H. He

Hao He, Chris J. Kuhlman, Xinwei Deng

Collective problem solving often requires that group members consider the tradeoff between exploitation of known solutions and exploration for new ones, where information of known solutions can be disseminated among individual members through communication networks. The Mason--Watts experiment (PNAS 2012) showed that human groups in shorter-path networks outperform those in longer-path networks on a two-dimensional search task. In this work, we focus on the investigation of such network-efficiency effects in the setting of a group of large language model (LLM) agents. Specifically, we consider groups of sixteen LLM agents playing the Mason--Watts experiment on the eight Mason--Watts network topologies. Moreover, we develop mechanistic Bayesian optimization agents such that the performance of LLM agents can be compared with both the mechanistic agents and the human experimental data. Our computational experiments indicate that the LLM agents show a significant network-efficiency effect when instructed to randomize their first-round choices, but not under the default initialization. In this experiment, adding a one-sentence first-round randomization instruction improves collective payoff by more than three times the estimated payoff difference across the eight network topologies. Also, the Bayesian optimization agents obtain higher payoffs than the evaluated LLM agents on this spatial search task. We further compare the agents' exploration--exploitation behavior, copying, and spatial diversity.

Hao Yang, Yanyan Zhao, Kewei Zhao et al.

Understanding driver emotion and state is critical for the next generation of intelligent in-cabin systems that ensure safety and enhance human-vehicle interaction. However, existing public datasets for in-cabin affective computing are largely limited to visual modalities and rarely include conversational information, making it difficult to capture the linguistic and interactive cues underlying driver emotion. To address these gaps, we introduce InCarEmo, a multimodal dataset for in-cabin emotion recognition and driver state monitoring. InCarEmo integrates RGB and infrared video, in-cabin audio, and dialogue text collected from scripted in-cabin scenarios designed to simulate realistic driver behaviors, covering diverse lighting conditions and driving contexts. The dataset supports three primary tasks: 1) multimodal emotion recognition, 2) fatigue detection, and 3) distraction monitoring. In addition to the original Chinese data, we construct an auxiliary English benchmark to support preliminary cross-lingual evaluation. We provide a unified benchmark with extensive baseline results across unimodal and multimodal methods, including analyses under modality-missing and noise conditions. Experimental results demonstrate the benefits of multimodal fusion and reveal remaining challenges under real-world noise and low-light conditions. By releasing InCarEmo, we aim to establish a comprehensive foundation for robust, interpretable, and human-centric in-cabin affective understanding, promoting safer and more empathetic driver-vehicle interaction.

Fan Ma, Mauro Giuffrè, Donald Wright et al.

Diagnostic error is a major threat to patient safety, yet current large language model (LLM) systems often treat diagnosis as a one-shot prediction task, lacking safeguards against missed high-risk alternatives or rigorous verification of their reasoning. Here, we present AegisDx, a safety-oriented framework for hypothetico-deductive clinical reasoning. AegisDx coordinates specialized LLM components through role-specific contracts, structured intermediate outputs, evidence-retrieval interfaces, and verification gates to generate broad differential diagnoses, enforce explicit screening for dangerous "must-not-miss" conditions, verify reasoning against grounded medical evidence, and structure actionable next steps. We evaluated AegisDx across three layers. On literature-derived case reports from NEJM and JAMA, with GPT-oss-120B as the shared backbone, Top-3 diagnostic accuracy was 59.9% versus 52.1% for the standalone LLM on JAMA cases and 62.7% versus 51.4% on NEJM cases. On cases from Annals of Emergency Medicine, Top-3 accuracy was 85.7% versus 68.6%; against physician-consensus must-not-miss diagnosis sets, AegisDx captured at least one such condition among its top three diagnoses in 78.0% of cases versus 52.0%. In a blinded physician evaluation of 43 real-world emergency department notes from the Yale New Haven Health System compared against GPT-5, AegisDx improved the physician-rated composite safety score from 4.31 to 4.55 on a 5-point scale (adjusted p = 2.1x10^-4), with qualitative gains in must-not-miss identification and reasoning safety. Our findings suggest that engineering diagnostic AI as a safety-oriented reasoning framework, rather than optimizing raw predictive accuracy alone, can provide a safer, more transparent, and clinically meaningful layer of bedside decision support for acute care workflows.

Varun Yerram, He He, Eunsol Choi

Continuous Chain-of-Thought methods replace verbose reasoning traces with a short sequence of dense latent representations. Earlier continuous CoT methods indirectly supervise the latent representations such that its final state match that of verbose reasoning traces, requiring autoregressive, slow generation during training. We introduce C-MTP, a simpler, faster direct supervision approach that models each latent as an average of the embeddings in the CoT traces to be compressed. Our approach outperforms a prior direct supervision method that approximates the distribution of compressed tokens, and performs competitively to slower indirect supervision approaches in existing evaluation setup with simplified CoT traces (less than 100 tokens). Lastly, we extend the evaluation of Continuous CoT methods to complex tasks with longer reasoning traces ($\ge$ few hundreds reasoning tokens). We find both direct and indirect supervision training methods perform poorly (roughly 65\% performance drop) in this setting, revealing the limitations of current continuous CoT methods. The code and checkpoints are released at https://github.com/Varun221/cmtp_research

Xingda Yu, Yining Li, Xinzhang Liu et al.

Recent work extends Transformer residual pathways along two complementary axes: historical retrieval selects information from earlier depths, whereas multi-stream methods maintain multiple residual trajectories. These capabilities have largely been studied in isolation, and assigning an independent retriever to each stream still prevents one trajectory from influencing depth selection in another. We propose Dual Attention Residuals (DAR), which brings multi-stream interaction into historical retrieval through reciprocal cross-stream addressing. For each target stream, DAR computes depth weights from normalized states in the opposite stream and applies them to values from the target stream's own history. The retrieved states are combined for an unchanged Transformer branch and updated through constrained gated writes; a block-form variant operates on block-level histories to control overhead. Across dense models from 0.1B to 1B parameters and a 7B sparse-MoE model, DAR consistently improves validation loss over standard residual Transformers and Attention Residuals. Routing ablations show that the gain cannot be explained by an additional stream or value projection alone. Representation and intervention analyses further show that reciprocal cross-stream selection preserves depth-wise diversity and avoids the redundancy or functional imbalance observed in alternative two-stream designs.

Lei Bai, Zongsheng Cao, Yang Chen et al.

We introduce Agents-A1, a 35B Mixture-of-Experts Agentic Model that reaches trillion-parameter-level performance by scaling the agent horizon. We investigate agent-horizon scaling from two perspectives: scaling long-horizon trajectories and scaling heterogeneous agent abilities. To support this goal, we build a long-horizon knowledge-action infrastructure that connects external knowledge, actions, observations, and verifier outcomes, producing agentic trajectories with an average length of 45K tokens. Based on this, we train Agents-A1 with a three-stage recipe. First, we perform full-domain supervised fine-tuning to align the base model with broad agentic behaviors. Second, we train domain-level teacher models to capture specialized expertise in each domain. Third, we propose a multi-teacher domain-routed on-policy distillation with salient vocabulary alignment to improve knowledge transfer efficiency across different domains, unifying six heterogeneous domains into one deployable student model. Agents-A1 achieves strong and broad performance for long-horizon agent benchmarks. Compared with 1T-parameter model such as Kimi-K2.6 and DeepSeek-V4-pro, Agents-A1 achieves leading results on SEAL-0 (56.4), IFBench (80.6), HiPhO (46.4), FrontierScience-Olympiad (79.0), and MolBench-Bind (56.8), and remains highly competitive on SciCode (44.3), HLE (47.6) and BrowseComp (75.5). We hope this work provides the community with a practical path for scaling the horizon using a 35B agent that can reach or match the performance of 1T models on long-horizon tasks.

Qingyu Yang, Haonan He, Minglei Li et al.

Mixture-of-Experts (MoE) architectures have been widely adopted in large language models, yet parameter-efficient fine-tuning (PEFT) for MoE models remains underexplored. Existing PEFT methods for MoE either ignore router priors with uniform adapters, reducing efficiency and risking forgetting, or rely on static expert selection, limiting per-token capacity and cross-expert feature learning. In this paper, we make the first attempt to fine-tune MoE models with MoE-style low-rank adaptation: our method, entitled MoE$^2$-LoRA, deeply couples the pretrained expert specialization with task-specific adaptivity via a dual-channel Routing-Conditioned Projection (RCP) module, which reuses base router activations to inform LoRA routing. We further introduce a single global LoRA expert pool shared across all layers, enabling model-wide adaptation with emergent layer-wise affinities and balanced expert utilization. MoE$^2$-LoRA simultaneously benefits from the advantages of prior reuse, dynamic adapter routing, and model-wide knowledge sharing. Evaluated on multiple MoE backbones with varying scales and expert granularities, MoE$^2$-LoRA consistently achieves state-of-the-art downstream accuracy while retaining stronger general capabilities.

Hongyang He, Jiuming Liu, Victor Sanchez

Chain-of-thought (CoT) reasoning has emerged as an effective approach for activating latent reasoning capabilities in large language models. However, most existing CoT methods use reasoning chains mainly as inference-time prompts, while the generated reasoning traces are rarely reused as semi-supervised learning signals. In this report, we define \textbf{Semi-supervised Chain-of-Thought Learning} and propose \textbf{Semi-CoT}, a simple framework that uses unlabeled questions to construct pseudo reasoning supervision. Semi-CoT samples multiple pseudo-CoTs for each unlabeled question, estimates answer-level semantic entropy, and selects low-entropy reasoning chains as reliable pseudo-CoT demonstrations. This extends the self-training view of CoT from inference-time refinement to semi-supervised pseudo-supervision. Pilot experiments on AQuA, SVAMP, GSM8K, and MultiArith show that the entropy gate selects high-precision pseudo-CoTs, with pseudo-answer precision ranging from $91.36\%$ to $100\%$. Semi-CoT also gives small gains on SVAMP and GSM8K, while AQuA shows negative transfer and MultiArith reaches a ceiling. These results suggest that unlabeled questions can provide reliable pseudo reasoning signals, but their effective use still requires stronger demonstration selection or student training.

Shuai Zhang, Zijie Chen, Hongliang He et al.

Continuous diffusion language models such as ELF report record-low generative perplexity (Gen-PPL). We find a catch: these models repeat far more than human text, and Gen-PPL rewards rather than penalizes that repetition, so its low scores overstate quality. Strip the repetition and ELF-B's Gen-PPL rises from $19.5$ to $27.7$; the smallest model even posts the best Gen-PPL because it repeats most. We trace the repetition to its source: a contractive attractor along a \emph{single direction} in the self-conditioning feedback loop, the loop that feeds each step's clean estimate into the next. Because the failure is one-dimensional, a one-dimensional fix suffices, and we propose one. \textbf{ACE} (Attractor-Contrast-Escape) subtracts that single, label-free direction from the feedback at each step. Estimated once on the $105$M model, the direction cuts repetition to near the human level while keeping quality competitive, and transfers near-unchanged to the $342$M and $652$M models and across samplers; the same recipe recovers useful directions on other architectures. Since Gen-PPL itself rewards repetition, we instead measure the compute each fix needs to produce human-clean text, where ACE is $1.5$--$5\times$ cheaper.

Xuan Zhao, Haonan He, Qingyu Yang et al.

Since intelligence fundamentally relies on efficient skill acquisition (Chollet, 2019), the ability to leverage skills is critical. For LLMs, skills, manually authored or extracted from task trajectories, are textual recipes encoding mature problem-solving experience and are critical to agentic capabilities. Despite widespread deployment, their utility is limited by the model's ability to comprehend and follow skill instructions, especially under complex and long-context scenarios, where key instructions are difficult to locate and adhere to. To address this limitation, we propose ParametricSkills, a framework that can convert free-form textual skills into parameters at test time, enabling context-free skill exploitation. Specifically, we first construct a large-scale, high-quality skill library, and synthesize single-turn and multi-turn skill exploitation trajectories built around these skills with OpenCode. Using these data, we then train a hypernetwork that parameterizes both the skill content and the test-time exploitation methodology by receiving textual skills and converting them into LoRA adapters. Experimental results on six complex software engineering (SWE) subtasks demonstrate that, the proposed ParametricSkills averagely outperforms in-context learning by 6.44 points as judged by DeepSeek-V4-Flash, while also achieving significantly higher BERT Score and F1 score, confirming its effectiveness. Beyond performance, we further find that parametric skills, being inherently accumulative, offer a preliminary yet promising avenue toward test-time continual learning.

Hongyang He, Jiuming Liu, Victor Sanchez

Vision-Language-Action (VLA) models enable robots to predict actions directly from visual observations and language instructions, but adapting them to new environments still depends on costly action-labeled demonstrations. To reduce this dependence, we study semi-supervised VLA adaptation under limited supervision signals, where only a small portion of trajectories contain robot actions and the remaining trajectories provide action-unlabeled vision-language observations. Unlike standard semi-supervised learning, the missing supervision is an embodied action signal that must be visually grounded, language-consistent, physically feasible, and temporally stable. To address this problem, we propose SemiVLA, a self-distilled teacher-student framework that learns from reliable pseudo-actions on unlabeled trajectories. SemiVLA introduces a VLA-specific reliability controller to assess vision-language alignment, action feasibility, and temporal transition consistency, and further updates the teacher through a Bottleneck-Projected Alignment Update to avoid noisy feedback contamination. With OpenVLA as the backbone, SemiVLA consistently improves multiple PEFT strategies across LIBERO and CALVIN. Under 10\% labeled trajectories, SemiVLA with Selective LoRA achieves 89.0\% average success on LIBERO, outperforming supervised LoRA by 8.0 points without extra inference cost.

Like Liu, Zhengzheng Xu, Haitao He et al.

Multimodal large language models have achieved strong performance across diverse vision-language tasks, yet their capabilities in UAV scenarios remain insufficiently explored. Recent UAV-oriented benchmarks have begun to evaluate MLLMs in aerial scenarios, but they typically focus on scene understanding, event recognition, or navigation completion, rather than jointly assessing the dual-cognition capability required for UAV agents: reasoning about both the UAV's own state and the external environment in multiview spatio-temporal contexts. To address this gap, we present UAV-DualCog, a benchmark for aerial multiview spatio-temporal reasoning built on this dual-cognition perspective. UAV-DualCog includes both image and video tasks to jointly evaluate self-state and environment-state reasoning, while requiring spatial or temporal grounding beyond discrete answer prediction. We also develop an automated pipeline that constructs data from scene-level semantic point clouds, yielding a scalable benchmark with diverse scenes, hundreds of landmarks, and thousands of QA samples. Extensive evaluations show that current MLLMs remain far from reliable in UAV dual cognition. Self-state reasoning, viewpoint transformation, precise spatial grounding, and temporal interval localization are persistent bottlenecks, and additional validation with thinking/frontier models and a human baseline confirms that the benchmark is understandable to humans but challenging for existing models. We further construct UAV-DualCog-Train from disjoint scenes and show through a lightweight optimization probe that it provides useful structured supervision, suggesting its value not only as an evaluation benchmark but also as a data resource for advancing MLLM-based UAV agents. Project website and supplementary materials: https://uav-dualcog.lozumi.com

Lingao Xiao, Yalun Dai, Yangyu Huang et al.

Research dissemination, turning a paper into a poster, a talk video, and a blog post, is still a manual last mile. Prior automation treats each artifact in isolation that each re-extract the paper from scratch, usually ship one-way renders the author cannot reopen in PowerPoint or Word, and gates quality on soft VLM-preference scores that plateau while load-bearing sections still read as empty. We argue this last mile is best built as a composition of skills: thin agent-readable contracts that share one upstream extractor and wrap deterministic primitives in a measured-fill loop whose exits are hard pass/fail render gates. We instantiate this as ResearchStudio-Reel, five Claude Code and Codex skills organized into one shared extractor (Paper2Assets), three editable generators (Paper2Poster, Paper2Video, Paper2Blog), and one interactive convergence layer (Paper2Reel). Paper2Assets extracts each paper once into a shared bundle that can be reused by every downstream skill; The three generators produce a print-ready poster, a synchronized talk video, and a bilingual blog that stay factually consistent and round-trip through PowerPoint or Word; Paper2Reel then binds all three into a self-contained HTML viewer whose section-level clicks jump the video, slides, captions, and blog to matching content. On the Paper2Poster benchmark, our posters lead every aesthetic and information sub-criterion against both prior automated systems and single-shot frontier LLMs, surpassing the authors' own on aesthetics under two held-out VLM judges and winning overall on 84% to 93% of papers; capability audits further show that, by uniquely pairing narration-aligned on-slide highlights with a bilingual blog gated by layout-aware DOCX repair, ResearchStudio-Reel is the only pipeline to ship all three editable artifacts. Project is available at https://aka.ms/ResearchStudio

Honglu He, Jacob Laufer, Zhiwu Zheng et al.

Dexterous manipulation remains a critical bottleneck in industrial automation; tasks such as cable routing, connector insertion, and precision assembly still rely heavily on manual labor despite decades of robotics research. This work presents a progression from classical, modular robotics pipelines toward an end-to-end multimodal imitation-learning framework for industrial dexterous manipulation. As a part of this work, we introduce three key contributions: a set of Industrial Dexterity Benchmark (IDB) boards aimed to mimic datacenter cable management, automotive cable harnesses, and gearbox assembly tasks; a scalable imitation learning framework (DAG-ROS); and a multimodal diffusion-based policy framework (AG-iDP3) that creates models fusing RGB images, point clouds, joint positions, and wrist-frame wrench data. Focusing on the datacenter cable manipulation board, we evaluate the performance of a task involving cleaning a single cable over variations of an end-to-end AI policy using 48 trials per configuration. The best performing configuration, a multimodal expansion Diffusion Policy (DP), includes a multi-view RGB image source passed through an R3M encoder and reaches a 78% grasp and insert combined task success rate. This performance marks a significant improvement over the 36% observed from the single-camera RGB DP baseline. Each of the tested configurations requires only approximately 100 teleoperated demonstrations per task phase. These results indicate that the correct learned policy can outperform classical vision and control robotic methods in robustness, generalization, and deployment efficiency, justifying a shift toward scalable robotic automation for high up-time industrial environments.

Jiacheng Zhang, Haoyu He, Sen Zhang et al.

In real-world applications, guardrails are often expected to identify unsafe user-model interactions according to application-specific safety policies, rather than relying on predefined risk taxonomies. In this work, we study this setting under the paradigm of in-context policy guardrailing, where guardrails predict safety violations based on policy specifications provided in context. To systematically evaluate this capability, we introduce SafePyramid, a safety benchmark comprising 1,000 multi-turn conversations across 10 domains and 3,000 corresponding application-specific policies, which together contain 61,699 distinct natural-language rules. SafePyramid organizes the evaluation into three difficulty levels: L0 evaluates individual-rule understanding, L1 evaluates reasoning over rule dependencies, and L2 evaluates adaptation of full novel policy frameworks defined in context. To ensure benchmark quality, we employ a rigorous multi-stage pipeline to construct and validate the benchmark. Using SafePyramid, we evaluate 10 frontier LLMs and 5 policy-configurable guardrails and find that in-context policy guardrailing remains highly challenging: even the best-performing model, GPT-5.5, exactly identifies the full set of violated rules in only 54.0%, 35.3%, and 12.9% cases on L0, L1, and L2, respectively. These results highlight the limitations of current guardrails and call for stronger in-context policy guardrails that can reliably execute policies, resolve rule dependencies, and adapt to novel policy frameworks.

Zhizheng Liu, Honglin He, Vivek Alumootil et al.

Urban sidewalk navigation presents significant challenges due to complex structural layouts, dynamic pedestrian behaviors, and long distances. While recent visual navigation models offer a promising solution, the lack of a unified benchmark hinders quantitative and reproducible evaluation. To bridge this gap, we propose SidewalkBench, a comprehensive benchmark designed for visual navigation on urban sidewalks. Built upon NVIDIA Isaac Sim, SidewalkBench brings GPU-accelerated simulation of diverse, high-fidelity sidewalk environments, including both procedurally generated and real-world scanned scenes. We further populate the scenes with rich, reactive event-based pedestrian behaviors and flexible, efficient animation, enabling standardized model evaluation under realistic real-world settings. We conduct a comprehensive evaluation of 9 visual navigation models on 330 unit-test scenarios, 800 pedestrian-reactive scenarios, and 105 long-horizon scenarios. Our findings highlight that pedestrian interaction and long-horizon robustness remain critical bottlenecks for existing models, and scaling up sidewalk training with synthetic data emerges as a promising solution.

Hao He, Xueying Liu, Chris J. Kuhlman et al.

Large language model coding agents increasingly perform open-ended data modeling and analysis. These agents are stochastic and adaptive, and therefore their autonomous model discovery behavior cannot be adequately characterized by a single benchmark run. In this work, we propose an experimental design and analysis framework for systematically evaluating this discovery process, quantifying its variability, and identifying important factors. The proposed framework treats these agents as stochastic model-discovery operators, which map task-specific discovery data and an optimization target to a fitted model. Specifically, we investigate two such operators, Codex and Claude Code, under controlled experimental factors including agent's reasoning effort, task, optimization metric, and composition of training data. For each agent-task-metric combination, regression models and inference are conducted for multiple responses such as output quality, dollar cost, wall-clock time, and process complexity. Furthermore, we develop a utility-aligned canonical decomposition to characterize the dominant direction of the reasoning-effort effect and to assess whether that direction aligns with a performance-cost utility direction. The proposed framework is demonstrated on a testbed of networked word-forming games with insightful findings on reasoning effort with respect to cost and process complexity.

Hao He, Shyam Agarwal, Yegor Denisov-Blanch et al.

Enterprises increasingly mandate AI coding tools and report large productivity gains, yet longitudinal evidence on how such a mandate unfolds is scarce. In this paper, we present a quantitative case study of a documented enterprise "2x" mandate at a mid-sized, AI-forward company that has been committed to doubling merged pull requests per engineer since mid-2025. In a panel of 802 developers and 196,212 pull requests (January 2024-April 2026), per-capita throughput eventually doubled, reaching 2.09x the pre-mandate baseline in April 2026, among the largest gains reported from a field deployment of AI coding tools to our knowledge. A staggered difference-in-differences design links the within-developer share of this gain to AI adoption and to a further gain that grows with accumulated use, with the mandate acting as a catalyst rather than a direct driver. Because adoption and usage intensity were not randomly assigned, we read this evidence as strongly implicating an adoption-and-use channel rather than as exact causal attribution. The gain is broadly shared across seniority yet concentrated in newer code and not separable across model generations. Adoption also restructured code review around automation: per-reviewer load roughly doubled and automated review overtook human review, while merge and revert rates held steady.

Zhengxuan Wang, Haohan He, Mengying Zhou

The rapid advance of smart cities increasingly depends on trajectory data mining, yet underrepresented demographic groups, particularly the elderly, are often sparsely represented in public mobility datasets. This underrepresentation can introduce systematic bias into mobility modeling and downstream urban planning. Using the 2016-2020 Jersey City subset of the Citi Bike System Data, this study quantitatively examines how the absence of underrepresented subgroups' mobility signatures affects mobility modeling, using synthetic trajectory generation as a case study. The analysis reveals that elderly riders exhibit a structurally distinct mobility signature, including localized activity spaces (958 m vs. 1,189 m for young riders), lower mobility entropy (1.82 vs. 4.15), and asymmetric off-peak temporal patterns. To demonstrate that relying on majority-dominated training data yields biased synthetic outcomes, we further evaluate both a first-order Markov chain and a Qwen3-4B model fine-tuned with QLoRA across three demographic training settings: the full population, young riders only, and elderly riders only. Results show that models trained on majority-dominated populations systematically misrepresent elderly mobility behavior, particularly for spatial mobility metrics. The Markov model trained on the full population overestimates elderly step length by 4.5% and dwell time by 8.9%, whereas the elderly-specific model achieves substantially lower errors across most metrics. Comparisons between the Markov and LLM-based frameworks further show that higher-capability models do not necessarily improve subgroup-level fidelity under limited demographic data. These findings underscore the importance of demographic representation in mobility modeling and its downstream applications for underrepresented populations.

Xiaoyu Ye, Leheng Li, Xinyu Ji et al.

Generating realistic, controllable, and temporally coherent urban environments is a critical yet unresolved challenge in the autonomous driving community. In this paper, we introduce InfiniVerse, a unified pipeline for long-range, 2D-3D-aligned, and controllable synthesis of dynamic urban scenes from a single frame. In practice, our approach first reconstructs a 3D occupancy representation from the input multi-view frame. This representation serves as a foundation for autoregressive scene extension along arbitrary trajectories. Subsequently, a video diffusion model translates the coarse occupancy grid into realistic, spatiotemporally consistent video sequences. Moreover, we propose a hierarchical sketch-and-refine paradigm, in which the generated videos are re-projected as image-conditioned feedback to enhance the 3D occupancy representation, establishing cross-modal alignment and mutual enhancement between the visual and spatial domains. Extensive evaluations on the Waymo Open Dataset and nuScenes demonstrate that InfiniVerse achieves state-of-the-art performance, with a FID of 6.4 and FVD of 67.97, significantly outperforming existing benchmarks in both duration and stability.

Ding Yu, Zhuo Liu, Hao Zhang et al.

Earnings announcements release two types of information sequentially: quantitative surprise (numeric earnings-per-share (EPS)/revenue versus analyst estimate) arrives first in press releases and financial news, processed by algorithmic traders within minutes; qualitative language (management tone, guidance, question-and-answer (Q&A) credibility) arrives 30-90 min later in the earnings conference call transcript (ECT), requiring human interpretation overnight. Financial economists have studied quantitative surprise for 50 years; natural language processing (NLP) researchers have studied qualitative ECT signals for a decade. Despite studying the same event, the two communities used incompatible frameworks: different targets (return vs. volatility), trading setups (long top-decile and short bottom-decile vs. trade-all), and metrics (return spread between top and bottom 20% (Q5-Q1) vs. mean squared error (MSE)), making direct comparison and connection challenging. We bridge these communities with EarningsInOne, the first corpus aligning earnings news, ECTs, and intraday and next-day prices across SP 1500 (broad U.S. equity universe, 2022-2025). Applying unified trading and evaluation tools to both signal types, we confirm a clean speed separation, fast numbers, slow language: quantitative surprise peaks at announcement and is largely eliminated by the next market open; qualitative ECT sentiment peaks on the next trading day, real and tradeable, but hidden under prior transcript-based evaluation that optimised sign-agnostic volatility with pointwise MSE.

Sufang Yang, Liang Xia, Longguang Li et al.

This paper investigates the capacity of multipleinput multiple-output (MIMO) optical wireless communication (OWC) channels under a total average-power constraint. Since different nonnegative input vectors can be mapped to the same image vector and thus induce the same output distribution, we formulate a nonnegative basis pursuit (NN-BP) problem to identify the minimum-l1-norm input vector for each image vector. Based on the NN-BP characterization, we derive an equivalent expression for the channel capacity in terms of the image-vector distribution. We then establish computable lower and upper capacity bounds for both nT >= nR and nT < nR cases, and prove that the proposed bounds are asymptotically tight in the high signal-to-noise ratio (SNR) regime. Numerical results for indoor and outdoor OWC scenarios demonstrate that the proposed bounds improve upon existing ones and close the constant gap in the high-SNR regime.

Xiaobin Hu, Haoyang He, Bo Yin et al.

While recent advancements in anomaly detection have demonstrated the efficacy of CNN- and Transformer-based approaches, these architectures face inherent limitations: CNNs struggle to capture long-range dependencies, whereas Transformers suffer from quadratic computational complexity. Consequently, Mamba-based architectures have attracted considerable attention, as they successfully combine superior long-range dependency modeling with linear computational complexity. By critically rethinking the structural evolution across the Mamba lineage 1-3 series, this paper proposes MambaADv2, a framework tailored for multi-class unsupervised anomaly detection. MambaADv2 comprises a pre-trained encoder and a Mamba-inspired decoder, equipped with Duality-enhanced State Space (DSS) modules across multiple scales. The proposed DSS module effectively models both global dependencies and local representations by integrating parallel-cascaded Hybrid State Space (HSS) blocks and frequency-enhanced convolution operations. The structure of the Hybrid State Space (HSS) block is tailored by following the SSD-based Mamba lineage and incorporating Mamba3-style position-aware state-space modeling, leveraging the dual computational paths of linear recurrence and parallel matrix formulation to model local continuity and global contextual comparison, thereby better serving the core anomaly detection objective of precisely reconstructing normal representations while magnifying anomalous deviations. Additionally, we propose a semantics-adaptive progressive scanning strategy that decays scanning complexity along the feature pyramid.

Shaswat Patel, Betty Li Hou, Arun Purohit et al.

Maintainability is a core dimension of software engineering, shaping how code is written, reviewed, and developed over time. While coding agents have demonstrated strong performance on single-issue tasks, it remains unclear how maintainable their code is when future agents build on top of it, potentially leading to compounding downstream effects. We investigate how agent code compares to human code in these maintenance settings, presenting CodeThread, a framework to construct controlled experiments from repository-level coding benchmarks. Applying CodeThread to four frontier coding agents and four benchmarks, we find that agents are less effective at resolving tasks when building on agent code compared to human code, with task resolve rate drops of up to 13.1%. Regression analysis reveals that many traditional software engineering maintainability metrics do not explain this difference. Instead, the clearest signals are subtler behavioral differences in agent code, such as changes to input validation and error handling, along with differences in downstream code size and task difficulty. These findings highlight the need to evaluate these systems not only by immediate task resolution but also by code maintainability, and point to potential sources of downstream errors introduced by agent code.

Zhenghao "Mark'' Peng, Honglin He, Quanyi Li et al.

Learning-based planners for sidewalk navigation can generate diverse candidate trajectories in real time, yet their scoring functions often fail to select the best trajectory in challenging situations, outputting trajectories that make the mobile robot drive onto grass, toward pedestrians, or in the wrong direction, even when better candidates exist in the same set. We call this the trajectory scoring gap: in real-world sidewalk navigation, the gap between an anchor-based planner's top choice and the best possible candidate is substantial, likely due to limited high-level scene understanding capability of the planner. Rather than replacing the planner with an end-to-end Vision-Language-Action model, we propose a VLM-Planner interface that uses a VLM to select a candidate index from the planner's proposal set and then fuse it with the planner's initial output. However, VLMs take 1--3s per query and so cannot directly drive a 5--20Hz control loop. We contribute a training-free, latency-resilient trajectory-level fusion layer that turns a stale VLM selection into real-time planner scoring via geometric similarity with exponential decay. On $\sim$2,000 challenging real-world scenarios (e.g., junctions, pedestrian encounters), VLM selection achieves 30% ADE reduction versus the planner's best selection, while the planner remains competitive in routine situations. In simulation, Score Fusion maintains >80% success rate with delays up to 5s. We demonstrate the full system on a mobile robot navigating challenging campus sidewalks with varied network latency.

Yukai Ma, Joe Lin, Liu Liu et al.

Sidewalks in the real world are crowded, cluttered, and less structured than roads, making 3D occupancy prediction a key ingredient for the safe navigation of mobile robots such as delivery bots and electric wheelchairs. Existing occupancy learning pipelines are largely designed for on-road autonomous driving and often train on large-scale paired LiDAR-RGB datasets with dense 3D supervision and multiple camera inputs, which are costly to collect and do not adequately capture sidewalk-specific characteristics. We propose WalkOCC, a hybrid Ray-marching monocular 3D occupancy perception framework for robots operating on sidewalks. WalkOCC explicitly couples geometric grounding from LiDAR-RGB paired data with scalable learning from large-scale unpaired monocular images. It bootstraps pseudo occupancy supervision from paired sequences and jointly learns image-level representations on additional 2D-only data. It yields stable optimization and improved generalization without requiring costly 3D occupancy annotations. Extensive experiments demonstrate consistent gains in prediction accuracy, fine-grained segmentation of subtle urban structures such as curbs and gutters, and robustness to environmental and cross-embodiment shifts compared with self-supervised image-based baselines. To facilitate evaluation and benchmarking, we also introduce Sidewalk3D, a large-scale sidewalk perception dataset with LiDAR-camera paired sequences collected across multiple locations and time periods, along with 3D semantic occupancy annotations for evaluation. Code and data will be made available.

Honglin He, Zhizheng Liu, Yukai Ma et al.

Autonomous long-horizon sidewalk navigation is essential for micro-mobility applications such as robotic food delivery and assistive electronic wheelchairs. Unlike autonomous driving on the road, long-horizon sidewalk navigation requires precise maneuvering through unpredictable sidewalk terrains and pedestrians, with a lightweight perception stack as minimal as a single monocular RGB camera. While imitation learning (IL) from demonstrations offers a practical solution, the resulting autopilot policy often suffers from compounding errors, a lack of social compliance on sidewalks, and deficiencies in counterfactual reasoning to handle complex situations. To address these challenges, we introduce FlowPilot, a mapless navigation policy that achieves robust and efficient long-horizon navigation performance using only a monocular RGB camera. We first propose to use anchored flow matching as an action representation for policy pre-training on large-scale robot fleet data and to capture the diverse, complex, multimodal distribution of sidewalk navigation behaviors. To bridge the gap between imitation and alignment, we further design a human-in-the-loop preference learning scheme to tune the policy on a small amount of human intervention data. It strengthens the model's counterfactual reasoning and social compliance on sidewalks. We evaluate FlowPilot through extensive simulation and real-world experiments in diverse sidewalk environments. FlowPilot achieves 42% success rate and 66% route completion in simulation, while FlowPilot-HP further improves real-world robustness and social compliance, reducing IR by 40.0% and NIR by 52.1% relative to the base model.

Rico Angell, Jannik Brinkmann, He He

Jailbreak transferability is the surprising phenomenon when an adversarial attack compromising one model also elicits harmful responses from other models. Despite widespread demonstrations, there is little consensus on why transfer is possible: is it a quirk of safety training, an artifact of model families, or a more fundamental property of representation learning? We present evidence that transferability emerges from shared representations rather than incidental flaws. Across 20 open-weight models and 33 jailbreak attacks, we find two factors that systematically shape transfer: (1) representational similarity under benign prompts, and (2) the strength of the jailbreak on the source model. To move beyond correlation, we show that deliberately increasing similarity through benign only distillation causally increases transfer. Our qualitative analyses reveal systematic transferability patterns across different types of jailbreaks. For example, persona-style jailbreaks transfer far more often than cipher-based prompts, consistent with the idea that natural-language attacks exploit models' shared representation space, whereas cipher-based attacks rely on idiosyncratic quirks that do not generalize. Together, these results reframe jailbreak transfer as a consequence of representation alignment rather than a fragile byproduct of safety training.