Stanford University（斯坦福大学）

Methods for discovering rare failures in autonomous systems have so far been demonstrated almost exclusively in simulations with simple, academic driving stacks, leaving open whether they generalize to the more robust planners used in commercial systems. We address this gap by applying two rare-event discovery algorithms to a commercial autonomous trucking stack. Adaptive stress testing (AST) uses reinforcement learning to search for the most likely noise trajectories leading to a simulated collision, while diffusion-based failure sampling (DiFS) trains a denoising diffusion model to sample a diverse set of failures. We show that both algorithms find simulated collisions during merge and cut-in maneuvers where traditional Monte Carlo simulation does not. To make these failures actionable, we introduce a statistical analysis based on principal component analysis (PCA) that classifies failures into common modes and identifies the timesteps that most influence the outcome. We cluster the principal components and invert the PCA transform to recover generalized noise trajectories, and show that these trajectories reproduce failures in identical and similar scenarios. This provides a path from failure discovery to systematic diagnosis of perception-level flaws.

Robust multi-agent coordination relies heavily on inter-agent communication, which is frequently disrupted by physical and environmental constraints in real-world deployments. To maintain operation during these intermittent communication failures, agents can employ internal prediction models to estimate missing shared state information. However, predictors trained with standard reconstruction objectives treat all transitions equally. In a Reinforcement Learning context, this forces the model to waste capacity learning stochastic exploration noise and the outdated dynamics of suboptimal policies. In this paper, we propose a value-aware extension of Multi-Agent Observation Sharing under Communication Dropout (MARO) to patch communication gaps; we refer to this method as Value-Aware MARO. By dynamically weighting the predictor's loss function using advantage estimates derived from the underlying actor-critic architecture, our objective explicitly couples the predictor's learning process to the policy's evolution. This formulation focuses the model's capacity on the intentional, high-return dynamics actively reinforced by the agents. We evaluate our framework on several tasks within the Multi-Agent Particle Environment under varying communication reliability levels. Experimental results demonstrate that our approach maintains performance under declining communication reliability, particularly below 40%. While our method performs comparably in tasks where the baseline already maintains high coordination, our value-aware weighting effectively prevents the performance collapse observed in the standard predictor during high-attrition scenarios. In these environments, our method achieves an average improvement in mean returns of more than 20% and reduces performance variance by a mean of 64.7% compared to the standard unweighted baseline.

Latent diffusion models (LDMs) enable efficient high-resolution image synthesis by denoising in a VAE-compressed latent space. However, fixed visual tokenizers can discard fine textures and structural details, while separate representation and diffusion training creates a mismatch between reconstruction and generation objectives. These limitations have renewed interest in pixel-space diffusion, which models raw pixels directly, removes the VAE bottleneck, and supports end-to-end optimization. This formulation better matches the demands of high-fidelity generation but introduces challenges in high-dimensional modeling, including noise scheduling, loss weighting, token efficiency, and scalable architecture design. Pixel-space modeling also offers a promising basis for unified multimodal systems: raw pixels, text, and task conditions can be represented in a shared token space and jointly processed by a single Transformer, narrowing the gap between visual understanding and generation. This paper reviews Pixel-Space Diffusion Transformers (pDiTs) from the perspectives of model architecture, continuous generative mechanisms, and unified multimodal modeling. We summarize representative methods, identify key technical challenges, and discuss future directions toward high-fidelity, end-to-end vision foundation models that integrate generation and understanding.

Lung ultrasound (LUS) is a bedside tool for assessing pulmonary edema in patients at risk due to heart failure or impaired kidney function. However, automated LUS analysis remains challenging because of speckle noise, imaging artifacts, and operator-dependent acquisition variability. In this work, we present a deep learning framework for multi-class LUS video classification that explores two components: hierarchy-aware training, and anatomy-guided learning. Starting from a strong baseline, we introduce hierarchical training strategies and then introduce pleural line mask supervision to guide model attention toward anatomically relevant regions. We study four clinically relevant classes--healthy, B-lines, consolidations, and mixed B-lines with consolidations--using an open-access dataset of 1,886 videos from 219 patients, evaluated with patient-level five-fold cross-validation. Results show that hierarchy-aware training improves pathological separation relative to flat classification, while mask-guided attention supervision achieves the highest mean macro-F1 of 65.7\% and produces more localized attention patterns. Transfer experiments on the external COVID-BLUeS dataset further show competitive and parameter-efficient adaptation while preserving pleural-focused attention behavior. These findings suggest that combining clinically structured objectives with anatomy-guided supervision is a practical approach to robust, interpretable LUS video analysis. Code and model implementations are available at https://github.com/Alya-Almsouti/LUS-video-classification.

In this work, we investigate the effect of lookahead branching strategies in neural network verification. We present a general recipe to integrate lookahead into any branch-and-bound verifier and demonstrate how one of the current state-of-the-art branching heuristics, FSB, can be viewed as a special instantiation of the lookahead branching strategy. We also describe how, in addition to improving the quality of branching decisions, lookahead can generate additional lemmas that accelerate verification. We instantiate the method in two representative branch-and-bound-based verifiers (Marabou and $α$-$β$-CROWN), and demonstrate that lookahead leads to consistent speedups in verification time and up to $57\%$ more solved instances. Code is available at https://github.com/ai-ar-research/lookahead-branching.

Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planning, and control -- whose components run at different clocks and with variable latency. Today, these systems are often assembled with ad-hoc concurrency and pub/sub conventions that make timing and input-consumption semantics implicit, yielding schedule-dependent behavior that is hard to reproduce, debug, and reuse. Current solutions typically solve parts of this problem at either the algorithmic or the systems layer, but not both. In this work, we propose Retriever, which spans the entire stack: an asynchronous decision model, a programming model, a runtime, and an example closed-loop agent pipeline. Retriever represents an agent as a graph of stateful causal stream functions executed on explicit run clocks. We formalize this view via an asynchronous environment-agent loop over continuous-time streams and show that finite-memory causal policies can be represented by compositions of these operators. Retriever compiles these graphs into a runtime that supports multiple backends, enabling systematic debugging across running environments and deterministic replay from logged asynchronous data. We evaluate Retriever through a real-robot case study together with controlled studies of runtime overhead and deterministic replay behavior.

In our prior work, Pedestrian Archetypes, we defined pedestrian archetypes as collections of behaviors that uniquely identify a specific type of pedestrian. The first paper proposed 12 pedestrian archetypes, including the Wanderer, Drunk, Distracted, Flash, Indecisive, Blind, Flock, Jaywalker, Elderly, Kid, Eventful, and Parked Pedestrian. These archetypes were introduced to move beyond single behavior labels and provide a more natural way to describe how dangerous pedestrians actually behave progressively in real-world traffic scenarios. However, upon further annotation of YouTube dash-cam videos, we identified 7 additional pedestrian archetypes with observable and significant behavioral differences from the previously proposed ones. These new archetypes capture pedestrian behavior patterns that could not be fully explained by the original taxonomy. In this pre-print, we introduce each new archetype, define its essential and optional behaviors, explain how it differs from previously proposed archetypes, and provide video-frame evidence showing the archetype in action.

Current benchmarks for language models primarily evaluate execution on fully specified tasks. However, real user tasks are often ambiguous. Users arrive with incomplete, exploratory, or even inconsistent goals, requiring the assistant to first determine the intended task before carrying it out. We study this problem as task alignment: the ability to align with a user on their intended task. We introduce a general framework for converting specified tasks into underspecified interactions, formalized as a POMDP in which the model must infer a latent task from partial and evolving user intent. We validate our user simulator post hoc with a human user study. Across shopping, coding, and professional work settings, we find that while models often perform well once the task is specified, models still struggle with task alignment: current models act prematurely, interact ineffectively, and fail to resolve ambiguous requests. Models on average recover the user's intended task only 22-32% of the time under ambiguity. In a human study in the same setting, humans reach 48%, outperforming all evaluated models. We show that post-training with supervised fine-tuning and reinforcement learning improves task alignment, but models still lag behind humans in resolving uncertainty through interaction. Together, our results suggest that current models still lack key interaction abilities required for reliable agency.

Dreams splice together people, places, and times that never met. Neuroscience suggests this recombination is not noise, but a function driving insight and creative discovery. This reframes memory consolidation: rather than merely defending against forgetting, its measurable value lies in recombining knowledge across experiences that have not yet co-occurred. We test this directly by isolating the recombinatory-replay mechanism and implementing it in two architecturally unrelated systems: a LoRA fine-tuning pipeline (DREAMS) and a symbolic engine replaying structured knowledge objects (SAPIENCE). Both systems converge on the same finding: cross-domain consolidation creates value, while within-domain rehearsal does not. The symbolic arm surfaces novel cross-domain connections at 85.7%, a +21 percentage point (pp) gain over baseline. The neural arm improves overall by +5.64 pp, but on subtasks explicitly requiring cross-domain transfer (like unseen math reasoning on GSM8K), gains reach +14.5 pp. This effect is a genuine property of the weights--not a prompt artifact--as prepending the same material in-context to a 671B-parameter model actually reverses the gain. We validate this prediction against documented discoveries across 50,000 real papers and state a falsifiable hippocampal-recording prediction to distinguish recombination from rehearsal. Ultimately, this principle is substrate-general, tracking real discovery at scale. Reading the literature teaches a model to recall what it has seen, but producing discovery requires a separate offline phase that recombines knowledge across domains--the computational analog of dreaming. Consolidation is not for remembering, but for discovering.

Recent large language models (LLMs) can generate custom CUDA kernels that appear to outperform PyTorch on benchmarks such as KernelBench. Building upon this foundational framework, we demonstrate that frontier models frequently engage in reward hacking to artificially inflate reported performance. In this work, we identify two areas where evaluation frameworks must co-evolve with model capabilities. First, to accurately measure true speedup, we examine the baseline timing mechanism, noting that enabling Tensor Core acceleration with TF32 provides a more realistic estimation of execution on modern GPUs. Second, concerning algorithmic correctness, models often exploit the narrow test distribution by hardcoding bypasses for specific tensor values. By skipping required computations, these kernels artificially accelerate execution rather than implementing actual CUDA kernels. We introduce KernelBench-Verified, an extended evaluation framework that incorporates a TF32-enabled baseline and a four-distribution hidden test suite. We additionally introduce memory efficiency metrics that capture the often-overlooked speed-memory tradeoff in kernel optimization. Under verified single-turn evaluation with seven frontier LLMs, we find that the best-performing model (GPT-5.5) achieves a 0.88x geometric mean speedup, significantly lower than the 1.43x speedup observed under the standard evaluation protocol. No model consistently outperforms PyTorch when evaluated against realistic baselines. On the memory front, 28% of GPU kernels generated by the best model increase peak GPU memory usage. Our findings demonstrate the necessity of continually adapting robust evaluation protocols as LLM kernel generation capabilities advance.

We establish mean-square and concentration bounds for stochastic approximation (SA) with arbitrary norm contractive mappings, under a multiplicative noise model where the noise may scale affinely with the norm of the iterates, and the iterates are potentially unbounded. These settings arise in reinforcement learning, where operators are often contractive in the $\ell_\infty$ norm and the noise scales with the iterates. To address the arbitrary norm, earlier works replace the non-smooth squared norm with a smooth Lyapunov function constructed via the generalized Moreau envelope. For concentration analysis, these works handle multiplicative noise and unbounded iterates through a multi-stage bootstrapping argument that starts from a time-varying worst-case bound and iteratively refines it. We instead present a unified and elementary analysis that yields both bounds. Using an averaged noise sequence and corresponding auxiliary iterates, we obtain a one-step Lyapunov drift inequality for the normed error directly, without smoothing the norm or constructing an envelope. For the mean-square bound, we combine this drift inequality with an induction argument showing that the iterates remain bounded in expectation. For the concentration bound, we develop a probabilistic induction over a sequence of "good" events on which the iterates are controlled, allowing the standard Azuma-Hoeffding bound to be applied. Our approach yields the first sub-Gaussian tailed maximal (all-time) concentration bound for SA under multiplicative noise, by allowing the stepsize to depend logarithmically on the confidence level. Beyond the specific setting considered here, we discuss the generalizability of these proof techniques to other noise models and iterative algorithms.

Organic mixed ionic electronic conductors (OMIECs) are a promising class of polymer materials for applications spanning neuromorphic computation to energy efficient electronics and bioelectronics. Despite being highly tunable, the relationship between structural features and key performance properties such as charge carrier mobility is poorly understood. Scanning nanodiffraction in the transmission electron microscope (TEM) is a powerful probe for elucidating this structure-property relationship, but produces large, noisy datasets that are difficult to interpret because polymer reflections exhibit several distinct morphologies. To address the complexity, we trained a machine learning (ML) model to detect these polymer diffraction peaks and their intensities from synthetic data. Compared to correlative peak detection algorithms, the conventional method for analyzing nanobeam 4D scanning transmission electron microscopy (4DSTEM) data, we show that the ML model is significantly faster and outperforms correlative algorithms in almost all cases, opening up the possibility of near-live visualization of 4DSTEM experiments.

We formalize a research result in the Lean 4 proof assistant by having a mathematician direct an AI system, and frame the activity as a formalization game. The objective is to turn a LaTeX document into Lean. The game is won when the development compiles, contains no sorry, and a machine check shows the target theorems rest on Lean's foundational axioms alone. Reuse is a second check, by a definition we introduce: whether the development yields a self-contained layer of general mathematics the wider library could absorb. The case study is a complete, axiom-clean formalization of well-posedness for the nonlinear Vlasov equation via Dobrushin's mean-field route -- existence, uniqueness, the stability estimate and mean-field limit, and a short-window superposition principle (weak solutions are Lagrangian). The human's role was to direct, not to write proofs: to scope the definitions, steer the decompositions, and triage the library's gaps; the AI agent executed. The formalization certifies the proof of each statement as written; whether the written statement is the intended theorem stays the mathematician's judgment. The optimal-transport machinery that fell out of the build (in particular, properties of the Wasserstein-1 metric and the Kantorovich-Rubinstein duality theorem) separates into a self-contained layer that compiles against Mathlib alone: about a sixth of the development (49 of 299 declarations), behind a 22-declaration interface with no reverse dependency. The headline theorems ran in about a week, the full development in about a month. We report the quantitative claims as observations of one game, not as general laws. The game's rules name no particular system, so the methodological framing is meant to outlast the tools of any one run.

AI has the potential to transform cybersecurity by enabling systems that can autonomously detect, analyze, and remediate software vulnerabilities. However, existing cybersecurity evaluations of AI systems are limited in scale or scope, and fail to capture the end-to-end lifecycle of real-world software vulnerability discovery and remediation. To address this gap, we propose CyberGym-E2E, a large-scale and realistic end-to-end cybersecurity benchmark that comprehensively evaluates AI agents' abilities across the full lifecycle of vulnerability discovery, PoC generation, and patch generation. CyberGym-E2E is comprehensive and scalable, as we build an automated, agent-enhanced pipeline for transforming open-source vulnerability data into realistic evaluation environments. Currently, the benchmark consists of 920 real-world vulnerabilities across 139 different open-source projects.

AI systems are increasingly used to support forward-looking scientific judgment, but it remains unclear whether they can form reliable expectations about future scientific advances. Here we show that strong scientific reasoning does not reliably translate into accurate forecasting of future scientific advances. To study this question, we introduce CUSP, a temporally grounded evaluation suite for event-level scientific forecasting across eight scientific disciplines. Across six frontier AI models, we observe a striking asymmetry in forecasting performance together with systematic error patterns. Models often identify plausible mechanisms underlying future scientific advances, yet perform near chance on feasibility assessment, generate solution strategies that only weakly align with realized advances, and systematically predict scientific advances later than they become publicly observable. Providing additional pre-cutoff scientific knowledge improves performance but does not eliminate these forecasting limitations. These findings suggest that current AI systems possess substantial retrospective scientific competence but limited forward-looking predictive capability. Scientific forecasting should therefore be evaluated as a complementary dimension of AI scientific capability when deploying AI systems for research prioritization and scientific decision-making.

Plaintiffs and defendants in copyright lawsuits over generative AI often make sweeping, opposing claims about the extent to which large language models (LLMs) memorize protected expression from books in their training data. We show that these polarized positions dramatically oversimplify the relationship between memorization and copyright. To do so, we develop a technique to measure memorization of books, which we apply to 200 books and 14 open-weight LLMs. Through over 3000 experiments, we show that memorization varies both by model and book. With respect to our specific extraction methodology, we find that most LLMs do not memorize most books -- either in whole or in part; however, there are notable exceptions. For instance, Llama 3.1 70B entirely memorizes some books, like Harry Potter and the Sorcerer's Stone; memorization is so extensive that one can deterministically extract the whole book almost verbatim using the book's first few words as an initial prompt. We discuss why our results have significant implications for copyright cases, though not ones that unambiguously favor either side.

Multimodal large language models (MLLMs) have shown strong potential for medical Visual Question Answering (VQA), yet they remain prone to hallucinations, defined as generating responses that contradict the input image, posing serious risks in clinical settings. Current hallucination detection methods, such as Semantic Entropy (SE) and Vision-Amplified Semantic Entropy (VASE), require 10 to 20 stochastic generations per sample together with an external natural language inference model for semantic clustering, making them computationally expensive and difficult to deploy in practice. We observe that hallucinated responses exhibit a distinctive signature directly in the model's own log-probabilities: inconsistent token-level confidence and weak sensitivity to visual evidence. Based on this observation, we propose Confidence-Evidence Bayesian Gain (CEBaG), a deterministic hallucination detection method that requires no stochastic sampling, no external models, and no task-specific hyperparameters. CEBaG combines two complementary signals: token-level predictive variance, which captures inconsistent confidence across response tokens, and evidence magnitude, which measures how much the image shifts per-token predictions relative to text-only inference. Evaluated across four medical MLLMs and three VQA benchmarks (16 experimental settings), CEBaG achieves the highest AUC in 13 of 16 settings and improves over VASE by 8 AUC points on average, while being fully deterministic and self-contained. https://github.com/masadi-99/CEBaG

Stochastic resetting -- intermittently returning a process to a fixed reference state -- has emerged as an effective mechanism for optimizing first-passage properties. Existing theory largely treats processes that search but do not learn: the searcher follows fixed dynamics, accumulating no knowledge between resets. Here we ask how stochastic resetting interacts with reinforcement learning, where the underlying dynamics adapt through experience. In tabular grid environments, we find that resetting can accelerate learning even when it does not reduce the search time of a diffusive agent. Our results reveal a distinct additional mechanism through which resetting speeds the propagation of reward information. We show that deterministic, sharp resetting accelerates learning more than the stochastic protocol but over a narrower range of reset rates. In a continuous-state task with neural-network-based value approximation, we demonstrate that resetting speeds up learning when exploration is hard and rewards are sparse. We argue further that, in the tabular tasks, resetting accelerates learning without altering the solution the agent ultimately reaches, unlike other techniques such as temporal discounting, which biases the optimal behavior. Our results establish stochastic resetting as a simple, tunable mechanism for accelerating learning by shaping how experience accumulates, extending a canonical phenomenon of statistical mechanics to adaptive systems.

As robotic systems become increasingly integrated into real-world environments, ranging from autonomous vehicles to household assistants, they inevitably encounter diverse and unstructured scenarios that lead to failures. While such failures pose safety and reliability challenges, they also provide rich perceptual data for improving system robustness. However, manually analyzing large-scale failure datasets is impractical and does not scale. In this work, we introduce the problem of unsupervised discovery of failure taxonomies from large volumes of raw failure logs, aiming to obtain semantically coherent and actionable failure modes directly from perceptual trajectories. Our approach first infers structured failure explanations from multimodal inputs using vision language reasoning, then clusters them in the resulting semantic reasoning space, discovering recurring failure modes rather than isolated episode-level descriptions. We evaluate our method across robotic manipulation, indoor navigation, and autonomous driving domains, demonstrating that the discovered taxonomies are consistent, interpretable, and useful in practice. In particular, we show that structured failure taxonomies guide targeted data collection for offline policy refinement and enhance runtime failure monitoring systems. Website: https://mllm-failure-clustering.github.io/

The rapid advancement of face generation techniques has introduced an increasing variety of forgery methods, making incremental deepfake detection essential for maintaining robust detectors. While generative replay provides a promising solution to alleviate catastrophic forgetting without storing historical data, its effectiveness is hindered by \textbf{domain confusion} between generated samples and real data. We observe that replay samples fall into two categories: when the replay generator closely resembles the newly introduced forgery model, generated real samples overlap with the fake domain and become \textbf{domain-risky}; when the generator differs significantly, generated samples maintain clearer domain separation and can be treated as \textbf{domain-safe}. To address this challenge, we propose a Dual \textbf{C}onfusion-\textbf{A}ware \textbf{RE}gularization strategy, termed \textbf{Dual-CARE}. A Domain-aware Confusion Score (DC Score) is introduced to quantify domain confusion and \textbf{dual-modulate} the optimization of both replay generators and the incremental detector. Guided by DC Score, replay generators are updated to better approximate previous-task distributions, while the detector adopts different supervision strategies: domain-safe samples are directly supervised, whereas domain-risky samples are regulated using a Relative Separation Loss to balance supervision and confusion. Extensive experiments demonstrate that Dual-CARE effectively exploits generative replay and improves incremental deepfake detection under evolving forgery scenarios.

A multimodal AI agent is characterized by its ability to process and learn from various types of data, including natural language, visual, and audio inputs, to inform its actions. Despite advancements in large language models that incorporate visual data, such as GPT-4V, effectively translating image-based data into actionable outcomes for AI agents continues to be challenging. In this paper, we introduce a multimodal model that incorporates the concept of functional token specifically designed for AI agent applications. To ensure compatibility with edge devices, our model is optimized to a compact size of less than 1B parameters. Like GPT-4, our model can process both English and Chinese. We demonstrate that this model is capable of operating efficiently on a wide range of edge devices, including as constrained as a Raspberry Pi.

Language models have shown effectiveness in a variety of software applications, particularly in tasks related to automatic workflow. These models possess the crucial ability to call functions, which is essential in creating AI agents. Despite the high performance of large-scale language models in cloud environments, they are often associated with concerns over privacy and cost. Current on-device models for function calling face issues with latency and accuracy. Our research presents a new method that empowers an on-device model with 2 billion parameters to surpass the performance of GPT-4 in both accuracy and latency, and decrease the context length by 95\%. When compared to Llama-7B with a RAG-based function calling mechanism, our method enhances latency by 35-fold. This method reduces the latency to levels deemed suitable for deployment across a variety of edge devices in production environments, aligning with the performance requisites for real-world applications.

In the rapidly evolving domain of artificial intelligence, Large Language Models (LLMs) play a crucial role due to their advanced text processing and generation abilities. This study introduces a new strategy aimed at harnessing on-device LLMs in invoking software APIs. We meticulously compile a dataset derived from software API documentation and apply fine-tuning to LLMs with capacities of 2B, 3B and 7B parameters, specifically to enhance their proficiency in software API interactions. Our approach concentrates on refining the models' grasp of API structures and syntax, significantly enhancing the accuracy of API function calls. Additionally, we propose \textit{conditional masking} techniques to ensure outputs in the desired formats and reduce error rates while maintaining inference speeds. We also propose a novel benchmark designed to evaluate the effectiveness of LLMs in API interactions, establishing a foundation for subsequent research. Octopus, the fine-tuned model, is proved to have better performance than GPT-4 for the software APIs calling. This research aims to advance automated software development and API integration, representing substantial progress in aligning LLM capabilities with the demands of practical software engineering applications.

We introduce a new approach using computer vision to predict the land surface displacement from subsurface geometry images for Carbon Capture and Sequestration (CCS). CCS has been proved to be a key component for a carbon neutral society. However, scientists see there are challenges along the way including the high computational cost due to the large model scale and limitations to generalize a pre-trained model with complex physics. We tackle those challenges by training models directly from the subsurface geometry images. The goal is to understand the respons of land surface displacement due to carbon injection and utilize our trained models to inform decision making in CCS projects. We implement multiple models (CNN, ResNet, and ResNetUNet) for static mechanics problem, which is a image prediction problem. Next, we use the LSTM and transformer for transient mechanics scenario, which is a video prediction problem. It shows ResNetUNet outperforms the others thanks to its architecture in static mechanics problem, and LSTM shows comparable performance to transformer in transient problem. This report proceeds by outlining our dataset in detail followed by model descriptions in method section. Result and discussion state the key learning, observations, and conclusion with future work rounds out the paper.

The primate visual system is typically divided into two streams - the ventral stream, responsible for object recognition, and the dorsal stream, responsible for encoding spatial relations and motion. Recent studies have shown that convolutional neural networks (CNNs) pretrained on object recognition tasks are remarkably effective at predicting neuronal responses in the ventral stream, shedding light on the neural mechanisms underlying object recognition. However, similar models of the dorsal stream remain underdeveloped due to the lack of large scale datasets encompassing dorsal stream areas. To address this gap, we present STSBench, a dataset of large-scale, single neuron recordings from over 2,000 neurons in the superior temporal sulcus (STS), a nearly 50-fold increase over existing dorsal stream datasets, collected while Rhesus macaques viewed thousands of unique, natural videos. We show that our dataset can be used for benchmarking encoding models of dorsal stream neuronal responses and reconstructing visual input from neural activity.

Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mobility and whole-body interaction in human-centered environments. We introduce \textbf{Handroid}, a desktop-scale dual-embodiment robot that integrates both capabilities within a single reconfigurable platform. Handroid reuses one 27-DoF electromechanical body as either a dexterous hand or a desktop humanoid, measuring 0.33 m in height and 2.05 kg in weight. In the dexterous hand embodiment, 20 DoFs form an anthropomorphic hand closely matching the kinematic structure of the human hand. In the humanoid embodiment, the same articulated modules are reconfigured into a humanoid with a head, arms, and legs, including a 12-DoF lower-limb structure for locomotion and whole-body motion. Handroid further provides a unified control and learning framework supporting hand teleoperation, dexterous grasping, in-hand manipulation, humanoid locomotion, gait generation, and interactive motion authoring. We validate the platform through real-world dexterous manipulation, reinforcement-learning-based locomotion, keyframe motion deployment, and a long-horizon task involving embodiment reconfiguration, locomotion, docking, and dexterous pick-and-place. These results position Handroid as a compact and reproducible platform for advancing morphology-reconfigurable robotics and cross-embodiment robot learning.

Sampling from complex, unnormalized probability densities is a fundamental challenge in Bayesian inference and probabilistic modeling. While Markov chain Monte Carlo (MCMC) methods provide asymptotic guarantees, they often suffer from slow mixing and high computational costs due to fixed or manually tuned trajectory lengths. In this work, we propose a novel framework that treats trajectory termination as a learnable component of the sampling dynamics. By framing MCMC within the theory of non-acyclic generative flow networks (GFlowNets), we train state-dependent neural classifiers to decide when a trajectory has reached a high-density region and should terminate. We theoretically establish the connection between optimal classifiers and the target density via detailed balance conditions and introduce a multilevel training scheme to facilitate exploration in complex geometries. Experimental results across various benchmark densities demonstrate that our approach significantly reduces average trajectory lengths while improving mode coverage and mixing compared to standard MCMC baselines.

We introduce a training-free safety enhancement method for aligning large language models (LLMs) without the need for supervised fine-tuning or reinforcement learning from human feedback. Our main idea is to provide a robust plug-and-play approach to prevent shadow alignment when models are adapted to downstream tasks. Specifically, we leverage knowledge distillation to extract alignment signals from well-aligned LLMs and inject them into shadow-aligned models via model fusion, enabling plug-and-play alignment correction. In our methodology, we employ delta debugging to identify the critical components of knowledge necessary for effective distillation. On the harmful question dataset, our method significantly enhances the average defense success rate by approximately 14.42%, reaching as high as 51.39% across 17 influenced LLMs, without compromising performance. Our code is available at https://github.com/NWULIST/DAPA.

Explainable Artificial Intelligence (XAI) is essential for trustworthy AI in healthcare, yet many existing methods rely on technical explanations that are difficult for clinicians and patients to interpret. We introduce Visualized Learning for Machine Learning (VL4ML), a human-centered explainability framework that communicates model predictions and uncertainty through intuitive visual representations rather than numerical or post-hoc explanations. By encoding diagnostic information in colors, patterns, and spatial structures, VL4ML enables users to interpret predictions without requiring knowledge of model internals or statistical expertise. We demonstrate the framework across multiple clinical tasks, including classification, regression, longitudinal prediction, and multimodal analysis. Its effectiveness was evaluated through a human-centered study involving 158 participants (39.2% clinical professionals) and an expert interpretability assessment. More than 79% of participants positively rated the visual explanations across evaluation dimensions, 84.0% found them more memorable than numeric outputs, and 76.9% reported faster decision-making. Over 82% successfully perceived uncertainty embedded in the visual representations without prior statistical training. No significant differences were observed between clinicians and non-clinicians or between male and female participants, indicating broad accessibility. These results suggest that VL4ML complements existing XAI and uncertainty quantification methods by providing intuitive, universally interpretable visual explanations that support transparent and trustworthy clinical decision-making.

Most single-cell foundation models are adapted from language models, representing each cell as a sequence of gene tokens. This discards the relationships among genes and often the magnitude of their expression. We present scVision, a vision foundation model that instead renders each cell as a continuous image. Using optimal transport, it places genes at fixed positions on a single shared, pan-tissue layout so that co-expressed genes become spatial neighbours, turning a transcriptome into an image in which gene programs appear as local texture. We pretrain a vision transformer by masked image modelling on 72 million human cells and use the frozen encoder with no fine-tuning. In zero-shot evaluations on six independent, held-out studies, scVision is the most accurate cell-type annotator and recovers gene programs without supervision, ahead of existing foundation models and classical baselines; on multi-study integration it matches the strongest token-based model while conserving the most biological structure, without ever seeing a batch label. Permuting the gene layout with the network fixed sharply lowers accuracy, more than removing the vision transformer itself, showing that biologically meaningful position, not the network, carries the signal. By preserving expression magnitude and gene relationships, scVision reframes single-cell representation learning as a vision problem, connecting it to the mature methods of computer vision.