# Research Papers — 2026-06 · bundle page 250 of 260 > Full-text markdown of papers #12451–12500 of 12993 published in 2026-06, newest first. AI-readable mirrors of the full 12993-paper 2026-06 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-06/page/250 [← Previous bundle](https://aipod.dev/papers/archive/2026-06/page/249.md) [Next bundle →](https://aipod.dev/papers/archive/2026-06/page/251.md) ### One Transit Is All You Need: Detecting Exoplanets Through Learned Stellar Behaviour with EXOVEIL Authors: Pratik Priyanshu Published: 2026-06-01 Categories: astro-ph.EP, astro-ph.IM, cs.LG arXiv: https://arxiv.org/abs/2606.02778v3 I present EXOVEIL, a transit detection system that learns what a star's brightness should look like and flags when reality disagrees. Unlike existing systems that require phase-folded input, EXOVEIL operates on raw flux time series and can detect planets that transit only once.A Transformer world model, trained on 16,499 Kepler light curves with transit-masked self-supervised learning, predicts expected stellar flux. A matched-filter detector with variance weighting extracts transit signals from the prediction residuals. A learned classifier (XGBoost) separates planets from false positives, achieving AUC 0.938 on Kepler DR25. Applied to single-transit injection-recovery, EXOVEIL recovers 32% of transits at 1000 ppm depth a task where all classification-based systems score 0% by construction. A blind search of 3,737 Kepler stars yields 179 new transit-like signals not present in the DR25 TCE catalogue, including 46 monotransit candidates. Applied withoutretraining to 47 confirmed TESS planets in the PLATO LOPS2 field, EXOVEIL achieves 100% recovery, demonstrating zero-shot cross-mission transfer. At PLATO's 25-second cadence, detection reaches 100 ppm -- approaching the Earth-analog regime. I provide the first application of conformal prediction to transit detection (95.9% empirical coverage) and release the system as pip install exoveil with pretrained weights and a candidate catalogue. --- ### Topics as Proxies for Sociodemographics: How Conversational Context Affects LLM Answers Authors: Vera Neplenbroek, Gabriele Sarti, Arianna Bisazza, Raquel Fernández Published: 2026-06-01 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.02776v5 When large language models (LLMs) are used in high-stakes scenarios, such as legal, medical and financial advice, even a single conversation history is enough to drive differences in outcomes between users. Prior work has demonstrated that this results in outcome disparities between sociodemographic groups, with some groups receiving more advantageous outcomes than others. In this work, we demonstrate that LLMs actually struggle to infer user sociodemographics from a single conversation history and that although there are disparities between sociodemographic groups, they are minimal in magnitude. To investigate what is the main driver of disparities between users, we compare user sociodemographics to a range of (psycho)linguistic features of conversations, including conversation topic, emotions, and readability. We find that conversation topics are most predictive of LLM-generated advice within a conversational context, which, to some extent, function as proxies for sociodemographic groups and often affect advice in unpredictable ways. This is cause for concern and highlights the need for future research to better understand the effect of conversational context on LLM outputs in high-stakes scenarios. --- ### Topics as Proxies for Sociodemographics: How Conversational Context Affects LLM Answers Authors: Vera Neplenbroek, Gabriele Sarti, Arianna Bisazza, Raquel Fernández Published: 2026-06-01 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.02776v4 When large language models (LLMs) are used in high-stakes scenarios, such as legal, medical and financial advice, even a single conversation history is enough to drive differences in outcomes between users. Prior work has demonstrated that this results in outcome disparities between sociodemographic groups, with some groups receiving more advantageous outcomes than others. In this work, we demonstrate that LLMs actually struggle to infer user sociodemographics from a single conversation history and that although there are disparities between sociodemographic groups, they are minimal in magnitude. To investigate what is the main driver of disparities between users, we compare user sociodemographics to a range of (psycho)linguistic features of conversations, including conversation topic, emotions, and readability. We find that conversation topics are most predictive of LLM-generated advice within a conversational context, which, to some extent, function as proxies for sociodemographic groups and often affect advice in unpredictable ways. This is cause for concern and highlights the need for future research to better understand the effect of conversational context on LLM outputs in high-stakes scenarios. --- ### AURA: Action-Gated Memory for Robot Policies at Constant VRAM Authors: Josef Chen Published: 2026-06-01 Categories: cs.AI, cs.AR, cs.DC, cs.PF, cs.RO arXiv: https://arxiv.org/abs/2606.02775v1 The KV-cache is the right memory for datacenters but the wrong memory for robots. Datacenter inference batches many short requests and resets them, amortizing an attention cache across a crowd. Embodied agents instead run one long, non-resetting episode on bandwidth-limited edge hardware, where high-bandwidth memory and flash are scarce, flash has finite write endurance, and memory writes rather than compute can become the binding constraint. AURA-Mem (Action-Utility Recurrent Adaptive Memory) targets this regime. It wraps a frozen vision-language-action backbone with a constant-size recurrent memory and a learned gate that writes only when the current observation would change the next action: memory that knows when to stay silent. Unlike reconstruction-based memory, the gate is trained directly against a closed-loop action-error signal. Its inference state is fixed at 4,224 bytes regardless of horizon, while a KV-cache grows to 6,061 times larger at 100,000 steps. On a controlled synthetic benchmark, AURA-Mem matches the best O(1) baseline in accuracy while using 5.19-6.13 times fewer writes, and up to 9.19 times fewer writes on easier configurations. Budget-matched random and periodic schedules do not recover this gain, isolating the benefit to the action-surprise signal. On a trained closed-loop OpenVLA-OFT 7B panel on LIBERO-Long (n=60 episodes per arm), the gate does not hurt success: AURA-Mem matches the ungated base policy (0.233) and slightly exceeds an always-write KV arm (0.217), while using 7.0 times fewer writes and constant memory. We also instantiate an approximate-information-state value-loss bound as a methodology demonstration; at this scale, the bound is vacuous rather than a guarantee. --- ### GeoDrive-Bench: Benchmarking Region-Specific Multimodal Reasoning in Autonomous Driving Authors: Yingzi Ma, Chaowei Xiao, Ming Jiang Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02774v1 Vision-language models (VLMs) for autonomous driving have shown promising performance, but their ability to handle region-specific traffic rules remains underexplored, raising uncertainties about their deployment across diverse global settings. We therefore introduce GeoDrive-Bench, a novel benchmark that enables the systematic investigation of VLMs' geo-culturally grounded driving reasoning. We curated 5,053 human-validated multiple-choice QA pairs across six countries covering diverse driving cultures. Specifically, we emphasize four driving tasks: perception, prediction, planning, and region reasoning. Each question requires models to infer the correct driving behavior from visual evidence and local traffic conventions without explicit country labels. Beyond evaluation, we further design a distillation algorithm that injects region-specific traffic-rule knowledge into the internal representations of VLMs, enabling models to better align visual scene understanding with local driving policies. Experiments on nine state-of-the-art VLMs show substantial performance variations across geo-driving cultures for each task, while our proposed baseline models exhibit improved geo-cultural reasoning across regions. These results suggest that current VLMs still lack robust region-aware driving intelligence and highlight GeoDrive-Bench as a diagnostic and training-oriented testbed for deployable autonomous driving foundation models. --- ### Hybrid Adaptive Kalman Filtering for Data-Efficient Joint Tracking and Classification Authors: Jiho Lee, Nisar R. Ahmed, Rebecca Russell Published: 2026-06-01 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2606.02767v1 Kalman filtering performance is highly sensitive to model mismatch and noise covariance tuning. Learning-based approaches address these limitations but typically rely on supervised training with large datasets and do not produce consistent uncertainty estimates. In this paper, we propose a self-supervised Hybrid Adaptive Kalman Filter that learns structured corrections to system dynamics and process noise covariance from measurements alone while preserving the probabilistic structure of the filter. This allows the innovation likelihood to be computed and subsequently used for model classification via generalized Bayesian inference. Experimental results on real-world and simulated datasets demonstrate improved estimation accuracy and statistical consistency as well as robust classification performance across both low-data and large-data scenarios. --- ### Representational Capacity: Geometric Limits on Feature Representation in Transformer Language Models Authors: Alexander Guha Published: 2026-06-01 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.02765v1 Model dimension ($d_{model}$) is a fundamental hyperparameter in transformer language models, yet its role in setting the geometric limits of feature representation remains under-explored. Grounded in the Linear Representation and Superposition Hypotheses - which propose that models encode features as near-orthogonal directions in latent space - we develop a framework for estimating how many such directions a model can support. We first establish the embedding matrix as a measurable proxy for near-orthogonality constraints across the latent space: the boundary between meaningful token relationships and incidental similarity in the pairwise cosine similarity distribution gives a concrete estimate of the model's accepted deviation $\varepsilon$ from perfect orthogonality. Applying this metric across dozens of open-source models reveals two classes: models with high $\varepsilon$ whose embeddings lack near-orthogonal structure, and models with low $\varepsilon$ that maintain it. We then show that the standard Johnson-Lindenstrauss lemma greatly underestimates the packing efficiency of trained representations, and derive an adjusted capacity formula in which the number of near-orthogonal directions depends on the ratio of vectors to dimensions ($k/d$) rather than the raw count - a single modification that cuts prediction error by two orders of magnitude with no extra parameters. Combining these results, we define representational capacity as an upper bound on the number of distinguishable directions available for features and embeddings in a model's latent space. Capacity is exponentially sensitive to $\varepsilon$, and larger models favor tighter orthogonality constraints over maximizing raw capacity - a pattern compatible with several explanations (a stability-capacity trade-off, a ceiling on usable concepts, or confounds with model scale) that we leave to future work. --- ### From Local Training to Large-Scale Mapping: A Comparative Assessment of Machine Learning and Deep Learning for Transferable Satellite-Derived Bathymetry Authors: Hsiao-Jou Hsu, Joachim Moortgat Published: 2026-06-01 Categories: cs.CV, physics.comp-ph arXiv: https://arxiv.org/abs/2606.02764v1 Satellite-derived bathymetry (SDB) from multispectral imagery is cost-effective but scales poorly across regions, especially in optically complex coastal environments. We evaluate machine learning and deep learning for transferable SDB over the 0-20 m depth range using Sentinel-2 imagery. A Random Forest baseline and four CNNs (ResNet-50, ResNet-101, EfficientNet-B4, ConvNeXt-Large) are trained on Pratas Island and selected Great Barrier Reef regions, then evaluated on spatially independent intra- and cross-regional test areas. Preserving spatial continuity during training, by keeping contiguous reef blocks rather than random patches, is the single most impactful design choice; we further introduce a Smooth Weight Function (SWF)-weighted RMSE loss that emphasizes near-surface depths. With these choices, intra-regional RMSE ranges from 1.15 to 1.92 m over 0-20 m and is as low as 0.26 m for depths <= 3 m. Random Forest degrades sharply under cross-regional transfer (RMSE 1.53 m -> 2.99-3.78 m), while the deep models stay more robust (2.46-2.98 m). On the public MagicBathyNet aerial-RGB benchmark (0-16 m) the proposed networks reach 0.19-0.22 m RMSE, outperforming a U-Net baseline and a task-specific transformer architecture with substantially fewer parameters. We further exploit multi-temporal repeat imagery: training on it broadens diversity, and median-aggregating predictions across passes at inference reduces noise from changing sun angles, atmospheric conditions, water properties, and tides. We release optimized architectures and pretrained weights to enable scalable transfer to new sites. --- ### Binary Road Surface Classification Using Machine Learning on Production Vehicle Signals During Cruising Authors: Vishal Hariharan, Salar Basiri, Kanwar Bharat Singh Published: 2026-06-01 Categories: cs.LG arXiv: https://arxiv.org/abs/2606.02762v1 Knowledge of real-time road slipperiness, or even better, a refined estimate of peak grip potential, is a critical input for vehicle warning and intervention control systems. Typically, friction is estimated through dynamics-based recursive estimators by calculating the slip slope; however, its efficacy is heavily constrained by the vehicle dynamic scenario. When the vehicle is cruising and there is little to no slip, these methods become ineffective due to the inability of present-day production-grade sensors, such as wheel speed sensors, and methods to either measure or accurately estimate micro slip, which is crucial for distinguishing different surfaces. To address this challenge, the correlation between vehicle signals and road surface condition during cruising needs to be uncovered using machine learning. In this paper, a feature-based framework and an end-to-end data-driven framework are used to correlate the statistics of vehicle dynamics behavior with the condition of the road surface and perform binary classification into grip, dry or damp, and slip, snow or ice, conditions. A sliding-window approach is adopted to batch a short buffered window of wheel speeds, wheel torques, longitudinal acceleration, steering angle, and yaw rate, which are fed into a machine learning module for predicting the road state. Validation results on public-road data show scenarios where the data-driven method identifies the road surface correctly even during cruising, showing promise for accurate data-driven friction-related state estimators in the field of tire and vehicle dynamics. --- ### Theoretical Aspects of Lie Groupoid and Lie Algebroid Equivariant Convolutional Neural Networks Authors: Michael Astwood Published: 2026-06-01 Categories: math.DG, cs.LG, math.CT arXiv: https://arxiv.org/abs/2606.02758v2 We introduce Lie groupoid equivariant neural networks as a specialization of recently proposed topological category-equivariant neural networks to the differentiable setting. Lie groupoid equivariant neural networks are composed from Lie groupoid lifting convolutions and Lie groupoid convolution layers, and we show how for suitable Lie groupoids they are equivalent to certain Lie algebroid-equivariant neural networks. We additionally describe groupoid invariant global pooling as a generalization of group invariant global pooling. Furthermore, we show that each of the aforementioned layers is a special case of recently introduced admissible category-equivariant layers by demonstrating that they define continuous natural transformations between continuous feature functors. --- ### Acceptance-Test-Driven Evaluation Protocols for Business-Centric LLM Systems Authors: Eric Liang Published: 2026-06-01 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2606.02755v1 Large language model (LLM) applications are increasingly expected to satisfy deterministic institutional requirements while relying on probabilistic generative components. This mismatch makes ordinary post-hoc benchmarking insufficient for systems that must be safe, reliable, auditable, and economically useful. This paper contributes an evaluation-protocol extension for operational LLM systems grounded in acceptance-test-driven development, safety engineering, and business-centric validation. The extension translates stakeholder goals into executable behavioral contracts, release gates, monitoring signals, and evidence artifacts before prompt, model, retrieval, or agent changes are accepted. It adapts the red-green-refactor discipline of test-driven development to a red-train-green lifecycle: first define failing acceptance tests for desired behavior, then improve the LLM system through prompt changes, retrieval design, fine-tuning, guardrails, or data augmentation, and finally release only when multidimensional gates are satisfied. The contribution is a governance-oriented metric stack, reference architecture, and empirical protocol for comparing acceptance-test-driven LLM development against prompt-first and benchmark-after workflows. --- ### $Ψ$-Bench: Evaluating Persona-Sensitive Influencing in Persuasive Dialogues Authors: Peixuan Han, Hongyi Du, Jiayu Liu, Yihang Sun, Yutong Liu, Jiaxuan You Published: 2026-06-01 Categories: cs.LG arXiv: https://arxiv.org/abs/2606.02754v1 Personalization is a crucial capability of modern language agents. However, current research primarily positions personalized agents as passive responders to user preferences, limiting their ability to interact with users and provide suggestions or guidance proactively. To systematically evaluate such proactive personalization in realistic interactions, we propose $Ψ$-Bench, a benchmark for assessing LLMs' ability to influence realistic users through conversation. We design three real-world interaction scenarios that involve persuasion in $Ψ$-Bench, and endow simulated clients with personal characteristics through explicit user profiles derived from dialogue histories. We evaluate 10 frontier LLMs on $Ψ$-Bench and find that while most models can produce coherent and reasonable arguments, even state-of-the-art models still leave considerable room for improvement in persuasion. We also find that providing access to client profiles yields an average performance gain of 18.24\%, highlighting the importance of user-specific information for effective persuasion. Overall, our work highlights persona-sensitive influencing as a challenging yet practical direction for evaluating and developing more proactive personalized LLM agents. Codes are available at: https://github.com/Hanpx20/Psi-Bench. --- ### MetaWorld: Scaling Multi-Agent Video World Model from Single-view Video Data Authors: Teng Hu, Mingchun Lu, Yating Wang, Jiangning Zhang, Jinkun Hao, Ye Pan, Ran Yi, Lizhuang Ma, Dacheng Tao Published: 2026-06-01 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.02753v1 Video world models are a foundational generative technology for embodied AI and the Metaverse, yet existing approaches are inherently limited to a single agent observing from a single perspective. Extending these models to multi-agent settings introduces two critical challenges: data scarcity (coordinated multi-view recordings are prohibitively expensive to collect for general open-domain scenarios) and world state alignment (independently generated video streams cannot ensure that shared physical environments and events evolve consistently across views). To address these challenges, we propose MetaWorld, a novel framework that scales multi-agent video world models to open-domain environments directly from single-view videos. First, we introduce Monocular World-State Unrolling (MWSU) to explicitly decompose monocular footage into the camera operator's ego-motion and the visible subject's spatial trajectory. This camera-trajectory decomposition naturally extracts synchronized multi-agent motion data within a shared 3D space, completely bypassing the need for multi-camera setups. Second, for precise visual control, we develop the Subject-Aware World Generator to enable appearance-driven simulation conditioned on per-agent identity images. Finally, to ensure both views are grounded in the identical physical reality, we propose World-State Alignment, a per-frame inter-branch cross-attention mechanism inserted at every transformer layer of the video DiT. By jointly synchronizing the denoising process, WSA enforces both static geometric consistency and dynamic motion consistency, encouraging that the shared 3D environment and physical events remain well-aligned across both egocentric views. Extensive experiments demonstrate that MetaWorld achieves superior cross-view consistency and identity fidelity, establishing a highly scalable, physics-driven paradigm for multi-agent video world modeling. --- ### On the Persistent Effects of Lexicality in Large Language Models Authors: Hammad Rizwan, Muhammad Umair Haider, Nishant Subramani, Mona T. Diab, A. B. Siddique, Hassan Sajjad Published: 2026-06-01 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.02750v2 Representations extracted from large language models (LLMs) play an important role in many downstream applications. However, the structure of these representations is often influenced by lexical overlap rather than semantic content. Our understanding of the relationship between this lexical influence and semantic content, and its implications for downstream tasks, remains limited. In this work, we investigate representations to quantify the effect of lexical overlap relative to semantic content. We consider several adversarial semantic stress tests and further connect our findings to the information theory perspective. We find that lexical influence extends across the depth of models, consistently across architectures, training regimes, and objective functions, including the models trained for semantic similarity. Moreover, we observe a mid-depth region in which both lexical and semantic signals degrade simultaneously, indicating a transitional regime where representations are poor for both surface form and meaning. We further demonstrate the effect of lexical influence on downstream uses of LLMs using summarization and model editing as a case study. --- ### Plan2Map: A Multimodal Benchmark for Document-Grounded Geospatial Boundary Reconstruction from Planning Records Authors: Fabian Degen, Oishi Deb, Jindong Gu, Junchi Yu, Samuele Marro, Philip Torr, Jialin Yu Published: 2026-06-01 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.02747v1 Planning records define restrictions over geographic areas, but their source documents often provide only indirect spatial evidence rather than machine-readable boundaries. We introduce Plan2Map, a 208-case multimodal benchmark for document-grounded geospatial boundary reconstruction from UK planning records. Given only a source planning document, systems must reconstruct a valid geospatial boundary from notice text, schedules, map plates, map labels, and boundary annotations; the reference GeoJSON is held out for scoring. We propose GeoPlanAgent, a document-grounded, geospatial-tool-in-the-loop system that decomposes the task into evidence extraction, localisation, map registration, boundary segmentation, projection, and verification. On Plan2Map, GeoPlanAgent achieves 0.736 mean IoU and 0.904 median IoU, with 67.8\% of predictions at or above 0.8 IoU, substantially outperforming direct VLM-to-GeoJSON baselines. Diagnostic analysis shows that direct VLM prediction remains unreliable, while remaining errors are concentrated in localisation and map registration, and supervised boundary segmentation substantially improves pixel-level mask quality. Plan2Map provides a concrete testbed for multimodal geospatial reconstruction from public planning records. Project page: https://odeb1.github.io/Plan2Map_Project_Page/. --- ### SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos Authors: Jaehyeon Son, Junhyun Kim, Kyle Kam, Jeremiah Coholich, Seok Joon Kim, Jinhoo Kim, Chris Dongjoo Kim, Jaemin Cho, Dieter Fox, Zsolt Kira Published: 2026-06-01 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2606.02745v1 Vision-language-action models (VLAs) are promising general-purpose robot policies, but adapting them to new tasks typically requires costly task-specific teleoperation data. As an alternative, we study one-shot demo-conditioned VLAs, where a robot policy is conditioned on a single demonstration video of an unseen task. We find that existing end-to-end approaches often struggle when successful execution requires precisely localizing small target regions. To address this limitation, we propose SeeTraceAct, a demo-conditioned VLA framework that encourages precise spatial grounding through visibility-aware prediction of future end-effector traces. To enable reproducible evaluation with cross-embodiment demonstrations, we introduce and release RoboCasa-DC, a demo-conditioned extension of RoboCasa with episode-paired humanoid videos. Experiments on RoboCasa-DC and a real-world benchmark, where a Franka Panda arm is conditioned on human demonstrations, show that SeeTraceAct outperforms baselines, achieving the best success rate across all four RoboCasa-DC settings and improving real-world average success by 12.5 percentage points. --- ### Consistent Yet Wrong: Evidence Insensitivity in Spatial Vision-Language Models Authors: S Divakar Bhat, Toshihiko Yamasaki Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02742v2 Spatial reasoning is fundamental to robotics, autonomy, and embodied AI, yet modern vision-language models (VLMs) remain unreliable on metric distance queries. A common assumption is that consistent predictions across viewpoints reflect geometric grounding. We test this assumption and find the opposite: leading VLMs often produce view-invariant and consistent answers even when those answers are incorrect, indicating weak coupling between predictions and viewpoint-specific visual evidence. We introduce \textbf{ViewDiag}, a controlled multi-view evaluation protocol built from Hypersim, ScanNet, and KITTI360, comprising 176 object-pair tracks across 80 scenes with 2--10 views per track. The protocol evaluates models along three axes: metric accuracy, distributional concentration, and internal collapse, the last of which is assessed using a latent feature probe. Across diverse models, we observe a consistent pattern of high prediction stability paired with substantial error, clustering in a regime characterized by strong consistency but low accuracy. \noindent These results challenge the common use of cross-view consistency as a proxy for geometric understanding. Instead, we show that stable predictions may reflect prior-driven collapse rather than evidence-sensitive reasoning. ViewDiag provides a controlled benchmark and diagnostic framework for evaluating whether spatial VLMs are not only accurate, but also meaningfully coupled to visual evidence. --- ### Greener Than Humans? Environmental Attitudes in Large Language Models Authors: Stefanie Kunkel, Tilman Hartwig, Marcus Voss, Emma K. Schütt, Angelika Gellrich Published: 2026-06-01 Categories: cs.CL, cs.CY arXiv: https://arxiv.org/abs/2606.02741v1 Large language models (LLMs) are increasingly used in sustainability-related decision support, reporting, and public communication, yet little systematic evidence exists on the environmental attitudes embedded in their outputs. This paper develops a benchmark for evaluating environmental cognition, affect, and behavioural recommendations in LLMs and applies it to 31 widely used proprietary and open-weight models. Drawing on questions from established environmental awareness surveys and additional sustainability-related behavioural measures, we compare LLM responses 1) among models and 2) between models and human survey benchmarks from Germany. We assess their robustness across prompting conditions. We find that many LLMs align more closely with environmentally progressive attitudes than the average survey respondent, exhibiting higher levels of environmental affect and cognition and recommending behaviours associated with substantial potential CO2 reductions. At the same time, we observe no systematic relationship between sustainability-oriented responses and model origin, size, or release context. However, models exhibit contextual sensitivity, controlled by persona-based prompting and show sycophantic shifts mirroring user-specified ideological positions, which raises concerns about steerability and normative reliability in real-world deployments. Our findings provide a reusable evaluation framework for assessing sustainability-related value alignment in LLMs and highlight the importance of governance, transparency, and critical oversight as AI systems become increasingly embedded in sustainability transformations and public decision-making. --- ### ScoreStop: Gradient-based early stopping using functional score tests Authors: Oliver J. Hines, Christian L. Hines Published: 2026-06-01 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2606.02740v1 Gradient boosted decision trees require a stopping rule to avoid overfitting. The standard rule monitors a validation loss and stops if the loss fails to improve for a fixed patience period. However, the patience parameter has no interpretable scale and validation losses can be noisy or implicitly defined by a user-specified gradient. We propose ScoreStop, a gradient-based early-stopping rule that casts the stopping decision at each iteration as a test of the null hypothesis that the current predictor is the population risk minimizer. We use a functional score test, computed on validation data, with a statistic that is scale-invariant in the update direction, with a known asymptotic distribution under the null. Because our test uses gradients rather than loss values, the same construction applies to implicit losses such as LambdaRank, and data-dependent losses such as Cox regression via influence functions. In synthetic experiments and real-data benchmarks, we show that ScoreStop is competitive with loss-based methods. --- ### EntangleCodec: A Unified Discrete Audio Tokenizer via Semantic-Acoustic Entanglement Authors: Hui Li, Yangfan Gao, Junlin Shang, Changhao Jiang, Tao Gui, Qi Zhang, Xuanjing Huang Published: 2026-06-01 Categories: cs.SD, cs.AI, eess.AS arXiv: https://arxiv.org/abs/2606.02739v2 Audio tokenizers serve as the discrete interface between continuous audio and Audio Language Models (ALMs), but existing tokenizers often struggle to support both understanding and generation. Reconstruction-oriented codecs preserve acoustic fidelity but lack rich semantics, while semantic-aware tokenizers typically rely on separate semantic and acoustic streams, introducing redundancy or misalignment. We propose \textbf{EntangleCodec}, a unified discrete audio tokenizer that learns caption-aligned semantic-acoustic representations before quantization. By aligning audio with rich captions rather than ASR transcripts, EntangleCodec captures linguistic content, speaker identity, emotion, prosody, and acoustic scenes within a compact token stream. A flow-matching diffusion decoder further enables high-quality reconstruction across speech, music, and general audio. EntangleCodec achieves reconstruction quality competitive with specialized codecs, outperforms all codec-based baselines on audio understanding by up to \textbf{+7.4\%} on MMAR, and supports both TTS and TTA generation in a unified framework. Furthermore, EntangleCodec-based audio language models demonstrate strong scaling behavior: even at \textit{0.6B} parameters, the model surpasses specialized continuous-representation LLMs with over \textit{13B} parameters across three benchmarks using \textbf{22$\times$} fewer parameters; scaling to \textit{8B} further establishes new state-of-the-art results on MMAR, highlighting that representation quality is as critical as model scale in audio language modeling. Code and model weights are available at https://github.com/luckyerr/EntangleCodec. --- ### EntangleCodec: A Unified Discrete Audio Tokenizer via Semantic-Acoustic Entanglement Authors: Hui Li, Yangfan Gao, Junlin Shang, Changhao Jiang, Tao Gui, Qi Zhang, Xuanjing Huang Published: 2026-06-01 Categories: cs.SD, cs.AI, eess.AS arXiv: https://arxiv.org/abs/2606.02739v1 Audio tokenizers serve as the discrete interface between continuous audio and Audio Language Models (ALMs), but existing tokenizers often struggle to support both understanding and generation. Reconstruction-oriented codecs preserve acoustic fidelity but lack rich semantics, while semantic-aware tokenizers typically rely on separate semantic and acoustic streams, introducing redundancy or misalignment. We propose \textbf{EntangleCodec}, a unified discrete audio tokenizer that learns caption-aligned semantic-acoustic representations before quantization. By aligning audio with rich captions rather than ASR transcripts, EntangleCodec captures linguistic content, speaker identity, emotion, prosody, and acoustic scenes within a compact token stream. A flow-matching diffusion decoder further enables high-quality reconstruction across speech, music, and general audio. EntangleCodec achieves reconstruction quality competitive with specialized codecs, outperforms all codec-based baselines on audio understanding by up to \textbf{+7.4\%} on MMAR, and supports both TTS and TTA generation in a unified framework. Furthermore, EntangleCodec-based audio language models demonstrate strong scaling behavior: even at \textit{0.6B} parameters, the model surpasses specialized continuous-representation LLMs with over \textit{13B} parameters across three benchmarks using \textbf{22$\times$} fewer parameters; scaling to \textit{8B} further establishes new state-of-the-art results on MMAR, highlighting that representation quality is as critical as model scale in audio language modeling. Code and model weights are available at https://github.com/luckyerr/EntangleCodec. --- ### Attention Calibration for Position-Fair Dense Retrieval Authors: Andrianos Michail, Elias Schuhmacher, Juri Opitz, Simon Clematide, Rico Sennrich Published: 2026-06-01 Categories: cs.IR, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2606.02737v3 Dense retrieval compresses a passage into a single vector, but this compression is positionally skewed: early content dominates the embedding, and retrieval degrades when the relevant span appears later. Prior work proposed an inference-time method that counteracts this skew by equalizing the pooling token's attention across passage segments. However, (i) it redistributes attention at a fixed strength, (ii) it forces the pooling token's attention to itself to a fixed basket-level mass despite substantial variation across layers and architectures, and (iii) its effect on retrieval has not been evaluated. We introduce a strength coefficient that interpolates between uncalibrated and fully equalized attention, together with an efficient implementation that reduces peak calibration memory overhead from 5-7 GiB to under 1 MiB. Across three embedding models and two pooling schemes, moderate calibration provides a better retrieval trade-off than full equalization. We introduce a variant that preserves the pooling token's self-attention mass and redistributes only the remaining mass. On a position-aware retrieval benchmark spanning 10 languages and 31 domains, a configuration selected on English FineWeb-PosQ and transferred without tuning reduces position sensitivity in all 16 evaluated length-quartile, model, and retrieval-setting combinations, by up to 43% relative, while improving nDCG@10 by up to 4.8% relative and leaving general retrieval effectiveness on NanoBEIR essentially unchanged. Calibration runs at indexing time, adding no query-time latency. We release our code at github.com/impresso/fair-sentence-transformers --- ### Attention Calibration for Position-Fair Dense Information Retrieval Authors: Andrianos Michail, Elias Schuhmacher, Juri Opitz, Simon Clematide, Rico Sennrich Published: 2026-06-01 Categories: cs.IR, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2606.02737v1 Dense retrieval models exhibit positional bias: retrieval effectiveness degrades when relevant information appears later in a passage (Zeng et al., 2025). We ask whether this bias can be reduced at inference time, without retraining and without sacrificing overall retrieval effectiveness. To this end, we adapt inference-time attention calibration (Schuhmacher et al., 2026) to downstream retrieval and extend it with a strength coefficient lambda that interpolates between the original and fully calibrated attention distributions. Across three embedding models on SQuAD-PosQ and FineWeb-PosQ, we examine how basket size, calibrated layer set, and strength affect the trade-off between positional fairness and retrieval effectiveness, finding that partial calibration frequently outperforms full calibration. A single configuration (B=128, lambda=0.5, 50% layer depth) improves the harmonic mean of nDCG@10 across positional groups on FineWeb-PosQ for all three models without per-model tuning, and applies to both <s>-pooled and last-token-pooled architectures. This default configuration transfers without modification to PosIR, which spans 10 languages and 31 domains, reducing the Position Sensitivity Index in all 16 length-quartile x model x retrieval-setting combinations, while preserving or improving aggregate nDCG@10. We release our extended codebase at https://github.com/impresso/fair-sentence-transformers --- ### See Less, Specify More: Visual Evidence Budgets for Generalizable VLAs Authors: Yueh-Hua Wu, Tatsuya Matsushima, Kei Ota Published: 2026-06-01 Categories: cs.RO, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.02735v2 Generalization remains a central bottleneck for vision-language-action (VLA) models: under distractors, appearance shifts, and semantically similar tasks, the policy must often infer local execution details from coarse instructions while also deciding which parts of the image matter for control. We present S2 (See Less, Specify More), a framework for improving VLA generalization by training the executor under a cleaner interface. Specify More preserves the original instruction as a stable high-level goal while relabeling each trajectory into refined trajectory- and subtask-level language that disambiguates the current execution mode. Unlike native attention, See Less imposes an explicit visual evidence budget, training the executor to act from task-sufficient evidence rather than unconstrained visual context, without any region or mask annotation. This interface lets the executor follow detailed guidance without relying on distracting visual patches or resolving avoidable ambiguity on its own, and it remains compatible with off-the-shelf VLM planners through in-context learning. Across our main evaluation settings, S2 improves overall generalization metrics by changing the executor's learning problem: coarse instructions induce avoidable supervision aliasing, goal-preserving local guidance outperforms instruction replacement in our main ablations, and explicit evidence budgeting reduces dependence on broad visual context beyond efficiency considerations. Across eight real-robot tasks on TX-G2 (an AgiBot G2-compatible variant) and HSR, S2 raises mean subtask success from 54.2% to 79.0% over pi0.5. Together, these results suggest that VLA generalization improves when the executor is trained to act from informative local guidance and task-sufficient visual evidence, rather than recovering both from weak supervision. --- ### AVTrack: Audio-Visual Tracking in Human-centric Complex Scenes Authors: Yaoting Wang, Yun Zhou, Zipei Zhang, Henghui Ding Published: 2026-06-01 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.02724v1 Audio-visual speaker tracking aims to localize and track active speakers by leveraging auditory and visual cues, enabling fine-grained, human-centric scene understanding. This capability is essential for real-world applications such as intelligent video editing, surveillance, and human-computer interaction. However, existing datasets are largely limited to simple or homogeneous audio-visual scenes with coarse annotations. Such oversimplified settings bias evaluation toward static audio-visual co-occurrence, rather than rigorously assessing robust spatiotemporal modeling and cross-modal reasoning in complex, dynamic scenes. To address these limitations, we introduce AVTrack, a human-centric audio-visual instance segmentation (AVIS) dataset designed for dynamic real-world scenarios. AVTrack features diverse and challenging conditions, including camera motion, visual occlusions, and position changes. Evaluations of representative AVIS methods on AVTrack reveal substantial performance degradation, establishing AVTrack as a challenging benchmark for robust human-centric audio-visual scene understanding in complex environments. We further provide a simple yet effective baseline to facilitate future research. Project website: https://FudanCVL.github.io/AVTrack/ --- ### Filter, Then Reweight: Rethinking Optimization Granularity in On-Policy Distillation Authors: Yuying Li, Leqi Zheng, Yongzi Yu, Wenrui Zhou, Xuchang Zhong, Xing Hu, Jing Jin, Hangjie Yuan, Tao Feng Published: 2026-06-01 Categories: cs.LG, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2606.02684v2 On-Policy distillation (OPD) in large language models is shifting from full-trace KL supervision toward more selective training paradigms. Recent OPD methods increasingly focus on selecting which trajectories to learn from, which tokens are most informative, and which supervision signals are most reliable. Motivated by this trend, we rethink optimization granularity of OPD and propose \fireicon\ FiRe-OPD (Filter, then Reweight), which jointly adjusts supervision signals at both trajectory and token levels. In details, FiRe-OPD first filters trajectories to remove low-quality rollout samples, and then applies soft reweighting within the retained trajectories to emphasize informative tokens. Compared with hard token selection, FiRe-OPD leverages a soft-weighting mechanism to effectively mitigate information loss and enhance optimization stability, thereby achieving finer-grained OPD optimization. We validate the effectiveness of FiRe-OPD across strong-to-weak, single-teacher, and multi-teacher settings, and demonstrate its superiority over recent token-level OPD methods ( (e.g., +6.25 on AIME 2024 in strong-to-weak, +18.81 on Miner in multi-teacher). Our code is available at https://github.com/YuYingLi0/FiRe-OPD. --- ### Post-Boundary Bridge: Must Local Attention Go Global Between Global Layers? Authors: Zhibo Yang Published: 2026-06-01 Categories: cs.LG arXiv: https://arxiv.org/abs/2606.02680v2 Hybrid Transformers reduce the cost of long-context modeling by combining local attention with periodic full-attention layers. When global communication is already available, however, the best use of local computation remains unclear. We introduce Post-Boundary Bridge (PBB), which preserves causal attention within blocks and adds direct connections across their boundaries. Rather than extending the range of information relayed through successive local layers, PBB prioritizes within-block modeling and nearby exchange, leaving long-range communication to full-attention layers. Across dense and mixture-of-experts models with 205 million to 2.07 billion stored parameters, PBB hybrids retain near-Full perplexity and competitive performance on standard downstream benchmarks while improving controlled source retrieval. At 205 million parameters, PBB also matches a hybrid using sliding-window attention (SWA) in perplexity and achieves higher source-retrieval accuracy. The same boundary-aligned structure enables Flash-PBB, an exact decoding implementation that updates its key-value cache without relocating retained entries. Compared with Flash-SWA, Flash-PBB delivers 1.82x decode attention-core throughput with half the allocated local key-value cache. These results show that targeted boundary exchange can preserve model quality while enabling faster, more memory-efficient local attention between global layers. --- ### Locality Does Not Imply Reachability: Boundary Repair in Block-Sparse Causal Attention Authors: Zhibo Yang Published: 2026-06-01 Categories: cs.LG arXiv: https://arxiv.org/abs/2606.02680v1 Sparse causal attention is usually described by sequence locality: nearby tokens should remain easy to access, while distant tokens may be dropped to reduce cost. This paper studies a mismatch between sequence locality and attention-graph reachability. In fixed block causal attention, two adjacent tokens can be disconnected in the attention graph at every depth. We formalize this boundary artifact through structural dependency sets: if every attention layer uses the same fixed block causal mask and all remaining operations are positionwise, a target representation can depend only on tokens in its own block prefix. This yields an architecture-level boundary-copy separation for a constructed K-way boundary-copy distribution, with top-1 accuracy upper bound 1/K and expected cross-entropy lower bound log K. We then derive phase-conditioned coverage functions showing that reachability depends on both source-target distance and the target's offset within its block. These coverage laws predict when a sparse pattern should fail, when a repair can help, and why sliding-window attention and boundary repair are not interchangeable. Boundary Bridge Attention is treated as a constructive witness: it preserves the fixed block path and adds zero-additional-parameter auxiliary causal edges near block boundaries using shared projections. Controlled 1024-token experiments show that gains concentrate in coverage-aligned diagnostics. As secondary external-validity evidence, a fixed-checkpoint 8K-token Qwen2.5-7B probe shows the same coverage-incomparability pattern. The contribution is a theory-guided diagnostic framework for locality-reachability mismatch in block-sparse causal attention, together with phase-conditioned coverage analysis and a minimal constructive repair. --- ### Before Fusion, Ask What to Keep: Contextual Calibration of Multimodal Signals Authors: Jiyuan Liu, Liangwei Nathan Zheng, Wei Emma Zhang, Xinpei Wang, Weitong Chen Published: 2026-06-01 Categories: cs.LG, cs.MM, cs.SD, eess.AS arXiv: https://arxiv.org/abs/2606.02679v1 Multimodal systems often benefit from combining information across language, sound, and visual streams, but this benefit is not guaranteed. A modality that is useful for one input may become distracting for another, and local feature responses within the same modality can disagree with evidence from other sources. This work investigates how to adjust multimodal representations before they are merged by a downstream predictor. We develop a compact calibration module that compares each modality with the others at the summary level, extracts cues of cross-source support and conflict, and converts these cues into instance-wise and dimension-wise modulation signals. The calibration is applied to the original modality features rather than to already fused representations, enabling the model to suppress misleading components, preserve weak but useful evidence, and emphasize responses that are better supported by the current multimodal context. The module is designed as a plug-in component and can be attached to different fusion backbones without changing their prediction heads. Across five benchmarks covering sentiment understanding, action recognition, audio-visual event detection, and audio-visual emotion classification, the proposed pre-combination calibration strategy improves performance under both sequence-based and convolutional fusion settings. Additional analyses under modality removal, synthetic corruption, training dynamics, and feature-level visualization show that calibrating signals before fusion can reduce interference from unreliable modalities and produce more stable multimodal optimization. --- ### Visual Graph Scaffolds for Structural Reasoning in Large Language Models Authors: Runlin Lei, Xiaokui Xiao, Zhewei Wei Published: 2026-06-01 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.02673v1 Graphs have been used to enhance large language models (LLMs) for structured reasoning, mostly as external knowledge sources are provided to models at test time. In this paper, we take a different view: the value of graphs for LLMs lie not only in supplying information, but also in organizing reasoning. Inspired by how humans use graph-structured mind maps to organize branching and converging thoughts, we ask whether graphs can serve as an internal form of reasoning assistance. We study this question on multi-hop question answering tasks, where teacher-provided reasoning traces are rewritten as graph mind maps and used to guide a student model. Our experiments reveal a clear modality gap. When graph structures are flattened into text, their benefits become limited once direct answer hints are removed. Under this abstract guidance setting, both reasoning efficiency and answer quality degrade substantially. In contrast, visual graph guidance remains effective without direct answer clues, and its advantage persists after supervised fine-tuning and KL-based distillation. The above findings support the claim that graphs should be studied not only as external knowledge structures for LLMs, but also as visual scaffolds for organizing reasoning. --- ### Aligning Data-Driven Predictors with Allocation: A Decision-Focused Approach to Survival Analysis Authors: Itai Zilberstein, Ioannis Anagnostides, Tuomas Sandholm Published: 2026-06-01 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.02671v1 Machine learning predictors have become essential tools for guiding automated decision making. However, a major misalignment persists: predictive models are typically optimized in terms of standard statistical metrics in isolation from the algorithmic tasks they inform. We highlight this incongruity in the high-stakes domain of organ allocation by demonstrating that any algorithm relying on (even highly accurate) survival predictors optimized for standard metrics -- such as the Concordance index (C-index) -- can yield arbitrarily poor outcomes when used for allocation, failing to guarantee utility better than a uniform random selection. To bridge the gap between survival analysis and policy optimization, we introduce a decision-focused learning approach based on optimizing normalized discounted cumulative gain (NDCG), a mainstay metric in information retrieval. We establish the utility of NDCG in survival analysis by proving that it translates to guarantees on the performance of allocation. Empirically, we propose a bootstrapping approach to optimize the NDCG of existing survival models. Unlike prior work, we also address the challenge of right censorship when evaluating ranking. On historical heart transplant data from the US, our method dramatically boosts the NDCG of baseline models by 50-100%, which translates to tens of thousands of additional life years gained annually when deployed for transplant allocation. We anticipate that our framework will find broader applications in decision making with predictions. --- ### Anomalies in Multivariate Time Series Benchmarks Are Mostly Univariate Authors: Marc Pinet, Julien Cumin, Samuel Berlemont, Dominique Vaufreydaz Published: 2026-06-01 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.02670v4 Many recent multivariate time series anomaly detection (MTSAD) models incorporate cross-channel modeling, under the implicit assumption that the structure of anomalies may be spread across multiple channels. We evaluate this assumption on eight widely used public benchmarks by introducing a per-segment diagnostic framework that flags, for each labeled anomaly, whether at least one channel deviates individually from its normal history, whether the cross-channel correlation structure changes, or both. The framework shows that no cross-channel rupture occurs without an accompanying univariate deviation across a range of reasonable thresholds. A complementary metric also reveals that on six of the eight benchmarks, at least half of the labeled anomaly segments deviate univariately on 89% to 100% of their timesteps, reaching 100% on three of these datasets. To verify that our framework captures cross-channel structure when present, we construct synthetic data of phase-shifted sinusoidal channels with shared noise. Each anomalous segment is altered through one of two channel-wise corruptions that preserve the per-channel marginal distribution while breaking cross-channel structure, and our framework correctly characterizes these segments as cross-channel-only. On these data, channel-dependent (CD) models successfully exploit the cross-channel signal whereas channel-independent (CI) ones fail. The CI/CD comparison of a recent SOTA detector on real benchmarks further confirms that CD modeling brings no measurable gain. We conclude that current MTSAD benchmarks are unsuitable for validating cross-channel modeling capabilities, and we call for the development of more structurally diverse evaluation sets. The code for this study is publicly available. --- ### State-Coupled Volatility in Latent Dynamical Systems: Recovery Under Partial Observation Authors: Imani Beckett Published: 2026-06-01 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2606.02664v1 Latent state-space models are widely used to study partially observed dynamical systems, yet most formulations assume that process variability is independent of latent-state position. In many biological, behavioral, and physiological systems, however, variability may depend systematically on the underlying dynamical state, producing structured stochasticity that is not captured by constant-variance models. We introduce a state-coupled stochastic volatility framework in which latent process variance depends on displacement from a latent equilibrium. To estimate this relationship under partial observation, we develop a particle expectation-maximization procedure combining bootstrap particle filtering and backward trajectory smoothing. The model includes a coupling parameter, $γ$, that quantifies the strength of association between latent-state position and process variability. A large-scale simulation benchmark evaluated recovery and detection performance across varying coupling strengths, observation noise levels, trajectory lengths, and persistence regimes. The proposed framework consistently reduced recovery bias relative to an observed-state heteroskedastic proxy, with the largest improvements occurring under strong coupling. Recovery performance improved with increasing latent persistence, while detection performance remained competitive across a broad range of conditions and became increasingly advantageous as observation noise increased. Taken together, the results demonstrate that state-coupled volatility can be identified and estimated under partial observation when latent-state structure is explicitly modeled. The framework provides a practical methodological foundation for studying state-dependent variability and evaluating whether structured stochasticity contributes information about system dynamics beyond that contained in mean-state trajectories alone. --- ### AdaWeather: Adaptively Mixing Probabilistic Weather Forecasts with Logarithmic Regret Authors: Saptarishi Dhanuka, Sarvesh Iyer, Manmeet Singh, Mihir More, Rushil Gupta, Dhruman Gupta, Parthasarathi Mukhopadhyay, Sandeep Juneja Published: 2026-06-01 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.02663v1 Recent advances in machine learning have produced probabilistic weather forecasting models comparable to state-of-the-art numerical weather predictors. But no model consistently dominates spatio-temporally, and relative performance is highly context-dependent. This motivates adaptive methods for combining multiple forecasts to obtain improvements and robustness. While combined forecasts have been proposed in the literature, these are achieved either through supervised learning or through prediction with expert advice methods. We introduce AdaWeather, an adaptive framework that combines many probabilistic forecasts using both machine learning as well as mixture of experts to arrive at a unified improved probabilistic forecast. While traditional expert methods develop the regret bounds with respect to the best single expert in hindsight, we extend the algorithm and analysis to show our method has logarithmic regret compared to the best static mixture of experts in hindsight. Empirically, we focus on forecasting temperature, and observe improvements over existing methods. --- ### Improvise, Adapt, Overcome: An On-The-Fly Multifidelity Algorithm for Efficient Machine Learning Authors: Vivin Vinod, Peter Zaspel Published: 2026-06-01 Categories: cs.LG, cs.AI, physics.chem-ph arXiv: https://arxiv.org/abs/2606.02662v1 Machine learning has accelerated quantum chemistry but is hindered by the prohibitive cost of generating high fidelity training data. Multifidelity machine learning (MFML) mitigates this overhead by systematically combining abundant low fidelity data with sparse high fidelity data. In spite of its success, standard MFML schemes rely on pre-defined scaling factors to determine sparse data ratio across fidelities, often generating redundant multifidelity data resulting in a loss of efficiency. Here, we introduce an adaptive on-the-fly multifidelity framework for machine learning that autonomously determines training dataset composition. By dynamically querying training samples at each fidelity, the algorithm saturates model accuracy at lower fidelities before moving up to more expensive reference calculations. We benchmark the novel adaptive-MFML across diverse chemical properties including the computational chemistry gold standard coupled cluster energies, and the more chemically challenging excitation energies. In our numerical experiments we show that our adaptive algorithm reduces data generation costs by up to a factor of 30 compared to single fidelity methods and improves upon standard MFML by up to a factor of 5. The mitigation of data redundancy establishes a high-accuracy low-cost pathway for sustainable cost-aware machine learning in quantum chemistry. --- ### Learning to Refine: Spectral-Decoupled Iterative Refinement Framework for Precipitation Nowcasting Authors: Yunlong Zhou, Chen Zhao, Danyang Peng, Fanfan Ji, Xiao-Tong Yuan Published: 2026-06-01 Categories: eess.IV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.02661v1 Accurate precipitation nowcasting is vital for disaster mitigation, but deep learning methods face a key trade-off: regression models produce over-smoothed, spectrally decaying predictions that blur convective details and violate turbulence power laws; diffusion models generate realistic yet unanchored hallucinations lacking physical grounding. We propose Spectral-Decoupled Iterative Refinement (SDIR), a deterministic framework that reformulates nowcasting as progressive frequency-decoupled refinement. SDIR first extracts a stable low-frequency synoptic skeleton, then iteratively refines high-frequency textures under physical constraints, eliminating both blurring and hallucinations. It features a dual-path design: the Synoptic Frequency-Guided Former (SFG-Former) with Scale-Adaptive Transformers for global structure, and the Fourier Residual Refiner (FR-Refiner) with Scale-Conditioned Fourier Neural Operators for fine residuals. A Physically Consistent Power Spectral Density (PCPSD) loss with dynamic masking enforces a turbulence-consistent spectral distribution. Experiments on three benchmarks show SDIR significantly outperforms SOTA methods in spatial accuracy while achieving spectral fidelity competitive with diffusion-based methods, enabling reliable high-resolution operational nowcasting. Code link: https://github.com/RuntimeWarning/SDIR. --- ### CL-DMDF:Dynamic Multimodal Data Fusion Model Based on Contrastive Learning Authors: Dong Li, Lingling Zhang, Binghao Han, Linlin Ding, Yue Kou Published: 2026-06-01 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.02659v1 Multimodal data fusion involves integrating and analyzing information from multiple modalities to uncover latent correlations and complementary patterns, thereby enhancing data processing and decision-making. While existing methods for structured multimodal inputs are typically designed around specific tasks and assume fully observed modalities, real-world applications often suffer from uncertain or missing modality inputs due to various factors. Some traditional models overly emphasize local interactions within missing modalities, neglecting the global complementary cues embedded in multimodal representations. To overcome these limitations, we propose a Dynamic Multimodal Data Fusion model based on Contrastive Learning (CL-DMDF). CL-DMDF introduces a novel attention mechanism that operates across both feature and modality dimensions to compute reliable attention scores, effectively reflecting importance at each level. The CL-DMDF further incorporates an entity-centroid contrastive learning module that constructs centroid-based positive samples from entity features to enhance discriminative learning. Additionally, an adaptive fusion module is employed to improve the efficiency and accuracy of dynamic fusion strategies. Extensive experiments conducted on three datasets demonstrate the effectiveness of the CL-DMDF across diverse multimodal fusion tasks. --- ### Regime-Arrival Uncertainty in Generalization Bounds under Distribution Shift Authors: Prince Poudel Published: 2026-06-01 Categories: cs.LG, q-fin.CP, q-fin.ST arXiv: https://arxiv.org/abs/2606.02657v1 The standard generalization bounds assume that the training and deployment distributions are the same, or are static, and don't consider regime switching environments where the ratio of calm vs crisis states is different. This paper proposes a framework that generalizes regime-aware models by quantifying the extra risk due to regime composition mismatch, when distribution shifts are Markov-switching. We obtain an exact decomposition, separating regime mismatch from regime sensitivity; we extend the bound to beta-mixing data using the effective sample size corrected for the spectral gap; and we show a minimax lower bound for synthetic data and on 25 years of global equity indices. The proposed penalty is an ex post realized generalization gap, whereas the training-only estimator does not show significant correlation: the feature geometry of crises can be detected, but not the temporal arrival. Thus, the framework is not a forecast machine. Forecasting the composition of the future regime is an open question in the rare cases of regime change. --- ### Coherent Swap Regret and Channel-Proof Learning Authors: Sohail Sarkar Published: 2026-06-01 Categories: quant-ph, cs.GT, cs.LG, math.OC arXiv: https://arxiv.org/abs/2606.02655v1 External regret certifies stability only against replacing one's behavior by a fixed alternative. In a quantum game, this misses a natural physical move: a player can apply a local completely positive trace-preserving (CPTP) map to the state it actually received or prepared. We introduce coherent swap regret as the regret benchmark against all such local CPTP deviations, and give an algorithm achieving $O(\sqrt{dT\log d})$ coherent swap regret via entropic mirror ascent on the CPTP Choi slice with a fixed-point play rule. The main result is a three-level deviation-class landscape. Replacement channels recover ordinary external regret at rate $Θ(\sqrt{T\log d})$. Unital channels, including unitary deviations and mixtures of unitaries, have zero minimax regret. Deterministic measurement-and-preparation channels already force $Ω(\sqrt{dT\log d})$ regret in the moderate-horizon regime, and this rate is also sufficient for all CPTP deviations. Thus the hardness comes from non-unital use of the recommendation register, not from quantum coherence alone. As an application, decentralized full-information learning in finite quantum games reaches an $\varepsilon$-approximate separable quantum correlated equilibrium after $T=O(\max_i d_i\log d_i/\varepsilon^2)$ rounds. We identify these equilibria with channel-proofness of mediated quantum recommendation protocols, give an SDP audit for local CPTP exploitability applicable to arbitrary finite-dimensional states, and include a probing-bandit extension with pseudo-regret $O(d^{4/3}T^{2/3}(\log d)^{1/3})$ under Haar-random pure-state probes. --- ### Thinking in Blender: Staged Executable Inverse Graphics with Vision-Language Models Authors: Guangzhao He, Rundong Luo, Wei-Chiu Ma, Hadar Averbuch-Elor Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02580v1 Inverse graphics is a longstanding and highly underconstrained problem that seeks to reconstruct images as editable 3D scenes which can be rendered, relit, and manipulated. In this work, we investigate whether pretrained vision-language models (VLMs) can perform executable inverse graphics directly from a single image by reconstructing a scene as an editable Blender program, without relying on specialized 2D or 3D foundation models, differentiable rendering, or multi-view supervision. We introduce Staged Executable Inverse Graphics (SEIG), an agentic framework that reconstructs a 3D scene from a single image by progressively refining scene factors including geometry, materials, composition, and lighting directly in executable Blender code space. We evaluate our framework across diverse scenes using a range of reconstruction metrics spanning pixel-level, perceptual, and semantic fidelity. Our experiments show that staged reconstruction substantially improves reconstruction fidelity, highlighting the importance of task decomposition for executable inverse graphics with general-purpose VLMs. Finally, we showcase various downstream applications enabled by the reconstructed editable Blender scenes. --- ### Mitigating Perceptual Judgment Bias in Multimodal LLM-as-a-Judge via Perceptual Perturbation and Reward Modeling Authors: Seojeong Park, Jiho Choi, Junyong Kang, Seonho Lee, Jaeyo Shin, Hyunjung Shim Published: 2026-06-01 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.02578v1 Recent multimodal large language models have demonstrated strong reasoning ability, yet their reliability as automated evaluators remains limited by a critical weakness: when visual evidence conflicts with textual cues, MLLM judges tend to reward plausible narratives over perceptually correct answers. We identify and systematically analyze this phenomenon, which we term Perceptual Judgment Bias. Through controlled visual perturbations, existing multimodal judges frequently anchor on the response text instead of their own visual perception, leading to inconsistent and non-verifiable evaluations. To address this issue, we introduce the Perceptually Perturbed Judgment Dataset, which constructs minimally edited counterfactual responses that isolate perceptual errors and enable verifiable supervision. Building on this dataset, we develop a unified training framework that combines a structured GRPO-based reward with a batch-ranking objective, achieving coherent global ordering without explicit pairwise labels. Experiments across diverse MLLM-as-a-Judge benchmarks show that our approach substantially improves perceptual fidelity, ranking coherence, and alignment with human evaluation. Our results establish a scalable and generalizable pathway for training multimodal judges that are perceptually grounded, interpretable, and robust to visual-reasoning conflicts. --- ### RoboDream: Compositional World Models for Scalable Robot Data Synthesis Authors: Junjie Ye, Rong Xue, Basile Van Hoorick, Runhao Li, Harshitha Rajaprakash, Pavel Tokmakov, Muhammad Zubair Irshad, Vitor Guizilini, Yue Wang Published: 2026-06-01 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2606.02577v1 Scaling robot learning requires large-scale, diverse demonstrations, yet real-world data collection via teleoperation remains prohibitively expensive and time-consuming. While video diffusion models offer a promising avenue for data scaling, existing generative approaches are often limited to superficial visual augmentation, or suffer from embodiment hallucinations that yield physically infeasible motions. We present a generalizable embodiment-centric world model that achieves scalable data generation by synthesizing photorealistic demonstrations with novel objects, in novel scenes, and from novel viewpoints. Our approach anchors generation to rendered robot motion while conditioning on explicit scene and object priors, effectively decoupling trajectory execution from environment synthesis. This formulation has the potential to unlock two powerful data scaling capabilities: (1) retrieval and rebirth, which repurposes existing trajectories into entirely new contexts without new motion data; and (2) prop-free teleoperation, where operators manipulate empty air and the model hallucinates the target objects and scene afterwards, eliminating reset time. We demonstrate with real-world experiments that our generated data consistently improves downstream policy performance and significantly reduces real-world data requirements across diverse manipulation tasks. --- ### ProtoAda: Prototype-Guided Adaptive Adapter Expansion and Geometric Consolidation for Multimodal Continual Instruction Tuning Authors: Yu-Cheng Shi, Zhen-Hao Xie, Jun-Tao Tang, Da-Wei Zhou Published: 2026-06-01 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2606.02576v2 Multimodal Large Language Models (MLLMs) achieve strong performance through instruction tuning, but real-world deployment requires them to continually acquire new vision-language capabilities, making Multimodal Continual Instruction Tuning (MCIT) essential. To reduce inter-task interference and promote collaboration, recent methods often employ sparse architectures like Mixture of LoRA Experts with image-text similarity routing. However, tasks with distinct response structures could share highly similar visual-linguistic semantics and thus be wrongly routed to the same expert; image-text similarity alone is insufficient for reliable task assignment. For example, an expert in a grounding task requiring coordinate prediction may be biased toward producing short textual answers after learning semantically similar VQA tasks. This format-blind task assignment integrates heterogeneous response types into shared parameters, inducing gradient interference and ineffective expert collaboration. To address this problem, we propose ProtoAda, a prototype-guided adaptive tuning framework. ProtoAda introduces format-aware task prototypes to align task assignment and routing with both task semantics and output structure, and further consolidates format-compatible updates in a geometry-aware manner to effectively reuse and progressively refine existing parameters. Extensive experiments on multiple benchmarks demonstrate that ProtoAda achieves superior performance, especially on tasks whose answer structures are easily corrupted by sequential tuning. --- ### From Zero to Hero: Training-Free Custom Concept Spawning in World Models Authors: Kiymet Akdemir, Pinar Yanardag Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02575v1 Autoregressive world models have emerged as a powerful paradigm for interactive video generation, allowing users to navigate dynamically generated environments through actions. These models are typically conditioned on a text prompt and/or a single reference frame, from which the entire world is generated. Yet the moment the user navigates beyond what is visible in that frame, the unseen regions are populated by the base model's priors, with no mechanism for the user to specify what should appear and where. This is a fundamental limitation for applications such as gaming, interactive storytelling, and simulation, where controllable scene composition is essential. We refer to this missing capability as concept spawning; introducing a user-specified visual concept into a world model, analogous to spawning in a game engine. We introduce SPAWN (Swapping Pinned Anchor with Windowed iNjection), a training-free method for concept spawning. SPAWN exploits a structural property of image-to-video backbones: the first slot of the context memory is pinned to the reference frame and acts as a foundational anchor for every generated chunk. By swapping this anchor with an external concept latent over a short injection window and letting the original anchor return, we cause the concept to propagate naturally through the rollout via the model's own memory. SPAWN supports concepts from fine-grained entities such as characters and props to large-scale elements such as buildings and landmarks, and accepts either a concept image or a text description as input. Experiments show that SPAWN integrates concepts with consistent lighting, scale, and perspective while preserving identity and temporal coherence, demonstrating that controllable concept spawning is achievable in existing autoregressive world models without any training. --- ### HumanNOVA: Photorealistic, Universal and Rapid 3D Human Avatar Modeling from a Single Image Authors: Hezhen Hu, Wangbo Zhao, Lanqing Guo, Hanwen Jiang, Jonathan C. Liu, Zhiwen Fan, Kai Wang, Zhangyang Wang, Georgios Pavlakos Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02573v1 In this paper, we present HumanNOVA, a photorealistic, universal, and rapid model for generating 3D human avatars from a single RGB image. Achieving both photorealism and generalization is challenging due to the scarcity of diverse, high-quality 3D human data. To address this, we build a scalable data generation pipeline that follows two strategies. The first one is to leverage existing rigged assets and animate them with extensive poses from daily life. The second strategy is to utilize existing multi-camera captures of humans and employ fitting to generate more diverse views for training. These two strategies enable us to scale up to 100k assets, significantly enhancing both the quantity and the diversity of data for robust model training. In terms of the architecture, HumanNOVA adopts a feed-forward, token-conditioned avatar modeling framework that allows fast inference in less than one second and requires no test-time optimization. Given an input image and an estimated simplified human mesh (SMPL) without detailed geometry or appearance, the model first encodes both inputs into compact token representations. These tokens then act as conditioning signals and are fused through cross-attention to construct a triplane-based 3D avatar representation. Extensive experiments on multiple benchmarks demonstrate the superiority of our approach, both quantitatively and qualitatively, as well as its robustness under diverse input image conditions. Project page at https://HumanNOVA.github.io . --- ### VISReg: Variance-Invariance-Sketching Regularization for JEPA training Authors: Haiyu Wu, Randall Balestriero, Morgan Levine Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02572v1 Self-supervised learning methods prevent embedding collapse via modeling heuristics or explicit regularization of the embedding space. Among the latter, VICReg decomposes regularization into variance and covariance objectives, offering flexibility and interpretability. However, covariance captures only second-order statistics -- encouraging decorrelation but failing to enforce the full distributional shape needed for stable training. Sketching-based methods such as SIGReg address this by aligning embeddings to an isotropic Gaussian, but lack flexibility and suffer from vanishing gradients under collapse. We propose Variance-Invariance-Sketching Regularization (VISReg), which replaces covariance with a Sliced-Wasserstein-based sketching objective that enforces full distributional shape, while retaining a variance term for scale control. By decoupling scale and shape, VISReg combines VICReg's flexibility with the distributional rigor of sketching methods, providing robust gradients even under collapse. We show that VISReg scales linearly, outperforms existing regularization on low-quality datasets, and is resilient to long-tailed and low-rank regimes. Pre-trained on ImageNet-1K, VISReg achieves state-of-the-art performance on out-of-distribution datasets. Pre-trained on ImageNet-22K, it matches DINOv2's OOD performance despite the latter using 10x more data (LVD-142M). Project and code: https://haiyuwu.github.io/visreg. --- ### AdaCodec: A Predictive Visual Code for Video MLLMs Authors: Haowen Hou, Zhen Huang, Zheming Liang, Qingyi Si, Chenglin Li, Shuai Dong, Kele Shao, Ruilin Li, Dianyi Wang, Nan Duan, Jiaqi Wang Published: 2026-06-01 Categories: cs.CV, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2606.02569v1 Video is temporally redundant: adjacent frames usually share most objects, background, and layout. Yet existing video multimodal large language models (video MLLMs) usually encode each sampled frame as an independent RGB image, causing visual tokens to repeat content already present in earlier frames. This suggests a more direct video interface: send a full reference frame only when the scene cannot be predicted well from prior context, and otherwise transmit a compact description of inter-frame changes. We call this interface a \emph{predictive visual code}, and instantiate it for video MLLMs as \textbf{AdaCodec}. AdaCodec spends full visual tokens on a reference frame only when its conditional predictive cost is high; otherwise, it encodes inter-frame changes, including motion and prediction residuals, as compact P-tokens. Across all eleven benchmarks, AdaCodec improves over the Qwen3-VL-8B per-frame RGB baseline at a matched visual-token budget. Even at $1/7$ the budget, AdaCodec with 32k tokens surpasses the 224k baseline on all long-video benchmarks; on five general-video benchmarks, it raises the average score while substantially cutting time-to-first-token from 9.26s to 1.62s. --- ### ClinEnv: An Interactive Multi-Stage Long Horizon EHR Environment for Agents Authors: Yuxing Lu, Yushuhong Lin, Wenqi Shi, J. Ben Tamo, Xukai Zhao, Jinzhuo Wang, May Dongmei Wang Published: 2026-06-01 Categories: cs.AI, cs.CL, cs.ET, cs.MA arXiv: https://arxiv.org/abs/2606.02568v1 Clinical practice is not the selection of an answer from enumerated options: a physician gathers heterogeneous information incrementally and commits to sequential, irreversible decisions under uncertainty. Static benchmarks cannot probe and existing interactive medical benchmarks each compromise on at least one of them. We present ClinEnv, an interactive benchmark that evaluates LLMs as attending physicians over real inpatient admissions under a paradigm we term Longitudinal Inpatient Simulation. Each case is automatically constructed into an ordered sequence of decision stages; at every stage the model must actively query four specialized agents before committing to medications, procedures, and diagnoses. ClinEnv scores both what the model decides, through deterministic ontology-grounded matching, and how it gathers information. Across seven models, the strongest reaches only 0.31 decision F1, and outcome quality is sharply decoupled from process quality. Difficulty concentrates in management decisions and later stages, where models recover discharge diagnoses far more reliably than management actions (0.51 vs. 0.17 F1) and continue to issue redundant queries as cases progress. ClinEnv makes this information-acquisition gap, invisible to outcome-only evaluation, directly measurable. --- ### Policy-based Foveated Imaging and Perception Authors: Howard Xiao, Jan Ackermann, Boyang Deng, Gordon Wetzstein Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02565v1 Ultra-high-resolution image sensors offer the potential to capture fine spatial details critical for many visual perception tasks, but acquiring and processing all pixels at full resolution is often infeasible under realistic bandwidth, latency, and power constraints. Existing approaches address this challenge through acquisition strategies such as spatial or temporal downsampling, which irrevocably discard information before task relevance can be assessed. In this work, we introduce a real-time, predictive, and task-aware foveated imaging system that operates directly at image acquisition time. Leveraging emerging dual-stream sensor architectures, our method dynamically allocates limited pixel bandwidth to task-relevant regions of interest while maintaining a low-resolution global context. We formulate foveated acquisition as a sensor attention policy-learning problem, in which past observations guide actions that determine future measurements, closing the perception-acquisition loop. Through extensive simulation across multiple perception tasks, we demonstrate that our approach achieves high task performance under strict pixel budgets and significantly outperforms relevant baselines operating at the same bandwidth. We further validate our system on a 200-megapixel dual-stream sensor, capturing real-world videos under realistic bandwidth and latency constraints, demonstrating the practical feasibility of task-driven, acquisition-time foveated imaging. --- ### VLMs are Good Teachers for Video Reasoning via Adaptive Test-Time Optimization Authors: Junhao Cheng, Liang Hou, Tianxiong Zhong, Xin Tao, Pengfei Wan, Kun Gai, Jing Liao Published: 2026-06-01 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.02564v3 The recent "Reasoning with Video" paradigm utilizes Video Generation Models (VGMs) to generate temporally coherent visual trajectories to complete reasoning tasks. Although state-of-the-art VGMs excel at visual quality, they often struggle to understand and follow task-specific rules, leading to logical failures across diverse reasoning scenarios. Existing efforts try to utilize Vision-Language Models (VLMs) as problem pre-solvers to produce or refine textual guidance for the VGM. However, textual descriptions fail to capture intricate spatiotemporal details, and VGMs often struggle to faithfully execute fine-grained or long-tail instructions even with a valid plan. While VLMs struggle as solvers, they possess strong perception capabilities to evaluate process-constraint satisfaction and final-goal achievement. Leveraging this strength, we introduce a paradigm shift that transitions the role of VLMs to "teachers". Specifically, a VLM teacher extracts task-specific rules to formulate differentiable rewards, guiding a VGM Reasoner via test-time online optimization of a lightweight LoRA module. This strategy enables adaptive test-time optimization and extends the reasoning capabilities beyond the VGM's intrinsic boundaries. Evaluations on symbolic (VBVR-Bench) and general-purpose (RULER-Bench) video reasoning benchmarks show that the proposed method yields a 16.7-point average performance gain, outperforming the VLM-as-Solver paradigm (+0.4 points) and Best-of-N scaling (+2.2 points) by a large margin at comparable test-time cost. These findings reveal that integrating VLMs as test-time teachers offers a promising paradigm for achieving generalizable video reasoning. Project Page: https://VLM-as-Teacher.github.io/ ---