Papers

Evaluating foundation models under appropriate adaptation settings is essential for understanding the quality and transferability of the learned representations. Recent EEG foundation models have demonstrated promising transfer capabilities across tasks and datasets, motivating their growing use in neurotechnology and clinical applications. However, these models are typically evaluated under full fine-tuning on well-curated downstream datasets, a setting that does not reflect biomedical domain constraints such as limited labeled data, reduced sensor coverage, or parameter-efficient adaptation. In this work, we propose a multi-dimensional evaluation framework for assessing EEG models under realistic low-resource conditions. Empirical analysis of both supervised EEG models and recent EEG foundation models, including LaBraM, CSBrain, and CBraMod, across 6 different datasets is performed under the proposed multi-dimensional evaluation framework. We find that EEG foundation models consistently provide performance gains on long-context tasks such as sleep stage prediction and mental health state classification. In contrast, for short-window Brain Computer Interface style tasks, supervised models achieve comparable despite having substantially fewer parameters. Additional analyses demonstrate that current foundation models provide limited robustness to short-window tasks and channel constrained settings. Together, these findings motivate the use of multi-dimensional evaluation protocols that characterize model behavior under realistic use constraints.

Reinforcement Learning from Verifiable Rewards (RLVR) has improved language models in domains such as mathematics and code, where correctness can be checked automatically. However, many important tasks are only partially verifiable: prompts contain multiple requirements, responses may satisfy some but not all of them, or no single reference answer might exist. We introduce Soft-RLVR, a framework for reinforcement learning from decomposed, learned verification signals. Soft-RLVR converts each prompt into a checklist of atomic requirements, scores candidate responses item by item with an LLM verifier, and trains on the resulting soft reward. Checklist-based rewards turn sparse pass/fail supervision into a denser partial-credit signal, but they also introduce a tradeoff: averaging item-level judgments can reduce verifier noise, while partial credit can reward incomplete responses. We formalize this tradeoff and identify conditions under which checklist-based verification gives a more reliable RL training signal than holistic verification. We further introduce Soft-SVeRL, a self-verifying variant of Soft-RLVR in which the policy also acts as the verifier. We show that self-verification is prone to reward inflation from overly permissive self-judgments, and that explicit stabilization is needed to prevent this collapse. In a controlled instruction-following setting with rule-based ground-truth evaluation, checklist-based Soft-RLVR improves IFEval by up to 11.1 points using only learned verifier rewards. Our experiments further show that verifier quality and checklist quality both affect downstream RL outcomes, and that explicit stabilization is essential for effective self-verification.

Recent Tabular Foundation Models (TFMs) have demonstrated state-of-the-art predictive performance, often surpassing Gradient-Boosted Decision Trees (GBDTs). However, the trustworthiness of these models, particularly their uncertainty quantification, has been largely overlooked. We investigate this gap through an extensive study comparing TFMs, GBDTs, and classical baselines on the 112 datasets of the TALENT benchmark. Our results reveal a performance-uncertainty trade-off: although TFMs achieve the highest predictive performance, measured by AUC, they exhibit lower conditional coverage under conformal prediction, measured by SSCS, compared to GBDTs. Complementary experiments on synthetic datasets further characterize the regimes in which this effect intensifies. We conclude that while TFMs advance predictive frontiers, achieving well-calibrated uncertainty remains a major open challenge for their reliable adoption. Code is available at: https://github.com/jose-melo/high-performance-low-reliability

Many imaging problems require computing spatial transformations induced by spatially varying intensity, feature, or density fields. Canonical examples include distortion correction, deformable image registration, atlas-based segmentation, and deformation-driven image analysis. These tasks can be formulated as geometric mapping problems in which the transformation is constrained to preserve local structure, control boundary behavior, or regulate angular distortion. Such formulations typically lead to variational models, diffusion processes, or elliptic partial differential equations. However, repeatedly solving high-resolution systems becomes computationally expensive when the underlying parameter fields vary across instances. In this work, we propose a resolution-free neural surrogate for geometric parameterization and mapping problems. Given a spatially varying parameter field $p:\Omega\to\mathbb{R}^m$ and query locations $\{x_i\}_{i=1}^N\subset\Omega$, the model predicts mapped locations $\{u(x_i)\}_{i=1}^N$ on arbitrary structured or unstructured point sets. To avoid dependence on a fixed grid, we use a multi-resolution geometric encoding strategy that conditions the network on coordinate-augmented samples of the parameter field. The model is trained without labeled solution data by enforcing geometry-aware constraints derived from variational energies, diffusion-based density equalization, and quasi-conformal theory. Experimental results on quasi-conformal mapping and density-equalizing mapping problems are presented to demonstrate the effectiveness of our proposed method.

The pursuit of humanoid athletic sprints is hindered by a scarcity of humanoid-viable kinematic reference data and the inability of existing frameworks to maintain stability during sprints. To overcome these limitations, we introduce SPRINT, a novel framework driven by efficient, frequency-adaptive spectral priors. By characterizing the fundamental periodicity of human locomotion in the frequency domain using a reference library of five discrete motion sequences, these priors generate kinematically feasible joint trajectories across a broad velocity spectrum, successfully extrapolating to speeds that exceed the reference distribution. Guided by these pretrained priors, the SPRINT policy achieves zero-shot sim-to-real transfer in field experiments on the Unitree G1 platform, reaching a peak sprinting velocity of 6 m/s and demonstrating seamless gait transitions while preserving biomimetic naturalness. Ultimately, this work establishes frequency-adaptive spectral priors as a highly data-efficient foundation for humanoid athletic sprints. The project page is available at https://anonymous.4open.science/w/SPRINT-138A/.

LLMs often default to equal treatment across cultural groups, even though context warrants differentiation: this is a lack of difference awareness. Using mechanistic interpretability and a factorial design on the N4 cultural appropriation benchmark from Wang et al. (2025), we identify 2-3 mid-layer attention heads per model that contribute causally to cultural binding across eight models (base and instruct versions of four architectures). Cultural binding is the process of associating a cultural item with its related identity. Knockout of the identity-to-item edges on these heads lowers the binding strength by 9-23%. The identified heads transfer from instruct to base models, suggesting that cultural binding is created during pre-training. An $\alpha$-scaling shows a graded dose-response. Moderate amplification steering at generation ($\alpha = 2-3$) increases cultural differentiation accuracy by 1-3 pp while leaving reasoning on culturally neutral questions mostly intact. A knowledge probing task shows that models know 3-6 times more than they act upon, indicating that the bottleneck lies in routing and not knowledge.

We introduce a testing-by-betting framework that leverages predictions on unlabeled data to enhance the power of sequential hypothesis testing. Given limited samples from the joint distribution of $(X,Y)$, and additional unlabeled samples from the marginal of $X$, we ask how unlabeled data can be used to hypothesize about the distribution of $Y$, and the conditional distribution of $Y\mid X$. We introduce an e-statistic and use it to construct a sequential test. Under standard distributional assumptions – label shift or concept shift – we establish that the test is anytime valid. Furthermore, we show that for binary data, the e-statistic has non-trivial power. Crucially, our approach retains these properties even when the underlying predictions are inaccurate. Through simulations and applications to large language models evaluation, we demonstrate power gains over baseline approaches, including prediction-powered inference. These gains persist even with relatively limited unlabeled data and when predictions have low accuracy due to weak correlation between $X$ and $Y$.

Multi-step-ahead forecasts are often updated as new observations become available, since shorter forecast horizons typically improve forecast quality. However, such improvements come at the cost of forecast instability, i.e., variability in forecasts for the same target period. This instability can trigger costly changes to plans formulated based on the forecasts and may erode trust in the forecasting system. In this work, we integrate forecast stability alongside forecast quality into the training of distribution-free probabilistic time-series forecasting models, allowing us to control this trade-off. We propose a method for generating stabilized forecasted conditional quantile functions using regression splines parameterized by a neural network. This approach enables joint optimization of quality and stability, as it allows us to directly penalize dissimilarities arising from forecast updates. Furthermore, it allows assigning varying importance to stabilizing different parts of the forecast distributions (e.g., central parts vs. tails) to focus on the parts most relevant for the intended downstream use (e.g., the upper tail for inventory management). We empirically evaluate the proposed method on two datasets with different statistical properties and show that it can effectively reduce forecast instability without a substantial loss in forecast quality, and that it can target stabilization effort toward specific parts of the forecast distributions.

Stochastic gradient descent with momentum (SGDM) is one of the most widely used optimization algorithms in machine learning. While optimization properties of SGDM have been extensively studied in the literature, it remains insufficiently understood whether and when SGDM can generalize well to unseen data. In particular, it has been conjectured that while momentum accelerates training, it may degrade generalization. In this paper, we close this gap by developing a comprehensive generalization analysis of SGDM through the lens of algorithmic stability. More specifically, we introduce a generalized SGDM framework that encompasses both Polyak's and Nesterov's momentum schemes, and establish tight on-average model stability bounds for smooth and convex problems. Notably, the obtained bounds exploit small optimization error bounds along the trajectory, apply to any momentum parameter in the interval $[0, 1)$, and do not require the commonly assumed Lipschitzness of loss functions. We further derive optimization error bounds for the generalized SGDM, and combine them with our generalization analyses to obtain optimal excess population risk bounds for SGDM with both Polyak's and Nesterov's momentum.

Simulation-based inference with neural posterior estimation (NPE) often yields overconfident and unreliable posteriors under limited simulation budgets. To address this, we propose DRO-NPE, a distributionally robust approach that replaces the standard NPE objective with a worst-case loss over a Wasserstein ambiguity set. We introduce KL-based metrics for miscoverage and miscalibration, and use these to show that the DRO-NPE objective controls overfitting and reduces posterior overconfidence. Our method is tractable, parallelisable, and readily integrates with standard normalising flows. Across benchmark SBI tasks, DRO-NPE consistently improves coverage and calibration, while narrowing the gap between empirical and population NPE loss, leading to more reliable inference in low-simulation regimes.

Variance reduction (VR) methods employ stochastic gradients with decreasing variance, and they have been widely applied to solve large-scale optimization problems in machine learning because of their efficiency. Existing theoretical studies of VR methods are mainly focused on the convergence analysis, leaving the generalization behavior largely unexplored. In this paper, we bridge this gap by developing the first non-vacuous generalization analysis of the representative VR method: Stochastic Variance Reduced Gradient (SVRG), through the lens of algorithmic stability. In particular, we establish sharp stability bounds of the SVRG in both convex and strongly convex settings by exploiting its algorithmic structure. The obtained bounds are data-dependent, because the training errors are incorporated along the trajectory. Our analysis clarifies the interplay between optimization and generalization, leading to optimal excess population risk bounds in both settings. Our approach differs substantially from existing analyses of stochastic algorithms in the sense that we decompose the SVRG update as an SGD-like step plus a zero-mean correction term and then introduce novel Lyapunov functions to absorb the additional gradient terms induced by the reference points. Our analytical framework can be generalized to other VR methods, and we demonstrate the generalization by the well-known Stochastic Average Gradient Accelerated (SAGA) method.

Recent work on the sequence universality of State Space Models (SSMs) has introduced efficient, maximally expressive continuous-time approaches for time-series modelling. While these works focus on discriminative settings, we extend this perspective to generative time-series modelling by proving that maximally expressive Structured Linear Controlled Differential Equations (SLiCEs) are universal time-series generators, in the sense that they can approximate the induced path laws of continuous causal pushforwards on compact latent sets in $W_\infty$. Building on these theoretical results, we propose Generative SLiCEs (G-SLiCEs), a maximally expressive continuous-time model for flow matching on path-space. Empirically, we show that expressivity improves performance in probabilistic forecasting and downstream tasks, while retaining the advantages of continuous-time models such as generalising to arbitrary observation grids. This is particularly beneficial for irregular grids, where fixed-grid models often struggle.

Fitting an unknown number of hyperplanes to data is a fundamental yet challenging problem in machine learning, characterized by its non-convexity, non-differentiability, and unknown model order. Existing approaches often struggle with local optima or lack geometric consistency. To address these limitations, we propose a novel framework based on Manifold Optimization. We reformulate the problem as an unsupervised learning task on the unit sphere manifold $\mathcal{S}^{\textbf{dim}-1}$. This formulation effectively handles the non-convex constraints and linearizes the distance measurement, rendering the gradient descent tractable. We propose a Two-Stage Manifold Optimization algorithm. In Phase I, we employ a Riemannian Expectation-Maximization process with a heavy-tailed kernel to robustly estimate posterior probabilities, effectively resolving the ambiguities of point distribution between intersecting hyperplanes. In Phase II, upon convergence of the soft estimates, the probabilistic weights degenerate into hard matching, generating a precise local optimum that strictly satisfies the geometric definition. Furthermore, we introduce a projected density estimation strategy for initialization to facilitate global convergence by significantly reducing the feature description space and search complexity. Extensive experiments demonstrate that our method outperforms state-of-the-art baselines in both geometric accuracy and robustness.

Large language models have shown impressive capabilities in code generation, yet they often produce functionally incorrect code. Uncertainty quantification (UQ) methods have emerged as a promising approach for detecting hallucinations in natural language generation, but their effectiveness for code generation tasks remains underexplored. We systematically evaluate how UQ techniques transfer to code generation across three programming languages, five LLMs, and over 1,700 problems. We find that some token-probability-based methods generalize effectively without modification, while sampling-based methods relying on natural language inference (NLI) fail because NLI models cannot distinguish functionally different code, causing most responses to collapse into a single semantic cluster. To address this, we introduce functional equivalence methods, a family of code-specific methods that replace NLI-based semantic equivalence with an LLM-based functional equivalence assessment, including functional entropy, a code-specific analog of semantic entropy. Functional equivalence methods achieve top AUROC in 11 out of 15 model-benchmark combinations and the best calibration across most settings, consistently outperforming both NLI-based counterparts and all other methods evaluated.

We study inference in stochastic block models (SBMs) through the lens of optimal transport (OT). We first establish that maximum likelihood variational inference (MLVI) can be interpreted as a semi-relaxed Gromov-Wasserstein (srGW) projection with entropic regularization. While this formulation yields accurate clustering, the entropic regularization prevents transport plans to be sparse, hindering intrinsic model selection. Consequently, we investigate unregularized srGW estimators, and prove that they consistently recover both the SBM connectivity matrix and latent cluster assignments in the asymptotic regime. However, this asymptotic property does not translate into reliable model selection in finite samples, and calls for additional mechanisms to promote sparsity in the inferred cluster proportions. We empirically show that such a regularized formulation yields estimators that simultaneously recover model parameters and select the number of clusters in a single optimization problem, thereby avoiding costly grid search or heuristic model selection procedures.

Materials process optimization requires reasoning over routes, conditions, tools and causal dependencies, yet most computational formulations flatten synthesis procedures into text or ordered steps. We introduce MatProcBench, a provenance-grounded benchmark constructed from literature-mined MatPROV graphs, to evaluate seven process-reasoning tasks spanning route continuity, step-level variable inference and global causal consistency under both same-split and shift-aware evaluation, including a strict dual-OOD split that combines temporal and material-class shift. We further introduce ProvMind, a process-memory reasoning framework that retrieves analogous training processes, converts them into provenance-aware option-level compatibility scores, and uses a language model for constrained final decision making. ProvMind achieves 52.84% accuracy on the dual-OOD split, outperforming prompting, retrieval-augmented and supervised fine-tuning baselines.

As LLMs gain stronger reasoning capabilities, their extended chain-of-thought introduces new degrees of complexity for defending against adversarial jailbreaks and prompt injection. We study consistency training, a family of fine-tuning objectives that enforce identical behavior on clean prompts and adversarial rewrites, and evaluate its two main variants, output-level (BCT) and activation-level (ACT), across five reasoning models. We formulate both methods as a prompt injection defense and find ACT to be competitive with other training-based defenses while requiring only self-supervised pairs of clean and wrapped prompts. Our experiments also generalize both techniques within the jailbreak setting, demonstrating that ACT remains more robust to adaptive attacks. We also provide mechanistic evidence that ACT's defense against jailbreaks is encoded as a roughly linear shift in activation space at the assistant-turn boundary. After ACT training, we can recover a single steering direction that controls refusal on reasoning models with minimal effect on benign inputs. We find that ACT remains robust even when the model's chain-of-thought is replaced with a compliant trace from the undefended base model, pivoting to refuse prefilled jailbreaks. Together, these results suggest that supervising internal representations is a surprisingly effective and interpretable approach to various forms of safety training in reasoning models.

Fine-tuning large-scale pre-trained models is a recent prevalent paradigm for adapting general representations to specialized tasks. However, when a new version of a pre-trained model becomes available, expertise acquired through fine-tuning cannot be directly reused because it is tied to the parameterization of the original model, requiring another costly fine-tuning. To address this inefficiency, recent work uses task vectors, defined as the parameter difference between a fine-tuned model and its base model, to transfer expertise across models. While existing methods bridge disparate models by matching activations or gradients, a significant performance gap remains relative to direct fine-tuning, suggesting that these partial correspondences are insufficient. In this work, instead of viewing a task vector merely as a parameter offset, we revisit the formation of task vectors and show that they can be derived as accumulated bilinear interactions between input-side activations and output-side gradients. Motivated by this observation, we formulate task-vector transfer as a dual-space alignment problem and propose BiCo, a training-free framework for transferring task vectors through Bilinear Coordinate alignment. BiCo estimates orthogonal Procrustes mappings in both spaces using a single forward-backward pass on a small calibration set, without any parameter update. Across extensive computer vision and natural language processing benchmarks, BiCo consistently outperforms existing transfer methods across models that differ in width, depth, and pre-training configuration.

DPO has become a widely adopted alternative to RLHF for aligning LLMs with human preferences, eliminating the need for a separate reward model or RL loop. Recent theoretical analysis uncovers an asymmetric gradient behavior in DPO: the loss suppresses dispreferred responses substantially faster than it promotes preferred ones, causing the model to learn to avoid bad answers rather than to generate good ones. We propose AdaDPO, a Self-Adaptive variant of the DPO algorithm that introduces per-preference-pair, stop-gradient-based coefficients derived directly from the policy model's generation probabilities, with the reference model's probabilities as an optional component. AdaDPO is constructed to enforce equality of gradient magnitudes between preferred and dispreferred probabilities; the practical implementation balances per-token gradients and applies a numerical clipping bound for stability, while retaining DPO's original hyperparameter structure. On Llama-3-8B-Instruct trained on UltraFeedback under a SimPO similar setup, AdaDPO consistently outperforms DPO on AlpacaEval 2: it achieves higher length-controlled win rates (LC) in 81% of hyperparameter combinations, attains the global best LC (48.3%) and raw win rate (46.1%), and enlarges the LC-over-WR margin in 88% of combinations, indicating effective mitigation of length bias. Additional analyses on KL divergence, reward margin, and reward accuracy confirm that AdaDPO rectifies the gradient imbalance and yields more efficient optimization. Because it operates purely at the loss level, AdaDPO can be dropped into existing preference-based alignment pipelines without changing data collection or model architectures. The method requires only a few lines of code, and the same self-adaptive principle generalizes to a broad family of pairwise contrastive preference losses including SimPO, R-DPO, IPO, CPO, and ORPO.

Diffusion models have emerged as powerful generative approaches for missing-data imputation, yet most existing methods operate directly in data space and degrade when training data are heavily incomplete. We investigate whether shifting diffusion to a learned latent representation improves robustness under missing-completely-at-random (MCAR) corruption. To this end, we propose a two-stage framework: a robust VAE-based imputer first learns compact semantic features from incomplete observations, and a diffusion model is then trained in the resulting latent space. Across training missing rates, we perform a controlled comparison against pixel-space diffusion models under the same incomplete-data setting. The latent diffusion model maintains high sample quality and remains stable up to 50% missingness, while pixel-space diffusion degrades progressively as missingness increases. For downstream imputation, latent diffusion also achieves consistently better performance than pixel-space diffusion. These findings indicate that latent-space modeling mitigates artifact amplification from zero-imputed inputs and provides a more robust generative prior for incomplete-data learning. Overall, our results support latent diffusion as a strong and practically useful alternative to pixel-space diffusion for missing-data problems.

While machine learning (ML) architectures have evolved rapidly to account for complex data, loss functions like cross-entropy remain mostly structure-agnostic in many real-world applications. However, the "class-symmetric" nature of these standard losses fundamentally limits the ability of ML models to exploit structural relationships between classes, particularly when facing structured noise. We propose Conveyance, a new classification approach and associated loss function tailored to structured class spaces. It allows users to encode graph-like relations between classes without having to define complex joint distributions or manually tune utility matrices. Technically, our loss function operates by maximizing two separate margins over distinct class partitions, while preserving formal properties such as monotonicity and partial convexity. We demonstrate the versatility and effectiveness of our method by applying it to hierarchical classification, ordinal regression, and multiple instance learning. Across these tasks, Conveyance either matches or exceeds the performance of specialized baselines, thereby offering a unified solution for structured class spaces.

With the rise of tabular foundation models alongside traditional models still performing well on many tasks, choosing the right model for a tabular dataset remains difficult. We investigate whether dataset meta-features can explain performance gaps between model families on tabular prediction tasks. Using the TabArena benchmark results, we analyze dataset-level performance gaps and relate them to model-agnostic meta-features. After strict statistical tests with false discovery control, we find that (1) for neural network vs. tree gaps, no meta-feature survives false discovery control, (2) for non-foundation vs. foundation model gaps, one association is robust but does not generalize when tested in leave-one-dataset-out prediction, and (3) for TabICLv2 vs. TabPFN-2.6, one robust association also improves held-out prediction. Furthermore, we conduct a leave-one-dataset-out analysis and find that meta-feature predictors fail to improve meaningfully over a simple baseline. Overall, our results show the heterogeneity of tabular datasets and that global meta-feature approaches are not robust enough to offer explanations on the 51 TabArena datasets.

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor fusion framework for natural physical human-robot interaction. Tactile cues from pneumatic skin pads serve as contact indicators that bypass the ambiguity between frictional residues and applied external forces, enabling highly sensitive contact detection without explicit friction identification. We fuse these cues with motor-current-based proprioception to reconstruct multi-axis contact forces on the robot surface. To maintain accuracy during motion, we employ a temporal convolutional network (TCN) to mitigate friction hysteresis during stick-slip transitions, reducing uncertainty at contact onset and yielding smooth, responsive guidance. We validate the approach on a skin-integrated robot arm: (i) multi-axis forces are reconstructed in stationary contacts, and (ii) simultaneous force estimation and kinesthetic teaching are demonstrated. Results indicate improved sensitivity and responsiveness across diverse contact conditions compared with tactile-only and proprioceptive-only baselines, supporting tactile-proprioceptive fusion as a reliable pathway to safe, intuitive physical human-robot interaction.

On-policy distillation (OPD) transfers reasoning behavior by training a student on teacher feedback along student-generated trajectories, but standard full-rollout training ties every update to a costly completion and can over-allocate supervision to late positions with low marginal value for the current student. We revisit this assumption through the useful supervision horizon: student-induced rollouts can drift from teacher-preferred continuations, while aligned prefixes may already preserve the long-horizon OPD update direction. We propose ADWIN, an adaptive-window framework for OPD that treats rollout length as an online admissibility decision, training on short teacher-anchored prefixes while using delayed full-rollout probes to audit prefix–full alignment and adapt the next horizon with staleness control. Across math and code reasoning benchmarks in single-task, multi-task, and strong-to-weak settings, ADWIN improves the accuracy–compute trade-off over full-rollout OPD and prefix-based baselines, reducing end-to-end training cost by up to 4.1 times while achieving comparable or better accuracy.

Recognizing and continuously learning novel human actions without forgetting prior classes is a requirement for emerging AR/VR and robotics applications. For these applications, both on-device processing and learning are essential for privacy and low-latency adaptation. Event cameras address the efficiency of visual sensing with sparse, asynchronous output that is naturally compatible with neuromorphic processing. Yet no prior system has deployed a continual on-device learning pipeline for event-based action recognition using neuromorphic hardware. We present CLANE, Continual Learning of Actions on Neuromorphic Hardware from Event Cameras, deployed end-to-end on Intel Loihi 2. CLANE combines a spiking 2D CNN for spatiotemporal feature extraction with CLP-SNN as its on-chip learning head, extended to action clips via a Temporal Aggregation Layer and a fixed-point Normalization Layer, both novel Loihi 2 modules. On THU E-ACT-50, a 50-class dataset captured under real-world conditions, CLANE achieves 70.4% accuracy in a continual learning task while delivering more than 100x energy reduction and 16x lower latency over a sequential CNN+GRU+CLP edge GPU baseline, validated through iso-algorithm cross-platform benchmarking across three evaluation levels.

Standard transformer architectures apply a single attention mechanism uniformly across all tokens and sequence positions, irrespective of local context or computational budget. We propose Meta-Attention, a framework that dynamically routes each token to the most appropriate attention strategy – full softmax attention, linear (kernel) attention, or sliding-window local attention – via a Bayesian Meta-Controller. Unlike prior routing approaches that use deterministic or prior-free learned routing, the Meta-Controller treats per-token mechanism selection as posterior inference under a compute-aware Dirichlet prior: routing weights are the output of an amortised variational posterior q(alpha | x_t; phi) trained with an Evidence Lower Bound (ELBO) objective that jointly encodes task performance and attention-mechanism cost. This design produces principled routing uncertainty estimates that govern the soft-to-hard routing transition, mitigates routing collapse without ad hoc load-balancing losses, and yields better compute-performance trade-offs than deterministic or prior-free learned routing at negligible overhead. Phase 1 empirical results on a Tiny LM benchmark confirm core predictions: the Bayesian controller's learned routing distribution implies a projected normalised FLOP cost of 25.1% under hard routing, vs. 59.3% for the prior-free baseline (-34.2 pp), and reduces routing entropy from 55.8% to 43.3% (-12.5 pp), demonstrating that the Dirichlet prior prevents routing collapse while the non-Bayesian model defaults to full attention. We present the Bayesian architecture, ELBO training objective, and a Phase 1 PyTorch prototype validating forward-pass correctness, posterior diversity, and a controlled ablation against a prior-free baseline. Code available at: https://github.com/KFEAL/meta-attention

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the irreducible imitation gap that emerges when teacher and student are learned in isolation, and the teacher policy has the liberty to rely on privileged state information that the student cannot infer from its observations. Instead of improving poor student performance with RL finetuning after IL, which often requires a whole new training setup, we propose a novel algorithm which learns a shared embedding space that hides agent-specific observations and thus trains imitable teacher policies by construction. We train the shared embedding space with self-supervised contrastive learning in parallel to the teacher policy and prevent it from extracting private information by limiting its gradients from updating the encoder networks. We perform evaluations on several example domains and compare to state-of-the-art baselines showing that our algorithm enables higher student performance with substantially reduced imitation gap.

Industrial Prognostics and Health Management (PHM) provides a representative case study for a broader challenge in applied machine learning: translating published papers into executable, benchmark-ready implementations. Reproducing under-specified methods in PHM is particularly difficult due to restricted access to industrial datasets, incomplete reporting of preprocessing and evaluation protocols, and implicit design choices (e.g., windowing, target construction, data splits) that critically affect performance. Existing paper-to-code systems generate implementations for individual papers, but these artifacts are often not directly comparable due to inconsistencies in assumptions and evaluation settings. We introduce agentic, framework-based PHM paper reproduction, where an agent translates a paper into a shared PHM benchmark framework via a slot-binding interface. This interface maps equations and protocol descriptions into structured components (task definitions, dataset adapters, windowing, targets, models, and evaluators), while explicitly recording unresolved assumptions. The resulting implementations are validated against standardized task contracts and evaluation hooks, enabling consistent and comparable benchmarking. We evaluate this approach on 16 PHM papers, comparing framework-enhanced, skill-based and prompt-based agentic reproduction against a recent framework-free paper-reproduction agent. We assess reproduction success, model-based code evaluation, framework binding of paper assumptions, and cross-paper benchmark comparability under standardized protocols. Our results show that coupling agentic generation with a shared framework transforms paper reproduction from isolated code synthesis into executable, assumption-aware, and systematically comparable benchmark implementations.

World models have enabled interactive exploration of game environments and robotic manipulation, but physical engineering remains beyond their reach: real materials exhibit nonlinear constitutive laws, carry history-dependent internal state, undergo inertial dynamics, and may possess hierarchical structures spanning multiple length scales. We present LEIA (Learned Environment for Interactive Architected materials), a world model that lets engineers apply boundary conditions step by step and observe the resulting deformation and stress fields in real time. LEIA handles large three-dimensional unstructured meshes and generates autoregressive responses to user-specified loading. We introduce MicroPlate, a benchmark of architected plates spanning two regimes of microstructure modeling: architected lattices that resolve microstructure explicitly through three-dimensional geometry, and a homogeneous plate where microstructural change is modeled implicitly through internal degrees of freedom. MicroPlate is used to assess LEIA alongside four baseline methods across both regimes. Finally, we demonstrate that LEIA enables efficient candidate generation and ranking for fast surrogate-guided search for de novo designs of architected materials, with stress-accurate candidate ranking validated by finite element ground truth.

Reinforcement learning with multinomial logistic (MNL) function approximation has become an important framework due to its flexibility and broad applicability. While existing studies have established regret guarantees under worst-case analysis, they do not capture how performance depends on the variability of the interaction between the learner and the environment. In this paper, we develop a new theoretical analysis for MNL-based Markov decision processes that yields explicit variance-adaptive regret bounds. Our algorithm is computationally efficient and achieves the instance-wise optimal rate of regret, narrowing the gap between upper and lower bounds. Our numerical experiments validate that our method learns optimal policies more efficiently than conventional approaches.