Week beginning 2nd March 2026

Human motion prediction combines the tasks of trajectory forecasting and human pose prediction. For each of the two tasks, specialized models have been developed. Combining these models for holistic human motion prediction is non-trivial, and recent methods have struggled to compete on established benchmarks for individual tasks. To address this, we propose a simple yet effective transformer-based model for human motion prediction. The model employs a stack of self-attention modules to effectively capture both spatial dependencies within a pose and temporal relationships across a motion sequence. This simple, streamlined, end-to-end model is sufficiently versatile to handle pose-only, trajectory-only, and combined prediction tasks without task-specific modifications. We demonstrate that this approach achieves state-of-the-art results across all tasks through extensive experiments on a wide range of benchmark datasets, including Human3.6M, AMASS, ETH-UCY, and 3DPW.

Data assimilation (DA) combines model forecasts and observations to estimate the optimal state of the atmosphere with its uncertainty, providing initial conditions for weather prediction and reanalyses for climate research. Yet, existing traditional and machine-learning DA methods struggle to achieve accuracy, efficiency and uncertainty quantification simultaneously. Here, we propose HLOBA (Hybrid-Ensemble Latent Observation-Background Assimilation), a three-dimensional hybrid-ensemble DA method that operates in an atmospheric latent space learned via an autoencoder (AE). HLOBA maps both model forecasts and observations into a shared latent space via the AE encoder and an end-to-end Observation-to-Latent-space mapping network (O2Lnet), respectively, and fuses them through a Bayesian update with weights inferred from time-lagged ensemble forecasts. Both idealized and real-observation experiments demonstrate that HLOBA matches dynamically constrained four-dimensional DA methods in both analysis and forecast skill, while achieving end-to-end inference-level efficiency and theoretical flexibility applies to any forecasting model. Moreover, by exploiting the error decorrelation property of latent variables, HLOBA enables element-wise uncertainty estimates for its latent analysis and propagates them to model space via the decoder. Idealized experiments show that this uncertainty highlights large-error regions and captures their seasonal variability.

The discovery rate of optical transients will explode to 10 million public alerts per night once the Vera C. Rubin Observatory's Legacy Survey of Space and Time comes online, overwhelming the traditional physics-based inference pipelines. A continuous-time forecasting AI model is of interest because it can deliver millisecond-scale inference for thousands of objects per day, whereas legacy MCMC codes need hours per object. In this paper, we propose SELDON, a new continuous-time variational autoencoder for panels of sparse and irregularly time-sampled (gappy) astrophysical light curves that are nonstationary, heteroscedastic, and inherently dependent. SELDON combines a masked GRU-ODE encoder with a latent neural ODE propagator and an interpretable Gaussian-basis decoder. The encoder learns to summarize panels of imbalanced and correlated data even when only a handful of points are observed. The neural ODE then integrates this hidden state forward in continuous time, extrapolating to future unseen epochs. This extrapolated time series is further encoded by deep sets to a latent distribution that is decoded to a weighted sum of Gaussian basis functions, the parameters of which are physically meaningful. Such parameters (e.g., rise time, decay rate, peak flux) directly drive downstream prioritization of spectroscopic follow-up for astrophysical surveys. Beyond astronomy, the architecture of SELDON offers a generic recipe for interpretable and continuous-time sequence modeling in any time domain where data are multivariate, sparse, heteroscedastic, and irregularly spaced.

WebGIS development requires rigor, yet agentic AI frequently fails due to five large language model (LLM) limitations: context constraints, cross-session forgetting, stochasticity, instruction failure, and adaptation rigidity. We propose a dual-helix governance framework reframing these challenges as structural governance problems that model capacity alone cannot resolve. We implement the framework as a 3-track architecture (Knowledge, Behavior, Skills) that uses a knowledge graph substrate to stabilize execution by externalizing domain facts and enforcing executable protocols, complemented by a self-learning cycle for autonomous knowledge growth. Applying this to the FutureShorelines WebGIS tool, a governed agent refactored a 2,265-line monolithic codebase into modular ES6 components. Results demonstrated a 51\% reduction in cyclomatic complexity and a 7-point increase in maintainability index. A comparative experiment against a zero-shot LLM confirms that externalized governance, not just model capability, drives operational reliability in geospatial engineering. This approach is implemented in the open-source AgentLoom governance toolkit.

Feed-forward transformer models have driven rapid progress in 3D vision, but state-of-the-art methods such as VGGT and $π^3$ have a computational cost that scales quadratically with the number of input images, making them inefficient when applied to large image collections. Sequential-reconstruction approaches reduce this cost but sacrifice reconstruction quality. We introduce ZipMap, a stateful feed-forward model that achieves linear-time, bidirectional 3D reconstruction while matching or surpassing the accuracy of quadratic-time methods. ZipMap employs test-time training layers to zip an entire image collection into a compact hidden scene state in a single forward pass, enabling reconstruction of over 700 frames in under 10 seconds on a single H100 GPU, more than $20\times$ faster than state-of-the-art methods such as VGGT. Moreover, we demonstrate the benefits of having a stateful representation in real-time scene-state querying and its extension to sequential streaming reconstruction.

Deep Research agents are rapidly emerging as primary consumers of modern retrieval systems. Unlike human users who issue and refine queries without documenting their intermediate thought processes, Deep Research agents generate explicit natural language reasoning before each search call, revealing rich intent and contextual information that existing retrievers entirely ignore. To exploit this overlooked signal, we introduce: (1) Reasoning-Aware Retrieval, a retrieval paradigm that jointly embeds the agent's reasoning trace alongside its query; and (2) DR-Synth, a data synthesis method that generates Deep Research retriever training data from standard QA datasets. We demonstrate that both components are independently effective, and their combination yields a trained embedding model, AgentIR-4B, with substantial gains. On the challenging BrowseComp-Plus benchmark, AgentIR-4B achieves 68\% accuracy with the open-weight agent Tongyi-DeepResearch, compared to 50\% with conventional embedding models twice its size, and 37\% with BM25. Code and data are available at: https://texttron.github.io/AgentIR/.

YouTube has evolved into a powerful platform that where creators monetize their influence through affiliate marketing, raising concerns about transparency and ethics, especially when creators fail to disclose their affiliate relationships. Although regulatory agencies like the US Federal Trade Commission (FTC) have issued guidelines to address these issues, non-compliance and consumer harm persist, and the extent of these problems remains unclear. In this paper, we introduce tools, developed with insights from recent advances in Web measurement and NLP research, to examine the state of the affiliate marketing ecosystem on YouTube. We apply these tools to a 10-year dataset of 2 million videos from nearly 540,000 creators, analyzing the prevalence of affiliate marketing on YouTube and the rates of non-compliant behavior. Our findings reveal that affiliate links are widespread, yet dis- closure compliance remains low, with most videos failing to meet FTC standards. Furthermore, we analyze the effects of different stakeholders in improving disclosure behavior. Our study suggests that the platform is highly associated with improved compliance through standardized disclosure features. We recommend that regulators and affiliate partners collaborate with platforms to enhance transparency, accountability, and trust in the influencer economy.

Low Latency, Low Loss, and Scalable Throughput (L4S) is an emerging paradigm for latency control based on DualPI2 active queue management and scalable congestion control. While a Linux kernel implementation of DualPI2 is available, controlled and reproducible experimentation on L4S mechanisms can be facilitated by a modular, user-space alternative. In this paper, we present a DualPI2 module for the Mahimahi network emulator, designed to support extensible, component-level experimentation without kernel modification. We conduct a statistical behavioral characterization of the Mahimahi implementation by examining key metrics across diverse traffic patterns and network conditions, using the Linux kernel implementation as a reference baseline. Our analysis shows that behavioral alignment across execution environments is not automatic: identical DualPI2 parameterization does not guarantee identical dynamics. Instead, key control parameters exhibit environment-dependent sensitivity, leading to regime-dependent discrepancies across bandwidth-delay product (BDP) conditions. Through targeted parameter exploration, we identify configurations that improve cross-platform alignment in low BDP regimes, while revealing structural differences that persist under higher load. This work provides both a practical tool for experimental L4S research and empirical insight into cross-platform behavioral differences, highlighting the importance of systematic characterization and environment-aware parameter selection in emulation-based AQM studies.

Traditional vision-language models struggle with contrastive fine-grained taxonomic reasoning, particularly when distinguishing between visually similar species within the same genus or family. We introduce TaxonRL, a reinforcement learning approach using Group Relative Policy Optimization with intermediate rewards that decomposes the reasoning process into hierarchical taxonomic predictions. Our method incentivizes models to explicitly reason about species-level, genus-level, and family-level features before making final classifications. This structured approach is designed not only to boost accuracy but also to yield a transparent, verifiable decision-making process. On the challenging Birds-to-Words dataset, TaxonRL achieves 91.7\% average accuracy, exceeding human performance (77.3\%) while generating interpretable reasoning traces. We demonstrate strong cross-domain generalization, showing substantial gains in primate and marine species verification. Our results establish that enforcing structured, hierarchical reasoning provides a powerful and transferable framework for fine-grained visual discrimination.

We introduce Helios, the first 14B video generation model that runs at 19.5 FPS on a single NVIDIA H100 GPU and supports minute-scale generation while matching the quality of a strong baseline. We make breakthroughs along three key dimensions: (1) robustness to long-video drifting without commonly used anti-drifting heuristics such as self-forcing, error-banks, or keyframe sampling; (2) real-time generation without standard acceleration techniques such as KV-cache, sparse/linear attention, or quantization; and (3) training without parallelism or sharding frameworks, enabling image-diffusion-scale batch sizes while fitting up to four 14B models within 80 GB of GPU memory. Specifically, Helios is a 14B autoregressive diffusion model with a unified input representation that natively supports T2V, I2V, and V2V tasks. To mitigate drifting in long-video generation, we characterize typical failure modes and propose simple yet effective training strategies that explicitly simulate drifting during training, while eliminating repetitive motion at its source. For efficiency, we heavily compress the historical and noisy context and reduce the number of sampling steps, yielding computational costs comparable to -- or lower than -- those of 1.3B video generative models. Moreover, we introduce infrastructure-level optimizations that accelerate both inference and training while reducing memory consumption. Extensive experiments demonstrate that Helios consistently outperforms prior methods on both short- and long-video generation. We plan to release the code, base model, and distilled model to support further development by the community.

As Large Language Models (LLMs) transition into autonomous multi-agent ecosystems, robust minimax training becomes essential yet remains prone to instability when highly non-linear policies induce extreme local curvature in the inner maximization. Standard remedies that enforce global Jacobian bounds are overly conservative, suppressing sensitivity in all directions and inducing a large Price of Robustness. We introduce Adversarially-Aligned Jacobian Regularization (AAJR), a trajectory-aligned approach that controls sensitivity strictly along adversarial ascent directions. We prove that AAJR yields a strictly larger admissible policy class than global constraints under mild conditions, implying a weakly smaller approximation gap and reduced nominal performance degradation. Furthermore, we derive step-size conditions under which AAJR controls effective smoothness along optimization trajectories and ensures inner-loop stability. These results provide a structural theory for agentic robustness that decouples minimax stability from global expressivity restrictions.

Conversational agents are increasingly deployed in knowledge-intensive settings, where correct behavior depends on retrieving and applying domain-specific knowledge from large, proprietary, and unstructured corpora during live interactions with users. Yet most existing benchmarks evaluate retrieval or tool use independently of each other, creating a gap in realistic, fully agentic evaluation over unstructured data in long-horizon interactions. We introduce $τ$-Knowledge, an extension of $τ$-Bench for evaluating agents in environments where success depends on coordinating external, natural-language knowledge with tool outputs to produce verifiable, policy-compliant state changes. Our new domain, $τ$-Banking, models realistic fintech customer support workflows in which agents must navigate roughly 700 interconnected knowledge documents while executing tool-mediated account updates. Across embedding-based retrieval and terminal-based search, even frontier models with high reasoning budgets achieve only $\sim$25.5% pass^1, with reliability degrading sharply over repeated trials. Agents struggle to retrieve the correct documents from densely interlinked knowledge bases and to reason accurately over complex internal policies. Overall, $τ$-Knowledge provides a realistic testbed for developing agents that integrate unstructured knowledge in human-facing deployments.

Accurate channel estimation is essential for massive multiple-input multiple-output (MIMO) technologies in next-generation wireless communications. Recently, the radio radiance field (RRF) has emerged as a promising approach for wireless channel modeling, offering a comprehensive spatial representation of channels based on environmental geometry. State-of-the-art RRF reconstruction methods, such as RF-3DGS, can render channel parameters, including gain, angle of arrival, angle of departure, and delay, within milliseconds. However, creating the required 3D environment typically demands precise measurements and advanced computer vision techniques, limiting accessibility. This paper introduces a locally deployable tool that simplifies 3D environment creation for RRF reconstruction. The system combines finetuned language models, generative 3D modeling frameworks, and Blender integration to enable intuitive, chat-based scene design. Specifically, T5-mini is finetuned for parsing user commands, while all-MiniLM-L6-v2 supports semantic retrieval from a local object library. For model generation, LLaMA-Mesh provides fast mesh creation, and Shap-E delivers high-quality outputs. A custom Blender export plugin ensures compatibility with the RF-3DGS pipeline. We demonstrate the tool by constructing 3D models of the NIST lobby and the UW-Madison wireless lab, followed by corresponding RRF reconstructions. This approach significantly reduces modeling complexity, enhancing the usability of RRF for wireless research and spectrum planning.

Privacy policies are long, complex, and rarely read, which limits their effectiveness in informed consent. We investigate scrollytelling, a scroll-driven narrative approach, as a privacy policy presentation format. We built a prototype that interleaves the full policy text with animated visuals to create a dynamic reading experience. In an online study (N=454), we compared our tool against text, two nutrition-label variants, and a standalone interactive visualization. Scrollytelling improved user experience over text, yielding higher engagement, lower cognitive load, greater willingness to adopt the format, and increased perceived clarity. It also matched other formats on comprehension accuracy and confidence, with only one nutrition-label variant performing slightly better. Changes in perceived understanding, transparency, and trust were small and statistically inconclusive. These findings suggest that scrollytelling can preserve comprehension while enhancing the experience of policy reading. We discuss design implications for accessible policy communication and identify directions for increasing transparency and user trust.

Generative audio requires fine-grained controllable outputs, yet most existing methods require model retraining on specific controls or inference-time controls (\textit{e.g.}, guidance) that can also be computationally demanding. By examining the bottlenecks of existing guidance-based controls, in particular their high cost-per-step due to decoder backpropagation, we introduce a guidance-based approach through selective TFG and Latent-Control Heads (LatCHs), which enables controlling latent audio diffusion models with low computational overhead. LatCHs operate directly in latent space, avoiding the expensive decoder step, and requiring minimal training resources (7M parameters and $\approx$ 4 hours of training). Experiments with Stable Audio Open demonstrate effective control over intensity, pitch, and beats (and a combination of those) while maintaining generation quality. Our method balances precision and audio fidelity with far lower computational costs than standard end-to-end guidance. Demo examples can be found at https://zacharynovack.github.io/latch/latch.html.

Multimodal web agents that process both screenshots and accessibility trees are increasingly deployed to interact with web interfaces, yet their dual-stream architecture opens an underexplored attack surface: an adversary who injects content into the webpage DOM simultaneously corrupts both observation channels with a consistent deceptive narrative. Our vulnerability analysis on MiniWob++ reveals that attacks including a visual component far outperform text-only injections, exposing critical gaps in text-centric VLM safety training. Motivated by this finding, we propose Dual-Modality Multi-Stage Adversarial Safety Training (DMAST), a framework that formalizes the agent-attacker interaction as a two-player zero-sum Markov game and co-trains both players through a three-stage pipeline: (1) imitation learning from a strong teacher model, (2) oracle-guided supervised fine-tuning that uses a novel zero-acknowledgment strategy to instill task-focused reasoning under adversarial noise, and (3) adversarial reinforcement learning via Group Relative Policy Optimization (GRPO) self-play. On out-of-distribution tasks, DMAST substantially mitigates adversarial risks while simultaneously doubling task completion efficiency. Our approach significantly outperforms established training-based and prompt-based defenses, demonstrating genuine co-evolutionary progress and robust generalization to complex, unseen environments.

Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capability is the cornerstone of physical artificial intelligence. Despite decades of advances in hardware, perception, control, and learning, progress toward general manipulation systems remains fragmented due to the absence of widely adopted standard benchmarks. The central challenge lies in reconciling the variability of the real world with the reproducibility and authenticity required for rigorous scientific evaluation. To address this, we introduce ManipulationNet, a global infrastructure that hosts real-world benchmark tasks for robotic manipulation. ManipulationNet delivers reproducible task setups through standardized hardware kits, and enables distributed performance evaluation via a unified software client that delivers real-time task instructions and collects benchmarking results. As a persistent and scalable infrastructure, ManipulationNet organizes benchmark tasks into two complementary tracks: 1) the Physical Skills Track, which evaluates low-level physical interaction skills, and 2) the Embodied Reasoning Track, which tests high-level reasoning and multimodal grounding abilities. This design fosters the systematic growth of an interconnected network of real-world abilities and skills, paving the path toward general robotic manipulation. By enabling comparable manipulation research in the real world at scale, this infrastructure establishes a sustainable foundation for measuring long-term scientific progress and identifying capabilities ready for real-world deployment.

Low Earth orbit (LEO) satellite constellations have become a critical enabler for global coverage, utilizing numerous satellites orbiting Earth at high speeds. By decomposing complex network services into lightweight service functions, network function virtualization (NFV) transforms global network services into diverse service function chains (SFCs), coordinated by resource-constrained LEOs. However, the dynamic topology of satellite networks, marked by highly variable inter-satellite link delays, poses significant challenges for designing efficient routing strategies that ensure reliable and low-latency communication. Many existing routing methods suffer from poor scalability and degraded performance, limiting their practical implementation. To address these challenges, this paper proposes a novel SFC routing approach that leverages the statistical properties of network link states to mitigate instability caused by instantaneous modeling in dynamic satellite networks. Through comprehensive simulations on end-to-end shortest-path propagation delays in LEO networks, we identify and validate the statistical stability of multi-hop routes. Building on this insight, we introduce the Stability-Aware Multi-Stage Graph Routing (SA-MSGR) algorithm, which incorporates pre-computed average delays into a multi-stage graph optimization framework. Extensive simulations demonstrate the superior performance of SA-MSGR, achieving significantly lower and more predictable end-to-end SFC delays compared to representative baseline strategies.

The Unscented Kalman Filter (UKF) is a ubiquitous tool for nonlinear state estimation; however, its performance is limited by the static parameterization of the Unscented Transform (UT). Conventional weighting schemes, governed by fixed scaling parameters, assume implicit Gaussianity and fail to adapt to time-varying dynamics or heavy-tailed measurement noise. This work introduces the Meta-Adaptive UKF (MA-UKF), a framework that reformulates sigma-point weight synthesis as a hyperparameter optimization problem addressed via memory-augmented meta-learning. Unlike standard adaptive filters that rely on instantaneous heuristic corrections, our approach employs a Recurrent Context Encoder to compress the history of measurement innovations into a compact latent embedding. This embedding informs a policy network that dynamically synthesizes the mean and covariance weights of the sigma points at each time step, effectively governing the filter's trust in the prediction versus the measurement. By optimizing the system end-to-end through the filter's recursive logic, the MA-UKF learns to maximize tracking accuracy while maintaining estimation consistency. Numerical benchmarks on maneuvering targets demonstrate that the MA-UKF significantly outperforms standard baselines, exhibiting superior robustness to non-Gaussian glint noise and effective generalization to out-of-distribution (OOD) dynamic regimes unseen during training.

Quantization can drastically increase the efficiency of large language and vision models, but typically incurs an accuracy drop. Recently, function-preserving transforms (e.g. rotations, Hadamard transform, channel-wise scaling) have been successfully applied to reduce post-training quantization error, yet a principled explanation remains elusive. We analyze linear-layer quantization via the signal-to-quantization-noise ratio (SQNR), showing that for uniform integer quantization at a fixed bit width, SQNR decomposes into (i) the concentration of weights and activations (capturing spread and outliers), and (ii) the alignment of their dominant variation directions. This reveals an actionable insight: beyond concentration - the focus of most prior transforms (e.g. rotations or Hadamard) - improving alignment between weight and activation can further reduce quantization error. Motivated by this, we introduce block Concentration-Alignment Transforms (CAT), a lightweight linear transformation that uses a covariance estimate from a small calibration set to jointly improve concentration and alignment, approximately maximizing SQNR. Experiments across several LLMs show that CAT consistently matches or outperforms prior transform-based quantization methods at 4-bit precision, confirming the insights gained in our framework.

This paper focuses on error thresholds for Pauli channels. We numerically compute lower bounds for the thresholds using the analytic framework of coset weight enumerators pioneered by DiVincenzo, Shor and Smolin in 1998. In particular, we study potential non-additivity of a variety of small stabilizer codes and their concatenations, and report several new concatenated stabilizer codes of small length that show significant non-additivity. We also give a closed form expression of coset weight enumerators of concatenated phase and bit flip repetition codes. Using insights from this formalism, we estimate the threshold for concatenated repetition codes of large lengths. Finally, for several concatenations of small stabilizer codes we optimize for channels which lead to maximal non-additivity at the hashing point of the corresponding channel. We supplement these results with a discussion on the performance of various stabilizer codes from the perspective of the non-additivity and threshold problem. We report both positive and negative results, and highlight some counterintuitive observations, to support subsequent work on lower bounds for error thresholds.

Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible, large-scale benchmark for systematic evaluation. To fill this gap, we present RoboCasa365, a comprehensive simulation benchmark for household mobile manipulation. Built on the RoboCasa platform, RoboCasa365 introduces 365 everyday tasks across 2,500 diverse kitchen environments, with over 600 hours of human demonstration data and over 1600 hours of synthetically generated demonstration data -- making it one of the most diverse and large-scale resources for studying generalist policies. RoboCasa365 is designed to support systematic evaluations for different problem settings, including multi-task learning, robot foundation model training, and lifelong learning. We conduct extensive experiments on this benchmark with state-of-the-art methods and analyze the impacts of task diversity, dataset scale, and environment variation on generalization. Our results provide new insights into what factors most strongly affect the performance of generalist robots and inform strategies for future progress in the field.

Safety-aligned language models refuse harmful requests through learned refusal behaviors encoded in their internal representations. Recent activation-based jailbreaking methods circumvent these safety mechanisms by applying orthogonal projections to remove refusal directions, but these approaches treat refusal as a one-dimensional phenomenon and ignore the rich distributional structure of model activations. We introduce a principled framework based on optimal transport theory that transforms the entire distribution of harmful activations to match harmless ones. By combining PCA with closed-form Gaussian optimal transport, we achieve efficient computation in high-dimensional representation spaces while preserving essential geometric structure. Across six models (Llama-2, Llama-3.1, Qwen-2.5; 7B-32B parameters), our method achieves up to 11% higher attack success rates than state-of-the-art baselines while maintaining comparable perplexity, demonstrating superior preservation of model capabilities. Critically, we discover that layer-selective intervention (applying optimal transport to 1-2 carefully chosen layers at approximately 40-60% network depth) substantially outperforms full-network interventions, revealing that refusal mechanisms may be localized rather than distributed. Our analysis provides new insights into the geometric structure of safety representations and suggests that current alignment methods may be vulnerable to distributional attacks beyond simple direction removal.

Most PDE foundation models are pretrained and fine-tuned on fluid-centric benchmarks. Their utility under extreme-loading material dynamics remains unclear. We benchmark out-of-distribution transfer on two discontinuity-dominated regimes in which shocks, evolving interfaces, and fracture produce highly non-smooth fields: shock-driven multi-material interface dynamics (perturbed layered interface or PLI) and dynamic fracture/failure evolution (FRAC). We formulate the downstream task as terminal-state prediction, i.e., learning a long-horizon map that predicts the final state directly from the first snapshot without intermediate supervision. Using a unified training and evaluation protocol, we evaluate two open-source pretrained PDE foundation models, POSEIDON and MORPH, and compare fine-tuning from pretrained weights against training from scratch across training-set sizes to quantify sample efficiency under distribution shift.

Next-generation networks aim to provide performance guarantees to real-time interactive services that require timely and cost-efficient packet delivery. In this context, the goal is to reliably deliver packets with strict deadlines imposed by the application while minimizing overall resource allocation cost. A large body of work has leveraged stochastic optimization techniques to design efficient dynamic routing and scheduling solutions under average delay constraints; however, these methods fall short when faced with strict per-packet delay requirements. We formulate the minimum-cost delay-constrained network control problem as a constrained Markov decision process and utilize constrained deep reinforcement learning (CDRL) techniques to effectively minimize total resource allocation cost while maintaining timely throughput above a target reliability level. Results indicate that the proposed CDRL-based solution can ensure timely packet delivery even when existing baselines fall short, and it achieves lower cost compared to other throughput-maximizing methods.

Machines designed for operation in Space, as well as other extreme environments, need to be both resilient and adaptable when mission parameters change. Soft robots offer advantages in adaptability, but most lack resilience to the pressure and temperature extremes found as close as the Stratosphere. Dielectric elastomer actuators overcome some of those limitations when built as solid state compliant capacitors capable of converting electrical energy into mechanical work, but the elastomer resilience limits the device's operating window. Here we present a crosslinking mechanism for silicone elastomers under ultraviolet light using trimethyl(methylcyclopentadienyl)platinum(IV) as a catalyst to react hydrosilane to vinyl groups. The formation of carbon-carbon bonds enables fast processing under UV light and exceptional electro-mechanical performance in dielectric elastomer actuators. The material resilience advantage is demonstrated in controlled experiments at -40° and 120° C, as well as near vacuum, in comparison with state-of-the-art acrylic and silicone chemistries. Fully autonomous systems controlling grippers made with the novel silicone were integrated into payloads for high altitude balloon testing. Two stratospheric balloon missions were carried out and demonstrated DEAs as a viable soft robotic technology under space-like conditions (as high as 23.6 km elevation, at <0.05 atm and -55° C). The combinations of chemical building blocks and catalyst can be further expanded to address other challenges for silicones, including adhesion and additive manufacturing.

Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is challenging. Simulation paired with reinforcement learning (RL) could be enable more complex behaviors to be generated. Such methods rely on torque and force-based simulation roll- outs which are limited by the sim-to-real gap, stemming from the actuator and system dynamics, resulting in poor transfer of RL policies onto real robots. To address this, we propose a method to model the tendon forces produced by typical servo motors, focusing specifically on the transfer of RL policies for a tendon driven finger. Our approach extends existing data- driven techniques by leveraging contextual history and a novel data collection test-bench. This test-bench allows us to capture tendon forces undergo contact-rich interactions typical of real- world manipulation. We then utilize our force estimation model in a GPU-accelerated tendon force-driven rigid body simulation to train RL-based controllers. Our transformer-based model is capable of predicting tendon forces within 3% of the maximum motor force and is robot-agnostic. By integrating our learned model into simulation, we reduce the sim-to-real gap for test trajectories by 41%. RL-based controller trained with our model achieves a 50% improvement in fingertip pose tracking tasks on real tendon-driven robotic fingers. This approach is generalizable to different actuators and robot systems, and can enable RL policies to be used widely across tendon systems, advancing capabilities of dexterous manipulators and soft robots.

The ability to understand long videos is vital for embodied intelligent agents, because their effectiveness depends on how well they can accumulate, organize, and leverage long-horizon perceptual memories. Recently, multimodal LLMs have been gaining popularity for solving the long video understanding task due to their general ability to understand natural language and to leverage world knowledge. However, as the number of frames provided to an MLLM increases, the quality of its responses tends to degrade, and inference time grows. Therefore, when using MLLMs for long video understanding, a crucial step is selecting key frames from the video to answer user queries. In this work, we develop FocusGraph, a framework for keyframe selection for question answering over long egocentric videos. It leverages a lightweight trainable Scene-Caption LLM Selector that selects query-relevant clips based on their graph-based captions, and a training-free method for selecting keyframes from these clips. Unlike existing methods, the proposed Scene-Caption LLM Selector does not rely on the original sequence of low-resolution frames; instead, it operates on a compact textual representation of the scene. We then design a training-free Patch-wise Sparse-Flow Retention (PSFR) method to select keyframes from the resulting sequence of clips, which are fed into an MLLM to produce the final answer. Together, these components enable FocusGraph to achieve state-of-the-art results on challenging egocentric long-video question answering benchmarks, including FindingDory and HourVideo, while significantly reducing inference time relative to baseline approaches.

Pathology report generation remains a relatively under-explored downstream task, primarily due to the gigapixel scale and complex morphological heterogeneity of Whole Slide Images (WSIs). Existing pathology report generation frameworks typically employ transformer architectures, relying on a homogeneous decoder architecture and static knowledge retrieval integration. Such architectures limit generative specialization and may introduce noisy external guidance during the report generation process. To address these limitations, we propose RANGER, a sparsely-gated Mixture-of-Experts (MoE) framework with adaptive retrieval re-ranking for pathology report generation. Specifically, we integrate a sparsely gated MoE into the decoder, along with noisy top-$k$ routing and load-balancing regularization, to enable dynamic expert specialization across various diagnostic patterns. Additionally, we introduce an adaptive retrieval re-ranking module that selectively refines retrieved memory from a knowledge base before integration, reducing noise and improving semantic alignment based on visual feature representations. We perform extensive experiments on the PathText-BRCA dataset and demonstrate consistent improvements over existing approaches across standard natural language generation metrics. Our full RANGER model achieves optimal performance on PathText dataset, reaching BLEU-1 to BLEU-4 scores of 0.4598, 0.3044, 0.2036, and 0.1435, respectively, with METEOR of 0.1883, and ROUGE-L of 0.3038, validating the effectiveness of dynamic expert routing and adaptive knowledge refinement for semantically grounded pathology report generation.

Large-scale Vision-Language Foundation Models (VLFMs), such as CLIP, now underpin a wide range of computer vision research and applications. VLFMs are often adapted to various domain-specific tasks. However, VLFM performance on novel, specialised, or underrepresented domains remains inconsistent. Evaluating VLFMs typically requires labelled test sets, which are often unavailable for niche domains of interest, particularly those from the Global South. We address this gap by proposing a highly data-efficient method to predict a VLFM's zero-shot accuracy on a target domain using only a single labelled image per class. Our approach uses a Large Language Model to generate plausible counterfactual descriptions of a given image. By measuring the VLFM's ability to distinguish the correct description from these hard negatives, we engineer features that capture the VLFM's discriminative power in its shared embedding space. A linear regressor trained on these similarity scores estimates the VLFM's zero-shot test accuracy across various visual domains with a Pearson-r correlation of 0.96. We demonstrate our method's performance across five diverse datasets, including standard benchmark datasets and underrepresented datasets from Africa. Our work provides a low-cost, reliable tool for probing VLFMs, enabling researchers and practitioners to make informed decisions about data annotation efforts before committing significant resources. The model training code, generated captions and counterfactuals are released here: https://github.com/chris-vorster/PreLabellingProbe.

Attributing authorship to paintings is a historically complex task, and one of its main challenges is the limited availability of real artworks for training computational models. This study investigates whether synthetic images, generated through DreamBooth fine-tuning of Stable Diffusion, can improve the performance of classification models in this context. We propose a hybrid approach that combines real and synthetic data to enhance model accuracy and generalization across similar artistic styles. Experimental results show that adding synthetic images leads to higher ROC-AUC and accuracy compared to using only real paintings. By integrating generative and discriminative methods, this work contributes to the development of computer vision techniques for artwork authentication in data-scarce scenarios.

In many CLIP adaptation methods, a blending ratio hyperparameter controls the trade-off between general pretrained CLIP knowledge and the limited, dataset-specific supervision from the few-shot cases. Most few-shot CLIP adaptation techniques report results by ablation of the blending ratio on the test set or require additional validation sets to select the blending ratio per dataset, and thus are not strictly few-shot. We present a simple, validation-free method for learning the blending ratio in CLIP adaptation. Hold-One-Shot-Out (HOSO) presents a novel approach for CLIP-Adapter-style methods to compete in the newly established validation-free setting. CLIP-Adapter with HOSO (HOSO-Adapter) learns the blending ratio using a one-shot, hold-out set, while the adapter trains on the remaining few-shot support examples. Under the validation-free few-shot protocol, HOSO-Adapter outperforms the CLIP-Adapter baseline by more than 4 percentage points on average across 11 standard few-shot datasets. Interestingly, in the 8- and 16-shot settings, HOSO-Adapter outperforms CLIP-Adapter even with the optimal blending ratio selected on the test set. Ablation studies validate the use of a one-shot hold-out mechanism, decoupled training, and improvements over the naively learnt blending ratio baseline. Code is released here: https://github.com/chris-vorster/HOSO-Adapter

Deep learning in cardiac MRI (CMR) is fundamentally constrained by both data scarcity and privacy regulations. This study systematically benchmarks three generative architectures: Denoising Diffusion Probabilistic Models (DDPM), Latent Diffusion Models (LDM), and Flow Matching (FM) for synthetic CMR generation. Utilizing a two-stage pipeline where anatomical masks condition image synthesis, we evaluate generated data across three critical axes: fidelity, utility, and privacy. Our results show that diffusion-based models, particularly DDPM, provide the most effective balance between downstream segmentation utility, image fidelity, and privacy preservation under limited-data conditions, while FM demonstrates promising privacy characteristics with slightly lower task-level performance. These findings quantify the trade-offs between cross-domain generalization and patient confidentiality, establishing a framework for safe and effective synthetic data augmentation in medical imaging.

Synthesizing physically plausible articulated human-object interactions (HOI) without 3D/4D supervision remains a fundamental challenge. While recent zero-shot approaches leverage video diffusion models to synthesize human-object interactions, they are largely confined to rigid-object manipulation and lack explicit 4D geometric reasoning. To bridge this gap, we formulate articulated HOI synthesis as a 4D reconstruction problem from monocular video priors: given only a video generated by a diffusion model, we reconstruct a full 4D articulated scene without any 3D supervision. This reconstruction-based approach treats the generated 2D video as supervision for an inverse rendering problem, recovering geometrically consistent and physically plausible 4D scenes that naturally respect contact, articulation, and temporal coherence. We introduce ArtHOI, the first zero-shot framework for articulated human-object interaction synthesis via 4D reconstruction from video priors. Our key designs are: 1) Flow-based part segmentation: leveraging optical flow as a geometric cue to disentangle dynamic from static regions in monocular video; 2) Decoupled reconstruction pipeline: joint optimization of human motion and object articulation is unstable under monocular ambiguity, so we first recover object articulation, then synthesize human motion conditioned on the reconstructed object states. ArtHOI bridges video-based generation and geometry-aware reconstruction, producing interactions that are both semantically aligned and physically grounded. Across diverse articulated scenes (e.g., opening fridges, cabinets, microwaves), ArtHOI significantly outperforms prior methods in contact accuracy, penetration reduction, and articulation fidelity, extending zero-shot interaction synthesis beyond rigid manipulation through reconstruction-informed synthesis.

Constructing computer-aided design (CAD) models is labor-intensive but essential for engineering and manufacturing. Recent advances in Large Language Models (LLMs) have inspired the LLM-based CAD generation by representing CAD as command sequences. But these methods struggle in practical scenarios because command sequence representation does not support entity selection (e.g. faces or edges), limiting its ability to support complex editing operations such as chamfer or fillet. Further, the discretization of a continuous variable during sketch and extrude operations may result in topological errors. To address these limitations, we present Pointer-CAD, a novel LLM-based CAD generation framework that leverages a pointer-based command sequence representation to explicitly incorporate the geometric information of B-rep models into sequential modeling. In particular, Pointer-CAD decomposes CAD model generation into steps, conditioning the generation of each subsequent step on both the textual description and the B-rep generated from previous steps. Whenever an operation requires the selection of a specific geometric entity, the LLM predicts a Pointer that selects the most feature-consistent candidate from the available set. Such a selection operation also reduces the quantization error in the command sequence-based representation. To support the training of Pointer-CAD, we develop a data annotation pipeline that produces expert-level natural language descriptions and apply it to build a dataset of approximately 575K CAD models. Extensive experimental results demonstrate that Pointer-CAD effectively supports the generation of complex geometric structures and reduces segmentation error to an extremely low level, achieving a significant improvement over prior command sequence methods, thereby significantly mitigating the topological inaccuracies introduced by quantization error.

We present SpotIt+, an open-source tool for evaluating Text-to-SQL systems via bounded equivalence verification. Given a generated SQL query and the ground truth, SpotIt+ actively searches for database instances that differentiate the two queries. To ensure that the generated counterexamples reflect practically relevant discrepancies, we introduce a constraint-mining pipeline that combines rule-based specification mining over example databases with LLM-based validation. Experimental results on the BIRD dataset show that the mined constraints enable SpotIt+ to generate more realistic differentiating databases, while preserving its ability to efficiently uncover numerous discrepancies between generated and gold SQL queries that are missed by standard test-based evaluation.