Pathological diagnosis is highly reliant on image analysis, where Regions of Interest (ROIs) serve as the primary basis for diagnostic evidence, while whole-slide image (WSI)-level tasks primarily capture aggregated patterns. To extract these critical morphological features, ROI-level Foundation Models (FMs) based on Vision Transformers (ViTs) and large-scale self-supervised learning (SSL) have been widely adopted. However, three core limitations remain in their application to ROI analysis: (1) cross-magnification domain shift, as fixed-scale pretraining hinders adaptation to diverse clinical settings; (2) inadequate local-global relationship modeling, wherein the ViT backbone of FMs suffers from high computational overhead and imprecise local characterization; (3) insufficient fine-grained sensitivity, as traditional self-attention mechanisms tend to overlook subtle diagnostic cues. To address these challenges, we propose SSMamba, a hybrid SSL framework that enables effective fine-grained feature learning without relying on large external datasets. This framework incorporates three domain-adaptive components: Mamba Masked Image Modeling (MAMIM) for mitigating domain shift, a Directional Multi-scale (DMS) module for balanced local-global modeling, and a Local Perception Residual (LPR) module for enhanced fine-grained sensitivity. Employing a two-stage pipeline, SSL pretraining on target ROI datasets followed by supervised fine-tuning (SFT), SSMamba outperforms 11 state-of-the-art (SOTA) pathological FMs on 10 public ROI datasets and surpasses 8 SOTA methods on 6 public WSI datasets. These results validate the superiority of task-specific architectural designs for pathological image analysis.

Contrastive learning has become a standard approach for unsupervised learning from paired data, as demonstrated by CLIP for image-text matching. However, many domains involve more than two modalities and require objectives that capture higher-order dependencies beyond pairwise alignment. Symile extends CLIP to this setting by replacing the dot product with the multilinear inner product (MIP) over modality embeddings. In this work, we show that there is a fragility which ishidden in the multiplicative interaction: a single weakly informative, misaligned, or missing modality can propagate through the objective and distort cross-modal retrieval scores. We propose Gated Symile, a contrastive gating mechanism that adapts modality contributions on an attention-based, per-candidate basis. The gate suppresses unreliable inputs by interpolating embeddings toward learnable neutral directions with an explicit NULL option when reliable cross-modal alignment is unlikely. Across a controlled synthetic benchmark that uncovers this fragility and three real-world trimodal datasets, Gated Symile achieves higher top-1 retrieval accuracy than well-tuned state-of-the-art (sota) baselines. More broadly, our results highlight gating as a step toward robust multimodal contrastive learning beyond two modalities in the presence of noise, misalignment, or missing inputs.

We study a controlled partial-KV decoding setting in which exact unnormalized softmax contributions are computed for sink/tail anchors and a retrieved token set, while the remaining prefill tokens are represented by a residual estimate. We focus on the accounting rule after the query-dependent exact support has been selected, and use exhaustive Top-K only as an oracle selector, not as a deployable retrieval system. The proposed rule leaves the backbone language model and the exact-branch KV tensors unchanged. It builds fixed-size summary states $(S,u)$ from learned positive feature maps $ϕ$, subtracts retrieved-token feature contributions to keep the exact and residual sets non-overlapping, and merges the estimated residual numerator and denominator with the exact branch under one normalization. At a 1% exact-support budget, our residual-completion method improves over the selection-only Top-K baseline on RULER and BABILong across frozen 1B and 3B Llama-3.2-Instruct backbones at all reported context lengths. In the 0.5-4% exact-support budget sweeps, this trend largely persists. On LongBench, summarization results are mostly favorable, while multi-document QA is mixed. Attention-output diagnostics support retrieved-token subtraction as the partition-consistent accounting rule, while indicating that the main remaining error is imperfect learned-$ϕ$ approximation of the unretrieved residual mass.

Ensemble methods improve predictive performance but often incur high memory and computational costs. We identify an aggregation instability induced by nonlinear projection and voting operations. To address both efficiency challenges and this inconsistency, we propose StableTTA, a training-free test-time adaptation method with two variants. StableTTA-I targets coherent-batch inference settings, where temporally or semantically adjacent observations are likely to belong to the same class. Examples include burst photography, video streams, robotics perception, and industrial inspection. Under coherent-batch inference, StableTTA-I substantially improves prediction consistency and accuracy through variance-aware logit aggregation. StableTTA-II establishes feature-level cropping, enabling efficient logit aggregation with a single forward pass on a single model backbone. Experiments on ImageNet-1K across 71 models demonstrate that StableTTA-I consistently improves prediction accuracy under coherent-batch inference, while StableTTA-II provides lightweight and architecture-agnostic accuracy improvements with minimal computational overhead. These results suggest that inference-time semantic coherence and aggregation stability provide useful perspectives for improving practical test-time adaptation systems.

Multilingualism is incredibly common around the world, leading to many important theoretical and practical questions about how children learn multiple languages at once. For example, does multilingual acquisition lead to delays in learning? Are there better and worse ways to structure multilingual input? Many correlational studies address these questions, but it is surprisingly difficult to get definitive answers because children cannot be randomly assigned to be multilingual and data are typically not matched between languages. We use language model training as a method for simulating a variety of highly controlled exposure conditions, and create matched 100M-word mono- and bilingual datasets using synthetic data and machine translation. We train GPT-2 models on monolingual and bilingual data organized to reflect a range of exposure regimes, and evaluate their performance on perplexity, grammaticality, and semantic knowledge. Across model scales and measures, bilingual models perform similarly to monolingual models in one language, but show strong performance in the second language as well. These results suggest that there are no strong differences between different bilingual exposure regimes, and that bilingual input poses no in-principle challenges for agnostic statistical learners.

While we are making progress in overcoming infectious diseases and cancer; one of the major medical challenges of the mid-21st century will be the rising prevalence of stroke. Large vessels occlusions are especially debilitating, yet effective treatment (needed within hours to achieve best outcomes) remains limited due to geography. One solution for improving timely access to mechanical thrombectomy in geographically diverse populations is the deployment of robotic surgical systems. Artificial intelligence (AI) assistance may enable the upskilling of operators in this emerging therapeutic delivery approach. Our aim was to establish consensus frameworks for developing and validating AI-assisted robots for thrombectomy. Objectives included standardizing effectiveness metrics and defining reference testbeds across in silico, in vitro, ex vivo, and in vivo environments. To achieve this, we convened experts in neurointervention, robotics, data science, health economics, policy, statistics, and patient advocacy. Consensus was built through an incubator day, a Delphi process, and a final Position Statement. We identified that the four essential testbed environments each had distinct validation roles. Realism requirements vary: simpler testbeds should include realistic vessel anatomy compatible with guidewire and catheter use, while standard testbeds should incorporate deformable vessels. More advanced testbeds should include blood flow, pulsatility, and disease features. There are two macro-classes of effectiveness metrics: one for in silico, in vitro, and ex vivo stages focusing on technical navigation, and another for in vivo stages, focused on clinical outcomes. Patient safety is central to this technology's development. One requisite patient safety task needed now is to correlate in vitro measurements to in vivo complications.

Reinforcement learning algorithms assume that observations satisfy the Markov property, yet real-world sensors frequently violate this assumption through correlated noise, latency, or partial observability. Standard performance metrics conflate Markov breakdowns with other sources of suboptimality, leaving practitioners without tools to detect such violations. This paper introduces a prediction-based Markov Violation Score (MVS) that quantifies non-Markovian structure in observation trajectories. A random forest first removes nonlinear Markov-compliant dynamics; ridge regression then tests whether historical observations reduce prediction error on the residuals beyond what the current observation provides. The resulting score is bounded in [0, 1] and requires no causal graph construction. Evaluation spans six environments (CartPole, Pendulum, Acrobot, HalfCheetah, Hopper, Walker2d), three algorithms (PPO, A2C, SAC), controlled AR(1) noise at six intensity levels, and 10 seeds per condition. In post-hoc detection, 7 of 16 environment-algorithm pairs, primarily high-dimensional locomotion tasks, show significant positive monotonicity between noise intensity and MVS (Spearman rho up to 0.78, confirmed under repeated-measures analysis); under training-time noise, 13 of 16 pairs exhibit statistically significant reward degradation. An inversion phenomenon is documented in low-dimensional environments where the random forest absorbs the noise signal, causing MVS to decrease as true violations grow, a failure mode analyzed in detail. A practical utility experiment demonstrates that MVS correctly identifies partial observability and guides architecture selection, fully recovering performance lost to non-Markovian observations. Source code to reproduce all results is available at https://github.com/NAVEENMN/Markovianes.

Compressing transformer weights makes large language models cheaper to deploy. But each layer's compression introduces an error. These errors accumulate as the signal passes through later layers, and how they accumulate is not well understood. We measure this directly: at each layer, we take the ratio of output to input error, calling it rho. A value below one means the layer absorbs the error; above one means it grows. Computing rho on six transformers (117M to 8B parameters) yields three findings. (i) Errors at layer t scale downstream by the product of later rho values, predicting representation drift (Spearman r = -0.44, p < 10^-4). This explains why compressing early layers hurts more than late ones, and why depth-decreasing sparsity schedules outperform uniform ones. Across architecture families, however, model width and redundancy matter more than rho alone. (ii) Within a layer, naive pruning shows a ~600x spread in component sensitivity. Activation-aware pruning (Wanda) shrinks this to 3-7x; the ranking reverses across architectures, so fixed importance scores do not transfer. (iii) For depth pruning, ranking layers by how far rho is from one takes two forward passes. It beats ShortGPT's Block Influence with 1.6x lower perplexity at eight layers removed, and physical deletion delivers 1.22x wall-clock speed-up. A blend of the two criteria does best (perplexity 14.2, 60.0% downstream accuracy on LLaMA-2-7B). Twelve Lean 4 norm inequalities provide machine-checked per-matrix error bounds. The contraction profile thus gives a training-free instrument for two decisions: where to compress within layers, and which to remove.

Large vision--language models (VLMs) are increasingly applied to long-video question answering, yet inference is often bottlenecked by the number of input frames and resulting visual tokens. Naive sparse sampling can miss decisive moments, while purely relevance-driven selection frequently collapses onto near-duplicate frames and sacrifices coverage of temporally distant evidence. We propose a question-adaptive greedy frame selection method that jointly optimizes query relevance and semantic representativeness under a fixed frame budget. Our approach constructs a 1~FPS candidate pool (capped at 1000) with exact timestamp alignment, embeds candidates in two complementary spaces (SigLIP for question relevance and DINOv2 for semantic similarity), and selects frames by greedily maximizing a weighted sum of a modular relevance term and a facility-location coverage term. This objective is normalized, monotone, and submodular, yielding a standard (1-1/e) greedy approximation guarantee. To account for question-dependent trade-offs between relevance and coverage, we introduce four preset strategies and a lightweight text-only question-type classifier that routes each query to its best-performing preset. Experiments on MLVU show consistent accuracy gains over uniform sampling and a strong recent baseline across frame budgets, with the largest improvements under tight budgets.

We investigate how verbal and nonverbal linguistic features, exhibited by speakers and listeners in dialogue, can contribute to predicting the listener's state of understanding in explanatory interactions on a moment-by-moment basis. Specifically, we examine three linguistic cues related to cognitive load and hypothesised to correlate with listener understanding: the information value (operationalised with surprisal) and syntactic complexity of the speaker's utterances, and the variation in the listener's interactive gaze behaviour. Based on statistical analyses of the MUNDEX corpus of face-to-face dialogic board game explanations, we find that individual cues vary with the listener's level of understanding. Listener states ('Understanding', 'Partial Understanding', 'Non-Understanding' and 'Misunderstanding') were self-annotated by the listeners using a retrospective video-recall method. The results of a subsequent classification experiment, involving two off-the-shelf classifiers and a fine-tuned German BERT-based multimodal classifier, demonstrate that prediction of these four states of understanding is generally possible and improves when the three linguistic cues are considered alongside textual features.

Formal verification via interactive theorem proving is increasingly used to ensure the correctness of critical systems, yet constructing large proof scripts remains highly manual and limits scalability. Advances in large language models (LLMs), especially in mathematical reasoning, make their integration into software verification increasingly promising. This paper introduces a neuro-symbolic proof generation framework designed to automate proof search for system-level verification projects. The framework performs a best-first tree search over proof states, repeatedly querying an LLM for the next candidate proof step. On the neural side, we fine-tune LLMs using datasets of proof state-step pairs; on the symbolic side, we incorporate a range of ITP tools to repair rejected steps, filter and rank proof states, and automatically discharge subgoals when search progress stalls. This synergy enables data-efficient LLM adaptation and semantics-informed pruning of the search space. We implement the framework on a new Isabelle REPL that exposes fine-grained proof states and automation tools, and evaluate it on the FVEL seL4 benchmark and additional Isabelle developments. On seL4, the system proves up to 77.6\% of the theorems, substantially surpassing previous LLM-based approaches and standalone Sledgehammer, while solving significantly more multi-step proofs. Results across further Isabelle benchmarks demonstrate strong generalization, indicating a viable path toward scalable automated software verification.

When an RL agent's observations contain distractors driven by the same confounders as its true state, observational data alone cannot identify which dimensions the agent controls. In our benchmarks, even state-conditioned observational selectors can collapse when distractors mimic controllable state variables. We propose Interventional Boundary Discovery (IBD), which treats the agent's own action channel as a source of randomized interventions: randomizing actions implements an interventional contrast, and per-dimension two-sample tests with FDR correction produce a binary mask over observation dimensions. Across 12 continuous-control settings with up to 100 distractors, IBD matches oracle return in 11 of 12 settings, while observational baselines including mutual information, state-conditioned forward models, and gradient-based sensitivity often underperform simply passing the full observation to SAC.

Recent Multimodal Large Language Models (MLLMs) have shown high potential for spatial reasoning within 3D scenes. However, they typically rely on computationally expensive 3D representations like point clouds or reconstructed Bird's-Eye View (BEV) maps, or lack physical grounding to resolve ambiguities in scale and size. This paper significantly enhances MLLMs with egomotion modality data, captured by Inertial Measurement Units (IMUs) concurrently with the video. In particular, we propose a novel framework, called Motion-MLLM, introducing two key components: (1) a cascaded motion-visual keyframe filtering module that leverages both IMU data and visual features to efficiently select a sparse yet representative set of keyframes, and (2) an asymmetric cross-modal fusion module where motion tokens serve as intermediaries that channel egomotion cues and cross-frame visual context into the visual representation. By grounding visual content in physical egomotion trajectories, Motion-MLLM can reason about absolute scale and spatial relationships across the scene. Our extensive evaluation shows that Motion-MLLM makes significant improvements in various tasks related to 3D scene understanding and spatial reasoning. Compared to state-of-the-art (SOTA) methods based on video frames and explicit 3D data, Motion-MLLM achieves competitive accuracy while running $1.30\times$ and $1.61\times$ faster, respectively.

High-quality machine translation (MT) can scale to hundreds of languages, setting a high bar for multilingual systems. However, compared to the world's 7,000 languages, current systems still offer only limited coverage: about 200 languages on the target side, and maybe a few hundreds more on the source side, supported due to cross-lingual transfer. And even these numbers have been hard to evaluate due to the lack of reliable benchmarks and metrics. We present Omnilingual Machine Translation (OMT), the first MT system supporting more than 1,600 languages. This scale is enabled by a comprehensive data strategy that integrates large public multilingual corpora with newly created datasets, including manually curated MeDLEY bitext. We explore two ways of specializing a Large Language model (LLM) for machine translation: as a decoder-only model (OMT-LLaMA) or as a module in an encoder-decoder architecture (OMT-NLLB). Notably, all our 1B to 8B parameter models match or exceed the MT performance of a 70B LLM baseline, revealing a clear specialization advantage and enabling strong translation quality in low-compute settings. Moreover, our evaluation of English-to-1,600 translations further shows that while baseline models can interpret undersupported languages, they frequently fail to generate them with meaningful fidelity; OMT-LLaMA models substantially expand the set of languages for which coherent generation is feasible. Additionally, OMT models improve in cross-lingual transfer, being close to solving the "understanding" part of the puzzle in MT for the 1,600 evaluated. Our leaderboard and main human-created evaluation datasets (BOUQuET and Met-BOUQuET) are dynamically evolving towards Omnilinguality and freely available.

Electroencephalography (EEG) is a widely used tool for studying brain function, with applications in clinical neuroscience, diagnosis, and brain-computer interfaces (BCIs). Recent EEG foundation models trained on large unlabeled corpora aim to learn transferable representations, but their effectiveness remains unclear; reported improvements over smaller task-specific models are often modest, sensitive to downstream adaptation and fine-tuning strategies, and limited under linear probing. We hypothesize that one contributing factor is the reliance on signal reconstruction as the primary self-supervised learning (SSL) objective, which biases representations toward high-variance artifacts rather than task-relevant neural structure. To address this limitation, we explore an SSL paradigm based on Joint Embedding Predictive Architectures (JEPA), which learn by predicting latent representations instead of reconstructing raw signals. We introduce Laya, the first EEG foundation model based on LeJEPA. We show that latent prediction yields representations that encode semantic structure in EEG: Laya embeddings track clinically meaningful state changes such as seizure onset, are resilient to noise, and achieve the strongest mean clinical accuracy under frozen linear probing, with particular gains on tasks where relevant neural patterns are subtle and easily obscured by artifacts. Controlled ablations against matched MAE variants confirm that the choice of pretraining objective, rather than architecture or data, is the primary driver of these gains.

Reinforcement Learning with Rubric Rewards (RLRR) is a framework that extends conventional reinforcement learning from human feedback (RLHF) and verifiable rewards (RLVR) by replacing scalar preference signals with structured, multi-dimensional, contextual rubric-based evaluations. However, existing approaches in RLRR are limited to linearly compressing vector rewards into a scalar reward with a fixed weightings, which is sensitive to artificial score design and fails to capture correlations among reward dimensions. To overcome the limitations of reward aggregation, this work proposes Alternating Reinforcement Learning with Rubric Rewards (ARL-RR), a framework that eliminates the need for a fixed scalarization by optimizing one semantic rubric meta-class at a time. Theoretically, we show that reward aggregation induces a variance contraction effect, which helps explain the performance gains. We further introduce a lightweight, search-based adaptation procedure that selects the next meta-class dynamically based on task performance, enabling the policy to emphasize critical objectives and thereby improve the model performance. Empirically, our experiments on the HealthBench dataset with experts annotations demonstrate that ARL-RR uniformly outperforms scalarized methods in both model performance and training efficiency across different model scales (1.7B, 4B, 8B, and 14B).

The goal of this paper is to strengthen the reasoning of Omnimodal Large Language Models (Omni-LLMs) at inference time, without additional training. These models jointly process video, audio, and text, and given the large number of tokens they consume, how attention is routed across them is central to their behaviour. We focus specifically on attention sinks, tokens that absorb a disproportionate share of attention mass regardless of their semantic content, to understand how this routing unfolds. To this end, we conduct a systematic analysis of sink behaviour in Omni-LLMs. Our analysis yields two key findings: (i) high sink attention does not solely indicate head redundancy, suggesting that sink value representations play additional functional roles; (ii) the sink value vector acts as a shared bias added to every token's output, serving as a global signal that organises the representation as a whole. Building on this, we propose OutRo, which correspondingly aligns non-sink token representations with the sink in feature space, and relaxes the causal mask for sink tokens at an early layer to sharpen this bias before the rest of decoding proceeds. This design enhances the reasoning process without requiring additional forward passes or access to attention maps. Based on extensive experiments, OutRo consistently improves performance on seven video QA benchmarks and demonstrates strong generalisation, while incurring only a 1.1x decoding overhead.

A pictorial chart is an effective medium for visual storytelling, seamlessly integrating visual elements with data charts. However, creating such images is challenging because the flexibility of visual elements often conflicts with the rigidity of chart structures. This process thus requires a creative deformation that maintains both data faithfulness and visual aesthetics. Current methods that extract dense structural cues from natural images (e.g., edge or depth maps) are ill-suited as conditioning signals for pictorial chart generation. We present ChArtist, a domain-specific diffusion model for generating pictorial charts automatically, offering two distinct types of control: 1) spatial control that aligns well with the chart structure, and 2) subject-driven control that respects the visual characteristics of a reference image. To achieve this, we introduce a skeleton-based spatial control representation. This representation encodes only the data-encoding information of the chart, allowing for the easy incorporation of reference visuals without a rigid outline constraint. We implement our method based on the Diffusion Transformer (DiT) and leverage an adaptive position encoding mechanism to manage these two controls. We further introduce Spatially Gated Attention to modulate the interaction between spatial control and subject control. To support the fine-tuning of pre-trained models for this task, we created a large-scale dataset of 30,000 triplets (skeleton, reference image, pictorial chart). We also propose a unified data accuracy metric to evaluate the data faithfulness of the generated charts. We believe this work demonstrates that current generative models can achieve data-driven visual storytelling by moving beyond general-purpose conditions to task-specific representations. Project page: https://chartist-ai.github.io/.

Hallucinations, the tendency for large language models to provide responses with factually incorrect and unsupported claims, is a serious problem within natural language processing for which we do not yet have an effective solution to mitigate against. Existing benchmarks for medical QA rarely evaluate this behavior against a fixed evidence source. We ask how often hallucinations occur on textbook-grounded QA and how responses to medical QA prompts vary across models. We conduct two experiments, the first experiment to determine the prevalence of hallucinations for a prominent open source large language model (LLaMA-70B-Instruct) in medical QA given closed-source zero-shot prompts, and the second experiment to determine the prevalence of hallucinations and clinician preference to model responses. We observed, in experiment one, with the passages provided, LLaMA-70B-Instruct hallucinated in 19.7\% of answers (95\% CI 18.6 to 20.7) even though 98.8\% of prompt responses received maximal plausibility, and observed in experiment two, across models, lower hallucination rates aligned with higher usefulness scores ($ρ=-0.71$, $p=0.058$). Clinicians produced high agreement (quadratic weighted $κ=0.92$) and ($τ_b=0.06$ to $0.18$, $κ=0.57$ to $0.61$) for experiments 1 and 2 respectively. Our findings indicate that, across all scales and architectures tested, current large language models remain unfit for unsupervised clinical deployment, and that human expert oversight is both necessary and the dominant cost driver.

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

We present a fully automated, two-stage modular glottal area segmentation framework for high-speed videoendoscopy (HSV) designed for accuracy, generalizability, and real-time playback. Our detection-gated pipeline combines a YOLOv8n glottis localizer with a U-Net segmenter; the localizer defines a tight crop to ensure a consistent field of view and gates the output to reduce spurious segmentations during glottal closure. The models were trained on the GIRAFE (N=600) and BAGLS (N=55,750) datasets. Cross-dataset portability was evaluated by benchmarking GIRAFE-trained models on the BAGLS test set without fine-tuning. In these evaluations, the pipeline achieved a Dice Similarity Coefficient (DSC) of 0.745 (87% of the in-domain ceiling). On in-distribution test sets, the system achieved DSCs of 0.81 (GIRAFE) and 0.856 (BAGLS), outperforming or competing with state-of-the-art methods. An exploratory clinical study of 40 subjects demonstrated that the glottal area Coefficient of Variation (CV distinguished healthy from pathological function (p=0.006). The system processes ~35 frames per second on commodity hardware, enabling interactive clinical review. This design supports uniform extraction of laryngeal kinematic measures across varying acquisition settings. Code, weights, and software are available at https://github.com/hari-krishnan/openglottal.

Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally scripted objectives. This dependence on predefined task specifications limits their capacity for long-term deployment in dynamic, unstructured environments where continuous human intervention is impractical. We propose that personality traits provide an intrinsic organizational principle for achieving persistent autonomy. Analogous to genotypic biases shaping biological behavioral tendencies, personalities enable agents to autonomously generate goals and sustain behavioral evolution without external supervision. To realize this, we develop PEPA, a three-layer cognitive architecture that operates through three interacting systems: Sys3 autonomously synthesizes personality-aligned goals and refines them via episodic memory and daily self-reflection; Sys2 performs deliberative reasoning to translate goals into executable action plans; Sys1 grounds the agent in sensorimotor interaction, executing actions and recording experiences. We validate the framework through real-world deployment on a quadruped robot in a multi-floor office building. Operating without reliance on fixed task specifications, the robot autonomously arbitrates between user requests and personality-driven motivations, navigating elevators and exploring environments accordingly. Quantitative analysis across five distinct personality prototypes demonstrates stable, trait-aligned behaviors. The results confirm that personality-driven cognitive architectures enable sustained autonomous operation characteristic of persistent embodied systems. Code and demo videos are available at https://sites.google.com/view/pepa-persistent/.

Preference-based reinforcement learning (PbRL) is the dominant framework for aligning AI systems to human preferences. However, evaluation protocols for such data were designed for text and have not been validated for speech. We present the first ICC-based, controlled cross-modal study of human and synthetic preference annotations, comparing text and audio evaluations of identical semantic content across 100 prompts. We show that achieving $\textit{good}$ agreement within either modality (ICC(2,$k$) $\approx$ .80) requires $\sim$9 raters. At the same time, modalities show marked differences in how people report preferences: audio raters exhibit narrower decision thresholds, reduced length bias, and more user-oriented evaluation criteria, with near-chance cross-modality agreement. We demonstrate that synthetic ratings can be used to effectively predict inter-rater agreement, thus serving as an early signal for stimulus selection and proxy for human annotations. Together, these findings argue that evaluation protocols for audio preference data require modality-specific design rather than direct adaptation from text.

Event cameras excel at high-speed, low-power, and high-dynamic-range scene perception. However, as they fundamentally record only relative intensity changes rather than absolute intensity, the resulting data streams suffer from a significant loss of spatial information and static texture details. In this paper, we address this limitation by leveraging the generative prior of a pre-trained video diffusion model to reconstruct high-fidelity video frames from sparse event data. Specifically, we first establish a baseline model by directly applying event data as a condition to synthesize videos. Then, based on the physical correlation between the event stream and video frames, we further introduce the event-based inter-frame residual guidance to enhance the accuracy of video frame reconstruction. Furthermore, we extend our method to video frame interpolation and prediction in a zero-shot manner by modulating the reverse diffusion sampling process, thereby creating a unified event-to-frame reconstruction framework. Experimental results on real-world and synthetic datasets demonstrate that our method significantly outperforms previous approaches both quantitatively and qualitatively. We also refer the reviewers to the video demo contained in the supplementary material for video results. The code will be publicly available at https://github.com/CS-GangXu/UniE2F.

While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex environments demands not only low-level robustness, but also human-like motion expressiveness, long-horizon skill composition, and perception-driven decision-making. In this paper, we present Perceptive Humanoid Parkour (PHP), a modular framework that enables humanoid robots to autonomously perform long-horizon, vision-based parkour across challenging obstacle courses. Our approach first leverages motion matching, formulated as nearest-neighbor search in a feature space, to compose retargeted atomic human skills into long-horizon kinematic trajectories. This framework enables the flexible composition and smooth transition of complex skill chains while preserving the elegance and fluidity of dynamic human motions. Next, we train motion-tracking reinforcement learning (RL) expert policies for these composed motions, and distill them into a single depth-based, multi-skill student policy, using a combination of DAgger and RL. Crucially, the combination of perception and skill composition enables autonomous, context-aware decision-making: using only onboard depth sensing and a discrete 2D velocity command, the robot selects and executes whether to step over, climb onto, vault or roll off obstacles of varying geometries and heights. We validate our framework with extensive real-world experiments on a Unitree G1 humanoid robot, demonstrating highly dynamic parkour skills such as climbing tall obstacles up to 1.25m (96% robot height), as well as long-horizon multi-obstacle traversal with closed-loop adaptation to real-time obstacle perturbations.

Class-incremental learning (CIL) with pre-trained models (PTMs) faces a critical trade-off between efficient adaptation and long-term stability. While analytic learning enables rapid, recursive closed-form updates, its efficacy is often compromised by accumulated errors and feature incompatibility. In this paper, we first conduct a systematic study to dissect the failure modes of PTM-based analytic CIL, identifying representation rigidity as the primary bottleneck. Motivated by this insight, we propose VILA, a novel dual-branch framework that advances analytic CIL via a two-level vision-language calibration strategy. Specifically, we coherently fuse plastic, task-adapted features with a frozen, universal visual anchor at the feature level through geometric calibration, and leverage cross-modal semantic priors at the decision level to rectify prediction bias. This confluence maintains analytic-learning's extreme efficiency while overcoming its inherent brittleness. Extensive experiments across eight benchmarks demonstrate that VILA consistently yields superior performance, particularly in fine-grained and long-sequence scenarios. Our framework harmonizes high-fidelity prediction with the simplicity of analytic learning. Our code is available at https://github.com/byzhaoAI/VILA.

Existing LLM test-time scaling laws emphasize the emergence of self-reflective behaviors through extended reasoning length. Nevertheless, this vertical scaling strategy often encounters plateaus in exploration as the model becomes locked into specific thinking pattern. By shifting from depth to parallelism, parallel thinking mitigates the narrowing of exploration. However, the extension of this paradigm to visual domain remains an open research question. In this paper, we first examine the role of visual partitioning in parallelized reasoning and subsequently propose two distinct strategies. Based on the above, we introduce Visual Para-Thinker, representing the inaugural parallel reasoning framework for MLLMs. To maintain path independence and promote diversity in reasoning, our approach integrates Pa-Attention alongside LPRoPE. Leveraging the vLLM framework, we have developed a native multimodal implementation that facilitates high-efficiency parallel processing. Empirical results on benchmark datasets such as V*, CountBench, RefCOCO, and HallusionBench confirm that Visual Para-Thinker successfully extends the benefits of parallel reasoning to the visual domain.

Reliable physics simulation demands two capabilities that today's neural PDE solvers do not deliver together: generalization across heterogeneous PDE families, and stability under long autoregressive rollouts. Deterministic operators accumulate error geometrically, while existing probabilistic solvers are confined to a single PDE family or short horizons. We close this gap with the \textbf{Latent Generative Solver} (LGS), three coupled components: (i) a Physics VAE (PhyVAE) compressing twelve PDE families into a shared latent manifold; (ii) a Pyramidal Flow-Forcing Transformer (PFlowFT) that generates the next latent by flow matching, conditioned on a per-trajectory context updated on the model's own predictions; and (iii) input noising during training, for which we derive a sufficient-condition contraction bound explaining the observed long-horizon stability. Pretrained on a 2.5\,M-trajectory, 16-system corpus at $128^2$, LGS matches the strongest deterministic baseline at one step, wins on 15/16 systems at both 5- and 10-step rollout, cuts 20-step L2RE from $56.1\%$ to $\mathbf{30.2\%}$, and uses $\mathbf{13}$--$\mathbf{77\times}$ less recurrent dynamics-step compute. It also adapts efficiently to a $256^2$ Kolmogorov flow held out from the pretraining corpus, dropping 1-step L2RE from $0.398$ to $0.129$ in five finetune epochs against U-AFNO's $0.653{\to}0.343$.

Continuous navigation in complex environments is critical for Unmanned Aerial Vehicle (UAV). However, the existing Vision-Language Navigation (VLN) models follow the dead-reckoning, which iteratively updates its position for the next waypoint prediction, and subsequently construct the complete trajectory. Then, such stepwise manner will inevitably lead to accumulated errors of position over time, resulting in misalignment between internal belief and objective coordinates, which is known as "state drift" and ultimately compromises the full trajectory prediction. Drawing inspiration from classical control theory, we propose to correct for errors by formulating such sequential prediction as a recursive Bayesian state estimation problem. In this paper, we design NeuroKalman, a novel framework that decouples navigation into two complementary processes: a Prior Prediction, based on motion dynamics and a Likelihood Correction, from historical observation. We first mathematically associate Kernel Density Estimation of the measurement likelihood with the attention-based retrieval mechanism, which then allows the system to rectify the latent representation using retrieved historical anchors without gradient updates. Comprehensive experiments on TravelUAV benchmark demonstrate that, with only 10% of the training data fine-tuning, our method clearly outperforms strong baselines and regulates drift accumulation.

Learning in structured, multi-context, or non-stationary environments involves two orthogonal difficulties. The first is \emph{metric}: once the correct context is known, how hard is prediction within it? This is the domain of Statistical Learning Theory (SLT). The second is \emph{structural}: how many local contexts are required, and how can they be discovered from data? This paper develops \emph{Structural Learning Theory} (StrLT) for the structural axis. We introduce \emph{width}, the minimum number of jointly contractive and low-risk cells needed to cover a learning problem. Width is incomparable with VC dimension: either can diverge while the other remains bounded. We show that width induces a \emph{phase transition}: if the allocated number of cells \(K<w\), learning suffers an irreducible structural error floor; if \(K\ge w\), the problem reduces to ordinary within-cell statistical learning. To estimate width, we introduce the \emph{contractive-similarity} (CS) operator, a task-adaptive graph kernel combining geometric locality with predictive compatibility. Its CS Laplacian exposes contractive basins through spectral separation. We further develop the \emph{metric slingshot}, which reuses low-dimensional latent contraction maps to reduce funnel-learning cost. Together, width, CS estimation, and the slingshot decompose learning into trap discovery and funnel generalization, with deep implications for continual and lifelong learning in an open-ended environment.