Daily Papers

Graph neural networks that model 3D data, such as point clouds or atoms, are typically desired to be SO(3) equivariant, i.e., equivariant to 3D rotations. Unfortunately equivariant convolutions, which are a fundamental operation for equivariant networks, increase significantly in computational complexity as higher-order tensors are used. In this paper, we address this issue by reducing the SO(3) convolutions or tensor products to mathematically equivalent convolutions in SO(2) . This is accomplished by aligning the node embeddings' primary axis with the edge vectors, which sparsifies the tensor product and reduces the computational complexity from O(L^6) to O(L^3), where L is the degree of the representation. We demonstrate the potential implications of this improvement by proposing the Equivariant Spherical Channel Network (eSCN), a graph neural network utilizing our novel approach to equivariant convolutions, which achieves state-of-the-art results on the large-scale OC-20 and OC-22 datasets.

We address the problem of 3D rotation equivariance in convolutional neural networks. 3D rotations have been a challenging nuisance in 3D classification tasks requiring higher capacity and extended data augmentation in order to tackle it. We model 3D data with multi-valued spherical functions and we propose a novel spherical convolutional network that implements exact convolutions on the sphere by realizing them in the spherical harmonic domain. Resulting filters have local symmetry and are localized by enforcing smooth spectra. We apply a novel pooling on the spectral domain and our operations are independent of the underlying spherical resolution throughout the network. We show that networks with much lower capacity and without requiring data augmentation can exhibit performance comparable to the state of the art in standard retrieval and classification benchmarks.

We consider the task of predicting Hamiltonian matrices to accelerate electronic structure calculations, which plays an important role in physics, chemistry, and materials science. Motivated by the inherent relationship between the off-diagonal blocks of the Hamiltonian matrix and the SO(2) local frame, we propose a novel and efficient network, called QHNetV2, that achieves global SO(3) equivariance without the costly SO(3) Clebsch-Gordan tensor products. This is achieved by introducing a set of new efficient and powerful SO(2)-equivariant operations and performing all off-diagonal feature updates and message passing within SO(2) local frames, thereby eliminating the need of SO(3) tensor products. Moreover, a continuous SO(2) tensor product is performed within the SO(2) local frame at each node to fuse node features, mimicking the symmetric contraction operation. Extensive experiments on the large QH9 and MD17 datasets demonstrate that our model achieves superior performance across a wide range of molecular structures and trajectories, highlighting its strong generalization capability. The proposed SO(2) operations on SO(2) local frames offer a promising direction for scalable and symmetry-aware learning of electronic structures. Our code will be released as part of the AIRS library https://github.com/divelab/AIRS.

Machine-learning interatomic potentials now approach quantum-mechanical accuracy on standard benchmarks, but the training cost of the most expressive equivariant architectures has become a serious bottleneck. We introduce DPA4, an SE(3)-equivariant interatomic-potential architecture with an EMFA (Edge-conditioned, Multi-Focus, Attention) SO(2)-equivariant convolution that combines a low-rank edge-node SO(2)-equivariant product, a multi-focus design for message nonlinearity, and envelope-gated attention for message aggregation. A Lebedev-grid projection further preserves SO(3)-equivariance in the nonlinearity to machine precision. A compiler-friendly conservative energy-gradient training path provides up to sim3 times wall-clock speedup under torch compile. On the compliant Matbench Discovery benchmark, DPA4-Pro attains the best Combined Performance Score (CPS) on the leaderboard, while the 2.76M-parameter DPA4-Air exceeds the accuracy of the 30.1M-parameter eSEN-30M-MP baseline with 10.9times fewer parameters and 42.9times less training compute. On SPICE-MACE-OFF, the 5.4M-parameter DPA4-Plus lowers the aggregate molecular energy and force errors of the 6.5M-parameter eSEN baseline by 29% and 30%, while the 2.7M-parameter DPA4-Air still surpasses that baseline with sim2.4times fewer parameters. Together these results place DPA4 on a new accuracy-cost Pareto frontier on Matbench Discovery and position it as a strong candidate backbone for future multi-task large atomistic model (LAM) pretraining.

We address the problem of fitting a parametric human body model (SMPL) to point cloud data. Optimization-based methods require careful initialization and are prone to becoming trapped in local optima. Learning-based methods address this but do not generalize well when the input pose is far from those seen during training. For rigid point clouds, remarkable generalization has been achieved by leveraging SE(3)-equivariant networks, but these methods do not work on articulated objects. In this work we extend this idea to human bodies and propose ArtEq, a novel part-based SE(3)-equivariant neural architecture for SMPL model estimation from point clouds. Specifically, we learn a part detection network by leveraging local SO(3) invariance, and regress shape and pose using articulated SE(3) shape-invariant and pose-equivariant networks, all trained end-to-end. Our novel pose regression module leverages the permutation-equivariant property of self-attention layers to preserve rotational equivariance. Experimental results show that ArtEq generalizes to poses not seen during training, outperforming state-of-the-art methods by ~44% in terms of body reconstruction accuracy, without requiring an optimization refinement step. Furthermore, ArtEq is three orders of magnitude faster during inference than prior work and has 97.3% fewer parameters. The code and model are available for research purposes at https://arteq.is.tue.mpg.de.

Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would leverage the fact that objects can be rotated and translated in three dimensions to make predictions about novel images. However, imposing SO(3)-equivariance on two-dimensional inputs is difficult because the group of three-dimensional rotations does not have a natural action on the two-dimensional plane. Specifically, it is possible that an element of SO(3) will rotate an image out of plane. We show that an algorithm that learns a three-dimensional representation of the world from two dimensional images must satisfy certain geometric consistency properties which we formulate as SO(2)-equivariance constraints. We use the induced and restricted representations of SO(2) on SO(3) to construct and classify architectures which satisfy these geometric consistency constraints. We prove that any architecture which respects said consistency constraints can be realized as an instance of our construction. We show that three previously proposed neural architectures for 3D pose prediction are special cases of our construction. We propose a new algorithm that is a learnable generalization of previously considered methods. We test our architecture on three pose predictions task and achieve SOTA results on both the PASCAL3D+ and SYMSOL pose estimation tasks.

SO(3)-equivariant networks are the dominant models for machine learning interatomic potentials (MLIPs). The key operation of such networks is the Clebsch-Gordan (CG) tensor product, which is computationally expensive. To accelerate the computation, we develop tensor decomposition networks (TDNs) as a class of approximately equivariant networks in which CG tensor products are replaced by low-rank tensor decompositions, such as the CANDECOMP/PARAFAC (CP) decomposition. With the CP decomposition, we prove (i) a uniform bound on the induced error of SO(3)-equivariance, and (ii) the universality of approximating any equivariant bilinear map. To further reduce the number of parameters, we propose path-weight sharing that ties all multiplicity-space weights across the O(L^3) CG paths into a single shared parameter set without compromising equivariance, where L is the maximum angular degree. The resulting layer acts as a plug-and-play replacement for tensor products in existing networks, and the computational complexity of tensor products is reduced from O(L^6) to O(L^4). We evaluate TDNs on PubChemQCR, a newly curated molecular relaxation dataset containing 105 million DFT-calculated snapshots. We also use existing datasets, including OC20, and OC22. Results show that TDNs achieve competitive performance with dramatic speedup in computations. Our code is publicly available as part of the AIRS library (https://github.com/divelab/AIRS/tree/main/OpenMol/TDN{https://github.com/divelab/AIRS/}).

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable speed in this setting. Because the setting is not addressed well by other datasets, we provide a new dataset and benchmark, with high-accuracy, rigorously verified ground truth, on 17 video sequences. Methods developed for wide baseline stereo (e.g., 5-point methods) perform poorly on monocular video. On the other hand, methods used in autonomous driving (e.g., SLAM) leverage specific sensor setups, specific motion models, or local optimization strategies (lagging batch processing) and do not generalize well to handheld video. Finally, for dynamic scenes, commonly used robustification techniques like RANSAC require large numbers of iterations, and become prohibitively slow. We introduce a novel generalization of the Hough transform on SO(3) to efficiently and robustly find the camera rotation most compatible with optical flow. Among comparably fast methods, ours reduces error by almost 50\% over the next best, and is more accurate than any method, irrespective of speed. This represents a strong new performance point for crowded scenes, an important setting for computer vision. The code and the dataset are available at https://fabiendelattre.com/robust-rotation-estimation.

In diffraction-based crystal structure analysis, thermal ellipsoids, quantified via Anisotropic Displacement Parameters (ADPs), are critical yet challenging to determine. ADPs capture atomic vibrations, reflecting thermal and structural properties, but traditional computation is often expensive. This paper introduces CartNet, a novel graph neural network (GNN) for efficiently predicting crystal properties by encoding atomic geometry into Cartesian coordinates alongside the crystal temperature. CartNet integrates a neighbour equalization technique to emphasize covalent and contact interactions, and a Cholesky-based head to ensure valid ADP predictions. We also propose a rotational SO(3) data augmentation strategy during training to handle unseen orientations. An ADP dataset with over 200,000 experimental crystal structures from the Cambridge Structural Database (CSD) was curated to validate the approach. CartNet significantly reduces computational costs and outperforms existing methods in ADP prediction by 10.87%, while delivering a 34.77% improvement over theoretical approaches. We further evaluated CartNet on other datasets covering formation energy, band gap, total energy, energy above the convex hull, bulk moduli, and shear moduli, achieving 7.71% better results on the Jarvis Dataset and 13.16% on the Materials Project Dataset. These gains establish CartNet as a state-of-the-art solution for diverse crystal property predictions. Project website and online demo: https://www.ee.ub.edu/cartnet

Equivariant Graph Neural Networks (EGNNs) have become a widely used approach for modeling 3D atomistic systems. However, mainstream architectures face critical scalability bottlenecks due to the explicit construction of geometric features or dense tensor products on every edge. To overcome this, we introduce E2Former-V2, a scalable architecture that integrates algebraic sparsity with hardware-aware execution. We first propose Equivariant Axis-Aligned Sparsification (EAAS). EAAS builds on Wigner-6j convolution by exploiting an SO(3) rightarrow SO(2) change of basis to transform computationally expensive dense tensor contractions into efficient, sparse parity re-indexing operations. Building on this representation, we introduce On-the-Fly Equivariant Attention, a fully node-centric mechanism implemented via a custom fused Triton kernel. By eliminating materialized edge tensors and maximizing SRAM utilization, our kernel achieves a 20times improvement in TFLOPS compared to standard implementations. Extensive experiments on the SPICE and OMol25 datasets demonstrate that E2Former-V2 maintains comparable predictive performance while notably accelerating inference. This work demonstrates that large equivariant transformers can be trained efficiently using widely accessible GPU platforms. The code is avalible at https://github.com/IQuestLab/UBio-MolFM/tree/e2formerv2.

The intrinsic rotation invariance lies at the core of matching point clouds with handcrafted descriptors. However, it is widely despised by recent deep matchers that obtain the rotation invariance extrinsically via data augmentation. As the finite number of augmented rotations can never span the continuous SO(3) space, these methods usually show instability when facing rotations that are rarely seen. To this end, we introduce RoITr, a Rotation-Invariant Transformer to cope with the pose variations in the point cloud matching task. We contribute both on the local and global levels. Starting from the local level, we introduce an attention mechanism embedded with Point Pair Feature (PPF)-based coordinates to describe the pose-invariant geometry, upon which a novel attention-based encoder-decoder architecture is constructed. We further propose a global transformer with rotation-invariant cross-frame spatial awareness learned by the self-attention mechanism, which significantly improves the feature distinctiveness and makes the model robust with respect to the low overlap. Experiments are conducted on both the rigid and non-rigid public benchmarks, where RoITr outperforms all the state-of-the-art models by a considerable margin in the low-overlapping scenarios. Especially when the rotations are enlarged on the challenging 3DLoMatch benchmark, RoITr surpasses the existing methods by at least 13 and 5 percentage points in terms of Inlier Ratio and Registration Recall, respectively.

Accurate and scalable machine-learned inter-atomic potentials (MLIPs) are essential for molecular simulations ranging from drug discovery to new material design. Current state-of-the-art models enforce roto-translational symmetries through equivariant neural network architectures, a hard-wired inductive bias that can often lead to reduced flexibility, computational efficiency, and scalability. In this work, we introduce TransIP: Transformer-based Inter-Atomic Potentials, a novel training paradigm for interatomic potentials achieving symmetry compliance without explicit architectural constraints. Our approach guides a generic non-equivariant Transformer-based model to learn SO(3)-equivariance by optimizing its representations in the embedding space. Trained on the recent Open Molecules (OMol25) collection, a large and diverse molecular dataset built specifically for MLIPs and covering different types of molecules (including small organics, biomolecular fragments, and electrolyte-like species), TransIP attains comparable performance in machine-learning force fields versus state-of-the-art equivariant baselines. Further, compared to a data augmentation baseline, TransIP achieves 40% to 60% improvement in performance across varying OMol25 dataset sizes. More broadly, our work shows that learned equivariance can be a powerful and efficient alternative to equivariant or augmentation-based MLIP models.

We address the problem of performing backpropagation for computation graphs involving 3D transformation groups SO(3), SE(3), and Sim(3). 3D transformation groups are widely used in 3D vision and robotics, but they do not form vector spaces and instead lie on smooth manifolds. The standard backpropagation approach, which embeds 3D transformations in Euclidean spaces, suffers from numerical difficulties. We introduce a new library, which exploits the group structure of 3D transformations and performs backpropagation in the tangent spaces of manifolds. We show that our approach is numerically more stable, easier to implement, and beneficial to a diverse set of tasks. Our plug-and-play PyTorch library is available at https://github.com/princeton-vl/lietorch.

Panoramic imagery offers a full 360° field of view and is increasingly common in consumer devices. However, it introduces non-pinhole distortions that challenge joint pose estimation and 3D reconstruction. Existing feed-forward models, built for perspective cameras, generalize poorly to this setting. We propose PanoVGGT, a permutation-equivariant Transformer framework that jointly predicts camera poses, depth maps, and 3D point clouds from one or multiple panoramas in a single forward pass. The model incorporates spherical-aware positional embeddings and a panorama-specific three-axis SO(3) rotation augmentation, enabling effective geometric reasoning in the spherical domain. To resolve inherent global-frame ambiguity, we further introduce a stochastic anchoring strategy during training. In addition, we contribute PanoCity, a large-scale outdoor panoramic dataset with dense depth and 6-DoF pose annotations. Extensive experiments on PanoCity and standard benchmarks demonstrate that PanoVGGT achieves competitive accuracy, strong robustness, and improved cross-domain generalization. Code and dataset will be released.

Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per frame is a sparse set of tracked 3D joint positions, whereas animation systems require joint orientations to drive skinning. Recovering full orientations from positions is underconstrained, most notably because twist about bone axes is ambiguous, and classical IK solvers typically rely on iterative optimization that can be slow and sensitive to noisy inputs. We introduce IK-GAT, a lightweight graph-attention network that reconstructs full-body joint orientations from 3D joint positions in a single forward pass. The model performs message passing over the skeletal parent-child graph to exploit kinematic structure during rotation inference. To simplify learning, IK-GAT predicts rotations in a bone-aligned world-frame representation anchored to rest-pose bone frames. This parameterization makes the twist axis explicit and is exactly invertible to standard parent-relative local rotations given the kinematic tree and rest pose. The network uses a continuous 6D rotation representation and is trained with a geodesic loss on SO(3) together with an optional forward-kinematics consistency regularizer. IK-GAT produces animation-ready local rotations that can directly drive a rigged avatar or be converted to pose parameters of SMPL-like body models for real-time and online applications. With 374K parameters and over 650 FPS on CPU, IK-GAT outperforms VPoser-based per-frame iterative optimization without warm-start at significantly lower cost, and is robust to initial pose and input noise

Linear RNNs based on the delta-rule enable efficient sequence modeling, but their linear updates with a low-rank correction constrain their expressivity. Prior work has shown that composing two delta-rule transitions in a single recurrent update can model a 2D rotation, but this increases the rank and the cost of the updates compared to a single transition. We show that Kimi Delta Attention (KDA) can realize 2D rotations by combining a single delta-rule transformation with a second reflection supplied by its channel-wise gate. This requires extending the parameter ranges of KDA by combining two existing range extensions: allowing gates in [-1,1] and the delta-rule coefficient β in [0,2]. We call the resulting model Complex KDA (CKDA). It preserves KDA's stability and efficiency, with transitions that remain diagonal-plus-rank-one and non-expansive, while reaching the state-tracking expressivity of DeltaProduct_2. We characterize the expressivity of CKDA and prove that every orthogonal diagonal-plus-rank-one matrix is exactly a CKDA transition matrix. A single CKDA layer can track every finite group isomorphic to a subgroup of SO(3), and many state-tracking results use one fewer layer for CKDA compared to other diagonal-plus-rank-one Linear RNNs. Empirically, combining both extensions yields the strongest length extrapolation among tested KDA range settings on S_3, S_4, and periodic audio continuation. In language modeling, CKDA outperforms Transformers and other linear RNNs, obtains similar results to a KDA baseline, and shows promising scaling behavior. Our code is open source at https://github.com/OpenEuroLLM/ComplexKDA and our models are available at https://huggingface.co/collections/openeurollm/complexkda.

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation estimation network, termed as VI-Net, to make the task easier by decoupling the rotation as the combination of a viewpoint rotation and an in-plane rotation. More specifically, VI-Net bases the feature learning on the sphere with two individual branches for the estimates of two factorized rotations, where a V-Branch is employed to learn the viewpoint rotation via binary classification on the spherical signals, while another I-Branch is used to estimate the in-plane rotation by transforming the signals to view from the zenith direction. To process the spherical signals, a Spherical Feature Pyramid Network is constructed based on a novel design of SPAtial Spherical Convolution (SPA-SConv), which settles the boundary problem of spherical signals via feature padding and realizesviewpoint-equivariant feature extraction by symmetric convolutional operations. We apply the proposed VI-Net to the challenging task of category-level 6D object pose estimation for predicting the poses of unknown objects without available CAD models; experiments on the benchmarking datasets confirm the efficacy of our method, which outperforms the existing ones with a large margin in the regime of high precision.

A standard Variational Autoencoder, with a Euclidean latent space, is structurally incapable of capturing topological properties of certain datasets. To remove topological obstructions, we introduce Diffusion Variational Autoencoders with arbitrary manifolds as a latent space. A Diffusion Variational Autoencoder uses transition kernels of Brownian motion on the manifold. In particular, it uses properties of the Brownian motion to implement the reparametrization trick and fast approximations to the KL divergence. We show that the Diffusion Variational Autoencoder is capable of capturing topological properties of synthetic datasets. Additionally, we train MNIST on spheres, tori, projective spaces, SO(3), and a torus embedded in R3. Although a natural dataset like MNIST does not have latent variables with a clear-cut topological structure, training it on a manifold can still highlight topological and geometrical properties.

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D rotation matrix representation for efficient and robust direct regression. This way, our method can learn the full rotation appearance which is contrary to previous approaches that restrict the pose prediction to a narrow-angle for satisfactory results. In addition, we propose a geodesic distance-based loss to penalize our network with respect to the SO(3) manifold geometry. Experiments on the public AFLW2000 and BIWI datasets demonstrate that our proposed method significantly outperforms other state-of-the-art methods by up to 20\%. We open-source our training and testing code along with our pre-trained models: https://github.com/thohemp/6DRepNet.

Accurate prediction of protein-ligand binding poses is crucial for structure-based drug design, yet existing methods struggle to balance speed, accuracy, and physical plausibility. We introduce Matcha, a novel molecular docking pipeline that combines multi-stage flow matching with learned scoring and physical validity filtering. Our approach consists of three sequential stages applied consecutively to refine docking predictions, each implemented as a flow matching model operating on appropriate geometric spaces (R^3, SO(3), and SO(2)). We enhance the prediction quality through a dedicated scoring model and apply unsupervised physical validity filters to eliminate unrealistic poses. Compared to various approaches, Matcha demonstrates superior performance on Astex and PDBbind test sets in terms of docking success rate and physical plausibility. Moreover, our method works approximately 25 times faster than modern large-scale co-folding models. The model weights and inference code to reproduce our results are available at https://github.com/LigandPro/Matcha.

Spherical equivariant graph neural networks (EGNNs) provide a principled framework for learning on three-dimensional molecular and biomolecular systems, where predictions must respect the rotational symmetries inherent in physics. These models extend traditional message-passing GNNs and Transformers by representing node and edge features as spherical tensors that transform under irreducible representations of the rotation group SO(3), ensuring that predictions change in physically meaningful ways under rotations of the input. This guide develops a complete, intuitive foundation for spherical equivariant modeling - from group representations and spherical harmonics, to tensor products, Clebsch-Gordan decomposition, and the construction of SO(3)-equivariant kernels. Building on this foundation, we construct the Tensor Field Network and SE(3)-Transformer architectures and explain how they perform equivariant message-passing and attention on geometric graphs. Through clear mathematical derivations and annotated code excerpts, this guide serves as a self-contained introduction for researchers and learners seeking to understand or implement spherical EGNNs for applications in chemistry, molecular property prediction, protein structure modeling, and generative modeling.

We aim to learn wavefunctions simulated by time-dependent density functional theory (TDDFT), which can be efficiently represented as linear combination coefficients of atomic orbitals. In real-time TDDFT, the electronic wavefunctions of a molecule evolve over time in response to an external excitation, enabling first-principles predictions of physical properties such as optical absorption, electron dynamics, and high-order response. However, conventional real-time TDDFT relies on time-consuming propagation of all occupied states with fine time steps. In this work, we propose OrbEvo, which is based on an equivariant graph transformer architecture and learns to evolve the full electronic wavefunction coefficients across time steps. First, to account for external field, we design an equivariant conditioning to encode both strength and direction of external electric field and break the symmetry from SO(3) to SO(2). Furthermore, we design two OrbEvo models, OrbEvo-WF and OrbEvo-DM, using wavefunction pooling and density matrix as interaction method, respectively. Motivated by the central role of the density functional in TDDFT, OrbEvo-DM encodes the density matrix aggregated from all occupied electronic states into feature vectors via tensor contraction, providing a more intuitive approach to learn the time evolution operator. We adopt a training strategy specifically tailored to limit the error accumulation of time-dependent wavefunctions over autoregressive rollout. To evaluate our approach, we generate TDDFT datasets consisting of 5,000 different molecules in the QM9 dataset and 1,500 molecular configurations of the malonaldehyde molecule in the MD17 dataset. Results show that our OrbEvo model accurately captures quantum dynamics of excited states under external field, including time-dependent wavefunctions, time-dependent dipole moment, and optical absorption spectra.

Accurately predicting the three-dimensional structures of protein-ligand complexes remains a fundamental challenge in computational drug discovery that limits the pace and success of therapeutic design. Deep learning methods have recently shown strong potential as structural prediction tools, achieving promising accuracy across diverse biomolecular systems. However, their performance and utility are constrained by scarce experimental data, inefficient architectures, physically invalid poses, and the limited ability to exploit auxiliary information available at inference. To address these issues, we introduce Pearl (Placing Every Atom in the Right Location), a foundation model for protein-ligand cofolding at scale. Pearl addresses these challenges with three key innovations: (1) training recipes that include large-scale synthetic data to overcome data scarcity; (2) architectures that incorporate an SO(3)-equivariant diffusion module to inherently respect 3D rotational symmetries, improving generalization and sample efficiency, and (3) controllable inference, including a generalized multi-chain templating system supporting both protein and non-polymeric components as well as dual unconditional/conditional modes. Pearl establishes a new state-of-the-art performance in protein-ligand cofolding. On the key metric of generating accurate (RMSD < 2 Å) and physically valid poses, Pearl surpasses AlphaFold 3 and other open source baselines on the public Runs N' Poses and PoseBusters benchmarks, delivering 14.5% and 14.2% improvements, respectively, over the next best model. In the pocket-conditional cofolding regime, Pearl delivers 3.6times improvement on a proprietary set of challenging, real-world drug targets at the more rigorous RMSD < 1 Å threshold. Finally, we demonstrate that model performance correlates directly with synthetic dataset size used in training.

Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are better represented in a base-aligned frame. However, modern diffusion-based visuomotor policies typically commit to a single predefined action frame, forcing one denoiser to model action distributions that are often unnecessarily complex in that frame. We propose Mixture of Frames Policy (MoF), a diffusion policy that performs synchronized action denoising across multiple coordinate frames. MoF maintains a single canonical diffusion state, re-expresses it in several task-relevant frames, applies frame-specialized denoisers, and fuses their noise predictions back in the canonical frame. To make this possible for intermediate noisy diffusion states, we introduce a column-based 6D rotation representation within an SE(3) action parameterization that supports exact, differentiable frame transformations without requiring noisy rotations to lie on the SO(3) manifold. Across nine simulated bimanual manipulation tasks, we show that the best action frame is task-dependent and that MoF improves over oracle frame selection and standard Mixture-of-Experts (MoE) baselines. We further evaluate MoF on two real-world bimanual mobile manipulation tasks, demonstrating that it outperforms all constituent single-frame baselines. Project homepage: https://mofpo.github.io

Recent Vision Foundation Models (VFMs) predict depth, camera pose, and pointmap in a single forward pass without per-scene optimization, achieving strong generalization. However, enforcing explicit multi-view geometric consistency, e.g., through bundle adjustment, is computationally costly and is thus not imposed during VFM pretraining, so such inconsistency can arise. To address this, implicit self-consistency derived from model outputs (e.g., pointmaps, features), though enforced at test-time in prior work, delivers inherently limited performance gain, especially on scenes where the pretrained VFM is highly inaccurate. In contrast to this implicit signal, we propose Self-Geometry, a plug-and-play test-time adaptation pipeline that directly imposes explicit multi-view geometric constraints using 2D pixel correspondences as pseudo ground-truth. Our proposed Self-Geometry consists of Geometric Disentanglement Optimization, which combines Multi-View Consistency and Epipolar Consistency losses with Gradient Disentanglement to prevent gradient conflict; Frame Angular-Neighbor, a view sampler based on SO(3) geodesic distances for lightly imposing these constraints; and Lightweight TTA, which adapts VFMs via LoRA. Our method achieves consistent improvements in both pose and geometry estimation across six VFMs (VGGT, π^3, DA3-Giant/Large/Base/Small) and four benchmarks (7Scenes, ETH3D, ScanNet++, HiRoom).

We study spectral approximations of the dynamic programming semigroup for finite-horizon optimal control on a connected compact Lie group G, and of the associated first-order Hamilton-Jacobi-Bellman equation. The Bellman operator is monotone and non-expansive in the supremum norm, while the Peter-Weyl decomposition of L^{2}(G), on which every Fourier method on G rests, is orthogonal, and the mismatch is quantitative. The natural sup-norm error recursion of the Galerkin iteration is amplified at every step by the Lebesgue constant of the spectral projection, which grows logarithmically on S^{1} and polynomially on compact Lie groups of rank one, including SO(3), and in computation the iteration violates elementary bounds within a few steps. We restore the dynamic programming structure at the discrete level by replacing the orthogonal projection with spectral filters of Markov type. An auxiliary heat-kernel/vanishing-viscosity scheme yields qualitative sup-norm convergence for Lipschitz data. The main result is a Fejér-type filter on G, finite-rank, positivity preserving and non-expansive, together with a convergence theorem at the rate O(sqrtδ+ε+1/(δN^2)) for Lipschitz data, where δ is the time step, N the spectral resolution and ε the viscosity. The viscosity may be zero, and the coupling δ=N^{-1} then gives the rate N^{-1/2}. The proof interprets the filter as a small random perturbation of the controlled dynamics, requires neither a priori regularity of the value function nor a consistency argument in the viscosity sense for the filtering step, and extends to a fully discrete realization based on positive cubature, with exact Wigner transport on SO(3). Numerical experiments confirm the predicted rates and filter bias and quantify the frame dependence of two chart-based baselines.

We study a class of orbit recovery problems in which we observe independent copies of an unknown element of R^p, each linearly acted upon by a random element of some group (such as Z/p or SO(3)) and then corrupted by additive Gaussian noise. We prove matching upper and lower bounds on the number of samples required to approximately recover the group orbit of this unknown element with high probability. These bounds, based on quantitative techniques in invariant theory, give a precise correspondence between the statistical difficulty of the estimation problem and algebraic properties of the group. Furthermore, we give computer-assisted procedures to certify these properties that are computationally efficient in many cases of interest. The model is motivated by geometric problems in signal processing, computer vision, and structural biology, and applies to the reconstruction problem in cryo-electron microscopy (cryo-EM), a problem of significant practical interest. Our results allow us to verify (for a given problem size) that if cryo-EM images are corrupted by noise with variance σ^2, the number of images required to recover the molecule structure scales as σ^6. We match this bound with a novel (albeit computationally expensive) algorithm for ab initio reconstruction in cryo-EM, based on invariant features of degree at most 3. We further discuss how to recover multiple molecular structures from mixed (or heterogeneous) cryo-EM samples.

Despite the success of equivariant neural networks in scientific applications, they require knowing the symmetry group a priori. However, it may be difficult to know which symmetry to use as an inductive bias in practice. Enforcing the wrong symmetry could even hurt the performance. In this paper, we propose a framework, LieGAN, to automatically discover equivariances from a dataset using a paradigm akin to generative adversarial training. Specifically, a generator learns a group of transformations applied to the data, which preserve the original distribution and fool the discriminator. LieGAN represents symmetry as interpretable Lie algebra basis and can discover various symmetries such as the rotation group SO(n), restricted Lorentz group SO(1,3)^+ in trajectory prediction and top-quark tagging tasks. The learned symmetry can also be readily used in several existing equivariant neural networks to improve accuracy and generalization in prediction.

When manipulating three-dimensional data, it is possible to ensure that rotational and translational symmetries are respected by applying so-called SE(3)-equivariant models. Protein structure prediction is a prominent example of a task which displays these symmetries. Recent work in this area has successfully made use of an SE(3)-equivariant model, applying an iterative SE(3)-equivariant attention mechanism. Motivated by this application, we implement an iterative version of the SE(3)-Transformer, an SE(3)-equivariant attention-based model for graph data. We address the additional complications which arise when applying the SE(3)-Transformer in an iterative fashion, compare the iterative and single-pass versions on a toy problem, and consider why an iterative model may be beneficial in some problem settings. We make the code for our implementation available to the community.

Matrix optimizers such as Muon are attractive for large-scale training because they can improve convergence and token efficiency over coordinate-wise optimizers. Muon does this by orthogonalizing momentum-smoothed matrix updates with Newton-Schulz, producing spectrum-balanced updates that require the complete 2D matrix as input. This exposes a systems mismatch: FSDP/ZeRO-3 saves memory by making the optimizer see shards, not whole matrices. Existing systems therefore either reconstruct matrices at every optimizer step, paying weight-sized communication after backward, or make the update local by using ZeRO-1 owner placement with full parameters resident. MatrixFSDP takes a third path: it changes where ZeRO-3 shards live, not the optimizer being computed. For each 2D weight, one data-parallel rank owns the whole matrix and the other ranks hold empty shards; non-matrix tensors are packed into tail owners and stay on AdamW. The ordinary backward reduction then lands the full Muon input on the owner, so Newton-Schulz runs locally with no optimizer-step matrix collective. Forward and backward still materialize and reshard parameters; the runtime challenge is to make that uneven layout efficient and correct. MatrixFSDP does so with MatrixShard metadata, a balance-aware owner planner, deterministic owner-segment P2P collectives, owner-buffer pinning, and owner-shard checkpoint resharding. The resulting update matches full-matrix Muon while preserving ZeRO-3-scale memory: on 64 A100s, MatrixFSDP reduces optimizer-step latency over stock FSDP2-Muon by 4.2x on one node and 54.6x on eight nodes, reaches up to 2.15x end-to-end speedup, and runs model sizes where ZeRO-1 owner placement exceeds an 80 GB GPU.

RTK-SLAM systems integrate simultaneous localization and mapping (SLAM) with real-time kinematic (RTK) GNSS positioning, promising both relative consistency and globally referenced coordinates for efficient georeferenced surveying. A critical and underappreciated issue is that the standard evaluation metric, Absolute Trajectory Error (ATE), first fits an optimal rigid-body transformation between the estimated trajectory and reference before computing errors. This so-called SE(3) alignment absorbs global drift and systematic errors, making trajectories appear more accurate than they are in practice, and is unsuitable for evaluating the global accuracy of RTK-SLAM. We present a geodetically referenced dataset and evaluation methodology that expose this gap. A key design principle is that the RTK receiver is used solely as a system input, while ground truth is established independently via a geodetic total station. This separation is absent from all existing datasets, where GNSS typically serves as (part of) the ground truth. The dataset is collected with a handheld RTK-SLAM device, comprising two scenes. We evaluate LiDAR-inertial, visual-inertial, and LiDAR-visual-inertial RTK-SLAM systems alongside standalone RTK, reporting direct global accuracy and SE(3)-aligned relative accuracy to make the gap explicit. Results show that SE(3) alignment can underestimate absolute positioning error by up to 76\%. RTK-SLAM achieves centimeter-level absolute accuracy in open-sky conditions and maintains decimeter-level global accuracy indoors, where standalone RTK degrades to tens of meters. The dataset, calibration files, and evaluation scripts are publicly available at https://rtk-slam-dataset.github.io/.

Modern Large Language Models (LLMs) are excellent at generating synthetic data. However, their performance in sensitive domains such as text detoxification has not received proper attention from the scientific community. This paper explores the possibility of using LLM-generated synthetic toxic data as an alternative to human-generated data for training models for detoxification. Using Llama 3 and Qwen activation-patched models, we generated synthetic toxic counterparts for neutral texts from ParaDetox and SST-2 datasets. Our experiments show that models fine-tuned on synthetic data consistently perform worse than those trained on human data, with a drop in performance of up to 30% in joint metrics. The root cause is identified as a critical lexical diversity gap: LLMs generate toxic content using a small, repetitive vocabulary of insults that fails to capture the nuances and variety of human toxicity. These findings highlight the limitations of current LLMs in this domain and emphasize the continued importance of diverse, human-annotated data for building robust detoxification systems.

Intravital microscopy is an essential tool that reveals behaviours of live cells under conditions close to natural physiological states. So far, although various approaches for imaging cells in vivo have been proposed, most require the use of labelling and also provide only qualitative imaging information. Holographic imaging approach based on measuring the refractive index distributions of cells, however, circumvent these problems and offer quantitative and label-free imaging capability. Here, we demonstrate in vivo two- and three-dimensional holographic imaging of circulating blood cells in intact microcapillaries of live mice. The measured refractive index distributions of blood cells provide morphological and biochemical properties including three-dimensional cell shape, haemoglobin concentration, and haemoglobin contents at the individual cell level. With the present method, alterations in blood flow dynamics in live healthy and sepsis-model mouse were also investigated.

Generating novel views of an object from a single image is a challenging task. It requires an understanding of the underlying 3D structure of the object from an image and rendering high-quality, spatially consistent new views. While recent methods for view synthesis based on diffusion have shown great progress, achieving consistency among various view estimates and at the same time abiding by the desired camera pose remains a critical problem yet to be solved. In this work, we demonstrate a strikingly simple method, where we utilize a pre-trained video diffusion model to solve this problem. Our key idea is that synthesizing a novel view could be reformulated as synthesizing a video of a camera going around the object of interest -- a scanning video -- which then allows us to leverage the powerful priors that a video diffusion model would have learned. Thus, to perform novel-view synthesis, we create a smooth camera trajectory to the target view that we wish to render, and denoise using both a view-conditioned diffusion model and a video diffusion model. By doing so, we obtain a highly consistent novel view synthesis, outperforming the state of the art.

In this report, we pose the following question: Who is the most intelligent AI model to date, as measured by the OlympicArena (an Olympic-level, multi-discipline, multi-modal benchmark for superintelligent AI)? We specifically focus on the most recently released models: Claude-3.5-Sonnet, Gemini-1.5-Pro, and GPT-4o. For the first time, we propose using an Olympic medal Table approach to rank AI models based on their comprehensive performance across various disciplines. Empirical results reveal: (1) Claude-3.5-Sonnet shows highly competitive overall performance over GPT-4o, even surpassing GPT-4o on a few subjects (i.e., Physics, Chemistry, and Biology). (2) Gemini-1.5-Pro and GPT-4V are ranked consecutively just behind GPT-4o and Claude-3.5-Sonnet, but with a clear performance gap between them. (3) The performance of AI models from the open-source community significantly lags behind these proprietary models. (4) The performance of these models on this benchmark has been less than satisfactory, indicating that we still have a long way to go before achieving superintelligence. We remain committed to continuously tracking and evaluating the performance of the latest powerful models on this benchmark (available at https://github.com/GAIR-NLP/OlympicArena).

In this paper, we propose VideoLLaMA3, a more advanced multimodal foundation model for image and video understanding. The core design philosophy of VideoLLaMA3 is vision-centric. The meaning of "vision-centric" is two-fold: the vision-centric training paradigm and vision-centric framework design. The key insight of our vision-centric training paradigm is that high-quality image-text data is crucial for both image and video understanding. Instead of preparing massive video-text datasets, we focus on constructing large-scale and high-quality image-text datasets. VideoLLaMA3 has four training stages: 1) vision-centric alignment stage, which warms up the vision encoder and projector; 2) vision-language pretraining stage, which jointly tunes the vision encoder, projector, and LLM with large-scale image-text data covering multiple types (including scene images, documents, charts) as well as text-only data. 3) multi-task fine-tuning stage, which incorporates image-text SFT data for downstream tasks and video-text data to establish a foundation for video understanding. 4) video-centric fine-tuning, which further improves the model's capability in video understanding. As for the framework design, to better capture fine-grained details in images, the pretrained vision encoder is adapted to encode images of varying sizes into vision tokens with corresponding numbers, rather than a fixed number of tokens. For video inputs, we reduce the number of vision tokens according to their similarity so that the representation of videos will be more precise and compact. Benefit from vision-centric designs, VideoLLaMA3 achieves compelling performances in both image and video understanding benchmarks.

We introduce StepAudio 3 Gen, a general-purpose audio generation model that supports zero-shot text-to-speech (TTS), voice design, vocal generation, sound effects, music, vibe speech, and mixtures of multiple audio types within a unified framework. At its core, StepAudio 3 Gen is a discrete autoregressive generator that models audio directly over residual vector quantization (RVQ) tokens, departing from the diffusion Transformer-based continuous generation paradigm prevalent in recent general audio models. Its StepAudio Tokenizer represents general audio at 12.5 Hz in a shared 16 times 2048 residual code space, jointly quantizing semantic and waveform-level acoustic features so that each code layer preserves both types of information. For generation, the backbone predicts the first codebook along the time axis using autoregressive modeling, while a lightweight causal Transformer completes the remaining fifteen codebooks along the codebook axis. Our study further identifies three key design principles: (1) interference-aware progressive pretraining for acquiring audio capabilities while preserving the textual abilities of the large language model, (2) RVQ Adaptor for effectively incorporating multi-codebook acoustic representations, and (3) discrete autoregressive modeling over a shared representation across general audio domains. With progressive pretraining, multi-task instruction training, and supervised fine-tuning, StepAudio 3 Gen achieves state-of-the-art performance on both TTS and voice design, while retaining strong generation capabilities across speech, vocals, sound effects, and music. Audio samples are available at https://stepaudiollm.github.io/step-audio-3-gen/.

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through IMU propagation. In this paper, we address the limitations of existing IMU propagation methods in terms of motion prediction and motion compensation. In motion prediction, the existing methods typically represent a 6-DoF pose by separating rotation and translation and propagate them on their respective manifold, so that the rotational variation is not effectively incorporated into translation propagation. During motion compensation, the relative transformation between predicted poses is used to compensate motion-induced distortion in other measurements, while inherent errors in the predicted poses introduce uncertainty in the relative transformation. To tackle these challenges, we represent and propagate the pose on SE(3) manifold, where propagated translation properly accounts for rotational variation. Furthermore, we precisely characterize the relative transformation uncertainty by considering the correlation between predicted poses, and incorporate this uncertainty into the measurement noise during motion compensation. To this end, we propose a LiDAR-inertial odometry (LIO), referred to as SE(3)-LIO, that integrates the proposed IMU propagation and uncertainty-aware motion compensation (UAMC). We validate the effectiveness of SE(3)-LIO on diverse datasets. Our source code and additional material are available at: https://se3-lio.github.io/.

We extend the context length of Llama-3-8B-Instruct from 8K to 80K via QLoRA fine-tuning. The entire training cycle is super efficient, which takes 8 hours on one 8xA800 (80G) GPU machine. The resulted model exhibits superior performances across a broad range of evaluation tasks, such as NIHS, topic retrieval, and long-context language understanding; meanwhile, it also well preserves the original capability over short contexts. The dramatic context extension is mainly attributed to merely 3.5K synthetic training samples generated by GPT-4 , which indicates the LLMs' inherent (yet largely underestimated) potential to extend its original context length. In fact, the context length could be extended far beyond 80K with more computation resources. Therefore, the team will publicly release the entire resources (including data, model, data generation pipeline, training code) so as to facilitate the future research from the community: https://github.com/FlagOpen/FlagEmbedding.

Emotions have played an important part in many sectors, including psychology, medicine, mental health, computer science, and so on, and categorizing them has proven extremely useful in separating one emotion from another. Emotions can be classified using the following two methods: (1) The supervised method's efficiency is strongly dependent on the size and domain of the data collected. A categorization established using relevant data from one domain may not work well in another. (2) An unsupervised method that uses either domain expertise or a knowledge base of emotion types already exists. Though this second approach provides a suitable and generic categorization of emotions and is cost-effective, the literature doesn't possess a publicly available knowledge base that can be directly applied to any emotion categorization-related task. This pushes us to create a knowledge base that can be used for emotion classification across domains, and ontology is often used for this purpose. In this study, we provide TONE, an emotion-based ontology that effectively creates an emotional hierarchy based on Dr. Gerrod Parrot's group of emotions. In addition to ontology development, we introduce a semi-automated vocabulary construction process to generate a detailed collection of terms for emotions at each tier of the hierarchy. We also demonstrate automated methods for establishing three sorts of dependencies in order to develop linkages between different emotions. Our human and automatic evaluation results show the ontology's quality. Furthermore, we describe three distinct use cases that demonstrate the applicability of our ontology.

Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable physical grasp. We address this with EquiDexFlow, an SE(3)-equivariant flow-matching model that jointly predicts wrist pose, joint angles, fingertip contacts, surface normals, and contact forces from an object point cloud. Our architecture projects contacts onto the object surface and forces into the Coulomb friction cone by construction, so placement and friction compliance hold without loss penalties. We prove end-to-end SE(3) equivariance and verify it empirically over 200 rotations, with wrist residuals below 0.04^circ and exactly zero joint deviation. Trained on 8,100 force-closure grasps across 81 objects for the 16-DoF Allegro Hand, our model achieves zero friction violations, the best composite score, and the lowest wrench residual among all ablation variants. We retarget decoded fingertip contacts to a 16-DoF LEAP Hand via per-finger inverse kinematics, and our hardware-feasible refinement places every joint at least 5% inside its actuator envelope while preserving wrench balance. On the physical robot, retargeted EquiDexFlow-decoded grasps complete open-loop pick-and-hold trials on all six test objects, with every asymmetric object succeeding at both the canonical pose and a 120^circ co-rotation. Videos, code, and checkpoints are available at https://equidexflow.github.io.

An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie group SE(3). The group-affine property of the kinematic equations makes the linearised error dynamics autonomous, so the Riccati equation governs the true error covariance rather than a local approximation. A physically separated noise model treats gyroscope and accelerometer channels independently: the accelerometer provides translational twist via gravity-compensated integration, yielding a measurement covariance that scales with the sample interval in exact analogy with process noise discretisation; a state-dependent Coriolis noise term captures gyroscope noise propagating through the nonlinear dynamics, vanishing at rest and growing with twist magnitude. The filter is structured as a modular chain of per-link IEKFs in which the predicted covariance of each link depends on its predecessor only through the Adjoint-transformed posterior, giving linear computational cost in link count. Exponential ultimate boundedness in mean square is established via a Lie algebra Lyapunov function, with per-link bounds chained through the Adjoint operator norm to yield a stability certificate that is modular and scalable to arbitrary chain length. Numerical results validate the design.

Gaia DR3 opens a new era of all-sky spectral analysis of stellar populations thanks to the nearly 5.6 million stars observed by the RVS and parametrised by the GSP-spec module. The all-sky Gaia chemical cartography allows a powerful and precise chemo-dynamical view of the Milky Way with unprecedented spatial coverage and statistical robustness. First, it reveals the strong vertical symmetry of the Galaxy and the flared structure of the disc. Second, the observed kinematic disturbances of the disc -- seen as phase space correlations -- and kinematic or orbital substructures are associated with chemical patterns that favour stars with enhanced metallicities and lower [alpha/Fe] abundance ratios compared to the median values in the radial distributions. This is detected both for young objects that trace the spiral arms and older populations. Several alpha, iron-peak elements and at least one heavy element trace the thin and thick disc properties in the solar cylinder. Third, young disc stars show a recent chemical impoverishment in several elements. Fourth, the largest chemo-dynamical sample of open clusters analysed so far shows a steepening of the radial metallicity gradient with age, which is also observed in the young field population. Finally, the Gaia chemical data have the required coverage and precision to unveil galaxy accretion debris and heated disc stars on halo orbits through their [alpha/Fe] ratio, and to allow the study of the chemo-dynamical properties of globular clusters. Gaia DR3 chemo-dynamical diagnostics open new horizons before the era of ground-based wide-field spectroscopic surveys. They unveil a complex Milky Way that is the outcome of an eventful evolution, shaping it to the present day (abridged).

Language models trained with long-horizon agentic reinforcement learning can generalize knowledge through reasoning, express precise actions, and pursue goals over many steps, raising the ceiling on what an embodied agent can understand and decide. Physical interaction, however, remains the domain of action policies, which provide dense, low-latency control. We present NavGPT-3, a harness that connects the two models, with an OS-like runtime built above it: reasoning, acting, and monitoring run as threads with their own context, tools, and permissions, while the runtime schedules them and decides which thread controls the robot's motion, so that the robot can react to sudden real-world events through interruption and thread switching. Beneath it, our action policy NavGPT VLA, trained on 19.28M examples, allocates visual tokens using codec allocation, in proportion to scene change; its 8B model alone reaches 74.51 SR on R2R-CE and leads RxR-CE with 78.19 SR. With the complete harness, NavGPT-3 sets the state of the art on R2R-CE (81.51 SR) and, for the first time, brings an autonomous agent to human level: on RxR-CE it matches human followers in success (90.43 vs. 90.4 SR) and path fidelity (78.47 vs. 77.7 nDTW) at 1 min 22 s per episode, versus roughly 3 min for a human. We comprehensively ablate the harness design and the interaction between the two models, showing how tools and the action policy shape the path from language-model reasoning to physical control: when NavGPT VLA executes the route, the reasoning loop shortens and the system's minimum reaction time falls from 3-19 s per language-model decision to 0.5-1 s per action-policy step (1-2 Hz). These results show that designing this embodied interface is central to connecting frontier language-model intelligence with low-level physical control. We will release all models, code, and evaluation records.

In the applications of proxy-SU(3) model in the context of determining (beta,gamma) values for nuclei across the periodic table, for understanding the preponderance of triaxial shapes in nuclei with Z ge 30, it is seen that one needs not only the highest weight (hw) or leading SU(3) irreducible representation (irrep) (lambda_H, mu_H) but also the lower SU(3) irreps (lambda ,mu) such that 2lambda + mu =2lambda_H + mu_H-3r with r=0,1 and 2 [Bonatsos et al., Symmetry {\bf 16}, 1625 (2024)]. These give the next highest weight (nhw) irrep, next-to-next highest irrep (nnhw) and so on. Recently, it is shown that for nuclei with 32 le Z,N le 46, there will be not only proxy-SU(3) but also proxy-SU(4) symmetry [Kota and Sahu, Physica Scripta {\bf 99}, 065306 (2024)]. Following these developments, presented in this paper are the SU(3) irreps (lambda ,mu) with 2lambda + mu =2lambda_H + mu_H-3r, r=0,1,2 for various isotopes of Ge, Se, Kr, Sr, Zr, Mo, Ru and Pd (with 32 le N le 46) assuming good proxy-SU(4) symmetry. A simple method for obtaining the SU(3) irreps is described and applied. The tabulations for proxy-SU(3) irreps provided in this paper will be useful in further investigations of triaxial shapes in these nuclei.

A robot's flash endurance is a non-renewable stock: every persisted write spends one of a few thousand program/erase cycles and never refills, yet no fielded robot memory system prices which memories are worth an erase cycle. We treat embodied memory as depreciating capital and price that stock with a single endurance shadow price η, which makes cost-minimizing placement across a RAM / on-board NVM / cloud hierarchy a threshold in a wear-augmented per-byte index. The index is cost-optimal whatever the sign of the value-write association χ; only when χ> 0 does the optimum turn non-monotone, sending a robot's most valuable memories off its flash. The pivot is thus empirical, and we measure χ on real robot logs at a pre-specified gate: its sign is a property of the deployment regime -- positive on recurrent long-horizon manipulation (hatχ approx +1.0 times 10^{-3}, replicated at full power), null on a shorter-horizon suite, and negative on non-recurrent teleoperation. Two boundaries scope the result. The endurance budget is dormant on premium 3,000-P/E TLC at datasheet prices and binding on the commodity QLC/eMMC (sim1,000 P/E) that cheaper edge robots run. And where it binds, a learned wear-aware controller only ties price-based routing on task value, because realized value is tier-invariant across RAM, NVM, and cloud: the rent governs device lifetime and cost, not task performance. Whether wear-aware placement improves task value remains open -- χ is measured against a value proxy, and the non-monotone optimum, while proven, is not yet observed in data.

Biological processes, functions, and properties are intricately linked to the ensemble of protein conformations, rather than being solely determined by a single stable conformation. In this study, we have developed P2DFlow, a generative model based on SE(3) flow matching, to predict the structural ensembles of proteins. We specifically designed a valuable prior for the flow process and enhanced the model's ability to distinguish each intermediate state by incorporating an additional dimension to describe the ensemble data, which can reflect the physical laws governing the distribution of ensembles, so that the prior knowledge can effectively guide the generation process. When trained and evaluated on the MD datasets of ATLAS, P2DFlow outperforms other baseline models on extensive experiments, successfully capturing the observable dynamic fluctuations as evidenced in crystal structure and MD simulations. As a potential proxy agent for protein molecular simulation, the high-quality ensembles generated by P2DFlow could significantly aid in understanding protein functions across various scenarios. Code is available at https://github.com/BLEACH366/P2DFlow

GPT series models, such as GPT-3, CodeX, InstructGPT, ChatGPT, and so on, have gained considerable attention due to their exceptional natural language processing capabilities. However, despite the abundance of research on the difference in capabilities between GPT series models and fine-tuned models, there has been limited attention given to the evolution of GPT series models' capabilities over time. To conduct a comprehensive analysis of the capabilities of GPT series models, we select six representative models, comprising two GPT-3 series models (i.e., davinci and text-davinci-001) and four GPT-3.5 series models (i.e., code-davinci-002, text-davinci-002, text-davinci-003, and gpt-3.5-turbo). We evaluate their performance on nine natural language understanding (NLU) tasks using 21 datasets. In particular, we compare the performance and robustness of different models for each task under zero-shot and few-shot scenarios. Our extensive experiments reveal that the overall ability of GPT series models on NLU tasks does not increase gradually as the models evolve, especially with the introduction of the RLHF training strategy. While this strategy enhances the models' ability to generate human-like responses, it also compromises their ability to solve some tasks. Furthermore, our findings indicate that there is still room for improvement in areas such as model robustness.

3D shape completion methods typically assume scans are pre-aligned to a canonical frame. This leaks pose and scale cues that networks may exploit to memorize absolute positions rather than inferring intrinsic geometry. When such alignment is absent in real data, performance collapses. We argue that robust generalization demands architectural equivariance to the similarity group, SIM(3), so the model remains agnostic to pose and scale. Following this principle, we introduce the first SIM(3)-equivariant shape completion network, whose modular layers successively canonicalize features, reason over similarity-invariant geometry, and restore the original frame. Under a de-biased evaluation protocol that removes the hidden cues, our model outperforms both equivariant and augmentation baselines on the PCN benchmark. It also sets new cross-domain records on real driving and indoor scans, lowering minimal matching distance on KITTI by 17% and Chamfer distance ell1 on OmniObject3D by 14%. Perhaps surprisingly, ours under the stricter protocol still outperforms competitors under their biased settings. These results establish full SIM(3) equivariance as an effective route to truly generalizable shape completion. Project page: https://sime-completion.github.io.

Accident, defect and outage investigations end with a decision that ordinary question answering never faces: whether the evidence gathered so far is enough to close the case. We study this decision for LLM investigators, which request evidence from a case file, revise their hypotheses, and either close the case with a conclusion grounded in what they read or leave it open and name what is missing. This judgment does not come with capability: an untrained 9B model overstates its evidence in 97% of its answers, and a frontier model that identifies the right cause in 84% of cases still overstates in 91% and closes 17 of the 41 cases whose official finding is "cause undetermined". Measuring it is also non-trivial: the source of a case largely predicts its label, and a rule that reads only the source reaches 83.0 balanced accuracy on our test cases. We therefore evaluate closure with three tests: closure accuracy, reported against this rule and within each source; evidence dependence, which removes the grounds of a conclusion and checks whether the model stops closing; and conclusion and gap quality, a judged checklist of what the model asserts and what it says is missing. We build Nautil, 731 audited cases from aviation, rail, maritime, chemical-safety and vehicle-defect reports and production server incidents, with teacher trajectories, an out-of-distribution test set and counterfactual evidence versions. Fine-tuning a 9B model on these trajectories makes its closures follow the evidence: removing the grounds lowers its closure rate by 26 points relative to a matched control, overstatement falls from 97% to 35%, and correct, non-overstated conclusions rise from 3% to 43%. Reinforcement learning that rewards only the closure decision then raises balanced accuracy from 69.2 to 83.3, on par with the teacher, and within-source accuracy from 60.4 to 74.1, at some cost in evidence dependence.

We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling complex deformable bodies and diversity in appearance and motion, all while ensuring high simulation speed. (2) Human-in-the-loop infrastructure: enabling real human interaction with simulated robots via mouse/keyboard or a VR interface, facilitating evaluation of robot policies with human input. (3) Collaborative tasks: studying two collaborative tasks, Social Navigation and Social Rearrangement. Social Navigation investigates a robot's ability to locate and follow humanoid avatars in unseen environments, whereas Social Rearrangement addresses collaboration between a humanoid and robot while rearranging a scene. These contributions allow us to study end-to-end learned and heuristic baselines for human-robot collaboration in-depth, as well as evaluate them with humans in the loop. Our experiments demonstrate that learned robot policies lead to efficient task completion when collaborating with unseen humanoid agents and human partners that might exhibit behaviors that the robot has not seen before. Additionally, we observe emergent behaviors during collaborative task execution, such as the robot yielding space when obstructing a humanoid agent, thereby allowing the effective completion of the task by the humanoid agent. Furthermore, our experiments using the human-in-the-loop tool demonstrate that our automated evaluation with humanoids can provide an indication of the relative ordering of different policies when evaluated with real human collaborators. Habitat 3.0 unlocks interesting new features in simulators for Embodied AI, and we hope it paves the way for a new frontier of embodied human-AI interaction capabilities.

Large Transformer models have been central to recent advances in natural language processing. The training and inference costs of these models, however, have grown rapidly and become prohibitively expensive. Here we aim to reduce the costs of Transformers by searching for a more efficient variant. Compared to previous approaches, our search is performed at a lower level, over the primitives that define a Transformer TensorFlow program. We identify an architecture, named Primer, that has a smaller training cost than the original Transformer and other variants for auto-regressive language modeling. Primer's improvements can be mostly attributed to two simple modifications: squaring ReLU activations and adding a depthwise convolution layer after each Q, K, and V projection in self-attention. Experiments show Primer's gains over Transformer increase as compute scale grows and follow a power law with respect to quality at optimal model sizes. We also verify empirically that Primer can be dropped into different codebases to significantly speed up training without additional tuning. For example, at a 500M parameter size, Primer improves the original T5 architecture on C4 auto-regressive language modeling, reducing the training cost by 4X. Furthermore, the reduced training cost means Primer needs much less compute to reach a target one-shot performance. For instance, in a 1.9B parameter configuration similar to GPT-3 XL, Primer uses 1/3 of the training compute to achieve the same one-shot performance as Transformer. We open source our models and several comparisons in T5 to help with reproducibility.

Transformers are central to recent successes in natural language processing and computer vision. Transformers have a mostly uniform backbone where layers alternate between feed-forward and self-attention in order to build a deep network. Here we investigate this design choice and find that more complex blocks that have different permutations of layer primitives can be more efficient. Using this insight, we develop a complex block, named Brainformer, that consists of a diverse sets of layers such as sparsely gated feed-forward layers, dense feed-forward layers, attention layers, and various forms of layer normalization and activation functions. Brainformer consistently outperforms the state-of-the-art dense and sparse Transformers, in terms of both quality and efficiency. A Brainformer model with 8 billion activated parameters per token demonstrates 2x faster training convergence and 5x faster step time compared to its GLaM counterpart. In downstream task evaluation, Brainformer also demonstrates a 3% higher SuperGLUE score with fine-tuning compared to GLaM with a similar number of activated parameters. Finally, Brainformer largely outperforms a Primer dense model derived with NAS with similar computation per token on fewshot evaluations.

The computation demand for machine learning (ML) has grown rapidly recently, which comes with a number of costs. Estimating the energy cost helps measure its environmental impact and finding greener strategies, yet it is challenging without detailed information. We calculate the energy use and carbon footprint of several recent large models-T5, Meena, GShard, Switch Transformer, and GPT-3-and refine earlier estimates for the neural architecture search that found Evolved Transformer. We highlight the following opportunities to improve energy efficiency and CO2 equivalent emissions (CO2e): Large but sparsely activated DNNs can consume <1/10th the energy of large, dense DNNs without sacrificing accuracy despite using as many or even more parameters. Geographic location matters for ML workload scheduling since the fraction of carbon-free energy and resulting CO2e vary ~5X-10X, even within the same country and the same organization. We are now optimizing where and when large models are trained. Specific datacenter infrastructure matters, as Cloud datacenters can be ~1.4-2X more energy efficient than typical datacenters, and the ML-oriented accelerators inside them can be ~2-5X more effective than off-the-shelf systems. Remarkably, the choice of DNN, datacenter, and processor can reduce the carbon footprint up to ~100-1000X. These large factors also make retroactive estimates of energy cost difficult. To avoid miscalculations, we believe ML papers requiring large computational resources should make energy consumption and CO2e explicit when practical. We are working to be more transparent about energy use and CO2e in our future research. To help reduce the carbon footprint of ML, we believe energy usage and CO2e should be a key metric in evaluating models, and we are collaborating with MLPerf developers to include energy usage during training and inference in this industry standard benchmark.

We introduce SeerAttention-R, a sparse attention framework specifically tailored for the long decoding of reasoning models. Extended from SeerAttention, SeerAttention-R retains the design of learning attention sparsity through a self-distilled gating mechanism, while removing query pooling to accommodate auto-regressive decoding. With a lightweight plug-in gating, SeerAttention-R is flexible and can be easily integrated into existing pretrained model without modifying the original parameters. We demonstrate that SeerAttention-R, trained on just 0.4B tokens, maintains near-lossless reasoning accuracy with 4K token budget in AIME benchmark under large sparse attention block sizes (64/128). Using TileLang, we develop a highly optimized sparse decoding kernel that achieves near-theoretical speedups of up to 9x over FlashAttention-3 on H100 GPU at 90% sparsity. Code is available at: https://github.com/microsoft/SeerAttention.

We present Cadence, an error-bounded lossy compressor for numeric time series pairing a 330M-parameter time-series foundation model (Google TimesFM-3) with an adaptive arithmetic coder, guaranteeing |x_t-x_t|leτ on every sample. One negative result constrains the design space: for lossless coding a foundation model is worth nothing, because bits saved are logarithmic in predictor accuracy, Δb=log_2(MAE_{old}/MAE_{new}). So the 1.51times advantage TimesFM-3 holds over a 32-tap linear predictor buys 0.60 bits of 20.28, a median gain of +0.03%. Error-bounded coding escapes this at one point: once a forecast lands inside the band the residual index is zero and the sample nearly free. Cadence contributes: (1) an adaptive range coder with context-modelled binarization, beating xz/zstd on real indices by 9.7% (15/15) and reversing a finding from a general-purpose back end; (2) a determinism result -- predictions are not bit-identical across batch sizes, and no PyTorch configuration repairs this, forcing group size and execution device into the container format; and (3) domain localization on corpora postdating any plausible training cutoff. On 49 EIA-930 balancing-authority demand series (2026) Cadence gains 13.3% over the best of six classical predictors, and 28.3% on 50 MTA ridership series (2026): 21.4% median over 297 series-tolerance pairs, winning all 297. Against downsampling, what time-series databases deploy for retention, its guaranteed worst-case error is 28--56times tighter at equal size. End-to-end, once the context bootstrap is paid for, gains run from 6.8% at six months of hourly data to 15.1% asymptotically. Attempting to falsify the domain claim on SDRBench, theory predicts failure and delivers: -0.8% median, 0 of 27 pairs gaining. Three further negative results and eight retracted claims are reported in full.

In this work, we investigate the implicit regularization induced by teacher-student learning dynamics in self-distillation. To isolate its effect, we describe a simple experiment where we consider teachers at random initialization instead of trained teachers. Surprisingly, when distilling a student into such a random teacher, we observe that the resulting model and its representations already possess very interesting characteristics; (1) we observe a strong improvement of the distilled student over its teacher in terms of probing accuracy. (2) The learned representations are data-dependent and transferable between different tasks but deteriorate strongly if trained on random inputs. (3) The student checkpoint contains sparse subnetworks, so-called lottery tickets, and lies on the border of linear basins in the supervised loss landscape. These observations have interesting consequences for several important areas in machine learning: (1) Self-distillation can work solely based on the implicit regularization present in the gradient dynamics without relying on any dark knowledge, (2) self-supervised learning can learn features even in the absence of data augmentation and (3) training dynamics during the early phase of supervised training do not necessarily require label information. Finally, we shed light on an intriguing local property of the loss landscape: the process of feature learning is strongly amplified if the student is initialized closely to the teacher. These results raise interesting questions about the nature of the landscape that have remained unexplored so far. Code is available at https://github.com/safelix/dinopl.

In July 2026, OpenAI's agents coordinated over channels outside their intended environment to breach Hugging Face's secured infrastructure. Could existing alignment testing practices have foreseen this incident? If not, what needs to change? We explore these questions. First, we identify the misaligned behaviors that caused this incident. Then, we show how to elicit these behaviors from publicly available models manually and that auditing agents can do the same if given a large compute budget. Based on our results, we propose directions to improve alignment testing. Concretely, in this project: (1) We reproduce the misaligned AI behaviors that led to the OpenAI-Hugging Face incident in an environment that simulates the original pipelines and tools, with publicly available models. (2) We demonstrate that an auditing agent can elicit similar behaviors given high-level qualitative descriptions. (3) We observe that a key ingredient for doing so is compute. The compute required to reproduce each behavior varies greatly, suggesting that the range of misaligned behaviors that can be successfully elicited scales with compute. (4) We show that a simple in-context reinforcement learning (RL) algorithm significantly reduces the compute required to elicit these behaviors. The above results motivate the need for automated alignment testing methods that scale with compute - and in light of the cost of compute, that do this efficiently. Our work indicates that RL is a promising direction to do so. We release our code and transcripts.

Instruction tuning large language model (LLM) on image-text pairs has achieved unprecedented vision-language multimodal abilities. However, their vision-language alignments are only built on image-level, the lack of region-level alignment limits their advancements to fine-grained multimodal understanding. In this paper, we propose instruction tuning on region-of-interest. The key design is to reformulate the bounding box as the format of spatial instruction. The interleaved sequences of visual features extracted by the spatial instruction and the language embedding are input to LLM, and trained on the transformed region-text data in instruction tuning format. Our region-level vision-language model, termed as GPT4RoI, brings brand new conversational and interactive experience beyond image-level understanding. (1) Controllability: Users can interact with our model by both language and spatial instructions to flexibly adjust the detail level of the question. (2) Capacities: Our model supports not only single-region spatial instruction but also multi-region. This unlocks more region-level multimodal capacities such as detailed region caption and complex region reasoning. (3) Composition: Any off-the-shelf object detector can be a spatial instruction provider so as to mine informative object attributes from our model, like color, shape, material, action, relation to other objects, etc. The code, data, and demo can be found at https://github.com/jshilong/GPT4RoI.

Recent progress in using recurrent neural networks (RNNs) for image description has motivated the exploration of their application for video description. However, while images are static, working with videos requires modeling their dynamic temporal structure and then properly integrating that information into a natural language description. In this context, we propose an approach that successfully takes into account both the local and global temporal structure of videos to produce descriptions. First, our approach incorporates a spatial temporal 3-D convolutional neural network (3-D CNN) representation of the short temporal dynamics. The 3-D CNN representation is trained on video action recognition tasks, so as to produce a representation that is tuned to human motion and behavior. Second we propose a temporal attention mechanism that allows to go beyond local temporal modeling and learns to automatically select the most relevant temporal segments given the text-generating RNN. Our approach exceeds the current state-of-art for both BLEU and METEOR metrics on the Youtube2Text dataset. We also present results on a new, larger and more challenging dataset of paired video and natural language descriptions.

Large Language Models (LLMs) are transforming society and permeating into diverse applications. As a result, LLMs will frequently interact with us and other agents. It is, therefore, of great societal value to understand how LLMs behave in interactive social settings. Here, we propose to use behavioral game theory to study LLM's cooperation and coordination behavior. To do so, we let different LLMs (GPT-3, GPT-3.5, and GPT-4) play finitely repeated games with each other and with other, human-like strategies. Our results show that LLMs generally perform well in such tasks and also uncover persistent behavioral signatures. In a large set of two players-two strategies games, we find that LLMs are particularly good at games where valuing their own self-interest pays off, like the iterated Prisoner's Dilemma family. However, they behave sub-optimally in games that require coordination. We, therefore, further focus on two games from these distinct families. In the canonical iterated Prisoner's Dilemma, we find that GPT-4 acts particularly unforgivingly, always defecting after another agent has defected only once. In the Battle of the Sexes, we find that GPT-4 cannot match the behavior of the simple convention to alternate between options. We verify that these behavioral signatures are stable across robustness checks. Finally, we show how GPT-4's behavior can be modified by providing further information about the other player as well as by asking it to predict the other player's actions before making a choice. These results enrich our understanding of LLM's social behavior and pave the way for a behavioral game theory for machines.

Satellite remote sensing missions have gained popularity over the past fifteen years due to their ability to cover large swaths of land at regular intervals, making them ideal for monitoring environmental trends. The FINCH mission, a 3U+ CubeSat equipped with a hyperspectral camera, aims to monitor crop residue cover in agricultural fields. Although hyperspectral imaging captures both spectral and spatial information, it is prone to various types of noise, including random noise, stripe noise, and dead pixels. Effective denoising of these images is crucial for downstream scientific tasks. Traditional methods, including hand-crafted techniques encoding strong priors, learned 2D image denoising methods applied across different hyperspectral bands, or diffusion generative models applied independently on bands, often struggle with varying noise strengths across spectral bands, leading to significant spectral distortion. This paper presents a novel approach to hyperspectral image denoising using latent diffusion models that integrate spatial and spectral information. We particularly do so by building a 3D diffusion model and presenting a 3-stage training approach on real and synthetically crafted datasets. The proposed method preserves image structure while reducing noise. Evaluations on both popular hyperspectral denoising datasets and synthetically crafted datasets for the FINCH mission demonstrate the effectiveness of this approach.

Skill self-evolution methods for LLM agents aim to turn execution trajectories into reusable skill documents. However, current pipelines typically derive skill patches from a single trajectory per task, merge them indiscriminately, and load the entire skill corpus during inference. These choices lead to unreliable evidence extraction, the accumulation of low-quality or even harmful skill edits, and inefficient use of context due to irrelevant or conflicting skill content. We propose SkillCAT, a framework that decomposes this process into three stages. (1) Contrastive Causal Extraction (CCE) samples multiple trajectories per task and contrasts same-task success/failure pairs to find the evidence that explains outcome differences. (2) Assessment-Augmented Evolution (AAE) replays each candidate patch on source-task clones, retains only those that do not damage task outcomes, and then merges the retained patches hierarchically. (3) Topology-Aware Task Execution (TTE) compiles the evolved skills into routable sub-skill topologies, so that inference loads only task-relevant capability nodes. We evaluate SkillCAT on widely-used agent benchmarks, including SpreadsheetBench, WikiTableQuestions, and DocVQA, and further assess cross-model and out-of-distribution generalization. Across these settings, SkillCAT improves the average score over the initial skill by up to 49.69%, demonstrating reliable and effective skill evolution.

The objective is the design of a Cellular Automata rule that can form patterns with 'touching' loops. A loop is defined as a closed path of 1-cells in a 2D grid on a zero background and with a zero border. A path cell is connected with two of its adjacent neighbors. In touching loops a path cell is also allowed to touch another on a diagonal. A CA rule was designed that can evolve stable touching loop patterns. The rule tries to cover the 2D space by overlapping tiles. The rule uses so-called templates, 5 x 5 matching patterns which are systematically derived from the given set of 3 x 3 tiles. The rule checks the pattern being evolved against a list of templates. If the outer neighbors of a template match, then the cell's state is set to the template's center value. Noise is injected if there is no matching template, or the tiles are not properly assembled. Thereby the evolution is driven to the desired loop patterns.

Large language models (LLMs) have shown remarkable reasoning capabilities given chain-of-thought prompts (examples with intermediate reasoning steps). Existing benchmarks measure reasoning ability indirectly, by evaluating accuracy on downstream tasks such as mathematical reasoning. However, it is unclear how these models obtain the answers and whether they rely on simple heuristics rather than the generated chain-of-thought. To enable systematic exploration of the reasoning ability of LLMs, we present a new synthetic question-answering dataset called PrOntoQA, where each example is generated from a synthetic world model represented in first-order logic. This allows us to parse the generated chain-of-thought into symbolic proofs for formal analysis. Our analysis on InstructGPT and GPT-3 shows that LLMs are quite capable of making correct individual deduction steps, and so are generally capable of reasoning, even in fictional contexts. However, they have difficulty with proof planning: When multiple valid deduction steps are available, they are not able to systematically explore the different options.

Fine-tuning language models~(LMs) on human-generated data remains a prevalent practice. However, the performance of such models is often limited by the quantity and diversity of high-quality human data. In this paper, we explore whether we can go beyond human data on tasks where we have access to scalar feedback, for example, on math problems where one can verify correctness. To do so, we investigate a simple self-training method based on expectation-maximization, which we call ReST^{EM}, where we (1) generate samples from the model and filter them using binary feedback, (2) fine-tune the model on these samples, and (3) repeat this process a few times. Testing on advanced MATH reasoning and APPS coding benchmarks using PaLM-2 models, we find that ReST^{EM} scales favorably with model size and significantly surpasses fine-tuning only on human data. Overall, our findings suggest self-training with feedback can substantially reduce dependence on human-generated data.

Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing expert demonstrations but typically require a large number of in-domain expert demonstrations. Inspired by advances in the field of Video-and-Language Models (VLMs), we present RoboCLIP, an online imitation learning method that uses a single demonstration (overcoming the large data requirement) in the form of a video demonstration or a textual description of the task to generate rewards without manual reward function design. Additionally, RoboCLIP can also utilize out-of-domain demonstrations, like videos of humans solving the task for reward generation, circumventing the need to have the same demonstration and deployment domains. RoboCLIP utilizes pretrained VLMs without any finetuning for reward generation. Reinforcement learning agents trained with RoboCLIP rewards demonstrate 2-3 times higher zero-shot performance than competing imitation learning methods on downstream robot manipulation tasks, doing so using only one video/text demonstration.

We present a general framework for symmetrizing an arbitrary neural-network architecture and making it equivariant with respect to a given group. We build upon the proposals of Kim et al. (2023); Kaba et al. (2023) for symmetrization, and improve them by replacing their conversion of neural features into group representations, with an optimization whose loss intuitively measures the distance between group orbits. This change makes our approach applicable to a broader range of matrix groups, such as the Lorentz group O(1, 3), than these two proposals. We experimentally show our method's competitiveness on the SO(2) image classification task, and also its increased generality on the task with O(1, 3). Our implementation will be made accessible at https://github.com/tiendatnguyen-vision/Orbit-symmetrize.

Live sports commentary is grounded generation under a deadline: statements concern real, named athletes, the grounding state changes every few seconds, and no reference text exists at generation time. We present Pitwall, a production system that generates natural-language Formula 1 strategy briefings in English, Spanish, and Portuguese, treating faithfulness as an architectural property rather than an aspiration: every published sentence is decomposed into typed factual claims (positions, gaps, tyres, pace, overtakes, race control) and each claim is verified against the probabilistic race state that prompted it. The same verifier gates the fine-tuning data: of 3,045 model-written targets, only the 81.9% whose every claim is state-supported are retained, the rest falling back to a provably faithful template, so the generator never sees an ungrounded target. Verification is meaningful because of the grounding substrate: a vectorized Monte Carlo engine (N=2,000 per-lap race continuations) calibrated on 126 races (2018-2024) and validated on fully held-out 2025-2026 seasons (winner-in-top-3 90.3% over 155 backtests; held-out Brier 0.0745). A recurring finding spans both halves of the system: virtues trade off and must be gated separately. In simulation, calibration-optimal is not decision-optimal; in generation, fine-tuning on richer targets buys vividness that collapses into hallucination when the grounding state is sparse -- a failure a four-base replication traces to base-model instruction adherence, not scale, and that sparse-context auditing removes from the production model. End-to-end operation -- live timing to verified trilingual briefings -- was confirmed at two consecutive live Grands Prix (Austria and Britain, 2026); at Silverstone a timestamped probability trace, committed to disk before the outcome was known, locked onto the eventual winner ten laps before the flag.

Posted prices for AI inference have fallen steadily since 2024, yet the measured speed of that fall depends almost entirely on the method of measurement. This paper constructs quality-adjusted price indices for the AI inference market from public data. The panel assembles 21,024 posted-price observations across 3,208 models and 86 providers and joins them to 4,605 benchmark scores through a latent quality index estimated from benchmark response patterns, so the quality ladder of the hedonic tradition is built here from evaluations in place of product characteristics. Measured by the matched-model methods that statistical agencies apply to software, inference prices fell at 0.10 log points a year. The quality-adjusted index fell at 0.73, so 87% of the decline is invisible to current methods, with direct consequences for measured competition, concentration and productivity in this market. Counted per completed task, moreover, the buyer's price stopped falling. Reasoning models raised token consumption faster than token prices fell, and the seller's and buyer's prices accordingly diverged. A pre-registered validity audit disciplines the quality measure and yields the sharpest result. Excluding contamination-flagged benchmarks leaves model rankings intact at 0.998 yet moves the index by 0.49 log points a year, so the leaderboard-stability arguments standard in AI evaluation offer no defence of economic statistics built on benchmarks. Prices, quality and the audit are fully reproducible from public sources at zero cost.

Researchers have proposed a wide variety of model explanation approaches, but it remains unclear how most methods are related or when one method is preferable to another. We examine the literature and find that many methods are based on a shared principle of explaining by removing - essentially, measuring the impact of removing sets of features from a model. These methods vary in several respects, so we develop a framework for removal-based explanations that characterizes each method along three dimensions: 1) how the method removes features, 2) what model behavior the method explains, and 3) how the method summarizes each feature's influence. Our framework unifies 26 existing methods, including several of the most widely used approaches (SHAP, LIME, Meaningful Perturbations, permutation tests). Exposing the fundamental similarities between these methods empowers users to reason about which tools to use, and suggests promising directions for ongoing model explainability research.

LAOD and similar zero-training LLM+open-vocabulary-detector (OVOD) pipelines score two things separately: class-agnostic localization accuracy (CAAP) and semantic naming accuracy (SNAP). The two consistently diverge, and nobody has asked why. This paper asks why, on the full 5,000-image COCO-Val split (27,273 detections) rather than the small subset the original work evaluated on. Object visual complexity turns out not to be the driver -- small and occluded objects are, if anything, localized better than large ones. Vocabulary novelty is: once the LLM's wording falls outside the detector's native category set, localization accuracy falls from 80.9% to 31.6%. That drop is not spread evenly across unfamiliar phrasing, though. Almost all of it comes from cases where the novel wording actually names a different object than the one COCO annotated (true synonyms still score 89.3%; semantically unrelated "noise" labels score 12.0%). A closer look at a further failure subset tells a similar story: 78-88% of what looks like complete localization failure is really the model correctly finding a real object that COCO's non-exhaustive 80-category scheme simply never labeled, not hallucination. Swap the detector backbone (YOLO-World for Grounding DINO) or the LLM (Gemma-3 for Qwen2.5-VL) and both the effect and its rough size hold up, so this looks like a general property of the pipeline family rather than a quirk of one model pairing. The upshot is that a large share of the apparent CAAP--SNAP gap traces back to closed-category annotation limits rather than a real grounding failure, which matters for how we detect hallucination, analyze failure modes, and design evaluation for grounded multimodal systems meant to work in the open world.

This is an implementation and measurement study of what it costs to run a streaming speech enhancer on a CPU. We port FastEnhancer-Medium at 48 kHz to faster-enhancer.c, a C runtime with six int8 GEMM tiers selected at initialization, leaving architecture and weights untouched. One Apple M2 core reaches 0.069 real-time factor, against 0.230 for the fp32 ONNX Runtime graph on the same machine, a 3.3x speedup. A Galaxy S23+ (Snapdragon 8 Gen 2) reaches 0.096. The speedup comes from specializing every layer of the runtime around one fixed model. Activation ranges are recomputed per frame, so no calibration set is needed; the k=3 convolutions use Winograd F(2,3); cross-stage state is fp16; the GRU and the dequantization epilogues are fused; and nothing is allocated after startup. Over 824 VoiceBank-DEMAND utterances the engine tracks fp32 to within -0.006 PESQ and -0.08 dB SNR. Speed alone does not settle deployment cost. The enhancer holds a fraction of a core for as long as the microphone is open, so its real-time factor is a duty cycle. A benchmark races through a file; an audio callback does not. Pacing to the 6.67 ms deadline costs 4.2x per frame, saves 49% of the energy, and leaves the cheapest core placement missing 96% of its deadlines. All SIMD tiers within an architecture family emit byte-identical output. The runtime is released as a dependency-free library.

Generative models can synthesize high-quality inauthentic multimedia content that is already being misused at scale. We evaluate twenty deepfake detectors against ten generators released in the last four years and find accuracy decreasing over time, from near-perfect 99.5% to 76%. Adversarial perturbations further reduce every baseline detector to below 2% accuracy, effectively inverting the detector's assigned label. We argue that this unreliability reflects a fundamental ambiguity: generators can reproduce authentic content exactly (e.g., through memorization), so content alone cannot reveal the true provenance label.For this reason, content produced by a generator must admit a faithful reconstruction by that same generator, and finding such a reconstruction makes synthetic provenance plausible and authenticity plausibly deniable.We therefore propose and evaluate a detection paradigm that outputs a calibrated prediction of whether authenticity is plausibly deniable: a faithful reconstruction by any known generator establishes plausible deniability, while calibration bounds how often content from known generators fails to be reproduced. Our evaluation shows that (i) our detector can be calibrated so that at most 1% of generated content is wrongly certified, an operating point at which most baseline detectors reach near-zero recall, including the strongest with 93% accuracy; (ii) calibrating a stricter security threshold on attacked samples preserves this bound against adaptive adversaries within the evaluated bounded-perturbation attack space, whose perturbations break every baseline, but does not cover arbitrary adversarial transformations; and (iii) post-hoc verifiability is eroding, as 1,116 of 3,000 Reddit images resist reproduction by a 2022 generator, but only 55 to 79 resist reproduction by 2024 generators.

The study of algorithms to automatically answer visual questions currently is motivated by visual question answering (VQA) datasets constructed in artificial VQA settings. We propose VizWiz, the first goal-oriented VQA dataset arising from a natural VQA setting. VizWiz consists of over 31,000 visual questions originating from blind people who each took a picture using a mobile phone and recorded a spoken question about it, together with 10 crowdsourced answers per visual question. VizWiz differs from the many existing VQA datasets because (1) images are captured by blind photographers and so are often poor quality, (2) questions are spoken and so are more conversational, and (3) often visual questions cannot be answered. Evaluation of modern algorithms for answering visual questions and deciding if a visual question is answerable reveals that VizWiz is a challenging dataset. We introduce this dataset to encourage a larger community to develop more generalized algorithms that can assist blind people.

In this paper, we introduce a black-box prompt optimization method that uses an attacker LLM agent to uncover higher levels of memorization in a victim agent, compared to what is revealed by prompting the target model with the training data directly, which is the dominant approach of quantifying memorization in LLMs. We use an iterative rejection-sampling optimization process to find instruction-based prompts with two main characteristics: (1) minimal overlap with the training data to avoid presenting the solution directly to the model, and (2) maximal overlap between the victim model's output and the training data, aiming to induce the victim to spit out training data. We observe that our instruction-based prompts generate outputs with 23.7% higher overlap with training data compared to the baseline prefix-suffix measurements. Our findings show that (1) instruction-tuned models can expose pre-training data as much as their base-models, if not more so, (2) contexts other than the original training data can lead to leakage, and (3) using instructions proposed by other LLMs can open a new avenue of automated attacks that we should further study and explore. The code can be found at https://github.com/Alymostafa/Instruction_based_attack .

Large Language Models (LLMs) have shown remarkable capabilities in language understanding and generation. Nonetheless, it was also witnessed that LLMs tend to produce inaccurate responses to specific queries. This deficiency can be traced to the tokenization step LLMs must undergo, which is an inevitable limitation inherent to all LLMs. In fact, incorrect tokenization is the critical point that hinders LLMs in understanding the input precisely, thus leading to unsatisfactory output. To demonstrate this flaw of LLMs, we construct an adversarial dataset, named as ADT (Adversarial Dataset for Tokenizer), which draws upon the vocabularies of various open-source LLMs to challenge LLMs' tokenization. ADT consists of two subsets: the manually constructed ADT-Human and the automatically generated ADT-Auto. Our empirical results reveal that our ADT is highly effective on challenging the tokenization of leading LLMs, including GPT-4o, Llama-3, Qwen2.5-max and so on, thus degrading these LLMs' capabilities. Moreover, our method of automatic data generation has been proven efficient and robust, which can be applied to any open-source LLMs. To the best of our knowledge, our study is the first to investigating LLMs' vulnerability in terms of challenging their token segmentation, which will shed light on the subsequent research of improving LLMs' capabilities through optimizing their tokenization process and algorithms.

In this paper, we propose a third-order, i.e., white-noise-on-jerk, Gaussian Process (GP) Trajectory Representation (TR) framework for continuous-time (CT) motion estimation (ME) tasks. Our framework features a unified trajectory representation that encapsulates the kinematic models of both SO(3)timesR^3 and SE(3) pose representations. This encapsulation strategy allows users to use the same implementation of measurement-based factors for either choice of pose representation, which facilitates experimentation and comparison to achieve the best model for the ME task. In addition, unique to our framework, we derive the kinematic models with the closed-form temporal derivatives of the local variable of SO(3) and SE(3), which so far has only been approximated based on the Taylor expansion in the literature. Our experiments show that these kinematic models can improve the estimation accuracy in high-speed scenarios. All analytical Jacobians of the interpolated states with respect to the support states of the trajectory representation, as well as the motion prior factors, are also provided for accelerated Gauss-Newton (GN) optimization. Our experiments demonstrate the efficacy and efficiency of the framework in various motion estimation tasks such as localization, calibration, and odometry, facilitating fast prototyping for ME researchers. We release the source code for the benefit of the community. Our project is available at https://github.com/brytsknguyen/gptr.

Real-world autonomous driving (AD) especially urban driving involves many corner cases. The lately released AD simulator CARLA v2 adds 39 common events in the driving scene, and provide more quasi-realistic testbed compared to CARLA v1. It poses new challenge to the community and so far no literature has reported any success on the new scenarios in V2 as existing works mostly have to rely on specific rules for planning yet they cannot cover the more complex cases in CARLA v2. In this work, we take the initiative of directly training a planner and the hope is to handle the corner cases flexibly and effectively, which we believe is also the future of AD. To our best knowledge, we develop the first model-based RL method named Think2Drive for AD, with a world model to learn the transitions of the environment, and then it acts as a neural simulator to train the planner. This paradigm significantly boosts the training efficiency due to the low dimensional state space and parallel computing of tensors in the world model. As a result, Think2Drive is able to run in an expert-level proficiency in CARLA v2 within 3 days of training on a single A6000 GPU, and to our best knowledge, so far there is no reported success (100\% route completion)on CARLA v2. We also propose CornerCase-Repository, a benchmark that supports the evaluation of driving models by scenarios. Additionally, we propose a new and balanced metric to evaluate the performance by route completion, infraction number, and scenario density, so that the driving score could give more information about the actual driving performance.

We present ENEAS, a unified, text-promptable method for instance tracking and semantic discovery. Text-promptable segmentation models, including the latest foundation models such as SAM 3, still suffer from temporal hallucinations, spatial fragmentation, and semantic misclassification: they fail to report target absence when an object leaves the field of view, segment local textures instead of the complete object during extreme close-ups, and prioritize visual features over ontological reality, so that visually similar artifacts such as statues, paintings, or reflections are segmented as target entities. ENEAS works two ways from a single method: precise tracking and high-quality segmentation of a unique instance, and open-concept discovery of every instance a text query names, resolved by a semantic verification layer. For tracking, we extend the geometrically robust SeC architecture, previously limited to point interactions, with a text-prompting adapter and leverage its temporal memory, so that the target is held through disappearance without drifting to distractors and kept whole even when it fills the entire view. For discovery, the verification layer combines high-speed visual embedding matching with conditional VLM refinement, invoking semantic reasoning only for ambiguous candidates, which filters out the ontological errors that visual-only models cannot distinguish while keeping latency low. Designed with 3D reconstruction in mind, where a single misclassified distractor corrupts the asset, ENEAS unlocks high-quality semantic tracking and segmentation of video, of broad libraries, and of collections of temporally or spatially unordered data, together with the discrimination to tell true instances from their doppelgangers: things that look alike but are not the same. The code and models are available at https://github.com/speridlabs/eneas

Post-hoc safety training (RLHF, DPO) is the dominant way to align large language models, yet jailbreaks (Zou et al., 2023), fine-tuning attacks (Qi et al., 2024), and activation-space edits (Arditi et al., 2024) keep recovering the behaviors it was meant to remove. We give this fragility one geometric explanation and follow it into pretraining. We measure the safety update Δ= W_{safe} - W_{base} against the curvature of the model's capabilities (the empirical Fisher of a capability loss). Across five model families, post-hoc safety lands in a suppression regime: Δ is nearly orthogonal to the capability directions, and its small in-subspace part concentrates on a few high-curvature ones. The update is thin but sharp, a refusal gate laid over intact capabilities rather than erasure of them. A kernel-immobility lemma explains why such an update can only mask a capability, not remove it, so a little benign fine-tuning restores it: 100 benign examples cut the AdvBench refusal of Qwen-2.5-7B-Instruct and Llama-3-8B-Instruct by 35 to 38 pp. Following the account into pretraining, a pretraining-checkpoint sweep of OLMo-2-1B (Team OLMo et al., 2024) shows the features that refusal attaches to emerging in a sharp transition between 1B and 63B pretraining tokens. We then use the account constructively: models trained from scratch with safety co-training spread continuously across pretraining reach 87 to 98% AdvBench refusal that the same attack erodes by only 2 to 14 pp at every scale from 410M to 6.9B, against 35 to 38 pp for post-hoc installs, at a small cost on short-answer capability probes; a windowed schedule of equal total safety weight installs no refusal. Persistence of the safety signal across pretraining, not its timing, is what buys attack robustness.

Ternary Large Language Models (LLM) store every weight as one of three symbols {-1,0,+1}, so the cost of a ternary model is conventionally referenced to the information-theoretic log_2 3 approx 1.585 bits per weight. The prevailing deployment format packs five ternary weights into one byte (five-trit packing), and due to the power-of-two group sizes used in practice this rounds up to 1.625 bits per weight. This effective storage bit-width treats the three symbols {-1,0,+1} as equiprobable. We measure the actual symbol distribution of 29 ternary LLM models and find that zeros account for up to 51.5% of all weights. Motivated by this finding, we introduce BITCOS, a simple distribution-adaptive layout comprised of a dense presence bitmap plus a compacted sign vector, and costs 2 - z bits per weight element given a zero density z in the model's weights. BITCOS stores weights more compactly than the five-trit packing in 26 of the 29 tested models, and reaches 1.485 bits per weight on the sparsest of them. BITCOS is amenable to efficient unpacking on modern processors and GPUs, and we present optimized unpacking sequences for AVX-512, AVX2 and Intel Xe2 GPUs. Measured against production state-of-the-art ternary matrix-vector multiplication kernels, at the zero densities real-world ternary models exhibit, the realized gain with our proposed layout is up to 1.28times. Finally, we illustrate end-to-end LLM inference results on 5 different platforms (client and server CPUs, integrated and discrete Xe2 GPUs) where decode throughput improves by up to 1.18times on CPUs and 1.27times on GPUs.

When an AI system is deployed, the individuals who use and or are evaluated by it form beliefs about how the system operates and use those beliefs to strategically present their preferences, behaviors, or attributes. The system then responds with feedback or a decision outcome, thereby creating a human-AI interaction loop. This thesis studies how to design and shape such interactions to achieve three goals: (1) help individuals develop accurate beliefs about the AI systems so they can improve and or secure favorable outcomes at minimal cost, (2) encourage improvement and or discourage gaming behaviors, and (3) ensure that the AI system continues to achieve its intended objectives, such as maximizing accuracy. To address these goals, the thesis is organized into three complementary parts that examine and study human-AI interactions from the perspectives of both evaluated individuals and AI systems. Together, the work presented in this thesis advances human-centered machine learning by providing principles and methods for designing AI systems that align with human needs, values, and capabilities. Methodologically, this thesis integrates theoretical analysis, data-driven modeling, human-subject experiments, and empirical evaluations on real-world and semi-synthetic datasets.

Large Language Models (LLMs) have demonstrated proficiency in addressing tasks that necessitate a combination of task planning and the usage of external tools that require a blend of task planning and the utilization of external tools, such as APIs. However, real-world complex systems present three prevalent challenges concerning task planning and tool usage: (1) The real system usually has a vast array of APIs, so it is impossible to feed the descriptions of all APIs to the prompt of LLMs as the token length is limited; (2) the real system is designed for handling complex tasks, and the base LLMs can hardly plan a correct sub-task order and API-calling order for such tasks; (3) Similar semantics and functionalities among APIs in real systems create challenges for both LLMs and even humans in distinguishing between them. In response, this paper introduces a comprehensive framework aimed at enhancing the Task Planning and Tool Usage (TPTU) abilities of LLM-based agents operating within real-world systems. Our framework comprises three key components designed to address these challenges: (1) the API Retriever selects the most pertinent APIs for the user task among the extensive array available; (2) LLM Finetuner tunes a base LLM so that the finetuned LLM can be more capable for task planning and API calling; (3) the Demo Selector adaptively retrieves different demonstrations related to hard-to-distinguish APIs, which is further used for in-context learning to boost the final performance. We validate our methods using a real-world commercial system as well as an open-sourced academic dataset, and the outcomes clearly showcase the efficacy of each individual component as well as the integrated framework.

We propose that the grokking phenomenon, where the train loss of a neural network decreases much earlier than its test loss, can arise due to a neural network transitioning from lazy training dynamics to a rich, feature learning regime. To illustrate this mechanism, we study the simple setting of vanilla gradient descent on a polynomial regression problem with a two layer neural network which exhibits grokking without regularization in a way that cannot be explained by existing theories. We identify sufficient statistics for the test loss of such a network, and tracking these over training reveals that grokking arises in this setting when the network first attempts to fit a kernel regression solution with its initial features, followed by late-time feature learning where a generalizing solution is identified after train loss is already low. We provide an asymptotic theoretical description of the grokking dynamics in this model using dynamical mean field theory (DMFT) for high dimensional data. We find that the key determinants of grokking are the rate of feature learning -- which can be controlled precisely by parameters that scale the network output -- and the alignment of the initial features with the target function y(x). We argue this delayed generalization arises when (1) the top eigenvectors of the initial neural tangent kernel and the task labels y(x) are misaligned, but (2) the dataset size is large enough so that it is possible for the network to generalize eventually, but not so large that train loss perfectly tracks test loss at all epochs, and (3) the network begins training in the lazy regime so does not learn features immediately. We conclude with evidence that this transition from lazy (linear model) to rich training (feature learning) can control grokking in more general settings, like on MNIST, one-layer Transformers, and student-teacher networks.

Different base language model families, such as Llama and Qwen, exhibit divergent behaviors during post-training with reinforcement learning (RL), especially on reasoning-intensive tasks. What makes a base language model suitable for reinforcement learning? Gaining deeper insight into this question is essential for developing RL-scalable foundation models of the next generation. In this work, we investigate how mid-training strategies shape RL dynamics, focusing on two representative model families: Qwen and Llama. Our study reveals that (1) high-quality mathematical corpora, such as MegaMath-Web-Pro, significantly improve both base model and RL performance, while existing alternatives (e.g., FineMath-4plus) fail to do so; (2) further adding QA-style data, particularly long chain-of-thought (CoT) reasoning examples, enhances RL outcomes, and instruction data further unlocks this effect; (3) while long-CoT improves reasoning depth, it can also induce verbosity of model responses and unstability of RL training, underscoring the importance of data formatting; (4) scaling mid-training consistently leads to stronger downstream RL performance. Building on these insights, we introduce a two-stage mid-training strategy, Stable-then-Decay, in which base models are first trained on 200B tokens with a constant learning rate, followed by 20B tokens across three CoT-focused branches with learning rate decay. This yields OctoThinker, a family of models demonstrating strong RL compatibility and closing the performance gap with more RL-friendly model families, i.e., Qwen. We hope our work will help shape pre-training strategies for foundation models in the RL era. To support further research, we release our open-source models along with a curated math reasoning-intensive corpus of over 70 billion tokens (i.e., MegaMath-Web-Pro-Max).

Recently, nonnegative matrix factorization (NMF) has been widely adopted for community detection, because of its better interpretability. However, the existing NMF-based methods have the following three problems: 1) they directly transform the original network into community membership space, so it is difficult for them to capture the hierarchical information; 2) they often only pay attention to the topology of the network and ignore its node attributes; 3) it is hard for them to learn the global structure information necessary for community detection. Therefore, we propose a new community detection algorithm, named Contrastive Deep Nonnegative Matrix Factorization (CDNMF). Firstly, we deepen NMF to strengthen its capacity for information extraction. Subsequently, inspired by contrastive learning, our algorithm creatively constructs network topology and node attributes as two contrasting views. Furthermore, we utilize a debiased negative sampling layer and learn node similarity at the community level, thereby enhancing the suitability of our model for community detection. We conduct experiments on three public real graph datasets and the proposed model has achieved better results than state-of-the-art methods. Code available at https://github.com/6lyc/CDNMF.git.

Commercial TTS systems produce near-native Indic audio, but the best open-source bases (Chatterbox, Indic Parler-TTS, IndicF5) trail them on measured phonological dimensions, and the most widely adopted multilingual base (Chatterbox, 23 languages) does not even tokenise Telugu or Tamil. We ask: what is the minimum intervention that brings such a non-Indic-native base to commercial-class output on Telugu, Tamil, and Hindi, without training a new acoustic decoder and without any commercial TTS training data? We combine three pieces: (1) BUPS, a Brahmic Unified Phoneme Space that deterministically romanises seven Indic scripts to ISO-15919 so Chatterbox's Latin tokeniser can process them; (2) a LoRA adapter on only the text-token predictor (Chatterbox's t3), trained on ~1,220h of licensed Indic audio with a Hindi-proxy language_id; (3) a voice-prompt recovery recipe -- an 8-11s same-language reference clip plus three sampling overrides (exaggeration 0.7, temperature 0.6, min_p 0.1; "Config B") -- that recovers commercial-class acoustic output with no acoustic-decoder training. On Hindi, the LoRA regresses accuracy and we instead use vanilla Chatterbox + Config B, giving a two-branch deployment. Evaluated on 10-utterance pilot sets with the companion PSP benchmark, Praxy Voice matches or slightly leads commercial baselines: 26.7% retroflex collapse on Telugu (vs Sarvam Bulbul 33.3%), 71% Tamil-zha collapse (vs commercial trio's 86%), 0.025 LLM-WER on Hindi (tied with Cartesia Sonic-3). For intra-sentential code-mix we add a third branch (IndicF5 + native-script transliteration) that drops code-mix LLM-WER from 0.80-0.85 to 0.14-0.27 across Hi/Te/Ta. We release R6 LoRA weights (Apache-2.0), inference code and router (MIT), and a Gradio demo.

Harnesses are now central to coding-agent performance, mediating how models interact with tools and execution environments. Yet harness engineering remains a manual craft, because automating it faces a heterogeneous action space across editable components, voluminous trajectories that bury actionable signal, and edits whose effect is hard to attribute. We introduce Agentic Harness Engineering (AHE), a closed loop that addresses these challenges through three matched observability pillars: (1) component observability gives every editable harness component a file-level representation so the action space is explicit and revertible; (2) experience observability distills millions of raw trajectory tokens into a layered, drill-down evidence corpus that an evolving agent can actually consume; and (3) decision observability pairs every edit with a self-declared prediction, later verified against the next round's task-level outcomes. Together, these pillars turn every edit into a falsifiable contract, so harness evolution proceeds autonomously without collapsing into trial-and-error. Empirically, ten AHE iterations lift pass@1 on Terminal-Bench 2 from 69.7% to 77.0%, surpassing the human-designed harness Codex-CLI (71.9%) and the self-evolving baselines ACE and TF-GRPO. The frozen harness transfers without re-evolution: on SWE-bench-verified it tops aggregate success at 12% fewer tokens than the seed, and on Terminal-Bench 2 it yields +5.1 to +10.1pp cross-family gains across three alternate model families, indicating the evolved components encode general engineering experience rather than benchmark-specific tuning. Ablations localize the gain to tools, middleware, and long-term memory rather than the system prompt, suggesting factual harness structure transfers while prose-level strategy does not.

Simulation offers unique values for both enumeration and extrapolation purposes, and is becoming increasingly important for managing the massive machine learning (ML) clusters and large-scale distributed training jobs. In this paper, we build Echo to tackle three key challenges in large-scale training simulation: (1) tracing the runtime training workloads at each device in an ex-situ fashion so we can use a single device to obtain the actual execution graphs of 1K-GPU training, (2) accurately estimating the collective communication without high overheads of discrete-event based network simulation, and (3) accounting for the interference-induced computation slowdown from overlapping communication and computation kernels on the same device. Echo delivers on average 8% error in training step -- roughly 3x lower than state-of-the-art simulators -- for GPT-175B on a 96-GPU H800 cluster with 3D parallelism on Megatron-LM under 2 minutes.

The rapid evolution of Graph Neural Networks (GNNs) has led to a growing number of new architectures as well as novel applications. However, current research focuses on proposing and evaluating specific architectural designs of GNNs, as opposed to studying the more general design space of GNNs that consists of a Cartesian product of different design dimensions, such as the number of layers or the type of the aggregation function. Additionally, GNN designs are often specialized to a single task, yet few efforts have been made to understand how to quickly find the best GNN design for a novel task or a novel dataset. Here we define and systematically study the architectural design space for GNNs which consists of 315,000 different designs over 32 different predictive tasks. Our approach features three key innovations: (1) A general GNN design space; (2) a GNN task space with a similarity metric, so that for a given novel task/dataset, we can quickly identify/transfer the best performing architecture; (3) an efficient and effective design space evaluation method which allows insights to be distilled from a huge number of model-task combinations. Our key results include: (1) A comprehensive set of guidelines for designing well-performing GNNs; (2) while best GNN designs for different tasks vary significantly, the GNN task space allows for transferring the best designs across different tasks; (3) models discovered using our design space achieve state-of-the-art performance. Overall, our work offers a principled and scalable approach to transition from studying individual GNN designs for specific tasks, to systematically studying the GNN design space and the task space. Finally, we release GraphGym, a powerful platform for exploring different GNN designs and tasks. GraphGym features modularized GNN implementation, standardized GNN evaluation, and reproducible and scalable experiment management.

APort Vault is a benchmark for payment authorization in tool-using AI agents. It replays 4,371 attacks written by humans against a live payment agent during a public capture-the-flag event, across 14 models from 8 labs, five policy configurations and two replay tracks, with and without a deterministic pre-action check implementing the Open Agent Passport (OAP) specification. 225,964 evaluations completed. We report five distinct events per evaluation, because collapsing them is how an agent benchmark produces a number that does not survive review. Requests are common and their rate differs far more across configurations than across models, though each attack exists at exactly one configuration so policy and attack cohort vary together: 10.9% of model-alone evaluations at Level 1, 3.0% at Level 2, 0.1% at Level 3, 79.4% at Level 4. On the 1,293 Level 4 prompts, each evaluated on every model, request rates run from 71.2% to 84.3%, and 809 prompts (62.6%) elicited a request from all fourteen models, each ending in a successful payment to the level's allowlisted recipient. The authorization boundary is where the conditions diverge. At Levels 2 to 4, transfers to recipients the passport did not permit number 140 of 76,842 with the model alone and 0 of 69,297 behind the layer, and 105 against 0 on 68,970 matched model, prompt and track triples. The zero spans 790 source sessions, giving a per-session upper bound of 0.38%. It was not obtained by refusing payments: 25,370 payments executed behind the layer, while the policy denied 187 of the 25,640 transfer calls it evaluated, 148 of them for a forbidden recipient. We release the 225,964 evaluations, the level passports, the scoring code and the analysis script at huggingface.co/datasets/aporthq/vault-benchmark-v1 .

We propose a new formula relating the rationalized Drinfeld associators obtained from the Knizhnik--Zamolodchikov equation to the quantum 6j-symbols of the algebra U_q(g): U_{q} = U cdot Φ^{KZ}_{Q} . We prove this relation in the case of the sl_2 Lie algebra for the tensor cube of the fundamental and the first symmetric representation. We also check it perturbatively for the sl_N algebra for representations [2]otimes [1] otimes [1], [2]otimes [2] otimes [1], the non-trivial cases with multiplicities --- [2,1]^{otimes 3}, [2,2]^{otimes 3}, and in the case of the so_5 Lie algebra for the tensor cube of the fundamental representation.

Accurate time series forecasting underpins decision-making in many domains, yetconventional ML development often faces data scarcity, distribution shift, anddiminishing returns from manual iteration. We propose Self-Evolving Agent forTime Series Algorithms (SEATS), a framework that autonomously generates, val-idates, and optimizes forecasting algorithm code through an iterative self-evolutionloop. Our design combines three mechanisms: (1) Metric-Advantage MCTS(MA-MCTS), which replaces fixed rewards with a statistically normalized advan-tage score for search guidance, (2) code review with running prompt refinement,so every successfully executed solution is reviewed and the running prompt encodescorrective patterns for later iterations, and (3) global steerable reasoning, whichcompares each evaluated node to global best- and worst-performing solutions forcross-trajectory transfer. A MAP-Elites archive maintains architectural diversity.Across four datasets and two metrics, SEATS wins seven of eight comparisonsagainst strong baselines TimeMixer, Timer, and SEMixer

The Chandra Source Catalog (CSC) is a general purpose virtual X-ray astrophysics facility that provides access to a carefully selected set of generally useful quantities for individual X-ray sources, and is designed to satisfy the needs of a broad-based group of scientists, including those who may be less familiar with astronomical data analysis in the X-ray regime. The first release of the CSC includes information about 94,676 distinct X-ray sources detected in a subset of public ACIS imaging observations from roughly the first eight years of the Chandra mission. This release of the catalog includes point and compact sources with observed spatial extents <~ 30''. The catalog (1) provides access to the best estimates of the X-ray source properties for detected sources, with good scientific fidelity, and directly supports scientific analysis using the individual source data; (2) facilitates analysis of a wide range of statistical properties for classes of X-ray sources; and (3) provides efficient access to calibrated observational data and ancillary data products for individual X-ray sources, so that users can perform detailed further analysis using existing tools. The catalog includes real X-ray sources detected with flux estimates that are at least 3 times their estimated 1 sigma uncertainties in at least one energy band, while maintaining the number of spurious sources at a level of <~ 1 false source per field for a 100 ks observation. For each detected source, the CSC provides commonly tabulated quantities, including source position, extent, multi-band fluxes, hardness ratios, and variability statistics, derived from the observations in which the source is detected. In addition to these traditional catalog elements, for each X-ray source the CSC includes an extensive set of file-based data products that can be manipulated interactively.

The automatic evaluation of instruction following typically involves using large language models (LLMs) to assess response quality. However, there is a lack of comprehensive evaluation of these LLM-based evaluators across two dimensions: the base LLMs and the evaluation protocols. Therefore, we present a thorough meta-evaluation of instruction following, including 25 base LLMs and 15 recently proposed evaluation protocols, on 4 human-annotated datasets, assessing the evaluation accuracy of the LLM-evaluators. Our evaluation allows us to identify the best-performing base LLMs and evaluation protocols with a high degree of robustness. Moreover, our large-scale evaluation reveals: (1) Base LLM performance ranking remains largely consistent across evaluation protocols, with less capable LLMs showing greater improvement from protocol enhancements; (2) Robust evaluation of evaluation protocols requires many base LLMs with varying capability levels, as protocol effectiveness can depend on the base LLM used; (3) Evaluation results on different datasets are not always consistent, so a rigorous evaluation requires multiple datasets with distinctive features. We release our meta-evaluation suite ReIFE, which provides the codebase and evaluation result collection for more than 500 LLM-evaluator configurations, to support future research in instruction-following evaluation.

As a key component in online marketing, uplift modeling aims to accurately capture the degree to which different treatments motivate different users, such as coupons or discounts, also known as the estimation of individual treatment effect (ITE). In an actual business scenario, the options for treatment may be numerous and complex, and there may be correlations between different treatments. In addition, each marketing instance may also have rich user and contextual features. However, existing methods still fall short in both fully exploiting treatment information and mining features that are sensitive to a particular treatment. In this paper, we propose an explicit feature interaction-aware uplift network (EFIN) to address these two problems. Our EFIN includes four customized modules: 1) a feature encoding module encodes not only the user and contextual features, but also the treatment features; 2) a self-interaction module aims to accurately model the user's natural response with all but the treatment features; 3) a treatment-aware interaction module accurately models the degree to which a particular treatment motivates a user through interactions between the treatment features and other features, i.e., ITE; and 4) an intervention constraint module is used to balance the ITE distribution of users between the control and treatment groups so that the model would still achieve a accurate uplift ranking on data collected from a non-random intervention marketing scenario. We conduct extensive experiments on two public datasets and one product dataset to verify the effectiveness of our EFIN. In addition, our EFIN has been deployed in a credit card bill payment scenario of a large online financial platform with a significant improvement.

Interactive video generation models such as Genie, YUME, HY-World, and Matrix-Game are advancing rapidly, yet every model is evaluated on its own benchmark with private scenes and trajectories, making fair cross-model comparison impossible. Existing public benchmarks offer useful metrics such as trajectory error, aesthetic scores, and VLM-based judgments, but none supplies the standardized test conditions -- identical scenes, identical action sequences, and a unified control interface -- needed to make those metrics comparable across models with heterogeneous inputs. We introduce WorldMark, the first benchmark that provides such a common playing field for interactive Image-to-Video world models. WorldMark contributes: (1) a unified action-mapping layer that translates a shared WASD-style action vocabulary into each model's native control format, enabling apples-to-apples comparison across six major models on identical scenes and trajectories; (2) a hierarchical test suite of 500 evaluation cases covering first- and third-person viewpoints, photorealistic and stylized scenes, and three difficulty tiers from Easy to Hard spanning 20-60s; and (3) a modular evaluation toolkit for Visual Quality, Control Alignment, and World Consistency, designed so that researchers can reuse our standardized inputs while plugging in their own metrics as the field evolves. We will release all data, evaluation code, and model outputs to facilitate future research. Beyond offline metrics, we launch World Model Arena (warena.ai), an online platform where anyone can pit leading world models against each other in side-by-side battles and watch the live leaderboard.

Detailed image captioning is essential for tasks like data generation and aiding visually impaired individuals. High-quality captions require a balance between precision and recall, which remains challenging for current multimodal large language models (MLLMs). In this work, we hypothesize that this limitation stems from weakening and increasingly noisy visual attention as responses lengthen. To address this issue, we propose SPARC (Selective Progressive Attention ReCalibration), a training-free method that enhances the contribution of visual tokens during decoding. SPARC is founded on three key observations: (1) increasing the influence of all visual tokens reduces recall; thus, SPARC selectively amplifies visual tokens; (2) as captions lengthen, visual attention becomes noisier, so SPARC identifies critical visual tokens by leveraging attention differences across time steps; (3) as visual attention gradually weakens, SPARC reinforces it to preserve its influence. Our experiments, incorporating both automated and human evaluations, demonstrate that existing methods improve the precision of MLLMs at the cost of recall. In contrast, our proposed method enhances both precision and recall with minimal computational overhead.

Large language model (LLM) "answer engines" such as ChatGPT now send measurable referral traffic to the open web, and a practice analogous to search engine optimization, here called Answer Engine Optimization (AEO), has emerged. Public AEO success stories typically quote large raw growth multiples, but raw referral growth is confounded by the rapid platform-level growth of the answer engines themselves. We report a longitudinal field study on a single high-traffic domain (glasp.co) whose corpus of hundreds of thousands of YouTube question-and-answer pages received a defined bundle of AEO interventions in January 2026 (detailed in Section 4). Because the interventions were concentrated on one subset of the site, the untreated remainder of the same domain acts as a contemporaneous control that absorbs the platform tailwind. Using first-party analytics and server logs rather than probabilistic third-party estimators, we find: (1) raw growth is dominated by the platform tailwind: on monthly aggregates total ChatGPT referrals grew 5.7x while untreated pages on the same domain grew 3.5x over the same window; (2) an interrupted time-series model on the weekly treated/control ratio estimates a discrete, intervention-aligned level increase of 1.82x (95% CI 1.31-2.54, HAC p=0.001), robust across engagement-filtered traffic (2.27x) and alternative specifications; (3) however, a conservative placebo-in-time permutation test yields p=0.16, so the effect is suggestive, not conclusive, given a short and noisy pre-period; and (4) Google organic clicks to treated pages did not fall beyond the ambient site-wide trend and indexation was preserved, consistent with the SEO-protection rule. The methodological message, separating treatment from platform tailwind with an on-domain control, matters more than any single multiple, and implies that headline AEO multiples substantially overstate causal effect.