Papers

This paper presents a comprehensive comparison of four representative reinforcement learning (RL) methods in autonomous vehicle (AV) decision-making, including: Fitted Value Iteration (FVI), Rollout Classification Policy Iteration (RCPI), Deep Q-Network (DQN), and a discrete-action adaptation of Deep Deterministic Policy Gradient (D-DDPG). The four methods are applied to the same AV decision-making problem at an unsignalized intersection and are compared in terms of optimality and safety, training stability, and training and decision cost. RCPI is the closest to a reference solution and has the most stable training process. However, it is the least data-efficient. D-DDPG reaches the second-smallest gap to a reference solution with the highest data efficiency, but has the least training stability. DQN is the most stable model-free method but has the highest collision rate. FVI achieves a lower collision rate than DQN, but is less data-efficient and less stable. Based on these results, we provide suggestions for selecting a method according to whether a model is available, the budget for training, and whether stable training is required.

Legal reasoning is a fundamental capability for large language models (LLMs) to complete legal AI tasks such as legal judgment prediction. In legal practice, this reasoning is shaped by legal philosophy: a judge's view of the nature and sources of law guides how legal materials are interpreted and applied, so judges working from the same statutes and precedents can reach different judgments. Existing research has largely overlooked whether LLMs can understand legal philosophy and apply it in legal reasoning, an ability we call legal-philosophical reasoning. To fill this gap, we introduce LePhilBench, a benchmark for evaluating the legal-philosophical reasoning of LLMs that comprises two benchmarking tasks and a dataset. The two tasks evaluate how well LLMs understand legal philosophy and how well they apply it in legal reasoning, respectively. The dataset is manually and meticulously constructed. Its test set contains 220 U.S. Supreme Court opinions. A law professor designed fourteen annotation questions on legal philosophy, and three law-trained annotators with formal training in jurisprudence answered all fourteen questions for every opinion, yielding 9,240 legal-philosophical labels. LePhilBench takes the first step toward exploring legal-philosophical reasoning in LLMs.

Agentic capabilities are increasingly important for modern LLMs, yet remain difficult to evaluate during pretraining. Existing approaches typically rely on static trajectory-derived tasks or likelihood-based proxies, which are lightweight but provide limited visibility into how base models behave in interactive environments. We introduce ASAP (Agent Scaffold Adaptation for Pretraining Evaluation), a lightweight framework for eliciting and evaluating agentic behavior from pretrained base models on end-to-end tasks. Rather than converting base models into chat-style agents, ASAP preserves the completion interface and adapts existing agent scaffolds through structured trajectory continuation, short reference prefixes, and minimal recovery mechanisms. Across software-engineering and deep-research benchmarks, ASAP yields discriminative end-to-end performance across base models and pretraining checkpoints. Beyond aggregate scores, ASAP exposes model-generated execution trajectories, enabling analysis of exploration, editing, testing, recovery, and task completion across training stages. These trajectories provide a behavioral view of how agent-relevant capabilities change during pretraining and how execution patterns differ after post-training. Our results suggest that end-to-end agent evaluation can complement conventional pretraining benchmarks by providing a practical diagnostic of interactive model behavior.

LLM system capabilities depend not only on model parameters but also on the executable harnesses that organize information acquisition, tool use, reasoning, and memory. Recursive harness evolution can automate their design, but how it can reliably discover generalizable systems from limited, noisy, and repeatedly reused feedback remains unclear. We study this question in agentic video understanding, where rich multimodal evidence and coupled mechanisms make harness optimization challenging. We first introduce VideoHarness-BRSI, a recursive self-improvement framework that evolves video harnesses around a frozen vision-language model. Analyzing over 4,000 evolved candidates, we find it competitive with hand-engineered systems but identify three interconnected failure modes: validation overfitting, search-budget dilution, and the early-experience trap. We trace all three to a common root: the same imperfect validation evidence drives both harness revisions and the proposer's search strategy. We therefore propose VideoHarness-SRSI, an evidence-governed framework in which every search decision rests on evidence that is transferable, sufficient, and gathered before the search commits. It restricts the proposer to content-free feedback, informs exploration with instrumented warm-up experiments, and develops mechanisms in isolated probe-race branches before factorial composition and joint refinement. Across four video understanding benchmarks, VideoHarness-SRSI improves the equally weighted mean held-out score by 6.2% relative to VideoHarness-BRSI and reduces the mean validation-test gap by 37.9%. Reliable harness evolution thus depends on how search is organized and informed, not only on how well it optimizes validation performance.

Configuring distributed LLM training across hundreds of GPUs requires jointly optimizing tensor, pipeline, expert, context, and data parallelism alongside micro-batch size, recomputation, sharding, and overlap, a combinatorial space where memory legality can hinge on a single byte of activation accounting. Today, teams navigate it through expensive multi-node trial and error, burning GPU-hours on crashes and suboptimal recipes. We present Primus Projection, which closes this loop with two coupled components. First, a hybrid projection engine that measures what it can and simulates what it cannot: GPU microbenchmarks on as few as a single device capture compute kernels and any in-scope communication; a sub-node downscale-measure-upscale workflow analytically restores out-of-scope collectives, FSDP overlap, and the full pipeline schedule at the multi-node target. A pure simulation mode runs entirely on CPU, enabling pre-silicon planning without any GPU. Second, the Primus Tuning Agent treats the projection engine as a fast scoring oracle (seconds per candidate instead of tens of minutes) and uses it to drive an intelligent search over the configuration space. A deterministic seed planner sweeps single axes; an LLM investigation loop proposes cross-axis combinations the planner cannot reach, with an analytic memory pre-filter that rejects infeasible candidates before any GPU time is spent. Validated on Llama 3.1 (dense) and Mixtral 8x22B (MoE) across two GPU generations, all projections stay within ~10% of measured multi-node throughput, and fidelity holds at production scale: 4.7% error on DeepSeek V3 671B at 1,024 GPUs and 1.9% on Qwen3-235B-A22B at 256 GPUs. In a Mixtral 8x22B case study, the Primus Tuning Agent discovers a configuration delivering +27% throughput over the published 4-node BF16 reference at the same scale, in under 30 minutes of single-node exploration.

Large language model (LLM) agents accomplish complex tasks through multi-turn interactions with external tools. However, malicious content embedded in user queries, tool descriptions, or environment observations can manipulate their decisions and induce unsafe actions. Adversarial co-evolution has emerged as an effective approach to strengthening LLM safety, but existing work primarily focuses on language-level safety or indirect prompt injection in web tasks. In this paper, we introduce AgentSafeEvo, a co-evolutionary reinforcement learning framework for agent safety built on an attacker-defender game spanning diverse tasks and attack types. The attacker learns to construct adversarial agent tasks that expose weaknesses in the defender's tool use, while the defender learns to complete tasks safely under these attacks. We further introduce learnability-guided task weighting, which uses within-task defender-reward variability to adjust each task's contribution to attacker and defender updates. Extensive experiments on agent safety and general capability benchmarks demonstrate that our method improves adversarial robustness while maintaining general agent capabilities.

Simulated environments enable scalable training data generation for embodied agents, but more data does not necessarily provide what a particular agent needs to learn. Existing environment-generation pipelines largely optimize generic properties such as realism, diversity, or task coverage, while different pretrained policies can fail for different environmental reasons. We therefore introduce WEDGE, a framework for weakness-guided navigation learning in which the failure modes of a pretrained agent guide the generation of training environments at each adaptation round. Given a pretrained policy, WEDGE uses an LLM to propose executable weakness features from contrasting successful and failed rollouts, automatically validates them on the diagnostic set, and selects the strongest validated weakness based on its success-rate gap. The validated weaknesses are then mapped to the environmental factors that control them. WEDGE varies these factors to construct environments in the difficulty regimes where the policy struggles, producing targeted training experience for adaptation. Across three navigation agents with different adaptation mechanisms, we find that policies exhibit distinct weakness profiles and benefit from different training environments. Weakness-conditioned adaptation consistently outperforms matched random and hard-example alternatives on ProcTHOR, while the resulting gains for Uni-NaVid and Gemini also extend to HM3D after ProcTHOR adaptation. Iterative re-diagnosis further shows that dominant weaknesses can persist or shift as the policy improves, providing updated guidance for subsequent environment construction. Together, these results show that policy failures are not only diagnostic signals, but actionable guidance for constructing training environments that target a policy's current weaknesses.

MLLM-based detectors formulate vision-language grounding as autoregressive coordinate generation, yet in dense scenes, they often collapse into a box repetition loop, repeatedly emitting identical boxes until the decoding budget is exhausted. We trace this failure to historical-answer attention takeover: Under full-history autoregression, repeated coordinate tokens in the growing answer history attract disproportionate attention, crowding out the attention sinks needed to attend to new visual evidence. % To break this loop, in this paper, we propose Compressed Window Auto-Regression (WinAR). This new mechanism partitions a long answer sequence into consecutive generation windows and restricts full token-level autoregression to the current window only while compressing each previous window into a fixed set of latent tokens that condition subsequent decoding. This design reduces the repeated exposure to raw historical coordinates that triggers the attention takeover, yet preserves cross-window dependencies essential for coherent multi-object generation. On RSDense, which contains 200-2,000 objects per image, our model WinARDet improves RexOmni F1-score (IoU=0.5) from 32.16 to 39.36 over the baseline, while reducing the redundancy rate from 35.48% to 13.00%. WinARDet also generalizes across decoding strategies and output formats, including parallel box decoding and polygon generation, providing a practical paradigm for long-horizon vision-language grounding across scene densities.

We provide a distributed online algorithm for multi-agent submodular coordination in bandit environments, i.e., environments whose evolution is unknown a priori and may even adapt to the agents' actions. We are motivated by multi-robot tasks such as target tracking, where the optimal actions change over time and the agents must track them rather than a single fixed optimum. To address such problems, we provide the Optimistic Distributed Online Greedy (O-DOG) algorithm, that leverages predictions about the environment's behavior and improves regret guarantees. The agents select actions simultaneously over arbitrary, possibly time-varying, network topologies, and each agent acts optimistically, i.e., leveraging predictions of its upcoming rewards, e.g., from forecasts of the targets' motion and of its neighbors' actions. We bound O-DOG's tracking regret in terms of the agents' prediction error and the bound never exceeds its prediction-free counterpart. Particularly, it is sublinear even when the optimal action changes at every time step, provided the predictions are accurate enough. We further quantify the suboptimality due to decentralization as a function of the network structure, and show that accurate predictions accelerate convergence. We validate O-DOG in simulated multi-robot target tracking.

We introduce FormCraft, a framework for representing acquired operations as first-class capabilities that can be recursively composed, directly invoked, and selectively retained in a persistent library through domain-specific verification. The framework separates capability well-formedness and public callability from later admission to persistent storage while preserving formation provenance and operational identity. We formalize recursive compositional closure over a uniform capability space and show that formed composites can be reused through the same public interface without re-forming their historical derivation. Experiments across continuous, discrete, propositional, and sequence domains demonstrate instance-independent reuse, independent checking, persistent acquisition, and reduced reuse-time search work under first-class exposure.

Virtual reality training for robot-assisted vascular intervention requires accurate robotic control and effective feedback on guidewire–vessel interactions. This paper presents a VR training system combining asynchronous dual-mode command mapping with sensorless interaction estimation. The system supports velocity-controlled navigation and position-driven incremental manipulation. Guidewire deformation and a Hunt–Crossley-type contact response are combined and temporally filtered to estimate interaction intensity, while trajectory-based visualization supports post-procedure review. Tests confirmed distinct command-dispatch patterns across three velocity gears and the position mode. During hybrid-scene navigation, the estimated response remained low during straight insertion and increased as the guidewire bent within the vascular model. Trajectory analysis yielded a model-derived cumulative trauma work (CTW) value of 15.166 in normalized units and localized regions of elevated interaction. In a preliminary study with 15 novices, physical-phantom task success increased from 53.3% to 93.3% after VR training, while mean completion time decreased from 132.4 s to 96.7 s. These results demonstrate the system's dual-mode operation, deformation-sensitive feedback, and potential to improve subsequent physical-phantom task performance.

A major challenge in wearable device activity recognition is the heterogeneity across datasets in sensor placement, channel count, sampling rate and subjects. Moreover, the motion patterns that distinguish activities often appear as subtle, scale-specific variations within otherwise similar waveforms. As a result, raw signals are often ambiguous, and models trained on them tend to rely on cues specific to a particular sensor setup or participant, which limits both cross-dataset transfer and generalization to unseen participants. Addressing this requires representations that preserve such activity-relevant, scale-specific variation. We introduce W-JEPA, a self-supervised framework that exploits the multiscale structure of inertial motion and leverages a joint-embedding predictive architecture, by organizing windows into a fixed grid of wavelet tokens indexed by scale, sensor axis, and time. These wavelet tokens help expose activity-specific detail within broadly similar raw signals, and serve as the units of masked latent prediction. W-JEPA predicts masked token representations supplied by an exponential-moving-average (EMA) target encoder. Because recovering a masked token requires relating motion at one scale and axis to motion at other scales and axes, the model learns the cross-scale, cross-axis structure of human movement. Across six wearable activity benchmarks, W-JEPA outperforms state-of-the-art methods under random-window splits and remains the strongest when subjects are held out, improving average macro-F1 by 8.7 percentage points over the strongest published baseline. These results indicate that physically grounded multiscale tokenization, combined together with latent predictive learning, provides a promising foundation for transferable representations of heterogeneous wearable inertial data.

In this paper, we construct normalized periodic kernels from univariate functions satisfying suitable moment conditions and derive sufficient conditions for high-order convolution approximation. Two computable quasi-interpolation schemes are obtained by discretizing the convolution integral using either a full tensor grid or random samples. In each case, the analysis separates the continuous convolution error from the error introduced by discretization. The contribution of kernel energy to the error exposes the dimensional dependence of tensor-product kernels and motivates our weight-adapted ANOVA constructions. Under suitable summability conditions on the weights, we establish convolution error and kernel energy estimates that yield dimension-uniform error bounds for the resulting quasi-interpolants. Numerical experiments corroborate the theoretical convergence rates and illustrate the effect of coordinate weighting on dimensional dependence.

Diffusion large language models (dLLMs) have advanced rapidly, yet strengthening their reasoning through reinforcement learning (RL) remains an open challenge. Any-order generation can suffer from entropy degradation, which narrows the reasoning paths available for exploration. Recent work mitigates this issue by applying standard GRPO with left-to-right generation. However, independently generating every rollout from the input prompt can leave alternative continuations from intermediate states underexplored, while trajectory-level advantages assign uniform credit to all tokens without distinguishing the contributions of individual reasoning segments. We propose ForkGRPO, an RL framework that couples efficient exploration with fine-grained segment-level credit assignment. It samples multiple continuations from high-entropy intermediate states along a reference trajectory, prioritizing textual boundaries and reusing shared prefixes. The continuations provide complementary learning signals: within-state group-relative advantages guide which continuations to reinforce, while Monte Carlo state-value differences indicate which reasoning segments improve expected outcomes. Among the evaluated architecture-preserving RL methods, ForkGRPO achieves the best performance on three of four benchmarks, while improving over the directly comparable JustGRPO by up to 1.2 percentage points and using up to 27.8% fewer generated tokens. ForkGRPO-Fast further achieves a $2.49\times$ training wall-clock speedup with negligible accuracy loss.

Vision-language models must reconcile conflicting text and images. Prior work has characterized the resulting behavior in terms of modality biases–e.g., a "blind faith in text"–but why preferences vary across models, domains, and input conditions remains unclear. We develop a predictive account from a Bayesian perspective, positing that VLMs combine conditionally independent evidence from each modality with prior beliefs, subject to modality-specific biases. The resulting two-parameter cue combination model accurately predicts VLM preferences under unseen combinations of input degradation and transfers to new forms of unreliability without refitting. Separating evidence strength from integration bias explains how VLMs can follow text even while weighting visual evidence more heavily, reconciling reports of text and vision dominance under a single combination rule.

Large Language Model (LLM) serving systems must balance latency and throughput while efficiently utilizing distributed GPU resources. This challenge arises because inference consists of two fundamentally different phases: prefill, which determines time-to-first-token (TTFT), and decode, which determines inter-token latency (ITL). The use of tensor parallelism (TP), pipeline parallelism (PP), and hybrid configurations exposes different trade-offs between these latency dimensions, making the optimal parallelism configuration highly dependent on workload characteristics, latency requirements, and context length. Moreover, despite the widespread adoption of distributed inference, there is still limited understanding of how parallelism configurations should be selected under varying workload conditions and service-level objectives (SLO). In this paper, we develop a systematic framework for characterizing LLM inference parallelism via throughput-latency trade-offs, SLO-aware serving, and long-context scalability. We introduce the notion of parallelism operating regions by constructing TTFT-ITL feasible sets and Pareto frontiers across different workload compositions, thereby revealing a systematic transition from TP-dominant to PP-dominant configurations as workloads become increasingly prefill-heavy. We further formulate SLO-aware parallelism selection using goodput, showing that stringent TTFT requirements favor PP-dominated configurations, whereas relaxed latency constraints progressively shift the optimality toward TP-dominated configurations with higher serving capacity. Finally, we demonstrate that increasing context length fundamentally changes the relative advantages of parallelism configurations, with PP-dominant configurations exhibiting more favorable scalability and SLO attainment in the long-context regime.

Reticular chemistry allows metal-organic frameworks (MOFs) to be designed from their building units, yet their synthesis remains constrained by sparse experimental data, noisy crystallization outcomes, and the absence of benchmarks for comparing active-learning strategies. While data-driven approaches such as Bayesian optimization (BO) can improve synthesis success rates, selecting appropriate optimizers beforehand for mapping MOF crystallization landscapes remains largely empirical. Here we present ActMOF, an experiment-grounded benchmark for comparing search strategies in aluminum-carboxylate MOF synthesis. ActMOF is emulated from experimentally measured microwave syntheses with each encoded condition assigned a crystallinity index calculated based on diffraction peak intensity and full width at half-maximum. By benchmarking policies guided by Gaussian processes (GP), tree ensembles and large language models (LLM), ActMOF placed the GP family among the leading policies for active learning in sparse synthesis landscapes. It then demonstrated transferability by guiding the microwave synthesis of six reticularly related aluminum MOFs. All six campaigns gave crystalline products within a fixed budget of 12 experiments each, and established a reusable testbed for AI-driven MOF synthesis.

Discrete multi-group pipe routers place channels on a grid or coarse graph. The resulting centerlines are topologically feasible but typically contain many axis-aligned corners. For permanently occupied fluid tubes—as in additively manufactured hydraulic manifolds—those corners are undesirable: they degrade geometric fairness and, in practice, flow quality. This technical report studies the downstream geometric stage that starts from a fixed routing topology and a feasible coarse layout, and refines tubular centerlines under permanent clearance. Unlike classical robotic path smoothing, which usually fair one temporary open trajectory, our setting is a branched manifold with declared terminal usages, finite tube radii, and static cross-group occupancy. We formalize the refinement problem, highlight the multi-usage junction conflict that a single shared branch point cannot resolve, and outline a hybrid trunk-share / junction-split parameterization with soft geometric costs and hard clearance acceptance. On a multi-group suite ($8$ groups $\times$ $8$ terminals, $r{=}2$) with capsule clearance, the refine reaches full hard-accept success, $\kappa r\lesssim 1$, and about a $95\%$ relative drop in the soft objective. Physics-based pressure-drop optimization is intentionally deferred to a later PDE stage; here the objective remains geometric.

As large, powerful pre-trained models become more prevalent, there is growing interest in developing methods that allow different neural networks to be seamlessly combined with little or no direct communication between them. Take autoencoder-based data compression as an example: the ability to independently choose architectures and train encoder and decoder models, while still ensuring they work together, could fundamentally transform how such models are built, deployed, and updated. In this work, we introduce a novel approach that leverages topological regularization to align the latent spaces of two independently trained autoencoder models, entirely eliminating the need for coordination during training. We provide a conditional theoretical analysis showing how the structural agreement encouraged by our regularizer can translate into approximate geometric compatibility between independently learned representations. Reconstruction experiments validate this approach empirically, substantially narrowing the interoperability gap across multiple datasets.

Korean neologisms arise through diverse mechanisms, a demanding test of language models beyond lexical memorization. To enable systematic evaluation, we introduce NeoTrace, an automated, rerunnable framework that collects and dates neologisms across genres. Its 4,271 entries support KoAGE, a cutoff-aware benchmark with three acquisition and two generation tasks—the latter, to our knowledge, the first to compare model coinages with attested neologisms under their original materials and community context. Across 21 models, lexical recall diverges from contextual inference: in a five-model temporal analysis, models define only 13-30% of cutoff-year words, yet can infer meaning from one usage. However, structural understanding remains limited: even correct definitions barely improve formation analysis of pre-cutoff neologisms. Given word-building materials, single models often follow human formation mechanisms, whereas multi-agent coinage favors abbreviation and depends on interaction framing. KoAGE thus separates what models know, learn from use, and coin.

Iterative retrieval-augmented generation (RAG) accumulates knowledge from retrieved evidence to answer complex questions, but existing methods struggle to reconstruct entity correspondences and inferential dependencies across retrieved passages as new information emerges. We propose RCER, an iterative RAG method that reconstructs these cross-evidence relations directly from accumulated source passages. Inter-round relational evidence acquisition identifies entity correspondences and relational dependencies to drive dynamic problem decomposition and iterative retrieval. Reasoning context reconstruction independently constructs a coherent reasoning context through joint selection of complementary passages and derivation of cross-evidence inferences. Cross-evidence compositional reasoning leverages these inferences to establish entity correspondences and compose relations across selected passages for answer derivation. Experiments show that RCER outperforms the best baselines by 2.83 EM and 3.06 F1 points on average across three multi-hop QA benchmarks and achieves superior performance on narrative and implicit reasoning tasks.

Long-horizon agentic RL is constrained by the futures visited by the current policy. When rollouts fail to reach useful behaviors, improved credit assignment cannot provide supervision for states and actions that were never encountered. On-policy distillation (OPD) introduces teacher guidance on policy-induced states, and recent multi-turn variants improve how this guidance is scheduled, replayed, refined, or validated. However, they do not directly use the oracle-controlled future itself as the training trajectory. We introduce State-Rooted Executable Rollout Optimization (SERO), which augments on-policy agentic RL with executable oracle continuations. SERO restores a state actually reached by the current policy and lets a training-only oracle continue interacting with the real environment, making the downstream observations and oracle actions themselves available for learning. It then applies policy-reachability weighting, which weights each oracle step by the frozen behavior policy's compatibility with the preceding oracle actions. This allows deeper supervision to become effective as the policy becomes more compatible with the oracle branch. The oracle loss is optimized separately from the base RL estimator and no oracle is used at inference time. We evaluate SERO on two challenging interactive-agent benchmarks, ALFWorld and WebShop, using Qwen2.5-1.5B-Instruct and Qwen2.5-7B-Instruct. On ALFWorld, learning the full executable continuation is substantially more effective than supervising only the root oracle action, while policy-reachability weighting further improves out-of-distribution performance.

Infectious disease outbreaks often spread rapidly before signs of widespread transmission become apparent, leaving a big challenge for rapid response and effective intervention. However, current infectious-disease early-warning systems face three major challenges: fragmented epidemiological evidence across diverse surveillance sources, highly uneven data availability across diseases and geographic regions, and delayed warning procedure caused by manual data collection, analysis, and reporting. To address these challenges, we present EpiGuard, an autonomous, continually self-improving agentic platform for timely and reliable early warning of more than 50 infectious diseases across different regions. EpiGuard proactively monitors and captures newly released official surveillance records, using the latest available evidence for risk assessments. It dynamically adjusts its analytical strategy across three evidence availability regimes, enabling reliable risk assessment under diverse data conditions, ranging from the absence of historical observations to sparse and abundant evidence. Moreover, EpiGuard learns from the successful execution process by preserving effective data-acquisition and analytical procedures as reusable standard operating procedures, enabling it to progressively generalize to previously unseen diseases and regions. We use officially released infectious-disease surveillance data from the China CDC and the United States CDC to evaluate EpiGuard's effectiveness. Experimental results demonstrate that EpiGuard outperforms state-of-the-art forecasting systems, improving forecasting performance by 9.68% and 14.04% on the China CDC and U.S. CDC datasets, respectively.

Robotic vascular intervention can reduce radiation exposure to physicians and improve manipulation stability, but effective guidance remains challenging because conventional fluoroscopic images provide limited spatial information. This paper developed a vascular intervention interactive system that connects a real robotic master controller with the SOFA(Simulation Open Framework Architecture) physical simulation platform and reused successful operation trajectories as visual guidance in physical phantom experiments. Experiments were conducted to validate the master-to-SOFA control loop and to compare three guidance conditions: no guidance, centerline guidance, and successful-trajectory guidance. The control validation results showed reliable command delivery under velocity-mode operation. In the physical phantom experiment, centerline guidance showed no obvious improvement over no guidance. In contrast, successful trajectory guidance provided a clear performance benefit. Compared with the no-guidance condition, it reduced task completion time, collision number, rollback number, and rotation number by approximately 66.8%, 34.3%, 55.6%, and 66.7%, respectively. These results indicate that successful trajectories obtained under instrument-vessel interaction can provide practical guidance cues, offering a simple and effective visual assistance strategy for robotic vascular intervention experiments.

Next-location prediction can support proactive mobile-network decisions, but acting on unreliable predictions can waste resources. We apply MetaModelSelect, a lightweight post-hoc confidence metamodel, to selective cellular next-location prediction. The mobility-specific model combines a learned embedding of the predicted location with the four largest softmax probabilities and Softmax Concentration. It learns whether a frozen recurrent neural network's top-1 prediction is correct, using only its outputs and without retraining the backbone. On path-balanced Changchun cellular mobility trajectories, we evaluate backbones trained with cross-entropy (CE) and self-adaptive training plus entropy minimization (SAT+EM), comparing against eight scalar confidence scores, two location-aware lookup methods, and a raw-logit multilayer perceptron. Relative to maximum softmax probability, MetaModelSelect achieves mean per-run reductions in area under the risk–coverage curve (AURC), excess AURC (E-AURC), and area under the generalized risk–coverage curve (AUGRC) of 2.6%, 4.2%, and 3.0% for CE, and 2.0%, 3.3%, and 1.9% for SAT+EM. It also achieves the lowest reported mean risk at every evaluated partial coverage. The results show that MetaModelSelect improves confidence ranking in this mobility setting while leaving the underlying location predictor unchanged.

Whole-body control plays a crucial role in enabling humanoid robots to execute expressive motions. Faithful execution requires preserving both the intended action and its expressive characteristics. Existing whole-body trackers typically balance joint and keypoint tracking with physical stability across diverse motions, but these objectives do not necessarily prioritize the expressive characteristics of each action. Our analysis shows that lower average positional tracking error does not guarantee better preservation of dynamic and postural motion characteristics. To address this gap, we propose a residual learning framework with compensation objectives targeting amplitude, energy, body expansion, body lean, and pelvis height. To concentrate compensation while limiting interference with the underlying tracking behavior, motion-aware gating allocates correction capacity according to body-part activity, preserving larger correction ranges in more active parts and restricting them elsewhere. For each frozen tracker, we train motion-specific residual policies and distill them into a unified policy shared across motion categories. Simulation and physical experiments on the Unitree G1 across eight motion categories demonstrate superior preservation of dynamic and postural motion characteristics compared with the corresponding baselines.

We study continuous global optimization problems in which the objective function cannot be directly evaluated; rather, we observe only which of two selected design points appears to perform better, subject to noise. Such comparisons complicate the use of Gaussian process regression because they yield non-Gaussian posteriors. We consider a fully sequential approximation, based on moment-matching, that yields a fast closed-form update of the metamodel's mean and covariance. We then propose DOVE, a fully sequential sampling policy that combines an information gain criterion with randomized sampling designed to control error accumulation. Under fairly standard regularity conditions, we prove convergence rates for both statistical error and expected simple regret that depend on kernel smoothness. To our knowledge, these are the first such rates for fully sequential approximate Bayesian inference in continuous global optimization.

In this paper, we present a novel multiscale formulation for the Optimal Transport (OT) of large swarms. The scheme is divided in two levels, a top-level OT formulation with a terminal penalty cost to handle time-varying densities, and a low-level, Model Predictive Controller (MPC) that allows agents to track the nominal velocity under control affine dynamics and rejects external disturbances. We show that the terminal-penalty dynamic formulation reduces to a regularized static dual, which agents solve in a distributed way to compute the nominal velocity.We also prove distributional input-to-state stability in the $1$-Wasserstein metric of the density flow with respect to the mismatch that the low-level and the target motion introduce, so that the tracking error only perturbs the macroscopic flow by a bounded, quantifiable amount. Finally, we demonstrate via simulations the effectiveness of the proposed method handling time-varying targets and state perturbations.

Massively multilingual speech modeling has made remarkable progress in recent years, yet existing training resources and benchmarks still underrepresent much of the linguistic long tail. To address this gap, we introduce ELARSpeech, a large-scale multilingual speech resource comprising 30,202 hours of speech across 675 underrepresented languages, curated from the Endangered Languages Archive. Combining human-annotated and unlabeled recordings, the corpus spans diverse recording conditions, domains, and language families. Beyond corpus construction, our experiments show how ELARSpeech supports extending ASR and TTS capabilities to diverse underrepresented languages, with further benefits from pseudo-labeling unlabeled data. At the same time, our speech representation analysis reveals remaining limitations in transferring existing multilingual models to the linguistic long tail. Together, ELARSpeech provides both a resource and a testbed for extending multilingual speech technology further into the linguistic long tail. We publicly release the dataset, all trained ASR and TTS models, and the complete data construction pipeline to facilitate research on long-tail multilingual speech technologies.

Identification and ranking of salient propositions in documents is indirectly involved in many AI tasks, but few papers define proposition salience scores clearly, make diverse data available, or evaluate models directly on the task. This paper proposes PROPALIGN, a multiple-summary-based approach for propositional salience score estimation, and releases PROPALIGNBANK, an accompanying dataset for the method with 138K alignments of over 35K propositions. We compare several approaches to salient proposition extraction in English across a broad range of spoken and written genres, and demonstrate that naively asking models for judgments leads to inconsistencies. By contrast, graded, summary-based metrics are more stable. We further observe that while single models perform worse than humans, an ensemble of models incorporating linguistic features approaches manual annotation quality ceilings. In addition, analyses of the model outputs suggest insights into how models can extract salient information with and without the use of summaries.