# Research Papers — 2026-09 · bundle page 41 of 266

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### Interrelating Fruchterman-Reingold Graph Visualization and Agglomerative Clustering

Authors: Alexandre Benatti, Luciano da F. Costa
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.35073v1

Graph visualization methods and agglomerative clustering have been frequently considered in data analysis and pattern recognition. Because these approaches are interrelated and complementary, it is of particular interest to investigate their associations. In this work, we study the possible relationship between the Fruchterman-Reingold graph visualization method and four types of agglomerative clustering adopting single- and complete-linkage, average, and Ward's linkage criteria. Three types of datasets have been considered in 2 and 10 dimensions, as well as the PCA projection of the latter to two dimensions. The results obtained suggest that the relationship between the methods considered did not vary much for the three types of data mentioned above. At the same time, the agglomerative methods tended to yield results that are mostly similar to each other, while presenting moderate similarity with the original data. The Fruchterman-Reingold visualization resulted similar to the original data, but exhibited relatively smaller similarity to the agglomerative methods.

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### Not All Rollouts Are Worth Learning: On Trajectory Valuation for Post-Training Reinforcement Learning

Authors: Xuesong Jia, Ziao Yang, Zhanhe Huang, Hongfu Liu
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.35072v1

We consider the problem of trajectory valuation in reinforcement learning: how to identify and mitigate detrimental trajectories during online training. Unlike classification, where data valuation relies on fixed training and validation sets, reinforcement learning involves dynamically generated trajectories without explicit validation signals, making conventional influence-based methods inapplicable. We propose Dynamic Trajectory Valuation (DTV), a simple and efficient framework that estimates trajectory utility at the mini-batch level and filters detrimental trajectories based solely on gradient information. By operating at the optimization level, DTV integrates seamlessly with existing reinforcement learning pipelines with minimal overhead. Extensive experiments across diverse settings, including PPO, GRPO, and DPO, demonstrate that DTV consistently improves performance, enhances data efficiency, and stabilizes optimization.

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### Echoes of Deeds: Moral History Can Shape and Steer LLM Behavioral Choices

Authors: Lucio La Cava, Andrea Tagarelli
Published: 2026-09-28
Categories: cs.CL, cs.AI, cs.CY
arXiv: https://arxiv.org/abs/2609.35070v1

Evaluations of Large Language Models (LLMs) morality typically consider decisions in isolation, thus overlooking whether an individual's unrelated prior conduct influences the model's subsequent choices. This leaves open the question of whether, and to what extent, moral history shapes LLM decisional behaviors. Prior work on human moral decision-making shows that past behavior can influence subsequent moral choices. Building on this observation, we investigate whether analogous effects emerge in LLMs in two complementary ways: at the behavioral level, through the model's observable responses, and at the representation level, through its latent internal representations. We introduce MoralLedger, a framework for studying how an actor's moral history shapes actions for LLMs' behaviors under a fixed decision context. At the behavioral level, we find that prior moral histories systematically alter subsequent choices as a function of their valence and intensity. At the internal representation level, these histories induce a linearly recoverable direction in the residual stream that generalizes to held-out examples. Intervening along this direction on neutral-history prompts produces two-sided intensity-dependent changes in subsequent choices, with effects that are stronger than those induced by prompting alone or by favorable-nonmoral direction. To our knowledge, this is the first demonstration that a latent representation of an actor's prior moral conduct can provide signed inference-time control over a moral decision. Our MoralLedger extends moral evaluation beyond static dilemmas, establishing moral history as both a source of behavioral sensitivity and a causal target for auditing and controlling moral behavior in LLMs.

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### Depot-Closed Multi-Component Construction for Neural Vehicle Routing

Authors: Shinichiro Hamada, Hisashi Kashima
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.35066v1

Most neural constructive solvers for the vehicle routing problem (VRP) use route-by-route construction, extending one route until completion before starting the next. This commits route membership early and hinders global coordination across routes. We propose multi-component construction, which maintains many route components simultaneously and merges them in an arbitrary order. This removes the depot-return cue that route-by-route construction obtains from the remaining capacity; to compensate, we introduce an interpretation in which every component is treated as an implicitly depot-closed route. Under this depot-closed interpretation, every intermediate state of standard CVRP construction is a complete feasible solution, and the exact cost reduction of a merge is the Clarke-Wright saving. The neural policy combines this CW-saving signal with the evolving component state to learn what to connect and when to connect. A policy trained only on CVRP100 outperforms the reported results of representative neural solvers on CVRP100-500 with greedy inference and, reused for ruin-and-reconstruct, performs strongly at all evaluated sizes up to CVRP1000. In a zero-shot Constraint Tightness evaluation with capacities from $C=10$ to $500$, it outperforms the reported neural solvers at every capacity. Controlled analyses show that robustness persists without CW grounding and point to learned route-closing behavior as a plausible contributor to the tight-regime degradation of learned route-by-route solvers.

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### TempoKV: Timely Staging of LLM KV Caches for Memory-Semantic Flash

Authors: Jay H. Park, Hyungjun Kim, Dong Kim
Published: 2026-09-28
Categories: cs.DC, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2609.35065v1

Reusable prefix key-value (KV) caches can outgrow GPU memory in large language model (LLM) serving. A memory-semantic flash hierarchy offers SSD-backed capacity with a limited fast tier, but a logical KV hit is not necessarily ready for GPU retrieval. Demand staging exposes SSD latency, whereas immediate staging can reserve fast-tier capacity long before retrieval begins. We present TempoKV, a timing-aware resource-commitment layer that separates early knowledge of reuse from the acquisition of staging resources. It records reusable-KV hits as metadata-only claims and requests commitment when the runtime-estimated time until retrieval falls to the storage-estimated time needed to make KV resident and protected against eviction. These estimates adapt to runtime progress and staging state, while commitment remains subject to available protected capacity. We implement TempoKV in vLLM and LMCache on an SSD-backed CXL memory device without changing request scheduling. Across two models and three prefix cache ratios, TempoKV reduces protected fast-tier byte-time per request by 63-91% versus immediate staging while retaining much of the serving benefit of advance staging. In a fast-tier capacity sweep, output throughput and p95 time to first token (TTFT) remain nearly unchanged as capacity decreases from 100 to 25 GiB. Compared with unmodified LMCache's Device-DAX L1 configuration, TempoKV reduces p95 TTFT by up to 48.0% and increases output throughput by up to 27.8%.

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### Beyond Gradient Flow: Identifiability and Recovery from Distribution Snapshots

Authors: Nam D. Nguyen, Valeriya Malysheva
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.35060v1

Inferring dynamics from snapshots of evolving distributions is fundamentally underdetermined: the Fokker-Planck equation constrains the drift $F$ only through its score-weighted divergence $\nabla\cdot F+F\cdot\nabla\logρ$, leaving a $ρ$-solenoidal gauge invisible to any single-time constraint. Time-indexed transport formulations cannot resolve this ambiguity: every admissible marginal path admits a curl-free explanation, minimum-action reconstruction selects it, and marginal fit alone cannot distinguish dynamically inequivalent explanations. Requiring one autonomous field to explain several marginals instead makes part of the hidden circulation visible as $\nabla\logρ$ changes across marginals. Separating instantaneous Fokker-Planck source constraints from the snapshot experiment, we show that the source constraints identify the field modulo the kernel of a stacked score-weighted divergence operator. For generic Gaussian shape variation, source constraints at $K\ge m$ time points in intrinsic dimension $m$ eliminate every polynomial gauge direction, whereas finitely many density snapshots alone admit aliasing; we give the obstruction explicitly. At a Gaussian anchor, for Sobolev smoothness $s$ and $n$ samples per time point, we derive a conditional lower rate $(nK)^{-2s/(2s+m+1)}$ for the tangent snapshot experiment, with a matching upper rate in a degreewise benchmark. Strong-form fitting is non-orthogonal to score error and cannot be repaired by spectral filtering. Instead, we estimate using smooth test functions while retaining the known diffusion term, and derive a finite-sample bound that separates sampling error from fixed-grid quadrature bias. Planted-circulation experiments confirm the predicted gauge contraction and expose a design tension between cross-slice information and covariance-aware whitening.

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### Towards Generalizable 3D Anomaly Detection via Relational Inconsistency Modeling

Authors: KunHo Heo, SuYeon Kim, Hayoung Lee, Chanse Oh, MyeongAh Cho
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35059v1

3D anomaly detection (3DAD) aims to identify defective regions in point cloud data, serving as a critical component in industrial inspection systems. Existing methods are normality-centered -- learning the distribution of normal samples and treating deviations as anomalies -- without explicitly modeling what constitutes a defect. This leads to ambiguous decision boundaries with increased false positives and negatives, particularly in unified and cross-domain settings where diverse normal distributions further blur the boundaries. We propose a relational inconsistency modeling framework that characterizes defects as violations of geometric consistency among neighboring structures. Our approach learns category-agnostic defect cues through pseudo-anomalies designed as controlled relational violations, instantiated by two key modules: Edge-aware Graph Refinement (EGR) for encoding geometric relationships among local regions, and Cluster-Deviation Modeling (CDM) for identifying regions that are relationally incompatible within their structural peer group. Extensive experiments on Anomaly-ShapeNet and Real3D-AD demonstrate consistent improvements over prior state-of-the-art methods in both in-domain and cross-domain settings, validating the effectiveness of learning an explicit, relation-based defect criterion for 3D anomaly detection. Project page: https://visualsciencelab-khu.github.io/GRIM_project/.

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### TIDE: Teacher-Student Transition via Informative Distillation and Exploration for Agentic RL

Authors: Yibin Huang, Xinming Xu, Conghui Zhu
Published: 2026-09-28
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2609.35058v1

Effective multi-turn agents require interaction strategies that coordinate information gathering, actions, and feedback over long horizons. GRPO is a reinforcement learning algorithm used to train these agents, but sparse trajectory-level rewards limit early exploration in small models. Recent methods augment RL with on-policy distillation (OPD) from a stronger teacher. However, a fixed mixture assumes that teacher guidance and reward optimization should retain a constant relative role throughout training and across interaction turns. This assumption can fail at two scales. Globally, as training progresses, maintaining strong distillation pressure can constrain the model from moving beyond the teacher's capabilities. Locally, teacher--student disagreement identifies where the student departs from the teacher, but cannot tell whether that departure is exploration supported by better outcomes or low-quality policy drift. Our methodological insight is that teacher guidance and reward optimization should be dynamically rebalanced over training and jointly allocated across turns. We instantiate this insight in \tide. Globally, \tide uses the measured disagreement trend as a practical schedule signal, advancing an OPD-to-RL handoff when discrepancy reduction becomes slow but remains positive and progressively increasing the relative weight of RL. Locally, \tide jointly modulates teacher-guided and reward-driven updates: relative action value and disagreement prioritize the OPD signal, whereas relative action value supplies the RL advantage and normalized disagreement reweights it across turns. Coupled with the global handoff, \tide allocates stronger teacher guidance early and gives reward-driven updates greater relative weight later in training. Experiments across multiple benchmarks, student scales, and controlled ablations support the effectiveness of TIDE's adaptive OPD--RL coordination.

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### Universality and Generalization of Causal Transformers Across Context Lengths

Authors: Takashi Furuya, Maarten V. de Hoop, Gabriel Peyré
Published: 2026-09-28
Categories: cs.LG, math.OC, stat.ML
arXiv: https://arxiv.org/abs/2609.35055v1

Long contexts are central to modern transformer systems, but most expressivity results choose a different network for each fixed sequence length. We study whether one masked transformer can approximate causal token-to-token maps uniformly over sequences of arbitrary length sampling a fixed normalized horizon. To relate sampling resolutions, we model tokens by $α$-Hölder sequences or, more generally, a common modulus of continuity. Our notion of continuity across resolutions characterizes the causal families admitting uniform approximation on these compact input classes by a single transformer with length-independent parameters. The result extends to the infinite-length mean-field limit, where tokens form continuous curves and masked attention becomes a causal time integral. For bounded regression with target maps satisfying a $β$-smooth stability condition defined using regular test functions, quantitative approximation yields a generalization bound: exact empirical risk minimization over suitably sized bounded-weight transformers gives root mean-square prediction error $O((\log\log N/\log N)^{β/(d+2)})$ from $N$ iid labeled sequences. The bound holds at fixed confidence on the same sampling distribution, with $d$ the token dimension and no maximum-length factor. Finally, experiments on physical time series support the Hölder-regular token model at observed scales, with dataset-dependent fitted exponents, whereas text input embeddings provide a contrasting case. Native and dense sampling, shuffled controls, and refinement checks delimit this empirical regularity regime.

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### Perceptual Quality Loss or Loss of Perceptual Quality?

Authors: Danilo de Oliveira, Tal Peer, Maurício do V. M. da Costa, Timo Gerkmann
Published: 2026-09-28
Categories: eess.AS, cs.LG
arXiv: https://arxiv.org/abs/2609.35054v1

Contemporary deep speech enhancement (SE) models are often trained with specific auxiliary terms in the loss function as a way to improve their performance in terms of perceptual metrics. Nevertheless, a higher score on a perceptual metric does not necessarily correlate with an improved listening experience. Through objective and subjective experiments, we assess the performance of SE models trained with two different types of auxiliary PESQ loss terms. The numerical evaluation on a suite of standard metrics suggests that, while models optimized for PESQ naturally obtain higher PESQ scores in the test set, for most other metrics the scores do not significantly change. In some cases, the PESQ loss even results in worse PESQ scores on mismatched data. A formal listening experiment reveals that the models without a PESQ loss were generally preferred over models that include it, across all settings. Finally, we analyze the relative importance of PESQ in the composite metrics CSIG, CBAK and COVL, and find that PESQ dominates all of them. Our study highlights the perils of over-reliance on PESQ and stresses the importance of a complete evaluation procedure for SE.

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### OPIS: An Input-Grounded Benchmark for Multi-Object Memory in Video World Models

Authors: Hao Wang, Tao Yu, Liuzhou Zhang, HeXin Wang, Haopeng Jin, Yuxuan Zhou, Xinming Wang, Hongzhu Yi, Xinye Li, Yuanlei Wang, Ping Nie, Yan Huang et al.
Published: 2026-09-28
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2609.35052v1

Video world models must preserve the visual state of the world over time, but existing evaluation protocols often rely on generated histories, video reference, or selected revisit viewpoints that can confound the assessment of a model's true memory capability. To address this, we introduce OPIS, an input-grounded benchmark that strictly anchors the assessment to a fixed set of object instances from the initial observation for evaluating multi-object memory in video world models. The OPIS dataset comprises 500 cases across real-world, embodied-robotic, and game-world domains, providing dense object-level annotations for 12,672 rigid, articulated, and deformable instances. Our object-centric evaluator combines association and explicit visibility reasoning to hierarchically measure Object (O) Presence (P), Identity (I), and Structure (S), utilizing static or dynamic evaluation tracks based on object kinematics. Across eight image-to-video or camera-conditioned world models, our proposed OPIS scores range from 48.65 to 56.01. As the reference inventory grows from less than 20 to more than 40 objects, the Presence, Identity, and Structure scores show an overall decline, with the average Identity score falling from 40.22 to 23.11. The results demonstrate that preserving the particular object instances in the input is considerably harder than generating plausible visual elements.

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### EMPIRIC: Experiment-Driven Learning of Residual World Models for Robot Planning

Authors: Yichao Liang, Amber Li, Dat Nguyen, Emily Bunnapradist, Michelangelo Naim, Sreela Kodali, Matteo Merler, Bowen Li, Kiran Gopinathan, Yiyun Liu, Nikhil Pimpalkhare, Joshua B. Tenenbaum et al.
Published: 2026-09-28
Categories: cs.RO, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2609.35047v1

A robot should be able to learn through experiments how unfamiliar objects behave and interact, then plan with that knowledge. It need not start from scratch: physics engines supply knowledge of motion and contact, but can omit entire mechanisms, such as glue curing, water heating, or wind. We present EMPIRIC, an agent that learns a residual world model: a physics engine extended with code for the missing mechanisms. The learned programs can introduce new forces, constraints, and hidden state, and Bayesian inference estimates their parameters and states from noisy observations. The resulting model lets the agent predict the outcomes of actions, choose informative experiments, and revise its hypotheses when predictions fail. Across five simulated domains, EMPIRIC learns interpretable, reusable models, and solves more tasks with fewer environment interactions than all three baselines. On a physical robot, it learns wind forces and domino masses to solve a manipulation task. Website and code: https://yichao-liang.github.io/empiric

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### LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation

Authors: Hongli Xu, Zhaowei Lu, Junwen Huang, Jiaqi Hu, Peter KT Yu, Benjamin Busam, Federico Tombari, Slobodan ilic
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35046v1

Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical object structure before a stable pose can be determined. We present LEGAU, a unified framework that jointly predicts NOCS correspondence, object pose and size, and a canonical Semantic Gaussian Field. Rather than treating reconstruction as a detached auxiliary task, LEGAU uses the Gaussian field as a category-conditioned structural prior that participates in multimodal feature fusion and provides global guidance for local pose reasoning. Conditioned on a categorical text embedding, LEGAU processes RGB-D observations through a transformer-based fusion module that integrates visual, geometric, and category-level cues, decoding the NOCS map, pose and size information and the Gaussian-based object representation. Extensive experiments on synthetic and real-world benchmarks show that this coupled pose-shape formulation achieves strong performance in a single-model multi-category setting, with up to 22\% on SOPE and competitive transfer to real-world data. These results highlight the benefit of jointly learning canonical correspondence, object shape, and pose alignment within a unified representation.

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### BA-DPO: Bias-Adjusted Direct Preference Optimization for Language Model Alignment

Authors: Antonio Ferrara, Alberto Rumi, Francesco Bonchi
Published: 2026-09-28
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2609.35044v1

Preference-based alignment methods such as Direct Preference Optimization (DPO) use pairwise preferences labeled by human annotators to fine-tune language models. However, annotators carry systematic biases toward some attributes: a name that signals a gender or an ethnicity, a persona, a language variety, a formatting convention, or length. If not properly addressed, these systematic biases can be absorbed and amplified during alignment. Existing methods address length bias or annotator disagreement, but fail to eliminate biases toward arbitrary attributes. To address this limitation, we propose Bias-Adjusted DPO (BA-DPO), a generalization of DPO that adds one bias parameter per annotator toward responses carrying a declared attribute. We prove that the objective is convex in the bias parameters and that the votes identify each annotator's bias up to a shared constant. The remaining constant is what fixes the aligned model's attribute rate: by default the rate of the reference model, or a target rate, which we use to bring a biased policy to statistical parity. On a corpus with planted biases, DPO drives the attribute from a balanced start to probability 0.96 and BA-DPO removes 81 to 95\% of that shift; on MultiPref with real annotators it removes about half of DPO's lengthening. Both hold at 0.5B with full fine-tuning and at 8B with LoRA, at no higher KL than DPO and no loss in judged quality.

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### Mixed-Prior Decision Risk for Open-Set Recognition

Authors: L. A. Erlygin, P. D. Proskura, A. A. Zaytsev
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35043v1

In open-set recognition (OSR), a probe must either be identified as one of the known gallery classes or rejected as unknown, so three error types coexist: false acceptance, false rejection, and misidentification. An uncertainty score for selective recognition should rank probes by the risk of the decision the system has made. Bayesian gallery-aware models such as Holistic Uncertainty Estimation (HolUE) summarize the posterior over known and unknown classes by Kullback--Leibler (KL) divergence components and map them to an uncertainty score with a supervised nonlinear calibrator. We show that the KL summary is not generally monotone in decision risk: linear fusion of the KL components tuned on validation data yields negative filtering quality on several benchmarks. We propose MPRisk, a mixed-prior posterior decision-risk score that keeps the same Bayesian posterior but directly scores the error events associated with the selected decision: false-acceptance, misidentification, and false-rejection risks, plus a non-specificity penalty for rejections, enabled by modeling unknown identities as a continuous component. Four nonnegative weights tuned on a validation set suffice for ranking; no nonlinear supervised model is required. Across nine image, audio, and text benchmarks, MPRisk achieves the best or tied-best Prediction Rejection Ratio at every operating point on the image and audio benchmarks and on most text operating points, with bootstrap-confirmed gains over HolUE on five benchmarks (up to $+0.19$ PRR) at comparable or lower runtime.

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### Graph-Based Learning for Multi-Horizon Martian Atmospheric Forecasting

Authors: Gary Myler, James Holmes, Manish Patel, Amel Bennaceur
Published: 2026-09-28
Categories: cs.SE, cs.LG
arXiv: https://arxiv.org/abs/2609.35042v1

Martian weather forecasting is important for future exploration, but atmospheric behaviour on Mars combines spatial, temporal, vertical, and dust-driven processes in ways that challenge current modelling and forecasting approaches. This paper introduces MaGMA (Martian Graph-based Multi-horizon Atmospheric Forecasting), a graph-based data engineering framework that transforms OpenMARS reanalysis fields into structured learning objects for Martian atmospheric forecasting. Local atmospheric patches are represented as graph nodes and linked through spatial neighbourhoods, temporal continuity, longer temporal dependencies, and dynamically similar atmospheric states. The model integrates recent atmospheric history, engineered physical descriptors, and vertical atmospheric information to support forecasting across multiple horizons. We evaluate MaGMA across five unseen Martian years, including regular years and a global dust storm year. In regular years, the model achieves overall R^2 values of approximately 0.73-0.85. For dust-column forecasting, it outperforms classical and deep temporal baselines in most year-horizon comparisons. During the global dust storm year, dust-column prediction remains strong at shorter horizons, with R^2 above 0.8 for the first two horizons, while broader multivariate performance declines. The results show that graph-based data engineering can create reusable and diagnostically useful representations for planetary atmospheric forecasting, while highlighting the need for better learning under rare extreme regimes and improved use of vertical atmospheric structure.

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### GUIDE-FBO: Guidance via Uncertainty Intervention and Distributional Exchange for Federated Bayesian Optimization

Authors: Jintao Wei, Chenxi Li, Songhao Wang
Published: 2026-09-28
Categories: stat.ML, cs.LG
arXiv: https://arxiv.org/abs/2609.35038v1

Federated Bayesian Optimization (FBO) enables distributed agents to collaboratively optimize expensive black-box objectives without sharing raw local observations. However, effective knowledge transfer remains challenging under communication constraints and task heterogeneity. We propose GUIDE-FBO, in which agents exchange compact distributions over the locations of their respective optima inferred from local Gaussian process (GP) posteriors, rather than raw observations, query points, or surrogate parameters. The server merges and reweights these distributional components before returning a subset to each agent. Each agent then constructs a Federated Interventional GP (FI-GP), which preserves the local posterior mean and spatially rescales its covariance for local decision making. For the upper confidence bound (UCB) instantiation, GUIDE-UCB, we prove that any bounded FI-GP uncertainty intervention preserves the leading-order cumulative regret rate of standard GP-UCB. When the transferred distributions place greater support near an optimum than in a suboptimal region, selecting the latter requires greater local posterior uncertainty. Experiments on 12 synthetic benchmarks and three real-world optimization tasks show that GUIDE-FBO remains effective across settings ranging from homogeneous to severely heterogeneous. Ablation results highlight the importance of spatially localized uncertainty intervention, while the communication analysis shows that GUIDE-FBO exchanges only compact distributional messages.

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### Persona Following Is Not Selective Control: The Neutrality Gap in LLM User Simulation

Authors: Jiashen Ren, Wenlin Zhang, Bohan Zhang, Xiaopeng Li, Zichuan Fu, Wanyu Wang, Junyi Li, Xiangyu Zhao
Published: 2026-09-28
Categories: cs.AI
arXiv: https://arxiv.org/abs/2609.35036v1

Persona prompting is widely used to construct user simulations with large language models (LLMs), yet it relies on a largely untested assumption: specifying one user attribute should change that attribute alone. We test this assumption and identify a systematic failure of selective control: across all eight black-box LLMs we audit, changing a target attribute also shifts responses on unspecified, non-target attributes. For example, describing a user as more risk-seeking shifts color choices, even though the prompt never mentions color; we term this cross-attribute influence. Semantic, contextual, and internal analyses collectively suggest that models treat a persona prompt as evidence about the user and extend the inferred profile to unspecified preferences, a process we call trait-conditioned completion. We next ask whether explicitly specifying non-target attributes restores selective control. When a non-target attribute is assigned a clear direction, models generally follow the declaration and suppress the target attribute's influence. However, when the same attribute is declared neutral, the target continues to affect choices across all five open-weight checkpoints, even when the model correctly reports the declared state. This disparity, the neutrality gap, demonstrates that successful persona following does not imply selective persona control, which additionally requires keeping non-target attributes stable. We operationalize this distinction with a three-state diagnostic that leaves the non-target attribute unspecified or declares it directional or neutral; because directional tests can be passed by simply following the stated persona, the neutral state reveals failures they miss. In a post hoc analysis of independent items, neutral declarations leave 51-81% of items target-sensitive, against at most 1 of 320 item-pole comparisons under directional ones.

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### THEIA: A Multimodal Dataset and Benchmark for Vision-Language Analysis of Layout

Authors: Giuseppe Chiari, Michele Piccoli, Federico Viola, Davide Zoni
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.35035v2

The integration of artificial intelligence into computer-aided design frameworks has sparked a shift in the design of analog integrated circuits (ICs), transitioning the field from using manual and algorithmic-based solutions to adopting automated and intelligent paradigms. In this scenario, the GDSII file represents the industry-standard database containing the ultimate and most accurate source of information of the analog circuit, encapsulating the complex physical geometries and parasitic realities that define tape out performance. This paper proposes THEIA, a novel dataset containing thousands of layout images paired with question-answer conversations, along with a benchmark that employs a fine-tuned vision-language model (VLM) to analyze GDSII files of analog circuits, enabling designers to interact with and query physical layouts as intuitive, meaningful entities. Experimental results using thousands of analog designs across five realistic tasks demonstrate that the proposed fine-tuned VLM outperforms state-of-the-art general-purpose VLMs by a significant margin (up to 73%), highlighting a fundamental gap between general-purpose multimodal reasoning and domain-specific layout understanding.

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### Recommendation Ranking Off-Policy Evaluation under Ranking-Dependent Examination via Examination-Relevance Decomposition

Authors: Riki Okamura, Toshiharu Sugawara
Published: 2026-09-28
Categories: cs.IR, cs.LG
arXiv: https://arxiv.org/abs/2609.35034v1

Off-policy evaluation, which estimates evaluation policy performance from logged data, is key for recommender ranking policies. However, logged clicks cannot distinguish unexamined items from examined non-clicks, causing bias in existing estimators when the assumed examination structures fail. We propose two estimators based on the decomposition of clicks into examination and relevance. First, the latent-examination independent inverse propensity score (LE-IIPS) estimator corrects the IIPS bias using policy examination probability ratios. Second, the examination-decomposed doubly robust (ED-DR) estimator extends LE-IIPS to a doubly robust framework. ED-DR is unbiased if the examination probabilities are correct regardless of relevance accuracy, or under ranking-independent examination, even if both model estimates are inaccurate. Experiments show that ED-DR achieves a lower MSE than existing methods with large sample sizes, especially when the examination depends on ranking. We also highlight its limitations under small samples or cascade user behavior conditions.

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### JRDB-AVR: An Active Visual Reasoning Benchmark for Embodied Agents in Real-World Environments

Authors: Zhixi Cai, Fucai Ke, Sukai Huang, Maria Garcia de la Banda, Peter J. Stuckey, Gholamreza Haffari, Hamid Rezatofighi
Published: 2026-09-28
Categories: cs.AI, cs.CV, cs.RO
arXiv: https://arxiv.org/abs/2609.35032v1

In complex embodied visual reasoning scenarios, an agent often has only a limited field of view, and the evidence needed to answer a question may be distributed across time, viewpoint, and interacting objects. A model may therefore give a plausible answer without ever observing the relevant object, time, or view that supports it. Current visual reasoning benchmarks largely evaluate passive observations and final answers, overlooking settings that require active reasoning and evidence acquisition. We introduce JRDB-AVR, a benchmark derived from existing real-world JRDB robotics data through a structured question-generation engine that turns this gap into an explicit evaluation: an embodied agentic system receives a visual reasoning question, requests bounded observations by timestamp and viewing angle, and is evaluated on both the final answer and the grounded visual evidence supporting it. The benchmark contains diverse questions over multiple real-world environments involving temporal search, viewpoint selection, and human-oriented compositional reasoning. We also introduce JRDB-AVR-Agent, a reference active reasoning agentic method that maintains an explicit observation-grounded graph-based world model and answers through solving. Experiments reveal a substantial gap between answer accuracy and evidence accuracy in current baselines, showing that current VLMs can produce unsupported correct answers and that active evidence-aware evaluation is necessary for embodied visual reasoning. Code and benchmark are available at https://github.com/ControlNet/JRDB-AVR.

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### PEAR: Progressive Evidence-Based AutoResearch for Industrial Search Systems

Authors: Yifan Wang, Shipeng Zhu, Fei Xiong, Yuqin Yang, Yonghui Huang, Kunyao Wu, Yue Wang, Weichao Meng, Yu Gong
Published: 2026-09-28
Categories: cs.IR, cs.AI
arXiv: https://arxiv.org/abs/2609.35031v1

AutoResearch improves systems through iterative experimentation: agents propose candidate modifications, evaluate them, and use the results to guide subsequent exploration. Applying this paradigm to industrial search presents two challenges. (1) Common AutoResearch approaches follow a keep-if-better rule, retaining the highest-scoring candidate for subsequent experiments. Under non-stationary traffic, transient gains may be mistaken for persistent improvements, impairing reliable accumulation of search knowledge. (2) Candidate modifications can be evaluated at multiple fidelity levels, from low-cost proxies to online validation, differing in cost, objective alignment, and statistical reliability. Existing methods rely on individual signals or task-specific procedures, lacking a unified basis for using evidence across levels to guide search. We introduce Progressive Evidence-Based AutoResearch (PEAR) with two complementary components. Evidence-driven AutoResearch maintains an independent, hypothesis-guided research state for each strategy task within a predefined objective and intervention scope. Each state evolves through a Plan-Execute-Evaluate-Update transition that links experimentation to context-aware evidence interpretation and hypothesis revision. Confidence-Gated Verifier Ladder organizes evaluation into four levels of increasing fidelity: Offline Replay, Shadow-Traffic Evaluation, Rapid Online Evaluation, and Decision-Grade Online Evaluation. A unified confidence-based gate promotes candidates only when evidence supports a statistically significant positive effect, enabling broad low-cost exploration while reserving costly online experiments for promoted candidates. In a real-world industrial search system, strategies optimized with PEAR significantly increased Main Order/DAU by 2.7336% and 3.2957% relative to their respective baselines in two A/B experiments.

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### Fast Learning Rate Transfer in Shallow Linear Networks at Growing Training Horizons

Authors: Mana Sakai, Masaaki Imaizumi
Published: 2026-09-28
Categories: cs.LG, stat.ML
arXiv: https://arxiv.org/abs/2609.35029v1

Hyperparameter transfer across model width can substantially reduce the cost of tuning large neural networks, but its behavior when the training horizon grows with width is not fully understood. Building on the framework of fast hyperparameter transfer (Ghosh et al., 2026), which formalizes when transfer is effective, we investigate conditions that ensure fast transfer in the growing-horizon regime. Specifically, we study learning-rate transfer in a shallow linear network with a single trainable hidden matrix, trained by full-batch gradient descent. Under additional spectral assumptions, our main results are threefold. (i) We prove fast learning-rate transfer as $n,T\to\infty$ whenever $T=o(\sqrt{n})$. (ii) We characterize the transfer rates through the finite-width perturbation scale, the first-order sensitivities of the loss and its learning-rate derivative to finite-width perturbations, and the local loss curvature. (iii) We derive limiting distributions for the optimal learning rate and optimized loss, governed by fluctuations associated with the extreme eigenvalues of the data Gram matrix. These results clarify how spectral structure and local loss sensitivities govern learning-rate transfer at growing horizons.

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### VEX-Bench: Benchmarking Verification Complexity of LLM-Generated Misinformation

Authors: Hanxun Huang, Yutao Wu, Qizhou Wang, Silvia Montaña-Niño, Yige Li, Xiang Zheng, Elif Buse Doyuran, Phoebe Matich, Xiao Liu, Xingjun Ma, Sarah Erfani, Christopher Leckie
Published: 2026-09-28
Categories: cs.LG, cs.AI, cs.CL, cs.CY, cs.IR
arXiv: https://arxiv.org/abs/2609.35028v1

Large language models (LLMs) have made misinformation inexpensive to produce but not to verify, creating a growing asymmetry in the information ecosystem. Under tight time, labor, and budget constraints, media organizations, platforms, and fact-checkers rely on screening to prioritize which content to verify. We introduce VEX-Bench, a unified benchmark for evaluating the verification complexity of LLM-generated misinformation, as perceived during screening, across models and generation methods. Verification complexity is assessed along multiple dimensions derived from journalistic and fact-checking practices, capturing checkability, harm potential, source credibility signals, imposter legitimacy, and expected verification effort. We define the VEX score as an integrated measure combining elicitation yield and verification complexity to quantify how generated content consumes limited verification capacity. We construct a benchmark spanning two misinformation categories, 6 high-stakes domains, and 60 real-world topics, and evaluate 7 frontier LLMs and 7 generation methods, yielding 5{,}880 articles. We employ an LLM-as-judge for scalable evaluation and validate it using content-analysis methodology, including ordinal Krippendorff $α$ for inter-annotator reliability, complemented by fact-checking agents for verification. Our findings show that no single method dominates all dimensions, underscoring the need for multi-dimensional evaluation. LLMs can generate high-VEX misinformation at 3$\times$ to 169$\times$ lower cost than agent-based verification. Such content is often prioritized during screening, consuming scarce verification resources and introducing a systematic risk of misallocation in resource-constrained verification systems. The code is publicly available in our \href{https://github.com/HanxunH/VEX-Bench}{GitHub repository}.

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### WebPageBench: Event-Level Verification and Controlled UI-Variant Generation for Web Agents

Authors: Anton Emelyanov, Maria Tikhonova, Zaven Martirosian, Sergei Averkiev, Alena Fenogenova
Published: 2026-09-28
Categories: cs.AI, cs.CL
arXiv: https://arxiv.org/abs/2609.35026v1

We present WebPageBench, an open framework for evaluating web agents in which every task is verified from the interface's own event log. Six instrumented mock sites with brand identifiers removed (a marketplace, a bookstore, a grocery service, rail ticketing, hotel search and a document cabinet) emit typed events with parameters as a user or an agent acts. A task declares the events it requires, and success is decided by matching them, with no judge model and no scraping of rendered pages. The same instrumentation supports controlled UI variation: one configuration switch re-renders a task through a different implementation of a single control while the prompt and the success conditions stay completely identical, so sensitivity to interface form can be measured under a fixed task specification. The WebPageBench release consists of three components: 152 tasks, divided into 65 canonical scenarios and 87 control variants across light/dark UI-modes; a common runner evaluated with six browser/DOM harness configurations and five screenshot-only GUI-agent families; and a public leaderboard of 24 model-harness pairs. On the public 152-task leaderboard the gap between what agents declare finished and what the log confirms reaches 41 points (one configuration declares every task finished and satisfies the conditions on 59%).

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### AutoDataBench: Can Agents Write the Data That Feeds the Self-Improvement Loop?

Authors: Haotian Luo, Haoyu Wang, Zeyu Qin, Huanjin Yao, Yibo Wang, Zhuotao Tian, Shuai Wang, Jiaya Jia
Published: 2026-09-28
Categories: cs.AI
arXiv: https://arxiv.org/abs/2609.35025v1

Recent gains in language model capability have come more from data than from architecture. Frontier labs and data companies produce verifiable agentic tasks, which supervised finetuning and reinforcement learning then turn into capability.This production line still rests on human labour and on human-in-the-loop collaboration. Automating task creation would let data production scale with compute rather than with expert headcount, would extend to more domains, and would enable a key step in recursive self-improvement (RSI). Current evaluations of an agent's ability to write such tasks measure how a model performs after training on what the agent produced. That does not match common practice in the data industry, where data is delivered sample by sample and each sample is accepted against a set of criteria rather than put straight into training. No existing evaluation asks whether an individual task meets the acceptance criteria of a data pipeline. We therefore introduce AutoDataBench. Given an original benchmark task and a record of the target model attempting it, an agent must write a new task for the same suite that meets practical acceptance standards on validity, novelty, difficulty and behavioural coverage. Across three benchmarks of executable agent tasks, no agent we evaluate scores above 20 out of 100 at the default time budget of 45 minutes. Giving the strongest agent four times as long improves its score substantially, while the cost of one usable task stays almost unchanged. Current agents can write training tasks of the required quality, but not efficiently. AutoDataBench provides a direct measure of an agent's capacity for autonomous data synthesis: one artifact at a time, judged against the criteria a production pipeline would apply, and without a training run. Code and data are available at https://github.com/StarDewXXX/AutoDataBench.

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### Proxy2World: Learning to Generate Worlds From Lightweight Proxies without Seeing Them

Authors: Hongli Xu, Weilong Yan, Anbang Wang, Chunyu Zou, Siyu Hong, Jingwei Huang
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35023v1

Lightweight scene proxies let creators control scene layout and motion while leaving room for imagination in appearance, lighting, and visual effects. However, a suitable proxy is not uniquely defined, making paired proxy-video data difficult to construct automatically at scale. We present Proxy2World, a controllable world model that learns these complementary capabilities from ordinary posed RGBD videos, without training on authored proxy-video pairs. The model jointly learns depth-conditioned RGB generation and joint RGBD generation through cross-modal flow matching. Learning both tasks enables proxy-camera hybrid denoising at inference to follow the proxy structure while producing natural, detailed visuals. We further introduce ProxyBench to evaluate this capability across a diverse set of scenes, camera trajectories, and subject motions. Experiments on ProxyBench show that Proxy2World achieves a better balance between structural adherence and visual quality than camera-controlled and geometry-conditioned methods, supported by quantitative metrics, VLM assessments, human evaluations and diverse qualitative results.

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### Detection of Adversarial Attacks on Super-Resolvers Using Spectral Features

Authors: Emma J. Reid, Haley Duba-Sullivan, Tony G. Allen
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35022v1

The integration of deep learning models into image preprocessing pipelines such as super-resolution introduces a largely unexplored attack vector for adversaries targeting downstream tasks. To ensure trustworthiness of critical imaging pipelines, we must be able to detect adversarial behavior within preprocessing models. In this paper, we propose a spectral-based detection method for identifying adversarial attacks embedded in super-resolution model weights. More specifically, we use the radially-averaged power spectral density as a discriminative feature to train an extreme gradient boosting (XGBoost) detector, demonstrating detectability of model-level threats in super-resolution networks. We further benchmark our detector against magnitude- and phase-based Fourier spectrum detectors, evaluating each method across a range of training and cross-architecture scenarios. Our proposed detector out-performs the comparison detectors in most of these scenarios and indicates that high-frequency features are most informative for detecting AdvSR attacks across SR architectures.

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### Addressing Spatial Indistinguishability in Spatiotemporal Prediction via Optimal Transport-Guided Masking

Authors: Guangyu Wang, Jiawei Tong
Published: 2026-09-28
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2609.35021v1

Spatiotemporal prediction aims to learn discriminative representations from correlated temporal signals over spatial structures for accurate future inference. A central challenge is \emph{spatial indistinguishability}: different nodes may share similar historical patterns yet evolve toward divergent futures, severely degrading forecasting performance in real-world sensor networks. Existing embedding-based and graph neural network (GNN)-based approaches can partially detect such ambiguous nodes but rely on historical similarity, struggling to capture \emph{future behavioral divergence}. We propose \textbf{STOT} (\textbf{S}patio\textbf{T}emporal \textbf{O}ptimal \textbf{T}ransport), a self-supervised framework that resolves spatiotemporal ambiguity via structured masking guided by optimal transport. Our key idea treats indistinguishability as a \emph{disambiguation} problem: future states are inferred by exploiting concurrent spatial correlations and their time-varying similarity. We design a similarity-aware metric for dynamic inter-node relationships and an optimal transport-based masking strategy to emphasize ambiguous positions during pre-training. A batch consistency constraint preserves semantic coherence, while a random-walk masking mechanism promotes structured context exploration. Experiments on six real-world datasets show that STOT performs competitively with state-of-the-art baselines on the evaluated benchmarks and improved interpretability through transport-plan visualizations.

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### Verifying the Linear Representation Hypothesis: How Interpretable Are Vision SAEs?

Authors: Teodor Chiaburu, Franz Motzkus, Frank Haußer, Felix Bießmann
Published: 2026-09-28
Categories: cs.CV
arXiv: https://arxiv.org/abs/2609.35020v1

Vision Sparse Autoencoders (SAEs) have become a popular tool in Mechanistic Interpretability due to their presumed ability to disentangle complex features learned by a model into monosemantic concepts. Despite their growing popularity, evaluating their interpretability remains an active topic of research. The bedrock motivating the adoption of SAEs is the Linear Representation Hypothesis (LRH), which claims that polysemantic features can be projected onto a (near) orthogonal basis of sparse, human-understandable representations. Yet, most current frameworks evaluate proxies such as the sparsity of SAE features or the coherence of the inferred dictionary, implicitly assuming that these reflect alignment with human perception. In this paper, we provide empirical evidence that measuring the interpretability of SAE concepts is more difficult than these proxies suggest. To this end, we adapt the Autointerpretability Score (AIS) - previously shown to align with human judgments in Natural Language Processing - to vision tasks and validate our approach in a dedicated user study. We evaluate SAE concept quality using both standard metrics and our adapted AIS. We find that established interpretability metrics for SAEs correlate neither with one another nor with AIS, indicating that no single reference-free metric, whether grounded in the LRH or not, is sufficient for verifying the interpretability of vision SAEs. We argue these findings support recent calls for more verifiable, ground-truth-anchored design and evaluation of explanation methods.

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### Environmental requirements for the use of social information by artificial life agents using evolved plastic artificial neural networks

Authors: Hugh Charterton, James M. Borg, Aniko Ekart
Published: 2026-09-28
Categories: cs.AI
arXiv: https://arxiv.org/abs/2609.35018v1

Evolved Plastic Artificial Neural Networks (EPANNs) consist of two principal processes, the first, evolution, and the second, development and in-life learning. In the context of the origins of social = learning, very few studies have been carried out using ALIFE models based on EPANN requirements. Studies in this field have usually involved an imitative teacher/pupil relationship. This, however, ignores the possibility that the observed behaviour is a consequence of social information cues rather than direct imitation or teaching. Starting with the first of the EPANN processes (evolution), a series of experiments was undertaken using artificial neural network (ANN) based agents in a variety of foraging environments to examine under what minimal environmental conditions the use of social information might have evolved, as measured by the number of generations taken to meet a specified fitness criterion. NEAT (Neuroevolution of Augmenting Topologies) was the ANN used as its evolutionary algorithm would evolve a network's topology as well its weights. Unintentionally, in the experiment there was a simple network topology based on the location of the nearest food item which enabled agents to swiftly meet the fitness criterion. With this topology, additional information, social or otherwise, was not required and could have proved to be a hindrance. However, this does indicate that for the use of social information to have evolved, it would require a greater degree of complexity in the environment to do so.

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### TermJudge: A Document-Level Metric Judging, Not Counting, Terminology in Machine Translation Evaluation

Authors: Nicolas Dahan, Fran{\cc}ois Yvon, Rachel Bawden
Published: 2026-09-28
Categories: cs.AI
arXiv: https://arxiv.org/abs/2609.35017v1

Existing automatic metrics for evaluating terminological use in machine translation (MT) penalise any divergence from a fixed reference, conflating translation errors with the valid terminological variation that human translators routinely produce. We introduce TermJudge, a document-level terminology metric that assigns an interpretable verdict to every term occurrence: glossary-conforming occurrences are settled deterministically, while divergences are assessed under a two-step LLM-as-judge procedure using the full document context: the first detects and labels terminology errors; the second sorts valid document-level variations from inconsistencies. Validated against expert error annotations and document-level human MQM scores, TermJudge ranks first in both system- and segment-level meta-evaluation, ahead of glossary-conformity and quality-estimation baselines. When applied to eight systems translating academic documents, under two prompting conditions, we observe that glossary injection improves terminology translation in all paired comparisons, by removing genuine errors rather than valid variation. TermJudge is released as open-source code.

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### Automated feature engineering, AutoML, and decision-focused learning for improved energy consumption forecasting

Authors: Nasser Alkhulaifi
Published: 2026-09-28
Categories: cs.AI
arXiv: https://arxiv.org/abs/2609.35013v1

The rising cost and demand for energy, together with environmental sustainability goals, create major challenges for energy management. Energy Consumption Forecasting (ECF) supports planning by predicting future consumption, but Machine Learning (ML) models for ECF often depend on expert-driven Feature Engineering (FE). This thesis addresses that dependence through three contributions. First, it establishes and evaluates a comprehensive FE pipeline for ECF and investigates domain-specific features. Second, it introduces AutoEnergy, a domain-tailored automated FE algorithm that generates interpretable features from timestamps and lagged consumption and integrates with AutoML for end-to-end ECF modelling. Across eighteen real-world energy datasets spanning residential, commercial, industrial, renewable, and grid domains, AutoEnergy reduces forecasting error by 19.52%-84.72% relative to baseline AutoML and established automated FE methods, while running 1.31-4.41 times faster, with gains varying by dataset. Third, AutoEnergy is integrated with Decision-Focused Learning (DFL) for a Battery Energy Storage System problem, jointly forecasting electricity prices and demand while optimising charging and discharging decisions. On a real-world UK property dataset, this approach reduces operating costs by 22.9%-56.5% compared with the same DFL models without automated FE. Overall, the results show that domain-specific automated FE can reduce reliance on manual feature design, improve forecasting accuracy, and translate predictive gains into measurable operational benefits in energy management.

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### Price Stability in the European Union: A Systemic Approach Using Random Matrix Theory

Authors: Sami Diaf
Published: 2026-09-28
Categories: cs.LG, econ.EM, stat.AP, stat.ME
arXiv: https://arxiv.org/abs/2609.35011v1

Price stability remains a pillar in monetary policy practices and carries a special importance within monetary unions. Mainstream economics tried to leverage price stability using price indices and several metrics to shed light on specific dynamics and optimal macroeconomic levels. The wide availability of data led researchers to consider the study of systems using Random Matrix Theory, based on inner correlation patterns. This aims to enhance the multivariate analysis by removing noisy patterns from the signal and improve data quality for further inferences. This work considers the collection of monthly inflation indices in the Eurozone as a \textit{system} of prices to analyze its eigenvalues' statistical and asymptotic properties and uncover inner country-level insights. Results confirm the system cannot assumed to be randomly generated, and the data exhibit noise-dominated patterns, due to small and persistent variations at the country-level. The latter make the inter-country correlations more dynamic and the separation of the signal from the noise quiet difficult. Findings identified two countries as distorting inflation dynamics besides three other distinct, regional-based groups of countries. Variability sources might stem from economic episodes fueling inflation spikes in some countries, as well as methodological aspects used to ensure data quality and representativeness in the European Union. Despite being complex, the system demonstrates a certain stability, in terms of self-organization; while large monthly fluctuations cannot be considered as rare events, but part of the data-generating process.

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### Sub-Model Short-Term Memory Convolutions for Keyword Spotting Systems on Device

Authors: Paweł Warlewski, Artur Czeczko, Artur Szumaczuk, Grzegorz Stefański, Szymon Klimaszewski
Published: 2026-09-28
Categories: cs.SD, cs.LG
arXiv: https://arxiv.org/abs/2609.35005v1

Keyword Spotting (KWS) is becoming increasingly important as voice-controlled devices grow more widespread. While voice interaction with smartphones and smart TVs is already common, deploying KWS on heavily resource-constrained edge devices such as wearables remains challenging. These systems must meet high accuracy requirements while operating under strict constraints on computational power, memory footprint, and real-time latency. In this work, we present an application of the STMC (Short-Term Memory Convolutions) framework to adapt a modular CNN model for online, LSTM-like inference. Our approach reduces power consumption and redundant computations while maintaining the stability and simplicity of training CNNs. We achieve up to 82% and 46% MCPS reduction compared to equivalently frequent standard CNN execution and vanilla STMC, respectively. The best configuration achieves 93.8% accuracy on the 11-class Google Speech Commands task and 97.1% on the same task with zero-padded data.

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### Learning to Act under Visual Interruptions with Vision-Language-Action Models

Authors: Mingle Jiang, Rui Xu, Yunke Wang, Chang Xu
Published: 2026-09-28
Categories: cs.RO, cs.AI
arXiv: https://arxiv.org/abs/2609.35003v1

Vision-language-action (VLA) models have demonstrated strong capabilities in robotic manipulation, but they are typically developed and evaluated with all camera streams available throughout task execution. When a camera stops delivering frames during task execution, the policy must continue acting without access to subsequent observations from the missing view. Despite its practical importance, how such interruptions affect closed-loop manipulation remains insufficiently understood. To investigate this problem, we introduce MAIL-Bench, a benchmark that evaluates visual interruptions with VLA models. By interrupting different cameras at multiple stages of each policy's successful reference trajectory, MAIL-Bench measures how well policies retain their capabilities when visual inputs become unavailable. Building on this benchmark, we propose MINT, which first trains VLA policies to remain functional under missing visual inputs. At inference time, MINT selectively supplements missing observations using optical-flow extrapolation or an action-conditioned world model, and withdraws predicted views when they become unreliable. Experiments on $π_{0.5}$ and GR00T N1.5 show that MINT significantly improves task success under camera loss over the original models. Experiments on AgiBot G2 further demonstrate the real-robot deployment under camera loss. The benchmark is available at https://minglejiang.github.io/Mail-Bench/

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### Still There, No Longer Seen: Exposing Compression-Induced Risk in Large Vision-Language Models

Authors: Qiankun Li, Yuechen Zhang, Bowen Chen, Shilinlu Yan, Zhenhong Zhou, Kun Wang, Li Sun
Published: 2026-09-28
Categories: cs.CV, cs.AI, cs.CR
arXiv: https://arxiv.org/abs/2609.35002v1

Visual token compression reduces the inference cost of Large Vision-Language Models (LVLMs). However, aggregate robustness measures do not reveal whether a particular adversarial failure is induced by compression or inherited from the underlying model. We define a compression-specific failure (CSF) as an adversarial input that remains correct under full-token inference but fails after compression, casting compression-induced risk as a paired failure attribution problem. Within a controlled diagnostic cohort, counterfactuals show that retained-set allocation causally changes compressed correctness and reveal a negative association between recovery and representation drift in displaced evidence. Motivated by these findings, we propose CIRA, a Compression-Induced Risk Attack for Large Vision-Language Models. Under a vision-encoder white-box setting, CIRA optimizes image perturbations through encoder-side objectives that manipulate token priorities across candidate compression budgets while preserving displaced evidence. CIRA uses no downstream questions or labels and requires no access to the language model, deployed compressor, or exact compression budget. Across 12 dataset-compressor settings evaluated at four budgets, CIRA achieves a mean CSFR of 20.35% while limiting full-token attack success to 6.92%, with similar behavior on additional LVLM families. A cross-view selection-stabilization defense substantially suppresses CIRA, although Adaptive CIRA partially restores its effectiveness. These results show that compression-specific failures persist under restricted access and support paired evaluation of full-token and compressed inference for attributing risk to visual-token compression.

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### Simulation-Based Quantum System Inference with Neural Posterior Estimation

Authors: Hang Zou, Anton Frisk Kockum, Martin Rahm, Simon Olsson
Published: 2026-09-28
Categories: quant-ph, cs.LG
arXiv: https://arxiv.org/abs/2609.34995v1

Models of quantum systems faithfully map system parameters to observations, but the inverse problem of parameter inference from measurement data presents a fundamental challenge: computationally intractable likelihoods due to an exponentially large Hilbert space. Here, we introduce simulation-based quantum system inference, a unified, likelihood-free framework that learns parameter posteriors directly from classical simulation data. The central idea is to pair polynomial-cost classical simulators, such as Pauli propagation and tensor networks, with normalizing flows or other neural density estimators for accurate, reusable inference. A single model, trained once, maps any new measurement record to its posterior in one forward pass---turning per-experiment inference into a fixed, up-front cost. We numerically demonstrate the framework's versatility across Pauli noise learning, quantum error mitigation, quantum state tomography, and Hamiltonian learning, with examples involving 81-qubit shallow circuits and 735-parameter inference. In each case, the approach yields accurate estimates of identifiable parameters, while posterior uncertainty provides additional diagnostics of non-identifiability and indicates where further characterization is needed. Our framework reduces data-acquisition requirements in quantum experiments and accelerates parameter inference, providing a practical route to characterizing and improving large-scale quantum systems.

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### From One-Shot Generation to Incremental Music Composition: Adapting a General-Purpose Instruction LLM for Persistent Symbolic Editing

Authors: André Ricardo Ducca Fernandes, Jean-Pierre Briot, Simone Diniz Junqueira Barbosa1, Hélio Côrtes Vieira Lopes
Published: 2026-09-28
Categories: cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2609.34994v1

Most music-generation systems are still framed and evaluated primarily as producers of complete outputs, whereas composition often proceeds through successive revisions to a shared musical artifact. This paper studies a different use of a general-purpose instruction-following large language model: not as a one-shot music generator, but as a reusable operator over an evolving symbolic score. We formulate incremental composition as a sequence of operation-aware state transitions over persistent ABC notation, with explicit requirements on what each operation may change and what it must preserve. The interaction includes two artifact-initialization variants and three editing operations -- chord addition, inpainting, and transposition. We instantiate the formulation by adapting Llama 3.1 8B Instruct with Low-Rank Adaptation (LoRA) on 496,038 operation-aware dialogue records derived from Irish traditional music. The comparison with the unadapted model is used to test the feasibility of learning this interaction contract, not to claim novelty for fine-tuning itself. Across 500 dialogues per model (1,750 attempted output states), checker admission rises from 29.37% to 99.37%, while compliance conditional on admission rises from 0.7205 to 0.9798. Strict eligibility for reference-relative musical-feature analysis increases from 14 to 1,548 outputs, and Longest Common Subsequence analysis does not show a systematic increase in high-overlap sequences relative to held-out baselines under the specified protocol. The results support the technical feasibility of persistent, operation-aware symbolic editing with a general-purpose instruction LLM. They do not establish superior musical quality or human-AI co-creativity, which remain questions for musician-centered evaluation.

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### Composable Decoding on the Probability Simplex: Theory and Implementation

Authors: Xiaotong Ji, Ahmed Khaled Khamis, Rasul Tutunov, Matthieu Zimmer, Haitham Bou-Ammar
Published: 2026-09-28
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2609.34992v1

Decoding for large language models is typically treated as a collection of isolated sampling strategies, with limited theoretical understanding of the behaviours they induce and how their underlying objectives relate. We formulate decoding as an optimisation problem over next-token distributions on the probability simplex, balancing expected model score against regularisation under support constraints. This view recovers familiar decoding methods through choices of regularisers and support constraints; more importantly, it enables new decoders to be constructed by composing distributional preferences within a single optimisation problem without external rewards, learned critics, or model parameter updates. We introduce CompoSimplex, a library with configurable support rules, regularisation primitives, and simplex solvers for constructing and evaluating compositional decoders. We evaluate standard samplers, individual regularisers, and compositions across multiple models and reasoning tasks. Our results show that compositions can realise trade-offs between single-sample quality, multi-sample quality, and diversity that are not attained by individual decoding objectives.

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### MaPP: A Unified Marginalized Posterior-Predictive Framework for Data-Efficient RLVR

Authors: Yangyang Ren, Haodong Zhu, Sheng Xu, Yanjing Li, Nikolai Yu. Zolotykh, Wentao Zhang, Baochang Zhang
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.34990v1

Reinforcement learning with verifiable rewards (RLVR) improves the reasoning capabilities of large language models but incurs substantial costs from rollouts and policy updates. Online prompt selection improves efficiency by using per-prompt Bayesian posteriors to predict difficulty and prioritize informative prompts. However, existing methods overlook how reliably learning signals are extracted from sampled responses. In GRPO, a response's advantage depends on both its own outcome and the randomly sampled outcomes of its peers through group normalization. Our theoretical and experimental analyses show that uncertainty in group composition introduces composition noise, a non-vanishing variance component that imposes an irreducible lower bound on gradient estimation error and impairs downstream prompt selection. We propose MaPP (Marginalized Posterior-Predictive), a unified framework for data-efficient RLVR that denoises response-level advantage estimation and improves prompt selection using a shared Beta posterior. For each response, MaPP replaces the standard group-relative advantage with a composition-invariant intrinsic advantage through closed-form Beta-Binomial marginalization. The resulting posterior-predictive estimator has an error that provably diminishes as the posterior concentrates. Using the same posterior, MaPP derives an uncertainty-aware prompt selection score to improve data efficiency without additional rollout cost. Experiments on mathematics, planning, and visual geometry across five model backbones show that MaPP consistently outperforms GRPO and strong selection baselines, achieving up to +2.45 average accuracy improvement over the strongest baseline under the same rollout budget and setting a new state of the art.

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### The Right Lesson at the Right Step: Deriving Control Updates for Self-Evolving Agents

Authors: Yunhe Su, ZiYi Dong, Tong Yu, Weijian Deng, Hao Li, Bowen Jiang, Pengxu Wei
Published: 2026-09-28
Categories: cs.CL
arXiv: https://arxiv.org/abs/2609.34988v1

Self-evolving agents improve future behavior by reusing past experience, typically as global prompts, memories, or reflections. Yet these mechanisms rarely control where experience takes effect. In long tool-use workflows, the same lesson may correct one decision but distract another, making experience reuse a problem of localized control rather than memory alone. We introduce EvoCUE (Evolution through Control Updates from Evidence), a framework for learning reusable control-program updates from completed agent executions. EvoCUE represents the agent as an explicit state-machine controller, whose nodes perform model or tool calls and whose edges define where control passes next. This makes the workflow editable at precise locations, so each learned update can specify what to add, where it acts, and when it applies. From completed trajectories, EvoCUE uses residual goals and observed execution traces to propose localized instruction or skill edits. Each candidate is evaluated at the point where it would act by resuming the parent and edited controllers from the same checkpoint and comparing their final outcomes. Accepted edits are compiled with applicability rules, confirmed on held-out tasks, and inherited by later executions. We evaluate EvoCUE on long tool-use environments where learned conventions must reach the right execution step. From a minimal AppWorld controller without benchmark-specific onboarding instructions, EvoCUE learns the missing task-completion convention and substantially improves success on Test-Normal and Test-Challenge. On PAST-Bench office workflows, EvoCUE transfers organizational requirements from prior episodes to later tasks, improving task-execution quality. These results show that self-evolving agents should place experience inside the control flow, rather than only store it as text.

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### Nürnberg NLP at ChildSafeAds 2026: Structurally Dissimilar Voter Ensembles under Four Levels of Data Access

Authors: Philipp Steigerwald, Eric Rudolph, Jens Albrecht
Published: 2026-09-28
Categories: cs.CL, cs.LG
arXiv: https://arxiv.org/abs/2609.34986v1

We describe the Nürnberg NLP system for ChildSafeAds 2026. The shared task asks what a monitoring system for commercial content in child-facing YouTube videos can achieve at a given level of data access. We answer with per-subtask ensembles of nine voters, organised into three branches that differ in backbone, adaptation method and class scope. Selection rests on channel-disjoint cross-validation, with the development set as a transfer check. The system wins two of the three subtasks. Its product-category score (ST2, 0.8243) and its compliance-flag score (ST3, 0.6530) are the best of the 22 final entries, and it places third on the task mean (0.7079). We further compare four access levels and report the cost at test-set scale.

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### ORPG: Reconciling Multiple Reward Objectives through Objective-wise Policy Gradients

Authors: Shicheng Fang, Yiwen Zhao, Wenbo Tian, Jiahao Lu, Yining Zheng, Yuxin Wang, Xipeng Qiu
Published: 2026-09-28
Categories: cs.LG, cs.CL
arXiv: https://arxiv.org/abs/2609.34985v1

Multi-reward policy optimization requires a joint update that reflects both the learning signals and the intended relationships among objectives. We introduce Objective-wise Reconciled Policy Gradient (ORPG), which constructs a separate clipped policy objective for each reward and reconciles the resulting gradients into one policy update. For compatible gradients, a cosine-dependent interpolation coordinates their contributions through a partially normalized reference while preserving the norm of their sum. We characterize this update as the unique solution of a spherical directional compromise. For conflicting gradients, projection follows the task's priorities. We evaluate the same compatible rule in helpfulness--safety alignment and correctness--cost optimization for mathematical reasoning. ORPG substantially improves average Useful and Harmless scores over the strongest external baseline on each axis. In mathematics, it achieves the highest average full-budget accuracy and three-budget hypervolume among the compared methods, with more accurate and shorter responses than the initial policy. Component comparisons and training dynamics show the larger contribution of compatible coordination and a complementary benefit from conflict handling. These results support gradient reconciliation for objectives with equal standing and for objectives with an explicit priority.

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### ActionUNet: Improving Robustness of VLA Models with Efficient Multi-scale Fine-tuning

Authors: Di Zhu, Ziheng Yan, Fang Wan
Published: 2026-09-28
Categories: cs.CV, cs.RO
arXiv: https://arxiv.org/abs/2609.34982v1

Vision-Language-Action (VLA) models have shown great promise for robotic manipulation by mapping multi-modal semantics to physical actions. However, this mapping inherently struggles to align these coarse-grained semantics with fine-grained temporal execution. It leaves VLA models with limited generalization and insufficient robustness in cluttered environments. To overcome this issue, we propose ActionUNet, an efficient multi-scale fine-tuning framework that enhances pre-trained VLA models with minimal computational cost. ActionUNet first constructs a lightweight temporal U-Net within the temporal-aligned action feature space to fuse hierarchical structural priors, effectively bridging the scale gap between semantics and temporal executions. Recognizing that multi-scale modeling can disrupt microscopic temporal continuity and cause mechanical oscillations, ActionUNet then employs a conditional SIREN as a continuous action decoder. Equipped with explicit second-order smoothness constraints, this decoder guarantees temporal continuity and reduces high-frequency motion jitter. By smoothing temporal discontinuities from multi-scale fusion, this continuous formulation reduces mechanical execution failures while preserving the base VLA model's generalization and manipulation robustness. Extensive experiments on RoboTwin 2.0 and LIBERO-Plus benchmarks, together with real-world hard evaluations, demonstrate that ActionUNet significantly improves π0.5 success rates by absolute 9.8%, 6.1%, and 11.4%, respectively, while also generalizing to the regression-based OpenVLA-OFT backbone, highlighting its effectiveness and efficiency as a fine-tuning strategy. Code and implementation details are available at https://github.com/Di-Zhu123/ActionUNet.

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### What Makes World Action Models Generalize? An Empirical Study of Test-Time Future Modeling

Authors: Renping Zhou, Zanlin Ni, Zihao Fan, Guohao Fu, Zeyu Liu, Hao Shi, Jie Zhang, Chi Bene Chen, Yang Yue, Xueyang Fu, Gao Huang
Published: 2026-09-28
Categories: cs.CV, cs.RO
arXiv: https://arxiv.org/abs/2609.34981v2

World action models (WAMs) predict the future alongside actions during training. Due to the heavy computation cost of video denoising, whether the future must still be generated during inference is disputed: Explicit WAMs denoise it into clean frames along with every action chunk, whereas Latent WAMs discard it entirely for acceleration. We find that latent WAMs, despite matching explicit ones on in-distribution tasks, fail to retain the generalization benefits that originally motivated WAMs. To demonstrate this, we evaluate generalization along three axes: environmental perturbation, data efficiency, and task generalization. Controlled comparisons with a matched backbone, training data, and budget reveal consistent degradation across all three axes when the action expert no longer conditions on future representations. Further analysis shows that the gap arises almost entirely from the first denoising step: the benefit comes from preparing the future, not generating it. We therefore propose Simple-WAM, which simplifies future modeling into a single forward pass of fully noised video tokens and adapts the training-time noise schedule to this inference behavior. Across simulation and real-world tasks, Simple-WAM achieves the best of both worlds, leading explicit WAMs in generalization performance with efficiency comparable to Latent WAMs. Project Page: https://zrporz.github.io/Simple-WAM-Web/

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### One Sensor, Whole Body - 3D Body Pose from a Single Consumer Earbud IMU

Authors: Zhilin Guo, Boqiao Zhang, Oszkár Urbán, Josef Bengtson, Hakan Aktas, Wenzhao Li, Siyu Hong, Kyle Fogarty, Chenliang Zhou, Ali Senguel, Cengiz Oztireli
Published: 2026-09-28
Categories: cs.CV, cs.HC
arXiv: https://arxiv.org/abs/2609.34978v1

Consumer earbuds already stream inertial motion data from the head, one of the most widely worn sensor locations on the body. We ask how much of the 3D body pose a single such head IMU can recover, and whether adding more consumer sensors actually helps. We build a multimodal capture pipeline that records four-view RGB-D video together with an AirPods head IMU and two Striv insole IMUs, synchronize the streams post-hoc, and generate pseudo-ground-truth with SAM 3D Body, yielding a 35-take single-subject benchmark spanning gait, turning, vertical, everyday, and clinically inspired motions. Adapting two recurrent model families (IMUPoser and MobilePoser), we show that one head IMU recovers lower-body pose at 79.0 mm rigid-MPJPE and per-foot ground contact at 0.809 macro-F1, and that a causal variant retains most of this accuracy at streaming latency. In paired per-take significance tests across both families, adding the consumer foot IMUs never significantly improves pose and significantly degrades it in two of four model-split combinations; a mounting-bias probe and feet-only ablation identify insole orientation quality, not foot placement, as the mechanism. Extending the output to a 20-joint full-body skeleton maps the boundary: gross distal-arm motion is partially recoverable from the head alone, proximal upper-body pose is not, and staged fine-tuning recovers the leg accuracy that naive joint training sacrifices to multi-task dilution. For learned pose from consumer wearables, sensor reliability, not sensor count, is the binding constraint here. For the devices tested, the earbud is its sweet spot. Code is available at https://github.com/ZhilinGuo/one-sensor-whole-body.

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### SPIDER: Multi-Layer Semantic Token Pruning and Adaptive Sub-Layer Skipping in Multimodal Large Language Models

Authors: Tianxiang Chen, Zhentao Tan, Zi Ye, Yue Wu, Xiaobing Tu, Jinkui Ren, Xiantao Zhang, Tao Gong, Qi Chu, Nenghai Yu, Xipeng Qiu, Jieping Ye
Published: 2026-09-28
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2609.34977v1

Multimodal Large Language Models face significant efficiency challenges that stem from two distinct yet coupled sources: data redundancy and computational redundancy. While most methods focus on data redundancy by pruning visual tokens from the output of the visual encoder or computing redundancy in LLM decoders using blockwise importance, the finer-grained inter-layer representation shifts and the distribution differences within the layers themselves have not been fully explored. In this work, we comprehensively investigate this dual-level inefficiency. We posit that intermediate layer tokens from vision encoders should be considered for effective visual token pruning, as semantic focus shifts across layers, with middle-layer tokens capturing more detailed object-centric information that deeper layers may abstract away. Furthermore, we reveal the differential contributions of Attention and FFNs across distinct LLM decoder layers. Building upon these discoveries, we propose \textbf{SPIDER}, a training-free framework that integrates multi-layer \underline{\textbf{S}}emantic visual token \underline{\textbf{P}}run\underline{\textbf{I}}ng with an a\underline{\textbf{D}}aptive sub-lay\underline{\textbf{ER}} skipping mechanism. Experimental evaluations demonstrate that SPIDER consistently maintains strong performance across various MLLM architectures and reduction ratios. For instance, on LLaVA-NeXT-7B, SPIDER reduces FLOPs by $79\%$ while maintaining 96$\%$ of the baseline performance.

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### Inspector: Conversational and Lightweight Analyzer of Analog Circuit Layouts Using LLM and CNNs

Authors: Abril Cano Castro, Giuseppe Chiari, Michele Piccoli, Federico Viola, Davide Zoni
Published: 2026-09-28
Categories: cs.LG, cs.CV
arXiv: https://arxiv.org/abs/2609.34976v1

The integration of artificial intelligence into computer-aided design frameworks has sparked a shift in the design of analog integrated circuits (ICs), transitioning the field from using manual and algorithmic-based solutions to adopting automated and intelligent paradigms. In this scenario, the GDSII file represents the industry-standard database containing the ultimate and most accurate source of information of the analog circuit, encapsulating the complex physical geometries and parasitic realities that define tape out performance. This paper proposes a novel framework that combines fine-tuned LLMs and CNNs to analyze GDSII files of analog circuits, enabling a conversational interface between the tool and the designers. Experimental results using thousands of analog designs across four realistic tasks demonstrate that the proposed solution outperforms state-of-the-art general-purpose massive VLMs by a significant margin (up to 81%), thus providing a lightweight solution to the problem of GDSII analysis.

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### Teach to Learn: Hint Annealing for Self-improving LLM Reasoning

Authors: Zile Wang, Zijian Li, Haodong Wang, Jian Liu, Qianli Liu, Lucas Muli, Blaze Chen, Song Guo
Published: 2026-09-28
Categories: cs.LG
arXiv: https://arxiv.org/abs/2609.34975v1

Group Relative Policy Optimization (GRPO) improves language-model reasoning by comparing verified rewards among multiple solution rollouts for each query. However, difficult training queries can yield only incorrect rollouts, leaving GRPO with no reward contrast or learning signal. Prior hint-based methods construct auxiliary hints from solution evidence and use them to re-solve failed queries, recovering learning signal. Yet the resulting trajectories are typically treated as ordinary solution trajectories despite being generated under an assisted condition unavailable at evaluation. We discover hinted reward shift: recovered reward contrast can concentrate policy updates on hinted trajectories, limiting improvement without hints. This also creates a trade-off: increasing hinted trajectories can accelerate early learning but intensify reward shift later. To address this problem, we propose HATCH (Hint-Annealed Self-Teaching), an online single-policy framework that learns from both generating and using its own hints to improve reasoning without assistance. To mitigate hinted reward shift, we introduce online weighting to anneal the contribution of hinted trajectories. However, learning to generate hints can conflict with improving query solving. We therefore use gradient projection to remove the opposing component of hint-generation updates. Together, these designs support self-improvement by enabling the policy to create learning opportunities for itself and turn them into stronger reasoning without hints. We evaluate our method on mathematical reasoning benchmarks and outperform state-of-the-art methods by 1.02 pp on Llama-3.2-1B-Instruct, 2.84 pp on Qwen3-1.7B, and 4.32 pp on Qwen3-8B.

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