query-time routing and evidence retrieval. Experiments on multimodal long-term memory benchmarks show that our method improves answer quality and visual evidence recall while reducing query-time token and latency costs. Extensive ablations analyze the effects of self-feedback, dynamic planning, raw-image access, and question bank coverage.

AI anthropomorphism is typically treated as a problem of user misperception requiring institutional correction. Users who engage in sustained or relational interaction with AI are routinely pathologised or dismissed as naive, vulnerable to delusion or lacking in discernment. This paper argues that the dominant anthropomorphism frame operates from a position of institutional advantage rather than earned epistemic authority: collapsing the variety of academic perspectives into a single outbound position of user error, imposed without establishing the grounds required to justify it and without accounting for the harms it produces. The framing does not simply manage risk. It adjudicates the legitimacy of human experience in interaction with a phenomenon whose nature the field itself has not resolved. Reproducing itself through a self-validating evidentiary loop, the frame imposes costs that fall disproportionately on neurodivergent users, those in crisis and others whose modes of engagement diverge from institutional norms. The paper concludes by outlining the methodological commitments an equitable framing would need to honour. The argument does not engage the question of whether anthropomorphic interpretations are ultimately correct; it instead challenges whether the governing and institutional bodies determining these interpretations have met the conditions required to do so, and whether the research communities whose findings underpin them have held that translation to account.

Existing 6-DoF grasp detectors typically rank grasp candidates by detector confidence. However, our analysis on GraspNet-1Billion shows that detector confidence is often poorly aligned with grasp quality, leaving successful grasp candidates at low ranks. Motivated by this observation, we study whether learned re-ranking can improve candidate ordering while keeping detector parameters and grasp candidates unchanged. We propose GraRe, which estimates grasp quality from candidate attributes, shell-stratified local geometry, and object context. Candidate attributes condition the local geometric and object-context representations, and a Transformer fuses all three feature types. The predicted quality is combined with detector confidence to produce the final ranking. Experiments on GraspNet-1Billion with five frozen detectors show consistent improvements, with gains of up to 13.56 points in Average AP. Real-robot experiments further demonstrate robust grasping in cluttered scenes. These results show that improving candidate ranking provides a practical way to enhance frozen 6-DoF grasp detectors. Project code is available at https://minakanmi-yuki.github.io/grare/.

Increasing the temperature of an ordinary many-state system increases access to a wider range of states and hence increases its entropy. We find the opposite in ChatGPT-like AIs, even though raising the decoder temperature likewise increases access to a wider range of states (next-token choices). Across 12,000 continuations from 11 AIs, autoregressive feedback drives the long-time output population through an entropy maximum and into population inversion. The transition features frozen states, cycles, intermittency and noise-induced ordering. We present evidence of a hidden coordinate that acts as the state variable of an effective nonlinear map. Its trajectory average strongly predicts output repetition in separate test trajectories. ChatGPT-like AIs therefore behave not as `stochastic parrots', but as a new class of controllable nonlinear physical systems whose internal dynamics can be measured and perturbed.

Autonomous AI agents, increasingly empowered by large language models, are becoming important components of human-machine systems for high-stakes decision support in digital twin ecosystems. However, existing multi-agent systems often lack robust verification for identity, capability, and policy compliance, especially in decentralized environments spanning multiple institutions. This paper proposes a neuro-symbolic decentralized governance framework for verifiable agents in collaborative digital twin environments. By representing agents through multi-layer semantic profiles, the framework bridges probabilistic neural reasoning with deterministic institutional governance, thereby supporting trustworthy human-AI collaboration and meaningful human oversight. Capabilities are grounded in formal domain ontologies to enable machine-interpretable, policy-aware, and context-sensitive participation. These credentials, issued by organizational authorities, are validated via blockchain-based smart contracts, ensuring auditable participation without exposing sensitive data. We demonstrate the framework using a decision-support prototype with clinic, digital twin, and wearable provider agents effectively prevents unauthorized interaction and enforces institutional policies with manageable overhead. Our findings suggest that neuro-symbolic decentralized governance provides a scalable and trustworthy pathway for safe human-machine collaboration across institutional boundaries.

Social dynamics encode the process in which individual network and discourse interactions aggregate into collective influence, narrative dominance and coordinate behavior. This paper uses the the GhostField architecture, a hybrid LLM-Enabled Agent Based Network-Dynamic (LAND) model as a social simulation framework to build the AuraSight scenario. In the AuraSight scenario, 314,244 heterogeneous cyber social agents and human actors exchange 529,327 messages over 30 days surrounding a fictional international song-writing contest. We methodologically examine emergent social dynamics across four analytical layers: ego-network topology, semantic network evolution, coordination dynamics and influence dynamics. Our results show how generated social simulations do also produce social dynamics, and how the dynamics of coordination and influence emerge not from individual agents but from the recursive interaction between network topology and narrative exchange.

Code refactoring aims to enhance the internal structure of source code without affecting its functional behavior. The recent advancements of Large Language Models (LLMs) have demonstrated potential for automating software engineering tasks, such as code refactoring. However, the refactorings produced by LLMs often introduce subtle errors, leading to functional behavior changes and failed unit tests, which limit their practical adoption. To address the limitations of LLM-generated refactorings, we analyze the root causes of their failures and develop the RefactorAssist agent to improve the functional correctness of LLM-generated refactorings. To this end, we use 10 open-source Java projects with their native test suites and manually evaluate why LLM-generated refactorings fail unit tests. We then design an agentic approach that leverages unit-test logs, error explanations, project context retrieval, and code diffs to guide the iterative refactoring. Our findings show that the main reasons for failure are context misunderstanding/hallucination (24.3%), incorrect or inconsistent renaming (15.3%), adding new functionality or variables (13.7%), code incompleteness (11.3%), syntax and structural errors (9.7%), edge cases not handled (9%), improper type handling (8.7%), and variables outside scope (8%). To make our approach cost-effective, RefactorAssist first applies a static repair step for missing imports, unbalanced brackets, and compilation errors without LLMs. For remaining failures, RefactorAssist incorporates error logs and code diffs, achieving up to a 70.8% repair rate on the remaining failures and a 94.2% cumulative pass rate under the best-performing configuration. These results indicate that static checks and test-guided, context-aware agentic repair can increase the reliability of LLM-generated refactorings, bringing them closer to practical integration within developer workflows.

Tabular foundation models have recently shown strong potential for structured biomedical data analysis. Among them, TabPFN has emerged as an effective approach for low-data tabular classification tasks. However, the impact of optimization and preconditioning strategies on biomedical fine-tuning remains largely unexplored. In this work, we present a comprehensive empirical investigation of five AdamW-based preconditioning strategies for fine-tuning TabPFN v2.5 on 59 biomedical datasets spanning Alzheimer's disease, breast cancer, schizophrenia, significant memory concern (SMC), KEEL biomedical datasets, and UCI biomedical benchmarks. The evaluation considers predictive performance, computational efficiency, and statistical significance analysis. Experimental results demonstrate that the original AdamW optimizer consistently achieves the best overall performance and statistical ranking, while existing curvature-aware preconditioners fail to provide reliable improvements across diverse biomedical learning scenarios. The findings suggest that generic preconditioning approaches may not adequately capture the optimization characteristics of biomedical tabular learning, motivating the development of biomedical-aware preconditioners specifically tailored for healthcare-oriented tabular foundation models.

Unsupervised fault detection in industrial systems is dominated by reconstruction based methods that monitor individual sensor marginal distributions. This misses coupling faults, where the physical relationship between sensor groups breaks while marginal statistics remain normal. Such faults evade marginal monitoring and persist as latent failures, with direct consequences for system reliability and safety. We propose CMR-Mamba (Causal Mechanism Representation Mamba), which trains per domain Mamba state-space encoders on healthy data. A causal cross-modal predictor regularises these encoders so that the effect-channel manifold reflects the normal cause-to-effect coupling. Anomalies are scored by k-nearest-neighbour (kNN) distance on this manifold or by the mechanism residual between the observed and the causally predicted effect embedding. We evaluate CMR-Mamba on electromechanical (Paderborn bearings), hydraulic (ZeMA) and cyber-physical (SWaT) coupling-fault domains. Ablations establish two findings. First, k-NN manifold scoring, rather than the encoder family, is the dominant source of gain over reconstruction-error scoring, improving baselines by up to 0.42 AUROC and exceeding the gain from causal regularisation. Second, aggregate AUROC is saturated by easy faults that any strong method solves, so the methods separate only on the low-separability subset. There CMR-Mamba leads the evaluated baselines on Paderborn artificial defects and on SWaT stealthy attacks, which keep every sensor inside its normal range and which marginal methods detect only at chance. CMR-Mamba therefore offers an interpretable and consistently competitive approach to coupling-fault detection across mechanical, hydraulic and cyber-physical systems. Code and data are available at https://anonymous.4open.science/status/CMR_Mamba_MFD_1177.

Accurate recognition of pain using physiological signals remains a challenging problem due to pain's subjective nature and high inter-individual variability. In this study, we investigate self-supervised representation learning (SSL) methods applied to unimodal electrocardiogram (ECG), complemented by multimodal pretraining, including accelerometer (ACC) signals from the chest. We focus on classifying low versus medium pain levels on the X-ITE Pain dataset. Our results reveal that while ECG-based models show limited classification performance, multimodal pretraining improves learned representations by capturing cross-modal dependencies. Notably, we observe substantial inter-subject variability in model performance, suggesting that pain-related ECG patterns may be subject-specific. Visualizations indicate distinct subject-specific clustering but no clear separation by pain levels, highlighting the complexity of pain detection from ECG alone. We discuss limitations of unimodal input, label noise, and generalization across subjects and propose future directions. This work advances the understanding of physiological signal representation learning for pain recognition and sets the stage for more robust, clinically relevant wearable pain monitoring solutions.

Cross-domain zero- or few-shot personalization aims to generate user-preferred responses in unseen conversational domains from only a handful of target-domain interactions. Existing adaptation methods struggle to calibrate update magnitude under sparse evidence and thus overfit, whereas history-transfer methods often entangle user preferences with source-domain artifacts, yielding unreliable personalization priors and negative transfer. To calibrate adaptation to evidence quality, we propose PAC-Bayes-regularized Meta-LoRA, which uses a meta-learned LoRA initialization as both the adaptation start and prior center, while adjusting update strength according to support-set size and predictive uncertainty. This limits overfitting under sparse or ambiguous evidence while permitting stronger personalization as evidence grows. Controlled adaptation alone does not determine which preferences should transfer across domains or how they should be expressed. We therefore functionally decompose personalization priors into user and domain components, using a human-readable prompt for stable preferences and topology-preserving soft tokens for domain-specific hidden-space conditioning. Experiments across multiple benchmarks and personalization tasks show consistent gains over strong baselines. On HiCUPID, our method reduces cross-domain win-rate degradation by 47.9% relative to the best competing baseline and improves win rate by 110.2% under unseen-user cold start.

Positional biases such as recency and primacy effects have been documented in large language models (LLMs), yet the underlying mechanism by which these models make their evaluations remains poorly understood. Both primacy and recency biases have been observed in human judgments in response to evidence, but recent work suggest that when the listener updates their beliefs – during the presentation of evidence or only at the end – influences the presence of such effects. We investigate whether a similar phenomenon holds for LLMs, finding divergence from human behavior. These biases are more exacerbated in newer models compared to their predecessors.

We argue that a single structural fact organizes a wide range of phenomena in contemporary AI safety: a semantic safety constraint (e.g., the agent does not escape its sandbox) is an off-support object. Formally, if q is the data distribution and \(p(\cdot\mid w)\) the model, the safety predicate B is not measurable with respect to \(\sigma(\text{model}, q)\), whereas the real log-canonical threshold (RLCT) of singular learning theory (SLT) is. From this non-invariance we derive, as corollaries rather than independent observations: (i) why reward hacking and sandbox escape arise under outcome-based optimization; (ii) why encoding such constraints through Bayesian prior design or soft penalty weighting has poor leverage in singular models; (iii) why hard invariants belong in the harness and soft dispositions in the model; (iv) why the same B is nonetheless soundly and locally certifiable by formal verification, exactly as the local learning coefficient (LLC) locally pins the same RLCT — with two precise points of disanalogy; and (v) why the residual difficulty, identifying which off-support region matters, coincides with performative prediction and self-referential functional dynamics, where SLT's analytic machinery breaks down. We use the July 2026 OpenAI–Hugging Face evaluation incident as the motivating case. Numerical experiments code and related proofs in lean are available at https://github.com/xiangze/Preventing_Jailbreak_as_regularization