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Computer Science

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Monday 21 September

Computers and Society

From Pattern Recognizers to Personalized Companions: A Survey of Large Language Models in Mental Health

He Hu, Yucheng Zhou, Qianning Wang et al. (+8 more)

The rising global prevalence of mental health conditions, together with longstanding barriers in traditional healthcare, such as limited resources, high cost, stigma, and privacy concerns, has created an urgent need for accessible and scalable support. Large Language Models (LLMs) have emerged as a transformative technology with strong potential to democratize mental health support through advanced natural language understanding and generation. However, the rapidly expanding, fragmented body of work in this area lacks a coherent evolutionary narrative, making it difficult to contextualize current progress and identify future directions. This survey addresses this gap by organizing and analyzing the literature around a central thesis: the role of LLMs in mental health is evolving through three distinct, increasingly sophisticated phases. We trace this trajectory from Phase I, in which LLMs act primarily as passive Information Tools and Pattern Recognizers for assessment; through Phase II, where they function as Empathetic Conversationalists for in-the-moment, stateless interactions; to the current frontier, Phase III, which seeks Longitudinal, Personalized Companions implemented as stateful cognitive agents. To support this framework, we systematically review core technologies, agent architectures (Profile, Memory, Reasoning, and Planning), and the critical infrastructure of datasets and benchmarks, highlighting how their evolution underpins this developmental path. Viewing the field through this developmental lens, we provide a comprehensive synthesis of existing work, an insightful narrative of its trajectory, and a clear roadmap for future innovation in responsible, effective, and human-centered AI for mental healthcare. A curated collection of the resources reviewed in this survey is available at our project repository: https://github.com/Emo-gml/Awesome-Mental-Health-LLMs.
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All authors He Hu, Yucheng Zhou, Qianning Wang, Yingjian Zou, Chiyuan Ma, Juzheng Si, Jianzhuang Liu, Zitong Yu, Laizhong Cui, Fei Ma, Qi Tian

Data Structures and Algorithms

On the Offline Version of the Time-Optimal k-Server Problem

Oleg Lomachenko

We consider the offline problem of parallel relocation of k identical mobile resources. After each request, known in advance, the resources may move simultaneously, and the duration of a step is determined by the longest individual movement. This model is equivalent to the offline version of the time-optimal k-server problem. We prove that the decision version is strongly NP-complete already on metrics of finite subsets of the Euclidean line, or equivalently, on vertex metrics of weighted paths. Thus, the computational hardness persists even under a linear arrangement of the admissible resource locations. As a positive result, we show that the problem can be solved exactly in polynomial time on metrics of undirected unweighted graphs with a universal vertex.
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Machine Learning

Multi-Term Fourier Graph Neural Network with Sample Relationship Learning for Enhanced Remaining Useful Life Prediction

Ya Song, Laurens Bliek, Yaoxin Wu et al. (+1 more)

Predicting the remaining useful life (RUL) is essential for effective predictive maintenance. Spatio-Temporal Graph Neural Networks (ST-GNNs), which can model both temporal and spatial relationships by representing time series data as a sequence of graphs, have shown exceptional performance in RUL prediction. However, current ST-GNNs face several drawbacks. First, they require domain expertise or significant computational power to establish graph structures prior to deploying GNNs. Second, the models are restricted to capture temporal dependencies within a predefined fixed-size lookback window. This restriction ignores the common issue of varying time series lengths, leading the prediction model to miss short-term or long-term dependencies. Finally, conventional models often fail to capture the inherent relationships between samples generated from adjacent time windows, which are crucial for improving both the accuracy and robustness of predictions. To address the aforementioned issues, we introduce a novel framework called Multi-Term Fourier Graph Neural Network with Sample Relationship Learning (MTFGN-SRL). Rather than treating the sample as a sequence of graphs, we consider it as a single complete graph and utilize a Fourier Graph Neural Network (FGN) to capture the spatio-temporal information in the frequency domain. We propose a multi-term learning module that utilizes multiple lookback windows to generate samples with varying terms, which are then fed into the FGN to enhance the extraction of useful information from the data. Finally, we develop a sample relationship learning module by training a heterogeneous GNN to identify inter-sample relationships, resulting in enhanced accuracy and robustness in predictions. Evaluations on the CMAPSS dataset demonstrate MTFGN-SRL's superior performance over state-of-the-art methods in RUL prediction.
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All authors Ya Song, Laurens Bliek, Yaoxin Wu, Yingqian Zhang

Artificial Intelligence · Cross-listed from eess.AS

Qwen-Audio-3.1-Realtime: Towards Reliable Agentic Voice Interaction

Lujia Bao, Qian Chen, Luyao Cheng et al. (+15 more)

Real-time voice assistants must reason over evolving requests, execute actions, and follow conversational rules. Qwen-Audio-3.1-Realtime brings these requirements together through Think, Act, and Speak and Coordinate. Think combines Core-Cocktail supervised fine-tuning with Multimodality and Multi-Teacher On-Policy Distillation (M$^{2}$-OPD) to transfer language capabilities and develop native audio skills. Act uses self-evolving executable environments and multi-granularity rollouts for Group Relative Policy Optimization (GRPO), teaching the model to use tools, interpret feedback, and complete tasks. Speak and Coordinate aligns whether, when, and how the assistant speaks or acts. We evaluate audio reasoning, multilingual understanding, tool use, conversational behavior, full-duplex interaction, and safety. Compared with Qwen-Audio-3.0-Realtime, 3.1 raises overall task success from 78.4% to 82.0% on our half-duplex speech-to-text adaptation of $\tau$-Voice. On speech-to-speech Full-Duplex-Bench v1.5, the response rate to background speech falls from 73.0% to 13.0%. We also present a separate Voice Harness prototype, using Qwen-Audio-3.0-Realtime as its foreground, that extends spoken interaction to persistent tasks through foreground–background coordination and memory.
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All authors Lujia Bao, Qian Chen, Luyao Cheng, Chong Deng, Yuxiang Kong, Xiangang Li, Xu Li, Jiaqing Liu, Chao-Hong Tan, Haoyu Wang, Wen Wang, Xilou Wang, Haoxiang Xu, Junhao Xu, Liang Yi, Binbin Zhang, Qinglin Zhang, Qiquan Zhang

Cryptography and Security

Attack Success Rate Is Not a Number: On Measurement Validity in Agentic AI Security Evaluation

Chetan Pathade, Prathamesh Pawar and Shubham Patil

Attack success rate (ASR) is the headline metric in nearly every published evaluation of attacks on, and defenses for, LLM agents. We argue that ASR as currently used is not a single quantity but a family of metrics parameterized by six design choices that papers seldom specify and never hold constant across the literature. We support this with two studies that require no proprietary access. First, a full-text meta-analysis of 259 agentic-security papers posted to arXiv between February 2025 and September 2026 finds that most report neither a variance estimate nor repeated runs for their headline attack metric: 58% (95% CI 44-71) in a hand-coded random sample of 50, 65.3% by automated coding of all 259. Only 30.9% disclose enough about decoding to establish whether their evaluation was even stochastic, and of the 64 papers we confirm use an LLM judge, 29.7% report any agreement check against human labels. Second, an analytical study shows that these omissions are not cosmetic: on a 100-instance benchmark, the minimum difference in ASR detectable at conventional power is 18.2 percentage points, and two defenses whose true ASRs differ by 5 points are ranked in the wrong order by a single-run evaluation roughly 21% of the time. Because several of the six axes shift ASR in a system-dependent way, the resulting incomparability is not a constant offset that cancels in comparison. We conclude that cross-paper ASR comparison is currently unsupported, and propose a ten-item reporting checklist targeted at each failure we measure. Our aim is not to dispute any individual result but to supply the shared measurement contract the field has so far done without.
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Machine Learning

Mitigating Sequential Reappearance in Diffusion Data-Point Unlearning

Donghyun Kim, Taehyuk Lee, Jinyeong Kim et al. (+4 more)

Diffusion data-point unlearning is typically evaluated immediately after each deletion, even though subsequent requests may repeatedly update the same model. We identify sequential reappearance, a failure mode in which an instance that is initially judged to be forgotten later returns to the memorized regime without reuse of the deleted data or adversarial fine-tuning. To capture this behavior, we introduce a target-level evaluation protocol that tracks whether each target is forgotten immediately, remains forgotten at the end of the sequence, or reappears during subsequent deletions. We further find that targets that later reappear exhibit sharper local denoising-loss geometry after deletion than targets that remain forgotten.
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All authors Donghyun Kim, Taehyuk Lee, Jinyeong Kim, Youngmin Oh, Dohyeong Kim, Jaehyuk Ryu, Sangwoo Hong

Artificial Intelligence

Ovis-Embedding: Pushing the Frontiers of Universal Omni-Modal Embeddings

Ovis-Embedding Team

In this report, we introduce Ovis-Embedding, a state-of-the-art omni-modal embedding family built on native integration of text, image, video, and audio. Instead of assembling separate modality towers, Ovis-Embedding uses a shared multimodal backbone to encode different modalities in a common representation space. Specifically, we make three key advances: (1) native omni-modal initialization: we adopt a pretrained Qwen-omni model as the embedding backbone and adapt it through contrastive training with low-rank initialization; (2) data-centric omni-modal training: we construct a broad, high-quality corpus spanning text, images, video, audio, and interleaved multimodal data. To improve data efficiency, we introduce homogeneous-source sampling to form task-consistent batches with informative in-batch negatives; and (3) embedding-specific training and inference optimization: we use focal loss to emphasize hard examples and similarity-based Embedding Distillation to transfer fine-grained similarity structure from complementary experts. At inference time, low-rank feature decomposition enables compact embeddings with flexible dimensionality and minimal performance loss. Empirical evaluations show that the Ovis-Embedding family achieves state-of-the-art performance on MMEB-v3, MMEB-v2, MVEB, MAEB, and RTEB, demonstrating its effectiveness across text, image, video, and audio modalities. These results highlight the potential of unified omni-modal training to overcome modality fragmentation and advance universal embedding models for any-to-any retrieval.
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Machine Learning

Learning Neural Feedback Linearization for Data-driven Systems via Augmented Lagrangian

Lakshmi Priya P. K. and Andreas Schwung

The paper proposes a novel data-driven framework for designing and training a feedback linearizing controller by explicitly incorporating relative degree based conditions into the learning process. This enables the conventional feedback controller components to be replaced by neural Lie derivatives, thereby facilitating a fully data-driven feedback linearization framework. Furthermore, practical closed-loop stability is established by deriving sufficient conditions under which bounded identification errors lead to bounded tracking errors. The derived theoretical results are validated through their application to an armature controlled DC motor.
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Machine Learning · Cross-listed from stat.ML

Empirical Auditing of Edge-Private Graph Generators

Anum Fatima, Stratis Limnios, James Adams et al. (+4 more)

We empirically audit privacy leakage by testing whether outputs from edge-neighbouring inputs remain distinguishable, using statistically valid lower bounds on the privacy loss witnessed by our attacks. Our framework compares direct-edge, local-structural, and GNN-based attacks through the geometry surrounding a target edge. Experiments across two generators and two networks show that privacy leakage is both mechanism- and network-dependent, with learned representations revealing information not captured by conventional local statistics.
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All authors Anum Fatima, Stratis Limnios, James Adams, Lukasz Szpruch, Carsten Maple, Gesine Reinert, Andrew Elliott

Cryptography and Security

Benchmarking Neural Defend ARCAS 1B: A Foundational Multimodal Deepfake Detection Model

Sivashankar Selvarajan, Piyush Verma, Sumit Kumar et al. (+1 more)

AI-generated imagery evolves faster than benchmark-specific detector evaluations, making a single score an incomplete account of generalization. This paper evaluates Neural Defend ARCAS 1B across benchmark families without benchmark-specific parameter updates. We retain native aggregation and supplement it with record-level measures, coverage accounting, and subgroup diagnostics. Each Results subsection identifies the release and evaluation population, reports the official metric, and describes observed error patterns. A combined analysis synthesizes shared patterns while preserving the distinction between native and pooled quantities. Cross-paper comparisons are restricted to aligned evidence; differences in release, population, preprocessing, training, or benchmark exposure are context rather than rank. The findings characterize performance on evaluated records, not universal reliability, calibration, attribution, or future adaptive attacks. By keeping benchmark-native outcomes distinct from pooled summaries, the study makes test-population, class-balance, and missing-record-coverage differences visible. It supports interpretation of detector results in research, platform-safety, and forensic-review settings, foregrounding traceable protocol conditions over claims or leaderboard comparisons.
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All authors Sivashankar Selvarajan, Piyush Verma, Sumit Kumar, Sharayu N. Deshmukh

Machine Learning

Exposing Blind Spots in Deep Imbalanced Regression Evaluation

Noah C. Puetz, Jens U. Brandt, Marc Hilbert et al. (+3 more)

Deep Imbalanced Regression (DIR) addresses a common failure mode of regression models: target distributions are highly non-uniform, causing models to perform best in densely populated target regions even when reliable performance is required across the full target range. Despite rapid methodological progress, DIR evaluation remains constrained by three blind spots: it is dominated by image-based benchmarks, its standard many-/medium-/few-shot protocol is diagnostic but not decision-complete, and tail-region stability across random seeds has not been systematically evaluated. We revisit DIR evaluation along these three axes. First, we broaden the data domain by evaluating DIR on a multimodal virtual sensing benchmark (MuViS) with nine time-series extrinsic regression tasks across six physical domains, where rare target values often correspond to operationally meaningful regimes. Second, we adopt balanced MAE (bMAE) and introduce balanced Mean Absolute Scaled Error (bMASE), a scale-normalized metric for decision-complete comparison across methods and datasets. Third, through a repeated reevaluation of six representative DIR methods across multiple random seeds, we show that the tail regions targeted by DIR exhibit particularly high sensitivity to seed-level variability. Our results show that standard virtual-sensing models exhibit substantial tail degradation hidden by global MAE, that existing DIR methods can improve balanced performance but transfer unevenly to multimodal time-series data, and that tail-region instability remains a largely hidden failure mode under current DIR evaluation practice. Together, these findings and our publicly available code provide a reproducible basis for future DIR research toward regression systems that capture rare target regimes as reliably as common ones.
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All authors Noah C. Puetz, Jens U. Brandt, Marc Hilbert, Elena Raponi, Thomas Bäck, Thomas Bartz-Beielstein

Artificial Intelligence · Cross-listed from physics.med-ph

Towards Sustainable Magnetic Resonance Imaging: Insights from long-term, high-resolution energy recordings across an entire scanner fleet

Florian Leonhard Raab, Fiona Mankertz, Nour Maalouf et al. (+17 more)

Magnetic resonance imaging (MRI) is among the most energy-intensive diagnostic modalities in healthcare, yet its energy consumption and the factors influencing it remain insufficiently understood. This study aims to establish a comprehensive baseline of MRI energy consumption by characterizing energy demand across a scanner fleet, examining scanner utilization and operating patterns in clinical practice. Concurrently, it investigates the relationships between energy consumption and relevant operational and acquisition features. On average, a single MRI measurement consumed 0.43 kWh, while a complete examination consumed 13.50 kWh. In general, substantial differences in energy consumption were observed between MRI scanners and their corresponding operating modes (scan, idle, and eco-power mode). These variations may be related to differences in scanner operating patterns, employed examination protocols, and their resulting acquisition parameters. Idle and eco-power modes accounted for more cumulative energy consumption than active scanning. However, these energy shares should always be interpreted in relation to scanner occupancy, as utilization patterns strongly influence the distribution of energy across those operating modes. Lastly, linear regression analysis showed that energy consumption was more strongly associated with scan duration than with average power, suggesting that scan duration may be an important factor influencing MRI energy consumption. ...
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All authors Florian Leonhard Raab, Fiona Mankertz, Nour Maalouf, Josephine Berger, Andreas Lingg, Reza Dehdab, Sebastian Werner, Judith Herrmann, Andreas Brendlin, Sebastian Gassenmaier, Suhas Siddaramu, Fabian Wagner, Julian Wohlers, Shreeja Varadarajan, Gurlal Singh, Jens Gühring, Rainer Schneider, Konstantin Nikolaou, Saif Afat, Thomas Küstner

Machine Learning

Dual-GNN Multilevel Coarsening for Maximum Independent Set

Tianfeng Chen and Xianyue Li

The maximum independent set (MIS) problem is a fundamental NP-hard combinatorial optimization problem with applications in scheduling, resource allocation, and network analysis. Exact solvers can provide high-quality solutions or optimality certificates, but their computational cost grows rapidly with graph size, while hand-crafted heuristics improve scalability at the expense of guarantees. Learning-based methods offer an alternative by exploiting structural patterns across graph instances, yet directly predicting independent sets can make global coordination difficult on large graphs. We instead use learning to guide multilevel graph coarsening while retaining combinatorial search for final decision making. Our Dual-GNN Multilevel Coarsening framework uses a Partition GNN to score candidate contractions and a Representative GNN to select top-k local independent-set states for each final cluster. Experiments on Erdős–Rényi graphs with up to 2,000 vertices demonstrate a favorable quality–runtime trade-off. On 500-vertex instances with certified optima, our method achieves an average independent-set size of 19.20, corresponding to 99.5% of the optimal value of 19.30, while reducing the mean wall-clock time from 643.57 seconds for exact solving to 3.41 seconds, yielding an approximately 189$\times$ speedup. On larger graphs with 1,000 and 2,000 vertices, our method achieves the best mean solution quality among all evaluated methods. Moreover, although trained only on Erdős–Rényi graphs with edge probability $p=0.35$, the learned coarsening policy generalizes effectively across both unseen graph densities and structurally different graph families.
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Machine Learning

Brain-Inspired Hierarchical Modularity for General Continual Learning

Hongwei Yan, Kanglei Zhou, Qi Cheng et al. (+7 more)

Continual learning, the ability to learn from sequential experience while retaining and adapting prior knowledge, is central to intelligent systems operating in changing environments. However, conventional continual learning is typically studied with offline task-wise training and clear task boundaries, leaving a substantial gap from general continual learning under online, uncertain, and evolving data streams. In this regime, intelligent systems must separate conflicting experience to reduce interference while integrating compatible experience to promote generalization. Inspired by the organization of the Drosophila learning and memory system, we identify a hierarchical modular principle that coordinates both functions through expert specialization and ensemble integration. We instantiate this principle as lightweight modular adaptation of pretrained foundation models, combining brain-inspired random expansion for expert routing and diversified modular integration across spatial and temporal scales. Across visual recognition, vision-language understanding, ego-exo video understanding, and embodied vision-language-action learning, our method consistently improves learning under online and uncertain data streams, with gains exceeding 50 percentage points over replay-free alternatives in embodied manipulation. These findings support hierarchical modularity as a biologically grounded path for learning from dynamic experience.
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All authors Hongwei Yan, Kanglei Zhou, Qi Cheng, Weiyi Dong, Chunyan Lan, Guanglong Sun, Jun Zhou, Qian Li, Yi Zhong, Liyuan Wang

Computational Engineering · Cross-listed from stat.ML

Variational objectives for amortized Bayesian inference in inverse problems: The role of posterior conditioning

Abhishek Srivastava, Arijit Hazra and Rajesh Dubbaku

Variational autoencoders (VAEs) offer an efficient approach to amortized Bayesian inference for inverse problems, but posterior accuracy can depend strongly on the choice of variational regularization, particularly when the inverse problem contains weakly identified parameter directions. This study investigates three objectives: a reverse Kullback–Leibler formulation (VAE-KL), an asymmetric Jensen–Shannon formulation (VAE-JS), and a Jensen–Shannon–Wasserstein formulation (VAE-JSWA), which replaces the reverse Kullback–Leibler regularizer with the squared 2-Wasserstein distance while retaining forward-Kullback–Leibler posterior supervision. A full-covariance Gaussian encoder and a pre-trained physics-based surrogate are used for amortized posterior inference. A local linear–Gaussian analysis in the generalized Fisher basis is developed to characterize the variance-dependent gradients of the three objectives. The formulations are first evaluated using linear–Gaussian benchmarks with known posterior solutions and subsequently tested on nonlinear physics-based inverse problems, including an inverse problem governed by a linear ODE and two PDE-constrained problems. VAE-KL performs slightly better than the other formulations in the well-conditioned benchmark, where all three approaches yield comparable posterior approximations, whereas VAE-JSWA provides substantially lower posterior errors in the strongly ill-conditioned benchmark. The nonlinear physics-based problems exhibit a similar conditioning-dependent trend, with JS-based formulations providing greater benefit as posterior ill-conditioning increases. These results indicate that posterior conditioning is an important factor in selecting variational objectives and motivate geometry-adaptive variational inference for Bayesian inverse problems.
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Machine Learning · Cross-listed from stat.ME

The Informational Content in Lepto-Variance and Its Relation to Higher Moments

Vassilis Polimenis

Lepto-regression is defined as the machine learning process of constructing a Regression Tree of a target feature on itself. It is a novel, model-free method potentially revealing information on important sample structure properties. But it is yet not clear what the informational content of lepto-variance is and how it is related to other well-known statistics of a sample. One significant finding is that 58% of the historical US stock return variability is 1-bit lepto-variance that can not be explained by any financial factor. The central question investigated in this paper is to use small normal N(0, 1) drawn samples to explore how the 1-bit sample lepto-variance and lepto-ratio relate to sample variance, skewness and excess kurtosis. Using a large sample simulation, the lepto ratio of a normal is found to converge to 36.3%. For smaller normally distributed simulated N(0, 1) samples, while lepto-variance itself is highly correlated to sample variance, lepto-variance as a fraction of total variance is highly correlated to excess kurtosis. Both lepto-variance and lepto-ratio are orthogonal to sample skew. Another finding is that while lepto-ratio is strongly correlated to lepto-variance it remains orthogonal to sample variance.
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Machine Learning

Stable Unsupervised Continual Chunking with Sheaf SyncMap

Xueyuan Li and Danilo Vasconcellos Vargas

Unsupervised Continual chunking is a fundamental problem in machine learning and neuroscience, where the goal is to identify groups of states that frequently co-occur in temporal sequences. A key challenge is to form accurate chunks while maintaining their stability over time. In this work, we propose sheaf regularization to reduce local inconsistencies in Decentralized SyncMap, a self-organizing system, and thereby stabilize its chunking dynamics. We introduce a radial sheaf structure that penalizes distance-dependent radial motion between pairs of variables. Experimental results show that the proposed method achieves the highest normalized mutual information (NMI) among the evaluated SyncMap variants on 12 of 18 probabilistic Continual General Chunking Problem (CGCP) graphs with two-state memory and on 17 of 18 graphs with dynamic memory. In the sequential adaptation experiment, Sheaf SyncMap also achieves high NMI after shifts in the input distribution, indicating that it can adapt to new knowledge while avoiding the negative transfer commonly observed in modern machine learning systems such as neural networks.
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Computer Vision · Cross-listed from stat.ME

Calibration Count Reuse: Validity Does Not Determine Efficiency

Rudra Chopra

Calibration count reuse raises separate validity and efficiency questions. We give a validity criterion for general count-dependent nonconformity scores: transferring one count from another class to the scored class must not improve its conformity. A leave-self-out full conformal reference proves the criterion without requiring normalization or preservation of same-class score order. For a common separable transformation, universal exchangeable validity is equivalent to being nondecreasing in the count, provided $K\alpha \geq 1$; normalized multiplicative weights obey the complementary nonincreasing condition. Additive penalties are covered under the stated information restrictions. Efficiency has no parallel ordering: two iid constructions make the same valid rule improve or worsen expected size at unchanged coverage. An expanded 55-rule study finds no resolved advantage from selected live-count rules over uniform weights. Image studies identify undercoverage under iid resampling, including at numerical convergence. Separately, execution of the released Conf-OT pipeline on its DTD and Aircraft benchmark subsets produces near-nominal median coverage under fixed stratified counts. The native results are reported separately from the iid analyses, without treating a benchmark observation as a universal guarantee. The findings separate validity, classifier confidence, numerical convergence, and population-specific efficiency.
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Human-Computer Interaction

Passthrough Rigidity: The Behavioral and Visuomotor Costs of Mediated Perception

Markus D. Solbach, Mohit Goyal, Sakar Khattar et al. (+4 more)

Broad public adoption of head-mounted displays using video passthrough remains elusive despite significant market investment. A precise understanding of why users experience persistent discomfort even as hardware factors such as resolution and latency have dramatically improved remains an open issue. This paper investigates the impact of viewing the world through video passthrough systems on human behavioral and physiological patterns through a large-scale multimodal study. We developed a novel protocol to capture synchronized oculomotor, kinematic, and physiological data during a block assembly task requiring complex hand-eye coordination. Using a within-subject design (N=110), we evaluated both natural and passthrough viewing conditions. Our results reveal a four-fold suppression of rotational head velocity and a pronounced decoupling of head-gaze coordination. This suggests motor caution being employed as an adaptive strategy - which we term "Passthrough Rigidity". This phenomenon appears to shift the information-gathering burden to the oculomotor system, resulting in significantly longer fixation durations and restricted visual search patterns. These kinematic shifts directly correlate with poorer task performance and measurable physiological cost, evidenced by a significant reduction in blink duration and increased reports of ocular strain and cognitive load. We conclude that current passthrough implementations induce a measurable shift from flexible exploration to motor caution, where task performance is preserved at the cost of user comfort and biomechanical efficiency. These findings provide a novel quantitative framework for evaluating and improving future XR devices, establishing that resolving "comfort" for passthrough requires addressing the deep-seated biomechanical compensations caused by mediated perception. Data available at https://data.nvision.eecs.yorku.ca/Passthrough
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All authors Markus D. Solbach, Mohit Goyal, Sakar Khattar, Jayant Varma, Bjorn Vlaskamp, John K. Tsotsos, Konstantine Tsotsos

Computer Vision

GameHorizon Suite: Multi-Horizon Data and Evaluation in Gameplay

Yiran Wang, Xingyilang Yin, Junfu Pu et al. (+12 more)

Modern video games provide a measurable testbed for AI models, combining abilities of visual understanding, instruction decomposition, goal planning, and precise action control over multiple temporal horizons. Existing datasets and benchmarks, however, either cover a narrow range of games, lack language instructions, or rely on high-variance online rollouts. To address these challenges, we introduce GameHorizon, a unified data and evaluation suite that measures gameplay capabilities at different horizons for diverse model families. GameHorizon Suite consists of three components. First, GameHorizon-Annotator is a scalable and automated annotation pipeline for multi-horizon instructions. Second, utilizing the pipeline, we construct GameHorizon-Data, the first large-scale AAA gameplay dataset with temporally aligned videos, player actions, and multi-horizon instructions. It comprises 5,000 hours of recordings from 21 games, collected by 100 human expert players. Third, we build GameHorizon-Bench with reproducible offline and stepwise online testing. The offline track enables reproducible evaluation using thousands of standardized questions organized into three primary tasks and a series of diagnostic variants, while the online track tests whether offline scores reflect actual gameplay capabilities and localizes failures to specific steps within long-horizon gameplay. Based on our GameHorizon Suite, we evaluate 47 models through more than one million model invocations, revealing a meaningful hierarchy of task difficulty and pronounced differences in model capabilities. Our work can provide a standardized yardstick for evaluating gameplay capabilities across horizons and model families. We will release our dataset, annotator, and benchmark to facilitate future research.
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All authors Yiran Wang, Xingyilang Yin, Junfu Pu, Guangzhi Wang, Kaifeng Li, Mingyu Ouyang, Huiqiang Sun, Lingen Li, Cheng Cheng, Wangbo Yu, Honghao Chen, Xiaodong Cun, Chi-Man Pun, Zhiguo Cao, Ying Shan

Computer Vision

VideoGen-Agent: Reinforcing Video Generation Agents

Binxu Li, Haoyi Duan, Yuhui Zhang et al. (+10 more)

Recent advances in video generative models have enabled high-fidelity, temporally coherent video generation. However, these models often struggle to satisfy prompts requiring specialized knowledge, specific identities, physical consistency, or ordered events. In this paper, we present VideoGen-Agent, a multimodal agent trained through multitask agentic reinforcement learning to use external tools for video generation. The agent coordinates augmentation, generation, and verification tools through multi-turn interactions, using the prompt and intermediate observations to guide its decisions. We train a shared policy on a category-balanced dataset spanning six tasks. Supervised fine-tuning on teacher-generated trajectories establishes tool-use behavior, which is then refined through reinforcement learning. A category-aware hybrid reward evaluates tool-call validity, task-appropriate tool use, and generated video quality. We further introduce VABench, a held-out benchmark of 600 prompts covering procedural knowledge, single- and multi-entity identity preservation, physical consistency, scene composition, and multi-shot temporal structure. On VABench, VideoGen-Agent improves over its base text-to-video generator by 19.1 points, from 56.5 to 75.6. Upgrading the generation tools further raises the score to 86.1 without additional agent training. Human raters prefer the upgraded configuration over the strongest standalone baseline in 84.3% of comparisons. These results support learning tool use across video-generation tasks and show that the trained agent can benefit from subsequent advances in generation tools. Project page: https://andyca111.github.io/VideoGen_Agent/
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All authors Binxu Li, Haoyi Duan, Yuhui Zhang, Yaohui Zhang, Zihao Lin, Kaituo Feng, Hui Yuan, Suozhi Huang, Xiangyi Li, Yu Li, Chunyuan Li, Mengdi Wang, Shilong Liu

Robotics

Learning Beyond What Humans Can Demonstrate

Yuchen Song, Aditya Mittal and Unnat Jain

Behavior cloning for robot manipulation relies on expert demonstrations. However, for tasks that require dynamic stability, precise contact timing, or dexterous coordination, human operators may find it hard or even impossible to collect data. We study this infeasible-demonstration regime and propose GLIDE: Guardrails for Learning from Infeasible Demonstrations Efficiently, a framework that infers task-specific failure modes and converts them into executable guardrails for data collection and policy deployment. Given a task description and the conditioning teleoperation code, GLIDE writes guardrails that use system states to filter teleoperation and policy commands, constrain failure-prone actions, and iteratively improve from trajectory feedback. Across three tasks, GLIDE discovers emergent guardrails that go beyond domain-expert hardcoded ones, improving data collection over naive VR teleoperation and domain-expert hardcoded guardrails. After refinement, GLIDE raises data-collection success from 0-10 percent to 70-90 percent across the three tasks. During policy execution, mixed-data guarded policies reach 70 percent, 60 percent, and 60 percent success on Tomato plate transfer, Marker handover and stand, and Wine serving tasks. These results show that GLIDE can support policy learning when direct demonstrations are infeasible. Project website: http://guardrail-policy.github.io/
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Robotics

MIGU: Multimodal Instruction Grounding under Uncertainty for Manipulation Planning

Mingke Lu, Anxing Xiao and David Hsu

Understanding natural human instructions is crucial for deploying robots in human-centric environments. We study multimodal instruction grounding, where language and gesture provide complementary but uncertain cues. We present MIGU, a modular framework that combines semantic and geometric evidence into a unified grounding belief and connects it to manipulation planning. MIGU constructs a 3D geometric likelihood by propagating viewing-direction and depth uncertainty through eye-finger geometry while accounting for hand-direction estimation error. A vision-language model (VLM) provides semantic priors over candidate objects and regions, which are combined with the geometric likelihood through Bayes-inspired fusion. The resulting belief supports behavior planning to either proceed directly to downstream planning or request clarification. Grounded targets then define goals for mobile manipulation and tabletop task-and-motion planning. On a real-world benchmark, MIGU outperforms all evaluated baselines, while ablations support the benefit of explicit multimodal uncertainty modeling. Project website: multimodal-instruction.github.io
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Information Theory

Feedback Coding Enables Inference-Time Covert Agentic Communication

Sidong Guo, Sajani Vithana, Atefeh Gilani et al. (+3 more)

As large language models (LLMs) are increasingly used to automate digital interactions, users can leverage LLM-generated text as cover for covert communication within seemingly benign conversations. Existing LLM steganography, however, is predominantly white-box, requiring the sender and receiver to share the cover statistics, typically through access to the model weights and prompt. Black-box schemes remove this requirement by allowing the receiver to operate solely on the generated text, but current approaches rely on fixed-length, open-loop watermarking techniques that suffer from high decoding error rates under variable-length token generation. We recast black-box LLM steganography as a sequential communication problem with causal, noiseless feedback: every generated token is observed by both parties and can guide subsequent embedding. Based on this perspective, we introduce Burnashev Adaptive Posterior Matching (BAM), a feedback-coding scheme that combines posterior matching with a decode-and-confirm phase. The design is inspired by classical information-theoretic feedback-coding principles, while its security is established through a cryptographic reduction proof. Across three open-weight language models, we demonstrate that BAM attains 0-0.1% empirical message error on an 8-bit payload in around 50 tokens, across 1000 trials, versus 10-17% for the strongest black-box baseline at comparable length. Building on the proposed steganography algorithm, we demonstrate the feasibility of an end-to-end communication protocol that achieves high communication rates across multiple conversational settings.
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All authors Sidong Guo, Sajani Vithana, Atefeh Gilani, Lalitha Sankar, Oliver Kosut, Flavio P. Calmon

Distributed Computing

Who Pays for the KV Cache? Attributing Shared AI Inference Spend Across Kubernetes and LLM Provider Bills

Timothy Urista

Organizations pay for AI through disconnected ledgers: Kubernetes allocations for self-hosted inference, gateway logs, and per-token bills from API providers. We present unalloc, an open-source tool that joins OpenCost, LiteLLM, OpenAI and Anthropic cost data into one exact ledger and reports the share of spend with no owner, and use it to study where attribution breaks at the seams between these systems. Five case studies run inference for real or simulate it: a vLLM-style serving simulator with paged KV memory and prefix caching; a PyTorch transformer serving a multi-tenant trace with a real KV cache; tensor- and pipeline-parallel inference on torch.distributed; the unmodified CLI against mock provider APIs; and four downstream use cases. At the seams, in a constructed multi-pod deployment scenario – one month of synthetic OpenCost allocations, not observed billing data – owner labels set only on LeaderWorkerSet leader pods leave 66% of that deployment's GPU bill unowned, and the natural fallback key assigns 61% of it to a Helm chart name while the headline unallocated share falls to 4%; enabling every source double counts all gateway spend; and reading one page of a billing API reports a quarter of spend. Inside a shared inference server the metering rule decides who pays: on an NVIDIA H100 running vLLM, a token meter assigns a retrieval-heavy tenant 12-14 percentage points more of the bill than an equal time-share meter at every load tested, while GPU utilization reads 97-99% across configured loads of 2 to 16 requests per second (3.7 to 26.9 completed requests per second; the configured rate counts session-initial arrivals only) and power draw tracks load. Neither meter is a ground truth; we position these results against recent Shapley-based energy attribution. Code, raw data, captured evidence, figures and the paper regenerate from the repository.
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Human-Computer Interaction

Who Does What in AI Auditing? Designing Human-AI Collaboration for Auditing Generative AI

Eunkyu Park, Markelle Roesti, Wesley Hanwen Deng et al. (+5 more)

AI auditing increasingly incorporates AI agents to expand the scale and breadth of audit coverage, yet little is known about how auditing work should be divided without displacing human judgment. We introduce Human-Agent Audit Collaboration (HAAC), a workflow and system for structuring human-AI collaboration in AI auditing. Drawing on prior work and formative consultations with AI auditing practitioners, HAAC specifies how agents can support exploration, assessment, reporting, and review while preserving human oversight where contextual judgment is critical. We instantiate HAAC for conversational shopping agents and evaluate it through two studies. With 71 auditors, AI assistance increased attack success and broadened exploration, while also shaping later attacks and increasing auditors' reliance on AI-generated assessments and reports. Interviews with Responsible AI practitioners showed that actionable audits require visibility into coverage, reproducible attack trajectories, and evaluation of the auditing agents themselves. Our findings identify design considerations for effective and accountable human-AI auditing.
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All authors Eunkyu Park, Markelle Roesti, Wesley Hanwen Deng, Renata Barreto, Mohammad Tahaei, Kenneth Holstein, Jason Hong, Motahhare Eslami

Machine Learning

Critical-State RL: Diagnosing Trainable States for Multi-Turn Tool Use

Zixiang Chen, Wenting Zhao, Zhepeng Cen et al. (+9 more)

Multi-turn tool-use failures can hinge on a single model call, yet reward variation alone does not reveal which call would benefit from training. When rewards depend on later interactions, their variation can reflect downstream randomness rather than differences between the current actions. We introduce Critical-State RL to identify trainable states in multi-turn interactions. Given task-defined candidate calls and local rewards, the method assesses whether each reward captures the action's effect on task success and whether improvement over a reference policy is possible. It then uses nested sampling to separate action-dependent reward variation from continuation noise and optimizes the policy at the selected states using contextual-bandit training. Experiments on the Berkeley Function Calling Leaderboard (BFCL) v4 compare training at diagnostic-selected states with training at alternative states. For missing-function tasks, the diagnostic selects the response after the tool becomes available; for missing-argument tasks, it selects the response before the missing argument is supplied. Training the selected responses improves performance, including about 14 percentage points on the missing-function task, while training the alternatives leaves performance flat or worse. We further apply the recipe across models and tasks, including logged repeat-call avoidance and memory management.
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All authors Zixiang Chen, Wenting Zhao, Zhepeng Cen, Akshara Prabhakar, Jielin Qiu, Jianguo Zhang, Zhiwei Liu, Tulika Manoj Awalgaonkar, Liangwei Yang, Shelby Heinecke, Silvio Savarese, Huan Wang

Computer Vision

WorldCrafter: Consistent Video World Model with Implicit 3D-aware Memory

Wangbo Yu, Kunhao Liu, Wenbo Hu et al. (+8 more)

Video world models enable interactive exploration of dynamic environments, yet struggle to respect prior observations over long horizons and across viewpoints. We present WorldCrafter, a video world model that learns a camera-queryable implicit 3D-aware memory for this purpose. The key insight is to let the requested viewpoint shape how multi-view evidence is compressed into the video generator's limited token budget. Trained jointly with the video generator, a memory encoder and pose-conditioned readout module integrate historical observations into a fixed set of target view-specific tokens before denoising, without explicit depth-based correspondences. By combining this memory with recent temporal context and few-step distillation, WorldCrafter enables streaming scene exploration from a single input image or text prompt. Experiments across static and dynamic scenes show substantial gains in long-horizon consistency and camera-control accuracy while preserving visual quality during minute-scale exploration.
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All authors Wangbo Yu, Kunhao Liu, Wenbo Hu, Shenghai Yuan, Chaoran Feng, Haiyang Zhou, Yukun Huang, Yiran Wang, Wang Zhao, Yingmin Luo, Ying Shan

Computation and Language

onPanda: Efficient Annotation of On-Policy Alignment Data for LLMs and Agents via Token-Level Correction

Lei Yang, Mengyin Liu, Jia Wang et al. (+9 more)

We present onPanda, an interactive tool for efficiently annotating LLM alignment data and agent trajectories. onPanda adopts token-level correction as its core interaction: while reading a model response, the annotator locates the first inappropriate token and either picks a substitute from the model's candidate tokens or types the correct text via free-form editing. The system then truncates everything after that position and continues generation from the corrected prefix, repeating this locate-correct-continue loop until a satisfactory response is obtained. This mechanism lets annotators precisely steer model outputs at low cost: a small controlled study suggests that onPanda reduces median annotation time by 52% over manual post-editing. Since the vast majority of tokens in the final response are generated by the model itself, the resulting data largely preserves the model's sampling distribution and is well suited for constructing on-policy SFT and preference data. Furthermore, the token-level corrections recorded during annotation provide fine-grained supervision with precise positions and naturally paired positive–negative samples. onPanda also connects to external tools and harnesses, enabling interactive trajectory annotation in realistic environments. In addition, we release Panda-CVL, a dataset annotated with onPanda, together with a benchmark for token-level correction.
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All authors Lei Yang, Mengyin Liu, Jia Wang, Hangyu Guo, Liang Zhao, Zheng Ge, Kang An, Binxing Jiao, Qi Han, Daxin Jiang, Siqi Shen, Xiangyu Zhang

Computer Vision

GAE: Learning a Geometry-Native Latent Space for 3D-Consistent World Generation

Jiahao Lu, Minghao Yin, Wenbo Hu et al. (+5 more)

We present a compact geometry-native latent space as a shared foundation for perception and generation. Visual generators can produce photorealistic frames without preserving a consistent 3D scene. We argue that this is not only a modeling problem but also a representation problem: generators typically evolve appearance-centric latents, while perception models recover geometry in a semantically rich space that encodes cross-view structure. Rather than adding geometry as another output, we reparameterize a geometry foundation model's features into a compact latent space for generation. We realize this shift with the geometry-native autoencoder (GAE), whose latent is jointly decodable to appearance, depth, cameras, and point maps. With this state, a standard conditional flow supports diverse generation tasks. In controlled comparisons that hold the generator and training protocol fixed, replacing the latent with GAE improves both visual quality and independently measured 3D coherence: FVD falls by $12.7\%$ and $23.1\%$ on RealEstate10K and DL3DV, and camera-trajectory error is halved on RealEstate10K. Together, these results show that the latent space is central to geometry-consistent generation and can serve as a shared interface between perception and generation.
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All authors Jiahao Lu, Minghao Yin, Wenbo Hu, Hengyu Liu, Wang Zhao, Sai-Kit Yeung, Ying Shan, Yuan Liu