# Research Papers — 2025-10 · bundle page 101 of 217

> Full-text markdown of papers #5001–5050 of 10843 published in 2025-10, newest first. AI-readable mirrors of the full 10843-paper 2025-10 archive (50 papers per file).

Canonical page: https://aipod.dev/papers/archive/2025-10/page/101
[← Previous bundle](https://aipod.dev/papers/archive/2025-10/page/100.md)
[Next bundle →](https://aipod.dev/papers/archive/2025-10/page/102.md)

### RainDiff: End-to-end Precipitation Nowcasting Via Token-wise Attention Diffusion

Authors: Thao Nguyen, Jiaqi Ma, Fahad Shahbaz Khan, Souhaib Ben Taieb, Salman Khan
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14962v1

Precipitation nowcasting, predicting future radar echo sequences from current observations, is a critical yet challenging task due to the inherently chaotic and tightly coupled spatio-temporal dynamics of the atmosphere. While recent advances in diffusion-based models attempt to capture both large-scale motion and fine-grained stochastic variability, they often suffer from scalability issues: latent-space approaches require a separately trained autoencoder, adding complexity and limiting generalization, while pixel-space approaches are computationally intensive and often omit attention mechanisms, reducing their ability to model long-range spatio-temporal dependencies. To address these limitations, we propose a Token-wise Attention integrated into not only the U-Net diffusion model but also the spatio-temporal encoder that dynamically captures multi-scale spatial interactions and temporal evolution. Unlike prior approaches, our method natively integrates attention into the architecture without incurring the high resource cost typical of pixel-space diffusion, thereby eliminating the need for separate latent modules. Our extensive experiments and visual evaluations across diverse datasets demonstrate that the proposed method significantly outperforms state-of-the-art approaches, yielding superior local fidelity, generalization, and robustness in complex precipitation forecasting scenarios.

---

### Efficient Parallel Samplers for Recurrent-Depth Models and Their Connection to Diffusion Language Models

Authors: Jonas Geiping, Xinyu Yang, Guinan Su
Published: 2025-10-16
Categories: cs.LG, cs.CL
arXiv: https://arxiv.org/abs/2510.14961v1

Language models with recurrent depth, also referred to as universal or looped when considering transformers, are defined by the capacity to increase their computation through the repetition of layers. Recent efforts in pretraining have demonstrated that these architectures can scale to modern language modeling tasks while exhibiting advantages in reasoning tasks. In this work, we examine the relationship between recurrent-depth models and diffusion language models. Building on their similarities, we develop a new diffusion forcing sampler for these models to accelerate generation. The sampler advances by decoding new tokens at every forward pass of the model, while the latent states of these tokens can be further refined in parallel through recurrence. Theoretically, generation with our sampler is strictly more expressive than the baseline autoregressive generation using the same time budget on modern hardware. Moreover, this sampler, based on principles from diffusion literature, can be directly applied to existing 3.5B recurrent-depth transformers without any tuning, leading to up to a 5x speedup. Consequently, our findings not only provide an efficient mechanism for parallelizing the extra computation in recurrent-depth models at inference, but also suggest that such models can be naturally viewed as strong continuous, though causal, diffusion language models.

---

### C4D: 4D Made from 3D through Dual Correspondences

Authors: Shizun Wang, Zhenxiang Jiang, Xingyi Yang, Xinchao Wang
Published: 2025-10-16
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2510.14960v1

Recovering 4D from monocular video, which jointly estimates dynamic geometry and camera poses, is an inevitably challenging problem. While recent pointmap-based 3D reconstruction methods (e.g., DUSt3R) have made great progress in reconstructing static scenes, directly applying them to dynamic scenes leads to inaccurate results. This discrepancy arises because moving objects violate multi-view geometric constraints, disrupting the reconstruction. To address this, we introduce C4D, a framework that leverages temporal Correspondences to extend existing 3D reconstruction formulation to 4D. Specifically, apart from predicting pointmaps, C4D captures two types of correspondences: short-term optical flow and long-term point tracking. We train a dynamic-aware point tracker that provides additional mobility information, facilitating the estimation of motion masks to separate moving elements from the static background, thus offering more reliable guidance for dynamic scenes. Furthermore, we introduce a set of dynamic scene optimization objectives to recover per-frame 3D geometry and camera parameters. Simultaneously, the correspondences lift 2D trajectories into smooth 3D trajectories, enabling fully integrated 4D reconstruction. Experiments show that our framework achieves complete 4D recovery and demonstrates strong performance across multiple downstream tasks, including depth estimation, camera pose estimation, and point tracking. Project Page: https://littlepure2333.github.io/C4D

---

### CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions

Authors: Lizhi Yang, Blake Werner, Massimiliano de Sa, Aaron D. Ames
Published: 2025-10-16
Categories: cs.RO, cs.AI, cs.LG, eess.SY
arXiv: https://arxiv.org/abs/2510.14959v6

Reinforcement learning (RL), while powerful and expressive, can often prioritize performance at the expense of safety. Yet safety violations can lead to catastrophic outcomes in real-world deployments. Control Barrier Functions (CBFs) offer a principled method to enforce dynamic safety -- traditionally deployed online via safety filters. While the result is safe behavior, the fact that the RL policy does not have knowledge of the CBF can lead to conservative behaviors. This paper proposes CBF-RL, a framework for generating safe behaviors with RL by enforcing CBFs in training. CBF-RL has two key attributes: (1) minimally modifying a nominal RL policy to encode safety constraints via a CBF term, (2) and safety filtering of the policy rollouts in training. Theoretically, we prove that continuous-time safety filters can be deployed via closed-form expressions on discrete-time roll-outs. Practically, we demonstrate that CBF-RL internalizes the safety constraints in the learned policy -- both enforcing safer actions and biasing towards safer rewards -- enabling safe deployment without the need for an online safety filter. We validate our framework through ablation studies on navigation tasks and on the Unitree G1 humanoid robot, where CBF-RL enables safer exploration, faster convergence, and robust performance under uncertainty, enabling the humanoid robot to avoid obstacles and climb stairs safely in real-world settings without a runtime safety filter.

---

### MathCanvas: Intrinsic Visual Chain-of-Thought for Multimodal Mathematical Reasoning

Authors: Weikang Shi, Aldrich Yu, Rongyao Fang, Houxing Ren, Ke Wang, Aojun Zhou, Changyao Tian, Xinyu Fu, Yuxuan Hu, Zimu Lu, Linjiang Huang, Si Liu et al.
Published: 2025-10-16
Categories: cs.CV, cs.CL
arXiv: https://arxiv.org/abs/2510.14958v1

While Large Language Models (LLMs) have excelled in textual reasoning, they struggle with mathematical domains like geometry that intrinsically rely on visual aids. Existing approaches to Visual Chain-of-Thought (VCoT) are often limited by rigid external tools or fail to generate the high-fidelity, strategically-timed diagrams necessary for complex problem-solving. To bridge this gap, we introduce MathCanvas, a comprehensive framework designed to endow unified Large Multimodal Models (LMMs) with intrinsic VCoT capabilities for mathematics. Our approach consists of two phases. First, a Visual Manipulation stage pre-trains the model on a novel 15.2M-pair corpus, comprising 10M caption-to-diagram pairs (MathCanvas-Imagen) and 5.2M step-by-step editing trajectories (MathCanvas-Edit), to master diagram generation and editing. Second, a Strategic Visual-Aided Reasoning stage fine-tunes the model on MathCanvas-Instruct, a new 219K-example dataset of interleaved visual-textual reasoning paths, teaching it when and how to leverage visual aids. To facilitate rigorous evaluation, we introduce MathCanvas-Bench, a challenging benchmark with 3K problems that require models to produce interleaved visual-textual solutions. Our model, BAGEL-Canvas, trained under this framework, achieves an 86% relative improvement over strong LMM baselines on MathCanvas-Bench, demonstrating excellent generalization to other public math benchmarks. Our work provides a complete toolkit-framework, datasets, and benchmark-to unlock complex, human-like visual-aided reasoning in LMMs. Project Page: https://mathcanvas.github.io/

---

### RealDPO: Real or Not Real, that is the Preference

Authors: Guo Cheng, Danni Yang, Ziqi Huang, Jianlou Si, Chenyang Si, Ziwei Liu
Published: 2025-10-16
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2510.14955v2

Video generative models have recently achieved notable advancements in synthesis quality. However, generating complex motions remains a critical challenge, as existing models often struggle to produce natural, smooth, and contextually consistent movements. This gap between generated and real-world motions limits their practical applicability. To address this issue, we introduce RealDPO, a novel alignment paradigm that leverages real-world data as positive samples for preference learning, enabling more accurate motion synthesis. Unlike traditional supervised fine-tuning (SFT), which offers limited corrective feedback, RealDPO employs Direct Preference Optimization (DPO) with a tailored loss function to enhance motion realism. By contrasting real-world videos with erroneous model outputs, RealDPO enables iterative self-correction, progressively refining motion quality. To support post-training in complex motion synthesis, we propose RealAction-5K, a curated dataset of high-quality videos capturing human daily activities with rich and precise motion details. Extensive experiments demonstrate that RealDPO significantly improves video quality, text alignment, and motion realism compared to state-of-the-art models and existing preference optimization techniques.

---

### OmniMotion: Multimodal Motion Generation with Continuous Masked Autoregression

Authors: Zhe Li, Weihao Yuan, Weichao Shen, Siyu Zhu, Zilong Dong, Chang Xu
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14954v1

Whole-body multi-modal human motion generation poses two primary challenges: creating an effective motion generation mechanism and integrating various modalities, such as text, speech, and music, into a cohesive framework. Unlike previous methods that usually employ discrete masked modeling or autoregressive modeling, we develop a continuous masked autoregressive motion transformer, where a causal attention is performed considering the sequential nature within the human motion. Within this transformer, we introduce a gated linear attention and an RMSNorm module, which drive the transformer to pay attention to the key actions and suppress the instability caused by either the abnormal movements or the heterogeneous distributions within multi-modalities. To further enhance both the motion generation and the multimodal generalization, we employ the DiT structure to diffuse the conditions from the transformer towards the targets. To fuse different modalities, AdaLN and cross-attention are leveraged to inject the text, speech, and music signals. Experimental results demonstrate that our framework outperforms previous methods across all modalities, including text-to-motion, speech-to-gesture, and music-to-dance. The code of our method will be made public.

---

### From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance

Authors: Zhe Li, Cheng Chi, Yangyang Wei, Boan Zhu, Yibo Peng, Tao Huang, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang, Chang Xu
Published: 2025-10-16
Categories: cs.RO, cs.CV
arXiv: https://arxiv.org/abs/2510.14952v2

Natural language offers a natural interface for humanoid robots, but existing language-guided humanoid locomotion pipelines remain cumbersome and untrustworthy. They typically decode human motion, retarget it to robot morphology, and then track it with a physics-based controller. However, this multi-stage process is prone to cumulative errors, introduces high latency, and yields weak coupling between semantics and control. These limitations call for a more direct pathway from language to action, one that eliminates fragile intermediate stages. Therefore, we present RoboGhost, a retargeting-free framework that directly conditions humanoid policies on language-grounded motion latents. By bypassing explicit motion decoding and retargeting, RoboGhost enables a diffusion-based policy to denoise executable actions directly from noise, preserving semantic intent and supporting fast, reactive control. A hybrid causal transformer-diffusion motion generator further ensures long-horizon consistency while maintaining stability and diversity, yielding rich latent representations for precise humanoid behavior. Extensive experiments demonstrate that RoboGhost substantially reduces deployment latency, improves success rates and tracking precision, and produces smooth, semantically aligned locomotion on real humanoids. Beyond text, the framework naturally extends to other modalities such as images, audio, and music, providing a universal foundation for vision-language-action humanoid systems.

---

### DialectGen: Benchmarking and Improving Dialect Robustness in Multimodal Generation

Authors: Yu Zhou, Sohyun An, Haikang Deng, Da Yin, Clark Peng, Cho-Jui Hsieh, Kai-Wei Chang, Nanyun Peng
Published: 2025-10-16
Categories: cs.CL, cs.CV, cs.LG
arXiv: https://arxiv.org/abs/2510.14949v3

Contact languages like English exhibit rich regional variations in the form of dialects, which are often used by dialect speakers interacting with generative models. However, can multimodal generative models effectively produce content given dialectal textual input? In this work, we study this question by constructing a new large-scale benchmark spanning six common English dialects. We work with dialect speakers to collect and verify over 4200 unique prompts and evaluate on 17 image and video generative models. Our automatic and human evaluation results show that current state-of-the-art multimodal generative models exhibit 32.26% to 48.17% performance degradation when a single dialect word is used in the prompt. Common mitigation methods such as fine-tuning and prompt rewriting can only improve dialect performance by small margins (< 7%), while potentially incurring significant performance degradation in Standard American English (SAE). To this end, we design a general encoder-based mitigation strategy for multimodal generative models. Our method teaches the model to recognize new dialect features while preserving SAE performance. Experiments on models such as Stable Diffusion 1.5 show that our method is able to simultaneously raise performance on five dialects to be on par with SAE (+34.4%), while incurring near zero cost to SAE performance.

---

### Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion

Authors: Blake Werner, Lizhi Yang, Aaron D. Ames
Published: 2025-10-16
Categories: cs.RO, cs.AI, cs.LG, eess.SY
arXiv: https://arxiv.org/abs/2510.14947v2

Robust humanoid locomotion in unstructured environments requires architectures that balance fast low-level stabilization with slower perceptual decision-making. We show that a simple layered control architecture (LCA), a proprioceptive stabilizer running at high rate, coupled with a compact low-rate perceptual policy, enables substantially more robust performance than monolithic end-to-end designs, even when using minimal perception encoders. Through a two-stage training curriculum (blind stabilizer pretraining followed by perceptual fine-tuning), we demonstrate that layered policies consistently outperform one-stage alternatives in both simulation and hardware. On a Unitree G1 humanoid, our approach succeeds across stair and ledge tasks where one-stage perceptual policies fail. These results highlight that architectural separation of timescales, rather than network scale or complexity, is the key enabler for robust perception-conditioned locomotion.

---

### 3D Scene Prompting for Scene-Consistent Camera-Controllable Video Generation

Authors: JoungBin Lee, Jaewoo Jung, Jisang Han, Takuya Narihira, Kazumi Fukuda, Junyoung Seo, Sunghwan Hong, Yuki Mitsufuji, Seungryong Kim
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14945v2

We present 3DScenePrompt, a framework that generates the next video chunk from arbitrary-length input while enabling precise camera control and preserving scene consistency. Unlike methods conditioned on a single image or a short clip, we employ dual spatio-temporal conditioning that reformulates context-view referencing across the input video. Our approach conditions on both temporally adjacent frames for motion continuity and spatially adjacent content for scene consistency. However, when generating beyond temporal boundaries, directly using spatially adjacent frames would incorrectly preserve dynamic elements from the past. We address this by introducing a 3D scene memory that represents exclusively the static geometry extracted from the entire input video. To construct this memory, we leverage dynamic SLAM with our newly introduced dynamic masking strategy that explicitly separates static scene geometry from moving elements. The static scene representation can then be projected to any target viewpoint, providing geometrically consistent warped views that serve as strong 3D spatial prompts while allowing dynamic regions to evolve naturally from temporal context. This enables our model to maintain long-range spatial coherence and precise camera control without sacrificing computational efficiency or motion realism. Extensive experiments demonstrate that our framework significantly outperforms existing methods in scene consistency, camera controllability, and generation quality. Project page : https://cvlab-kaist.github.io/3DScenePrompt/

---

### MetaBench: A Multi-task Benchmark for Assessing LLMs in Metabolomics

Authors: Yuxing Lu, Xukai Zhao, J. Ben Tamo, Micky C. Nnamdi, Rui Peng, Shuang Zeng, Xingyu Hu, Jinzhuo Wang, May D. Wang
Published: 2025-10-16
Categories: cs.CL, cs.AI, cs.CE
arXiv: https://arxiv.org/abs/2510.14944v1

Large Language Models (LLMs) have demonstrated remarkable capabilities on general text; however, their proficiency in specialized scientific domains that require deep, interconnected knowledge remains largely uncharacterized. Metabolomics presents unique challenges with its complex biochemical pathways, heterogeneous identifier systems, and fragmented databases. To systematically evaluate LLM capabilities in this domain, we introduce MetaBench, the first benchmark for metabolomics assessment. Curated from authoritative public resources, MetaBench evaluates five capabilities essential for metabolomics research: knowledge, understanding, grounding, reasoning, and research. Our evaluation of 25 open- and closed-source LLMs reveals distinct performance patterns across metabolomics tasks: while models perform well on text generation tasks, cross-database identifier grounding remains challenging even with retrieval augmentation. Model performance also decreases on long-tail metabolites with sparse annotations. With MetaBench, we provide essential infrastructure for developing and evaluating metabolomics AI systems, enabling systematic progress toward reliable computational tools for metabolomics research.

---

### LaSeR: Reinforcement Learning with Last-Token Self-Rewarding

Authors: Wenkai Yang, Weijie Liu, Ruobing Xie, Yiju Guo, Lulu Wu, Saiyong Yang, Yankai Lin
Published: 2025-10-16
Categories: cs.CL, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2510.14943v1

Reinforcement Learning with Verifiable Rewards (RLVR) has recently emerged as a core paradigm for enhancing the reasoning capabilities of Large Language Models (LLMs). To address the lack of verification signals at test time, prior studies incorporate the training of model's self-verification capability into the standard RLVR process, thereby unifying reasoning and verification capabilities within a single LLM. However, previous practice requires the LLM to sequentially generate solutions and self-verifications using two separate prompt templates, which significantly reduces efficiency. In this work, we theoretically reveal that the closed-form solution to the RL objective of self-verification can be reduced to a remarkably simple form: the true reasoning reward of a solution is equal to its last-token self-rewarding score, which is computed as the difference between the policy model's next-token log-probability assigned to any pre-specified token at the solution's last token and a pre-calculated constant, scaled by the KL coefficient. Based on this insight, we propose LaSeR (Reinforcement Learning with Last-Token Self-Rewarding), an algorithm that simply augments the original RLVR loss with a MSE loss that aligns the last-token self-rewarding scores with verifier-based reasoning rewards, jointly optimizing the reasoning and self-rewarding capabilities of LLMs. The optimized self-rewarding scores can be utilized in both training and testing to enhance model performance. Notably, our algorithm derives these scores from the predicted next-token probability distribution of the last token immediately after generation, incurring only the minimal extra cost of one additional token inference. Experiments show that our method not only improves the model's reasoning performance but also equips it with remarkable self-rewarding capability, thereby boosting its inference-time scaling performance.

---

### GroundedPRM: Tree-Guided and Fidelity-Aware Process Reward Modeling for Step-Level Reasoning

Authors: Yao Zhang, Yu Wu, Haowei Zhang, Weiguo Li, Haokun Chen, Jingpei Wu, Guohao Li, Zhen Han, Volker Tresp
Published: 2025-10-16
Categories: cs.AI
arXiv: https://arxiv.org/abs/2510.14942v1

Process Reward Models (PRMs) aim to improve multi-step reasoning in Large Language Models (LLMs) by supervising intermediate steps and identifying errors. However, building effective PRMs remains challenging due to the lack of scalable, high-quality annotations. Existing approaches rely on costly human labeling, LLM-based self-evaluation that is prone to hallucination, or Monte Carlo (MC) estimation, which infers step quality solely from rollout outcomes and often introduces noisy, misaligned supervision due to credit misattribution. These issues result in three core limitations: noisy rewards, low factual fidelity, and misalignment with step-level reasoning objectives. To address these challenges, we introduce GroundedPRM, a tree-guided and fidelity-aware framework for automatic process supervision. To reduce reward noise and enable fine-grained credit assignment, we construct structured reasoning paths via Monte Carlo Tree Search (MCTS). To eliminate hallucinated supervision, we validate each intermediate step using an external tool, providing execution-grounded correctness signals. To combine both step-level validation and global outcome assessment, we design a hybrid reward aggregation mechanism that fuses tool-based verification with MCTS-derived feedback. Finally, we format the reward signal into a rationale-enhanced, generative structure to promote interpretability and compatibility with instruction-tuned LLMs. GroundedPRM is trained on only 40K automatically labeled samples, amounting to just 10% of the data used by the best-performing PRM trained with auto-labeled supervision. Nevertheless, it achieves up to a 26% relative improvement in average performance on ProcessBench. When used for reward-guided greedy search, GroundedPRM outperforms even PRMs trained with human-labeled supervision, offering a scalable and verifiable path toward high-quality process-level reasoning.

---

### AI-Powered Early Diagnosis of Mental Health Disorders from Real-World Clinical Conversations

Authors: Jianfeng Zhu, Julina Maharjan, Xinyu Li, Karin G. Coifman, Ruoming Jin
Published: 2025-10-16
Categories: cs.CL
arXiv: https://arxiv.org/abs/2510.14937v1

Mental health disorders remain among the leading cause of disability worldwide, yet conditions such as depression, anxiety, and Post-Traumatic Stress Disorder (PTSD) are frequently underdiagnosed or misdiagnosed due to subjective assessments, limited clinical resources, and stigma and low awareness. In primary care settings, studies show that providers misidentify depression or anxiety in over 60% of cases, highlighting the urgent need for scalable, accessible, and context-aware diagnostic tools that can support early detection and intervention. In this study, we evaluate the effectiveness of machine learning models for mental health screening using a unique dataset of 553 real-world, semistructured interviews, each paried with ground-truth diagnoses for major depressive episodes (MDE), anxiety disorders, and PTSD. We benchmark multiple model classes, including zero-shot prompting with GPT-4.1 Mini and MetaLLaMA, as well as fine-tuned RoBERTa models using LowRank Adaptation (LoRA). Our models achieve over 80% accuracy across diagnostic categories, with especially strongperformance on PTSD (up to 89% accuracy and 98% recall). We also find that using shorter context, focused context segments improves recall, suggesting that focused narrative cues enhance detection sensitivity. LoRA fine-tuning proves both efficient and effective, with lower-rank configurations (e.g., rank 8 and 16) maintaining competitive performance across evaluation metrics. Our results demonstrate that LLM-based models can offer substantial improvements over traditional self-report screening tools, providing a path toward low-barrier, AI-powerd early diagnosis. This work lays the groundwork for integrating machine learning into real-world clinical workflows, particularly in low-resource or high-stigma environments where access to timely mental health care is most limited.

---

### Circuit Insights: Towards Interpretability Beyond Activations

Authors: Elena Golimblevskaia, Aakriti Jain, Bruno Puri, Ammar Ibrahim, Wojciech Samek, Sebastian Lapuschkin
Published: 2025-10-16
Categories: cs.LG, cs.AI, cs.CL
arXiv: https://arxiv.org/abs/2510.14936v2

The fields of explainable AI and mechanistic interpretability aim to uncover the internal structure of neural networks, with circuit discovery as a central tool for understanding model computations. Existing approaches, however, rely on manual inspection and remain limited to toy tasks. Automated interpretability offers scalability by analyzing isolated features and their activations, but it often misses interactions between features and depends strongly on external LLMs and dataset quality. Transcoders have recently made it possible to separate feature attributions into input-dependent and input-invariant components, providing a foundation for more systematic circuit analysis. Building on this, we propose WeightLens and CircuitLens, two complementary methods that go beyond activation-based analysis. WeightLens interprets features directly from their learned weights, removing the need for explainer models or datasets while matching or exceeding the performance of existing methods on context-independent features. CircuitLens captures how feature activations arise from interactions between components, revealing circuit-level dynamics that activation-only approaches cannot identify. Together, these methods increase interpretability robustness and enhance scalable mechanistic analysis of circuits while maintaining efficiency and quality.

---

### VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning

Authors: Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li
Published: 2025-10-16
Categories: cs.RO, cs.LG
arXiv: https://arxiv.org/abs/2510.14930v2

Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human demonstrations. In this work, we present VT-Refine, a visuo-tactile policy learning framework that combines real-world demonstrations, high-fidelity tactile simulation, and reinforcement learning to tackle precise, contact-rich bimanual assembly. We begin by training a diffusion policy on a small set of demonstrations using synchronized visual and tactile inputs. This policy is then transferred to a simulated digital twin equipped with simulated tactile sensors and further refined via large-scale reinforcement learning to enhance robustness and generalization. To enable accurate sim-to-real transfer, we leverage high-resolution piezoresistive tactile sensors that provide normal force signals and can be realistically modeled in parallel using GPU-accelerated simulation. Experimental results show that VT-Refine improves assembly performance in both simulation and the real world by increasing data diversity and enabling more effective policy fine-tuning. Our project page is available at https://binghao-huang.github.io/vt_refine/.

---

### Instruction Set Migration at Warehouse Scale

Authors: Eric Christopher, Kevin Crossan, Wolff Dobson, Chris Kennelly, Drew Lewis, Kun Lin, Martin Maas, Parthasarathy Ranganathan, Emma Rapati, Brian Yang
Published: 2025-10-16
Categories: cs.SE, cs.LG
arXiv: https://arxiv.org/abs/2510.14928v1

Migrating codebases from one instruction set architecture (ISA) to another is a major engineering challenge. A recent example is the adoption of Arm (in addition to x86) across the major Cloud hyperscalers. Yet, this problem has seen limited attention by the academic community. Most work has focused on static and dynamic binary translation, and the traditional conventional wisdom has been that this is the primary challenge. In this paper, we show that this is no longer the case. Modern ISA migrations can often build on a robust open-source ecosystem, making it possible to recompile all relevant software from scratch. This introduces a new and multifaceted set of challenges, which are different from binary translation. By analyzing a large-scale migration from x86 to Arm at Google, spanning almost 40,000 code commits, we derive a taxonomy of tasks involved in ISA migration. We show how Google automated many of the steps involved, and demonstrate how AI can play a major role in automatically addressing these tasks. We identify tasks that remain challenging and highlight research challenges that warrant further attention.

---

### False Fixed Points: Kantian Feedback, Stable Miscalibration, and Representational Compression in LLMs

Authors: Akira Okutomi
Published: 2025-10-16
Categories: cs.AI, cs.CL, cs.LG
arXiv: https://arxiv.org/abs/2510.14925v4

High-confidence errors in large language models are often treated as fragile failures. We study an alternative: some errors may be false fixed points, locally stable, internally coherent, and confidently wrong. This separates robustness from truth-tracking. We develop the separation through a Kantian commitment-gate framing and a minimal linear feedback model in which stability and correctness can diverge. Across three open-weight models, overconfident wrong items are not systematically more locally fragile than confidently correct items under our hidden-state sensitivity probes. Abstention-aware self-critique reduces overconfident wrong commitments by sacrificing coverage, and C3-R, a rule-based explicit feedback gate, sharpens that tradeoff rather than eliminating it. These results motivate, but do not establish, high signal-to-noise (high-SNR) inertia and representational compression as possible mechanisms for stable miscalibration.

---

### TRI-DEP: A Trimodal Comparative Study for Depression Detection Using Speech, Text, and EEG

Authors: Annisaa Fitri Nurfidausi, Eleonora Mancini, Paolo Torroni
Published: 2025-10-16
Categories: cs.AI, cs.CL, cs.LG, eess.AS, eess.SP
arXiv: https://arxiv.org/abs/2510.14922v2

Depression is a widespread mental health disorder, yet its automatic detection remains challenging. Prior work has explored unimodal and multimodal approaches, with multimodal systems showing promise by leveraging complementary signals. However, existing studies are limited in scope, lack systematic comparisons of features, and suffer from inconsistent evaluation protocols. We address these gaps by systematically exploring feature representations and modelling strategies across EEG, together with speech and text. We evaluate handcrafted features versus pre-trained embeddings, assess the effectiveness of different neural encoders, compare unimodal, bimodal, and trimodal configurations, and analyse fusion strategies with attention to the role of EEG. Consistent subject-independent splits are applied to ensure robust, reproducible benchmarking. Our results show that (i) the combination of EEG, speech and text modalities enhances multimodal detection, (ii) pretrained embeddings outperform handcrafted features, and (iii) carefully designed trimodal models achieve state-of-the-art performance. Our work lays the groundwork for future research in multimodal depression detection.

---

### Predicting Task Performance with Context-aware Scaling Laws

Authors: Kyle Montgomery, David Park, Jianhong Tu, Michael Bendersky, Beliz Gunel, Dawn Song, Chenguang Wang
Published: 2025-10-16
Categories: cs.CL, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2510.14919v1

Scaling laws have transformed our understanding of large language models by linking upstream metrics like cross-entropy loss to design factors such as model size, training data, and compute. However, these conventional laws fail to capture downstream task performance, where context plays a critical role. In this work, we propose a straightforward, interpretable framework that jointly models downstream performance as a function of the training compute and the provided context. We empirically validate our framework by fitting it on the observed downstream performance of extended-context variants of Llama-2-7B and Llama-2-13B across 65,500 unique instances spanning three tasks: arithmetic reasoning, common sense reasoning, and machine translation. Our results demonstrate that our framework accurately models in-distribution downstream performance, generalizes across three orders of magnitude in training compute, and reliably extrapolates performance as the amount of context increases. These findings offer valuable insights into the interplay between training compute and context utilization, providing guidance for designing more efficient long-context LLMs for diverse downstream tasks. Our code is available at https://github.com/wang-research-lab/context-scaling.

---

### Harmonizing Diverse Models: A Layer-wise Merging Strategy for Consistent Generation

Authors: Xujun Peng, Anoop Kumar, Jingyu Wu, Parker Glenn, Daben Liu
Published: 2025-10-16
Categories: cs.CL
arXiv: https://arxiv.org/abs/2510.14915v1

Retrieval-Augmented Generation (RAG) systems leverage Large Language Models (LLMs) to generate accurate and reliable responses that are grounded in retrieved context. However, LLMs often generate inconsistent outputs for semantically equivalent inputs, a problem compounded by the scarcity of consistency-focused training data and the limitations of current fine-tuning techniques in enhancing output consistency. We propose a new approach combining systematic synthetic data generation, triplet loss for better embeddings, and a novel layer-wise model merging approach. Using consistency-aware weights derived from intermediate layer activations, our method effectively integrates knowledge from specialized models. Experimental results how that our merged model significantly enhances output consistency, achieving a ~47.5\% improvement in response similarity over the baseline, thus offering a practical solution for increasing the reliability of an industrial RAG system.

---

### Budget-aware Test-time Scaling via Discriminative Verification

Authors: Kyle Montgomery, Sijun Tan, Yuqi Chen, Siyuan Zhuang, Tianjun Zhang, Raluca Ada Popa, Chenguang Wang
Published: 2025-10-16
Categories: cs.AI, cs.CL, cs.LG
arXiv: https://arxiv.org/abs/2510.14913v1

Test-time scaling is a powerful strategy for boosting the performance of large language models on complex reasoning tasks. While state-of-the-art approaches often employ generative verifiers to select the best solution from a pool of candidates, this method incurs prohibitive computational costs, limiting its practicality. In this work, we shift the focus to a more budget-aware paradigm: discriminative verification. We conduct a thorough empirical analysis and demonstrate that while discriminative verifiers may underperform in isolation, combining them with self-consistency in a hybrid approach creates a powerful and efficient test-time scaling mechanism. Notably, under a fixed compute budget, this hybrid approach surpasses state-of-the-art generative verification by a significant margin: achieving up to 15.3\% higher accuracy on AIME2025. Our findings establish that for practical, real-world applications, budget-aware scaling with discriminative verifiers is not only a "free" upgrade over self-consistency, but also a more effective and efficient alternative to costly generative techniques. Code is available at https://github.com/wang-research-lab/verification.

---

### Learnable Mixed Nash Equilibria are Collectively Rational

Authors: Geelon So, Yi-An Ma
Published: 2025-10-16
Categories: cs.GT, cs.LG
arXiv: https://arxiv.org/abs/2510.14907v2

We extend the study of learning in games to dynamics that exhibit non-asymptotic stability. We do so through the notion of uniform stability, which is concerned with equilibria of individually utility-seeking dynamics. Perhaps surprisingly, it turns out to be closely connected to economic properties of collective rationality. Up to strategic equivalence, if a mixed equilibrium is uniformly stable, then it is weakly Pareto optimal; there is no way for all players to improve by jointly deviating from the equilibrium. This is a form of collective rationality that rules out the types of behaviors in the prisoner's dilemma or the tragedy of the commons. Moreover, we show that uniform stability determines the last-iterate convergence behavior for the family of incremental smoothed best-response dynamics, used to model individual and corporate behaviors in the markets. Unlike dynamics around strict equilibria, which can stabilize to socially-inefficient solutions, individually utility-seeking behaviors near mixed Nash equilibria lead to collective rationality.

---

### CaptionFormer: Unified Segmentation, Tracking, and Captioning for Spatio-Temporal Objects

Authors: Gabriel Fiastre, Antoine Yang, Cordelia Schmid
Published: 2025-10-16
Categories: cs.CV, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2510.14904v4

Dense Video Object Captioning (DVOC) is the task of jointly detecting, tracking, and captioning object trajectories in a video, requiring the ability to understand spatio-temporal details and describe them in natural language. Due to the complexity of the task and the high cost associated with manual annotation, previous approaches resort to training strategies with limited data, potentially leading to suboptimal performance. To circumvent this issue, we propose to generate captions about spatio-temporally localized entities leveraging a state-of-the-art VLM, and extend the LVIS and LV-VIS datasets with our synthetic captions (LVISCap and LV-VISCap). Moreover, we introduce an end-to-end model, CaptionFormer, capable of jointly detecting, segmenting, tracking and captioning object trajectories. CaptionFormer achieves state-of-the-art DVOC results on three existing benchmarks, VidSTG, VLN and BenSMOT. The datasets and code are available at https://www.gabriel.fiastre.fr/captionformer/.

---

### Reasoning with Sampling: Your Base Model is Smarter Than You Think

Authors: Aayush Karan, Yilun Du
Published: 2025-10-16
Categories: cs.LG, cs.AI, cs.CL
arXiv: https://arxiv.org/abs/2510.14901v1

Frontier reasoning models have exhibited incredible capabilities across a wide array of disciplines, driven by posttraining large language models (LLMs) with reinforcement learning (RL). However, despite the widespread success of this paradigm, much of the literature has been devoted to disentangling truly novel behaviors that emerge during RL but are not present in the base models. In our work, we approach this question from a different angle, instead asking whether comparable reasoning capabilites can be elicited from base models at inference time by pure sampling, without any additional training. Inspired by Markov chain Monte Carlo (MCMC) techniques for sampling from sharpened distributions, we propose a simple iterative sampling algorithm leveraging the base models' own likelihoods. Over different base models, we show that our algorithm offers substantial boosts in reasoning that nearly match and even outperform those from RL on a wide variety of single-shot tasks, including MATH500, HumanEval, and GPQA. Moreover, our sampler avoids the collapse in diversity over multiple samples that is characteristic of RL-posttraining. Crucially, our method does not require training, curated datasets, or a verifier, suggesting broad applicability beyond easily verifiable domains.

---

### Mapping Smarter, Not Harder: A Test-Time Reinforcement Learning Agent That Improves Without Labels or Model Updates

Authors: Wen-Kwang Tsao, Yao-Ching Yu, Chien-Ming Huang
Published: 2025-10-16
Categories: cs.AI, cs.CR
arXiv: https://arxiv.org/abs/2510.14900v1

The Enterprise Intelligence Platform must integrate logs from numerous third-party vendors in order to perform various downstream tasks. However, vendor documentation is often unavailable at test time. It is either misplaced, mismatched, poorly formatted, or incomplete, which makes schema mapping challenging. We introduce a reinforcement learning agent that can self-improve without labeled examples or model weight updates. During inference, the agent: 1) Identifies ambiguous field-mapping attempts. 2) Generates targeted web-search queries to gather external evidence. 3) Applies a confidence-based reward to iteratively refine its mappings. To demonstrate this concept, we converted Microsoft Defender for Endpoint logs into a common schema. Our method increased mapping accuracy from 56.4\%(LLM-only) to 72.73\%(RAG) to 93.94\% over 100 iterations using GPT-4o. At the same time, it reduced the number of low-confidence mappings requiring expert review by 85\%. This new approach provides an evidence-driven, transparent method for solving future industry problems, paving the way for more robust, accountable, scalable, efficient, flexible, adaptable, and collaborative solutions.

---

### Leveraging Multimodal LLM Descriptions of Activity for Explainable Semi-Supervised Video Anomaly Detection

Authors: Furkan Mumcu, Michael J. Jones, Anoop Cherian, Yasin Yilmaz
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14896v2

Existing semi-supervised video anomaly detection (VAD) methods often struggle with detecting complex anomalies involving object interactions and generally lack explainability. To overcome these limitations, we propose a novel VAD framework leveraging Multimodal Large Language Models (MLLMs). Unlike previous MLLM-based approaches that make direct anomaly judgments at the frame level, our method focuses on extracting and interpreting object activity and interactions over time. By querying an MLLM with visual inputs of object pairs at different moments, we generate textual descriptions of the activity and interactions from nominal videos. These textual descriptions serve as a high-level representation of the activity and interactions of objects in a video. They are used to detect anomalies during test time by comparing them to textual descriptions found in nominal training videos. Our approach inherently provides explainability and can be combined with many traditional VAD methods to further enhance their interpretability. Extensive experiments on benchmark datasets demonstrate that our method not only detects complex interaction-based anomalies effectively but also achieves state-of-the-art performance on datasets without interaction anomalies.

---

### Secure Sparse Matrix Multiplications and their Applications to Privacy-Preserving Machine Learning

Authors: Marc Damie, Florian Hahn, Andreas Peter, Jan Ramon
Published: 2025-10-16
Categories: cs.CR, cs.LG
arXiv: https://arxiv.org/abs/2510.14894v2

To preserve data privacy, multi-party computation (MPC) enables executing Machine Learning (ML) algorithms on private data. However, MPC frameworks do not include optimized operations on sparse data. This absence makes them unsuitable for ML applications involving sparse data; e.g., recommender systems or genomics. Even in plaintext, such applications involve high-dimensional sparse data, that cannot be processed without sparsity-related optimizations due to prohibitively large memory requirements. Since matrix multiplication is a central building block of ML algorithms, our work proposes dedicated MPC algorithms to multiply secret-shared sparse matrices. Our sparse algorithms have several advantages over secure dense matrix multiplications (i.e., the classic multiplication). On the one hand, they avoid the memory issues caused by the "dense" data representation of dense multiplications. On the other hand, our algorithms can significantly reduce communication costs (up to $\times1000$) for realistic problem sizes. We validate our algorithms in two machine learning applications where dense matrix multiplications are impractical. Finally, we take inspiration from real-world sparse data properties to build 3 techniques minimizing the public knowledge necessary to secure sparse algorithms.

---

### EM Approaches to Nonparametric Estimation for Mixture of Linear Regressions

Authors: Andrew Welbaum, Wanli Qiao
Published: 2025-10-16
Categories: stat.ME, stat.ML
arXiv: https://arxiv.org/abs/2510.14890v1

In a mixture of linear regression model, the regression coefficients are treated as random vectors that may follow either a continuous or discrete distribution. We propose two Expectation-Maximization (EM) algorithms to estimate this prior distribution. The first algorithm solves a kernelized version of the nonparametric maximum likelihood estimation (NPMLE). This method not only recovers continuous prior distributions but also accurately estimates the number of clusters when the prior is discrete. The second algorithm, designed to approximate the NPMLE, targets prior distributions with a density. It also performs well for discrete priors when combined with a post-processing step. We study the convergence properties of both algorithms and demonstrate their effectiveness through simulations and applications to real datasets.

---

### Detecting Early and Implicit Suicidal Ideation via Longitudinal and Information Environment Signals on Social Media

Authors: Soorya Ram Shimgekar, Ruining Zhao, Agam Goyal, Violeta J. Rodriguez, Paul A. Bloom, Navin Kumar, Hari Sundaram, Koustuv Saha
Published: 2025-10-16
Categories: cs.SI, cs.AI, cs.CL, cs.CY, cs.HC
arXiv: https://arxiv.org/abs/2510.14889v3

On social media, several individuals experiencing suicidal ideation (SI) do not disclose their distress explicitly. Instead, signs may surface indirectly through everyday posts or peer interactions. Detecting such implicit signals early is critical but remains challenging. We frame early and implicit SI as a forward-looking prediction task and develop a computational framework that models a user's information environment, consisting of both their longitudinal posting histories as well as the discourse of their socially proximal peers. We adopted a composite network centrality measure to identify top neighbors of a user, and temporally aligned the user's and neighbors' interactions -- integrating the multi-layered signals in a fine-tuned DeBERTa-v3 model. In a Reddit study of 1,000 (500 Case and 500 Control) users, our approach improves early and implicit SI detection by an average of 10% over all other baselines. These findings highlight that peer interactions offer valuable predictive signals and carry broader implications for designing early detection systems that capture indirect as well as masked expressions of risk in online environments.

---

### Prediction-Specific Design of Learning-Augmented Algorithms

Authors: Sizhe Li, Nicolas Christianson, Tongxin Li
Published: 2025-10-16
Categories: cs.DS, cs.LG
arXiv: https://arxiv.org/abs/2510.14887v1

Algorithms with predictions} has emerged as a powerful framework to combine the robustness of traditional online algorithms with the data-driven performance benefits of machine-learned (ML) predictions. However, most existing approaches in this paradigm are overly conservative, {as they do not leverage problem structure to optimize performance in a prediction-specific manner}. In this paper, we show that such prediction-specific performance criteria can enable significant performance improvements over the coarser notions of consistency and robustness considered in prior work. Specifically, we propose a notion of \emph{strongly-optimal} algorithms with predictions, which obtain Pareto optimality not just in the worst-case tradeoff between robustness and consistency, but also in the prediction-specific tradeoff between these metrics. We develop a general bi-level optimization framework that enables systematically designing strongly-optimal algorithms in a wide variety of problem settings, and we propose explicit strongly-optimal algorithms for several classic online problems: deterministic and randomized ski rental, and one-max search. Our analysis reveals new structural insights into how predictions can be optimally integrated into online algorithms by leveraging a prediction-specific design. To validate the benefits of our proposed framework, we empirically evaluate our algorithms in case studies on problems including dynamic power management and volatility-based index trading. Our results demonstrate that prediction-specific, strongly-optimal algorithms can significantly improve performance across a variety of online decision-making settings.

---

### You May Speak Freely: Improving the Fine-Grained Visual Recognition Capabilities of Multimodal Large Language Models with Answer Extraction

Authors: Logan Lawrence, Oindrila Saha, Megan Wei, Chen Sun, Subhransu Maji, Grant Van Horn
Published: 2025-10-16
Categories: cs.CV, cs.CL
arXiv: https://arxiv.org/abs/2510.14885v2

Despite the renewed interest in zero-shot visual classification due to the rise of Multimodal Large Language Models (MLLMs), the problem of evaluating free-form responses of auto-regressive models remains a persistent challenge. Most existing works focus on language-only tasks or don't consider Multiple Choice Questions (MCQs) beyond 5-way options, both of which are critical capabilities to solve tasks in Fine-Grained Visual Classification (FGVC) where choice counts are in the hundreds to thousands and the choices are highly related. Furthermore, in this highly multi-way MCQ setting it is not clear how to extend LLM choice extraction to retrieval-based problems, where computing probabilities over the choice set is computationally costly. In this work we investigate nlg2choice, a simple two-stage method which first asks the MLLM an open-ended question for the task with minimal constraints, then uses text-only constrained decoding to predict the most likely choice. In retrieval settings, we compute the probability of the constrained response taking that choice with an early stopping method to significantly improve throughput. Our results show improvement over a suite of seven fine-grained visual datasets when evaluating in terms of classification and retrieval, and show that this performance holds over the various ways that users of LLMs can implement tasks in natural language.

---

### Learning When Not to Learn: Risk-Sensitive Abstention in Bandits with Unbounded Rewards

Authors: Sarah Liaw, Benjamin Plaut
Published: 2025-10-16
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2510.14884v3

In high-stakes AI applications, even a single action can cause irreparable damage. However, nearly all of sequential decision-making theory assumes that all errors are recoverable (e.g., by bounding rewards). Standard bandit algorithms that explore aggressively may cause irreparable damage when this assumption fails. Some prior work avoids irreparable errors by asking for help from a mentor, but a mentor may not always be available. In this work, we formalize a model of learning with unbounded rewards without a mentor as a two-action contextual bandit with an abstain option: at each round the agent observes an input and chooses either to abstain (always 0 reward) or to commit (execute a preexisting task policy). Committing yields rewards that are upper-bounded but can be arbitrarily negative, and the commit reward is assumed Lipschitz in the input. We propose a caution-based algorithm that learns when not to learn: it chooses a trusted region and commits only where the available evidence does not already certify harm. Under these conditions and i.i.d. inputs, we establish sublinear regret guarantees, theoretically demonstrating the effectiveness of cautious exploration for deploying learning agents safely in high-stakes environments.

---

### ScaleWeaver: Weaving Efficient Controllable T2I Generation with Multi-Scale Reference Attention

Authors: Keli Liu, Zhendong Wang, Wengang Zhou, Shaodong Xu, Ruixiao Dong, Houqiang Li
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14882v1

Text-to-image generation with visual autoregressive~(VAR) models has recently achieved impressive advances in generation fidelity and inference efficiency. While control mechanisms have been explored for diffusion models, enabling precise and flexible control within VAR paradigm remains underexplored. To bridge this critical gap, in this paper, we introduce ScaleWeaver, a novel framework designed to achieve high-fidelity, controllable generation upon advanced VAR models through parameter-efficient fine-tuning. The core module in ScaleWeaver is the improved MMDiT block with the proposed Reference Attention module, which efficiently and effectively incorporates conditional information. Different from MM Attention, the proposed Reference Attention module discards the unnecessary attention from image$\rightarrow$condition, reducing computational cost while stabilizing control injection. Besides, it strategically emphasizes parameter reuse, leveraging the capability of the VAR backbone itself with a few introduced parameters to process control information, and equipping a zero-initialized linear projection to ensure that control signals are incorporated effectively without disrupting the generative capability of the base model. Extensive experiments show that ScaleWeaver delivers high-quality generation and precise control while attaining superior efficiency over diffusion-based methods, making ScaleWeaver a practical and effective solution for controllable text-to-image generation within the visual autoregressive paradigm. Code and models will be released.

---

### The Gatekeeper Knows Enough

Authors: Fikresilase Wondmeneh Abebayew
Published: 2025-10-16
Categories: cs.AI, cs.IT
arXiv: https://arxiv.org/abs/2510.14881v1

Large Language Models (LLMs) are increasingly deployed as autonomous agents, yet their practical utility is fundamentally constrained by a limited context window and state desynchronization resulting from the LLMs' stateless nature and inefficient context management. These limitations lead to unreliable output, unpredictable behavior, and inefficient resource usage, particularly when interacting with large, structured, and sensitive knowledge systems such as codebases and documents. To address these challenges, we introduce the Gatekeeper Protocol, a novel, domain-agnostic framework that governs agent-system interactions. Our protocol mandates that the agent first operate and reason on a minimalist, low-fidelity "latent state" representation of the system to strategically request high-fidelity context on demand. All interactions are mediated through a unified JSON format that serves as a declarative, state-synchronized protocol, ensuring the agent's model of the system remains verifiably grounded in the system's reality. We demonstrate the efficacy of this protocol with Sage, a reference implementation of the Gatekeeper Protocol for software development. Our results show that this approach significantly increases agent reliability, improves computational efficiency by minimizing token consumption, and enables scalable interaction with complex systems, creating a foundational methodology for building more robust, predictable, and grounded AI agents for any structured knowledge domain.

---

### Predicting kernel regression learning curves from only raw data statistics

Authors: Dhruva Karkada, Joseph Turnbull, Yuxi Liu, James B. Simon
Published: 2025-10-16
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2510.14878v3

We study kernel regression with common rotation-invariant kernels on real datasets including CIFAR-5m, SVHN, and ImageNet. We give a theoretical framework that predicts learning curves (test risk vs. sample size) from only two measurements: the empirical data covariance matrix and an empirical polynomial decomposition of the target function $f_*$. The key new idea is an analytical approximation of a kernel's eigenvalues and eigenfunctions with respect to an anisotropic data distribution. The eigenfunctions resemble Hermite polynomials of the data, so we call this approximation the Hermite eigenstructure ansatz (HEA). We prove the HEA for Gaussian data, but we find that real image data is often "Gaussian enough" for the HEA to hold well in practice, enabling us to predict learning curves by applying prior results relating kernel eigenstructure to test risk. Extending beyond kernel regression, we empirically find that MLPs in the feature-learning regime learn Hermite polynomials in the order predicted by the HEA. Our HEA framework is a proof of concept that an end-to-end theory of learning which maps dataset structure all the way to model performance is possible for nontrivial learning algorithms on real datasets.

---

### BADAS: Context Aware Collision Prediction Using Real-World Dashcam Data

Authors: Roni Goldshmidt, Hamish Scott, Lorenzo Niccolini, Shizhan Zhu, Daniel Moura, Orly Zvitia
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14876v1

Existing collision prediction methods often fail to distinguish between ego-vehicle threats and random accidents not involving the ego vehicle, leading to excessive false alerts in real-world deployment. We present BADAS, a family of collision prediction models trained on Nexar's real-world dashcam collision dataset -- the first benchmark designed explicitly for ego-centric evaluation. We re-annotate major benchmarks to identify ego involvement, add consensus alert-time labels, and synthesize negatives where needed, enabling fair AP/AUC and temporal evaluation. BADAS uses a V-JEPA2 backbone trained end-to-end and comes in two variants: BADAS-Open (trained on our 1.5k public videos) and BADAS1.0 (trained on 40k proprietary videos). Across DAD, DADA-2000, DoTA, and Nexar, BADAS achieves state-of-the-art AP/AUC and outperforms a forward-collision ADAS baseline while producing more realistic time-to-accident estimates. We release our BADAS-Open model weights and code, along with re-annotations of all evaluation datasets to promote ego-centric collision prediction research.

---

### TOUCH: Text-guided Controllable Generation of Free-Form Hand-Object Interactions

Authors: Guangyi Han, Wei Zhai, Yuhang Yang, Yang Cao, Zheng-Jun Zha
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14874v1

Hand-object interaction (HOI) is fundamental for humans to express intent. Existing HOI generation research is predominantly confined to fixed grasping patterns, where control is tied to physical priors such as force closure or generic intent instructions, even when expressed through elaborate language. Such an overly general conditioning imposes a strong inductive bias for stable grasps, thus failing to capture the diversity of daily HOI. To address these limitations, we introduce Free-Form HOI Generation, which aims to generate controllable, diverse, and physically plausible HOI conditioned on fine-grained intent, extending HOI from grasping to free-form interactions, like pushing, poking, and rotating. To support this task, we construct WildO2, an in-the-wild diverse 3D HOI dataset, which includes diverse HOI derived from internet videos. Specifically, it contains 4.4k unique interactions across 92 intents and 610 object categories, each with detailed semantic annotations. Building on this dataset, we propose TOUCH, a three-stage framework centered on a multi-level diffusion model that facilitates fine-grained semantic control to generate versatile hand poses beyond grasping priors. This process leverages explicit contact modeling for conditioning and is subsequently refined with contact consistency and physical constraints to ensure realism. Comprehensive experiments demonstrate our method's ability to generate controllable, diverse, and physically plausible hand interactions representative of daily activities. The project page is $\href{https://guangyid.github.io/hoi123touch}{here}$.

---

### From Loop Nests to Silicon: Mapping AI Workloads onto AMD NPUs with MLIR-AIR

Authors: Erwei Wang, Samuel Bayliss, Andra Bisca, Zachary Blair, Sangeeta Chowdhary, Kristof Denolf, Jeff Fifield, Brandon Freiberger, Erika Hunhoff, Phil James-Roxby, Jack Lo, Joseph Melber et al.
Published: 2025-10-16
Categories: cs.CL, cs.AR, cs.LG
arXiv: https://arxiv.org/abs/2510.14871v1

General-purpose compilers abstract away parallelism, locality, and synchronization, limiting their effectiveness on modern spatial architectures. As modern computing architectures increasingly rely on fine-grained control over data movement, execution order, and compute placement for performance, compiler infrastructure must provide explicit mechanisms for orchestrating compute and data to fully exploit such architectures. We introduce MLIR-AIR, a novel, open-source compiler stack built on MLIR that bridges the semantic gap between high-level workloads and fine-grained spatial architectures such as AMD's NPUs. MLIR-AIR defines the AIR dialect, which provides structured representations for asynchronous and hierarchical operations across compute and memory resources. AIR primitives allow the compiler to orchestrate spatial scheduling, distribute computation across hardware regions, and overlap communication with computation without relying on ad hoc runtime coordination or manual scheduling. We demonstrate MLIR-AIR's capabilities through two case studies: matrix multiplication and the multi-head attention block from the LLaMA 2 model. For matrix multiplication, MLIR-AIR achieves up to 78.7% compute efficiency and generates implementations with performance almost identical to state-of-the-art, hand-optimized matrix multiplication written using the lower-level, close-to-metal MLIR-AIE framework. For multi-head attention, we demonstrate that the AIR interface supports fused implementations using approximately 150 lines of code, enabling tractable expression of complex workloads with efficient mapping to spatial hardware. MLIR-AIR transforms high-level structured control flow into spatial programs that efficiently utilize the compute fabric and memory hierarchy of an NPU, leveraging asynchronous execution, tiling, and communication overlap through compiler-managed scheduling.

---

### Benchmarking Multimodal Large Language Models for Face Recognition

Authors: Hatef Otroshi Shahreza, Sébastien Marcel
Published: 2025-10-16
Categories: cs.CV, cs.AI, cs.CL
arXiv: https://arxiv.org/abs/2510.14866v1

Multimodal large language models (MLLMs) have achieved remarkable performance across diverse vision-and-language tasks. However, their potential in face recognition remains underexplored. In particular, the performance of open-source MLLMs needs to be evaluated and compared with existing face recognition models on standard benchmarks with similar protocol. In this work, we present a systematic benchmark of state-of-the-art MLLMs for face recognition on several face recognition datasets, including LFW, CALFW, CPLFW, CFP, AgeDB and RFW. Experimental results reveal that while MLLMs capture rich semantic cues useful for face-related tasks, they lag behind specialized models in high-precision recognition scenarios in zero-shot applications. This benchmark provides a foundation for advancing MLLM-based face recognition, offering insights for the design of next-generation models with higher accuracy and generalization. The source code of our benchmark is publicly available in the project page.

---

### Midtraining Bridges Pretraining and Posttraining Distributions

Authors: Emmy Liu, Graham Neubig, Chenyan Xiong
Published: 2025-10-16
Categories: cs.CL
arXiv: https://arxiv.org/abs/2510.14865v2

Midtraining, the practice of mixing specialized data with more general pretraining data in an intermediate training phase, has become widespread in language model development, yet there is little understanding of what makes it effective. We propose that midtraining functions as distributional bridging by providing better initialization for posttraining. We conduct controlled pretraining experiments, and find that midtraining benefits are largest for domains distant from general pretraining data, such as code and math, and scale with the proximity advantage the midtraining data provides toward the target distribution. In these domains, midtraining consistently outperforms continued pretraining on specialized data alone both in-domain and in terms of mitigating forgetting. We further conduct an investigation on the starting time and mixture weight of midtraining data, using code as a case study, and find that time of introduction and mixture weight interact strongly such that early introduction of specialized data is amenable to high mixture weights, while late introduction requires lower ones. This suggests that late introduction of specialized data outside a plasticity window cannot be compensated for by increasing data mixtures later in training. Beyond midtraining itself, this suggests that distributional transitions between any training phases may benefit from similar bridging strategies.

---

### Multi-modal video data-pipelines for machine learning with minimal human supervision

Authors: Mihai-Cristian Pîrvu, Marius Leordeanu
Published: 2025-10-16
Categories: cs.CV, cs.DC
arXiv: https://arxiv.org/abs/2510.14862v2

The real-world is inherently multi-modal at its core. Our tools observe and take snapshots of it, in digital form, such as videos or sounds, however much of it is lost. Similarly for actions and information passing between humans, languages are used as a written form of communication. Traditionally, Machine Learning models have been unimodal (i.e. rgb -> semantic or text -> sentiment_class). Recent trends go towards bi-modality, where images and text are learned together, however, in order to truly understand the world, we need to integrate all these independent modalities. In this work we try to combine as many visual modalities as we can using little to no human supervision. In order to do this, we use pre-trained experts and procedural combinations between them on top of raw videos using a fully autonomous data-pipeline, which we also open-source. We then make use of PHG-MAE, a model specifically designed to leverage multi-modal data. We show that this model which was efficiently distilled into a low-parameter (<1M) can have competitive results compared to models of ~300M parameters. We deploy this model and analyze the use-case of real-time semantic segmentation from handheld devices or webcams on commodity hardware. Finally, we deploy other off-the-shelf models using the same framework, such as DPT for near real-time depth estimation.

---

### LabOS: The AI-XR Co-Scientist That Sees and Works With Humans

Authors: Le Cong, David Smerkous, Xiaotong Wang, Di Yin, Zaixi Zhang, Ruofan Jin, Yinkai Wang, Michal Gerasimiuk, Ravi K. Dinesh, Alex Smerkous, Lihan Shi, Joy Zheng et al.
Published: 2025-10-16
Categories: cs.AI
arXiv: https://arxiv.org/abs/2510.14861v2

Modern science advances fastest when thought meets action. LabOS represents the first AI co-scientist that unites computational reasoning with physical experimentation through multimodal perception, self-evolving agents, and Extended-Reality(XR)-enabled human-AI collaboration. By connecting multi-model AI agents, smart glasses, and robots, LabOS allows AI to see what scientists see, understand experimental context, and assist in real-time execution. Across applications -- from cancer immunotherapy target discovery to stem-cell engineering and material science -- LabOS shows that AI can move beyond computational design to participation, turning the laboratory into an intelligent, collaborative environment where human and machine discovery evolve together.

---

### A Multi-Task Deep Learning Framework for Skin Lesion Classification, ABCDE Feature Quantification, and Evolution Simulation

Authors: Harsha Kotla, Arun Kumar Rajasekaran, Hannah Rana
Published: 2025-10-16
Categories: cs.CV, cs.LG
arXiv: https://arxiv.org/abs/2510.14855v1

Early detection of melanoma has grown to be essential because it significantly improves survival rates, but automated analysis of skin lesions still remains challenging. ABCDE, which stands for Asymmetry, Border irregularity, Color variation, Diameter, and Evolving, is a well-known classification method for skin lesions, but most deep learning mechanisms treat it as a black box, as most of the human interpretable features are not explained. In this work, we propose a deep learning framework that both classifies skin lesions into categories and also quantifies scores for each ABCD feature. It simulates the evolution of these features over time in order to represent the E aspect, opening more windows for future exploration. The A, B, C, and D values are quantified particularly within this work. Moreover, this framework also visualizes ABCD feature trajectories in latent space as skin lesions evolve from benign nevuses to malignant melanoma. The experiments are conducted using the HAM10000 dataset that contains around ten thousand images of skin lesions of varying stages. In summary, the classification worked with an accuracy of around 89 percent, with melanoma AUC being 0.96, while the feature evaluation performed well in predicting asymmetry, color variation, and diameter, though border irregularity remains more difficult to model. Overall, this work provides a deep learning framework that will allow doctors to link ML diagnoses to clinically relevant criteria, thus improving our understanding of skin cancer progression.

---

### Through-the-Earth Magnetic Induction Communication and Networking: A Comprehensive Survey

Authors: Honglei Ma, Erwu Liu, Wei Ni, Zhijun Fang, Rui Wang, Yongbin Gao, Dusit Niyato, Ekram Hossain
Published: 2025-10-16
Categories: eess.SY, cs.AI
arXiv: https://arxiv.org/abs/2510.14854v4

Magnetic induction (MI) communication (MIC) has emerged as a promising candidate for underground communication networks due to its excellent penetration capabilities. Integration with Space-Air-Ground-Underground (SAGUI) networks in next-generation mobile communication systems requires a well-defined network architecture. A recent discovery in MIC research, MI fast fading, remains in its early stages and presents unique challenges. This paper provides a comprehensive survey on through-the-earth (TTE) MIC, covering MI applications, channel modeling, point-to-point MIC design, relay techniques, network frameworks, and emerging technologies. We compare various MIC applications to highlight TTE-specific challenges and review the principles of channel modeling, addressing both MI slow fading and MI fast fading, along with its potential impact on existing MIC theories. We conduct a fine-grained decomposition of MI channel power gain into four distinct physical parameters, and propose a novel geometric model to analyze MI fast fading. We also summarize MI relay techniques, examine crosstalk effects in relay and high-density networks, and explore key research tasks within the OSI framework for a holistic MI network protocol in SAGUI. To bridge the gaps identified, we propose a MIC framework that supports TCP/IP and Linux, enabling full implementation of existing and emerging MIC solutions. This framework empowers researchers to leverage Linux resources and deep learning platforms for accelerated development of MIC in SAGUI networks. Remaining research challenges, open issues, and promising novel techniques are further identified to advance MIC research.

---

### Rewiring Experts on the Fly:Continuous Rerouting for Better Online Adaptation in Mixture-of-Expert models

Authors: Guinan Su, Yanwu Yang, Li Shen, Lu Yin, Shiwei Liu, Jonas Geiping
Published: 2025-10-16
Categories: cs.CL
arXiv: https://arxiv.org/abs/2510.14853v1

Mixture-of-Experts (MoE) models achieve efficient scaling through sparse expert activation, but often suffer from suboptimal routing decisions due to distribution shifts in deployment. While existing test-time adaptation methods could potentially address these issues, they primarily focus on dense models and require access to external data, limiting their practical applicability to MoE architectures. However, we find that, instead of relying on reference data, we can optimize MoE expert selection on-the-fly based only on input context. As such, we propose \textit{a data-free, online test-time framework} that continuously adapts MoE routing decisions during text generation without external supervision or data. Our method cycles between two phases: During the prefill stage, and later in regular intervals, we optimize the routing decisions of the model using self-supervision based on the already generated sequence. Then, we generate text as normal, maintaining the modified router until the next adaption. We implement this through lightweight additive vectors that only update router logits in selected layers, maintaining computational efficiency while preventing over-adaptation. The experimental results show consistent performance gains on challenging reasoning tasks while maintaining robustness to context shifts. For example, our method achieves a 5.5\% improvement on HumanEval with OLMoE. Furthermore, owing to its plug-and-play property, our method naturally complements existing test-time scaling techniques, e.g., achieving 6\% average gains when incorporated with self-consistency on DeepSeek-V2-Lite.

---

### A Geometric Approach to Optimal Experimental Design

Authors: Gavin Kerrigan, Christian A. Naesseth, Tom Rainforth
Published: 2025-10-16
Categories: stat.ML, cs.LG
arXiv: https://arxiv.org/abs/2510.14848v1

We introduce a novel geometric framework for optimal experimental design (OED). Traditional OED approaches, such as those based on mutual information, rely explicitly on probability densities, leading to restrictive invariance properties. To address these limitations, we propose the mutual transport dependence (MTD), a measure of statistical dependence grounded in optimal transport theory which provides a geometric objective for optimizing designs. Unlike conventional approaches, the MTD can be tailored to specific downstream estimation problems by choosing appropriate geometries on the underlying spaces. We demonstrate that our framework produces high-quality designs while offering a flexible alternative to standard information-theoretic techniques.

---

### ImagerySearch: Adaptive Test-Time Search for Video Generation Beyond Semantic Dependency Constraints

Authors: Meiqi Wu, Jiashu Zhu, Xiaokun Feng, Chubin Chen, Chen Zhu, Bingze Song, Fangyuan Mao, Jiahong Wu, Xiangxiang Chu, Kaiqi Huang
Published: 2025-10-16
Categories: cs.CV
arXiv: https://arxiv.org/abs/2510.14847v2

Video generation models have achieved remarkable progress, particularly excelling in realistic scenarios; however, their performance degrades notably in imaginative scenarios. These prompts often involve rarely co-occurring concepts with long-distance semantic relationships, falling outside training distributions. Existing methods typically apply test-time scaling for improving video quality, but their fixed search spaces and static reward designs limit adaptability to imaginative scenarios. To fill this gap, we propose ImagerySearch, a prompt-guided adaptive test-time search strategy that dynamically adjusts both the inference search space and reward function according to semantic relationships in the prompt. This enables more coherent and visually plausible videos in challenging imaginative settings. To evaluate progress in this direction, we introduce LDT-Bench, the first dedicated benchmark for long-distance semantic prompts, consisting of 2,839 diverse concept pairs and an automated protocol for assessing creative generation capabilities. Extensive experiments show that ImagerySearch consistently outperforms strong video generation baselines and existing test-time scaling approaches on LDT-Bench, and achieves competitive improvements on VBench, demonstrating its effectiveness across diverse prompt types. We will release LDT-Bench and code to facilitate future research on imaginative video generation.

---

### Where to Search: Measure the Prior-Structured Search Space of LLM Agents

Authors: Zhuo-Yang Song
Published: 2025-10-16
Categories: cs.AI, cs.CL, cs.LO
arXiv: https://arxiv.org/abs/2510.14846v3

The generate-filter-refine (iterative paradigm) based on large language models (LLMs) has achieved progress in reasoning, programming, and program discovery in AI+Science. However, the effectiveness of search depends on where to search, namely, how to encode the domain prior into an operationally structured hypothesis space. To this end, this paper proposes a compact formal theory that describes and measures LLM-assisted iterative search guided by domain priors. We represent an agent as a fuzzy relation operator on inputs and outputs to capture feasible transitions; the agent is thereby constrained by a fixed safety envelope. To describe multi-step reasoning/search, we weight all reachable paths by a single continuation parameter and sum them to obtain a coverage generating function; this induces a measure of reachability difficulty; and it provides a geometric interpretation of search on the graph induced by the safety envelope. We further provide the simplest testable inferences and validate them via two instantiation. This theory offers a workable language and operational tools to measure agents and their search spaces, proposing a systematic formal description of iterative search constructed by LLMs.

---