Papers

World models can be studied as experimental systems with response laws of their own. We introduce MultiEcho, a framework for estimating these laws through controlled counterfactual interventions, delimiting their applicability, and separately testing their physical correspondence. Across nine simulated physical systems and seven frozen model configurations, three-reference estimators predict complete intervention responses and recover intervention parameters. Estimator selection uses discovery data only; frozen fits are evaluated on validation and confirmation contexts. The experiments distinguish response predictability, intervention readability and physical accuracy. Responses can be locally describable yet poorly match physical effects in the same target coordinates. Event-window, visibility and camera interventions reveal conditional applicability, and paired generator configurations show reduced readability under a scene prompt with stronger guidance. Magnitude sweeps expose small image errors alongside large relative effect errors. An exact-reset material experiment separates registered visible-response success from fixed-readout failure on material-dependent futures at matched positions and velocities. Exact finite-scale identities resolve odd and even response errors; first-order remainder bounds specify when refined calibration converges. MultiEcho provides an experimental basis for studying learned-world laws independently of, and in relation to, physical laws.

Sign-aware recommender systems have recently been developed to leverage negative feedback for a deeper understanding of user preferences. However, our empirical diagnosis reveals that state-of-the-art graph-based sign-aware recommender systems are paradoxically valence-blind. Even though they explicitly incorporate sign information during training, they consistently fail to differentiate liked items from disliked ones at the ranking stage, frequently infiltrating top-K recommendations with disliked content. Through linear probing, we show that while valence information exists in the learned embeddings, it remains inaccessible to the inner-product scoring function. This widespread failure remains entirely undetected because conventional evaluation metrics, such as Recall, HR, and NDCG, assign a uniform utility of zero to both negative and unobserved items, creating a systematic evaluation blind spot. To bridge this gap, we propose a family of signed metrics, Signed Recall, Signed HR, and Signed NDCG, that explicitly penalize the recommendation of disliked content. Systematic re-evaluation under our proposed metrics fundamentally reshapes the established performance landscape, revealing that methods ranked highly under conventional metrics often fail to protect users from disliked content. Finally, through a proof-of-concept auxiliary loss, we confirm that the proposed metrics provide actionable training signals, guiding models toward valence-aware behavior without sacrificing conventional relevance. For transparency, our source code is available at: https://anonymous.4open.science/r/signed-rec-benchmark-07E4

Multilingual self-supervised speech models can benefit from sharing information across languages, but under a matched total pretraining data budget they still fall short of monolingual models. We show that strengthening the model's ability to discriminate languages during pretraining reduces and, on some measures, closes this multilingual gap on continuous phonetic and higher-level linguistic measures, while preserving substantial cross-language sharing. Using a controlled English/French HuBERT setting, we test two interventions which strengthen language discrimination: an auxiliary language classifier and per-language k-means targets. Across interventions, continuous-feature phone discrimination error (phone-ABX, lower is better) decreases from 11.6% in the bilingual baseline to 10.4% (monolingual: 10.8%), while lexical performance (sWUGGY, higher is better) increases from 52.1% to 56.7% (monolingual: 58.5%) and prosodic performance (ProsAudit, lexical subtask, higher is better) from 68.9% to 72.9% (monolingual: 72.6%). Across HuBERT training stages, the strongest gains on most linguistic measures occur when language discrimination is introduced in the first iteration, whereas later or repeated interventions yield smaller improvements and are accompanied by increased language-wise segregation. These results support a causal role for language discrimination in reducing the additional cost of multilingual learning.

Scene Coordinate Regression (SCR) has recently emerged as a promising approach for LiDAR-based localization, achieving accurate localization without requiring an explicit 3D map. Despite their effectiveness, existing SCR methods rely on scene classification-based global embedding that struggles to provide fine-grained discrimination among nearby locations. Moreover, their reliance on uniform sampling of local features during training assigns equal importance to all points, thereby inadvertently propagating features from dynamic objects or unstable regions and potentially degrading training stability. In this paper, we present ReLoc, a revamped SCR architecture that can effectively address these limitations. First, we redesign the global embedding module by combining learnable context tokens with a feature aggregator to capture richer and more discriminative scene context. Second, we introduce an attention-based local feature enhancement module to mitigate the impact of noisy local features while encouraging context-consistent structures, yielding more robust local feature representations. Experimental results on two large-scale outdoor datasets demonstrate that our approach achieves state-of-the-art accuracy over previous SCR-based methods while maintaining real-time inference performance.

Faithfulness evaluation of abstractive summaries remains an open challenge, with existing metrics addressing only isolated hallucination types: factual entity errors, relational inconsistencies, or numerical fabrications, without capturing their co-occurrence or interaction. We introduce CHI (Composite Hallucination Index), the first unified hallucination metric that decomposes faithfulness errors into three orthogonal dimensions: entity hallucination (EHI), relation hallucination (RHI*), and quantity hallucination (QHI). Each dimension employs a shared softmax-normalized architecture over Venn diagram-derived factors representing extractiveness, positive hallucination, over-focus, negative hallucination, and lost focus. The novel QHI component introduces tolerance-aware numerical matching with exact, epsilon, derived, and temporal comparison modes. We fuse the three dimensions via harmonic mean to produce a single composite score that penalizes weakness in any dimension. We validate CHI on 800 source articles spanning four domains (news, medical, legal, financial) with summaries from five generation systems. Empirical results demonstrate that: (i) the three dimensions are statistically orthogonal (mean rho = 0.148), confirming they capture distinct error types; (ii) CHI achieves the highest system-level correlation with human judgments (rho = 0.66, p = 0.006) on SummEval, outperforming ROUGE (rho = 0.53), EHI (rho = 0.58), and all individual components; and (iii) ablation studies confirm that all three dimensions contribute unique variance, with the full composite outperforming any individual component while providing decomposable error diagnostics unavailable from single-score baselines. CHI provides practitioners with a decomposable, interpretable, and efficient faithfulness metric suitable for both offline evaluation and online monitoring of summarization systems.

Molecular property prediction is central to drug development and materials discovery, but experiments are costly and labeled data are scarce. Context-aware methods use auxiliary assay labels to support few-shot prediction, and recent work supervises property relations with label agreement. However, label agreement is sensitive to class marginals and does not directly capture dependence between properties. We propose CalibHyper, a chance-corrected relational hypergraph method based on the joint label distribution. CalibHyper subtracts an independence baseline from the ordered four-state label distribution and shrinks the residual according to the number of joint observations. A swap-equivariant relation head estimates these residuals, which choose the auxiliary properties for each molecule and set the sign and weight of their hyperedge messages. On thirteen datasets from five benchmarks, in both 1-shot and 10-shot settings, CalibHyper and its ablation settings achieve ROC-AUC competitive with the strongest reported results.

Contextual specialization can improve forecasting accuracy, but a correction selected on one historical interval may become unreliable under temporal distribution shift. To address this issue, we propose RAEGL, a Risk-Aware Evidence-Gated Learning framework for selective contextual forecasting. RAEGL retains a validated global predictor by default and activates a contextual residual only when pre-deployment evidence supports its use. The framework separates candidate selection from gate calibration and jointly evaluates randomization significance, practically meaningful gain, and temporal stability. Experiments on real-world audits and controlled panels show how RAEGL can prevent harmful contextual deployment while making conservative opportunity costs explicit. In a reconstructed Our World in Data audit, exact fallback avoids RMSE degradations of 0.0960 and 0.0239 caused by two validation-selected corrections. In a sealed World Development Indicators evaluation, a region-based correction passes the randomization test but is withheld because its gain is only 0.000092, its country-clustered 95% confidence interval crosses zero, and only 0.02% of bootstrap replicates reach the practical threshold. In controlled panels, the stability- and support-aware extension activates in 97.2% of strong, stable-context runs while rejecting all high-drift settings. These results support RAEGL as an auditable, evidence-based mechanism for managing contextual deployment risk and as a conservative alternative to validation-driven contextual selection.

Sign Language Production (SLP) aims to generate sign motions from text. Conditional Flow Matching methods have achieved strong performance in SLP by constructing conditional paths that transform a source distribution into a target distribution. However, existing methods construct these paths via linear interpolation, whereas the rotational geometry of human joints confines valid joint rotations to a manifold embedded in Euclidean space. Consequently, linear interpolation between two sign motions leaves this manifold and ignores the motion distribution on it. In this paper, we revisit SLP from the perspective of manifold transport and propose a Naturalness-guided Manifold Flow Matching framework, termed SignNMFlow, which constructs conditional paths directly on the motion manifold by jointly considering geometric efficiency and the motion distribution. Specifically, we exploit the intrinsic geometry of the manifold and introduce a motion naturalness measure to characterize the motion distribution. By minimizing the kinetic energy under this measure, we learn a naturalness-guided interpolation that couples a closed-form geodesic, which provides geometrically efficient transport, with a learnable deviation that incorporates the motion distribution, thereby significantly improving the fidelity of generated sign motions. Extensive qualitative and quantitative evaluations demonstrate the effectiveness of this work.

Referring video segmentation with heterogeneous multimodal queries—spanning text, audio, and reference images—demands both robust cross-modal understanding and precise spatio-temporal reasoning. We propose OPERA (Omnimodal Progressive spatio-tEmporal Reasoning Agent), a unified reasoning agent built on a single MLLM that performs dual-axis progressive reasoning via three specialized stages. Along the temporal axis, a Temporal Reasoning Agent narrows the frame search space through coarse-to-fine filtering to identify the most informative key frame. Along the spatial axis, a Distillation Agent establishes what to locate via cross-modal semantic distillation, and a Grounding Agent enhanced with GRPO determines where the target appears, with dense mask propagation completing the pixel-level output. OPERA sets a new state of the art on OmniAVS and Ref-AVS and transfers zero-shot to standard referring video segmentation benchmarks.

Online safe reinforcement learning (RL) seeks policies that maximize reward while satisfying safety constraints. A popular line of research in safe RL relaxes safety to a soft expected-cost constraint and solves the resulting Constrained Markov Decision Process via primal-dual Lagrangian updates that only enforce safety on average. To address this limitation, hard, state-wise constraints are introduced and often imposed through Hamilton-Jacobi (HJ) reachability. Yet such constraints require solving different objectives in the feasible and infeasible regions: reward maximization in the former, recovery toward the feasible regions in the latter. The resulting target action distributions are inherently multimodal, and this structure poses a fundamental challenge for the Gaussian or deterministic actors used in existing HJ-based safe RL, which often collapse onto suboptimal modes. Diffusion policies provide the expressiveness needed to represent such distributions, and recent work on Q-score matching offers a route to training them for online RL by score regression – but has been applied only to reward maximization. We propose Safe Score Matching (SSM), an off-policy actor-critic method that adapts Q-score matching to hard-constrained safe RL by gating a two-branch score target with HJ reachability: inside the feasible set, the denoising process degenerates to Q-score matching on actions classified as viable by the HJ critic; outside, a recovery branch biases denoising toward regions with lower worst-case violation. On quadrotor and fixed-wing trajectory-tracking and stabilize-and-avoid benchmarks, SSM attains the best or near-best task performance with low false-safe rates, whereas the primal-dual baseline admits more unsafe behavior and reachability-based baselines tend to be more conservative; on Safety-Gymnasium velocity tasks, SSM attains the lowest cost with competitive reward.

Model-based imitation learning (MBIL) improves real-environment interaction efficiency by optimizing policies on imagined rollouts from a learned world model. However, the gap between model-induced and real-environment occupancies makes policy learning sensitive to model error. Conservative MBIL mitigates model exploitation during policy optimization, but when real-environment interactions are collected by the same conservative policy, uncertain regions around the expert distribution remain insufficiently sampled. Generic uncertainty-driven exploration, on the other hand, may allocate interaction to novel but task-irrelevant dynamics. We propose REcoverability-CONditioned Exploration for Model-Based Imitation Learning (RECON). RECON separates conservative policy learning from active data collection by maintaining a main policy for task execution and an explorer for real-environment interaction. The explorer is optimized based on epistemic uncertainty conditioned on recoverability estimated from multi-step main-policy imagination, focusing data collection on unknown states from which the main policy can still return toward expert behavior. Experiments on locomotion, navigation and manipulation show consistent gains in interaction efficiency, imitation performance, and robustness, indicating that RECON directs real-environment interaction toward recovery regions around the expert distribution that are underexplored by prior methods, and thereby learns a world model better suited for imitation.

Predicting how an environment will change before acting is a natural route to better decision making for agents. Recent post-training methods therefore require agents to predict the next observation and turn that prediction into a reward or a direct supervision signal, which is called world model. Existing next-observation training methods help the agent to learn the environmental content. However, they additionally involve an optimization process, which may introduce several effects other than learning to predict the world. Consequently, where the performance gain comes from during the training process remains an open question. We answer this research question through replacing true next-observation targets with in-distribution mismatched observations during the training process. Across two interactive text environments, mismatched targets lower prediction accuracy by 15.3-61.6% relative to ground-truth targets, yet retain substantial task gains over the base model. Compared with the base model, trained models consider more candidate actions and exhibit less looping. We also introduce a setting that replaces prediction-based rewards with independent random signals. This training expands task coverage (pass@64) even when the reward carries no environment information. We also generalize this finding to VisualWebArena, where random-reward training raises pass@64 by 14.3% relative to the base model, without observation-matching rewards or an external multimodal teacher for reward construction.

Training-free KV-cache compression methods such as SnapKV, H2O, and PyramidKV evict tokens at the end of prefill, aiming to preserve the attention mass that future queries are expected to use -optimizing what to keep. We show that this objective fails in two distinct ways. (1) Compensation: restoring the evicted attention mass can recover the attention-level target without recovering task quality. (2) Selection: covering more of the true decode-query mass can hurt quality when the recovered mass is fragmented rather than concentrated in coherent spans. These failures share a common cause: eviction occurs before the queries that determine the answer trajectory exist. We propose Draft-Guided Eviction (DGE), which defers eviction until after drafting the first k=2 answer tokens using the full cache - just one decode step beyond prefill. Because the draft is generated from the answer's own prefix, no cache entries are discarded before this trajectory signal becomes available. The per-head cache budget remains unchanged, and DGE can be applied directly to SnapKV, PyramidKV, H2O, and StreamingLLM without modifying their eviction scores. Unlike extra-pass methods, DGE changes when eviction occurs rather than what cache entries are selected. Extensive experiments demonstrate that DGE outperforms prior methods at every evaluated budget on five of six instruct-tuned backbones, achieving 44.2 on LongBench, nearly matching FullKV at 44.3. The timing-only control DGE-W achieves the same score, demonstrating that the gain comes from when eviction occurs rather than what is selected - an effect we term trajectory anchoring.

Leading multi-bit watermarking methods for language models encode messages by biasing the model's next-token probabilities, creating a trade-off between message recovery and text quality. Their decoders typically return the highest-scoring candidate from accumulated token-level evidence, without a certified abstention rule that bounds the probability of outputting an incorrect message. We introduce CertMark, a distribution-preserving multi-bit watermark with certified decoding. Rather than modifying probabilities, CertMark uses the embedded message to seed an exact Gumbel-max sampler, thereby preserving the model's original sampling distribution. We propose two scalable decoders: a model-agnostic, text-only decoder and a model-aware variant that leverages the original next-token distributions for stronger recovery. Both support certified abstention with mathematical bounds on the probability of returning an incorrect message. Across text completion, summarization, and story generation, CertMark matches the perplexity of unwatermarked text while reliably recovering multi-bit messages. The model-aware decoder further achieves higher bit accuracy than probability-biasing baselines. Our code is publicly available at https://github.com/Batorskq/CertMark.

Feed-forward 3D Gaussian Splatting (3DGS) enables efficient novel-view synthesis from sparse multi-view images, yet its representations remain costly to store and transmit. Existing approaches compress either the input images, incurring heavy receiver-side reconstruction, or the reconstructed Gaussian primitives, which are difficult to compress due to their heterogeneous and irregular attributes. We instead compress compact intermediate features, providing a better balance between compression efficiency and receiver-side complexity. Based on this paradigm, we propose FeCoSplat, a feedback-guided compression framework for feed-forward 3DGS. FeCoSplat first compresses multi-view features to obtain an intermediate 3DGS, whose rendered views are used as feedback to guide a second-stage compression for further refinement. The resulting bitstreams are decoded into a compact implicit state, from which the final Gaussian primitives are reconstructed with a lightweight predictor. Experiments demonstrate that FeCoSplat achieves favorable rate–distortion performance, particularly at low bitrates, while requiring only 3.45M parameters for receiver-side Gaussian reconstruction. Code will be released soon.

Information-seeking agents increasingly operate over information spaces that are too large to process exhaustively. Yet many multi-agent systems organize computation around static partitions of the available space, causing coordination to grow with how information is segmented rather than with what the query still requires. We introduce ANTMAN, an adaptive coordination framework that treats evolving unresolved information needs as the unit of runtime coordination. ANTMAN maintains a revisable Need Graph that tracks unresolved requirements, accumulated evidence, prior attempts, and search progress, and uses this state to control worker selection, routing, and task-local recovery as new evidence is discovered. By separating the coordination policy from substrate-specific search interfaces, the same need-conditioned mechanism can operate across different information spaces. Experiments across multi-document question answering, controlled long-context scaling, and realistic structured navigation show that ANTMAN remains effective across settings, including when execution is delegated to substantially smaller worker models. Under a 16x increase in searchable context, ANTMAN increases active coordination by only 1.23x, compared with more than 15x for partition-driven baselines, while preserving strong answer quality.

Visual backbones have evolved from Convolutional Neural Networks (CNNs) with local aggregation to Vision Transformers (ViTs) with global interactions, State-Space Models (SSMs) with input-dependent state transitions, and Test-Time Training (TTT) layers that adapt an inner learner while processing an image. Across this progression, visual computation has become increasingly adaptive to each input, yet the rules governing that adaptation remain largely prescribed by the trained backbone. We introduce VisionHOPE, the first generic visual backbone formulated as a self-modifying learning system, in which what the model remembers and how it learns co-evolve within an image. Building on the self-referential construction of Nested Learning (NL), VisionHOPE realizes this co-evolution through five coupled memories that store content, generate key and value representations, and govern learning rate and retention. These memories evolve jointly as visual context accumulates along each scan. However, directly applying the unconstrained self-referential update to a visual backbone leads to instability. We therefore derive a stability-matched step-size control scheme that combines a soft cap on self-referential injection with a spectral clamp on the retained memory transition, and prove that the resulting memory dynamics are non-expansive along each scan. For two-dimensional feature maps, we adapt NL's chunk formulation by aligning chunks with image rows and columns across four directional scans. The proposed VisionHOPE achieves competitive results on ImageNet-1K, COCO, and ADE20K, establishing self-modifying learning systems as a practical foundation for general-purpose visual backbones. The code is available at https://github.com/PSRben/VisionHOPE.

Recent advances in Large Language Models (LLMs) have enabled agentic systems capable of solving complex tasks through multi-turn planning, tool use, verification, and memory updates. However, learning agentic systems remains difficult due to two fundamental challenges, i.e., (1) long-horizon credit assignment, where supervision is available only at the final outcome, and (2) imbalanced data distributions, where dominant data patterns bias optimization and weaken adaptation to rare but informative reasoning behaviors. In this paper, we propose Fair Multi-Level Preference Optimization (Fair-MPO or $\Phi$-MPO), a new preference optimization framework for agentic learning. We first show that Multi-Level Preference Optimization provides a principled and more computationally efficient framework for long-horizon reasoning. Then, we introduce a Fair Multi-Level Objective that addresses imbalance in agentic learning. We provide a comprehensive theoretical analysis demonstrating that our approach addresses both long-horizon reasoning and data imbalance. Our experiments on agentic reasoning benchmarks demonstrate that our approach achieves State-of-the-Art (SOTA) performance.

Large Language Models (LLMs) enable us to better understand text documents, including PDFs and Word documents. However, LLMs, as well as more modern LLM agents, i.e., those with tool-calling abilities, typically treat such documents as plain text, ignoring the fact that they are often organized hierarchically into sections and subsections. Extracting this structure, while difficult, can improve efficiency and effectiveness for agents (and humans)—since only sections relevant to a given task need to be processed. Unfortunately, prior work on structure extraction provides no formal guarantees on how well the inferred structure matches the true one. Instead, we target a robust and compact variant that is feasible to infer and useful in practice. Robustness ensures that the text under each subsection header is a superset of the text under the same header in the true structure. Compactness seeks to minimize this superset, reducing agentic cost (or human cognitive load). We propose SHED, a two-stage workflow for inferring a robust and compact structure. The first stage is pluggable with an infinite family of approaches, each guaranteeing robustness for a specific document class. We theoretically characterize the document space using these classes and their hierarchical relationships. Empirically, SHED improves F-1 scores (measuring the robustness–compactness trade-off) by 13%–68% over non-LLM baselines and 9%–15% over expensive LLM-based approaches. Finally, we show how SHED-inferred structures are valuable for agentic document analysis: agents using SHED outperform baselines, achieving 3%–23% higher accuracy while being up to 10x cheaper.

Language agents choose what to remember about a person and how to use that memory. We separate these choices when predicting a person's unseen answer to an interview question. On 1,768 tasks from 188 people, a concrete memory from a verified interview prefix outscores a trait description by 0.0158 (95% interval [0.0044, 0.0271]). Crossing both memories with one-shot generation and three-answer fusion, fusion lowers concrete-memory scores by 0.0123 ([-0.0189, -0.0056]); prompted and trained selectors do not detectably beat a random candidate, and one call on the longer, unrewritten record outscores every memory condition. At matched context budgets, OwnWords, one call on the person's BM25-ranked sentences, outperforms the written memory on 500 people outside the benchmark (+0.0127, [+0.0037, +0.0217]; an earlier held-out test was inconclusive) and across four budgets on 300 people (mean +0.0218, [+0.0138, +0.0298]), but does not detectably outperform recency truncation; these comparisons do not isolate verbatim wording. On a survey benchmark it predicts ordinal answers more closely than the memory but is not more accurate on exact choices (less accurate in one of two screener samples). Interview scores use a model-based content rubric without human ratings, and all benchmark and some confirmation participants were seen during development.

A key challenge in physics diagram understanding is correctly associating visual information with the physical entities, relations, and conditions it describes. Even when a value, symbol, or other local element is accurately recognized, assigning it to the wrong entity or scope can distort the underlying physical premise and lead to incorrect reasoning. To systematically study this challenge, we introduce PhysAlign, a benchmark designed to assess whether multimodal models correctly associate information recognized from physics diagrams with its intended physical role. By disentangling visual recognition from physical-role assignment through localized probes and controlled variants, PhysAlign isolates correspondence errors from recognition failures. It contains 3,341 human-validated probes spanning 986 physics problems, enabling systematic evaluation of visual recognition and physical-role correspondence at scale. We further introduce five complementary evaluation metrics, including CAcc, GAcc, and JAcc, which provide a comprehensive assessment of models' ability to recognize diagram content, establish correct physical correspondences, and solve the underlying physics problem. Across our evaluated multimodal models, PhysAlign reveals a consistent gap between local visual recognition and physical-role grounding. Even when the queried content is correctly recognized, the conditional correspondence error rate remains 13.8% for GPT-6-Astra and rises to about 50.6% for InternVL3.5-8B. These findings indicate that strong perception alone does not ensure reliable physical interpretation, exposing a distinct grounding bottleneck that is largely hidden by answer-level accuracy and highlighting the need for future models to better align recognized visual evidence with its physical meaning.

Underwater image enhancement (UIE) aims to restore visibility, color fidelity, and structural detail from images degraded by wavelength-dependent attenuation and backscatter. State-of-the-art UIE methods often rely on large backbones and dense image-to-image prediction, limiting their practicality for edge deployment. Moreover, operating entirely in a single color space couples degradation estimation with luminance and chroma correction. To address these challenges, we propose PIC-UIE, a lightweight predictor–executor framework that predicts image-adaptive corrections from a fixed $256\times256$ RGB thumbnail and applies them to the native-resolution input in the YCbCr color space. The predictor produces seven outputs, organized into spatial correction, nonlinear luminance and coupled chroma mapping, and image-level color calibration. A depth map regularizes the transmission proxy during training, whereas inference uses only the RGB input. With 9,486 parameters and 0.094 GFLOPs at $256\times256$, PIC-UIE achieves 24.137 dB PSNR and 0.9216 SSIM on UIEB-90 and 21.320 dB PSNR on zero-shot LSUI. It further processes native 4K images at 55.0 FPS under the comparison protocol. These results show that structured correction prediction provides an effective and practical alternative to dense RGB reconstruction for underwater image enhancement.

Tool-augmented large language model (LLM) agents are becoming an important execution unit in service computing, but existing agent loops still lack explicit runtime signals for assessing task completion. The challenge lies in the fact that an agent may continue reasoning or invoking services even after the runtime context has stopped changing, while evidence already collected remains unsynthesized into a complete answer, which leads to inefficiency in resource usage. To address these challenges, this paper presents AgentLoop, which provides runtime control of slot-closed execution loops for tool-augmented agents. Slot closure means that the information slots required by a request have been covered by sufficient runtime evidence, and that unresolved slots are explicitly identified before the loop stops. AgentLoop converts open-ended agent iteration into state-driven execution control: it maintains a compact runtime state, uses model-assisted structured verification to check answer completeness and missing evidence, and applies bounded stability and low-gain signals over neighboring LLM/tool rounds before selecting one of three actions: Continue Invocation, Answer Synthesis, or Terminate Iteration. Experiments show that AgentLoop reduces redundant execution and context growth, with total token cost reduced by up to 88.44% and average service invocations reduced by up to 76.85% against baselines. The ablation study further shows that the slot-centered control path plays a central role, since disabling it increases execution depth and substantially reduces accuracy. Overall, the results suggest that efficient tool-augmented agents can benefit from explicit runtime signals for deciding when further LLM/tool iterations no longer add useful context or supported evidence.

Zero-shot graph models (ZGMs), which learn transferable knowledge from source graphs and directly apply to unseen target graphs without any adaptation, have achieved promising performance and attracted considerable attention. Despite their proliferation, existing ZGMs are predominantly evaluated on clean graphs, while existing graph robustness benchmarks mainly focus on supervised settings, leaving a fundamental question largely unexplored: How robust are ZGMs when their unseen target graphs are exposed to adversarial manipulation? In this paper, we answer this question by proposing ZeroGAR, the first systematic benchmark for evaluating the adversarial robustness of ZGMs. ZeroGAR evaluates 13 representative ZGMs from 3 different paradigms on 8 graph datasets across 4 domains, covering both in-domain and cross-domain transfer under structural, textual, and node injection attacks with multiple perturbation budgets. It further investigates whether existing graph defenses remain effective in the zero-shot setting. Extensive experiments reveal that strong clean zero-shot performance does not guarantee adversarial robustness, with three key findings: (1) Vulnerability patterns are related to model prediction mechanisms: GNN-based methods are particularly vulnerable to structural and node injection attacks, whereas LLM-based methods are more vulnerable to textual attacks; (2) Stronger LLM backbones introduce a structure-text robustness trade-off; (3) Existing graph defense methods do not consistently improve zero-shot robustness and may compromise clean performance. We hope that ZeroGAR will facilitate rapid, equitable evaluation and inspire further innovative research in ZGM security.

One of the most important problems in computational algebra is the computation of real solutions of a polynomial system. Lasserre, Laurent, and Rostalski introduced a numerical method to compute the real radical of an ideal defining a finite set of real points. Their method is based on moment matrices and reduces the problem to solving a semidefinite program. In this work, we build on this method and on the work of Laurent and Mourrain to exploit the sparsity of the input polynomials. For this purpose, we extend the theory of moment matrices to the setting of affine toric varieties. We prove that, for sparse polynomial systems, this approach allows us to recover real points on affine toric varieties. Moreover, we show that a projection of the spectrahedron associated with the semidefinite program is, in fact, a polytope, and we propose a variation of the method to compute only one real solution of the system.

Moving ML-mediated decision making onto privacy-preserving clients decentralises the economic decision along with the inference. Shared budget constraints then depend on information that cannot be globally current, creating an information-structure failure that conventional pacing is not designed to solve. We study this information misalignment in an auction-logic-faithful on-device simulation with 36 campaigns and 50 devices. Accounting is in dimensionless integer score units; no currency semantics are claimed. Across 30 paired demand paths, proportional Even pacing overspends 17.77% after one tick of staleness and 1,669.31% after 50 ticks under the original 20-times budget pressure. The effect does not depend on that severe a budget: at two-times pressure, 50-tick overspend remains 106.95%. A visible-budget no-sale guard makes zero-lag compliance exact at this score-unit granularity, yet leaves 11.88% overspend at one tick because other devices' debits remain invisible. A declared bursty, heterogeneous-device sweep retains a strictly increasing mean lag curve. We derive a finite-window expected excess-debit bound under conditional charge caps and find positive paired slack in every bounded-value cell. A second, incentive misalignment arises when the ML/pacing score transformation is allowed to change payment units: 98.23% of rival auctions at one tick admit a profitable deviation. An executable implementation-level counterexample isolates the runner-up's multiplier in the winner's price. Critical-base-bid payment is per-auction DSIC conditional on current multipliers, but does not establish dynamic truthfulness and does not repair base-value ranking disagreement.

Humanoid robots are increasingly expected to serve as embodied social agents that communicate naturally with humans through face-to-face interaction. During such communication, humanoid robots require body behaviors that are synchronized with speech, affectively expressive, and suitable for real-time execution. However, existing co-speech methods are primarily developed for digital humans and lack joint support for affective control and low-latency continuous generation on physical embodiments. To bridge this gap, we present SocialHumanoid, a system for expressive humanoid behavior via one-step co-speech motion generation. Given response speech and a specified affective condition, SocialHumanoid generates each full-body motion window in a single forward pass and connects successive windows through motion-history conditioning. The generated human motion is further converted online into embodiment-compatible robot references and tracked by a whole-body controller for physical execution. To provide explicit supervision for affective body expression, we further introduce AffectMoCap, a 4-hour dataset captured from two professional actors, containing synchronized speech, body motion, fine-grained hand motion, and emotion annotations. On BEAT2, SocialHumanoid achieves the best FGD among the compared generation methods, competitive speech-motion synchrony, and approximately $6\times$ faster inference than GestureLSM under the same protocol. Perceptual evaluations further show that training with AffectMoCap improves affect recognition from generated body motion, while real-robot experiments demonstrate continuous affect-conditioned behavior and stable long-horizon execution. Our project page is https://rex0191.github.io/SocialHumanoid/.

Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site perturbations on heavy platforms with lower-body engagement largely unaddressed. We close this gap with CompliantWBC comprising: (1) A base policy trained with RL to maximize compliance-fidelity reward, guided by a multi-site whole-body impedance reference controller, extending classical Cartesian impedance to any controlled link; (2) A bounded residual policy that edits the per-link impedance equilibrium over a frozen base, correcting the coarse but structured wrench estimate supplied by a force encoder co-trained behind a gradient barrier; (3) A Phong-weighted force-origin sampler with an axis-decoupled pelvis anchor induces lower-body-inclusive compliance curriculum training via two interpretable parameters. We evaluate CompliantWBC in simulation against both compliant and stiff baselines, achieving best compliant fidelity of 2.58cm deviation from analytical solutions, and demonstrate it on a real heavy humanoid across static/dynamic force reaction, board wiping, squat under payload, and cooperative payload transport. Project website: https://dotandung.github.io/compliantwbc/

Carpet-bombing DDoS attacks spread traffic almost uniformly across a destination prefix, keeping each host below alarm thresholds while exhausting prefix-level resources; spoofed sources make source-side evidence unreliable. Existing detectors either decide on windows of seconds, alarming only at window boundaries, or depend on supervised training, so short attacks often end before the first alarm. We present SweepSketch, a destination-anchored, per-packet sketch detector that keeps no source-side state, needs no training, and alarms while the attack is still in progress. Its core is a tagged self-cleaning windowed HyperLogLog (T-HLL) that turns uniformity testing into one event per distinct destination per window; per-packet cumulative-sum (CUSUM) decisions and dual exponentially weighted moving average (EWMA) gates form the decision chain. The reference state occupies 512 KB, and a bit-exact C++ implementation reaches 13.2 Mpps per core. On attacks lasting only 0.5 s, it raises its first alarm before the attack ends in 95.6% of attacks; on real captures, 49.3% alarm within the first second; static and mixed-traffic F1 both reach 0.991. SweepSketch is deployed in two hardware forms: a Tofino2 program carries the complete per-packet state chain and places the final gates on the control plane, while a DPU micro-engine keeps the entire decision chain in the fast path.

Current Transformer-based tracking methods typically stack multiple Transformer blocks with separate parameters to model interactions between the target template and the search region for target localization. These trackers often incur substantial parameter overhead from stacked blocks, making their deployment on resource-limited devices difficult. To address this, we propose a parameter-efficient Transformer tracking framework, dubbed LoopTrack, which repeatedly applies a set of Transformer blocks with shared parameters to interact features in a looped architecture for tracking, significantly reducing the number of parameters. To further exploit target cues, we present two lightweight designs, including target-aware looping (TAL) and gated target memory (GTM). The former applies intermediate target information generated by one loop to guide feature interaction in the subsequent loop, enabling progressive feature refinement, while the latter maintains a compact memory across frames, which is incorporated into the loop process to provide long-term information to the tracker, mitigating temporal drift in tracking. Compared to existing Transformer trackers, LoopTrack enables multiple rounds of feature interaction with fewer model parameters, making it resource-friendly for deployment. In extensive experiments on multiple datasets, LoopTrack shows a favorable accuracy-parameter trade-off. In particular, our LoopTrack$_{\rm One}$, with a single shared Transformer block, achieves 66.2% SUC score on LaSOT with only 3.4M parameters, while LoopTrack$_{\rm Three}$, using three shared blocks, achieves 69.3% SUC score with 6.4M parameters, surpassing existing parameter-efficient tracking methods with comparable or larger model size. With LoopTrack, we aim to establish a simple yet strong baseline for parameter-efficient Transformer tracking. Our code and models will be released.