Week beginning 6th July 2026

Monocular depth estimation has seen remarkable progress through foundation models achieving robust zero-shot generalization, yet their computational demands place them far beyond the reach of embedded and mobile platforms. Lightweight alternatives exist, but have been developed almost exclusively within single-domain, self-supervised paradigms, failing silently under domain shift. We present ZipDepth, a compact monocular depth network that bridges this gap by combining an efficient reparameterizable encoder-decoder with large-scale knowledge distillation from a foundation model over a large multi-domain training set. Comprising just 6.1M parameters, ZipDepth runs at real-time rates from server GPUs to power-constrained devices, achieving the best trade-off between zero-shot accuracy and deployment efficiency among lightweight models across five benchmarks, taking a significant step towards the accuracy of foundation models with 50x more parameters.

Estimating 3D geometry in underwater environments presents unique challenges due to light attenuation, scattering, and the absence of large-scale, high-quality 3D annotations. Pioneering methods rely on massive dense annotations that are impractical in underwater settings. In this paper, we propose Wat3R, a cross-domain semi-supervised learning framework designed to adapt feed-forward 3D reconstruction models from air to underwater scenes. Uniquely, our method eliminates the need for any annotated underwater data following a teacher-student architecture, that learns robust geometry representations merely on abundant unlabeled real underwater video footage. We also design a cross-view consistency loss that leverages geometric cues from other views to compensate for the information degradation in the current view caused by water attenuation and scattering. Furthermore, considering the lack of comprehensive evaluation benchmarks, we construct Water3D, a diverse dataset covering various water bodies and underwater scenarios, designed for geometric task evaluation. Experimental results demonstrate that Wat3R outperforms current state-of-the-art methods in underwater multi-view depth estimation and point cloud reconstruction. The dataset and code are available at https://github.com/LSXI7/Wat3R .

Recovering high-quality video from sparse event streams is a challenging task. Regression methods often blur textures, while existing generative models struggle with long-term stability. We propose LongE2V, a novel approach that leverages pre-trained video diffusion priors to jointly handle event-based video reconstruction, prediction, and frame interpolation. By fine-tuning a foundational video model, our approach achieves high data efficiency and superior perceptual quality. We introduce Autoregressive Unrolling and Adaptive Context Switching to mitigate temporal drift in extremely long sequences. We also propose Reencoding Alignment with Cross Residual Correction to ensure precise bidirectional consistency during frame interpolation. Furthermore, Event Voxel Density Augmentation ensures robustness across varying sensor resolutions. Extensive experiments on real-world benchmarks demonstrate that LongE2V outperforms state-of-the-art methods across all three tasks, exhibiting exceptional temporal coherence and zero-shot generalization. Project page: https://cdfan0627.github.io/LongE2V-page/

Scaling 3D Gaussian Splatting (3DGS) to large outdoor scenes is costly in both data acquisition and computation. Adopting panoramic images with equirectangular projection (ERP) can reduce capture effort via their full $360^{\circ}$ field of view, yet the resulting omnipresent visibility invalidates existing partitioning strategies that rely on local camera frustums, causing block-wise optimization to degenerate into global training. Thus, we propose PanoLOG, a two-stage coarse-to-fine framework equipped with a Geometry and Gradient-based Partitioning Strategy tailored for large-scale panoramic 3DGS reconstruction. In the global coarse stage, PanoLOG leverages sky-sphere modeling and panoramic monocular depth supervision for reliable geometry, while in the refinement stage, G$^2$PS builds adaptive bounding volumes via parallax-driven uncertainty and assigns cameras via gradient-based importance scoring. Furthermore, we construct Pano360, the first benchmark on large-scale panoramic dataset for outdoor scene reconstruction. Extensive experiments demonstrate that G$^2$PS achieves state-of-the-art rendering quality while maintaining scalable, block-parallel training. Our models, training code, and dataset are publicly available.

The rapid development of large language models and multimodal large language models has accelerated the emergence of proactive agents capable of operating everyday tools and assisting users in real-world environments. However, existing benchmarks struggle to evaluate such agents effectively, as they often rely on sandboxed environments and single-turn evaluation paradigms. Moreover, their scenario-based task taxonomies mix multiple model capabilities within the same task category, making it difficult to identify the root causes of agent failures. To address these limitations, we introduce UniClawBench, the first capability-driven benchmark designed to evaluate proactive agents in dynamic, real-world settings. UniClawBench is built around five foundational model capabilities: Skill Usage, Exploration, Long-Context Reasoning, Multimodal Understanding, and Cross-Platform Coordination. Based on these capabilities, we design 400 bilingual real-world tasks. Unlike previous benchmarks that rely on static, pre-recorded answers, our benchmark evaluates agents in live Docker containers using fine-grained, step-by-step completion checkpoints. Furthermore, we design a closed-loop evaluation strategy comprising an executor agent, a hidden supervisor agent, and a user agent to simulate realistic multi-turn human feedback without leaking grading criteria. To disentangle base model capabilities from framework-level design choices, we evaluate state-of-the-art models under multiple agent frameworks. Through comprehensive comparisons across both models and frameworks, we show how base model capabilities and agent framework designs jointly shape performance in real-world environments. To facilitate future research, we make our benchmark and code publicly available at https://github.com/HKU-MMLab/UniClawBench.

We propose OPSD-V, an on-policy self-distillation paradigm for post-training few-step autoregressive (AR) video diffusion models. Existing few-step AR video generators can produce long videos with low latency, but still suffer from error accumulation and weakened motion dynamics during long autoregressive rollout. OPSD-V reduces long-horizon degradation while preserving the original few-step inference path. The key idea is to introduce real long-video data as temporal context during training and use it to provide dense trajectory-level supervision. Specifically, the student follows the exact inference-time rollout, generating each chunk conditioned on its own previously generated KV cache. In parallel, the teacher is evaluated at the same student-visited denoising states, but uses a cleaner AR-consistent temporal cache in which older history can be replaced by real-video context. This provides dense denoising-level corrective targets under on-policy AR cache dynamics, without changing the sampler, number of denoising steps, or inference-time cache mechanism. We apply OPSD-V to representative few-step AR video models, including Self-Forcing and LongLive. Experiments show consistent improvements in visual quality, motion dynamics, and VBenchLong scores. A user study with 10 participants comparing 20 video pairs shows that OPSD-V is preferred over the base models in 66.0% of overall-preference judgments (82.5% excluding ties).

In this work, we present Canvas360, a two-stage framework for in-context panoramic generation that combines geometry-aware pretraining with downstream task-specific fine-tuning. To address the lack of large-scale, high-quality training data tailored to in-context panoramic tasks, we propose Canvas360Dataset, a collection of 1M high-quality paired panoramic samples for style transfer, inpainting, outpainting, and editing, enabling effective supervision across diverse in-context generation scenarios. On the modeling side, Canvas360 enhances text-to-panorama generation through parallel depth generation, velocity circular padding, and similarity loss regularization, enabling the model to learn geometry-aware representations, capture object distortion details, and improve geometric consistency and global coherence. Furthermore, empowered by strong panoramic priors, Canvas360 enables a unified in-context panoramic generation framework that supports diverse downstream tasks via token-level concatenation, surpassing prior methods in both task coverage and modeling flexibility. Extensive experiments show that Canvas360 improves panoramic image fidelity, achieving particularly strong performance on the panorama-specific FAED metric and competitive or leading results across the reported quantitative evaluations. More information can be found on our project page: https://zry000.github.io/Canvas360/

Reasoning has become a core capability for large models, especially when reliable decisions require understanding logical consequences. Recent video generation models offer a reasoning path distinct from previous Chain-of-Thought (CoT): reasoning can unfold through temporally connected frames, known as Chain-of-Frame (CoF) reasoning. However, existing video generators are primarily trained on general video corpora, still lacking diverse supervision and dedicated designs for CoF reasoning. To address this gap, we introduce OpenCoF, a framework comprising the OpenCoF-17K dataset, a reasoning video dataset spanning 11 task families, and Wan-CoF, a fine-tuned video model for studying whether diverse temporal supervision improves CoF behavior. Across four video reasoning benchmarks, Wan-CoF achieves considerable gains over the Wan2.2-I2V-A14B baseline. Building on this, we empirically explore more advanced designs for CoF capabilities, i.e., equipping the model with visual and textual reasoning tokens. This mechanism respectively captures low-level visual cues and high-level semantic priors for spatial and temporal reasoning. Through performance comparisons and attention analysis, we examine how these tokens contribute across model depth, denoising steps, space, and time. Our results suggest that stronger video reasoning requires both broad temporal supervision and explicit mechanisms for organizing intermediate reasoning state. We open-source the dataset, model, and code to facilitate future research on reasoning-oriented video generation.

In this paper we give a systematic and unified treatment and extensions of various results on a new notion of quantum $f$-divergences defined from quantum hockey stick divergences, the theory of which has been developed recently in \cite{BHT_fdiv,HircheTomamichel_integral,LiuHircheCheng2025}. In particular, we consider non-normalized states and hockey stick $f$-divergences defined from more general notions of quantum hockey stick divergences, as well as a somewhat more general form of the integral representation defined in terms of an additional real parameter. We also consider the extension of the theory to general von Neumann algebras, and extend various results from \cite{HircheTomamichel_integral,LiuHircheCheng2025} to this setting. Our main results here are the representation of the hockey stick $f$-divergences in terms of Neyman-Pearson error probabilities, which was given in the finite-dimensional case in \cite{LiuHircheCheng2025}, an extension of Jen\v cová's result \cite{Jencova2023} on the detection of reversibility of a quantum channel on a pair of states in terms of the hockey stick divergences, and an extension of a result in \cite{HircheTomamichel_integral} showing that the regularized hockey stick Rényi $α$-divergences coincide with the Petz-type Rényi divergences for $α\in(0,1)$ and with the sandwiched Rényi divergences for $α>1$. Moreover, we give some partial results on the characterization of when different notions of quantum $f$-divergences give the same value on a pair of quantum states.

Scientific ideas rarely start from a blank page. They inherit mechanisms, repair known limitations, and recombine pieces of earlier work, much like biological genomes. Current benchmarks still say little about whether AI systems can follow this inheritance structure. We present IdeaGene-Bench (IG-Bench), a benchmark for scientific lineage reasoning and lineage-grounded idea generation. IG-Bench is organized around the IdeaGene framework: each paper or proposal is represented as a set of minimal, typed, evidence-grounded Idea Genome objects, and a GenomeDiff aligns these objects to record inheritance, mutation, loss, external import, and novel insertion under six operational evolutionary dynamics. The benchmark contains 1,961 golden lineage traces, 1,085 curated Idea Genome objects, and 920 pairwise GenomeDiff records across 10 scientific domains. It supports two evaluations. IG-Exam (42 task types, 1,029 instances) tests closed-form lineage reasoning across Idea Genome abstraction, inheritance tracing, evolutionary reasoning, and lineage verification. IG-Arena evaluates generation with a lineage-conditioned Population-Evolution Score(PES), asking whether a proposal can be inserted as a coherent descendant of a given lineage population: it should inherit the right Idea Genome objects, vary meaningfully from nearby work, and offer selection value for future research. Experiments on 14 LLM-based scientists expose a compositional bottleneck. The strongest system reaches only 27.3% exact accuracy on lineage reasoning, and structured lineage context reshuffles system rankings rather than helping every participant uniformly.

Score matching controls average error under the forward marginals, but a discretized reverse-time sampler evaluates the learned score along its own trajectory. We show that small forward-marginal error does not guarantee numerical stability. We construct a single smooth score field with arbitrarily small forward-marginal $L^2$ error. The learned reverse-time process is nonexplosive, has moments of every order, and can be arbitrarily close to the exact reverse-time process in path-space total variation. Yet its Euler--Maruyama discretizations converge in probability while every positive moment diverges. Thus weak convergence can hold even though every Wasserstein distance $W_p$, $p\ge1$, diverges. The same failure can occur within one fixed finite neural architecture. We construct a family of bounded, globally Lipschitz denoisers for which both the forward-marginal error and the path-space total variation distance tend to zero, while their Euler--Maruyama endpoints diverge in every $W_p$. For compactly supported data, we also give a simple positive result. Projecting the learned denoiser onto a known bounded closed convex set containing the support preserves pointwise accuracy, gives grid-uniform moment bounds, and yields Wasserstein convergence under mild local regularity. Experiments with a small fixed DiT-style network show large growth along rare numerical trajectories and its suppression by denoiser projection, while overall trajectory errors remain small.

We present MulTTiPop, a dataset of pop music segments and their associated multitrack MIDI recordings for the evaluation of automatic music transcription models. MulTTiPop contains 572 segments of popular music totaling 3.5 hours of audio, and contains songs from diverse genres and decades from the 1930s to 2000s. To collect this dataset, we perform metadata-based matching on song segments from the Lakh MIDI and TheoryTab datasets, manually identify an anchor beat between the audio and MIDI, then use beat tracking on the audio and warp the MIDI to match its tempo and timing. We evaluate state-of-the-art automatic music transcription models on MulTTiPop and find substantial room for improvement, with the best model achieving 38% Onset F1. More details and sound examples of MulTTiPop are available at https://gclef-cmu.org/multtipop.

Low-rank factorization is widely used to compress neural networks, but modern models are often not naturally amenable to aggressive factorization without significant accuracy loss. Existing training-time low-rank regularizers can improve compressibility, but they often require SVDs of large weight matrices, modify the model architecture (introducing additional trainable parameters), or rely on stateful cached quantities. To address these limitations, we introduce SLORR, a simple, stateless, and architecture-preserving framework for in-training low-rank regularization, instantiated with two main variants based on the Hoyer sparsity metric and the nuclear norm. SLORR directly regularizes the original weight matrices using GPU-friendly approximations for the forward and backward passes of the regularizers, for which we provide approximation guarantees. We first evaluate SLORR on ImageNet-1K across short-horizon continued training of ResNet-50, ViT-B/16, and ViT-L/16, and pretraining of ResNet-18, where SLORR induces compressibility while introducing less than 8% training overhead. We further evaluate SLORR-Hoyer in LLM pretraining at 135M and 560M scales: SLORR-trained compressed models preserve performance substantially better than unregularized models while adding less than 1% average training overhead.

Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limited in task and data diversity, embodiment coverage, or controllable visual variation, hindering studies of cross-task and cross-embodiment generalization. We present DexVerse, a large-scale and modular benchmark for dexterous manipulation. DexVerse includes 100 tasks spanning a broad range of manipulation skills, including object grasping and relocation, articulated-object interaction, functional tool use, bimanual coordination, non-prehensile control, contact-rich behaviors, multi-goal execution, and long-horizon multi-stage task completion. It supports 3 robot arms and 6 dexterous hands, and is extensible to new tasks, assets, and embodiments. To evaluate visuomotor generalization, DexVerse provides configurable visual variations in textures, background, lighting, and camera viewpoints. We further provide a VR-based teleoperation interface and 3,180 demonstrations with synchronized proprioceptive, RGB, depth, point-cloud, and state observations. We benchmark representative methods, including Diffusion Policy, DP3, OpenVLA, and $π_{0.5}$, across 19 tasks. Results reveal substantial challenges in task generalization and visuomotor robustness, establishing DexVerse as a promising testbed for general-purpose dexterous manipulation. Project page: https://ycyao216.github.io/DexVerse.site

In this study, we present a large-scale descriptive analysis of the use of an AI-based learning assistant (Syntea) in higher education. Based on objective log data from 77,543 students enrolled in distance studies, we examine usage patterns across gender, age group, study cluster, degree, and study mode. To date, existing research on educational chatbots has largely relied on comparatively small samples and self-reported survey data, while large-scale evidence on actual usage behavior remains limited. Our findings show that Syntea is already embedded in the study routines of many learners, but that usage differs across demographic and structural contexts. By identifying these patterns, our study provides an empirical basis for the further development of AI-based learning support and contributes a large-scale analysis of educational chatbot usage in higher education.

While UMAP is widely used for exploring high-dimensional data, typical workflows focus on its lower-dimensional embedding, largely overlooking the rich k-nearest-neighbor (kNN) graph that UMAP constructs internally. This graph encodes the data manifold in its original high-dimensional space, before the distortion that UMAP's 2D projection introduces. We demonstrate the untapped potential of this internal representation, showing how standard graph algorithms applied to this graph enhance data sensemaking: (1) PageRank identifies representative data points, (2) k-core decomposition reveals dense core regions versus sparse periphery, and (3) clustering coefficient detects tight-knit neighborhoods with highly-similar data points. Through quantitative and qualitative evaluation on MNIST and Fashion MNIST, we show that these graph-based analyses are not only practical but also competitive with or complementary to purpose-built methods (e.g., k-medoids for exemplar selection, HDBSCAN for density-based clustering).

Recent advances in Vision-Language Models, Large Language Models, and Multimodal Large Language Models have improved autonomous driving tasks such as scene understanding, decision making, trajectory prediction, and visual question answering. However, evaluating whether these models can reliably reason about safety-critical incidents remains challenging. To address this gap, we present AUTOPILOT-VQA, an incident-centric visual question answering benchmark for dashcam video understanding. The dataset evaluates different systems through structured questions designed around real-world driving incidents and near-incidents. The benchmark covers diverse safety-relevant categories, including weather and lighting conditions, traffic environment, road layout, road surface state, signage, involved entities, accident occurrence, impact location, and avoidability-related reasoning. By requiring models to answer grounded questions about both contextual scene properties and event-level incident details, AUTOPILOT-VQA moves beyond object recognition toward temporally grounded, safety-aware reasoning. The dataset is released as part of the AUTOPILOT CVPR 2026 competition and provides a standardized benchmark for assessing the reliability of autonomous driving systems in different scenarios. Our benchmark support developments for more interpretable, robust, and safety-conscious vision-language systems for real-world autonomous driving.

Forecast aggregation aims to combine information from multiple Bayesian experts' forecasts into an aggregate forecast. In much of this literature, however, the aggregate forecast is optimized for a particular loss or robustness criterion and need not itself be calibrated with respect to the outcome. We introduce and study expert aggregation, where the goal is instead to aggregate Bayesian experts into a new expert that continues to provide calibrated forecasts. In particular, we consider a setting where each input expert reports calibrated predictions, and the aggregator observes the prior distribution over states, and the input experts, but not the underlying Bayes probabilities of the states. We ask whether one can (i) construct a calibrated output expert that Blackwell refines a target expert and cannot be further Blackwell improved using the available information; and (ii) when a proper loss is specified, compute a nearly loss-optimal expert among all such refinements. We formulate calibrated experts as reduced-form information structures and measure refinement by Blackwell dominance of the induced prediction distributions. We characterize the constructible output experts through observable linear information: the input experts generate a linear system whose row space determines which calibrated output predictions are identifiable, and a new expert is constructible exactly when its predictions lie in the associated observable nonnegative cone. We establish a sharp algorithmic picture. When randomized output experts are allowed, both questions above admit efficient algorithms. In contrast, deterministic output experts are computationally intractable: deciding whether a deterministic calibrated refinement exists is $\mathsf{NP}$-hard, and deterministic proper-loss optimization admits no multiplicative PTAS unless $\mathsf{P}=\mathsf{NP}$.

Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose without making meaningful physical contact with the object. We present CONTACTMIMIC, a learning framework that tracks explicit partlevel binary contact commands alongside keypoint trajectories. CONTACTMIMIC is made possible through the use of contact-following rewards and a trajectory augmentation scheme aimed at breaking the correlations between keypoint trajectories and contact labels. The resulting policy successfully decouples contact behavior from keypoint geometry, and achieves precise physical contact as well as contact-controllability (produce or suppress contact during deployment as desired). Simulation experiments across 10 diverse human-object interaction motions confirm that CONTACTMIMIC exhibits contact controllability that enables it to complete manipulation tasks without task-specific rewards, while also outperforming keypoint-only trackers on contact-relevant tasks. Ablations confirm the necessity of the proposed trajectory augmentation scheme and sim2real deployment validates contact controllability in the real world across 5 different motions. Video results are available on https://lixinyao11.github.io/contactmimic-page/.

Generating realistic 3D human motions in real-time within interactive applications is key for animation, simulation, and humanoid robotics. While recent offline motion generation approaches offer precise control via text and kinematic constraints, they lack the inference speed required for interactive settings. Conversely, existing online methods enable real-time synthesis but often sacrifice controllability or struggle with complex text semantics and long-horizon goals due to limited context windows. In this work, we introduce ARDY, a streaming generation framework that bridges this gap by enabling high-fidelity motion generation controllable via online text prompts and flexible kinematic constraints. ARDY employs a hybrid representation that combines explicit root features with a latent body embedding, balancing precise trajectory control with efficient generative learning. We propose a two-stage autoregressive transformer denoiser that features variable history context and supports conditioning on flexible, long-horizon kinematic constraints. By training on a large-scale motion capture dataset and being directly conditioned on text labels and kinematic constraints sampled from ground truth poses, ARDY natively learns controllable generation that supports online prompting and flexible long-horizon goals. Extensive evaluations on the HumanML3D benchmark and the large-scale, high-fidelity Bones Rigplay dataset demonstrate ARDY's high motion quality and constraint adherence, validating the efficacy of our key architectural decisions. Finally, we demonstrate the method's practical versatility through an interactive demo featuring dynamic text control, diverse keyframe pose constraints, path following, and interactive locomotion control via mouse and keyboard. Supplementary video results, code, and model releases can be found at https://research.nvidia.com/labs/sil/projects/ardy/.

Large language model (LLM) applications increasingly use explicit workflows for tool use, retrieval, branching, checkpointing, and human approval. Existing workflow systems already address many execution concerns. This paper proposes a Lisp-inspired but language-independent conceptual model: symbolic forms, object identity, and live-image thinking are used as explanatory lenses, not implementation commitments. In this model, workflow definitions, workflow instances, inference records, context snapshots, and dependency relations are represented as persistent knowledge objects in a shared knowledge substrate. Its central semantic distinction is between derive and infer: derive is deterministic computation over available state; infer is mediated LLM judgment under declared context and executor-controlled capability policy. The result is a preliminary conceptual account of semantic persistence: workflows do not merely produce knowledge and leave traces, but can themselves be represented as inspectable, resumable, and reviewable knowledge objects, while formal transition semantics remain future work.

It can be hard to design a physical structure entirely within the confines of a computer monitor. To better capture the interplay between real-world objects and a designer's work-in-progress, practitioners will often go through a sequence of low-fidelity prototypes (paper, clay, foam) before arriving at a form that satisfies both functional and aesthetic concerns. While necessary, this model-making process can be quite time-consuming, particularly at larger scales, and the resulting geometry can be difficult to translate into a CAD environment, where it will be further refined. This paper introduces a user-adjustable, room-scale, "shape-aware" mesh structure for low-fidelity prototyping. A user physically manipulates the mesh by lengthening and shortening the edges, altering the overall curvature and sculpting coarse forms. The edges are equipped with resistive length sensors, and transmit their configuration to a central computer. The structure can later be reproduced in software, connecting this prototyping stage to the larger computational design pipeline.

Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers often depend on brittle hand tuning and primarily target rigid body pose graphs. To address this, we present DeepCORD, a learning-augmented framework for distributed factor graph optimization on general matrix Lie groups. By unfolding a parallel and accelerated Riemannian optimizer into differentiable iterations, DeepCORD learns a self-supervised feedback policy that dynamically adapts solver parameters according to the optimization phase and communication status. The resulting method enables adaptive distributed optimization over matrix Lie groups under both synchronous and asynchronous communication regimes. Extensive experiments on real-world $\mathrm{SE}$(3) pose graph optimization and $\mathrm{SL}$(4) projective submap alignment show that our method achieves lower objective values than existing distributed baselines on most benchmarks across realistic operating scenarios.

Post-training quantization is widely used to deploy large language models in resource-constrained settings, yet its evaluation relies almost exclusively on accuracy and perplexity. We show that these metrics fail to capture behavioral changes induced by quantization. We introduce correctness agreement, a decision-level metric that measures overlap in correct predictions between a base model and its quantized variants, independent of absolute accuracy. Across multiple models and quantization schemes from 8-bit to 2-bit, we find that behavioral divergence emerges under moderate quantization even when task performance appears preserved. To explain this effect, we analyze quantization as a structural operator on attention weights and quantify layer-wise distortions using statistical and distributional measures. Our results reveal non-linear breakpoints at low bit-widths and show that query and key projections are consistently more sensitive than value and output projections. These findings expose an illusion of equivalence between base and quantized models and motivate behavioral evaluation beyond conventional performance metrics.

Recent work identified Super Weights, individual parameters whose removal degrades model performance by orders of magnitude. We show that this degradation due to pruning Super Weights does not universally apply to all LLMs. Furthermore, if these parameters are so important, Super Weight-aware training should be effective. We show the opposite. Training Super Weights in isolation (100 to 8,192 parameters) drops accuracy to random-guessing levels on both OLMo-1B and OLMo-7B, and expanding to local neighborhoods of up to 36K parameters provides no improvement. The failure is specific to Super Weight coordinates: training an equal number of randomly chosen positions in the same down_proj layers instead improves over the baseline, so the collapse comes from targeting Super Weights, not from sparsity itself. Vanilla LoRA, updating every position in attention weight matrices through low-rank structure, succeeds with only 0.16% of parameters, and applying the same low-rank update to down_proj succeeds as well. A 10-seed ablation confirms that constraining LoRA updates at positions corresponding to Super Weight coordinates yields statistically indistinguishable results. These findings establish that parameter importance does not imply parameter trainability in isolation, and that effective fine-tuning relies on structured decompositions over entire layers rather than targeting individually important weights.

A national language model offers a linguistic community its own instrument for measuring what its citizens say and value. Portugal's AMALIA, a publicly funded 9B-parameter model for European Portuguese, appears competitive on agreement alone: asked to code the moral foundation of authority, it agrees with trained human coders to within six F1 points of open models eight to thirteen times its size. Yet agreement is reliability, not validity. For theoretical constructs that must be inferred rather than read from surface features, the question is whether the model follows the construct's theory or reaches the right code by correlated shortcuts. We test this with the recovery gap: the loss in performance when a holistic prompt is decomposed into the codebook's atomic clauses and recombined by the theory's explicit rule. If calibration closes that gap, some portability should survive across models and languages; where it does not, the construct-model instrument is the likely locus of failure. We ask whether a calibrated English instrument transfers to AMALIA-9B and to European Portuguese. For one construct and one corpus, it does not. Decomposition recovers only about half of AMALIA's holistic performance, and error analysis suggests reliance on surface correlates, especially moral outrage near authority figures. An open multilingual LLM closes the gap on the same Portuguese corpus under the same instructions, pointing away from the corpus as the main explanation. AMALIA can still screen and pre-code at scale, but it cannot yet measure this construct well enough to stand alone. The study is a single counterexample, not a verdict on national models; it argues that sovereign-LLM benchmark batteries should test not only agreement with human coders, but the evidential route by which that agreement is warranted.

Multi-object tracking (MOT) has achieved strong performance on benchmarks dominated by short video sequences. However, such datasets do not adequately evaluate long-term identity preservation, where objects must be tracked consistently over extended durations. We introduce WaspMOT, a benchmark designed to address this gap through long-duration tracking of Trichogramma wasps in controlled ecological experiments. The dataset contains 10 sequences of approximately 12,000 frames each (over 8 minutes at 25 FPS), with dense MOTChallenge annotations and oracle detections to isolate association performance. Unlike existing benchmarks, WaspMOT forms a closed-set tracking scenario where all individuals remain present throughout the sequence, requiring consistent identity assignment across thousands of frames despite abrupt jumps, occlusions, and highly similar appearance. We establish a benchmark by evaluating five tracking-by-detection methods, including ByteTrack, BoT-SORT, C-BIoU, OC-SORT, and McByte, under a unified protocol. Results show that all methods suffer from significant trajectory fragmentation, highlighting the difficulty of long-term identity preservation even with perfect detections. A simple spatial tracklet stitching baseline consistently improves performance, indicating that substantial gains remain possible. WaspMOT provides a new benchmark for studying long-term association and reveals limitations of current tracking approaches that are not observable on conventional datasets. The benchmark will be made publicly available at the project repository: https://github.com/tstanczyk95/WaspMOT/ .

Recent progress in 3D human pose estimation has made markerless recovery of skeletal motion increasingly accurate and scalable. However, most pose estimators remain optimized for geometric keypoint accuracy, while many real-world applications in rehabilitation, sports science, ergonomics, and clinical movement analysis require biomechanical quantities that describe how the body moves, loads, and activates. In this work, we propose BioModule, a lightweight plug-in temporal transformer that attaches downstream of any 3D pose estimator and predicts biomechanical attributes from standard 17-joint 3D skeletons. BioModule is estimator-agnostic and requires no modification of the upstream pose model, enabling existing pose estimators to be extended toward physically interpretable motion analysis. To train and evaluate BioModule, we construct a large-scale aligned dataset pairing Human3.6M video and 3D keypoints with the biomechanical label space of Human3.6Mplus. We establish and verify anatomical correspondence between coordinate systems of the two datasets, enabling frame-accurate cross-modal supervision. Using this aligned supervision, BioModule predicts biomechanical quantities. We further benchmark BioModule across seven state-of-the-art 3D pose estimators, providing the first systematic analysis of how upstream pose estimation quality propagates to downstream biomechanical prediction fidelity. The results position BioModule as a compact, modular bridge between vision-based pose estimation and biomechanically meaningful human motion analysis.

Human decision-making is highly flexible -- some actions are taken immediately; others require longer deliberation. Language models have exhibited a similar capacity for adaptive "reasoning." However, transferring this capability to continuous control policies has been challenging, as directly reasoning in language space may lack the granularity for spatial understanding and precise motions. In this work, we show that reasoning for control policies can emerge by organizing information in an autoregressive latent space reminiscent of a memory palace, where retrieval is iterative and adaptive. Our method, Latent Memory Palace (LMP), formulates reasoning as variational inference with an autoregressive latent distribution. We derive a latent-space reinforcement learning technique to tractably optimize its variational lower bound. The resulting policy, LMP-$π$, achieves strong empirical performance in simulation and real-world domains while exhibiting interpretable, adaptive allocation of test-time compute. We further show that the same framework yields a variable-length action tokenizer, LMP-$\texttt{tok}$, which significantly improves the performance of downstream autoregressive policies. Together, these results present a new perspective on latent reasoning for control through the lens of variational inference.

Narrowband interference (NBI) severely degrades orthogonal frequency-division multiplexing (OFDM) systems by corrupting subcarriers and rendering classical soft demodulation ineffective. Conventional compressed-sensing (CS) mitigation exhibits high sequential latency and leaves structured, non-Gaussian residuals that cause log-likelihood ratio (LLR) unreliability, decoder saturation, and severe error floors when employing classical Gaussian demappers. We resolve this pipeline mismatch using a unified deep learning framework for joint NBI cancellation and robust soft demodulation. First, NBI-CNet employs a physics-informed convolutional architecture to estimate NBI parameters and remove multi-tone interference in a single forward pass. Without requiring prior knowledge of the active interferer count, NBI-CNet reduces computational complexity by up to 60% ($N{=}2048, Q{=}64$) compared to the state-of-the-art EOMP-IDS algorithm. Second, LLR-CNet acts as a structural whitener by mapping non-Gaussian post-mitigation residuals onto well-calibrated soft metrics. Simulations demonstrate that this joint framework eliminates the error floors inherent to traditional baselines across dense grids. Under severe interference ($\text{SIR}{=}{-}10$ dB), the pipeline operates within a $0.2$ to $0.5$ dB SNR margin of the optimal iterative baseline at a target block error rate (BLER) of $10^{-4}$. Under mild interference ($\text{SIR}{=}10$ dB) with heavy spectral overlap ($Q{=}12$), where classical greedy algorithms erroneously subtract valid data components and corrupt the payload, NBI-CNet avoids signal-peak confusion to deliver a coding gain exceeding $3$ dB. Finally, the architecture circumvents the $2{\times}10^{-4}$ error floor triggered by interferer-estimation errors, while its scale-invariant design enables robust generalization across arbitrary FFT sizes without retraining.

In long-horizon tasks, decision-relevant state is often scattered across an expanding trajectory, while the action agent must surface it and act. As trajectories grow, task requirements, environment facts, prior attempts, diagnoses, and open subgoals can be buried in the context window or pushed beyond it, failing to influence decisions when needed. We call this failure mode "behavioral state decay". We study memory as an active intervention mechanism rather than passive retrieval. A separate memory agent runs alongside an unmodified action agent, updating a structured memory bank from the recent trajectory and deciding whether to inject a memory-grounded reminder or remain silent. The module is plug-and-play with frontier action agents and existing agent harnesses. Across Terminal-Bench 2.0 and $τ^2$-Bench, it improves pass@1 for both weaker and stronger action agents, with gains of +8.3 pp on Terminal-Bench and +6.8 pp on $τ^2$-Bench. Ablations show that selective intervention outperforms passive bank exposure, always-on injection, advisor-only guidance, and general retrieval. As an early step toward open-weight memory policies, we train Qwen3.5-27B on SETA using SFT and GRPO, improving validation reward and achieving partial transfer to Terminal-Bench.

Accurate 3D terrain maps are essential for emergency response when assessing wildfire hazards. However, wildfire-prone regions often span vast areas where conventional reconstruction methods underperform. Airborne LiDAR systems provide high-resolution terrain data, but they are expensive and infrequently updated. Image-based methods offer a lower-cost alternative, but struggle due to sparse visual features and limited image overlap. We propose a multi-modal reconstruction framework leveraging outdated Digital Elevation Models (DEMs) as geometric priors for image-based 3D reconstruction. Our key innovation is physics-based pixel-pixel alignment between images and DEM data, dramatically reducing computational complexity by eliminating expensive feature matching procedures. To validate our approach, we developed a large-terrain simulator based on a real wildfire-prone area, generating realistic images enabling a comprehensive evaluation. Given posed images and legacy DEMs, our method produces high-fidelity depth maps while maintaining real-time performance. We find significant improvements in reconstruction accuracy and computational efficiency over existing techniques, offering a scalable solution for wildfire response.

Rapid advancements in video diffusion models and temporal editing tools have enabled the generation of highly realistic human-centric videos, posing unprecedented challenges to digital content forensics. Existing benchmarks primarily focus on either face-swapping or global text-to-video synthesis, overlooking the crucial dimensions of human-object or human-human interactions and multi-modal alignment. To address these limitations, we introduce HumanForge, a unified, large-scale, and multi-paradigm human-centric video forgery dataset. To construct and annotate this dataset without labor-intensive manual labeling or hallucinated monolithic prompts, we propose Gen2Anno, a modular active multi-agent pipeline built on LangGraph. Gen2Anno coordinates six specialized agents-ranging from source profiling to MoE-based reference analysis and closed-loop forensic verification-to generate over 18K high-fidelity video segments and produce structured, contrastive omni-annotations containing binary decisions, fine-grained artifact categories, and spatio-temporal localization. Extensive benchmarks using state-of-the-art traditional detectors and Large Multimodal Models (LMMs) demonstrate the significant challenges of zero-shot generalization and fine-grained reasoning on HumanForge. Code and dataset will be publicly released.

We address liquidity placement in the Bitcoin Lightning Network (LN): given a fixed budget, which channels should a node open to maximize its routing capacity? We cast this as a budget-constrained combinatorial optimization problem on graphs, selecting $k$ edge additions that maximize $s$--$t$ max-flow, a theory-grounded measure of routing capacity, and solve it with graph reinforcement learning. Our lightweight agent combines a message-passing policy network with proximal policy optimization (PPO) and action masking, and is trained under a hub-exclusion curriculum: the network's top hubs are removed from training subgraphs, forcing the policy to learn capacity-aware placement rather than hub attachment. In extensive experiments on real Lightning Network snapshots, our method consistently outperforms strong heuristic baselines on the max-flow objective across multiple seeds and unseen graphs. The agent has been deployed in production for peer recommendations, executing 4640 channel-open decisions that cumulatively allocate 267.3 BTC over $16 million across 30 managed nodes.

Reinforcement learning increasingly relies on an LLM judge to score each rubric criterion, and that judge acts as the reward model during training. Before such a signal can be trusted, we need to know how capable the judge must be and how biased it is. We study this calibration question for citation quality in deep-research systems, where a search-grounded LLM must support each claim it writes with a cited source. Citation quality is a structured rubric task in which each attribution-citation pair is judged along two dimensions that require an LLM, source relevance and factual support. On an adversarial long-form benchmark, we score 8 off-the-shelf LLM judges from 3 model families against gold labels over 1,248 rubric decisions, all of which were human-reviewed and 378 of which were hard cases adjudicated from judge disagreements. Cheaper judges remain competitive across both dimensions, with GPT-5-mini attaining the strongest source-relevance pass-class F1 at 0.908 ($κ$=0.636), while on factual support the judges are statistically indistinguishable (overlapping confidence intervals), so no single model dominates. At comparable F1, the judges still differ substantially in pass-rate drift, false positive rate, and false negative rate. Scalar F1 obscures this directional bias, yet it is exactly what a downstream reinforcement learning loop would reinforce. Calibrating the judge is therefore a prerequisite for using citation rubrics as reward signals, and our results show that this calibration does not require the most expensive available model.

We examine educational YouTube videos through multimodal metadata, such as transcripts, titles, thumbnails, and viewer comments, to investigate how ChatGPT is framed across creator groups and how those framings relate to audience response and platform reach. Little is known about how large language models are presented to learners in informal, creator-driven public discourse. Following PRISMA, we selected 52 videos for analysis. We identified three structurally distinct discourse groups: (G1) videos that positioned ChatGPT as a conceptual scaffold for thinking, (G2) videos oriented toward retrieval practice and skill-building, and (G3) videos that framed ChatGPT as a tool for output generation. Epistemic Network Analysis revealed statistically significant group differences with large effect sizes. Multimodal metadata consistently reflected these distinctions across transcript discourse, titles, and thumbnails. Viewers of learning-oriented content described ChatGPT as a thinking partner or tutor, whereas viewers of output-oriented content raised concerns about over-reliance, surface-level learning, and cognitive offloading. G3 achieved comparable platform reach to G2, yet with substantially weaker learning-oriented framing. This may suggest that output-oriented content competes for visibility despite lower pedagogical depth. These findings reveal a structural tension in self-directed AI learning: content that prioritizes quick outputs reaches far more learners than content that promotes deep engagement. This gap raises critical questions about whose vision of AI literacy scales and what learners are actually left with.