Training modern machine learning models increasingly requires computation to be distributed across many accelerators. Data parallelism remains the default choice and is often paired with tensor-parallel sharding, but model parallelism becomes unavoidable once parameters, activations, or optimizer states no longer fit on a single device. This paper studies pipeline model parallelism through the lens of PipeDream (PD) (Harlap et al., 2018). Our first contribution is theoretical: we introduce Randomized PipeDream (RPD), a stale block-SGD abstraction that yields, to our knowledge, the first clean nonconvex convergence guarantee for a PD-style method. Our second contribution is a scaling diagnosis: we prove that the delay induced by steady-state PD grows as $S^2 - S/2 + O(1)$ for $S$ stages, so the stale-read contribution in the convergence theorem scales as $Θ(γ^2 S^4)$, equivalently as $Θ(S^4/K)$ in the tuned-rate form. Our third contribution is a comparison with LocalSGD, whose periodic model averaging trades weight staleness for synchronization bubbles. In our reported simulated-time experiments, the better-performing method depends on the objective: PD performs better on the quadratic objective and on a small language-modeling training-loss task, while for logistic regression LocalSGD becomes superior as the number of stages increases.

Heterogeneous graph neural networks (HGNNs) have demonstrated remarkable performance in modeling complex relational data, however their interpretability in high-stakes applications remains a critical challenge. Existing explanation methods suffer from two major limitations: on the one hand, the generated explanations fail to reflect the inherent semantic hierarchy of HGNNs, resulting in a lack of fidelity to the model's internal decision-making mechanism; on the other hand, feature explanations often rely on complex search or perturbation mechanisms, leading to excessive computational complexity and poor efficiency. To address these issues, we propose HiSE, a lightweight feature-oriented interpretable model for HGNNs. HiSE achieves semantically aware feature explanations through hierarchical semantic modeling: at the semantic level, local surrogate models based on the Least Absolute Shrinkage and Selection Operator (LASSO) are employed to learn sparse feature representations under each semantic view; at the cross-semantic level, the contributions of different semantic views are adaptively characterized via KL divergence to produce a unified explanation. Extensive experiments demonstrate that HiSE outperforms existing methods in terms of fidelity, robustness, and cross-semantic explanation capability, while its lightweight framework incurs low computational overhead, enabling efficient application to large-scale, complex real-world heterogeneous graphs.

Neural networks suffer from shortcut learning, where learned features generalize well to the training set but not to in-distribution (ID) or out-of-distribution (OOD) test sets. Existing studies are all based on a few standard benchmarks, which are shape-driven. Numerous application domains, however, are texture-driven. In this work, we present shortcut learning analysis for texture-driven domains, and compare it with that of a standard benchmark. We show that texture-driven domains suffer from low-frequency shortcuts. They make the majority of their decisions based on a few low-frequency components (LFCs) with a skewed spectral behavior, despite that their classification information is in higher-frequency, fine-grained details. Pruning LFCs from training and test sets eliminates the shortcut and provides a more balanced spectral behavior, improving the ID accuracy by up to 8%. We show that low-frequency shortcuts make the models highly vulnerable to OOD corruptions, leading up to 70% accuracy drop compared to the ID accuracy. Pruning LFCs significantly improves robustness to low-frequency corruptions, by up to 40%, and introduces a trade-off for high-frequency corruptions; the balanced spectral behavior provides a better generalization performance, whereas the increased dependence on high-frequency features reduces it. OOD accuracy depends on the interaction between these two factors.

Modern action recognition models operate on memory- and compute-intensive dense RGB video volumes and frequently exploit appearance and background shortcuts, for example, predicting actions from objects or scenes instead of characteristic motion. We investigate an efficient alternative input modality that is largely free of such biases by construction: sparse point trajectories. To this end, we develop a simple transformer architecture for 2.5D trajectory-based recognition together with a masked-trajectory pretraining, which we show to substantially improve downstream action recognition accuracy. Despite using only a fraction of the dense RGB input, our method reaches 45% top-1 on Something-Something V2 and 54% on EPIC-Kitchens-100, and surpasses V-JEPA on time-reversal sensitivity. More importantly, we find trajectory features to be complementary to state-of-the-art appearance-based features. Fusing our pretrained model with DINOv2 and V-JEPA 2 improves top-1 accuracy on Something-Something V2 by 8.7 and 1.6 points, respectively. Code: https://github.com/ecker-lab/TrAction

Hyper-Connections (HC) replace the single Transformer residual stream with multiple streams, introducing a permutation symmetry over stream indices. We study how this symmetry is resolved in practice: whether streams specialize in a balanced way or exhibit dominant-stream usage. Using fine-grained diagnostics for HC-based language models, we trace how multi-stream representations are actually used. We find that after an early seeding stage, residual mixing often remains close to identity, limiting a core HC mechanism for exchanging information between streams. Moreover, both signal and interpretable features concentrate in a dominant stream, and the nominally multi-stream residual connection can underutilize its capacity, behaving closer to a single-stream residual pathway. Finally, we show that breaking symmetry at stream initialization reduces dominant behavior and improves performance across \textit{m}HC variants. Our code is publicly available.

Dynamic 3D Gaussian Splatting (3DGS) methods reconstruct time-varying scenes from synchronized multi-camera video using photometric supervision. When a moving object becomes fully occluded from all training cameras, this supervision vanishes: the Gaussians representing it receive no gradient signal and degrade. Existing approaches to incomplete observations in neural reconstruction rely on learned generative priors that prioritize visual plausibility over physical correctness. We propose $\textbf{PersistGS}$, a method that restores object permanence during occlusion by coupling differentiable rigid body simulation with 3D Gaussian Splatting. Our approach decomposes the scene into per-object Gaussians and collision meshes, estimates friction and velocity from the observed pre-occlusion trajectory via differentiable simulation, and uses the resulting SE(3) trajectory to position object Gaussians throughout the occlusion period. Because the predicted trajectory satisfies the governing equations of rigid body dynamics, it faithfully captures contact events (bounces, friction-based deceleration, direction changes) that kinematic extrapolation cannot model. We introduce a centroid silhouette loss that isolates positional gradients from appearance noise, yielding 40% lower trajectory error than photometric supervision. We evaluate using cameras withheld from training that observe the object during its occlusion. Experiments on synthetic scenes show that PersistGS outperforms constant velocity extrapolation by +2.46dB PSNR and comes within 0.19dB of a ground-truth trajectory upper bound.

Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents Human2Humanoid, an unsupervised motion retargeting framework that transfers human motions to humanoid robot behaviors with high fidelity. To bridge the domain gap under unpaired data, we adopt a CycleGAN-based architecture equipped with a skeleton-aware graph convolutional network to capture topology-dependent motion features. To address cross-domain scale mismatches, we introduce a morphology-invariant end-effector consistency loss that aligns normalized end-effector trajectories to preserve motion semantics across embodiments. To improve physical plausibility and reduce contact artifacts, we impose explicit physics-aware feasibility constraints to encourage reproduction of the contact patterns in the source motion. Experimental results show that the proposed method successfully retargets human motion to the Unitree G1 humanoid robot without paired data, and outperforms existing methods in both downstream controllability and physical feasibility.

We introduce Dual Face-Hair Retrieval (DFHR), a new mixed-modality dual-reference task in image retrieval where a query consists of a face image specifying identity and a hairstyle reference expressed as either an image or text. Unlike prior retrieval settings, DFHR requires cross-component reasoning between two semantically independent attributes -- identity and hairstyle -- originating from heterogeneous modalities. This formulation demands localized feature disentanglement, cross-modal semantic alignment, and mixed-modality composition within a unified embedding space. We construct DFHR-Bench, the first benchmark for mixed-modality face-hair retrieval, comprising over 180K annotated triplets across dual-image and image-text settings, built via a multi-stage annotation protocol ensuring semantic and identity integrity. We further propose MFHC (Multimodal Face-Hair Combiner), a unified framework that fuses disentangled identity and hairstyle embeddings through token injection and multi-view supervision. DFHR and DFHR-Bench together establish a new paradigm for identity-aware, attribute-controllable visual retrieval across modalities.

LLM-based multi-agent systems exhibit remarkable collaborative capabilities in complex multi-step tasks. However, these systems are highly sensitive to single-step execution errors that can propagate through agent interactions and lead to cascading failures. To understand the causes of failure and improve system reliability, failure attribution has been introduced as a task that aims to automatically identify the root cause step responsible for a failure. Existing failure attribution methods mainly rely on LLMs to reason over original execution trajectories, which not only incur high inference costs and latency, but also suffer from interference caused by redundant and noisy execution logs, causing LLMs to struggle in accurately identifying the true root cause step. To address this, we propose StepFinder, a lightweight failure attribution framework. We use LLMs solely during the feature construction phase to encode execution logs into temporal semantic sequences. Subsequently, a parameter-efficient combination of temporal modeling and attention modules is applied to capture the sequential evolution and cross-step dependencies of the trajectories. Finally, the step-level error score is refined through multi-scale differences and position bias, enabling precise root cause identification. Experimental results on the Who&When benchmark demonstrate that StepFinder outperforms LLM-based methods in step-level failure attribution while achieving substantially higher inference efficiency, reducing inference time by 79% compared with the fastest LLM-based method, with no text generation overhead. Our code is available at https://github.com/taiyu-zhu/StepFinder.

Post-training compression is essential for deploying large language models (LLMs) under tight resource constraints. Tensor decompositions have emerged as a promising direction, offering compact parameterizations well suited to Transformer weight structures. However, existing studies evaluate these methods in narrow settings, leaving unclear whether tensorization is effective at large-scale deployment. We systematically evaluate tensor compression across dense and MoE architectures, establishing performance trade-offs grounded in both empirical analysis and theoretical analysis. We identify a fundamental mismatch between the shared subspaces assumed by tensor decompositions and the heterogeneous representations learned by modern LLMs, thereby delineating their practical limits and clarifying their viable role in large-scale deployment. The code is available at https://github.com/brain-lab-research/TT-LLM.

Conversational AI agents require memory systems that are both scalable and semantically coherent across long interaction horizons. Existing approaches rely predominantly on large language model (LLM)-based summarisation at write time, which introduces non-determinism, escalating token costs, and opacity in pruning decisions. We present the Deterministic Memory Framework (DMF), a CPU-first approach that replaces generative memory compression with a fully deterministic pipeline grounded in classical NLP analysis, vector geometry, and mathematical scoring. DMF assigns each conversational interaction a Survival Score $Ω$ computed from deterministic content signals, conversational cues, and structured provenance, combined through a logistic projection. An interaction-count decay law, denoted as $Ω_{\mathrm{eff}}(Δn)$, governs how relevance evolves as new turns arrive, where $Δn$ is the number of newer interactions rather than wall-clock time, preserving full determinism. We present the mathematical formulation of DMF, its structured recall pipeline, the pruning decision procedure, and the evaluation protocol. Experiments are conducted on a purpose-built benchmark using the LoCoMo and LongMemEval datasets. We compare DMF against Mem0, a popular memory layer for AI agents. DMF achieves comparable accuracy while using zero tokens to prepare the memory context and 5x to 242x fewer tokens over the entire conversation. These results show that it is possible to eliminate LLM calls from the memory-management loop, reducing token costs to nearly zero and enabling deterministic memory systems for conversational AI agents.

Graph neural networks have achieved strong performance on graph-structured data, but their effectiveness depends heavily on the quality of the observed graph. In real applications, graph topology is often imperfect: noisy edges may connect unrelated nodes, while missing edges may prevent useful information from being propagated. Existing robust graph learning methods mainly address this problem by removing suspicious edges or by learning a new graph structure during training. However, edge removal alone cannot recover missing connections, and graph structure learning may introduce additional optimization complexity. In this paper, we propose Topology-Aware Gaussian Repair (TAGR), a simple graph repair framework for robust message passing in graph neural networks. Instead of learning a dense adjacency matrix, TAGR constructs a sparse feature-neighborhood graph using an adaptive Gaussian kernel and combines it with a topology-aware residual correction of the observed graph. The Gaussian repair component introduces auxiliary edges between feature-similar nodes, while the residual correction preserves and reweights the original topology according to local feature and structural consistency. The repaired graph can be used directly with standard graph neural networks without changing their architectures. Extensive experiments on benchmark citation networks show that TAGR improves the robustness of GNNs under both noisy-edge and missing-edge settings. The analysis further show that Gaussian feature-neighborhood repair provides the main robustness gain, while topology-aware residual correction improves stability when the observed graph is incomplete. These results suggest that effective graph robustness can be achieved through lightweight sparse graph repair rather than dense graph structure learning.

Stronger code agents are commonly assumed to be superior teachers for post-training, yet this assumption remains poorly disentangled from task difficulty, harness design, and student capacity. We investigate this pedagogical link using Terminal-Lego, a scalable pipeline that transforms multi-domain real-world issues into environment-verified agentic tasks. Surprisingly, standalone performance does not dictate teaching efficacy: while Claude Opus 4.6 achieves higher scores on Terminal-Bench 2.0, students fine-tuned on trajectories from DeepSeek-V3.2, a lower-scoring agent, exhibit significantly stronger generalization. We attribute this "pedagogical paradox" to Environment-Grounded Supervision (EGS): trajectories that explicitly expose inspect-act-verify behaviors through harness-visible interactions allow students to internalize robust problem-solving routines rather than fragile action sequences. Scaling analysis reveals exceptional data efficiency: with only 15.3k Terminal-Lego trajectories, for example, Qwen3-32B achieves a 24.3% score on Terminal-Bench 2.0, rivaling previous SOTA performance established with over 30x the data volume. Our results suggest that the frontier of agent post-training lies beyond mere outcome-matching, shifting the focus toward "Harness Engineering", where the systematic design of environment-grounded interaction structures serves as the primary catalyst for reproducible and generalizable agentic intelligence.

We study the assignment of local tonalities to chord sequences, a task useful for harmonic analysis, composition, and jazz-oriented improvisation. Standard dynamic-programming approaches minimize modulations but can introduce unnecessarily many tonal centers. We compare this transition-only objective with pure minimum-vocabulary analysis and with tonal parsimony, which minimizes lexicographically the number of modulations and then the number of distinct tonalities. Although this joint objective is combinatorially hard in general, we give exact algorithms exploiting the fixed 24-tonality major/minor universe. On 31,032 LMD Chords sequences, tonal parsimony preserves the transition optimum while reducing tonal vocabulary in 55.8% of cases. With weighted jazz-substitution closure, it lowers mean tonalities from 3.802 to 3.206 and modulations from 16.728 to 12.141. On 1,555 annotated jazz standards, it improves compatible chord-scale agreement to 95.6%, supporting tractable professional-scale harmonic analysis.

Test-time scaling is a powerful approach to obtain better reasoning in large language models, but it becomes memory-bottlenecked during long-horizon decoding, as the KV-cache grows. KV-cache quantization can help improve this, but current methods are evaluated under prefill-like settings and errors behave differently under autoregressive decoding. We show that in the latter regime, quantization errors accumulate across timesteps, driven primarily by incorrect token scales. We introduce KVarN, a calibration-free KV-cache quantizer that applies a Hadamard rotation followed by a dual-scaling variance normalization across both axes of the K and V matrices. We find that this combination fixes outlying token-scale errors and substantially reduces error accumulation over existing baselines. KVarN establishes a new state-of-theart for KV-cache quantization on generative benchmarks, including MATH500, AIME24 and HumanEval, at 2-bit precision. A vLLM implementation of the KVarN method is available at https://github.com/huawei-csl/KVarN

Unifying the complementary strengths of diverse Vision Foundation Models (VFMs) into a single efficient model is highly desirable but challenged by the negative transfer inherent in monolithic distillation. To address these feature conflicts, we introduce \textbf{PRISM}, a novel dual-stream Mixture-of-Experts (MoE) framework that synergizes VFMs via modular specialization. We propose a two-stage paradigm: (1) expertise deconstruction, where a teacher-conditional router guides experts to specialize in distinct representational subspaces to mitigate interference, followed by (2) dynamic recomposition, where the router learns to assemble these experts into tailored computational pathways for downstream tasks. Experiments on PASCAL-Context and NYUD-v2 show that \textbf{PRISM} establishes a new state of the art, validating that sparse, emergent specialization is a scalable approach for integrating diverse visual knowledge.

Prior work has shown that instruction-tuned large language models (LLMs) are less well calibrated than their base pre-trained counterparts. However, little is known about the frequently used chat template's effect on the calibration of conversational LLMs. In this work, we investigate the mechanisms driving this miscalibration by decoupling the effects of the post-training algorithm and the chat format. We find that, while instruction tuning fundamentally harms calibration, the chat template aggravates the issue through an "ownership bias" -- models are significantly more confident in their own answers than in identical answers provided by a user. Extensive experiments across six recent open-weight LLMs, three benchmarks, and three confidence elicitation methods show that models assign up to 26% higher confidence to their own responses. Leveraging this insight, we propose a simple inference-time strategy: framing the model's answer as user input during confidence elicitation. This approach significantly reduces overconfidence and improves calibration by up to 26% without the need for retraining, narrowing the gap between base and instruction-tuned models.

Cell Painting combines multiplexed fluorescent staining, high-content imaging, and quantitative analysis to generate high-dimensional phenotypic readouts to support diverse downstream tasks such as mechanism-of-action (MoA) inference, toxicity prediction, and construction of drug-disease atlases. However, existing workflows are slow, costly and difficult to interpret. Approaches for drug screening modeling predominantly focus on molecular representation learning, while neglecting actual experimental context (e.g., cell line, dosing schedule, etc.), limiting generalization and MoA resolution. We introduce CP-Agent, an agentic multimodal large language model (MLLM) capable of generating mechanism-relevant, human-interpretable rationales for cell morphological changes under drug perturbations. At its core, CP-Agent leverages a context-aware alignment module, CP-CLIP, that jointly embeds high-content images and experimental metadata to enable robust treatment and MoA discrimination (achieving a maximum F1-score of 0.896). By integrating CP-CLIP outputs with agentic tool usage and reasoning, CP-Agent compiles rationales into a structured report to guide experimental design and hypothesis refinement. These capabilities highlight CP-Agent's potential to accelerate drug discovery by enabling more interpretable, scalable, and context-aware phenotypic screening -- streamlining iterative cycles of hypothesis generation in drug discovery.

We present PHAF-Personalized Hand Avatars in a Flash, a personalized photo-realistic hand avatar which provides high quality multi-view renders from just two images (dorsal and palmar views).Unlike slow optimization-based techniques, PHAF generates fast personalized textures for real-time deployment on edge devices. Our approach combines semantic guided mesh alignment and densified texture extraction to transfer high-frequency details efficiently. A view-based inpainting network refines textures ensuring smooth, continuous appearance. PHAF generalizes to novel viewpoints and leverages a parametric hand model for accurate articulations, making it compatible with standard graphics engines. Experiments show it is comparable to existing methods in visual fidelity while drastically reducing texture generation time by 30 times, enabling practical AR/VR applications.

While multimodal deep learning has advanced medical imaging analysis, existing black-box systems \textcolor{black}{may remain confined to isolated tasks, often overlooking} the trust-sensitive nature of clinical diagnosis as a multi-task process. We propose IMT-CXR (Interpretable Multi-task Transformer for Chest X-ray Analysis), a framework that emulates radiologists' diagnostic workflow through three evidence-driven stages: 1) Disease recognition; 2) Attribute characterization (e.g., size, location, severity quantification); 3) Evidence-integrated report generation with traceable decision pathways. The framework employs a unified transformer architecture optimized via medical-domain instruction tuning, sequentially executing four clinical tasks: multi-label disease classification, lesion localization, anatomical segmentation, and radiology report generation. Experimental validation demonstrates competitive performance on ten CXR benchmarks under direct inference and fine-tuning settings. In a blinded evaluation of 160 historical reports from four medical centers, three radiologists rated 66\% of AI-generated reports as comparable to or surpassing original clinical reports in diagnostic clarity, highlighting the framework's translational potential. By establishing traceable diagnostic pathways from anatomical findings to conclusions, this work bridges the gap between AI technical metrics and clinical utility, advancing trustworthy AI systems in medical imaging.

Engineering diagrams pose a distinct challenge for vision-language models: unlike natural images or general documents, they encode information through dense spatial layouts, domain-specific symbols, and cross-references between visual callouts and structured parts tables. Despite their centrality to service, repair, and design workflows, there is no public benchmark for measuring VLM capabilities in this domain; existing datasets primarily focus on flowcharts, scientific figures, or business documents. To address this gap, we introduce Enginuity, the first open dataset and benchmark for evaluating VLMs on complex engineering diagrams. We define two tasks over a corpus of U.S. military service and repair manuals: structured parts-table extraction (Task 1) and free-form visual diagram question answering (VQA)(Task 2) for benchmarking. We evaluate four frontier VLMs (GPT-5.2 Chat, Claude Opus 4.7, Gemma 4, Qwen3-VL-32B-Instruct) under zero-shot and chain-of-thought prompting. On Task 1, models reach Recall@all of 0.61-0.87 but Token F1pen of only 0.03-0.18, exposing a systematic gap between part identification and description fidelity. Task 2 reveals a consistent factual-reasoning gap across all models. A supporting analysis shows that token-overlap metrics under-report model capability on technical descriptions by 2-6x relative to semantic similarity, motivating LLM-as-judge calibration for domain-specific evaluation. We release the dataset, annotations, evaluation harness, and per-sample model outputs to support a reproducible study of VLM capability on engineering content.

Scientific images function as critical evidence in research communication, yet their integrity faces unprecedented threats from AI-generated content that introduces subtle but consequential errors. Existing evaluation paradigms prove inadequate: perceptual quality metrics poorly correlate with scientific validity, while language models lack domain-specific verification capabilities. To address this gap, we propose the \textbf{S}cientific \textbf{I}mage \textbf{U}tility and \textbf{U}pgradability \textbf{A}ssessment (\textbf{SIU$^2$A}) framework, which introduces two complementary dimensions for scientific image evaluation. \textbf{Utility} encompasses \textit{error detection} (identifying scientific inaccuracies) and \textit{correction feasibility} (assessing whether errors can be reliably repaired). \textbf{Upgradability} measures the quality of correction. We categorize scientific image corruption into four fundamental types: Detail Distortion, Incompleteness, False Content, and Entity Confusion. Based on this taxonomy, we construct SIU$^2$A-Benchmark, a dataset with expert annotations for error identification and repair. The framework implements a two-stage evaluation protocol: the \textit{Utility} stage evaluates error detection capability and repair instruction generation, while the \textit{Upgradability} stage assesses whether corrections faithfully restore scientific validity without compromising existing accurate information. Experiments reveal that current multimodal systems exhibit significant limitations in both scientific error assessment and faithful correction, exposing a fundamental gap between visual perception and scientific usability.

While large language models (LLMs) are increasingly used for clinical applications, many existing pipelines require sending raw sensitive health information to remote servers for processing, which heightens the risk of privacy leakage. A natural approach to mitigate this risk is to encrypt the data before transmission. However, straightforward solutions such as encrypting the entire dataset introduce prohibitive computational, alignment, and communication overheads, rendering large-scale practical deployment infeasible. To preserve privacy while maintaining usability, we present Healthcare Encryption & Redaction via Adaptive Linguistic Decomposition (HERALD), a token-level cryptographic redaction framework designed to achieve this balance by encrypting only sensitive tokens while preserving the surrounding context for downstream model utility. HERALD combines medical named-entity recognizer (NER) with part-of-speech (POS) driven policies to select candidate tokens, performs targeted lemmatization to stabilize surface forms, and substitutes each protected token with a deterministic ciphertext wrapped in explicit delimiters. Notably, HERALD is model-agnostic and operates entirely on the client side, ensuring that sensitive content remains encrypted throughout storage, transmission, and processing without requiring changes to downstream models. We evaluated HERALD on both classification and medical question answering (MQA) tasks on public datasets. Across different tasks, experiments illustrate that fully secured baselines suffer significant utility loss, whereas HERALD consistently recovers performance close to plaintext. Overall, HERALD provides a novel utilization pipeline.

Formal languages have proven to be effective conduits to understand the inner mechanisms of transformers. Past work has shown that transformers trained on next token prediction over counter languages learn representations consistent with an underlying stack structure. Beyond representational analysis, this paper investigates the causal role of these representations. Linear probes are trained to predict the stack depth at each token from the model's hidden states, and a principal representation direction is extracted from the probe. Ablation of this direction from the model causes sequential accuracy to collapse to near 0%, providing strong empirical evidence that the stack representation is not just learned, but is causally necessary for model performance.

Embodied AI in the real world requires both accurate hardware and robust vision-language-action (VLA) policies. We present OpenEAI-Platform, a fully open-source platform that integrates a low-cost 6+1 degree-of-freedom (dof) robotic arm (OpenEAI-Arm) and a reproducible VLA model (OpenEAI-VLA). OpenEAI-Arm provides open-source mechanical designs for low manufacturing cost and compliant control methods for higher accuracy. OpenEAI-VLA builds on Qwen3-VL-4B and uses a Diffusion Transformer action head, and is trained in two stages with only open-source robot and multimodal datasets. Across four real-world manipulation tasks, OpenEAI-Arm outperforms two commercial 6+1-dof arms under the same policy, and OpenEAI-VLA achieves success rates comparable to the large-scale pretrained pi0 baseline with only limited pretraining data. We will release the full hardware designs, drivers, models, and training/data pipelines to support reproducible research and scalable data collection. Our codes, layouts, and models will be released after the paper is accepted.

Model merging has emerged as a cost-effective approach for consolidating the capabilities of multiple LLMs without retraining. However, existing merging techniques, largely based on linear parameter arithmetic or optimization, struggle when applied to Mixture-of-Experts (MoE) architectures. We identify a critical failure mode in MoE merging, termed routing breakdown, in which the merged router fails to dispatch tokens to suitable experts. Routing breakdown stems from the sensitivity of the non-linear softmax and discrete Top-k routing mechanisms to parameter perturbations from merging, a sensitivity further amplified by load-balancing constraints imposed during MoE pretraining. Because fine-tuned experts exhibit distinct specializations, even modest misrouting can cause severe performance degradation. To address this issue, we propose Hessian-Aware Router Calibration (HARC), a training-free framework that leverages second-order curvature information to realign the merged router. This approach admits a closed-form solution that can be efficiently solved using a matrix-free conjugate gradient method. Experiments on mathematical reasoning and code generation tasks show that HARC effectively mitigates routing breakdown across diverse MoE merging baselines and leads to substantial performance improvements. Our code is available at https://github.com/huangcb01/HARC.

This work studies ``extreme motion generation'', which aims to maximize the Cartesian path length along a pre-defined trajectory within the manipulator's workspace. This objective is important in industry as long as path-following is fundamental to a large variety of tasks such as surface coating and welding. More critically, extreme motion enables a fixed-base manipulator to exploit the kinematic capability under limited reachability. However, such exploitation is challenging in practice, as the manipulator must actively avoid the safety boundary through execution, which is inherently a long-horizon problem. Accordingly, we claim that long-horizon decision-making should be delegated to a learning-based policy to maximize exploitation, while a classical model-based controller covers the near-boundary region, where the learning policy degrades sharply due to sparse data coverage. In detail, our proposed method is a step-level hybrid controller that switches between an RL-based and a model-based controller according to the normalized joint-limit distance. The initial joint configuration is sampled through conditional diffusion-based sampling, which improves the achievable path length based on the learned motion prior. We evaluate the proposed framework on 10,000 straight-line path-following tasks with a 7-DoF Franka FR3, extending the average rollout length by 27\% over the model-based baseline. Notably, certain tasks yield a pronounced extension toward the motion extreme, as reflected in the maximum improvement reported in the statistical results. The project website and related videos of this paper can be found at https://yuan-xinyi.github.io/extreme-motion-generation/.

In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage grasp-then-plan framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.

Embedding models (KGEMs) constitute the main link prediction approach to complete knowledge graphs. Standard evaluation protocols emphasize rank-based metrics such as MRR or Hits@$K$, but usually overlook the influence of random seeds on result stability. Moreover, these metrics conceal potential instabilities in individual predictions and in the organization of embedding spaces. In this work, we conduct a systematic stability analysis of multiple KGEMs across several datasets. We find that high-performance models actually produce divergent predictions at the triple level and highly variable embedding spaces. By isolating stochastic factors (i.e., initialization, triple ordering, negative sampling, dropout, hardware), we show that each independently induces instability of comparable magnitude. Furthermore, for a given model, hyperparameter configurations with better MRR are not guaranteed to be more stable. Moreover, voting, albeit a known remediation mechanism, only provides a limited enhancement of stability. These findings highlight critical limitations of current benchmarking protocols, and raise concerns about the reliability of KGEMs for knowledge graph completion.

Text-to-SQL enables natural language access to databases, and recent LLMs have substantially advanced its capabilities. Existing benchmarks such as Spider, BIRD, and Spider~2.0 evaluate schema generalization, large-scale databases, and realistic workflows, but largely overlook enterprise scenarios where SQL generation depends on private business knowledge, such as internal metrics, reporting conventions, and organizational rules. We introduce EntSQL, an enterprise-oriented Text-to-SQL benchmark for evaluating long-context grounding over proprietary business documents. EntSQL contains 1,066 aligned Chinese-English semantic examples across five business domains, with most examples requiring domain knowledge beyond the question and schema and involving complex SQL structures. On English inputs, the best evaluated system reaches only 15.9\% when long-form documents are provided, highlighting the difficulty of grounding SQL generation in enterprise knowledge.