Papers

Multimodal time-series forecasting has emerged as a promising paradigm in which natural-language context is expected to improve predictive performance. Recent multimodal foundation models, including Aurora, as well as early- and late-fusion approaches such as MM-TSFlib and TaTS, report substantial gains over unimodal baselines on the Time-MMD benchmark, attributing these improvements to textual information. However, whether these models are actually sensitive to the semantic content of the text remains unverified. We address this question through controlled text perturbations, attribution analyses, and probes of Aurora's text pathway. On Time-MMD, swapping each row's text for any other real text (empty, constant, within-domain shuffled, or cross-domain) moves mean MSE by less than $0.5\%$ on all three architectures. The improvement reported in the literature is recovered when a co-shipped numeric column is removed without touching text. We conclude that, on this benchmark and within this family of frozen-encoder architectures, text content is not the operative signal behind the reported gains. To support future work on text integration in multimodal foundation models for structured data, we release our perturbation protocol and evaluation harness as a reusable diagnostic toolkit.

Whether an intermediate stage of modern Arabic handwriting helps or hurts historical Arabic HTR is usually decided from one implementation and one comparison, too thin a basis for a claim either way. We test stability by running the same nominal ablation four times, letting the base checkpoint, encoder-freezing strategy, epoch budget, precision, and learning-rate schedule vary as they naturally did during development, while holding the normalization, scorer, and interval estimation fixed. Each run compares intermediate training on modern handwriting (KHATT) then fine-tuning on historical manuscripts (Muharaf) against fine-tuning on Muharaf directly. Across the four runs the estimated effect swings from -17.64 to +14.52 CER points and reverses sign. The two extremes are exactly the two runs with an identifiable confound (a fivefold lower learning rate in one; a checkpoint of undisclosed provenance in the other); the two clean runs land at -0.25 and +0.94, i.e. no effect. A tight interval from one implementation says nothing about the next. We then run a compute-matched experiment with identical budgets over three seeds: KHATT warm-up is +2.42 CER points worse than a matched same-domain control (95% interval [+0.60, +4.25]); the part of that gap specific to the handwriting domain is only about 0.6 points a small negative effect under this configuration, not a universal result. We release a SaudiHeritage-OCR package with the normalizer, interval scorer, a verified KHATT decoder, experimental manifests, VLM baselines, and an edition-alignment protocol, so the result can be checked independently. The Al-Mahd inscription line is held strictly out and is not offered as a benchmark.

We analyze coefficient design in a one-parameter family of explicit palindromic electric–magnetic splittings for the time-domain Maxwell equations. After fourth-order staggered spatial discretization, the Fourier amplification matrix depends on the single scalar $g_2=a(1-2a)/2$. We prove that $a=1/4$ is the unique real coefficient maximizing the spectral CFL interval, with threshold $s_*=12/(7\sqrt d)$. We then identify a real-coefficient obstruction to higher phase accuracy: cancellation of the leading temporal phase defect requires $g_2=1/12$, whereas every real member satisfies $g_2\le 1/16$. The resulting complex-conjugate coefficients give fourth-order temporal phase accuracy for each fixed semidiscrete Fourier mode and have threshold $6\sqrt3/(7\sqrt d)$, while the complete field update remains globally second order in time. For real Maxwell data, the physical output is the real projection of the complex trajectory; this projection is branch independent and preserves the second-order error bound. We further give an exactly equivalent doubled real-arithmetic realization, which clarifies the role of the auxiliary imaginary component without changing the numerical method. A semidiscrete convergence result and numerical experiments confirm the distinction between stability optimization and phase optimization.

Many image processing methods such as corner detection, optical flow and iterative enhancement make use of image tensors. Generally, these tensors are estimated using the structure tensor. In this work we show that the gradient energy tensor can be used as an alternative to the structure tensor in several cases. We apply the gradient energy tensor to common image problem applications such as corner detection, optical flow and image enhancement. Our experimental results suggest that the gradient energy tensor enables real-time tensor-based image enhancement using the graphical processing unit (GPU) and we obtain 40% increase of frame rate without loss of image quality.

Learning multi-label image classification with incomplete annotations is a challenging task that has been widely studied for its superior trade-off between high efficiency and less labor consumption on large-scale datasets. Predominant methods rely on strong prior assumptions to recover the missing semantics from partial annotations. However, these statistic priors suffer from unstable semantic mistakes and thus lead to catastrophic overfitting. Toward this end, we propose a Language-driven Dense Semantic Adaptor (LDSA) that excavates prior-adaptive relationships from multimodal pretrained CLIP models. In our approach, the densely contrastive adaptor is first proposed to construct dense visual contrastive constraints, transferring the task-specific knowledge to visual domains. We then propose a language-driven interactive decoder with the help of class-specific prompt tuning, which adapts language proxies with visual domains. With the collaborative learning of proposed modules, experimental results demonstrate our proposed LDSA achieves a new state of the art on public multi-label classification benchmarks, and interpretable analyses reveal that our LDSA discovers implicit semantic relationships with the prior-adaptive learning scheme.

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in vision-language interaction, yet their safety alignment remains vulnerable to jailbreak attacks. A key challenge is that safety behavior learned in the textual space does not reliably transfer to fused cross-modal representations, leaving multimodal inputs exploitable through latent semantic cues. We propose Text-Anchored Semantic Perturbation Attack (TA-SPA), a black-box jailbreak framework that optimizes transferable perturbations in a text-anchored semantic space. TA-SPA integrates Text-Anchored Semantic Factorization (TASF), which encourages the separation of cross-modal semantic factors from modality-specific residuals, with Semantic-Preserving Augmentation (SPA), which diversifies harmful target anchors while preserving semantic consistency. Experiments show strong attack effectiveness and transfer to commercial MLLMs, with competitive performance under representative defenses. Additional controls and probing support the intended factorization without implying perfect disentanglement, motivating representation-level safety alignment beyond input-level filtering.

Long-term memory is crucial for personalized responses and long-horizon agent interactions. Existing methods often rely on LLMs to compress or rewrite dialogue histories and use the transformed memories as retrieval evidence. Despite the progress in organizing fragmented contexts, two major drawbacks persist: (1) information loss from compression, which discards fine-grained but later useful details, and (2) semantic drift from rewriting, which erodes the original tone and situated context. In this work, we propose a novel Human-profile Enhanced Retrieval Optimization framework for long-term agent memory (HERO). Specifically, HERO converts the dialogue history into a traceable heterogeneous memory graph that preserves raw dialogue text as evidence for reasoning, thereby mitigating information loss. For retrieval, HERO extracts initial anchors from the current query and incorporates human profiles via an iterative graph traversal; these anchors and profiles provide guidance signals that adaptively activate the most informative regions of the graph. Experiments on two benchmark datasets show that HERO outperforms strong baselines on both factual and personalized reasoning, while providing more faithful access to raw dialogue evidence.

We benchmark transport-based generative models as well as distillation-based few-step methods for the probabilistic forecasting of stochastic fluid flows, with a particular focus on performance under limited inference budgets. All methods are evaluated on a two-dimensional Kolmogorov flow with stochastic forcing. We measure one-step distributional accuracy against large simulated reference ensembles and assess whether the invariant measure is preserved during autoregressive rollouts via the enstrophy spectrum. On the stochastic task, flow matching achieves the most accurate one-step conditional distribution at high inference budgets, while the second-order exponential integrator DPM-2 is strongest at very low NFE. Few-step distillation methods are competitive with the multi-step methods and preserve the enstrophy spectrum particularly well. A deterministic control task, in which the forcing over the prediction interval is observed, separates aleatoric from epistemic uncertainty. Model performance does not translate between the two settings: the distilled models are competitive on the stochastic task but least accurate on the control task. While stochastic diffusion samplers such as DDPM better preserve the enstrophy spectrum during rollouts in the stochastic setting, deterministic samplers such as DDIM and DPM-2 show better spectral preservation in the deterministic setting.

Security teams must prioritize vulnerabilities before exploitation evidence is complete. Existing signals, such as CVSS, EPSS, advisories, and public exploits, are useful but fragmented and time-sensitive; retrospective rankings can therefore overstate performance by using evidence unavailable at decision time. We present ThreatLens, a simple yet effective and deployment-realistic framework for CVE prioritization. ThreatLens ranks vulnerabilities at each review point using only cutoff-valid evidence and learns from future CISA KEV entries as weak supervision for exploitation relevance. Under forward-in-time, CVE-disjoint evaluation, ThreatLens significantly outperforms CVSS, EPSS, and rule-based evidence-fusion baselines. On the held-out test split, ThreatLens surfaces 80.0% of future KEV CVEs in the top 20, over three times EPSS at the same budget, and reaches 95.9% in the top 50. Early-warning analysis further shows that ThreatLens identifies a substantial fraction of subsequent KEV entries before formal catalog inclusion, supporting timely, evidence-grounded triage.

We study the natural superconvergence points and asymptotic expansions of one-dimensional spline finite element approximations. For a spline space of degree $k$ and any smoothness $0\le\mu\le k-1$, we prove that the $s$-th derivative of the error exhibits enhanced convergence of order $O(h^{k+2-s})$ at points where $k-s$ is even, provided the mesh is symmetric within a region of size $Ch|\ln h|$ around the point. This condition is known to be optimal for the cases of low derivative order $s=0,1$; the present analysis shows that the same local condition is sufficient for all admissible $s$. Moreover, by expanding the error in Legendre polynomials, a closure theorem determines the leading-order Legendre coefficients (the asymptotic expansion of the error) by combining the Galerkin orthogonality with the superconvergence conditions. For $\mu=k-1$ (B-splines) and $\mu=k-2$, the Galerkin orthogonality conditions vanish and the coefficients are determined solely by the superconvergence conditions. The asymptotic expansion can be expressed through a simple antiderivative recurrence on Legendre polynomials. The resulting polynomial's zeros encode the complete set of superconvergence points for all derivative orders. Numerical experiments for selected $(k,\mu)$ pairs confirm the theoretical predictions.

The case when a partial differential equation (PDE) can be considered as an Euler-Lagrange (E-L) equation of an energy functional, consisting of a data term and a smoothness term is investigated. We show the necessary conditions for a PDE to be the E-L equation for a corresponding functional. This energy functional is applied to a color image denoising problem and it is shown that the method compares favorably to current state-of-the-art color image denoising techniques.

Humans imitate at the level of intent: given a demonstration, we infer its goal and carry it out with whatever tools, objects, and layouts are at hand. Current robot policies instead learn observation-to-action mappings from visual inputs and language instructions, without explicitly inferring the demonstrated task. Learning from human video thus remains largely trajectory-level: models can replay motions in near-identical scenes, but still struggle to imitate what the demonstrator intends rather than merely what they do. We introduce The Imitator Game, a four-level benchmark (L0-L3) that progressively widens the gap between the human demonstration and the robot's own scene, isolating where trajectory replay ceases to suffice and task understanding becomes necessary. We pair it with IG-10K, the largest environment-aligned paired human-robot dataset to date and the only one instantiated across all four levels in both real and simulated settings (20,000+ paired episodes, 50+ tasks, 6 domains), and Imitator Arena, an open platform for blind A/B human evaluation. Across nine state-of-the-art models, performance is stable from L0 to L2 but collapses at L3, identifying functional substitution - achieving the same intent through a different object affordance - as the decisive barrier to intent-level imitation. Human-video-conditioned models outperform caption-conditioned ones, yet every model falls below 13% zero-shot success on unseen tasks; fine-tuning IG-10K-pretrained models with only $10$ paired human-robot demonstrations yields large gains that grow with pretraining scale. The project website and access to Imitator Arena are available at https://imitator-game.github.io.

Co-registration underlies nearly every multi-temporal and multi-sensor use of optical satellite imagery, and operational products still carry documented offsets well above the fraction-of-a-pixel scale at which change detection, time series, and data fusion degrade. Real image pairs differ along several axes at once (sensor response, scene content, viewing geometry, resolution, mosaic seams), and the last of these is not a single global motion. Existing tools embed a motion model and constants tuned to their development data; a pair that fits is registered precisely, while one that does not either fails to match or returns a result wrong by tens of pixels with no failure reported. Learned matchers add a GPU requirement and carry no accuracy guarantee outside their training distribution. We present SCDF (self-calibrating displacement fields), a training-free, GPU-free estimator whose motion model is the dense per-pixel displacement field itself, so no scene motion falls outside the model. A single predict–measure–filter loop runs over a resolution pyramid: the accumulated field predicts where each patch of the moving image falls in the reference, RootSIFT matching and a correlation pass measure the displacement there to sub-pixel precision, and filters whose thresholds are all calibrated on the image pair itself decide what survives. One configuration, with no per-dataset tuning, processes full $8192^2$ scenes on a single CPU core. On 584 constructed-ground-truth pairs built from real Sentinel-2, Landsat-8/9, and NAIP imagery, against seven classical baselines and two zero-shot pretrained matchers, SCDF registers every pair with zero failures, reduces the best baseline's real-pair median end-point error from 6.83 to 4.17m, and cuts its 90th percentile from 17.8 to 7.77m.

The assessment of image denoising results depends on the respective application area, i.e. image compression, still-image acquisition, and medical images require entirely different behavior of the applied denoising method. In this paper we propose a novel, nonlinear diffusion scheme that is derived from a linear diffusion process in a value space determined by the application. We show that application-driven linear diffusion in the transformed space compares favorably with existing nonlinear diffusion techniques.

Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readiness, while tracking lag, motion jitter, and contact instability limit continuous interaction. To address these challenges, we present TONAV, a unified framework integrating task-oriented navigation with action-velocity chunk learning. First, we introduce a position-velocity-coupled teleoperation framework that explicitly captures motion dynamics to improve master-follower consistency and collect smooth, temporally consistent demonstrations. Next, task-oriented navigation leverages vision-language reasoning to decompose high-level instructions into executable subgoals and adaptively refine the robot base toward a manipulation-ready configuration. Finally, action-velocity chunk learning jointly models joint positions and their temporal transitions under velocity supervision, enabling smooth and stable sustained-contact manipulation. Real-world experiments across diverse articulated-object tasks demonstrate that TONAV achieves higher success rates in both task-oriented navigation and complete mobile manipulation, mitigating the navigation-manipulation gap and improving continuous-contact interaction. The project page is at https://haochen611.github.io/TONAV.

Evaluation of large language models (LLMs) increasingly requires predicting how a model will perform on new questions or tasks before collecting large amounts of new annotations. This problem is challenging because question difficulty, scenario, and underlying capability demands can vary substantially. Simple retrospective averages may confound model ability with item characteristics. In this paper, we study a model-based evaluation framework that combines multidimensional item response theory model with question contexts to predict LLM performance on unseen questions. The framework represents LLMs through latent capability profiles while using question content to inform item characteristics, allowing information to transfer beyond previously observed items. Empirically, we find that for within-scenario evaluation, incorporating question embeddings improves prediction relative to model-free baselines, and that multidimensional latent structure provides a richer description of capability variation than unidimensional alternatives. At the same time, our results reveal an important limitation that the generalizability does not necessarily translate into reliable prediction under cross-scenario shift. These findings suggest that context-aware psychometric modeling is a promising direction for efficient and interpretable LLM evaluation, while also highlighting cross-scenario generalization as a central open challenge.

World models for physical interaction are typically trained to predict future observations or latent features; however, a planning-oriented model must answer a fundamentally different question: whether a candidate action produces a task consistent future while preserving essential relations. Monolithic state representations obscure the underlying entities, while standard instance-level object slots merely identify what is present without specifying what role each entity plays in the task context. To bridge this gap, we present the Semantically Rich World Model (SR-WM), a task-conditioned world model structured around five functional roles: gripper, target, goal, relation, and phase. Within SR-WM, a visual entity encoder extracts soft entity hypotheses from pretrained patch features, allowing segmentation masks to serve as optional proposal priors without mandating them as required state representations or inference inputs. A role binder subsequently maps these hypotheses to task-specific roles, while an action conditioned dynamics model predicts role transitions alongside fine-grained semantics, including grasp/contact, predicate establishment, relation preservation, fixture state, and phase change. Crucially, this unified role state grounds downstream multi-candidate action generation, stage-aware reranking, and violation-aware suffix resampling. Our comprehensive evaluation protocol spans all four LIBERO simulation suites, cross-suite transfer, perception diagnostics, and action sensitivity analysis. Ultimately, this formulation transforms object-centric prediction into a semantic interface linking visual dynamics with planning-oriented decision making

Urban wildfire resilience depends on interactions among built form, vegetation condition, and extreme fire weather, yet city-scale risk models often overlook whether predictive skill transfers across neighborhoods. We developed a spatially validated GeoAI workflow for the January 2025 Palisades Fire, linking 12,081 CAL FIRE damage inspections to pre-fire Sentinel-2 vegetation indices, Landsat surface temperature, LANDFIRE fuels, terrain, and OpenStreetMap buildings and roads. Among 9,883 inspected residential structures, 5,566 were destroyed. Random cross-validation yielded ROC-AUC 0.92 for the integrated XGBoost model, but 1 km spatial block validation reduced performance to 0.75; logistic regression performed similarly and was better calibrated. Building count within 100 m was the strongest predictor, with destruction odds increasing 4.12-fold per standard deviation. Vegetation moisture and greenness showed opposing conditional associations: NDMI at 100-300 m was protective (OR 0.52), whereas NDVI at 30-100 m was positively associated with destruction after accounting for moisture (OR 1.74). Predictive information was concentrated at the 100-300 m neighborhood scale. A separate post-fire track mapped burn severity and vegetation recovery without leakage. The results support neighborhood-scale susceptibility screening, moisture-aware vegetation management, and spatial block validation as a minimum standard for single-event urban wildfire modeling.

We show that approximately counting the vertices of a bounded 0/1 polytope, presented as a system of rational linear inequalities, is, informally speaking, NP-hard. In particular, there is no FPRAS for this problem unless RP=NP. The proof is by a reduction from approximately counting homomorphisms from a given graph to a particular four-vertex graph. The main proof ideas were found using GPT-5.6 Sol Ultra.

Unmanned aerial vehicles (UAVs) increasingly require robust visual localization in GNSS-denied environments. A common solution estimates UAV poses by matching keypoints between UAV images and geo-tagged orthographic reference maps derived from satellite or aerial imagery, followed by Perspective-\(n\)-Point (PnP) pose solving. However, such reference maps mainly record top-down surfaces such as roofs and ground planes, while vertical structures such as facades and walls are often compressed or missing. Consequently, many visually distinctive keypoints in low-altitude UAV images have no valid counterparts in the reference map, leading to redundant matches and inaccurate pose estimation. To address this issue, we propose DECO, a DEpth-guided CO-visibility reasoning framework for low-altitude UAV visual localization. DECO uses monocular depth priors to infer local surface geometry and estimate co-visible regions between UAV images and the reference map. Based on this prior, a Geometry-Saliency Coupled Co-visibility Score is introduced to jointly consider geometric co-visibility and detector saliency for keypoint ranking. In this way, DECO retains keypoints that are both visually distinctive and geometrically co-visible, improving feature matching and PnP-based pose estimation. Extensive experiments demonstrate that DECO achieves superior localization performance and can be integrated with different depth models, feature detectors, and matchers. The source code will be available at https://github.com/UAV-AVL/DECO.

Abstract specifications of concurrent objects determine which values operations may return, but they also implicitly constrain which information operations may know, for example the arguments of other operations that do not affect their outcome, or even whether such operations occurred. Concrete implementations, while correct with respect to the abstract specification, may nonetheless expose additional information through their internal coordination mechanisms. We introduce a framework for reasoning about information leakage in concurrent implementations. The framework uses epistemic logic to compare what a process may know under an abstract specification with what it may know in a concrete implementation, using the abstract object itself as the reference for permissible observations. This yields several notions of non-leaking implementations. Using this framework, we investigate both the possibilities and limitations of non-leaking implementations. We present fully-non-leaking wait-free implementations of multi-valued registers and bounded max registers, but show that a fully-non-leaking unbounded max register cannot be implemented in a wait-free manner from finite-state base objects. We then consider a weaker guarantee, obtaining argument-non-leaking implementations of stacks, queues, and approximate agreement. These results demonstrate that non-leakage guarantees are often compatible with correctness and progress requirements, while also indicating their limitations.

Deep Reinforcement Learning (DRL) has achieved significant success in complex decision-making problems. As DRL systems are increasingly deployed in real-world applications, ensuring their quality and reliability is paramount. Current works primarily focus on detecting safety-critical failures, often neglecting policy optimality, which can lead to reduced efficiency, user distrust, and economic losses. This oversight, compounded by the inherent "testing oracle problem" for optimality, leaves a significant gap in comprehensively evaluating DRL systems. To address this gap, we propose Delta (Differential Testing for DRL Agents), a novel and comprehensive framework that automatically identifies both safety-critical and optimality bugs in DRL agents. Delta employs a two-phase approach: (1) Safety Testing, where the Agent Under Test (AUT) is evaluated for catastrophic failures while collecting data from its decision-making policy, and (2) Optimality Testing, where this collected data from the prior phase is used to train a challenger agent via Offline Reinforcement Learning. Differential testing is then performed by comparing the challenger agent against the AUT; instances where the challenger achieves higher cumulative rewards indicate optimality issues in the AUT. We demonstrate Delta's effectiveness across five environments. We investigate the effectiveness of three offline RL algorithms (BC, BCQ, and CQL) in generating challenger agents. Experimental results demonstrate that safety testing datasets are valuable for training competent DRL agents. Challenger agents trained with BCQ proved most effective for identifying optimality issues within the framework of Delta. Across the five environments, Delta uncovered an average of 2,518 optimality issues, outperforming the baseline methods by 50.2%.

Medical image segmentation requires high accuracy and robustness, yet practical commercial deployment also demands privacy preservation and computational efficiency. In this context, the U-Net architecture, which can be inherently decoupled into independent encoder and decoder components, serves as a natural commercial choice. However, pure Transformer-based variants like Swin-UNet often suffer from insufficient local detail capture and limited interpretability. In this paper, we propose a lightweight hybrid architecture built upon the Swin-UNet framework. Our model integrates a parallel CNN encoder to complement the shallow layer reasoning of Swin Transformers with local texture features. To bridge the semantic gap and enhance fine-grained spatial detail recovery, we design an asymmetric feature fusion strategy and introduce cross-layer skip (XSkip) connections that explicitly propagate shallow CNN features into the decoder. We further incorporate novel loss functions and an auxiliary supervision head (Aux-Head) to strengthen training stability, boundary delineation, and intermediate feature interpretability. Extensive experiments on the Synapse multi-organ segmentation dataset demonstrate that our approach achieves state-of-the-art competitive Dice scores and Hausdorff distances, offering an accurate, efficient, and interpretable solution for clinical deployment.

Recent vision language models (VLMs) have achieved strong progress in video understanding. However, most existing video QA research and benchmarks still follow an offline, single-round paradigm, overlooking realistic interactions where users may interrupt the model during answer generation. To address this gap, we formulate the task of Online Video Question Answering under Interruption and introduce OVIBench, the first standardized benchmark for evaluating VLMs in this setting. OVIBench categorizes interruptions into three types: Cancellation, False Trigger, Correction and supports both open-ended and multiple-choice evaluations. To enable large-scale and reproducible testing, we develop an offline simulation protocol that reproduces interruption during generation under a unified temporal setup, together with a multi-dimensional metric suite for assessing interruption understanding and response generation. Experiments demonstrate that OVIBench effectively distinguishes models' interruption-handling abilities, especially in following correction requests. Finally, we construct a train set OVI-Train for interruption-aware fine-tuning. Models fine-tuned on this dataset achieve significant gains on OVIBench, validating the effectiveness of our benchmark and data design. OVIBench, OVI-Train, and the evaluation code will be released.

Vision-based whole-body loco-manipulation on humanoid robots is challenging due to partial observability, contact-rich dynamics, and the difficulty of learning long-horizon behaviors from high-dimensional visual inputs. We present \href{https://github.com/DreamMimic/DreamMimic}{DreamMimic}, a framework that distills privileged teacher policies into vision-based humanoid controllers via world-model-assisted distillation. Instead of using a Dreamer-style RSSM for planning, we repurpose it to learn predictive latent dynamics that serve as both a representation space and an action-conditioned multi-step supervision signal, while exposing compact predictive features to the student policy to reduce long-term drift. Beyond standard reconstruction objectives for proprioceptive and visual observations, we add auxiliary prediction heads for privileged state, contact, object state, and reward estimation. These heads provide additional supervision related to agent–object interaction and task progress, encouraging the latent representation to retain signals that are useful for contact-rich loco-manipulation. We further introduce Performance-Conditioned Guidance (PCG), a reward-driven adaptive distillation schedule that computes performance scores for both teacher and student to dynamically balance guidance and exploration. PCG prevents both premature teacher annealing and excessive teacher interference in challenging visual settings. Experiments on OMOMO and BEHAVE show improved tracking-based loco-manipulation performance over strong vision-based baselines, without exposing online privileged interaction states to the student at deployment. Qualitative simulations further examine morphology and simulator changes. These results suggest that world models can provide a useful mechanism for stabilizing visual policy distillation in contact-rich humanoid behaviors.

Deep learning surrogates have become powerful tools for simulating and forecasting complex dynamical systems, yet their utility remains limited by catastrophic error accumulation during long-term autoregressive rollouts. This behavior is partly tied to the nature of the underlying systems: chaotic spatiotemporal systems visit phase space unevenly, with dynamics dominated by recurrent, low-dimensional quiescent states and characterized by rare and dynamically complex regime transitions. Trained under a sample-wise uniform objective, standard neural surrogates allocate their finite capacity to the statistically more numerous low-dimensional quiescent states, systematically under-representing the transient regimes that trigger disproportionate, localized errors. Existing imbalanced-regression methods tackle this issue by reweighting samples according to target-space density. However, statistical target-space rarity does not coincide with the intrinsic dynamical rarity encoded in the recurrence geometry of the attractor. To address this, we introduce Dynamics-Aware Weighting (DAW), a data-centric objective reweighting framework. Using the local dimension $d$ from dynamical systems theory as an a priori measure of a state's dynamical complexity, DAW reshapes the loss landscape to allocate representational capacity toward the sparse, high-$d$ regimes where forecast errors are systematically large. On the chaotic KS equation, DAW consistently outperforms uniform training as well as weighting based on target-space rarity, and its randomly permuted ablation, reducing long-term autoregressive error relative to all baselines. Event-level analysis shows that DAW achieves this by suppressing the localized error amplifications incurred during sharp jumps in the local dimension $d$, which typically accompany complex physical processes such as wave-merging in the KS system.

Virtual Payment Channels (VPCs) enable efficient off-chain transactions in Payment Channel Networks (PCNs), but their performance depends on selecting high-quality underlying paths. Existing approaches either rely on simplified metrics or incur high computational cost. We study VPC path selection under generalized monotone metrics and propose a structure-aware exact solver based on quadtree search. By exploiting monotonicity and distance plateau properties, our method prunes large regions of the capacity-constrained search space while preserving optimality, significantly reducing the number of shortest-path computations. We further instantiate the framework with a composite metric that integrates economic cost and security risk, enabling flexible trade-offs across application scenarios. Experiments on synthetic graphs and real-world Lightning Network topologies (up to 12,552 nodes) show 2–5 orders of magnitude speedup over prior work, with consistent sub-100ms latency.

Automated testing discovers vulnerabilities faster than developers can investigate and repair them, leaving an interval in which known memory corruptions remain exploitable. End- to-end LLM repair agents can shorten this interval, but they synthesize open-ended code changes and commonly validate them only by replaying a proof of concept (PoC). This weak oracle accepts patches that silence the observed crash by changing unrelated behavior, making unintended deployment risky. We present CodeMechanic, a bug-property-guided system for generating constrained mit- igations for spatial memory corruption. Instead of asking an LLM to generate a permanent repair, CodeMechanic reconstructs the violated memory-safety property from the crash, validates the dereferenced pointer and its buffer range, and inserts a local fail-stop guard before the dangerous access. The guard terminates execution when the boundary check fails. The resulting mitigation deliberately trades availability for security: it can convert potential remote code execution into controlled termination while developers investigate the root cause and prepare a permanent repair. CodeMechanic combines a two-dimensional static and dynamic context extractor with in-prompt debugging knowledge and stepwise val- idation to limit the effect of LLM errors. On 101 real-world ARVO bugs, the first attempt of CodeMechanic produces 47.6% more plausible patches (i.e., patches that pass PoC- replay validation) than the best baseline while using 91% fewer tokens. Manual audit further shows that CodeMechanic produces 3.4x - 4.3x more patches semantically equivalent to developer-written repairs.

Machine translation tests masked diffusion language models (dLLMs) because every source token must be rendered faithfully, while fixed canvas decoding must choose target length before denoising. Existing masked diffusion decoding work mainly studies token unmasking order, leaving this length decision under-explored despite its direct effect on coverage and redundancy. We introduce Entropy-Valley (EV), a training-free length selector that scores candidate target canvases by mean predictive entropy from all-mask forward passes and selects the canvas the backbone is most prepared to fill. Relative to a baseline using training corpus length statistics, EV recovers 64.9%, 65.3%, and 33.0% of the COMET-22 gain from reference target lengths on En$\to$Zh, Zh$\to$En, and En$\to$De. Our diagnostics show that denoising-friendly lengths need not match reference lengths. Evaluation by three translation experts supports the En$\leftrightarrow$Zh adequacy gains, with stronger evidence on Zh$\to$En. Compared with a LLaMA-3-8B autoregressive (AR) model trained on the same fine-tuning data, the EV system ties on En$\to$Zh and leads on Zh$\to$En; an oracle-length diagnostic further shows that, in this masked diffusion MT setting, deciding which tokens to reveal first matters less than how the target length is supplied.

Pathological and more broadly non-canonical speech present significant challenges for automatic phoneme recognition due to systematic deviations from canonical pronunciation and limited availability of labeled clinical speech data. Existing phoneme recognition systems are typically trained on canonical speech and treat phonemes as atomic categorical labels, limiting their ability to detect structured articulatory errors common in speech disorders and accents. In this work, we introduce a linguistically structured approach to non-canonical phoneme recognition that decomposes phoneme prediction into articulatory feature dimensions such as manner, place, and voicing. We implement this formulation using a hierarchical multi-task learning architecture in which task-specific articulatory feature heads learn feature-level representations that are subsequently integrated through a cross-attention-based fusion module to produce phoneme predictions. To address the scarcity and noise of pathological speech labels, we combine this framework with semi-supervised learning via Momentum Pseudo-Labeling (MPL) and propose a cascaded training strategy that progressively introduces articulatory feature tasks while employing staged unfreezing of a pretrained speech encoder. Experiments on L2-ARCTIC, used as a proxy for pathological speech variation, show that the proposed approach achieves substantial improvements in phoneme recognition performance compared to strong baseline architectures, while yielding interpretable error patterns aligned with phonological feature structure. These results suggest that articulatory feature supervision is a promising strategy for robust and interpretable phoneme recognition in non-canonical speech, and motivate future validation on clinically diagnosed pathological speech datasets.