Large language models have shown impressive capabilities in code generation, yet they often produce functionally incorrect code. Uncertainty quantification (UQ) methods have emerged as a promising approach for detecting hallucinations in natural language generation, but their effectiveness for code generation tasks remains underexplored. We systematically evaluate how UQ techniques transfer to code generation across three programming languages, five LLMs, and over 1,700 problems. We find that some token-probability-based methods generalize effectively without modification, while sampling-based methods relying on natural language inference (NLI) fail because NLI models cannot distinguish functionally different code, causing most responses to collapse into a single semantic cluster. To address this, we introduce functional equivalence methods, a family of code-specific methods that replace NLI-based semantic equivalence with an LLM-based functional equivalence assessment, including functional entropy, a code-specific analog of semantic entropy. Functional equivalence methods achieve top AUROC in 11 out of 15 model-benchmark combinations and the best calibration across most settings, consistently outperforming both NLI-based counterparts and all other methods evaluated.

Low-Rank Adaptation (LoRA) has emerged as a promising paradigm for Continual Learning. It independently updates its low-rank factors ($A$ and $B$), creating a composite update to the full weight matrix through their interaction. To prevent catastrophic forgetting, this update should remain orthogonal to the task-specific subspace that contains previously learned knowledge. However, we identify that this composite update systematically violates this orthogonality, reintroducing interference and undermining stability. Furthermore, naively enforcing this orthogonality compromises plasticity, disrupting the delicate stability-plasticity trade-off. To resolve these issues, we propose \textbf{Janus-LoRA}, a framework that restores this balance through two novel components. Specifically, we first introduce Gradient Rectification, a closed-form solution that mathematically decouples LoRA's factor updates, enforcing orthogonality against the historical knowledge subspace identified by an efficient Online Estimation. Next, to enhance plasticity, we introduce a Decoupled Margin Loss that promotes feature-level separation by pushing new feature representations away from old ones, thus creating distinct, low-interference regions for new learning. Comprehensive experiments on challenging benchmarks demonstrate that by harmonizing parameter-level orthogonality with feature-level separation, Janus-LoRA achieves a superior balance and establishes new state-of-the-art performance.

We describe a new sense-tagged corpus for word sense disambiguation. The corpus is constituted of instances of 20 French polysemous verbs. Each verb instance is annotated with three sense labels: (1) the actual translation of the verb in the english version of this instance in a parallel corpus, (2) an entry of the verb in a computational dictionary of French (the Lexicon-Grammar tables) and (3) a fine-grained sense label resulting from the concatenation of the translation and the Lexicon-Grammar entry.

We study real-time audio-responsive character control as a deployment-faithful problem: strictly causal, bounded-latency streaming that must generate coherent full-body motion at interactive frame rates while the audio condition can change abruptly, including tempo shifts, drops, or user edits. Prior music-to-motion systems are largely optimized for offline generation with global context, and degrade in streaming rollouts where conditioning history becomes stale or unreliable. We introduce DiscoForcing, a streaming audio-driven diffusion framework that combines a causal music encoder that captures rhythmic structure and phase dynamics with a diffusion-forcing sequence model trained under heterogeneous noise levels across the temporal horizon. Building on this, we design a hybrid temporal schedule and a history-guided streaming sampler to explicitly trade off responsiveness against long-horizon consistency under non-stationary audio. Implemented in an end-to-end real-time interactive system with online avatar playback and humanoid deployment workflows, DiscoForcing delivers more stable long-horizon rollouts and sharper audio-motion alignment than prior baselines under matched causality and latency constraints while maintaining real-time throughput.

3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision that compresses a relational instruction into one selection. This is brittle for fine-grained queries where multiple same-class candidates must be ruled out by context objects and spatial relations. We propose Structured Spatial Reasoning 3D-LLM (SSR3D-LLM), a structured grounding interface for unified 3D-LLMs. Given fixed Mask3D object proposals, the LLM writes a sequence of latent spatial reasoning steps and memory tokens from the query, and a geometry-aware scorer reads these latent steps in order to refine candidate rankings step by step with step-length masking. The latent steps are learned from standard benchmark target supervision with auxiliary referential-cue supervision during training, while inference uses only the input query and Mask3D proposals. Across ReferIt3D, ScanRefer, and Multi3DRef, SSR3D-LLM achieves the strongest results among unified 3D-LLM baselines, with substantial gains over the single-pointer QPG baseline on fine-grained grounding and consistent improvements over prior unified 3D-LLMs, while preserving the default language-task route.

Materials process optimization requires reasoning over routes, conditions, tools and causal dependencies, yet most computational formulations flatten synthesis procedures into text or ordered steps. We introduce MatProcBench, a provenance-grounded benchmark constructed from literature-mined MatPROV graphs, to evaluate seven process-reasoning tasks spanning route continuity, step-level variable inference and global causal consistency under both same-split and shift-aware evaluation, including a strict dual-OOD split that combines temporal and material-class shift. We further introduce ProvMind, a process-memory reasoning framework that retrieves analogous training processes, converts them into provenance-aware option-level compatibility scores, and uses a language model for constrained final decision making. ProvMind achieves 52.84\% accuracy on the dual-OOD split, outperforming prompting, retrieval-augmented and supervised fine-tuning baselines.

Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, their control remains challenging due to indirect actuation, limited sensing, and nonlinear magnetic interactions. In this work, we propose Mag-VLA, a vision-language-action (VLA) model for dexterous magnetic microrobot manipulation using two robotic arms with mounted magnets for dynamic magnetic-field construction. Bimanual coordination enables capabilities such as microrobot reorientation that are difficult or infeasible with a single arm, but it also introduces coupled control challenges, as the policy must generate coordinated trajectories for both actuators within a shared workspace. Our framework adapts a Qwen2.5-VL-7B backbone using Low-Rank Adaptation (LoRA) to process visual observations and language instructions for action prediction. To capture task progression, we introduce a motion-aware phase classifier and a phase-conditioned Action Chunking Transformer (ACT) decoder for temporally coherent multi-step control. We further construct a teleoperated magnetic microrobot manipulation dataset covering three task configurations. Ablation studies show that the ACT-based decoder substantially outperforms alternative generative action heads. In real-robot experiments, Mag-VLA achieves a 90% approach success rate across all tasks and transport success rates of 80%, 70%, and 50% as task difficulty increases. These results demonstrate that hierarchical VLA modeling provides a promising framework for magnetic microrobot manipulation.

Composing finite-state transducers (FSTs) for context-dependent morphophonological rules -- consonant gradation, vowel harmony, possessive suffix assimilation -- leads to multiplicative state explosion; neural models sidestep the problem but provide no formal account of the rules themselves. We present the first framework where each morphophonological rule is a function from a focused local context to a single output segment -- the type of a local rule familiar from cellular automata -- and where length-changing rules compose as coKleisli arrows of a comonad. Our central contribution is the Writer comonad (DeletionSet x Zipper), a new algebraic construction that restores strict coKleisli compositionality for such rules: each rule is a coKleisli arrow, extend lifts it to a global transformation, and deletions accumulate as a monoid action rather than requiring intermediate materialization. As supporting evidence, thirteen coKleisli arrows provide an alternative formulation expressing the same morphophonological behaviors that Omorfi encodes via 874 continuation classes (67:1 reduction at the rule-representation level), and the same abstraction enables bidirectional morphology -- a MorphGenerator reuses the analysis arrows for generation. On UD Finnish-TDT, the system achieves 83.92% UPOS accuracy with rule-only disambiguation (94.66% with an external suffix tagger), validating the framework as a practical morphological engine.

Linking learning resources to a structured competency framework is key to enabling competency-based search and curriculum analytics in Learning Management Systems (LMS). However, manual tagging is labor-intensive, and fully automatic methods often lack transparency. In this paper, we present an end-to-end alignment pipeline that uses a large language model (LLM) as a constrained, evidence-producing tagger. LMS resources -both instructional content and assessments -are first segmented into meaningful pedagogical fragments. For each fragment, a small set of candidate competencies is retrieved from structured competency profiles enriched with graph-based context. The LLM then selects the most relevant competencies from this set and provides supporting evidence spans from the fragment text. These predictions are refined using the structure of the competency graph and aggregated at the resource level. We evaluate our approach on a dataset built from the Computer Science department's competency referential at the Université de Technologie de Compiègne (UTC), covering 22 competencies across multiple course materials. Our LLM+BM25+Graph (LBG) pipeline achieves strong results, with a micro-F1 of 0.57 and macro-F1 of 0.50 at the fragment level, 0.51 macro-F1 at the resource level, and an MRR of 0.82outperforming zero-shot and few-shot LLM variants, retrieval/similarity baselines, and supervised classifiers -while also producing more mechanically traceable evidence spans to support human auditing and educational analysis.

We present a hybrid robotic skin that combines electrical impedance tomography (EIT) with pneumatic tactile sensing to improve force reconstruction capability. The developed robotic skin is fabricated entirely by 3D printing and spray coating, making it affordable and easy to build. A Tikhonov-regularized inverse reconstruction, paired with per-pad pneumatic calibration, enables accurate large-area tactile sensing with a simple measurement scheme. For validation, we conducted load-cell indentation experiments; the results showed consistent force reconstruction across locations within a pad. Compared with an EIT-only baseline, sensitivity non-uniformity was also reduced, with the coefficient of variation decreasing from 0.31 to 0.14, indicating that the proposed approach addresses a longstanding limitation of EIT. We further demonstrated chest-mounted integration on a humanoid robot and found that the pneumatic signals remained reliable across diverse contact scenarios, including multiple simultaneous contacts on the same sensing pad. These results indicate a practical path toward accurate, scalable whole-body tactile sensing in real robotic systems.

As LLMs gain stronger reasoning capabilities, their extended chain-of-thought introduces new degrees of complexity for defending against adversarial jailbreaks and prompt injection. We study consistency training, a family of fine-tuning objectives that enforce identical behavior on clean prompts and adversarial rewrites, and evaluate its two main variants, output-level (BCT) and activation-level (ACT), across five reasoning models. We formulate both methods as a prompt injection defense and find ACT to be competitive with other training-based defenses while requiring only self-supervised pairs of clean and wrapped prompts. Our experiments also generalize both techniques within the jailbreak setting, demonstrating that ACT remains more robust to adaptive attacks. We also provide mechanistic evidence that ACT's defense against jailbreaks is encoded as a roughly linear shift in activation space at the assistant-turn boundary. After ACT training, we can recover a single steering direction that controls refusal on reasoning models with minimal effect on benign inputs. We find that ACT remains robust even when the model's chain-of-thought is replaced with a compliant trace from the undefended base model, pivoting to refuse prefilled jailbreaks. Together, these results suggest that supervising internal representations is a surprisingly effective and interpretable approach to various forms of safety training in reasoning models.

Divergent thinking is a core dimension of creativity, yet existing evaluations of Large Language Models (LLMs) treat them as single-turn text generations, failing to capture how an agent reasons through iterative interaction. To address this, we introduce MUTATE, an interactive benchmark designed to evaluate agentic divergent thinking at two levels: path-level, where an agent discovers multiple alternative paths to the same goal, and action-level, where individual actions require non-typical, mechanism-shifting object uses. Unlike success-only evaluations, MUTATE scores both completed paths and off-path attempts, capturing divergent reasoning that conventional success rates discard. Our experiments with frontier LLMs reveal a structural blind spot in existing frameworks: when exposed to immediate convergence pressure, they tend to fall into immediate action fixation, failing to improve action-level divergence. To overcome this, we propose ReDNA, which separates unconstrained divergent candidate generation from convergent constraint selection. ReDNA significantly outperforms prior methods across both divergence levels and generalizes effectively to an external creativity environment. We also confirm its success stems from a qualitative enhancement of resilient divergent reasoning rather than simple environmental exploration.

Legal Judgment Prediction (LJP) has become a core benchmark for evaluating AI in the criminal legal domain, but it only sees criminal cases that have already passed prosecutorial review and been formally indicted. As a result, LJP leaves a substantial blind spot in assessing criminal liability, overlooking cases involving insufficient evidence, no criminal liability, or guilt exempted from punishment. To fill this gap, we propose \textbf{Prosecution Decision Prediction (PDP)}, the first Legal AI task built around prosecutorial review, which classifies each case into prosecution or one of three non-prosecution decisions and reflects legal AI's capabilities in evidence evaluation, legal subsumption, and value-based discretion. We further construct \textbf{PDP-Bench}, a benchmark of 4{,}630 real Chinese prosecutorial decisions spanning 190 charges. Extensive experiments show that state-of-the-art LLMs perform substantially worse on PDP than on LJP and that mainstream enhancement routes fail to close the gap. Moreover, controlled RLVR interventions show that simple outcome rewards fail to produce generalizable PDP discrimination.

Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to collect successful catching trajectories and learn a low-dimensional kinodynamic trajectory manifold. At run time, the estimated object initial state is mapped directly to a reference catching trajectory without online nonlinear optimization. The trajectory is tracked with compliant control near contact for improved impact absorption and capture stability.

Multimodal manipulation detection aims to simultaneously identify forged image--text pairs and localize tampered regions, yet existing methods typically rely on memorizing isolated artifacts and struggle with imperceptible manipulation traces or domain shifts. Inspired by human comparative reasoning, we reformulate this task as a reference-grounded verification problem, where authenticity is assessed by comparing a query against retrieved authentic evidence. We propose REVEAL Reference-Enabled Verification for Evidence Analysis and Localization), a framework explicitly designed for this comparative paradigm. To support this paradigm, we construct a large-scale reference library comprising 170K authentic news image--text pairs featuring over 40K public figures. Technically, REVEAL employs a difference-aware fusion mechanism to capture fine-grained discrepancies between the query and retrieved evidence. Furthermore, we introduce a task-decoupled Mixture-of-Experts (MoE) architecture to jointly execute instance-level detection and fine-grained grounding, effectively mitigating optimization conflicts between these heterogeneous objectives. Extensive experiments demonstrate that REVEAL significantly outperforms state-of-the-art methods, and notably enables \emph{training-free domain adaptation} by simply updating the reference library, offering a robust and practical solution for detecting evolving misinformation. Code is available at https://anonymous.4open.science/r/REVEAL-Reference-A006.

Existing Visual Speech Recognition (VSR) systems commonly rely on left-to-right autoregressive decoding, which can force premature decisions on visually ambiguous tokens before sufficient context is available. We propose DLLM-VSR, to the best of our knowledge, the first Diffusion Large Language Model (DLLM)-based VSR framework, formulating transcription as iterative masked denoising with flexible-order decoding. With confidence-based unmasking, DLLM-VSR commits high-confidence positions early and uses the committed tokens as bidirectional context to refine ambiguous ones. To adapt DLLMs to VSR, we introduce a two-stage masked-denoising training strategy that separates visual-to-text content alignment from length modeling. We further observe a performance gap with oracle-length decoding, which assumes access to the true transcript length, indicating that reducing target-length uncertainty can improve DLLM-based VSR. To reduce this gap, we develop length-guided candidate decoding, which uses video duration to construct plausible transcript-length hypotheses, decodes under multiple hypotheses, and reranks candidates using length plausibility and decoding confidence. The proposed method achieves a state-of-the-art WER of 19.5\% on LRS3 using only its labeled training data.

Greedy Best-First Search (GBFS) is the dominant approach for solving search problems where the goal can be estimated with a heuristic, such as planning, route finding, navigation, and pathfinding. This is especially true when the memory is tightly constrained, such as planning on edge devices. To alleviate that, we present GONDOR (Greedy Online Navigation with Dynamic Outpost-based Re-search), a memory-efficient extension of GBFS that allows search to continue under strict memory limits by periodically compressing the search tree while retaining a sparse set of anchor states, then upon reaching the goal reconstructs the path by re-searching between the sparse states. We analyze the algorithm and discuss several variants defined by different outpost selection policies. In addition, we explore using Bloom filters for compact duplicate detection in the closed list. Experiments across numeric planning domains and heuristic configurations show that GONDOR consistently improves coverage under low memory budgets compared to standard GBFS. We release the implementation of GONDOR and the Bloom-filter variant to facilitate further research on memory-efficient heuristic search.

Visual data from the Web power image classifiers, which often underpin many web services, such as recommendation and content moderation. However, the raw Web data often contain spurious correlations and social biases, and neural networks are known for their tendency to learn biases present in data. This can reinforce unfairness in web services and the web data, leading to a vicious cycle. In the context of image classification, networks learn bias attributes for a specific class when a majority of images contain the same attribute only for a given class. Hence, training a fair and debiased classifier from a biased dataset demands handling an imbalanced problem between a majority of images with bias attributes (bias-aligned samples) and a minority without (bias-conflict samples). In this work, we introduce BiasEdit, a modular framework that automatically detects bias attributes from the original dataset and edits them to construct a debiased dataset. Specifically, BiasEdit first detects unknown bias attributes via statistical dependence and mutual information analysis of visual-linguistic representations, and then explicitly edits those attributes using text-guided image editing to generate realistic bias-conflict samples. Unlike prior works that assume known bias attributes or relies on synthetic mixing, our method operates without manual annotations and can leverage off-the-shelf vision-language and editing models. BiasEdit addresses a fundamental challenge in Web-sourced visual AI, mitigating dataset-induced bias and achieving state-of-the-art debiasing performance even when training data are fully biased.

Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic teleoperation frameworks for complex-shaped optical microrobots remain underdeveloped, particularly in multi-trap manipulation scenarios. This paper presents a digital twin framework for virtual visuo-haptic teleoperation of complex-shaped OT-driven microrobots. The framework integrates a digital twin environment, image-based pose and depth estimation, microrobot motion simulation, and model-based haptic rendering within a Robot Operating System (ROS)-connected bimanual teleoperation system. For force modeling, we combine a Multi-Sphere Distributed Manipulation (MSDM) model with optical-force estimation from the Optical Tweezers Toolbox, enabling simulator-driven visuo-haptic feedback. The framework reproduces representative microrobot motion trends and provides haptic force rendering that is numerically consistent with the fitted optical-force model. In simulated cell-delivery tasks, haptic feedback reduced the standard deviations of the contact-force metric and the microrobot-to-trap-center distance metric by 53.2% and 55.2%, respectively, and improved task success from 30% to 80%. These results demonstrate the framework's effectiveness for evaluating visuo-haptic teleoperation strategies for complex-shaped optical microrobots.

Fine-tuning large-scale pre-trained models is a recent prevalent paradigm for adapting general representations to specialized tasks. However, when a new version of a pre-trained model becomes available, expertise acquired through fine-tuning cannot be directly reused because it is tied to the parameterization of the original model, requiring another costly fine-tuning. To address this inefficiency, recent work uses task vectors, defined as the parameter difference between a fine-tuned model and its base model, to transfer expertise across models. While existing methods bridge disparate models by matching activations or gradients, a significant performance gap remains relative to direct fine-tuning, suggesting that these partial correspondences are insufficient. In this work, instead of viewing a task vector merely as a parameter offset, we revisit the formation of task vectors and show that they can be derived as accumulated bilinear interactions between input-side activations and output-side gradients. Motivated by this observation, we formulate task-vector transfer as a dual-space alignment problem and propose BiCo, a training-free framework for transferring task vectors through Bilinear Coordinate alignment. BiCo estimates orthogonal Procrustes mappings in both spaces using a single forward-backward pass on a small calibration set, without any parameter update. Across extensive computer vision and natural language processing benchmarks, BiCo consistently outperforms existing transfer methods across models that differ in width, depth, and pre-training configuration.

While Contrastive Learning (CL) has revolutionized self-supervised representation learning, its latent representations remain highly entangled and opaque, limiting their interpretability in safety-critical applications. We identify that a fundamental cause of this entanglement is the reliance on deterministic similarity measures, which treat all feature dimensions equally. In compositional scenes, this creates an Optimization Conflict: common background features, such as, "blue sky", are encouraged to align in positive pairs but simultaneously repelled in negative pairs, causing gradient oscillations that hinder precise semantic disentanglement. To address this, we propose BayesNCL (Bayesian Gated Non-Negative Contrastive Learning). Unlike standard approaches, BayesNCL introduces a probabilistic gating mechanism that dynamically filters out task-irrelevant, high-frequency common features while selectively retaining discriminative semantics. By formalizing feature selection as a variational inference problem with a sparse Bernoulli prior, our method effectively resolves the optimization conflict. Empirical experimental results on Imagenet-100 demonstrate that BayesNCL achieves a remarkable 142.1% improvement in semantic consistency compared to state-of-the-art baselines, yielding highly interpretable representations without compromising downstream task performance. Code is available at https://github.com/Cui-Peng-624/BayesNCL.

DPO has become a widely adopted alternative to RLHF for aligning LLMs with human preferences, eliminating the need for a separate reward model or RL loop. Recent theoretical analysis uncovers an asymmetric gradient behavior in DPO: the loss suppresses dispreferred responses substantially faster than it promotes preferred ones, causing the model to learn to avoid bad answers rather than to generate good ones. We propose AdaDPO, a Self-Adaptive variant of the DPO algorithm that introduces per-preference-pair, stop-gradient-based coefficients derived directly from the policy model's generation probabilities, with the reference model's probabilities as an optional component. AdaDPO is constructed to enforce equality of gradient magnitudes between preferred and dispreferred probabilities; the practical implementation balances per-token gradients and applies a numerical clipping bound for stability, while retaining DPO's original hyperparameter structure. On Llama-3-8B-Instruct trained on UltraFeedback under a SimPO similar setup, AdaDPO consistently outperforms DPO on AlpacaEval 2: it achieves higher length-controlled win rates (LC) in 81% of hyperparameter combinations, attains the global best LC (48.3%) and raw win rate (46.1%), and enlarges the LC-over-WR margin in 88% of combinations, indicating effective mitigation of length bias. Additional analyses on KL divergence, reward margin, and reward accuracy confirm that AdaDPO rectifies the gradient imbalance and yields more efficient optimization. Because it operates purely at the loss level, AdaDPO can be dropped into existing preference-based alignment pipelines without changing data collection or model architectures. The method requires only a few lines of code, and the same self-adaptive principle generalizes to a broad family of pairwise contrastive preference losses including SimPO, R-DPO, IPO, CPO, and ORPO.

Automatic Speech Recognition (ASR) systems are commonly evaluated using aggregate metrics such as Word Error Rate (WER), which do not capture the linguistic structure of errors. Fine-grained analysis, such as Part-of-Speech (PoS)-wise error characterization, requires accurate alignment between ASR hypotheses and reference transcriptions. However, existing alignment tools are often unreliable for languages written in non-Latin scripts. In this work, we address this gap by proposing a robust, automated, language-agnostic alignment mechanism applicable across ASR architectures and across languages written in both Latin and non-Latin scripts. This enables consistent alignment of hypotheses, references, and evaluation sequences, forming the basis for downstream linguistic analysis. Building on this, we employ standard PoS taggers to perform scalable and reproducible PoS-wise error analysis. Notably, we perform alignment and downstream ASR error analysis across three major segmented writing systems, namely, Abugida (Tamil, Hindi, Kannada), Alphabetic (English, Russian, Greek), and Abjad (Arabic). We further demonstrate how such error information can be leveraged during ASR training to improve metrics such as WER.

Role-based LLM multi-agent systems need adaptive role pools, yet adapting such systems is not merely a matter of prompt optimization: roles often carry structural obligations, including capability coverage, message compatibility, validation, final-answer aggregation, and parser-compatible output protocols. Existing systems either fix the role inventory and lose adaptivity, or allow unconstrained generation to induce role drift, removing structurally necessary roles and breaking answer contracts. We formulate this as contract-preserving role evolution, requiring every committed edit to preserve five structural contracts (capability, communication, validation, aggregation, output protocol). We instantiate this formulation in SERO, a Self-Evolving Role Orchestration framework that evolves a typed role-card pool through credit-guided retrieval, a credit-ranked communication DAG with a protected terminal aggregator and conditional validator repair, and a contextual-bandit controller whose LLM-proposed edits are committed only when they preserve the contracts and improve task score. Experiments on real-world reasoning benchmarks across three LLM backbones confirm the value of contract-preserving role evolution.

Detecting subtle visual anomalies in images remains challenging, particularly when only normal samples are available a priori. Such unsupervised anomaly detection is typically solved by measuring feature similarity of a query patch to a memory of normal patches. However, similarity alone does not reveal how strongly a query patch violates the structure of the normal feature manifold. We propose a training-free Laplacian graph energy optimization formulation, named ANoCo that scores Anomaly by the cost of Non-Conformity of a query patch to align with a fixed normal manifold. For each query patch, we construct a bipartite query to normal graph weighted by cosine affinity, explicitly removing query-query and normal-normal edges to prevent evidence dilution. We formulate anomaly scoring as a convex Laplacian energy with anchored normal nodes, and solve in closed form. In particular, we do not use the optimized features themselves-the anomaly score is the magnitude of the update required to satisfy normality constraints, reframing the graph Laplacian as a non-conformity operator rather than a smoothing prior. The proposed method introduces no learnable parameters, message passing, or sampling, and has complexity comparable to a single linear solve. Across standard benchmarks, it delivers strong image-level AUROC, stable localization maps, and improved robustness over prior methods, demonstrating the effectiveness of using optimization-induced feature drift as anomaly measure.

Diffusion models have emerged as powerful generative approaches for missing-data imputation, yet most existing methods operate directly in data space and degrade when training data are heavily incomplete. We investigate whether shifting diffusion to a learned latent representation improves robustness under missing-completely-at-random (MCAR) corruption. To this end, we propose a two-stage framework: a robust VAE-based imputer first learns compact semantic features from incomplete observations, and a diffusion model is then trained in the resulting latent space. Across training missing rates, we perform a controlled comparison against pixel-space diffusion models under the same incomplete-data setting. The latent diffusion model maintains high sample quality and remains stable up to 50\% missingness, while pixel-space diffusion degrades progressively as missingness increases. For downstream imputation, latent diffusion also achieves consistently better performance than pixel-space diffusion. These findings indicate that latent-space modeling mitigates artifact amplification from zero-imputed inputs and provides a more robust generative prior for incomplete-data learning. Overall, our results support latent diffusion as a strong and practically useful alternative to pixel-space diffusion for missing-data problems.

Equipping large language models with explicit skills has emerged as a promising paradigm for enabling autonomous agents to solve complex tasks. Agent skills can be inherently divided into general skills for broad cognitive transfer and task-specific skills for dynamic execution. However, existing skill-based reinforcement learning (RL) methods typically force a rigid choice between full externalization, which incurs prohibitive context overhead, and full internalization, which risks overfitting and knowledge conflicts. To address this dilemma, we propose Skill0.5, a novel agentic RL framework that explicitly differentiates skill treatments by combining general skill internalization with task-specific skill utilization. Driven by a dynamic, difficulty-aware router, Skill0.5 streams tasks into distinct mastery tiers to apply tailored optimization strategies: it internalizes general skills via privileged distillation to build a cognitive foundation for hard tasks, while using diagnostic probing on easy tasks to penalize shortcuts and enforce specific skill utilization. Experiments on ALFWorld and WebShop demonstrate that Skill0.5 outperforms both memory-based and skill-based RL baselines, yielding performance improvements across both in-distribution and out-of-distribution scenarios.

Latent reasoning enables reasoning over continuous hidden states rather than explicit tokens, avoiding the language bottleneck and inference overhead of chain-of-thought for medical VQA. However, existing methods suffer from modality collapse, insufficient visual supervision, and train-inference mismatch. Moreover, their opaque latent states offer no interpretability, which is critical in clinical applications. We propose VITAL, a latent-space reasoning framework for medical MLLMs with visual-semantic dual supervision: an auxiliary text decoder reconstructs reasoning chains from latent states, while a visual projector regresses ROI features from a frozen, independent medical vision encoder. Both modules are discarded at inference with zero overhead, yet can be re-attached post-hoc for dual interpretability, providing textual and visual explanations of the reasoning process without sacrificing efficiency. We construct a 61K dataset spanning 9 imaging modalities, exceeding prior medical visual latent reasoning datasets by an order of magnitude. Experiments on 7 benchmarks show that VITAL consistently and substantially outperforms the backbone, all latent reasoning baselines, and medical MLLMs trained on far larger data, achieving state-of-the-art results competitive with trillion-parameter proprietary models.

Reinforcement learning has become a central paradigm for advancing reasoning in large language models, yet most existing methods still depend on stronger teacher models or heavily curated difficult datasets, limiting scalable capability improvement. In this paper, we introduce DenoiseRL, a reinforcement learning framework that substitutes external supervision with recovery-oriented optimization over failures from weak models. Instead of relying on stronger supervision or carefully engineered data, DenoiseRL learns directly from incorrect reasoning traces by converting them into opportunities for improvement, making training more scalable and less dependent on external resources. This yields a richer and more diverse learning signal, improving exploration efficiency from imperfect model behavior. As a result, DenoiseRL improves reasoning performance and overall training efficiency while reducing the need for expensive data curation or stronger teacher models. Empirically, DenoiseRL consistently outperforms strong on-policy RL baselines across competitive mathematical and general reasoning benchmarks and promotes stronger self-corrective behavior as training difficulty increases, highlighting an effective and scalable alternative pathway for improving reasoning in large language models.

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor fusion framework for natural physical human-robot interaction. Tactile cues from pneumatic skin pads serve as contact indicators that bypass the ambiguity between frictional residues and applied external forces, enabling highly sensitive contact detection without explicit friction identification. We fuse these cues with motor-current-based proprioception to reconstruct multi-axis contact forces on the robot surface. To maintain accuracy during motion, we employ a temporal convolutional network (TCN) to mitigate friction hysteresis during stick-slip transitions, reducing uncertainty at contact onset and yielding smooth, responsive guidance. We validate the approach on a skin-integrated robot arm: (i) multi-axis forces are reconstructed in stationary contacts, and (ii) simultaneous force estimation and kinesthetic teaching are demonstrated. Results indicate improved sensitivity and responsiveness across diverse contact conditions compared with tactile-only and proprioceptive-only baselines, supporting tactile-proprioceptive fusion as a reliable pathway to safe, intuitive physical human-robot interaction.