# Research Papers — 2026-07 · bundle page 98 of 222 > Full-text markdown of papers #4851–4900 of 11075 published in 2026-07, newest first. AI-readable mirrors of the full 11075-paper 2026-07 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-07/page/98 [← Previous bundle](https://aipod.dev/papers/archive/2026-07/page/97.md) [Next bundle →](https://aipod.dev/papers/archive/2026-07/page/99.md) ### Counterfactual Shapley Credit Assignment Authors: Mingxuan Li, Kai-Zhan Lee, Elias Bareinboim Published: 2026-07-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.16999v2 The Credit Assignment Problem (CAP) is fundamental to developing efficient and explainable Reinforcement Learning (RL) agents. Existing frameworks, whether relying on temporal contiguity or hindsight-conditioned reward reweighting, frequently fail to attribute properly between an agent's policy (skill) and environmental stochasticity (luck). A principled approach to CAP must isolate the true causal drivers of observed outcomes from spurious correlations and environmental randomness. We introduce Counterfactual Shapley Credit Assignment, a novel framework grounded in causal theory that attributes credit and blame via the Counterfactual Shapley Value ($φ$-value). By redistributing environmental rewards, $φ$-values enhance temporal credit assignment across three critical dimensions: sparse causality, high stochasticity, and delayed rewards, all while preserving the optimal policy. We derive a consistent estimator that computes $φ$-values efficiently, enabling a new class of policy gradient methods, $φ$-PPO, combined with Prioritized Trajectory Replay (PTR). Empirical results demonstrate that $φ$-values align precisely to the ground truth causes of task rewards with superior sample efficiency in challenging environments where prior state-of-the-art methods fail to converge. --- ### Counterfactual Shapley Credit Assignment Authors: Mingxuan Li, Kaizhan-Lee, Elias Bareinboim Published: 2026-07-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.16999v1 The Credit Assignment Problem (CAP) is fundamental to developing efficient and explainable Reinforcement Learning (RL) agents. Existing frameworks, whether relying on temporal contiguity or hindsight-conditioned reward reweighting, frequently fail to attribute properly between an agent's policy (skill) and environmental stochasticity (luck). A principled approach to CAP must isolate the true causal drivers of observed outcomes from spurious correlations and environmental randomness. We introduce Counterfactual Shapley Credit Assignment, a novel framework grounded in causal theory that attributes credit and blame via the Counterfactual Shapley Value ($φ$-value). By redistributing environmental rewards, $φ$-values enhance temporal credit assignment across three critical dimensions: sparse causality, high stochasticity, and delayed rewards, all while preserving the optimal policy. We derive a consistent estimator that computes $φ$-values efficiently, enabling a new class of policy gradient methods, $φ$-PPO, combined with Prioritized Trajectory Replay (PTR). Empirical results demonstrate that $φ$-values align precisely to the ground truth causes of task rewards with superior sample efficiency in challenging environments where prior state-of-the-art methods fail to converge. --- ### PriorProof: A Point-in-Time Measure of Technique Novelty for Formal Proofs Authors: Neel Somani Published: 2026-07-18 Categories: cs.AI, cs.LG, cs.LO arXiv: https://arxiv.org/abs/2607.16997v1 Mathematicians distinguish proofs that explain, simplify, or introduce a nonstandard route, but these judgments are difficult to operationalize. We study a deliberately narrower construct: time-relative proof-route nonstandardness in formal mathematics. For a Lean theorem, PriorProof extracts the dependency footprint of its elaborated proof term and scores the weighted surprisal of that footprint under a retrieval-conditioned, hierarchically smoothed prior built only from an earlier quarterly snapshot of Mathlib. The method requires no hand-built technique ontology and no human labels: statement retrieval is learned from proof-derived contrastive pairs, while the scored object is read mechanically from proof terms. In a blinded topology study, 100 presentations collapse to 76 distinct underlying pairs: 12 canonical contrasts shown three times for consistency screening and 64 distinct stratified pairs. Against the majority of three retained domain raters, PriorProof agrees on 53/76 pairs (69.7%, Wilson 95% CI 58.7-78.9%), including 11/12 canonical pairs (91.7%, 64.6-98.5%) and 42/64 stratified pairs (65.6%, 53.4-76.1%). Score-gap quartiles are nonmonotone after repeat collapse; the endpoints are 12/19 (63.2%, 41.0-80.9%) in the smallest-gap bin and 16/19 (84.2%, 62.4-94.5%) in the largest, supporting an endpoint-calibration tendency rather than a resolved staircase. The best language-model condition agrees on 60/76 pairs (78.9%, 68.5-86.6%); on paired outcomes, PriorProof alone is correct on 8 pairs and the model alone on 15 (exact two-sided McNemar p = 0.210), so the difference is not established at this sample size. We therefore present PriorProof not as a replacement for expert or model judgment, but as a decomposable, time-anchored signal whose score gap provides an interpretable reliability indicator. --- ### Automated Cardiac Adipose Tissue Segmentation in Computed Tomography: A Literature Review Authors: Andreas W. Aspe, Jonas Jalili Pedersen, Andreas Ohrt Johansen, Klaus Fuglsang Kofoed, Kristine Aavild Sørensen, Rasmus Reinhold Paulsen, Josefine Vilsbøll Sundgaard Published: 2026-07-18 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2607.16992v1 This review provides an overview of recent advancements in automated segmentation methods on Computed Tomography (CT) for two types of cardiac fat: Epicardial adipose Tissue (EAT) and Pericardial Adipose Tissue (PAT). These fat deposits, separated by the pericardium, have been linked to various cardiovascular diseases, with EAT receiving the most research attention. Their complex anatomical context makes manual quantification highly time-consuming and prone to considerable inter-observer variability. Automated methods effectively address these complications, offering a more efficient and consistent solution. This study encompasses a broad range of methods, spanning AI as well as non-AI approaches. Additionally, it presents the remaining challenges, including the need for larger annotated public datasets and optimized attenuation thresholds for contrast-enhanced CT. It is demonstrated that automated methods are able to achieve segmentation results comparable to the quality of human annotation, proving their potential as a clinical tool for discovering new biomarkers and enhancing patient outcomes. --- ### Real-World Evaluation of an AI Agent Drafting Translational Impact Summaries Authors: Mohammad Arvan, Amber E. Osterholt, Bailee Rue, Yuvaneswaren R. Sureshbabu, Krishna R. Patel, Rebecca T. Feinstein, Bethany C. Bray, Niranjan S. Karnik Published: 2026-07-18 Categories: cs.CL, cs.AI, cs.DL, cs.HC arXiv: https://arxiv.org/abs/2607.16989v2 Introduction. Clinical and Translational Science Award (CTSA) programs must document their scholars' research impact, but assembling each scholar's record by hand takes staff an estimated 15 hours and does not scale to a full cohort. An artificial intelligence (AI) agent could serve as a tool to gather scholar data across platforms and disciplines. Methods. We built a human-in-the-loop AI agent that assembles a dossier of sourced evidence for each scholar and drafts one-sentence Translational Science Benefits Model (TSBM) impact summaries for staff review. We evaluated it in the impact-reporting workflow of one CTSA hub across 10 career-development (KL2/K12) scholars. Two evaluation staff independently coded all 507 findings as accept, edit, or reject; the primary measure was the unanimous usable rate, defined as the share both accepted or edited. Results. Both reviewers accepted or edited 81.7% of the agent's findings. Reviewers each spent a median of 14 minutes per scholar, replacing an estimated 15 hours of manual assembly. Inter-rater agreement was moderate (Cohen's kappa 0.43 on the usable-versus-reject decision). A profile discovery study found the agent's recall close to human search. The agent's impact evidence spanned all four TSBM domains, and about a third of the reviewed findings fell in non-scholarly categories that routine processes tend to miss. Reviewers rated synthesis accuracy 4.5 and usefulness 4.8 on a 5-point scale. Conclusions. A human-in-the-loop AI agent can serve as the first-pass author of a scholar's impact record, shifting staff from collecting and writing to reviewing, and making cohort-scale impact reporting feasible. --- ### Twisted Schrödinger Bridge Matching Authors: Maxence Noble, Marie Scheid, Yazid Janati, Eric Moulines, Alain Durmus Published: 2026-07-18 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2607.16987v1 Over the past few years, diffusion-based Schrödinger bridge models have been proposed to approximate optimal transport dynamics between two prescribed boundary distributions, with successful applications to generative modeling. More precisely, these methods aim to estimate a path measure whose initial and terminal marginals match the two boundary distributions, while minimizing the Kullback-Leibler divergence with respect to a reference Markov process. In this work, we consider the generalized Schrödinger bridge problem, in which the reference process is a twisted Brownian motion, that is, a Feynman-Kac transform of a Brownian motion induced by a time-dependent differentiable potential. Building on the Iterative Markovian Fitting (IMF) paradigm, and in particular on its special case Diffusion Schrödinger Bridge Matching (DSBM), which corresponds to the zero potential case, we introduce Twisted Schrödinger Bridge Matching (TSBM), a diffusion-based method designed to handle both continuous- and discrete-time potentials. Unlike previous approaches, TSBM provides a rigorous extension of the IMF scheme to the generalized Schrödinger bridge problem. This derivation leads to a new bridge-matching loss that depends explicitly on the gradient of the potential and recovers the DSBM objective when the potential vanishes, yielding improved performance. We further introduce trajectory-based variance-reduction techniques that substantially stabilize optimization and may be useful beyond the present setting. Finally, we empirically demonstrate the benefits of TSBM for trajectory inference across increasingly high-dimensional settings, including crowd navigation and single-cell data. Code available at https://github.com/maxencenoble/twisted-sb-matching. --- ### Periodic Bootstrap Thompson Sampling For Periodically Non-Stationary Bandit Problems Authors: Boning Shao Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16986v1 This paper introduces Periodic Bootstrap Thompson Sampling (PBTS), an innovative extension of the classic Thompson Sampling (TS) algorithm tailored for bandit problems with periodic non-stationarity. Conventional TS accumulates all past observations, leading to biased posteriors when reward distributions cycle over time. PBTS overcomes this by synchronizing belief resets with known or inferred period intervals and embedding structured bootstrap exploration phases, effectively purging obsolete data while preserving uncertainty estimates. PBTS is tested in artificially constructed environments, which include skewed and balanced reward distributions, along with different bootstrap proportions and misaligned periodic intervals. Results indicate that PBTS generally achieves statistically significant reductions in cumulative regret against traditional TS in periodic non-stationary environments. Subsequent discussion further articulates the potential of PBTS's real-world deployment. The study mentions limitations like extreme periodic misalignment and proposes future research such as self-adjusting cycle-recognition. With memory reset and bootstrap phase, PBTS introduces a novel approach to optimizing bandit algorithms in periodic reward contexts. --- ### Expected Free Energy as Belief-Dependent Utility for rho-POMDPs Authors: Patrick Cooper, Alvaro Velasquez Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16981v1 An agent acting under partial observability must decide when to gather information and which observations are worth their cost. Standard POMDPs value information only through its eventual effect on reward. The $ρ$-POMDP framework instead rewards uncertainty reduction directly, through a belief-dependent utility $ρ$, but in practice both the choice of $ρ$ and the weight placed on it are tuned by hand for every task. We show that active inference removes this tuning entirely. Minimizing Expected Free Energy (EFE) is exactly equivalent to solving a $ρ$-POMDP whose utility is expected information gain, and the exploration weight is fixed at $w=1$ because the variational bound expresses pragmatic and epistemic value in the same units (nats). We prove this equivalence for observe-then-commit POMDPs and extend it to factored observation POMDPs, a broader class that covers interleaved observe-act problems such as non-destructive testing and mobile sensing, where gathering information leaves the hidden state unchanged. Experiments support the theory. Across environments ranging from the classic Tiger problem to RockSample and a new Structural Inspection benchmark with over 65,000 states, the untuned weight matches or outperforms reward-only planning at the same horizon, avoids the over-exploration of bonuses tuned per task, and sits near the reward-maximizing knee of the success-reward Pareto frontier. The practical payoff is an exploration objective that works out of the box. In applications such as fault detection and medical screening, where every test has a price and every missed fault has a cost, EFE supplies a belief-dependent utility that is derived rather than tuned. --- ### TurboVec: A Case Study in Cost-Efficient Private Retrieval for Enterprise RAG via Codebook-Oblivious Quantization Authors: Navnit Shukla, Kamal Pandey, Omsankar Tiwari Published: 2026-07-18 Categories: cs.LG, cs.AI, cs.IR arXiv: https://arxiv.org/abs/2607.16973v1 Retrieval-Augmented Generation (RAG) systems increasingly power enterprise LLM applications, yet the vector retrieval layer introduces two underexplored challenges: (1) trained codebook quantizers may expose corpus statistics during index construction, creating a leakage channel in multi-tenant deployments, and (2) post-hoc filtering for tenant isolation degrades recall on selective queries. We study TurboVec, an open-source vector index built on TurboQuant - a codebook-oblivious scalar quantizer requiring no corpus-dependent training. On the DBpedia OpenAI embeddings benchmark (d=1536, 100K-999K vectors), TurboQuant 4-bit outperforms trained FAISS Product Quantization at the same memory budget by 8.5-8.9 percentage points in Recall@5 across all scales. Compared to HNSW (R@5=0.991) and IVF-PQ (R@5=0.840), TurboQuant occupies a distinct design point: higher recall than IVF-PQ without training, at 4-8x less memory than HNSW. Deployed on Snowpark Container Services, TurboVec achieves 11ms median query latency at 100K vectors versus 707ms for warehouse brute-force scan. Kernel-level allowlist filtering maintains 0.86-0.93 Recall@10 across 10-1000 tenant workloads versus 0.09-0.19 for post-filter baselines. Codebook-oblivious design reduces membership inference accuracy to near-random (50.0%) versus 57.3% for PQ codebooks. Limitations include single dataset evaluation, uncompressed HNSW comparison, and privacy evaluation on synthetic data only. --- ### Training Continuous Chain of Thought Models: A Tale of Two Regimes Authors: Varun Yerram, He He, Eunsol Choi Published: 2026-07-18 Categories: cs.AI, cs.CL arXiv: https://arxiv.org/abs/2607.16972v1 Continuous Chain-of-Thought methods replace verbose reasoning traces with a short sequence of dense latent representations. Earlier continuous CoT methods indirectly supervise the latent representations such that its final state match that of verbose reasoning traces, requiring autoregressive, slow generation during training. We introduce C-MTP, a simpler, faster direct supervision approach that models each latent as an average of the embeddings in the CoT traces to be compressed. Our approach outperforms a prior direct supervision method that approximates the distribution of compressed tokens, and performs competitively to slower indirect supervision approaches in existing evaluation setup with simplified CoT traces (less than 100 tokens). Lastly, we extend the evaluation of Continuous CoT methods to complex tasks with longer reasoning traces ($\ge$ few hundreds reasoning tokens). We find both direct and indirect supervision training methods perform poorly (roughly 65\% performance drop) in this setting, revealing the limitations of current continuous CoT methods. The code and checkpoints are released at https://github.com/Varun221/cmtp_research --- ### SurvCF(t): Counterfactual Explanations for Survival Analysis in Predictive Maintenance Multivariate Time Series Data Authors: Zara Karazian, Panagiotis Papapetrou, Sindri Magnússon, Erik Frisk, Tony Lindgren Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16969v1 Predictive maintenance relies on accurate Remaining Useful Life estimation, often formulated using survival analysis over multivariate time-series data. While modern deep survival models achieve strong predictive performance, their black-box nature limits their use in safety-critical settings where actionable insight is required. In this work, we introduce \textit{SurvCF(t)}, the first framework for generating counterfactual explanations for survival models operating on time-series data. \textit{SurvCF(t)} identifies minimal, plausible, and temporally consistent changes to an asset's operational history that increase its predicted life time, framing explanation as a constrained optimization problem combining validity, proximity, sparsity, and plausibility. We evaluate the method on multiple benchmarks, including C-MAPSS, N-CMAPSS, and a real-world case study of the Scania Component\_X dataset, demonstrating its ability to produce actionable and interpretable interventions. Our results show that \textit{SurvCF(t)} bridges the gap between survival prediction and prescriptive maintenance, enabling explainable and decision-oriented AI for maintenance strategies. --- ### Tight Sample Bounds for Renyi and Min-Entropy Estimation Authors: Arman Adibi, Piotr Krysta Published: 2026-07-18 Categories: cs.IT, cs.CC, cs.LG, math.ST, stat.ML arXiv: https://arxiv.org/abs/2607.16966v1 Estimating entropy from samples is fundamental in information theory and property testing. Shannon entropy measures average uncertainty and can be estimated to constant additive accuracy over a $k$-symbol alphabet using $Θ(k/\log k)$ samples. Min-entropy depends only on the most likely symbol. Both are special cases of order-$α$ R'{e}nyi entropy, $H_α$. We characterize the sample complexity of estimating min-entropy and R'{e}nyi entropy for $k$ and integer $α>1$; our lower bounds also hold for noninteger $α\ge1.001$. We prove that min-entropy estimation to constant additive accuracy has sample complexity $Θ(k\log k)$. The upper bound uses the largest empirical frequency and concentration via dyadic grouping. The matching lower bound hides a slightly heavier symbol at a uniformly random location. Thus, min-entropy requires $Θ(\log^2 k)$ more samples than Shannon entropy and corrects a previously stated $Θ(k/\log k)$ characterization. For every integer $2\leα\le c_0\log k$, we prove the matching fixed-accuracy bound $Θ_{c_0}(αk^{1-1/α})$. Previous results gave $Ω_α(k^{1-1/α})$ for fixed integer $α>1$ and $O_{c_0}(α^2k^{1-1/α})$ for all integer $α>1$. Our upper bound analyzes an unbiased falling-factorial estimator based on $α$-way collisions, while a hidden-heavy-coordinate construction gives the matching lower bound and shows that the factor $α$ is unavoidable. For every real $1.001\leα\le c_0\log k$, we prove the uniform lower bound $Ω_{c_0}(αk^{1-1/α})$. Finally, since $0\le H_α(p)-H_\infty(p)\le\log k/(α-1)$, min-entropy uniformly approximates $H_α$ when $α$ is a sufficiently large multiple of $\log k$. Combining this reduction with our min-entropy bounds gives $Θ_\varepsilon(k\log k)$ sample complexity in the high-order regime. --- ### Lomekwi: Resource-Bounded Tool Discovery in LLM Agents Authors: Roshan Klein-Seetharaman, Daniel Wang, Andrew Xu Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16961v1 Existing tool-use benchmarks report a single success rate for complex, multistep tasks. Inspired by ideas from cognitive science, we distinguish tool use from tool discovery and decompose the latter into curiosity (the model's ability to discover the parts needed to build the tool), recognition (the model's ability to discover the process of creating the tool), and efficiency (the model's use of the tool after creation). We show that this framework can be applied to existing discovery tasks, such as Voyager. In addition, we provide evidence that recognition inversely scales with model size, and we introduce and analyze a class of combinatorial games that demonstrates this. We further observe inverse scaling in a separate environment designed to emulate real-world tasks. --- ### CADENCE: Closing the Reasoning Gap via Coverage-Adaptive On-Policy Distillation Authors: Satyam Kumar, Saurabh Jha Published: 2026-07-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.16955v1 On-policy knowledge distillation transfers reasoning from large teachers to compact students, but existing approaches suffer three compounding failure modes: (i) cold-start collapse, where a fresh student assigns near-zero mass to teacher-preferred tokens; (ii) state-agnostic divergence scheduling, where time-only forward/reverse-KL interpolation ignores the student's coverage state; and (iii) binary reward sparsity, where pass/fail signals discard information from partially correct traces. We present CADENCE, a unified framework with a targeted fix for each. Its DRIFT mechanism schedules a per-token convex mixture of forward-KL and reverse-KL surrogate objectives on student-sampled trajectories (per-token surrogates, not sequence-level KL gradient estimators). Six components extend it: (A) COVA, a coverage-adaptive $β$ schedule accelerating the forward-to-reverse transition; (B) FTB, a forking-token boost concentrating gradient at high-entropy positions via a globally-normalized entropy reference; (C) CCD, a dense reward adding numerical-proximity partial credit for incorrect-but-close traces; (D) LAP, brevity-preferential correct-rollout reinforcement; (E) EMR, an entropy-matching calibration regularizer; (F) BSD, a bootstrapped self-distillation phase. On GSM8K and MATH-500 (corrected 512-token protocol, 5 seeds, reported std), CADENCE distills a 0.5B student from a 1.5B teacher to 69.8 $\pm$ 0.5% GSM8K pass@1 (from 48.7% pretrained; 63.2% of the teacher gap closed) and to 72.1 $\pm$ 0.4% with a 3B teacher (76.2% closed), beating the strongest matched-compute label-using baseline (DRIFT+binary reward) by +4.4 $\pm$ 0.7 points. All experiments run on a single Apple Mac Studio (M-series, 64GB unified memory), showing principled distillation reaches strong reasoning quality without datacenter-scale hardware. --- ### When Physical Preferences Meet Semantic Constraints: Physical and Semantic Direct Preference Optimization for Text-to-Video Generation Authors: Siwei Meng, Yawei Luo, Shu Zhang, Ping Liu Published: 2026-07-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.16947v1 Text-to-video (T2V) generation models have achieved strong visual realism, but improving physical plausibility can come at the cost of semantic consistency with the input text. This tension arises because physical preference is typically determined by comparing dynamics between two videos, without accounting for whether either video faithfully depicts the scene specified by the prompt, making physical-semantic conflict a systematic tendency under this supervision paradigm. We formulate this challenge as a constrained preference optimization problem and propose Physical and Semantic Direct Preference Optimization (PSDPO), which modulates each preference pair's contribution based on the agreement between its physical and semantic signals. A gradient-level analysis shows that PSDPO bounds the semantic drift from conflicting pairs to a controllable residual, and further motivates a staged optimization protocol that provably reduces cumulative drift. The resulting method operates entirely within the standard DPO framework, requiring no auxiliary models or additional loss terms. Experiments show that PSDPO improves physical plausibility by up to $2\times$ over the baseline on VideoPhy-2, while maintaining strong semantic consistency on VBench, achieving a more reliable balance than existing preference-based methods. --- ### Points as Tori: Fast Pointwise Signed Distance for Point Clouds Authors: Nicole Feng, Ioannis Gkioulekas, Keenan Crane Published: 2026-07-18 Categories: cs.GR, cs.CV arXiv: https://arxiv.org/abs/2607.16946v1 We describe a method for computing signed distance to point clouds that allows fast pointwise evaluation at arbitrary spatial resolution. As input, our method takes a point cloud with normals; as output, it provides an analytical parameterization that allows queries of signed distance to the approximate underlying surface at arbitrary points - simultaneously providing reconstruction and distance. Our key idea is to reconstruct shapes by locally fitting point clouds with tori, which have closed-form signed distance functions. Tori are fitted in a feed-forward manner, using a pre-trained network to output per-point curvature and shift parameters. Importantly, our method does not require costly global optimization or spatial discretization, and is easily parallelizable. Underlying our method is a new theory that unifies signed distance with the classic reconstruction methods of winding numbers and Poisson surface reconstruction. We use our method to compute signed distance to point clouds arising from photogrammetry, meshes, 3D Gaussians, and neural implicits. Our method allows point clouds to be used directly in applications, without explicit surface reconstruction: as examples, we take offsets of point clouds, apply morphological and Boolean operations, and directly visualize offset surfaces using sphere tracing. --- ### Investigation of Polycystic Ovary Syndrome (PCOS) Diagnosis Using Machine Learning Approaches Authors: Al Zadid Sultan Bin Habib, Md Asif Bin Syed, Md. Ekramul Islam, Tanpia Tasnim Published: 2026-07-18 Categories: cs.LG, cs.AI, cs.CV arXiv: https://arxiv.org/abs/2607.16941v1 Polycystic Ovarian Syndrome (PCOS) is a widespread hormone problem for women of childbearing age. Women with PCOS may not ovulate; they might have high levels of androgens and have many small cysts on the ovaries. It can cause missed or irregular menstrual periods, excess hair growth, acne, infertility, and weight gain. Machine Learning (ML) can effectively diagnose this disease at an earlier stage as tons of medical data are available now. Traditional approaches to detect PCOS encompass a combination of clinical evaluation, medical history assessment, physical examination, and laboratory tests. These approaches aim to identify the characteristic symptoms and hormonal imbalances associated with PCOS. Physical examination requires good resources and costs time and money. In recent times, data-driven techniques have substantially advanced disease prediction within the medical field. We aim to utilize ML approaches, incorporating unique feature selection algorithms, to predict PCOS. This paper introduces a data-driven approach to PCOS diagnosis, combining Feature Engineering and ML. Several feature selection approaches have been considered to select sets of features for training the ML model, including CatBoost, Extreme Gradient Boosting (XGBoost), Light Gradient Boosting Machine (LGBM), AdaBoost, Random Forest (RF). Results demonstrate that AdaBoost, with ten features selected by RF Feature Importance and Highest Correlation (HC), provides the highest test accuracy. --- ### What Do They See? Interpreting Complex Road Scenarios Through the Eyes of Vision-Language-Action Models for Safe and Trustworthy Autonomous Vehicle Learning Authors: Kalpana Panda, Wesley Maia, Vinti Agarwal, Ross Greer Published: 2026-07-18 Categories: cs.CV, cs.AI, cs.LG, cs.RO arXiv: https://arxiv.org/abs/2607.16938v1 End-to-end autonomous driving models are now able to navigate complex road scenarios, mapping raw sensor observations directly to observed paths for open-loop evaluation and often effective driving in closed-loop evaluation. Yet the internal logic of these safety-critical systems remains largely opaque, due to the complexity of traffic scenes. We propose a counterfactual ablation framework called Counterfactual Vision Action Analysis (CVAA) that systematically removes individual detected objects from front-camera images using photorealistic generative inpainting to prepare counterfactual sets to evaluate the difference in the model's response. This isolates the causal effect of each object's presence on the model's planning behaviour. Applied to the Alpamayo 1 trajectory predictor across 210 nuScenes driving scenes, we create a dataset Counter -nuScenes, using which we see that vehicles and pedestrians within the model's 'path' dominate causal influence as expected, while traffic lights, as expected, exert disproportionate effect relative to their image footprint. However, we also find cases where the model responds strongly to objects a human driver would consider irrelevant. This brings forth a deeper question: does the model itself view the scene as a sum of individual objects influencing the outcome, or does it encode an entirely different set of internal features that do not correspond to human-legible scene elements? To further understand this, we compare intermediate representations of original and inpainted image pairs using mechanistic interpretability techniques and examine the effect of the removal through the various model layers. Together, these two stages offer a path from behavioral auditing to representational understanding, creating explainable driving systems and solidifying human-AI trust. --- ### Pediatric Bone Age Prediction Using Deep Learning Authors: Al Zadid Sultan Bin Habib, Md. Ekramul Islam, Md Asif Bin Syed, Md Younus Ahamed, Tanpia Tasnim Published: 2026-07-18 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.16936v1 Pediatric bone age prediction is a crucial task in clinical practice that can help diagnose endocrine disorders and provide insight into a child's growth and development. However, conventional bone age prediction methods are often labor-intensive and require specialized radiological expertise. This paper presents a Deep Learning (DL)-based approach to pediatric bone age prediction using EfficientNet with Additive Attention, a state-of-the-art neural network architecture for image classification and regression tasks. The method utilizes over 12,000 X-ray images from the RSNA bone age dataset. It involves image preprocessing, transforming them into three-channel images, and training a Convolutional Neural Network (CNN) to automatically learn the features of hand bone images. This approach provides a more effective and accurate solution for predicting bone age, which is critical in diagnosing pediatric endocrine diseases. This work uses two variations of the EfficientNet model (B0 and B4), where EfficientNetB4 is also finetuned with the Additive Attention mechanism. These three models predict the age for the original age, and their comparison is shown in curves. The predicted ages depict that in most cases, EfficientNetB4 and EfficientNetB4 with Additive Attention (EN-AA) successfully predicted the bone ages more accurately regarding the original age, and their performance was better than the EfficientNetB0. Specific performance metrics are provided to underscore this improvement. Learning curves for training and validation loss confirm effective learning without overfitting or underfitting, further validating our approach's efficacy in pediatric endocrine disease diagnosis. --- ### Optimizing Clinical Trial Protocols Using EHR-Derived Heterogeneous Treatment Effects Authors: Xiaodi Li, Munhuwan Lee, Pengyang Li, Xiaoke Liu, Jose K. James, Patricia A. Pellikka, Cui Tao, Nansu Zong Published: 2026-07-18 Categories: stat.AP, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.16934v1 Traditional randomized trials often obscure clinically meaningful heterogeneity in treatment response by focusing on average effects. Leveraging real-world data to emulate clinical trials and estimate heterogeneous treatment effects (HTEs) offers a promising path toward more precise and efficient trial design. In this study, we emulate the DAPA-HF trial using electronic health records from the Mayo Clinic Cloud (MCC) to investigate whether HTE-guided stratification can identify patient subgroups with distinct treatment responses to dapagliflozin versus placebo in patients with heart failure with reduced ejection fraction. All-cause mortality was evaluated using Cox proportional hazards models, with HTEs estimated using a Meta-S learner and subgroups defined using a decision tree-based thresholding approach. In the overall cohort of the emulation, no significant treatment difference was observed (HR, 1.681; 95% CI, 0.828-3.413; p = 0.1507). However, compared with the overall emulated cohort, in which dapagliflozin showed no statistically significant survival benefit, HTE-driven stratification identified subgroups with significant and directionally distinct treatment effects. The beneficial (low-HTE) subgroup showed a significant survival benefit from dapagliflozin (HR = 0.203, 95% CI, 0.087-0.476, p = 0.0002), whereas the harmful (high-HTE) subgroup showed a significant harmful association with markedly increased mortality risk (HR = 6.680, 95% CI, 2.759-16.171, p < 0.0001). These findings indicate that HTE-guided stratification can uncover clinically meaningful beneficial and harmful treatment-effect patterns that are masked in the full-cohort emulation. --- ### A Multi-Agent System for 5G Throughput Prediction in Multi-Operator Urban Environments Authors: Muhammad Kabeer, Rosdiadee Nordin, Nadiva Nuriftitah, Sian Lun Lau Published: 2026-07-18 Categories: cs.NI, cs.AI, eess.SP arXiv: https://arxiv.org/abs/2607.16930v1 Throughput prediction is foundational for artificial intelligence-driven 6G resource orchestration. Conventional monolithic machine learning models struggle to generalize across diverse operators, mobility modes, and traffic types, leaving a critical stochasticity gap between signal conditions and achievable throughput. To overcome these constraints in heterogeneous urban environments, we propose a Tiered Multi-Agent System (TMAS) that dynamically routes edge telemetry to context-aware Domain Micro-Agents, validated on a dataset of 48,618 samples collected in Sunway City, Malaysia, with Nemo Handy drive test software, spanning three Tier-1 mobile network operators, three mobility modes, namely (i) elevated pedestrian walkway, (ii) ground-level shuttle bus, and (iii) elevated bus rapid transit; and three traffic profiles, namely (i) persistent download, (ii) persistent upload, and (iii) adaptive video streaming. Our evaluations reveal that TMAS overcomes predictability bottlenecks, achieving a coefficient of determination (R2) of up to 0.931 and a Mean Absolute Error (MAE) as low as 0.53 Mbps. The system demonstrates high operational efficiency, with rapid micro-agent training times, low inference latencies, and agentic routing overhead of 0.004 to 0.126 ms. These latency characteristics indicate the architecture is a promising candidate for the response times required by next-generation wireless networks. --- ### C3DIR: A Deep Learning 3-Dimensional Cloud Property Retrieval Scheme for Passive Satellite Imagers Authors: Charles H. White, Yoo-Jeong Noh, John M. Haynes, Imme Ebert-Uphoff Published: 2026-07-18 Categories: physics.ao-ph, cs.CV, eess.IV arXiv: https://arxiv.org/abs/2607.16929v1 We develop the Cloud 3-Dimensional Imager Retrieval (C3DIR), a deep learning model that estimates 3-D cloud properties for multiple passive satellite imagers trained to match retrievals from the Earth Cloud Aerosol and Radiation Explorer(EarthCARE) ACM-CAP product. This work is aimed towards moving AI/ML 3-D cloud algorithms closer towards operational use. C3DIR predicts the occurrence water content of ice, cloud liquid, and rain along the imager line-of-sight and uses a voxel-level collocation approach to account for the misaligned viewing geometries of passive imagers and active profiling instruments. This precise collocation methodology allows for constructing vertical profiles using voxels contained by multiple imager pixels to facilitate comparisons with active profiling instruments. Qualitative case studies show that C3DIR can accurately depict multiple distinct overlapping cloud layers, albeit with some smoothing. Quantitative evaluations illustrate that C3DIR overall excels at hydrometeor detection which intuitively tends to be a function of water content. However, detection of voxels classified as liquid cloud remains difficult due to the their small geometric thickness, finer horizontal scale, and frequent tendency to be obscured or embedded within ice clouds. In general, water content estimation is reasonably accurate, yielding the best results in ice clouds but uncertainties remain for liquid and rain water content. Column-integrated water paths are in tighter agreement with EarthCARE. Comparisons with the algorithms underpinning current NOAA operational products highlight several areas where C3DIR may offer improvement. Overall, these results demonstrate the potential for C3DIR to provide flexible 3-D output depicting vertically resolved cloud structure which can offer broader utility for aviation applications, numerical weather modeling, and climate research. --- ### Deep Adaptive Bayesian Screening Authors: Jade Lejeune Herman, Arno Strouwen, Johan A. K. Suykens, Peter Goos Published: 2026-07-18 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2607.16927v1 We introduce Deep Adaptive Bayesian Screening (DABS), a method for performing adaptive factorial screening in high-dimensional discrete design spaces. DABS learns a policy network offline to sequentially select informative experiments, amortizing Bayesian Optimal Experimental Design. It handles binary designs, incorporates sparsity and interactions via a spike-and-slab prior with strong heredity. The model is trained using a contrastive lower bound on information about factor activity with nuisance effect sizes and noise variance analytically integrated out. Unlike prior amortized Bayesian design approaches, DABS also integrates Gibbs posterior inference at deployment, yielding posterior probabilities of factor activity and credible intervals on effect sizes. We demonstrate DABS on screening problems calibrated to real-world benchmarks and show it achieves superior accuracy and scalability over classical and Bayesian baselines under tight experimental budgets. --- ### Splat-based 3D Scene Reconstruction with Extreme Motion-blur Authors: Hyeonjoong Jang, Dongyoung Choi, Donggun Kim, Woohyun Kang, Min H. Kim Published: 2026-07-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.16926v1 We propose a splat-based 3D scene reconstruction method from RGB-D input that effectively handles extreme motion blur, a frequent challenge in low-light environments. Under dim illumination, RGB frames often suffer from severe motion blur due to extended exposure times, causing traditional camera pose estimation methods, such as COLMAP, to fail. This results in inaccurate camera pose and blurry color input, compromising the quality of 3D reconstructions. Although recent 3D reconstruction techniques like Neural Radiance Fields and Gaussian Splatting have demonstrated impressive results, they rely on accurate camera trajectory estimation, which becomes challenging under fast motion or poor lighting conditions. Furthermore, rapid camera movement and the limited field of view of depth sensors reduce point cloud overlap, limiting the effectiveness of pose estimation with the ICP algorithm. To address these issues, we introduce a method that combines camera pose estimation and image deblurring using a Gaussian Splatting framework, leveraging both 3D Gaussian splats and depth inputs for enhanced scene representation. Our method first aligns consecutive RGB-D frames through optical flow and ICP, then refines camera poses and 3D geometry by adjusting Gaussian positions for optimal depth alignment. To handle motion blur, we model camera movement during exposure and deblur images by comparing the input with a series of sharp, rendered frames. Experiments on a new RGB-D dataset with extreme motion blur show that our method outperforms existing approaches, enabling high-quality reconstructions even in challenging conditions. This approach has broad implications for 3D mapping applications in robotics, autonomous navigation, and augmented reality. Both code and dataset are publicly available on https://github.com/KAIST-VCLAB/gs-extreme-motion-blur. --- ### Pedestrian Archetypes Extension -- More Pedestrian Models for Autonomous Vehicle Safety Testing Authors: Taorui Huang, Namita Gaidhani, Ritvik Bansal, S M Jubaer, Regina Lim, Rhett Zhao, Gavin Rafael Selin, Sunnie Deng Gao, Hasnain N Syed Published: 2026-07-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.16922v1 In our prior work, Pedestrian Archetypes, we defined pedestrian archetypes as collections of behaviors that uniquely identify a specific type of pedestrian. The first paper proposed 12 pedestrian archetypes, including the Wanderer, Drunk, Distracted, Flash, Indecisive, Blind, Flock, Jaywalker, Elderly, Kid, Eventful, and Parked Pedestrian. These archetypes were introduced to move beyond single behavior labels and provide a more natural way to describe how dangerous pedestrians actually behave progressively in real-world traffic scenarios. However, upon further annotation of YouTube dash-cam videos, we identified 7 additional pedestrian archetypes with observable and significant behavioral differences from the previously proposed ones. These new archetypes capture pedestrian behavior patterns that could not be fully explained by the original taxonomy. In this pre-print, we introduce each new archetype, define its essential and optional behaviors, explain how it differs from previously proposed archetypes, and provide video-frame evidence showing the archetype in action. --- ### PREFAIL: Identifying Precursors to Failures in Robotic Lift-and-Place Tasks to Improve Task Execution Performance Authors: Zeyu Shangguan, Rajas Chitale, Rutvik Patel, Satyandra K. Gupta, Daniel Seita Published: 2026-07-18 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2607.16921v1 Non-prehensile manipulation enables flexible material handling with part carriers, but friction-based support makes high-speed motions failure-prone, while slower operation increases cycle time. Proactive failure prediction is therefore essential for efficient and reliable performance, yet existing approaches remain limited by key constraints, including sensitivity to dynamic actions and high dependence on known policy structures. Furthermore, existing methods and datasets lack a precise characterization of the latest intervention time, leaving it unclear whether a detected failure can still be prevented through timely intervention. In this paper, we investigate lift-and-place tasks for non-prehensile material handling manipulation and propose a more effective approach to predicting precursors to failures (PREFAIL) by analyzing the relative motion of target objects with respect to the carrier. We further introduce a dataset that precisely identifies the latest intervention time for risky manipulations, enabling rigorous evaluation of whether a failure prediction is actionable. We validate our approach on both simulation and real-world datasets. Our experimental results demonstrate that PREFAIL substantially improves both the accuracy and timeliness of responses to failure precursors. --- ### Enhancing Personalized Bladder Cancer Treatment Through Reinforcement Learning: A Recurrent Patient State Transition Decision Support Framework Authors: Divyansh Chawla, Anshu Garg, Isshaan Singh Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16916v1 Bladder cancer treatment requires personalized and adaptive decision-making, particularly for recurrent disease, where treatment effectiveness changes across successive clinical episodes. Conventional clinical decision support systems typically rely on static treatment guidelines or single-step predictive models, limiting their ability to capture disease progression over time. This paper presents a recurrent patient state-transition simulation framework for bladder cancer treatment planning that integrates predictive state-transition modeling with a Markov Decision Process (MDP) and a Deep Q-Network (DQN) reinforcement learning environment. The predictive module estimates changes in tumor characteristics following treatment, while the reinforcement learning agent sequentially optimizes treatment decisions by interacting with simulated patient trajectories. This framework enables dynamic, patient-specific treatment planning by continuously adapting recommendations to evolving clinical states. It also generates interpretable treatment trajectories and detailed simulation logs to improve transparency and support clinical decision-making. The proposed framework was evaluated against existing reinforcement learning-based treatment planning approaches. It achieved a cumulative reward of 63,918.87, an average training loss per episode of 0.0056, and a policy improvement score of 6.62%, demonstrating effective sequential learning and robust treatment optimization in a simulated recurrent treatment environment. These findings highlight the potential of recurrent patient state-transition simulation with reinforcement learning as a flexible decision-support framework for personalized bladder cancer treatment planning and AI-assisted precision oncology. --- ### A Method for Learning Value Systems in Generative AI Authors: Andrés Holgado-Sánchez, Holger Billhardt, Sascha Ossowski Published: 2026-07-18 Categories: cs.CY, cs.AI, cs.CL, cs.LG arXiv: https://arxiv.org/abs/2607.16903v1 Value-aware AI systems require explicit computational representations of human values (groundings) and their aggregation into value systems in order to align their decisions with ours. As such representations are difficult to elicit, value learning seeks to infer them by observing human behaviour. This work addresses the lack of grounded value learning methods in generative AI: existing approaches typically replicate human preferences without awareness of the multidimensional structure of value alignment, or lack principled value system elicitation methods. To address these gaps, we adapt a previously validated value system learning method to the generative AI setting, which, based on pairwise prompt-response preference data, simultaneously learns: i) an implementation of a grounding for a set of values given by a multi-objective reward model, and ii) a value system representation in the form of a weighted linear scalarization of the previous grounding model. To ensure that the learned value systems are based on coherent value representations, our algorithm dynamically prioritizes the grounding learning process. We evaluate the method against baselines and a contemporary method on prompt-response preference datasets. Results show competitive performance and minimal trade-offs against the baselines, while improving explainability. --- ### Simulate to Generalize: Scaling Stateful Supervision for API-calling Agents using LLM World Models Authors: Seanie Lee, Sanjoy Chowdhury, Chao Jiang, Cheng-Yu Hsieh, Ting-Yao Hu, Alexander T Toshev, Oncel Tuzel, Raviteja Vemulapalli Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16900v3 Training agents that generalize to unseen, stateful environments requires a massive dataset of state-changing trajectories covering a vast and diverse set of APIs. However, scaling this broad supervision is severely bottlenecked by the immense effort required to implement and populate fully-executable environments across a broad spectrum of domains. To bypass this barrier, we introduce a data generation pipeline that decouples data synthesis from environment construction by leveraging LLMs as digital world models. Starting from only a list of broad domain names, our automated pipeline synthesizes diverse APIs and tasks. To produce trajectories, a teacher agent iteratively solves these tasks while an LLM simulator dynamically tracks state and provides coherent API responses on-the-fly. Finally, an automated judge filters the trajectories for quality. Fine-tuning on our broad synthetic dataset yields significant performance gains on AppWorld and OfficeBench, two challenging stateful benchmarks featuring environments completely unseen during training. These results establish our LLM world model-based synthesis approach as a highly scalable path for training generalizable, stateful API-calling agents. --- ### Environment-free Synthetic Data Generation for API-Calling Agents Authors: Seanie Lee, Sanjoy Chowdhury, Chao Jiang, Cheng-Yu Hsieh, Ting-Yao Hu, Alexander T Toshev, Oncel Tuzel, Raviteja Vemulapalli Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16900v2 Training API-calling large language model (LLM) agents demands massive amounts of high-quality trajectories. However, collecting such data at scale typically requires fully implemented environments with executable APIs and realistic, pre-populated backend databases, creating a major bottleneck for scalability. To overcome this, we propose an environment-free synthetic data generation approach that leverages LLMs as on-the-fly digital world models. Given only API specifications, our method generates trajectories mimicking interactions between an agent and a stateful environment. Specifically, an LLM first generates diverse tasks solvable with the provided APIs. A teacher agent then iteratively solves each task while an LLM simulator generates coherent synthetic API responses conditioned on the task context and simulation history. Finally, an LLM judge filters the trajectories to ensure the quality of the resulting dataset. We evaluate our approach on the challenging AppWorld and OfficeBench benchmarks, which include both information-retrieval and state-changing tasks. Fine-tuning models on our synthetic data yields significant performance gains, demonstrating that effective supervision for API-calling agents can be generated without any executable environment. Our results establish LLM-based API simulation as a practical, scalable solution for training agents across diverse API ecosystems. --- ### Cross-Branch Conflict as a Shield: Safeguarding Facial Identities in Unified Multimodal Image Editing Authors: Weiwei Tan, Junxian Li, Rui Wang, Zhenhua Xu, Yanjun Zhang, Yu Leo Zhang Published: 2026-07-18 Categories: cs.CV, cs.CL, cs.CR arXiv: https://arxiv.org/abs/2607.16898v2 Unified multimodal models (UMMs) have recently demonstrated powerful instruction-based image editing capabilities, while also raising serious concerns about the unauthorized manipulation of personal portraits. We investigate a novel and practical problem: protecting facial identities against unauthorized editing of UMMs. Existing diffusion-based and VLM-based protection methods often become ineffective because they typically disrupt only a single visual branch. To understand this limitation, we conduct a feature-level analysis of the understanding and generation branches in unified image editing models. Our observations show that the structural agreement between these two branches is closely related to successful image editing. When only one branch is distorted, the model may still recover identity information from the other branch. Based on this, we propose Cross-Branch Conflict as a Shield (CCS), a unified adversarial protection framework. CCS jointly drives the ViT and VAE representations away from their clean counterparts. It also uses a linear Centered Kernel Alignment (CKA) objective to disrupt the structural consistency between the two branches. By degrading reliable identity information in both visual pathways and inducing incompatible cross-branch representations, CCS effectively prevents UMMs from recovering consistent facial identity cues during editing. Extensive experiments suggest that CCS consistently provides stronger protection in suppressing identity-preserving edits. Codes are in the supplementary material. --- ### When Can Safe Controllers Adapt? Information before Commitment Authors: Venkatesh Saligrama Published: 2026-07-18 Categories: cs.LG, eess.SY arXiv: https://arxiv.org/abs/2607.16895v1 Safe adaptive control is online adaptation under a safety guarantee on the learning trajectory itself. The controller may use any causal, history-dependent rule and act differently across environments as data arrive. Only its safety guarantee is uniform: the same rule must satisfy it under every initially plausible model. Performance is measured against a safe oracle that knows the realized model. Many finite-time analyses assume persistent excitation of the uniformly safe closed loop, so the data distinguish every pair of models requiring different control decisions. Under that assumption, feasibility is already settled; only the rate remains. We ask instead: Do the safety constraints permit such an informative experiment at all? While an alternative remains plausible, the controller must preserve a safe continuation under it. We call the first action that forecloses such a continuation commitment. Chance safety allows commitment only on an event rare under the alternative, and the evidence must arrive beforehand: the observation generated by the committing action is too late. We define precommitment information as the KL divergence between learner-visible laws stopped before commitment. Our main result is a causal reduction. The commitment rule determines (1) the probability that safety permits commitment under the alternative, (2) the target-side cost of remaining noncommittal, (3) and the information available when the decision is made. Bounded precommitment information therefore leaves a fixed fraction of the oracle gap unavoidable. If the gap is Ω(T), every uniformly safe policy has linear regret. We establish the obstruction in a constrained linear system with quadratic regulation cost. We also prove recovery in special cases and derive semidefinite upper certificates for deterministic linear-Gaussian systems. --- ### TVGL-CFM:Generating and Forecasting Time-Varying Trajectories of Dynamic Networks with Conditional Flow Matching Authors: Om Roy, Yashar Moshfeghi, Keith Malcolm Smith Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16894v2 Many complex systems, including brain networks, financial markets, and gene-regulatory circuits, are better described by interaction structures that evolve over time than by a single fixed graph. The time-varying graphical lasso (TVGL) estimates this structure from multivariate signals as a temporally coherent sequence of sparse precision matrices. We introduce TVGL-CFM, a unified generative framework that learns distributions over complete SPD precision-matrix trajectories without requiring a pre-specified graph, supporting both class-conditional generation and history-conditioned forecasting. An SPD trajectory with T windows lies on the product Riemannian manifold (S++^p)^T. We construct a global log-Euclidean diffeomorphism from this product space to a Euclidean sequence space, enabling a non-autoregressive conditional flow-matching model with a Transformer backbone to generate all windows jointly and decode them to SPD matrices without post-hoc projection. For forecasting, we use two distinct data-dependent couplings so that the flow transforms an informative prior into a coherent future block. Across EEG motor-imagery data and three nonlinear dynamical systems, TVGL-CFM preserves class-discriminative dependency structure and forecasts future connectivity more accurately than several strongly matched baselines, opening new possibilities for generative dynamic graph models. --- ### TVGL-CFM:Generating and Forecasting Time-Varying Trajectories of Dynamic Networks with Conditional Flow Matching Authors: Om Roy, Yashar Moshfeghi, Keith Malcolm Smith Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16894v1 Many complex systems such as brain networks, financial markets, and gene-regulatory circuits are described not by a fixed graph but by one that changes over time. A standard way to summarise such structure at each instant is the sparse precision (inverse-covariance) matrix, and the time-varying graphical lasso (TVGL) turns a multivariate signal into a smooth chain of these matrices. We introduce TVGL-CFM, a single model that learns the distribution of such chains and can both generate new, realistic time-varying network trajectories for a given class and forecast how an observed trajectory will continue. Each precision matrix lives on a curved space of positive-definite matrices, but a log-Euclidean chart flattens an entire trajectory into an ordinary vector space, so a simple conditional flow-matching model can be trained and sampled there while every decoded matrix is guaranteed to be a valid precision matrix. For forecasting we start the flow not from noise but from a rough extrapolation of the recent history, so the model only has to learn a small correction. Across EEG motor-imagery, chaotic systems, and gene-expression data, TVGL-CFM generates trajectories that keep the class-discriminative structure of real data, and it forecasts future connectivity more accurately than raw-signal baselines. Generating the structured precision trajectory directly is therefore more faithful than generating raw signals and estimating connectivity afterwards. --- ### Certified-Gap Dual-Price Policies for Real-Time Truckload Bid Acceptance with Relocating, Clock-Constrained Resources Authors: Aswin Chandrasekaran Published: 2026-07-18 Categories: cs.LG, cs.AI, math.OC arXiv: https://arxiv.org/abs/2607.16891v2 A truckload carrier must accept or reject each load tender within seconds. The decision depends on fleet state, hours-of-service (HOS) clocks, and appointment windows. We model this as a weakly coupled dynamic program in which the resources relocate and carry clocks: serving a request moves the truck to a new market and depletes its clocks, and whether a truck can serve a request depends on its state. Occupancy-based reusable-resource models do not cover this setting. We build a real-time dual-price policy from the same Lagrangian relaxation that gives the problem's upper bound. Policy and bound come from one object, so every run reports a certified optimality gap. We prove three things. First, the certificate is valid for any duals, any discretization, and any surrogate quality. Second, the policy's same-time spatial-gradient rule is exactly fluid complementary slackness, and the policy is asymptotically optimal in the subcritical fluid regime; the fitted prices are also portable across sample paths, by linear-programming basis stability. Third, certificates have limits: per-resource Lagrangian slack can stay bounded away from zero at every fleet size. We exhibit a three-truck kernel with an exact rational certificate and a replication lemma. On a public closed-loop benchmark with thirty paired seeds, the policy -- which needs no rollout labels, only one offline dual solve -- beats a rollout-trained surrogate on two of three scenarios (tight: +2.0 pp, 95% CI (+0.5, +3.6), Wilcoxon p = 0.023; mild: +3.5 pp, CI (+2.4, +4.5)) and ties the third. It decides in 0.04-0.09 ms, three orders of magnitude faster than the Monte Carlo rollout teacher. Its certificates are stable across ten bounded instances per scenario, at 57-64% of optimal, within 3-6 points of what the 1000x-slower teacher certifies. --- ### Transferable Low-Rank Convolutional Bases for Onboarding Unseen Medical Imaging Modalities Authors: Ranat Das Prangon, Istiaque Ahmed, Shajid Hasan Naim, Waseem Mustak Zisan, Hossain Md Shakhawat Published: 2026-07-18 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2607.16888v1 Deploying a medical imaging model that must later accommodate a modality it has never seen is a recurring practical problem: retraining the shared representation is expensive and destroys performance on the modalities already in service. We study this \emph{onboarding} problem under a strict leave-one-domain-out protocol, in which a convolutional backbone is pre-trained on source modalities (Kidney CT and Brain MRI), frozen permanently, and then required to accommodate an unseen modality (Chest X-ray). Under this protocol we establish three findings. First, decision-layer parameter-efficient fine-tuning is insufficient when the backbone has never observed the target modality: a linear probe and fully-connected LoRA both fall well short, whereas convolutional LoRA recovers most of the achievable accuracy, showing that adaptation must reach the convolutional features. Second, and centrally, the low-rank convolutional \emph{basis} learned on the source modalities \emph{transfers}: freezing that basis and training only its up-projections onboards the unseen modality using just $0.78\%$ of full fine-tuning's parameters, at an accuracy $6.11$ percentage points above a random basis of identical size, while an equivalent decision-layer basis exhibits no reliable transfer. Third, adapter-based onboarding leaves source-modality accuracy exactly unchanged ($Δ= 0.00$ pp), whereas full fine-tuning reaches the highest target accuracy only by catastrophically degrading the source modalities. A Mahalanobis score on frozen backbone features detects the unseen modality with high sensitivity at a strict source-retention threshold, providing a practical trigger for when onboarding is required. All results are reported over three seeds with paired bootstrap confidence intervals. --- ### HyBDM: Multi-Scale Hybrid Experts for Time Series Forecasting with Bidirectional Dependency Modeling Authors: Wenqiang Ma, Chen Cheng, Xue Cheng, Jiarui Ye Published: 2026-07-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.16882v1 Time series forecasting (TSF) is vital to many applications, yet existing models often struggle to capture the heterogeneous long-range global patterns and short-range local variations in multivariate time series. While some approaches partially model these dependencies, they often do not jointly exploit temporal and feature-wise information. To address this challenge, we propose HyBDM, a multi-scale hybrid model that decomposes temporal dynamics into global patterns and local variations, which are modeled by two specialized experts. The Global Patterns Expert employs an enhanced BiConv-Mamba module that integrates bidirectional convolutions, an M-SSM layer, a forgetting mechanism, and a GDD-MLP module for cross-channel modeling. The Local Variations Expert uses a Local Window Transformer (LWT) to perform efficient locality-aware attention with reduced computational complexity. In addition, a Multi-Scale Patcher and a Long-Short Router enable multi-resolution representations and adaptive fusion of the two experts. Experiments on six benchmark datasets show that HyBDM outperforms state-of-the-art methods in both forecasting accuracy and computational efficiency, demonstrating its effectiveness in bridging global-local dependencies for multivariate TSF. --- ### Hierarchical Wireless Foundation Model for Multi-Task Optimization Authors: Yangjing Wang, Ouya Wang, Shenglong Zhou, Geoffrey Ye Li Published: 2026-07-18 Categories: eess.SP, cs.LG arXiv: https://arxiv.org/abs/2607.16877v1 The increasing complexity of next-generation wireless networks has driven the integration of artificial intelligence (AI) into wireless communications. However, most existing studies focus on developing task-specific deep learning techniques for single scenarios, which limits their ability to generalize across diverse tasks, channel conditions, and system configurations. To address this generalization bottleneck, we propose a hierarchical wireless foundation model (WFM) for multi-task optimization. The proposed WFM couples an upstream foundation channel encoder (FCE) with a downstream foundation optimization decoder (FOD) via geometry-aware cross-attention. Specifically, the FCE extracts task-agnostic channel representations via self-supervised masked reconstruction while the FOD generates multi-task optimization decisions through differentiable output heads. Moreover, a hybrid supervised-to-unsupervised training strategy is employed to overcome the performance ceiling of purely supervised learning, and the modular architecture of the WFM enables efficient adaptation to unseen communication tasks with minimal parameter overhead. Simulation results show that the proposed WFM learns high-fidelity channel representations and achieves competitive multi-task optimization performance while substantially reducing optimization inference latency relative to numerical baselines. Furthermore, it exhibits robust generalization to unseen propagation environments, varying constraint parameters, and heterogeneous system configurations. --- ### Hybrid Augmented Lagrangian Method for General Constrained Optimization via Evolutionary Algorithms Authors: Lampros Printzios, Konstantinos Chatzilygeroudis Published: 2026-07-18 Categories: cs.NE arXiv: https://arxiv.org/abs/2607.16876v1 Constrained Optimization Problems are crucial in fields such as engineering, economics, and robotics, where high-dimensional search spaces and complex objectives and constraints are common. Numerical optimization methods, including Feasible Direction, Interior Point, and Sequential Quadratic Programming, have shown strong performance in finding feasible local optima, but require accurate analytical gradients and effective initialization, which can be challenging in real-world settings. Evolutionary Algorithms, on the other hand, offer gradient-free search and robustness to noisy landscapes, managing to detect global optima more often than numerical methods, but they often suffer from high computational costs and slow convergence. In this work, we propose a Hybrid Augmented Lagrangian (HyAL) method that integrates the AL framework's constraint-handling strengths with the exploratory power of population-based search. Our approach employs evolutionary techniques to solve subproblems within the AL iterations, promoting exploration and aiding in the escape from local optima. We conduct extensive experiments on benchmark optimization problems, comparing our method against state-of-the-art optimizers, including IPOPT and CMA-ES, and a standalone evolutionary optimization baseline (with constraint enforcement via penalties). In addition, we evaluate four population-based methods integrated within the AL framework to study the effect of different evolutionary solvers. Our results show that HyAL consistently produces high-quality solutions across the benchmark suite. It outperforms purely evolutionary approaches and scales more effectively to high-dimensional constrained problems, where evolutionary-only methods often struggle. HyAL also surpasses state-of-the-art numerical optimization algorithms on complex landscapes containing numerous local minima and saddle points. --- ### A Deep Reinforcement Learning Algorithm for the Vehicle Routing Problem with Stochastic Demands and Outsourcing Authors: Mohsen Dastpak, Fausto Errico, Ola Jabali Published: 2026-07-18 Categories: math.OC, cs.AI arXiv: https://arxiv.org/abs/2607.16875v2 We introduce the vehicle routing problem with stochastic demands and outsourcing options (VRP-SDO), in which a logistics service provider partitions customer requests into customers outsourced to a common carrier and customers committed to its fixed fleet. The latter induces a vehicle routing problem with stochastic demands (VRP-SD), solved dynamically. Demands are revealed upon visit; residual demand may be served by other vehicles or after restocking at the depot. Work beyond the regular shift incurs overtime costs, and the unit outsourcing cost decreases with the expected outsourced demand. The objective is to minimize expected travel, overtime, and outsourcing costs. We propose an iterative two-level methodology whose first level partitions customers into committed and outsourced subsets, while the second level estimates the expected VRP-SD routing cost. To avoid solving this problem from scratch at every iteration, we learn an offline routing policy that estimates costs almost instantly for any committed subset. An iterated local search establishes the first-level partitions. We formulate the second level as a Markov decision process and solve it with a deep Q-network whose state is represented by a graph attention network aggregating customer and vehicle information by relevance to the acting vehicle. Trained offline on instances with variable customer cardinality and locations, the policy applies to any daily customer realization; online fine-tuning improves the cost approximation. Experiments show that our policy reduces routing costs by 19.6% relative to a state-of-the-art method and by at least 29.6% over classical heuristics. Our overall algorithm saves 13.7% on average over the version without the attention-based representation and generates high-quality decisions within minutes, whereas benchmarks without an offline-trained estimator require over an hour. --- ### InfoDense: Density-Aware Regional Decisive Replay for Memory-Efficient Incremental Face Forgery Detection Authors: Jikang Cheng, Hao Shen, Xueyi Zhang, Guangcheng Wang, Zhongyuan Wang, Renye Yan, Baojin Huang Published: 2026-07-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.16873v1 The rapid evolution of face forgery techniques has introduced an increasing variety of manipulations. Incremental Face Forgery Detection (IFFD), which incrementally adds new forgery data to fine-tune previously trained models, has emerged as a promising approach to handle evolving forgery threats. However, conventional replay-based IFFD methods suffer from catastrophic forgetting. Storing full historical images under limited memory often either fails to preserve subtle forgery cues or introduces domain bias, reducing the model's ability to learn intrinsic and transferable manipulation characteristics. In this paper, we propose a Density-Aware Regional Decisive replay strategy, termed InfoDense, to address these challenges. InfoDense prioritizes artifact-dense and forgery-critical regions, significantly reducing storage requirements while maintaining high-fidelity forgery evidence. We first introduce InfoDense Cut to localize decisive patches using CLIP-based embeddings. Then, InfoDense Select ranks candidate segments by combining latent-space representativeness and decisive patch counts, ensuring both diversity and information density in the replay buffer. Finally, InfoDense Fuse reconstructs unbiased training inputs by adaptively merging stored segments with current-task samples, enhancing knowledge retention and generalization. Extensive experiments on challenging incremental deepfake benchmarks demonstrate that InfoDense effectively mitigates catastrophic forgetting while improving cross-domain generalization. --- ### Trace-Based On-Policy Distillation for Masked Diffusion Language Models Authors: Haolin Ren, Ziyang Huang, Chenhao Yuan, Jun Zhao, Kang Liu Published: 2026-07-18 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.16872v1 Diffusion large language models (dLLMs) are a promising alternative to autoregressive generation. However, reasoning-oriented post-training for dLLMs remains challenging. Supervised fine-tuning (SFT) for dLLMs requires dense but often off-policy masked states, while reinforcement learning (RL) relies on sparse rewards or value modeling. This paper proposes \textbf{trace-based on-policy distillation (TOPD)}, a teacher-supervised framework that transfers reasoning ability to a target dLLM without reward estimation. The key idea is to supervise a dLLM on its own denoising trajectory, focusing on the trace-aligned token decisions that form the final response. Specifically, TOPD samples on-policy diffusion trajectories from the target dLLM, obtains teacher token distributions from a teacher model on the corresponding partially denoised states, and updates the target dLLM with a token-level Reverse Kullback-Leibler (Reverse-KL) objective. This design preserves dense teacher supervision while aligning training with the model's own denoising states. On mathematical reasoning benchmarks, TOPD enables SDAR-4B-Chat to match the MATH500 accuracy of its RL-trained counterpart TraDo-4B-Instruct, with gains of +5.7 under static evaluation and +4.5 under dynamic evaluation. Compared with the RL-trained counterpart, TOPD achieves this with 4$\times$ fewer rollout rounds, corresponding to an estimated 96.0$\times$ to-accuracy model-compute speedup. --- ### Do Speech Tokens Leak Voiceprints? Speaker Inversion Attacks Against End-to-End Speech Language Models Authors: Ye Lu, Yihan Yan, Zhaoyang Zhang, Zhitao Ou, Runze Liu, Li Liu, Shen Wang Published: 2026-07-18 Categories: cs.SD, cs.AI, cs.CR arXiv: https://arxiv.org/abs/2607.16870v1 End-to-end speech language models increasingly represent user speech with speech tokens rather than relying exclusively on cascaded ASR--LLM--TTS pipelines. Although these tokens support expressive and low-latency spoken interaction, they may also preserve sensitive speaker characteristics. We investigate whether exposed speech tokens leak voiceprints and formulate this risk as a speaker inversion attack. We introduce Audio BERT (AuB), a trainable model that constructs token embeddings from discrete codebooks and aggregates them into speaker-sensitive representations, and propose SpInv, a two-stage inversion method built on AuB to recover embeddings in the space of an attacker-specified speaker encoder. We evaluate Moshi, Higgs3, Kimi-Audio, and Qwen3-Omni using speaker-disjoint protocols on the VoxCeleb dataset. Extensive experiments show that, with only three seconds of frontend output, SpInv achieves cosine similarities above 0.70 in the attacker-specified speaker-encoder space. --- ### Beyond Semantic Equivalence: Logical Graphs for LLM Uncertainty Quantification Authors: Yanni Dong, Minghua Liu, Meilin Zhu, Xiaowei Huang, Lijun Zhang Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16868v2 Large Language Models often produce confidently stated yet unreliable outputs, posing critical challenges for deployment in safety-sensitive applications. Existing uncertainty metrics such as semantic entropy capture agreement at the level of semantic equivalence, but largely ignore the logical relationships between distinct answers. As a result, they tend to overestimate uncertainty and falsely flag hallucinations in settings where generated responses are diverse in form yet logically compatible (e.g., differing only in granularity or specificity). We propose Logical Graph Uncertainty (LGU), a framework that explicitly models implication and incompatibility among answers. LGU aggregates probability mass along entailment chains onto the most specific hypotheses the answers support, measures the entropy of the resulting distribution, and penalizes mutual incompatibility among those hypotheses. Across multiple question-answering benchmarks and model families, LGU ranks first on average among existing uncertainty measures, with its largest gains---up to +7.1\% AUROC and +3.5\% AUARC over semantic entropy---on questions whose sampled answers are logically structured. --- ### Bridging battery design and health assessment through virtual sensing and physics-informed learning Authors: Wendi Guo, Søren Byg Vilsen, Daniel Ioan Stroe, Yaqi Li, Yicun Huang, Ashima Verma, Daniel Brandell Published: 2026-07-18 Categories: cs.LG, eess.SY arXiv: https://arxiv.org/abs/2607.16864v1 Supercharging of lithium-ion batteries (LiBs) requires robust health monitoring to ensure durability, safety, and user confidence, particularly for emerging vehicle-to-grid applications with bidirectional energy flows. Yet battery management remains largely disconnected from the material and structural origins of aging, limiting both interpretable health assessment and informed battery design. Here we propose a physics-informed learning framework with virtual sensing that infers hard-to-measure design parameters, including solid-state diffusion coefficient, electrode thickness, ion concentration, and particle size, directly from standard battery management system (BMS) measurements. Across diverse fast-charging strategies and driving profiles, embedding a digital-twin-derived particle-cracking mechanism as a soft constraint reduces trajectory and lifetime prediction errors by 6-8 times relative to state-of-the-art machine learning baselines using only 2% early-life observations. We further show that accurate degradation extrapolation does not require fully resolved governing equations; validated partial mechanisms, jointly refined with limited data, provide sufficient guidance. Virtual sensing transforms standard charging signals into latent design variables without additional sensors, bridging observable battery behavior and underlying aging processes while reducing capacity loss error by up to 39%, end-of-life (EOL) error by 17%, and prediction variability by up to 54%, enabling real-time exploration of new battery configurations. More broadly, the proposed framework establishes a practical feedback loop between deployment and development, demonstrating how real-world operation can continuously inform upstream design decisions across complex multiphysics systems. --- ### InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization Authors: Nikolaos Stathoulopoulos, George Nikolakopoulos Published: 2026-07-18 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2607.16862v2 LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic platforms increasingly combine LiDARs with different fields of view, resolutions, and scanning patterns, existing descriptors degrade because they are tightly coupled to sensor-specific characteristics. We present InLiER, a learning-free pipeline based on an intermediate tokenization step. Height-sliced keypoints from structural elements receive mixed-radix token IDs encoding height, radial distance, local shape, and azimuth from local 3D geometry, in a compact sub-2KB representation. The same vocabulary is reorganized across three retrieval stages: height-ceiling histogram intersection for fast rotation-invariant shortlisting, binary bitmask alignment for yaw estimation and reranking, and token-guided geometric verification for 6-DoF pose estimation. InLiER achieves state-of-the-art performance on the HeLiPR dataset and in real-world field experiments, among modern handcrafted methods and outperforms the learning-based baseline on most cross-sensor configurations. --- ### InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization Authors: Nikolaos Stathoulopoulos, George Nikolakopoulos Published: 2026-07-18 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2607.16862v1 LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic platforms increasingly combine LiDARs with different fields of view, resolutions, and scanning patterns, existing descriptors degrade because they are tightly coupled to sensor-specific characteristics. We present InLiER, a learning-free pipeline based on an intermediate tokenization step. Height-sliced keypoints from structural elements receive mixed-radix token IDs encoding height, radial distance, local shape, and azimuth from local 3D geometry, in a compact sub-2KB representation. The same vocabulary is reorganized across three retrieval stages: height-ceiling histogram intersection for fast rotation-invariant shortlisting, binary bitmask alignment for yaw estimation and reranking, and token-guided geometric verification for 6-DoF pose estimation. InLiER achieves state-of-the-art performance on the HeLiPR dataset and in real-world field experiments, among modern handcrafted methods and outperforms the learning-based baseline on most cross-sensor configurations. --- ### Dataset Distillation by Influence Matching Authors: Haoru Tan, Wang Wang, Sitong Wu, Xiuzhe Wu, Yangtian Sun, Chirui Chang, Shaofeng Zhang, Xiaojuan Qi Published: 2026-07-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.16859v1 We revisit dataset distillation from an outcome-centric perspective. Rather than aligning process surrogates (per-step gradients or training trajectories), Influence Matching (Inf-Match) aligns the final outcome of training: it learns a compact synthetic set whose effect on the converged parameters matches that of the full dataset. Concretely, we introduce a fully differentiable, sample-level influence estimator that quantifies parameter shifts from adding or removing data, without time-consuming inverse-Hessian products or convexity assumptions. The estimator runs in linear time by unrolling the optimization dynamics and applying a first-order Taylor approximation. We then learn the synthetic set by minimizing the mismatch between its influence and that of the real dataset, yielding outcome alignment rather than heuristic process imitation. Inf-Match delivers the best accuracy across standard classification benchmarks. For instance, on Tiny-ImageNet (IPC=10), Inf-Match attains 31.5\%, a +4.7\% improvement over NCFM. Beyond classification, Inf-Match scales to vision-language distillation on Flickr30K, outperforming strong process-matching baselines. For instance, with 200 to 1000 synthetic samples, our method achieved a leading impressive average on image/text retrieval tasks, higher than NCFM by 2.5\%. The code will be released via https://github.com/hrtan/infmatch. --- ### Principled Direction-Free Intrinsic Motivation through Model-Free Epistemic Free-Energy Estimators Authors: Alireza Furutanpey, Schahram Dustdar Published: 2026-07-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.16858v1 Across environments with mixed sources of uncertainty, unsupervised reinforcement learning requires intrinsic motivation that does not precommit to a particular direction of surprise. Surprise minimization is scoped by design to ``unstable'' environments. Prediction-error curiosity rewards total expected surprise, including irreducible noise. Bandit or mixture switching between surprise-minimizing and surprise-maximizing rewards reintroduces non-stationarity by construction. We propose a single intrinsic reward, stationary within each window, derived from the novelty contribution of a preference-free Expected Free Energy objective, expressed in reward-maximization form. Our claim is that parameter information gain, the expected surprise of the next state minus its irreducible part, is the appropriate intrinsic signal in both high-entropy and low-entropy components of the state space. Maximizing it seeks exactly the surprise the model can explain away. In regions of unresolved dynamics, this epistemic term drives exploration. As dynamics become resolved, the epistemic term vanishes, while an aleatoric penalty favors lower-variance transitions, all without fitting an explicit next-state predictor. A pseudocount supplies epistemic value, a probe-based penalty captures aleatoric variance, and a short-horizon gate protects informative successors. A window-based freeze of all reward-defining objects yields a stationary Bellman operator, explicit bounds on learning targets, and a conditional uniform-concentration result for the nonparametric estimators under mixing, smoothness, bandwidth, and capacity assumptions. In active-inference terms, the agent is preference-free where novelty is retained, standard likelihood ambiguity vanishes under full observability, a nonstandard transition-entropy penalty is added, and surprise minimization emerges in resolved regions of the state space. --- ### AgentBrew: Lifelong Knowledge Brewing from Strong Teachers to Weak LLM Agents Authors: Yangqin Jiang, Chao Huang Published: 2026-07-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.16851v1 Deploying LLM agents typically requires a compact test-time student, even if a stronger teacher is available during training. We study knowledge brewing: distilling a teacher's interactive experience into a persistent external memory for the student. Crucially, this requires no weight updates, expert demonstrations, ground-truth labels, or test-time teacher access. This setting poses two challenges: environments provide only sparse, binary feedback, and teacher-authored notes must be inherently tailored to be concretely executable by a substantially weaker student. To address these hurdles, we propose AgentBrew, comprising two coupled components. First, a failure-triggered teacher--Ralph Loop mitigates sparse feedback by transforming student failures into environment-validated notes. Second, student-aware synthesis calibrates teacher knowledge to the weak executor's operational granularity, yielding model-specific, actionable guidance. Extensive evaluations and comprehensive ablations across coding, math, and tool-use tasks demonstrate that this asymmetric, training-free brewing paradigm produces highly capable yet deployable LLM agents. ---