Daily Papers

Physical interactions follow a long-tailed distribution: a set of common and regular interactions dominates human experience and visual data, while a broad spectrum of rare and irregular interactions remains underrepresented. Although recent visual world models, including image and video generation models, achieve impressive realism on existing benchmarks, they primarily focus on simulating common physical interactions. This raises a central question: Do current visual world models internalize and generalize physical principles? In this work, we introduce Tailor-Bench, a benchmark that challenges world models to simulate irregular physical interactions. To enable systematic evaluation, we design three scenario modes that progressively challenge model reasoning: Regular scenarios reflect common tool-task pairs, Unconventional scenarios replace conventional tools with attribute-compatible substitutes to test affordance generalization, and Impossible scenarios introduce attribute-violating tools to probe constraint awareness. Additionally, we design two complementary settings under a unified evaluation protocol: predictive generation requires inferring outcomes without guidance, while descriptive generation specifies the target outcome for faithful realization. Our experimental results reveal a clear long-tail gap in physical world modeling: performance degrades from Regular to Unconventional and Impossible scenarios, indicating limited generalization beyond common interactions. Failure analysis further shows that models rely on superficial visual patterns: image models fail to realize correct state changes, while video models further suffer from temporal inconsistencies.

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs) provide high-level guidance, they cannot explicitly forecast future states, and existing world models either predict only short horizons or produce spatially inconsistent frames. To address these challenges, we propose a framework for fast and predictive video-conditioned action. Our approach first selects and adapts a robust video generation model to ensure reliable future predictions, then applies adversarial distillation for fast, few-step video generation, and finally trains an action model that leverages both generated videos and real observations to correct spatial errors. Extensive experiments show that our method produces temporally coherent, spatially accurate video predictions that directly support precise manipulation, achieving significant improvements in embodiment consistency, spatial referring ability, and task completion over existing baselines. Codes & Models will be released.

Large Language Models (LLMs) are foundational to AI advancements, facilitating applications like predictive text generation. Nonetheless, they pose risks by potentially memorizing and disseminating sensitive, biased, or copyrighted information from their vast datasets. Machine unlearning emerges as a cutting-edge solution to mitigate these concerns, offering techniques for LLMs to selectively discard certain data. This paper reviews the latest in machine unlearning for LLMs, introducing methods for the targeted forgetting of information to address privacy, ethical, and legal challenges without necessitating full model retraining. It divides existing research into unlearning from unstructured/textual data and structured/classification data, showcasing the effectiveness of these approaches in removing specific data while maintaining model efficacy. Highlighting the practicality of machine unlearning, this analysis also points out the hurdles in preserving model integrity, avoiding excessive or insufficient data removal, and ensuring consistent outputs, underlining the role of machine unlearning in advancing responsible, ethical AI.

Video Variational Autoencoder (VAE) enables latent video generative modeling by mapping the visual world into compact spatiotemporal latent spaces, improving training efficiency and stability. While existing video VAEs achieve commendable reconstruction quality, continued optimization of reconstruction does not necessarily translate into improved generative performance. How to enhance the diffusability of video latents remains a critical and unresolved challenge. In this work, inspired by principles of predictive world modeling, we investigate the potential of predictive learning to improve the video generative modeling. To this end, we introduce a simple and effective predictive reconstruction objective that unifies predictive learning with video reconstruction. Specifically, we randomly discard future frames and encode only partial past observations, while training the decoder to reconstruct the observed frames and predict future ones simultaneously. This design encourages the latent space to encode temporally predictive structures and build a more coherent understanding of video dynamics, thereby improving generation quality. Our model, termed Predictive Video VAE (PV-VAE), achieves superior performance on video generation, with 52% faster convergence and a 34.42 FVD improvement over the Wan2.2 VAE on UCF101. Furthermore, comprehensive analyses demonstrate that PV-VAE not only exhibits favorable scalability, with generative performance improving alongside VAE training, but also yields consistent gains in downstream video understanding, underscoring a latent space that effectively captures temporal coherence and motion priors.

It is well known that the reconstruction FID (rFID) of a VAE is poorly correlated with the generation FID (gFID) of a latent diffusion model. We propose interpolated FID (iFID), a simple variant of rFID that exhibits a strong correlation with gFID. Specifically, for each element in the dataset, we retrieve its nearest neighbor (NN) in the latent space and interpolate their latent representations. We then decode the interpolated latent and compute the FID between the decoded samples and the original dataset. Additionally, we refine the claim that rFID correlates poorly with gFID, by showing that rFID correlates with sample quality in the diffusion refinement phase, whereas iFID correlates with sample quality in the diffusion navigation phase. Furthermore, we provide an explanation for why iFID correlates well with gFID, and why reconstruction metrics are negatively correlated with gFID, by connecting to results in the diffusion generalization and hallucination. Empirically, iFID is the first metric to demonstrate a strong correlation with diffusion gFID, achieving Pearson linear and Spearman rank correlations approximately 0.85. The source code is provided in https://github.com/tongdaxu/Making-rFID-Predictive-of-Diffusion-gFID.

Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving. Prior works formulate the traffic layout generation as predictive progress, either by denoising entire sequences at once or by iteratively predicting the next frame. However, full sequence denoising hinders online reaction, while the latter's short-sighted next-frame prediction lacks precise goal-state guidance. Further, the learned model struggles to generate complex or challenging scenarios due to a large number of safe and ordinal driving behaviors from open datasets. To overcome these, we introduce Nexus, a decoupled scene generation framework that improves reactivity and goal conditioning by simulating both ordinal and challenging scenarios from fine-grained tokens with independent noise states. At the core of the decoupled pipeline is the integration of a partial noise-masking training strategy and a noise-aware schedule that ensures timely environmental updates throughout the denoising process. To complement challenging scenario generation, we collect a dataset consisting of complex corner cases. It covers 540 hours of simulated data, including high-risk interactions such as cut-in, sudden braking, and collision. Nexus achieves superior generation realism while preserving reactivity and goal orientation, with a 40% reduction in displacement error. We further demonstrate that Nexus improves closed-loop planning by 20% through data augmentation and showcase its capability in safety-critical data generation.

Recent advances in radiology report generation (RRG) have been driven by large paired image-text datasets; however, progress in neuro-oncology has been limited due to a lack of open paired image-report datasets. Here, we introduce BTReport, an open-source framework for brain tumor RRG that constructs natural language radiology reports using deterministically extracted imaging features. Unlike existing approaches that rely on large general-purpose or fine-tuned vision-language models for both image interpretation and report composition, BTReport performs deterministic feature extraction for image analysis and uses large language models only for syntactic structuring and narrative formatting. By separating RRG into a deterministic feature extraction step and a report generation step, the generated reports are completely interpretable and less prone to hallucinations. We show that the features used for report generation are predictive of key clinical outcomes, including survival and IDH mutation status, and reports generated by BTReport are more closely aligned with reference clinical reports than existing baselines for RRG. Finally, we introduce BTReport-BraTS, a companion dataset that augments BraTS imaging with synthetically generated radiology reports produced with BTReport. Code for this project can be found at https://github.com/KurtLabUW/BTReport.

Latent diffusion models leverage visual tokenizers to compress images into latent spaces for efficient generative modeling. However, better reconstruction quality of a tokenizer does not necessarily translate into better generation quality, suggesting that latent representations should be evaluated not only by fidelity but also by their diffusability. Recent studies have proposed diverse explanations for diffusion-friendly latent spaces, including semantic separability, affine equivariance, distribution uniformity, spatial structure, spectral smoothness, and manifold continuity. Yet these properties are often validated on a limited set of tokenizers, leaving it unclear which factors are most predictive of downstream generation quality and whether such conclusions hold beyond the specific settings in which they are introduced. In this work, we conduct a systematic study of latent diffusability by training a large collection of tokenizers with diverse regularization strategies, architectures, and latent configurations, and evaluating them with multiple downstream diffusion backbones. Our analysis identifies several latent properties that consistently correlate with generation quality and exhibit strong generalization across experimental settings. Beyond existing metrics, we introduce Velocity Irreducible Variance (VIV), a measure of velocity ambiguity induced by trajectory crossings. Extensive experiments show that VIV is one of the most stable predictors of generation quality.

Model-predictive control (MPC) is a powerful framework for controlling dynamic systems under constraints, but it remains challenging to deploy on resource-constrained platforms, especially for problems involving conic constraints. To address this, we extend recent work developing fast, structure-exploiting, cached ADMM solvers for embedded applications, to provide support for second-order cones, as well as C++ code generation from Python, MATLAB, and Julia for easy deployment. Microcontroller benchmarks show that our solver provides up to a two-order-of-magnitude speedup, ranging from 10.6x to 142.7x, over state-of-the-art embedded solvers on QP and SOCP problems, and enables us to fit order-of-magnitude larger problems in memory. We validate our solver's deployed performance through simulation and hardware experiments, including conically-constrained trajectory tracking on a 27g Crazyflie quadrotor. To get started with Conic-TinyMPC, visit our documentation, examples, and the open-source codebase at https://tinympc.org.

Modern Text-to-Image (T2I) generation increasingly relies on token-centric architectures that are trained with self-supervision, yet effectively fusing text with visual tokens remains a challenge. We propose JEPA-T, a unified multimodal framework that encodes images and captions into discrete visual and textual tokens, processed by a joint-embedding predictive Transformer. To enhance fusion, we incorporate cross-attention after the feature predictor for conditional denoising while maintaining a task-agnostic backbone. Additionally, raw texts embeddings are injected prior to the flow matching loss to improve alignment during training. During inference, the same network performs both class-conditional and free-text image generation by iteratively denoising visual tokens conditioned on text. Evaluations on ImageNet-1K demonstrate that JEPA-T achieves strong data efficiency, open-vocabulary generalization, and consistently outperforms non-fusion and late-fusion baselines. Our approach shows that late architectural fusion combined with objective-level alignment offers an effective balance between conditioning strength and backbone generality in token-based T2I.The code is now available: https://github.com/justin-herry/JEPA-T.git

Cinematic video generation requires both temporal inference from limited inputs (i.e., sparse rather than frame-by-frame guidance) and factor-aware control of character, scene, action, and camera. Multimodal large language models (MLLMs) offer useful priors for both capabilities, but their representations are not automatically actionable for video generation: a Video Diffusion Transformer (DiT) may bypass them through native conditioning pathways, and using them does not ensure either factor-aware control or generation-compatible temporal prediction. We propose Factor-Aware Predictive Learning (FAPL), which establishes effective MLLM latent use as a shared prerequisite and then targets the two capabilities with complementary learning signals. First, latent-only generator grounding trains the DiT with a frozen MLLM and connector, strengthening the DiT's use of MLLM latents for generation. Second, for factor-aware control, paired videos specify a target-factor change and non-target preservation, and factor-span replacement trains the DiT to realize this relationship in its output. Third, for temporal inference, text-only and text-plus-complete-video observations share a video target, and the trained DiT is then frozen while the MLLM and connector are optimized through it. This final stage trains limited-input representations for generation while retaining complete-observation reconstruction as a complementary training mode. Extensive experiments demonstrate our consistently better performance on three cinematic video generation tasks (i.e., sparse-to-video, factor-aware editing, and multi-shot generation) over baselines and validate FAPL's contributions to MLLM feature use, temporal control, and factor coordination.

Despite improvements in performances on different natural language generation tasks, deep neural models are prone to hallucinating facts that are incorrect or nonexistent. Different hypotheses are proposed and examined separately for different tasks, but no systematic explanations are available across these tasks. In this study, we draw connections between hallucinations and predictive uncertainty in conditional language generation. We investigate their relationship in both image captioning and data-to-text generation and propose a simple extension to beam search to reduce hallucination. Our analysis shows that higher predictive uncertainty corresponds to a higher chance of hallucination. Epistemic uncertainty is more indicative of hallucination than aleatoric or total uncertainties. It helps to achieve better results of trading performance in standard metric for less hallucination with the proposed beam search variant.

In continuous diffusion language models (DLMs), latents generated by the diffusion prior are mapped almost deterministically to tokens, either by a decoder or through a token embedding matrix. Unlike in image generation, where visual details can vary continuously, the diffusion prior must capture fine-grained discrete token choices in continuous space, which can make the joint latent distribution difficult to model. We argue that generative roles should instead be divided: the diffusion prior should generate high-level predictive information, while the decoder should resolve the remaining token-level choices. Based on this view, we introduce Predictive-State Flows (PSF), which partitions a sequence into blocks and associates each block with a predictive state computed solely from the preceding context. A rectified-flow prior generates the sequence of predictive states, after which a block-causal decoder generates all blocks in parallel, autoregressively only within each block. This design reduces diffusion from L token-level states to K << L predictive states and reduces token-level sequential depth to L/K. On unconditional OpenWebText generation, a 197M-parameter model with K=8 achieves a generative perplexity of 22.8 at entropy 5.16 using 0.31 TFLOPs per 1024-token document, versus 24.0 and 7.2 TFLOPs for ELF-B with 32 sampling steps. The corresponding measured operating points yield MAUVE@512 of 0.93 and 0.73, respectively. Controlled comparisons further show that content states, which additionally encode their own blocks, yield 8-16% higher generative perplexity than predictive states, and that replacing sampled predictive-state trajectories with a shared mean lowers MAUVE@512 by 0.11. These results suggest that latent design for continuous DLMs should consider not only how compactly text is represented, but also how generative roles are divided between the prior and the decoder.

Large Language Models have demonstrated remarkable abilities in reasoning and planning by breaking down complex problems into sequential steps. Despite their success in various domains like mathematical problem-solving and coding, LLMs face challenges in ensuring reliable and optimal planning due to their inherent myopic nature of autoregressive decoding. This paper revisits LLM reasoning from an optimal-control perspective, proposing a novel method, Predictive-Decoding, that leverages Model Predictive Control to enhance planning accuracy. By re-weighting LLM distributions based on foresight trajectories, Predictive-Decoding aims to mitigate early errors and promote non-myopic planning. Our experiments show significant improvements in a wide range of tasks for math, coding, and agents. Furthermore, Predictive-Decoding demonstrates computational efficiency, outperforming search baselines with reduced computational resources. This study provides insights into optimizing LLM planning capabilities.

We introduce VL-JEPA, a vision-language model built on a Joint Embedding Predictive Architecture (JEPA). Instead of autoregressively generating tokens as in classical VLMs, VL-JEPA predicts continuous embeddings of the target texts. By learning in an abstract representation space, the model focuses on task-relevant semantics while abstracting away surface-level linguistic variability. In a strictly controlled comparison against standard token-space VLM training with the same vision encoder and training data, VL-JEPA achieves stronger performance while having 50% fewer trainable parameters. At inference time, a lightweight text decoder is invoked only when needed to translate VL-JEPA predicted embeddings into text. We show that VL-JEPA natively supports selective decoding that reduces the number of decoding operations by 2.85x while maintaining similar performance compared to non-adaptive uniform decoding. Beyond generation, the VL-JEPA's embedding space naturally supports open-vocabulary classification, text-to-video retrieval, and discriminative VQA without any architecture modification. On eight video classification and eight video retrieval datasets, the average performance VL-JEPA surpasses that of CLIP, SigLIP2, and Perception Encoder. At the same time, the model achieves comparable performance as classical VLMs (InstructBLIP, QwenVL) on four VQA datasets: GQA, TallyQA, POPE and POPEv2, despite only having 1.6B parameters.

View-predictive generative models provide strong priors for lifting object-centric images and videos into 3D and 4D through rendering and score distillation objectives. A question then remains: what about lifting complete multi-object dynamic scenes? There are two challenges in this direction: First, rendering error gradients are often insufficient to recover fast object motion, and second, view predictive generative models work much better for objects than whole scenes, so, score distillation objectives cannot currently be applied at the scene level directly. We present DreamScene4D, the first approach to generate 3D dynamic scenes of multiple objects from monocular videos via 360-degree novel view synthesis. Our key insight is a "decompose-recompose" approach that factorizes the video scene into the background and object tracks, while also factorizing object motion into 3 components: object-centric deformation, object-to-world-frame transformation, and camera motion. Such decomposition permits rendering error gradients and object view-predictive models to recover object 3D completions and deformations while bounding box tracks guide the large object movements in the scene. We show extensive results on challenging DAVIS, Kubric, and self-captured videos with quantitative comparisons and a user preference study. Besides 4D scene generation, DreamScene4D obtains accurate 2D persistent point track by projecting the inferred 3D trajectories to 2D. We will release our code and hope our work will stimulate more research on fine-grained 4D understanding from videos.

In this work, we propose Visual-Predictive Instruction Tuning (VPiT) - a simple and effective extension to visual instruction tuning that enables a pretrained LLM to quickly morph into an unified autoregressive model capable of generating both text and visual tokens. VPiT teaches an LLM to predict discrete text tokens and continuous visual tokens from any input sequence of image and text data curated in an instruction-following format. Our empirical investigation reveals several intriguing properties of VPiT: (1) visual generation ability emerges as a natural byproduct of improved visual understanding, and can be unlocked efficiently with a small amount of generation data; (2) while we find understanding and generation to be mutually beneficial, understanding data contributes to both capabilities more effectively than generation data. Building upon these findings, we train our MetaMorph model and achieve competitive performance on both visual understanding and generation. In visual generation, MetaMorph can leverage the world knowledge and reasoning abilities gained from LLM pretraining, and overcome common failure modes exhibited by other generation models. Our results suggest that LLMs may have strong "prior" vision capabilities that can be efficiently adapted to both visual understanding and generation with a relatively simple instruction tuning process.

Virtual contrast enhancement (VCE) synthesizes enhanced breast MR images from pre-contrast acquisitions. Modern latent generators offer strong image priors, but their bounded natural-image autoencoders conflict with the non-canonical intensity scale of MRI. We show that the upper bound can alter radiomic fidelity before generation, while scaling source and target independently creates a coordinate inconsistency. We propose Predictive Enhancement Calibration (PEC), which represents each pair in a shared, case-adaptive coordinate during training and predicts its unavailable upper endpoint from the pre-contrast image at inference. We integrate PEC with a pretrained FLUX latent flow transformer via parameter-efficient reference conditioning. Target round trips first isolate representation loss before generation; near-matched conditional models then compare PEC with fixed-wide and separate coordinates under comparable training budgets and backbone settings. On the fixed internal MAMA100 development cohort, PEC improves all eight point estimates in this source-only VCE setting, with paired evidence strongest for MSE and LPIPS.\noindentCode: https://github.com/tanlei0/pec-breast-mri-vce

Diffusion models offer flexible motion generation, but translating this flexibility into feedback-responsive humanoid control remains challenging. Hierarchical systems steer motion through references that may exceed a separate tracker's capabilities, leaving recovery and physical execution largely to the tracker. Action-only diffusion generates actions directly but lacks an explicit future-state trajectory for test-time motion objectives. Joint state-action diffusion provides this representation, yet representative controllers often depend on privileged full-body states, and support for learned behavior selection and test-time motion steering remains fragmented. We present PredActor, a predictive action diffusion policy that brings these complementary steering capabilities into one directly executed policy using proprioceptive observations. Conditioned on proprioceptive history and optional task context, PredActor jointly generates executable actions and an internal future-state trajectory. Classifier-free guidance strengthens text-conditioned behavior, while classifier guidance steers predicted states toward test-time objectives. Only actions are executed, without a separate motion-reference tracker or externally estimated full-body states as policy inputs. In simulation, PredActor reaches all 15 destination targets and achieves a text retrieval score of 0.580, compared with 0.373 for conditional action diffusion, with similar observed disturbance survival. To make this guided policy practical onboard, rolling denoising and computation-preserving runtime optimizations reduce the complete callback to 16.790 ms median and 19.383 ms p95 on a Jetson Orin NX, both below the 20 ms control period. We deploy PredActor on a Unitree G1; evaluations across simulation and physical hardware demonstrate text-conditioned motion, disturbance response, joystick control, and semantic interpolation.

Recent advancements in predictive models have demonstrated exceptional capabilities in predicting the future state of objects and scenes. However, the lack of categorization based on inherent characteristics continues to hinder the progress of predictive model development. Additionally, existing benchmarks are unable to effectively evaluate higher-capability, highly embodied predictive models from an embodied perspective. In this work, we classify the functionalities of predictive models into a hierarchy and take the first step in evaluating World Simulators by proposing a dual evaluation framework called WorldSimBench. WorldSimBench includes Explicit Perceptual Evaluation and Implicit Manipulative Evaluation, encompassing human preference assessments from the visual perspective and action-level evaluations in embodied tasks, covering three representative embodied scenarios: Open-Ended Embodied Environment, Autonomous, Driving, and Robot Manipulation. In the Explicit Perceptual Evaluation, we introduce the HF-Embodied Dataset, a video assessment dataset based on fine-grained human feedback, which we use to train a Human Preference Evaluator that aligns with human perception and explicitly assesses the visual fidelity of World Simulators. In the Implicit Manipulative Evaluation, we assess the video-action consistency of World Simulators by evaluating whether the generated situation-aware video can be accurately translated into the correct control signals in dynamic environments. Our comprehensive evaluation offers key insights that can drive further innovation in video generation models, positioning World Simulators as a pivotal advancement toward embodied artificial intelligence.

Joint-embedding predictive architectures (JEPAs) have shown substantial promise in self-supervised representation learning, yet their application in generative modeling remains underexplored. Conversely, diffusion models have demonstrated significant efficacy in modeling arbitrary probability distributions. In this paper, we introduce Denoising with a Joint-Embedding Predictive Architecture (D-JEPA), pioneering the integration of JEPA within generative modeling. By recognizing JEPA as a form of masked image modeling, we reinterpret it as a generalized next-token prediction strategy, facilitating data generation in an auto-regressive manner. Furthermore, we incorporate diffusion loss to model the per-token probability distribution, enabling data generation in a continuous space. We also adapt flow matching loss as an alternative to diffusion loss, thereby enhancing the flexibility of D-JEPA. Empirically, with increased GFLOPs, D-JEPA consistently achieves lower FID scores with fewer training epochs, indicating its good scalability. Our base, large, and huge models outperform all previous generative models across all scales on class-conditional ImageNet benchmarks. Beyond image generation, D-JEPA is well-suited for other continuous data modeling, including video and audio.

A proper forecast of the menstrual cycle is meaningful for women's health, as it allows individuals to take preventive actions to minimize cycle-associated discomforts. In addition, precise prediction can be useful for planning important events in a woman's life, such as family planning. In this work, we explored the use of machine learning techniques to predict regular and irregular menstrual cycles. We implemented some time series forecasting algorithm approaches, such as AutoRegressive Integrated Moving Average, Huber Regression, Lasso Regression, Orthogonal Matching Pursuit, and Long Short-Term Memory Network. Moreover, we generated synthetic data to achieve our purposes. The results showed that it is possible to accurately predict the onset and duration of menstrual cycles using machine learning techniques.

Modern text-to-image (T2I) models generate high-fidelity visuals but remain indifferent to individual user preferences. While existing reward models optimize for "average" human appeal, they fail to capture the inherent subjectivity of aesthetic judgment. In this work, we introduce a novel dataset and predictive framework, called PAMELA, designed to model personalized image evaluations. Our dataset comprises 70,000 ratings across 5,000 diverse images generated by state-of-the-art models (Flux 2 and Nano Banana). Each image is evaluated by 15 unique users, providing a rich distribution of subjective preferences across domains such as art, design, fashion, and cinematic photography. Leveraging this data, we propose a personalized reward model trained jointly on our high-quality annotations and existing aesthetic assessment subsets. We demonstrate that our model predicts individual liking with higher accuracy than the majority of current state-of-the-art methods predict population-level preferences. Using our personalized predictor, we demonstrate how simple prompt optimization methods can be used to steer generations towards individual user preferences. Our results highlight the importance of data quality and personalization to handle the subjectivity of user preferences. We release our dataset and model to facilitate standardized research in personalized T2I alignment and subjective visual quality assessment.

In diffusion transformers, a class label or a text prompt is embedded once, and the same condition is reused at every denoising step. We ask whether predicted embeddings can serve as this condition instead. Next-Embedding Predictive Autoregression (NEPA) trains a Transformer to predict the next continuous embedding in a sequence. In generation, the clean image follows the noisy image, so its embeddings are the next embeddings after the condition and the noisy image. We train a NEPA model to predict them all at once with Multi-Embedding Prediction, and in Embedding Conditioned Generation, a DiT generator is conditioned on these predictions, recomputed at every denoising step, so the conditioning signal adapts to the current noisy state. Experiments on class-conditional ImageNet 256times256 study the condition of the generator, the design of Multi-Embedding Prediction, and the scaling of both models. The NEPA model adds a second network to every sampling step; with it, and combined with REPA, our final model, NEPA-DiT-XL, reaches an FID of 1.32 using about a third of the training compute of REPA.

Liquid electrolytes are critical components of next-generation energy storage systems, enabling fast ion transport, minimizing interfacial resistance, and ensuring electrochemical stability for long-term battery performance. However, measuring electrolyte properties and designing formulations remain experimentally and computationally expensive. In this work, we present a unified framework for designing liquid electrolyte formulation, integrating a forward predictive model with an inverse generative approach. Leveraging both computational and experimental data collected from literature and extensive molecular simulations, we train a predictive model capable of accurately estimating electrolyte properties from ionic conductivity to solvation structure. Our physics-informed architecture preserves permutation invariance and incorporates empirical dependencies on temperature and salt concentration, making it broadly applicable to property prediction tasks across molecular mixtures. Furthermore, we introduce -- to the best of our knowledge -- the first generative machine learning framework for molecular mixture design, demonstrated on electrolyte systems. This framework supports multi-condition-constrained generation, addressing the inherently multi-objective nature of materials design. As a proof of concept, we experimentally identified three liquid electrolytes with both high ionic conductivity and anion-concentrated solvation structure. This unified framework advances data-driven electrolyte design and can be readily extended to other complex chemical systems beyond electrolytes.

While Joint-Embedding Predictive Architecture (JEPA) has emerged as a powerful architecture for learning rich latent representations, it fundamentally lacks generative abilities. Meanwhile, current latent reasoning models remain limited by the token-by-token generation paradigm, which suffers from compounding errors and heavy context dependency. To address these limitations, we proposed JEPA-Reasoner, a novel JEPA-based architecture enhanced with generative ability for latent reasoning. We augment this architecture with a separate action-talker model, Talker, to reconstruct human-readable text from latent representations produced by the JEPA-Reasoner. Our work demonstrated that decoupling latent-space reasoning from token production enables JEPA-Reasoner to produce mixed latent vectors, laying a foundation for multi-threaded reasoning and achieving superior robustness against compounding errors in autoregressive generation.

Learning, at its core, extends beyond memorization to the ability to reason and solve novel problems by navigating a space of possibilities. We introduce Lumo-2, a latent world-action model that generates actions by reasoning over world dynamics in latent space. The learned latent world dynamics capture physically grounded visual transitions, naturally encoding future possibilities and providing a unified substrate for cross-modal alignment. This formulation enables predictive reasoning akin to world modelling while remaining lightweight and focused on physical dynamics relevant to control. Central to our approach is the hypothesis that action generation quality is governed by the geometry of the latent space. We observe that standard reconstruction-based action tokenization objectives induce representations biased toward low-level signal fidelity, leading to misalignment between reconstruction quality and downstream control performance. To address this limitation, we propose a multi-stage modality pre-alignment strategy in which action representations are progressively aligned with latent world dynamics, vision, and language. This process enforces cross-modal consistency, promotes abstraction, and induces a structured latent space for predictive reasoning. We provide a systematic empirical study of latent world modelling and modality alignment, analyzing their roles in scaling laws and out-of-distribution generalization. Results show that Lumo-2 consistently outperforms strong vision-language-action (VLA) and world-action model (WAM) baselines, with gains on challenging real-world tasks requiring temporal reasoning, physical understanding, or high control complexity, including long-horizon and dexterous manipulation. These findings suggest that structured multimodal alignment and predictive reasoning are fundamental principles for advancing embodied intelligence.

Discrete image generators learn the distribution of tokens produced by an image tokenizer. These token representations should be easy for generators to model, not merely enable faithful image reconstruction. Yet these tokenizers are commonly trained to reconstruct pixels, which prioritizes low-level fidelity and may disrupt representation structure useful for generation. Motivated by feature-predictive self-supervised learning, we introduce feature-loss tokenization (FeaTok), which trains discrete tokens by reconstructing pretrained features rather than pixels. Ablations across SigLIP, SigLIP2, DINOv2, and DINOv3 show better generative performance with FeaTok. In class-conditional generation, FeaTok advances the quality-compute Pareto frontier, reducing gFDr6 at 256x256 by up to 29 percent over the strongest discrete baselines and outperforming the strongest unguided continuous baseline (RAEv2) with 38 times less sampling compute. FeaTok also achieves higher human-preference reward-model scores than prior art without reward-based training and surpasses continuous and discrete text-conditional baselines on three benchmarks with only 500 fine-tuning updates after pre-training.

Large language models (LLMs) can suffer from hallucinations when generating text. These hallucinations impede various applications in society and industry by making LLMs untrustworthy. Current LLMs generate text in an autoregressive fashion by predicting and appending text tokens. When an LLM is uncertain about the semantic meaning of the next tokens to generate, it is likely to start hallucinating. Thus, it has been suggested that hallucinations stem from predictive uncertainty. We introduce Semantically Diverse Language Generation (SDLG) to quantify predictive uncertainty in LLMs. SDLG steers the LLM to generate semantically diverse yet likely alternatives for an initially generated text. This approach provides a precise measure of aleatoric semantic uncertainty, detecting whether the initial text is likely to be hallucinated. Experiments on question-answering tasks demonstrate that SDLG consistently outperforms existing methods while being the most computationally efficient, setting a new standard for uncertainty estimation in LLMs.

Modeling dynamic graphs, such as those found in social networks, recommendation systems, and e-commerce platforms, is crucial for capturing evolving relationships and delivering relevant insights over time. Traditional approaches primarily rely on graph neural networks with temporal components or sequence generation models, which often focus narrowly on the historical context of target nodes. This limitation restricts the ability to adapt to new and emerging patterns in dynamic graphs. To address this challenge, we propose a novel framework, Retrieval-Augmented Generation for Dynamic Graph modeling (RAG4DyG), which enhances dynamic graph predictions by incorporating contextually and temporally relevant examples from broader graph structures. Our approach includes a time- and context-aware contrastive learning module to identify high-quality demonstrations and a graph fusion strategy to effectively integrate these examples with historical contexts. The proposed framework is designed to be effective in both transductive and inductive scenarios, ensuring adaptability to previously unseen nodes and evolving graph structures. Extensive experiments across multiple real-world datasets demonstrate the effectiveness of RAG4DyG in improving predictive accuracy and adaptability for dynamic graph modeling. The code and datasets are publicly available at https://github.com/YuxiaWu/RAG4DyG.

To represent people in mixed reality applications for collaboration and communication, we need to generate realistic and faithful avatar poses. However, the signal streams that can be applied for this task from head-mounted devices (HMDs) are typically limited to head pose and hand pose estimates. While these signals are valuable, they are an incomplete representation of the human body, making it challenging to generate a faithful full-body avatar. We address this challenge by developing a flow-based generative model of the 3D human body from sparse observations, wherein we learn not only a conditional distribution of 3D human pose, but also a probabilistic mapping from observations to the latent space from which we can generate a plausible pose along with uncertainty estimates for the joints. We show that our approach is not only a strong predictive model, but can also act as an efficient pose prior in different optimization settings where a good initial latent code plays a major role.

Existing evaluations of foundation models, including recent human-centric approaches, fail to capture what truly matters: user's experience during interaction. Current methods treat evaluation as a matter of output correctness alone, overlooking that user satisfaction emerges from the interplay between response quality and interaction, which limits their ability to account for the mechanisms underlying user experience. To address this gap, we introduce QoNext, the first framework that adapts Quality of Experience (QoE) principles from networking and multimedia to the assessment of foundation models. QoNext identifies experiential factors that shape user experience and incorporates them into controlled experiments, where human ratings are collected under varied configurations. From these studies we construct a QoE-oriented database and train predictive models that estimate perceived user experience from measurable system parameters. Our results demonstrate that QoNext not only enables proactive and fine-grained evaluation but also provides actionable guidance for productized services of optimizing foundation models in practice.

Recent world action models draw on video generation priors to jointly predict future observations and robot actions. Adapting these priors to control requires determining how future predictions should guide policy learning. RAP-WAM combines predictive Rehearsal and Action Perturbations (RAP) with future-supervised queries and Coupled Action Projection for policy learning. Predictive rehearsal trains on model-generated inputs while retaining recorded targets, and accumulates recurring errors into a spatial prior. We perturb actions and measure changes in video predictions. Action-response-based spatiotemporal credit assignment combines these responses, prediction error, and the rehearsal prior to allocate visual supervision; spatially aggregating the responses determines supervision intensity across future action steps. No separate scoring network or deployment-time probe is required. The base learns from a video-pretrained backbone without intermediate pretraining on external embodied data. We evaluate the fixed base and its agent-refined, task-conditioned system. On 42 RoboDojo tasks, their average success rates are 12.85% and 15.62%, with Scores of 17.86 and 20.59. Across 15 real-robot tasks, the complete system achieves 89.00% task-macro-average success, exceeding the strongest of five baselines by 37.67 percentage points. Across 315 fixed-output simulation windows, 45.21% of response-top20 positions fall outside error-top20, revealing information beyond prediction error. Videos and further details are available on the project website: https://rapwam.github.io/.

Language models have achieved remarkable success in various natural language processing tasks. However, their application to time series data, a crucial component in many domains, remains limited. This paper proposes LiPCoT (Linear Predictive Coding based Tokenizer for time series), a novel tokenizer that encodes time series data into a sequence of tokens, enabling self-supervised learning of time series using existing Language model architectures such as BERT. Unlike traditional time series tokenizers that rely heavily on CNN encoder for time series feature generation, LiPCoT employs stochastic modeling through linear predictive coding to create a latent space for time series providing a compact yet rich representation of the inherent stochastic nature of the data. Furthermore, LiPCoT is computationally efficient and can effectively handle time series data with varying sampling rates and lengths, overcoming common limitations of existing time series tokenizers. In this proof-of-concept work, we present the effectiveness of LiPCoT in classifying Parkinson's disease (PD) using an EEG dataset from 46 participants. In particular, we utilize LiPCoT to encode EEG data into a small vocabulary of tokens and then use BERT for self-supervised learning and the downstream task of PD classification. We benchmark our approach against several state-of-the-art CNN-based deep learning architectures for PD detection. Our results reveal that BERT models utilizing self-supervised learning outperformed the best-performing existing method by 7.1% in precision, 2.3% in recall, 5.5% in accuracy, 4% in AUC, and 5% in F1-score highlighting the potential for self-supervised learning even on small datasets. Our work will inform future foundational models for time series, particularly for self-supervised learning.

This study explores the effectiveness of predictive maintenance models and the optimization of intelligent Operation and Maintenance (O&M) systems in improving wind power generation efficiency. Through qualitative research, structured interviews were conducted with five wind farm engineers and maintenance managers, each with extensive experience in turbine operations. Using thematic analysis, the study revealed that while predictive maintenance models effectively reduce downtime by identifying major faults, they often struggle with detecting smaller, gradual failures. Key challenges identified include false positives, sensor malfunctions, and difficulties in integrating new models with older turbine systems. Advanced technologies such as digital twins, SCADA systems, and condition monitoring have significantly enhanced turbine maintenance practices. However, these technologies still require improvements, particularly in AI refinement and real-time data integration. The findings emphasize the need for continuous development to fully optimize wind turbine performance and support the broader adoption of renewable energy.

This report presents PixelBytes, an approach for unified multimodal representation learning. Drawing inspiration from sequence models like Image Transformers, PixelCNN, and Mamba-Bytes, we explore integrating text, audio, action-state, and pixelated images (sprites) into a cohesive representation. We conducted experiments on a PixelBytes Pokemon dataset and an Optimal-Control dataset. Our investigation covered various model architectures, including Recurrent Neural Networks (RNNs), State Space Models (SSMs), and Attention-based models, with a focus on bidirectional processing and our PxBy embedding technique. We evaluated models based on data reduction strategies and autoregressive learning, specifically examining Long Short-Term Memory (LSTM) networks in predictive and autoregressive modes. Our results indicate that autoregressive models perform better than predictive models in this context. Additionally, we found that diffusion models can be applied to control problems and parallelized generation. PixelBytes aims to contribute to the development of foundation models for multimodal data processing and generation. The project's code, models, and datasets are available online.

We present NNN, an experimental Transformer-based neural network approach to marketing measurement. Unlike Marketing Mix Models (MMMs) which rely on scalar inputs and parametric decay functions, NNN uses rich embeddings to capture both quantitative and qualitative aspects of marketing and organic channels (e.g., search queries, ad creatives). This, combined with its attention mechanism, potentially enables NNN to model complex interactions, capture long-term effects, and improve sales attribution accuracy. We show that L1 regularization permits the use of such expressive models in typical data-constrained settings. Evaluating NNN on simulated and real-world data demonstrates its efficacy, particularly through considerable improvement in predictive power. In addition to marketing measurement, the NNN framework can provide valuable, complementary insights through model probing, such as evaluating keyword or creative effectiveness.

Self-supervised learning has become an incredibly successful method for feature learning, widely applied to many downstream tasks. It has proven especially effective for discriminative tasks, surpassing the trending generative models. However, generative models perform better in image generation and detail enhancement. Thus, it is natural for us to find a connection between SSL and generative models to further enhance the representation capacity of SSL. As generative models can create new samples by approximating the data distribution, such modeling should also lead to a semantic understanding of the raw visual data, which is necessary for recognition tasks. This enlightens us to combine the core principle of the diffusion model: diffusion noise, with SSL to learn a competitive recognition model. Specifically, diffusion noise can be viewed as a particular state of mask that reveals a close relationship between masked image modeling (MIM) and diffusion models. In this paper, we propose N-JEPA (Noise-based JEPA) to incorporate diffusion noise into MIM by the position embedding of masked tokens. The multi-level noise schedule is a series of feature augmentations to further enhance the robustness of our model. We perform a comprehensive study to confirm its effectiveness in the classification of downstream tasks. Codes will be released soon in public.

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical world dynamics. Consequently, recent approaches have shifted toward World Models, typically formulated via video prediction; however, these methods often suffer from a lack of semantic grounding and exhibit brittleness when handling prediction errors. To synergize semantic understanding with dynamic predictive capabilities, we present InternVLA-A1. This model employs a unified Mixture-of-Transformers architecture, coordinating three experts for scene understanding, visual foresight generation, and action execution. These components interact seamlessly through a unified masked self-attention mechanism. Building upon InternVL3 and Qwen3-VL, we instantiate InternVLA-A1 at 2B and 3B parameter scales. We pre-train these models on hybrid synthetic-real datasets spanning InternData-A1 and Agibot-World, covering over 533M frames. This hybrid training strategy effectively harnesses the diversity of synthetic simulation data while minimizing the sim-to-real gap. We evaluated InternVLA-A1 across 12 real-world robotic tasks and simulation benchmark. It significantly outperforms leading models like pi0 and GR00T N1.5, achieving a 14.5\% improvement in daily tasks and a 40\%-73.3\% boost in dynamic settings, such as conveyor belt sorting.

The increasing adoption of synthetic data in aviation research offers a promising solution to data scarcity and confidentiality challenges. This study investigates the potential of generative models to produce realistic synthetic flight data and evaluates their quality through a comprehensive four-stage assessment framework. The need for synthetic flight data arises from their potential to serve as an alternative to confidential real-world records and to augment rare events in historical datasets. These enhanced datasets can then be used to train machine learning models that predict critical events, such as flight delays, cancellations, diversions, and turnaround times. Two generative models, Tabular Variational Autoencoder (TVAE) and Gaussian Copula (GC), are adapted to generate synthetic flight information and compared based on their ability to preserve statistical similarity, fidelity, diversity, and predictive utility. Results indicate that while GC achieves higher statistical similarity and fidelity, its computational cost hinders its applicability to large datasets. In contrast, TVAE efficiently handles large datasets and enables scalable synthetic data generation. The findings demonstrate that synthetic data can support flight delay prediction models with accuracy comparable to those trained on real data. These results pave the way for leveraging synthetic flight data to enhance predictive modeling in air transportation.

We introduce Discrete Voxel Diffusion (DVD), a discrete diffusion framework to generate, assess, and edit sparse voxels for SLat (Structured LATent) based 3D generative pipelines. Although discrete diffusion has not generally displaced continuous diffusion in image-like generation, we show that it can be an effective first-stage prior for sparse voxel scaffolds. By treating voxel occupancy as a native discrete variable, DVD avoids continuous-to-discrete thresholding and provides a simple framework for voxel generation, uncertainty estimation, and editing. Beyond quality gains, DVD provides more interpretable generation dynamics through explicit categorical modeling. Furthermore, we leverage the predictive entropy as a robust uncertainty metric to identify ambiguous voxel regions and complicated samples, facilitating tasks such as data filtering and quality assessment. Finally, we propose a lightweight fine-tuning strategy using block-structured perturbation patterns. This approach empowers the model to inpaint and edit voxels within a single sampling round, requiring negligible auxiliary computation and no additional model evaluations. Code is available at https://github.com/TeCai/DVD.

Understanding how cellular morphology, gene expression, and spatial context jointly shape tissue function is a central challenge in biology. Image-based spatial transcriptomics technologies now provide high-resolution measurements of cell images and gene expression profiles, but existing methods typically analyze these modalities in isolation or at limited resolution. We address the problem by introducing SPATIA, a multi-level generative and predictive model that learns unified, spatially aware representations by fusing morphology, gene expression, and spatial context from the cell to the tissue level. SPATIA also incorporates a spatially conditioned generative framework with confidence-aware OT reweighting and morphology-profile alignment for modeling target-state morphology distributions. Specifically, we propose a confidence-aware flow matching objective that reweights weak optimal-transport pairs based on uncertainty. We further apply morphology-profile alignment to encourage biologically meaningful image generation, enabling the modeling of microenvironment-dependent phenotypic transitions. We assembled a multi-scale dataset consisting of 25.9 million cell-gene pairs across 17 tissues. We benchmark SPATIA against 18 models across 12 tasks, spanning categories such as phenotype generation, annotation, clustering, gene imputation, and cross-modal prediction. SPATIA achieves improved performance over state-of-the-art models, improving generative fidelity by 8% and predictive accuracy by up to 3%.

World generative models are typically used through what they produce: a rendered future, a video-conditioned action, or latent context computed by a costly generative branch. We argue that their more reusable asset is the computation that constructs a future. As a generator transforms a corrupted future into a coherent trajectory, its intermediate states organize appearance, spatial layout, and interaction across levels of abstraction. Can this future-generative computation be internalized in a representation inferred from the present alone? We present Enfold, which transfers this computation into a representation predicted from the current visual context and language instruction. During training, multi-level states exposed as the generator processes the observed future supervise a current-only encoder. The learned representation is fed back to condition future generation and is read by task heads without allowing task gradients to reshape the encoder. At deployment, action prediction no longer executes the generator. Across LIBERO, RoboTwin2.0, and real-robot tasks, Enfold supports strong control while reducing action latency by 3.7times relative to Fast--WAM, Enfold-Flash reaches 10.1times. Representation analyses show that it suppresses nuisance variation and preferentially captures changes that emerge over longer horizons. When the current scene is altered by human intervention, both the generated continuation and the executed actions adapt, which is inconsistent with fixed trajectory replay. These results recast a world generator as a source of predictive control representations: its future need not be materialized at every step if its internal structure can be enfolded into the present.

Latent world models have emerged as a powerful planning paradigm by learning action-conditioned predictive dynamics and using them as internal simulators to imagine and evaluate candidate action sequences. However, as the planning horizon grows, performance becomes increasingly constrained by proposal quality: a fixed candidate budget must search an exponentially larger action space, making it difficult to expose the world model to high-quality candidate futures for evaluation. In this paper, we introduce a prior-conditioned planner that replaces random proposal initialization with structured guidance. At each planning stage, a goal-conditioned generator predicts the next reachable latent subgoal for a specified duration, which is then used to condition the generation of candidate action sequences. To capture semantic information across temporal scales, we use subgoals of varying durations as priors, balancing fine-grained local control with higher-level long-horizon progress. Then the frozen world model evaluates and refines these subgoal-conditioned proposals before execution. Experiments on PushT and OGBench Cube show that coupling latent subgoal decomposition with prior-conditioned action generation substantially improves long-horizon planning while preserving strong short-horizon performance. To be specific, when the target offset is 150, it raises PushT success from 12.7% to 64.7% and OGBench Cube success from 26.7% to 67.3%.

Recent years have seen a growing interest in Scene Graph Generation (SGG), a comprehensive visual scene understanding task that aims to predict entity relationships using a relation encoder-decoder pipeline stacked on top of an object encoder-decoder backbone. Unfortunately, current SGG methods suffer from an information loss regarding the entities local-level cues during the relation encoding process. To mitigate this, we introduce the Vision rElation TransfOrmer (VETO), consisting of a novel local-level entity relation encoder. We further observe that many existing SGG methods claim to be unbiased, but are still biased towards either head or tail classes. To overcome this bias, we introduce a Mutually Exclusive ExperT (MEET) learning strategy that captures important relation features without bias towards head or tail classes. Experimental results on the VG and GQA datasets demonstrate that VETO + MEET boosts the predictive performance by up to 47 percentage over the state of the art while being 10 times smaller.

We present Grid Beam Search (GBS), an algorithm which extends beam search to allow the inclusion of pre-specified lexical constraints. The algorithm can be used with any model that generates a sequence hat{y} = {y_{0}ldots y_{T}} , by maximizing p(y | x) = prodlimits_{t}p(y_{t} | x; {y_{0} ldots y_{t-1}}) . Lexical constraints take the form of phrases or words that must be present in the output sequence. This is a very general way to incorporate additional knowledge into a model's output without requiring any modification of the model parameters or training data. We demonstrate the feasibility and flexibility of Lexically Constrained Decoding by conducting experiments on Neural Interactive-Predictive Translation, as well as Domain Adaptation for Neural Machine Translation. Experiments show that GBS can provide large improvements in translation quality in interactive scenarios, and that, even without any user input, GBS can be used to achieve significant gains in performance in domain adaptation scenarios.

Generative models are becoming a tool of choice for exploring the molecular space. These models learn on a large training dataset and produce novel molecular structures with similar properties. Generated structures can be utilized for virtual screening or training semi-supervised predictive models in the downstream tasks. While there are plenty of generative models, it is unclear how to compare and rank them. In this work, we introduce a benchmarking platform called Molecular Sets (MOSES) to standardize training and comparison of molecular generative models. MOSES provides a training and testing datasets, and a set of metrics to evaluate the quality and diversity of generated structures. We have implemented and compared several molecular generation models and suggest to use our results as reference points for further advancements in generative chemistry research. The platform and source code are available at https://github.com/molecularsets/moses.

Retrieval-augmented generation (RAG) has emerged as a popular solution to mitigate the hallucination issues of large language models. However, existing studies on RAG seldom address the issue of predictive uncertainty, i.e., how likely it is that a RAG model's prediction is incorrect, resulting in uncontrollable risks in real-world applications. In this work, we emphasize the importance of risk control, ensuring that RAG models proactively refuse to answer questions with low confidence. Our research identifies two critical latent factors affecting RAG's confidence in its predictions: the quality of the retrieved results and the manner in which these results are utilized. To guide RAG models in assessing their own confidence based on these two latent factors, we develop a counterfactual prompting framework that induces the models to alter these factors and analyzes the effect on their answers. We also introduce a benchmarking procedure to collect answers with the option to abstain, facilitating a series of experiments. For evaluation, we introduce several risk-related metrics and the experimental results demonstrate the effectiveness of our approach.

Large Transformer models achieved the state-of-the-art status for Natural Language Understanding tasks and are increasingly becoming the baseline model architecture for modeling source code. Transformers are usually pre-trained on large unsupervised corpora, learning token representations and transformations relevant to modeling generally available text, and are then fine-tuned on a particular downstream task of interest. While fine-tuning is a tried-and-true method for adapting a model to a new domain -- for example, question-answering on a given topic -- generalization remains an on-going challenge. In this paper, we explore and evaluate transformer model fine-tuning for personalization. In the context of generating unit tests for Java methods, we evaluate learning to personalize to a specific software project using several personalization techniques. We consider three key approaches: (i) custom fine-tuning, which allows all the model parameters to be tuned; (ii) lightweight fine-tuning, which freezes most of the model's parameters, allowing tuning of the token embeddings and softmax layer only or the final layer alone; (iii) prefix tuning, which keeps model parameters frozen, but optimizes a small project-specific prefix vector. Each of these techniques offers a trade-off in total compute cost and predictive performance, which we evaluate by code and task-specific metrics, training time, and total computational operations. We compare these fine-tuning strategies for code generation and discuss the potential generalization and cost benefits of each in various deployment scenarios.

Recent Large Language Model (LLM)-based AutoML systems demonstrate impressive capabilities but face significant limitations such as constrained exploration strategies and a severe execution bottleneck. Exploration is hindered by one-shot methods lacking diversity and Monte Carlo Tree Search (MCTS) approaches that fail to recombine strong partial solutions. The execution bottleneck arises from lengthy code validation cycles that stifle iterative refinement. To overcome these challenges, we introduce KompeteAI, a novel AutoML framework with dynamic solution space exploration. Unlike previous MCTS methods that treat ideas in isolation, KompeteAI introduces a merging stage that composes top candidates. We further expand the hypothesis space by integrating Retrieval-Augmented Generation (RAG), sourcing ideas from Kaggle notebooks and arXiv papers to incorporate real-world strategies. KompeteAI also addresses the execution bottleneck via a predictive scoring model and an accelerated debugging method, assessing solution potential using early stage metrics to avoid costly full-code execution. This approach accelerates pipeline evaluation 6.9 times. KompeteAI outperforms leading methods (e.g., RD-agent, AIDE, and Ml-Master) by an average of 3\% on the primary AutoML benchmark, MLE-Bench. Additionally, we propose Kompete-bench to address limitations in MLE-Bench, where KompeteAI also achieves state-of-the-art results

Serial LLM inference backends -- such as Ollama -- process requests one at a time under FCFS admission, causing Head-of-Line Blocking (HOLB) under mixed workloads at high utilisation: short factual queries can be delayed by minutes behind long generation jobs. While cloud-scale deployments mitigate HOLB via continuous batching (vLLM, Orca), these solutions require tens of GB of VRAM for concurrent KV-caches -- infeasible for memory-constrained edge and local deployments that rely on serial request dispatch. We present \clairvoyant, a drop-in sidecar proxy for any serial OpenAI-compatible backend (e.g., Ollama, llama.cpp). \clairvoyant predicts response length from 19 lightweight lexical features via an ONNX-exported XGBoost classifier, achieving 0.029\,ms per-request latency (four orders of magnitude below typical generation time). Because admission scheduling depends on relative ordering rather than exact prediction, the system optimises ranking fidelity, achieving 62--96\% in-distribution and 52--66\% cross-distribution accuracy across natural conversation datasets. We find that curated instruction datasets are degenerate training sources for length prediction: GPT-imposed brevity constraints reduce Long-class representation to under 0.02\% of examples, making natural conversation logs the only viable training source. End-to-end GPU benchmarks on an RTX~4090 show 70--76\% P50 latency reduction for short requests under maximum queue pressure (100 concurrent requests) and 17\% under steady-state Poisson arrivals (ρ=0.74). \clairvoyant is open-source and requires no modifications to the inference backend.

Agent benchmarks are growing fast, but no single benchmark touches more than four or five of the dimensions that deployment exposes. This paper aggregates the largest coordinated deep-dive of one MCP-based industrial-agent benchmark to date: fourteen parallel implementation studies covering new asset classes (including a multi-modal visual extension), alternative orchestrations, retrieval strategies, reasoning modes, infrastructure optimizations, and evaluation-methodology probes. Consolidating those studies with seven prior agent benchmarks, we argue that aggregate-score leaderboards systematically underspecify deployed-agent evaluation. Rankings derived from aggregate scores do not transfer to out-of-distribution settings; recent public-to-hidden competition retrospectives provide direct empirical evidence of this rank instability. We propose ranking configurations by predictive validity, the correlation between in-sample and out-of-sample rank, rather than in-sample mean, and report a twelve-tier measurement apparatus that exposes the deployment-relevant dimensions HELM and its agent-era successors collapse. The position is operationalized through three falsifiable out-of-distribution criteria with explicit thresholds; existing evidence partly supports it but is too thin to confirm. We close with a pre-registered pilot design and a field-level vision for what the next generation of agentic benchmarks should report.

Entity matching identifies records that refer to the same real-world entity. Language models can be adapted to this task through bi-encoder, cross-encoder, and generative matcher architectures. However, prior studies often conflate matcher architecture with differences in model backbone, model variant(reflecting different pretraining objectives), and model size, making it difficult to isolate the sources of performance gains. We address this issue through a controlled factorial study spanning three matcher architectures, three model variants and three model sizes from the Qwen3 family, and nine datasets, totaling 1,215 fine-tuning runs. We also evaluate cross-dataset transferability and computational cost. Our results show that model variant is critical for bi-encoders: embedding-oriented variants provide stronger initialization and more favorable representation geometry predictive of downstream matching performance. Cross-encoders retain a consistent advantage over bi-encoders because they jointly encode record pairs rather than representing each record independently, although larger models partially narrow this gap. Generative matchers do not universally outperform cross-encoders. Instead, their advantages concentrate under distribution shift, including subtle unseen differences in record schemas and cross-dataset transfer. We further find that larger models rely more heavily on shortcut learning and therefore do not necessarily perform better. These findings clarify the factors underlying performance differences across matcher architectures and motivate future research and benchmark designs that better disentangle architectural choices from model-level factors while explicitly evaluating distribution shift and cross-dataset transferability. We release our experimental results, code, training scripts, and evaluation data at https://github.com/Jantory/llm-trained-matcher.

World Action Models (WAMs) jointly model visual dynamics and action generation for generalist robot manipulation. A central challenge is to integrate priors from large-scale pretrained models---including visual dynamics, scene semantics, geometry, and motion---into a unified framework for robot action generation. We introduce InternW0-Δ, a unified WAM pretrained on a heterogeneous corpus that outperforms prior methods across simulation benchmarks and real-robot platforms. InternW0-Δ combines pretrained visual dynamics, scene-level semantics, 4D geometric and motion priors, and action generation within a Mixture-of-Transformers (MoT) framework. A pretrained video expert and an action expert interact under semantic guidance from a frozen VLM, while a pretrained 4D foundation model injects geometric and motion priors through training-only distillation. We further introduce Causal Imprint, which learns future-relevant scene changes from training-only future supervision and provides predictive representations directly to the action expert without future-video rollout at inference. For large-scale joint training, we construct a heterogeneous corpus of robot demonstrations, UMI data, egocentric human demonstrations, and Ego2Robot data, curated and aligned under a common state-action representation. The resulting corpus contains over 20K hours of processed training data, to our knowledge the largest open-source corpus of its kind. We pretrain InternW0-Δ on this corpus and demonstrate strong performance across simulation benchmarks and real-robot platforms. We will open source the training code, model weights, infrastructure, data-processing pipeline, and processed data where licenses permit. Project page: https://internrobotics.github.io/InternW0-Delta/

The phenomenon of "black swans" has posed a fundamental challenge to performance of classical machine learning models. The perceived rise in frequency of outlier conditions, especially in post-pandemic environment, has necessitated exploration of synthetic data as a complement to real data in model training. This article provides a general overview and experimental investigation of the zGAN model architecture developed for the purpose of generating synthetic tabular data with outlier characteristics. The model is put to test in binary classification environments and shows promising results on realistic synthetic data generation, as well as uplift capabilities vis-à-vis model performance. A distinctive feature of zGAN is its enhanced correlation capability between features in the generated data, replicating correlations of features in real training data. Furthermore, crucial is the ability of zGAN to generate outliers based on covariance of real data or synthetically generated covariances. This approach to outlier generation enables modeling of complex economic events and augmentation of outliers for tasks such as training predictive models and detecting, processing or removing outliers. Experiments and comparative analyses as part of this study were conducted on both private (credit risk in financial services) and public datasets.

Classical alpha mining achieves strong risk-adjusted returns by combining many low-correlated predictive signals, yet deep learning stock-ranking methods typically produce a single alpha per stock, rely on increasingly complex architectures with diminishing gains, and obtain diversity only through separate models or implicit routing, without explicitly controlling inter-alpha correlation. We introduce MAPLE (Multi-Alpha Position-aware Listwise Ensembling), a backbone-agnostic framework that recovers this diversity principle within a single training pass. MAPLE combines a unified, capacity-scaled prediction head with an extreme-rank weighted listwise ranking loss and a diversity regularizer that explicitly penalizes pairwise correlation across alphas. Across four equity markets spanning the US, China, and Japan, MAPLE achieves the best average Sharpe and Calmar ratios among nine baselines, using up to 55x fewer parameters and 2.5x less training time, and generalizes across five backbone architectures with Sharpe and Calmar Ratio gains of 10-23% and 17-43%, respectively. Behavioral analysis further shows why each component works: the unified head already reduces inter-alpha correlation before any diversity loss is applied, and the extreme-rank loss lets diversity regularization improve rather than erode per-alpha ranking quality as capacity scaling sustains this balance at scale. These results show that principled loss design and capacity allocation, rather than architectural complexity, drive diverse and effective multi-alpha generation.

Machine Translation (MT) has been predominantly designed for sentence-level translation using transformer-based architectures. While next-token prediction based Large Language Models (LLMs) demonstrate strong capabilities in long-text translation, non-extensive language models often suffer from omissions and semantic inconsistencies when processing paragraphs. Existing preference alignment methods improve sentence-level translation but fail to ensure coherence over extended contexts due to the myopic nature of next-token generation. We introduce Plan2Align, a test-time alignment framework that treats translation as a predictive planning problem, adapting Model Predictive Control to iteratively refine translation outputs. Experiments on WMT24 Discourse-Level Literary Translation show that Plan2Align significantly improves paragraph-level translation, achieving performance surpassing or on par with the existing training-time and test-time alignment methods on LLaMA-3.1 8B.

World-action models (WAMs) couple future visual-state prediction with action generation. By adapting video generators or image-editing models pretrained at scale, a prominent line of recent WAMs inherits both predictive knowledge and the models in which it was learned. We ask whether a predictive visual latent space induced by large-scale predictive pretraining can instead provide a sufficient foundation for effective WAM learning without inheriting a complete pretrained visual generative model. To answer this question, we introduce V-JEPA Policy, a simple framework that builds a WAM on the latent space of a frozen V-JEPA 2.1 encoder. An instruction-conditioned future-latent predictor and a flow-matching action expert are jointly learned from scratch in a single downstream stage, with the predictor's future-informed context key--value states conditioning action generation. With 0.9B total parameters, of which 0.6B are trainable, V-JEPA Policy achieves competitive performance with representative WAM and vision-language-action baselines across LIBERO, LIBERO-Plus, and RoboCasa-GR1. Comparing visual foundations under the same downstream framework and training budget identifies V-JEPA latents as more effective than the discriminative, reconstructive, and video-understanding-oriented alternatives, particularly under distribution shifts. Beyond task-specific learning, pretraining the predictor on DROID video--instruction pairs without action labels and adapting it into a WAM yields substantial gains in downstream control and out-of-distribution generalization. Together, these findings establish predictive visual latents as a foundation for effective WAM learning from task-specific demonstrations and for transferring future-modeling knowledge acquired from broader in-the-wild videos. Our code is available at https://github.com/breez3young/VJEPA-Policy.

In multi-goal Reinforcement Learning, an agent can share experience between related training tasks, resulting in better generalization for new tasks at test time. However, when the goal space has discontinuities and the reward is sparse, a majority of goals are difficult to reach. In this context, a curriculum over goals helps agents learn by adapting training tasks to their current capabilities. In this work we propose Stein Variational Goal Generation (SVGG), which samples goals of intermediate difficulty for the agent, by leveraging a learned predictive model of its goal reaching capabilities. The distribution of goals is modeled with particles that are attracted in areas of appropriate difficulty using Stein Variational Gradient Descent. We show that SVGG outperforms state-of-the-art multi-goal Reinforcement Learning methods in terms of success coverage in hard exploration problems, and demonstrate that it is endowed with a useful recovery property when the environment changes.

We introduce a method to measure uncertainty in large language models. For tasks like question answering, it is essential to know when we can trust the natural language outputs of foundation models. We show that measuring uncertainty in natural language is challenging because of "semantic equivalence" -- different sentences can mean the same thing. To overcome these challenges we introduce semantic entropy -- an entropy which incorporates linguistic invariances created by shared meanings. Our method is unsupervised, uses only a single model, and requires no modifications to off-the-shelf language models. In comprehensive ablation studies we show that the semantic entropy is more predictive of model accuracy on question answering data sets than comparable baselines.

We describe HypotheSAEs, a general method to hypothesize interpretable relationships between text data (e.g., headlines) and a target variable (e.g., clicks). HypotheSAEs has three steps: (1) train a sparse autoencoder on text embeddings to produce interpretable features describing the data distribution, (2) select features that predict the target variable, and (3) generate a natural language interpretation of each feature (e.g., "mentions being surprised or shocked") using an LLM. Each interpretation serves as a hypothesis about what predicts the target variable. Compared to baselines, our method better identifies reference hypotheses on synthetic datasets (at least +0.06 in F1) and produces more predictive hypotheses on real datasets (~twice as many significant findings), despite requiring 1-2 orders of magnitude less compute than recent LLM-based methods. HypotheSAEs also produces novel discoveries on two well-studied tasks: explaining partisan differences in Congressional speeches and identifying drivers of engagement with online headlines.

Despite significant progress of generative models in the natural sciences, their controllability remains challenging. One fundamentally missing aspect of molecular or protein generative models is an inductive bias that can reflect continuous properties of interest. To that end, we propose the Regression Transformer (RT), a novel method that abstracts regression as a conditional sequence modeling problem. This introduces a new paradigm of multitask language models which seamlessly bridge sequence regression and conditional sequence generation. We thoroughly demonstrate that, despite using a nominal-scale training objective, the RT matches or surpasses the performance of conventional regression models in property prediction tasks of small molecules, proteins and chemical reactions. Critically, priming the same model with continuous properties yields a highly competitive conditional generative model that outperforms specialized approaches in a substructure-constrained, property-driven molecule generation benchmark. Our dichotomous approach is facilitated by a novel, alternating training scheme that enables the model to decorate seed sequences by desired properties, e.g., to optimize reaction yield. In sum, the RT is the first report of a multitask model that concurrently excels at predictive and generative tasks in biochemistry. This finds particular application in property-driven, local exploration of the chemical or protein space and could pave the road toward foundation models in material design. The code to reproduce all experiments of the paper is available at: https://github.com/IBM/regression-transformer

Modeling the joint distribution of data samples and their properties allows to construct a single model for both data generation and property prediction, with synergistic benefits reaching beyond purely generative or predictive models. However, training joint models presents daunting architectural and optimization challenges. Here, we propose Hyformer, a transformer-based joint model that successfully blends the generative and predictive functionalities, using an alternating attention mechanism and a joint pre-training scheme. We show that Hyformer is simultaneously optimized for molecule generation and property prediction, while exhibiting synergistic benefits in conditional sampling, out-of-distribution property prediction and representation learning. Finally, we demonstrate the benefits of joint learning in a drug design use case of discovering novel antimicrobial~peptides.

Diffusion models are advancing autonomous driving by enabling realistic data synthesis, predictive end-to-end planning, and closed-loop simulation, with a primary focus on temporally consistent generation. However, the generation of large-scale 3D scenes that require spatial coherence remains underexplored. In this paper, we propose X-Scene, a novel framework for large-scale driving scene generation that achieves both geometric intricacy and appearance fidelity, while offering flexible controllability. Specifically, X-Scene supports multi-granular control, including low-level conditions such as user-provided or text-driven layout for detailed scene composition and high-level semantic guidance such as user-intent and LLM-enriched text prompts for efficient customization. To enhance geometrical and visual fidelity, we introduce a unified pipeline that sequentially generates 3D semantic occupancy and the corresponding multiview images, while ensuring alignment between modalities. Additionally, we extend the generated local region into a large-scale scene through consistency-aware scene outpainting, which extrapolates new occupancy and images conditioned on the previously generated area, enhancing spatial continuity and preserving visual coherence. The resulting scenes are lifted into high-quality 3DGS representations, supporting diverse applications such as scene exploration. Comprehensive experiments demonstrate that X-Scene significantly advances controllability and fidelity for large-scale driving scene generation, empowering data generation and simulation for autonomous driving.

A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA) model that integrates text, image, and action in shared token space and performs generation across all three modalities. MM-ACT adopts a re-mask parallel decoding strategy for text and image generation, and employs a one-step parallel decoding strategy for action generation to improve efficiency. We introduce Context-Shared Multimodal Learning, a unified training paradigm that supervises generation in all three modalities from a shared context, enhancing action generation through cross-modal learning. Experiments were conducted on the LIBERO simulation and Franka real-robot setups as well as RoboTwin2.0 to assess in-domain and out-of-domain performances respectively. Our approach achieves a success rate of 96.3% on LIBERO, 72.0% across three tasks of real Franka, and 52.38% across eight bimanual tasks of RoboTwin2.0 with an additional gain of 9.25% from cross-modal learning. We release our codes, models and data at https://github.com/HHYHRHY/MM-ACT.

Current video generation models produce high-quality aesthetic videos but often struggle to learn representations of real-world physics dynamics, resulting in artifacts such as unnatural object collisions, inconsistent gravity, and temporal flickering. In this work, we propose PhysVideoGenerator, a proof-of-concept framework that explicitly embeds a learnable physics prior into the video generation process. We introduce a lightweight predictor network, PredictorP, which regresses high-level physical features extracted from a pre-trained Video Joint Embedding Predictive Architecture (V-JEPA 2) directly from noisy diffusion latents. These predicted physics tokens are injected into the temporal attention layers of a DiT-based generator (Latte) via a dedicated cross-attention mechanism. Our primary contribution is demonstrating the technical feasibility of this joint training paradigm: we show that diffusion latents contain sufficient information to recover V-JEPA 2 physical representations, and that multi-task optimization remains stable over training. This report documents the architectural design, technical challenges, and validation of training stability, establishing a foundation for future large-scale evaluation of physics-aware generative models.

Self-evolving LLMs excel in verifiable domains but struggle in open-ended tasks, where reliance on proxy LLM judges introduces capability bottlenecks and reward hacking. To overcome this, we introduce G-Zero, a verifier-free, co-evolutionary framework for autonomous self-improvement. Our core innovation is Hint-δ, an intrinsic reward that quantifies the predictive shift between a Generator model's unassisted response and its response conditioned on a self-generated hint. Using this signal, a Proposer model is trained via GRPO to continuously target the Generator's blind spots by synthesizing challenging queries and informative hints. The Generator is concurrently optimized via DPO to internalize these hint-guided improvements. Theoretically, we prove a best-iterate suboptimality guarantee for an idealized standard-DPO version of G-Zero, provided that the Proposer induces sufficient exploration coverage and the data filteration keeps pseudo-label score noise low. By deriving supervision entirely from internal distributional dynamics, G-Zero bypasses the capability ceilings of external judges, providing a scalable, robust pathway for continuous LLM self-evolution across unverifiable domains.

This paper presents an eight-week observational comparison of 68 single-file HTML generations collected across 17 public experiments in the "HTML AI Battle" project between December 10, 2025 and February 4, 2026. Four reasoning model families, GPT, Gemini, Grok, and Claude, were compared under a fixed public-interface protocol with no custom instructions, no personality tuning, and no repair prompts. Each output was evaluated from a rendered browser video using human scores and a Gemini LLM-as-a-judge layer for prompt adherence, functional correctness, and UI quality, then packaged into a standardized social-media protocol spanning X (Twitter), TikTok, and YouTube. The tracker was also used for two supervised predictive analyses: an experiment-level model for 24-hour X impressions and a generation-level model for HTML verbosity. Under this protocol, Claude was the strongest and most consistent family, leading mean performance and winning 9/17 prompts under the primary human weighted score. Longer measured reasoning time was not associated with higher quality overall. Gemini as a judge was significantly more lenient than the human evaluator on functional correctness and overall performance, while stable self-favoring bias remained unresolved. The exploratory X-impressions model remained weak under post-screen cross-validation (MAE = 46,874, R^2 = -0.377), whereas the HTML-lines model performed better, with a model-family-only baseline outperforming prompt-aware alternatives (MAE = 135.2, R^2 = 0.576). Overall, selected pre-publication technical/audio variables were not sufficient to predict 24-hour X reach, while code verbosity was driven much more by model family than by prompt wording. The comparisons remain observational and are limited by public-interface drift, access-path differences, and one primary human scorer.

Long-context inference enhances the reasoning capability of Large Language Models (LLMs), but incurs significant computational overhead. Token-oriented methods, such as pruning and skipping, have shown great promise in reducing inference latency, yet still suffer from inherently insufficient structure optimization, outdated selection criteria, and redundancy interference, resulting in suboptimal speed-accuracy trade-off. To address these issues, we propose a novel training-free framework dubbed Self-Predictive Token Skipping (SPTS), for efficient long-context LLM inference. Specifically, motivated by probing the influence of target layers prior to skipping, we design two selective token skipping strategies for typical structures, including Partial Attention Probing (PAP) for multi-head attention and Low-rank Transformation Probing (LTP) for feed forward network. The former selects informative tokens via partial forward attention computation, while the latter constructs a low-rank proxy network to predict token transformations. In addition, a Multi-Stage Delayed Pruning (MSDP) strategy reallocates skipping budgets and progressively removes redundant tokens across layers. Extensive experiments display the effectiveness of our method, achieving up to 2.46times and 2.29times speedups for prefilling and end-to-end generation, respectively, while maintaining state-of-the-art accuracy. We will release the source code upon acceptance.

Discovering governing equations from observational data remains a fundamental challenge in scientific modeling, particularly when the underlying mathematical structure is unknown. Traditional sparse identification methods like SINDy excel at discovering parsimonious models but require researchers to specify candidate basis functions a priori, a limitation that often leads to model failure when critical terms are omitted or when systems exhibit unconventional dynamics. Purely symbolic regression approaches offer unlimited flexibility but struggle with noise sensitivity and frequently produce overly complex, unstable equations. We present AutoSINDy, a hybrid Discovery-then-Solve framework that combines the exploratory power of symbolic regression with the robust sparsity-promoting capabilities of SINDy. Our method operates in three stages: (1) PySR-based symbolic regression discovers candidate functional forms from bootstrapped data chunks; (2) a curation pipeline decomposes, expands, and filters these expressions using collinearity analysis to construct a minimal yet comprehensive library; and (3) SINDy identifies sparse governing equations from this custom-tailored library. Extensive experiments across canonical nonlinear systems demonstrate that AutoSINDy consistently recovers ground-truth equations even under high observational noise, achieving a ground-truth recovery rate of 92.8% across all trials. Compared with standard SINDy using enriched libraries and standalone symbolic regression, AutoSINDy achieves higher predictive accuracy, superior generalization to unseen trajectories, and substantially lower symbolic complexity.

LLM-powered code generation has the potential to revolutionize creative coding endeavors, such as live-coding, by enabling users to focus on structural motifs over syntactic details. In such domains, when prompting an LLM, users may benefit from considering multiple varied code candidates to better realize their musical intentions. Code generation models, however, struggle to present unique and diverse code candidates, with no direct insight into the code's audio output. To better establish a relationship between code candidates and produced audio, we investigate the topology of the mapping between code and audio embedding spaces. We find that code and audio embeddings do not exhibit a simple linear relationship, but supplement this with a constructed predictive model that shows an embedding alignment map could be learned. Supplementing the aim for musically diverse output, we present a model that given code predicts output audio embedding, constructing a code-audio embedding alignment map.

Hallucinations are a common issue that undermine the reliability of large language models (LLMs). Recent studies have identified a specific subset of hallucinations, known as confabulations, which arise due to predictive uncertainty of LLMs. To detect confabulations, various methods for estimating predictive uncertainty in natural language generation (NLG) have been developed. These methods are typically evaluated by correlating uncertainty estimates with the correctness of generated text, with question-answering (QA) datasets serving as the standard benchmark. However, commonly used approximate correctness functions have substantial disagreement between each other and, consequently, in the ranking of the uncertainty estimation methods. This allows one to inflate the apparent performance of uncertainty estimation methods. We propose using several alternative risk indicators for risk correlation experiments that improve robustness of empirical assessment of UE algorithms for NLG. For QA tasks, we show that marginalizing over multiple LLM-as-a-judge variants leads to reducing the evaluation biases. Furthermore, we explore structured tasks as well as out of distribution and perturbation detection tasks which provide robust and controllable risk indicators. Finally, we propose to use an Elo rating of uncertainty estimation methods to give an objective summarization over extensive evaluation settings.

Dexterous manipulation in everyday environments requires both anticipation and reaction: a robot must predict how contact should evolve while rapidly correcting local errors caused by slip, misalignment, unstable grasping, or force mismatch. Vision and language provide semantic and geometric guidance, but they cannot reliably reveal hidden contact states such as force, slip, and contact stability. Although tactile sensing exposes these physical cues, most existing policies treat touch as a low-frequency observation stream within a monolithic action model, coupling slow task reasoning, action generation, and fast contact feedback in a single loop. We introduce TouchWorld, a predictive-and-reactive tactile foundation model for dexterous manipulation. TouchWorld uses a hierarchical policy that separates vision-language subtask planning, tactile world-model prediction, visuo-tactile goal-conditioned action generation, and high-frequency tactile residual refinement. A High-Level Planning Layer produces executable subtasks and predicts tactile subgoals; a Visuo-Tactile Goal-Conditioned Policy generates nominal action chunks; and a Tactile-Conditioned Refinement Policy performs online residual correction using recent tactile and proprioceptive feedback. By using touch as both a predictive contact reference and a fast feedback signal, TouchWorld preserves the semantic generalization of vision-language-action policies while improving local contact adaptation. Across six long-horizon and contact-rich dexterous manipulation tasks, TouchWorld achieves 65.0% success in the clean setting and 53.7% success under human perturbations, outperforming the strongest baseline by 15.7 and 18.5 percentage points, respectively.

Autoregressive models excel in visual generation by treating images as 1D sequences of discrete tokens, mirroring language modeling. However, this flattening discards the intrinsic 2D spatial locality of visual signals, creating severe computational bottlenecks during inference. We introduce Spatially Speculative Decoding (SSD), a framework that aligns the predictive objective with the natural geometry of images. Rather than predicting only the immediate next token in a 1D sequence, our model simultaneously predicts the adjacent horizontal token and the token directly below it. By capitalizing on this 2D spatial correlation, spatially speculative decoding overcomes the memory wall in visual inference. Our approach accelerates autoregressive image generation by up to 13.3x while maintaining high fidelity on DPG-Bench and GenEval. Our results suggest that respecting the underlying geometry of vision unlocks massive computational efficiencies, paving the way for real-time, high-resolution autoregressive generative models.

In the physical world we inhabit, space and time are fundamentally continuous. However, existing machine learning paradigms for world modeling are largely confined to discrete-time prediction, thereby exhibiting significant inefficiency in capturing the dynamics of physical world. We introduce Physical-Time Flow (PT-Flow), a novel approach that learns a continuous latent velocity field operating in physical time. Crucially, the underlying dynamics of sequential data are parameterized by an ordinary differential equation (ODE) embedded in a well-structured representation space. Under this paradigm, the prediction of future can be recast as temporal integration via an ODE solver in the compressed latent space. Building upon PT-Flow, we construct ODEWorld, a continuous-time latent world model that is both efficient and versatile. By extracting time-variant features and enforcing ODE properties on both the dynamical representation space and the latent velocity field, ODEWorld effectively addresses the long-standing representation collapse issue in latent world model literature. This also enables high-quality image reconstruction even after long-horizon prediction. Moreover, its continuous nature allows for arbitrary temporal resolution and even backward prediction, which is impossible for most discrete-time models. Lastly, ODEWorld can provide rich planning-oriented information to facilitate downstream policy learning. Comprehensive experiments demonstrate that ODEWorld successfully reconciles planning-conducive dynamics abstraction with visual realism, excelling in both video generation and robotic control. https://dstate.github.io/odeworld_website/{Project Website}.

Generative models learn visual structure through denoising, yet their internal states are entangled with both noise level and network depth, making it difficult to obtain a stable visual representation from the generator itself. We introduce RepFlow, which learns such a representation from the generator's evolving computation and uses it to guide generation. Specifically, a separate timestep-free encoder is trained, through a timestep-conditioned predictor, to recover generator states across depths and noise levels from masked clean images. By excluding the reference noise and masked-out content from the encoder's input, we encourage the encoder to distill visual information that is recoverable from the visible image context and predictive of generator states. The representation learned from the generator's evolving states is then fed back to guide and improve the generator, whose updated states provide supervision for further representation learning, forming a reciprocal learning process. This reciprocal process improves multi-step generation and representation quality, as measured by frozen linear probing on ImageNet with latent-space SiT and pixel-space JiT, without an externally pretrained representation teacher. Across the two unconditional settings, FID decreases by 19.2--40.8% relative to native training, while linear-probe accuracy improves by 6.80--10.04 percentage points over the best searched raw generator features. The learned representation also serves as a distributional metric for one-step JiT post-training, extending its role from instance-level alignment to distribution-level supervision.

Video diffusion and flow models require many sequential evaluations, making generation computationally expensive. Few-step distillation reduces this cost but poses a capacity allocation problem: a student must match the teacher's iterative generation with far less sequential computation. Existing trajectory methods ask the student to reproduce teacher transitions that are highly curved at high noise, which can exceed its capacity and degrade fine detail. We introduce Parametric Trajectory Distillation (PTD), which lets the student parameterize teacher trajectory segments as polynomials and learn from teacher guidance along its own predicted path. PTD is designed to let the learned curvature adapt to the backbone's predictive capacity, preserving motion and diversity. The curvature head is used only in training; inference keeps the original backbone architecture. On Wan2.1-14B, four-step PTD sets a new state of the art for trajectory distillation, significantly improving dynamic quality and naturalness over PDD, the best-performing trajectory-only method on this model, under the same training setting. On the 33B audio-video MiniMax-H3, LoRA-trained PTD significantly improves diversity and naturalness over the state-of-the-art LightX2V Turbo. Blinded human votes give PTD 55.1% and 63.4% preference shares against PDD and LightX2V Turbo. Project page: https://alan-lanfeng.github.io/PTD/.

Generalist robot manipulation can benefit from pretrained vision-language models (VLMs) for semantic reasoning and video generation models (VGMs) for world modeling. However, existing unified models that directly fuse them through shared attention at multiple layers can make it harder to draw on their specialized capabilities. We introduce PINT, a unified model that coordinates semantic reasoning, world modeling, and action generation through a shared chunk-level Predictive Intent while preserving expert-specific pathways. PINT inserts learnable Intent Tokens into the VLM sequence to form this representation, conditioning both the VGM and an Action Expert (AE). It replaces only the VGM's prompt conditioning and retains the VGM at inference, where the AE reads its representations through one-way attention. Rather than prescribing what Predictive Intent should encode, PINT learns it jointly from the native prediction objectives of the VLM, VGM, and AE, which provide complementary views of the same upcoming task execution. Training uses two stages: Stage 1 freezes the VGM so that future video prediction shapes Predictive Intent with task-relevant future dynamics, while Stage 2 fixes the learned Intent and adapts the VGM and AE. Without embodied pretraining, PINT achieves strong in-distribution (ID) performance and substantially improves out-of-distribution (OOD) generalization, reaching 15.5% on RoboTwin 2.0-Hard compared with 1.8% for Fast-WAM and 3.2% for StarVLA, and 79.5% on LIBERO-Plus compared with 51.5% and 75.0%, respectively. Across five real-world bimanual tasks, PINT reaches 68% ID and 24% OOD success, compared with 35%/9% for pretrained Motus and 67%/35% for pretrained π_{0.5}.

In egocentric scenarios, anticipating both the next action and its visual outcome is essential for understanding human-object interactions and for enabling robotic planning. However, existing paradigms fall short of jointly modeling these aspects. Vision-Language-Action (VLA) models focus on action prediction but lack explicit modeling of how actions influence the visual scene, while video prediction models generate future frames without conditioning on specific actions, often resulting in implausible or contextually inconsistent outcomes. To bridge this gap, we propose a unified two-stage predictive framework that jointly models action and visual future in egocentric scenarios, conditioned on hand trajectories. In the first stage, we perform consecutive state modeling to process heterogeneous inputs (visual observations, language, and action history) and explicitly predict future hand trajectories. In the second stage, we introduce causal cross-attention to fuse multi-modal cues, leveraging inferred action signals to guide an image-based Latent Diffusion Model (LDM) for frame-by-frame future video generation. Our approach is the first unified model designed to handle both egocentric human activity understanding and robotic manipulation tasks, providing explicit predictions of both upcoming actions and their visual consequences. Extensive experiments on Ego4D, BridgeData, and RLBench demonstrate that our method outperforms state-of-the-art baselines in both action prediction and future video synthesis.

Large Language Models (LLMs) have recently been successfully applied to regression tasks -- such as time series forecasting and tabular prediction -- by leveraging their in-context learning abilities. However, their autoregressive decoding process may be ill-suited to continuous-valued outputs, where obtaining predictive distributions over numerical targets requires repeated sampling, leading to high computational cost and inference time. In this work, we investigate whether distributional properties of LLM predictions can be recovered without explicit autoregressive generation. To this end, we study a set of regression probes trained to predict statistical functionals (e.g., mean, median, quantiles) of the LLM's numerical output distribution directly from its internal representations. Our results suggest that LLM embeddings carry informative signals about summary statistics of their predictive distributions, including the numerical uncertainty. This investigation opens up new questions about how LLMs internally encode uncertainty in numerical tasks, and about the feasibility of lightweight alternatives to sampling-based approaches for uncertainty-aware numerical predictions.

Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated behavior. Yet existing humanoid policies typically decompose locomotion and manipulation, while recent world-action models remain either arm-centric or video-centered. We present ω-0, a latent predictive whole-body world-action model for real-world humanoid concurrent loco-manipulation. Given a language instruction, current visual observation, and robot proprioceptive state, ω-0 directly predicts controller-compatible whole-body action latents for real-robot execution. Rather than reconstructing future videos, ω-0 learns compact future observation embeddings as a lightweight predictive objective, coupling latent visual foresight with diffusion-based whole-body action generation. The model supports egocentric RGB, exocentric RGB, and exocentric depth inputs, and leverages controller-based simulation replay to ground human/public visual-motion priors into robot-executable action latents. We further collect ω-HOME, a 40+ hour real-world household humanoid dataset with synchronized multi-view observations, whole-body SMPL motions, robot states, and action latents. Real-world experiments on 11 household tasks demonstrate that a single ω-0 model can produce smooth manipulate-while-moving behaviors and consistently outperform representative imitation learning, VLA, humanoid, and WAM baselines.

Joint-embedding predictive architectures (JEPAs) predict masked or future observations in representation space, offering a natural source of predictive latents for vision-language-action (VLA) models. Yet making these latents useful across pretraining, policy learning, and deployment requires addressing three failures: mismatch with embodiment-specific control, interference with action learning, and teacher miscalibration under distribution shifts. We introduce Juno, a unified framework built around one action-conditioned JEPA that serves as a control-aligned representation backbone, a predictive teacher, and an adaptable dynamics model. During pretraining, we train it on embodiment-matched trajectories and use a dynamic CLS loss to transfer motion-weighted patch dynamics to a compact global state. During policy learning, we fuse current-frame JEPA patches into VLA perception and use a decoupled reasoning branch with separate transformation parameters to distill future latent states for action generation. During deployment, we adapt the world model on all observed transitions, including failed rollouts, freeze the adapted teacher, and re-align the policy on verified executions using LoRA adapters and a trainable action head, without expert corrections or task rewards. On SimplerEnv, Juno raises average success from 60.9% to 68.5% over Qwen3GR00T, the strongest baseline, and test-time adaptation further reaches 72.7%; on a real robot, it retains 70%--75% success under background, height, and object shifts where the base policy collapses to 0%.

Standard autoregressive (AR) models process high-level task instructions, state history, and transient tokens within a single shared sequence of tokens. Consequently, they lack the architectural mechanisms needed to isolate macro-objectives from context noise. To overcome this single-channel limitation, we introduce Latent-Steered Autoregressive (LS-AR), a dual-channel architecture that decouples continuous goal steering from discrete token decoding via FiLM conditioning. We evaluate a Static Goal Encoder (P_0) for persistent macro-objective retention across long rollouts and a Dynamic State Tracker (P_t) for recurrent latent updates during generation. On long-horizon retrieval past context limits (H=1024, W=500), LS-AR (Static) achieves 100% target recall where parameter-matched baselines collapse (0%), while increasing throughput by ~35% and cutting peak VRAM by 52.8%. In Blocksworld planning under forced perturbations (k=1), LS-AR (Dynamic) sustains an 89.0% completion rate vs. 71.0% for the baseline, though zero-shot entity scaling (N -> N+1) exposes single-vector capacity limits (0%). Finally, dual-channel authority analysis shows that text goal dropout establishes latent-dominant control, offering structural defence against text prompt injection while introducing a latent vector attack surface.

Semiconductor lasers, one of the key components for optical communication systems, have been rapidly evolving to meet the requirements of next generation optical networks with respect to high speed, low power consumption, small form factor etc. However, these demands have brought severe challenges to the semiconductor laser reliability. Therefore, a great deal of attention has been devoted to improving it and thereby ensuring reliable transmission. In this paper, a predictive maintenance framework using machine learning techniques is proposed for real-time heath monitoring and prognosis of semiconductor laser and thus enhancing its reliability. The proposed approach is composed of three stages: i) real-time performance degradation prediction, ii) degradation detection, and iii) remaining useful life (RUL) prediction. First of all, an attention based gated recurrent unit (GRU) model is adopted for real-time prediction of performance degradation. Then, a convolutional autoencoder is used to detect the degradation or abnormal behavior of a laser, given the predicted degradation performance values. Once an abnormal state is detected, a RUL prediction model based on attention-based deep learning is utilized. Afterwards, the estimated RUL is input for decision making and maintenance planning. The proposed framework is validated using experimental data derived from accelerated aging tests conducted for semiconductor tunable lasers. The proposed approach achieves a very good degradation performance prediction capability with a small root mean square error (RMSE) of 0.01, a good anomaly detection accuracy of 94.24% and a better RUL estimation capability compared to the existing ML-based laser RUL prediction models.

In the field of business data analysis, the ability to extract actionable insights from vast and varied datasets is essential for informed decision-making and maintaining a competitive edge. Traditional rule-based systems, while reliable, often fall short when faced with the complexity and dynamism of modern business data. Conversely, Artificial Intelligence (AI) models, particularly Large Language Models (LLMs), offer significant potential in pattern recognition and predictive analytics but can lack the precision necessary for specific business applications. This paper explores the efficacy of hybrid approaches that integrate the robustness of rule-based systems with the adaptive power of LLMs in generating actionable business insights.

Smart home energy management systems help the distribution grid operate more efficiently and reliably, and enable effective penetration of distributed renewable energy sources. These systems rely on robust forecasting, optimization, and control/scheduling algorithms that can handle the uncertain nature of demand and renewable generation. This paper proposes an advanced ML algorithm, called Recurrent Trend Predictive Neural Network based Forecast Embedded Scheduling (rTPNN-FES), to provide efficient residential demand control. rTPNN-FES is a novel neural network architecture that simultaneously forecasts renewable energy generation and schedules household appliances. By its embedded structure, rTPNN-FES eliminates the utilization of separate algorithms for forecasting and scheduling and generates a schedule that is robust against forecasting errors. This paper also evaluates the performance of the proposed algorithm for an IoT-enabled smart home. The evaluation results reveal that rTPNN-FES provides near-optimal scheduling 37.5 times faster than the optimization while outperforming state-of-the-art forecasting techniques.

The annotation (assigning structural chemical identities) of MS/MS spectra remains a significant challenge due to the enormous molecular diversity in biological samples and the limited scope of reference databases. Currently, the vast majority of spectral measurements remain in the "dark chemical space" without structural annotations. To improve annotation, we propose MADGEN (Mass-spec Attends to De Novo Molecular GENeration), a scaffold-based method for de novo molecular structure generation guided by mass spectrometry data. MADGEN operates in two stages: scaffold retrieval and spectra-conditioned molecular generation starting with the scaffold. In the first stage, given an MS/MS spectrum, we formulate scaffold retrieval as a ranking problem and employ contrastive learning to align mass spectra with candidate molecular scaffolds. In the second stage, starting from the retrieved scaffold, we employ the MS/MS spectrum to guide an attention-based generative model to generate the final molecule. Our approach constrains the molecular generation search space, reducing its complexity and improving generation accuracy. We evaluate MADGEN on three datasets (NIST23, CANOPUS, and MassSpecGym) and evaluate MADGEN's performance with a predictive scaffold retriever and with an oracle retriever. We demonstrate the effectiveness of using attention to integrate spectral information throughout the generation process to achieve strong results with the oracle retriever.

World Action Models (WAMs) have emerged as a powerful paradigm for embodied intelligence, yet the prevailing reliance on pixel-level video generation creates a fundamental bottleneck. Forcing models to reconstruct task-irrelevant visual details dissipates representational capacity and renders policies vulnerable to visual distractors. In this paper, we propose LeapBot-WA, which establishes a novel Predictive-Latent paradigm for WAMs by operationalizing the Joint-Embedding Predictive Architecture (JEPA) as a World-Anchor. Departing from the traditional reliance on visual synthesis, LeapBot-WA shifts the core of world modeling to Predictive Semantic Alignment, extracting abstract physical dynamics directly within a latent foundation space. To bridge the modality gap between non-Gaussian predictive features and diffusion priors, we introduce the Isotropic Semantic Autoencoder (ISAE), which reshapes the anchor's latent space into a diffusion-friendly manifold to prevent off-manifold drift. Furthermore, we design an Asymmetric Mixture-of-Transformers (MoT) architecture. During training, an Anchor Diffusion Transformer acts as a privileged dynamics expert to guide the Action Diffusion Transformer; at inference, this heavy dynamics branch is pruned, enabling zero-overhead execution. LeapBot-WA achieves state-of-the-art performance among predictive models on LIBERO and matches top-tier generative WAMs on RoboTwin 2.0 without requiring large-scale trajectory pre-training. It further demonstrates superior zero-shot robustness to unseen environments and successful real-world transfer, establishing a highly efficient and robust latent-centric paradigm for scalable robotic control. Code: https://github.com/LeapWM/leapbot-wa.

Latent video generation relies on autoencoders to define a compact space in which generative models operate. Although video autoencoder architectures have evolved substantially, their latent spaces are still optimized primarily for pixel-level reconstruction and provide limited high-level semantic organization. A reconstruction-optimal latent space, however, need not be well suited to generative modeling. We propose V-RAE, a video representation autoencoder that builds compact generative latents on top of frozen vision foundation model representations. A lightweight temporal pooling module removes temporal redundancy while preserving semantic structure, and a video decoder reconstructs continuous motion from the compressed features. We evaluate V-RAE with four representative frozen encoders on video reconstruction, semantic probing, and class-conditional generation. V-RAE achieves 2.13 rFVD on K600, outperforming all evaluated large-scale pretrained video VAEs. Its latents retain substantially more semantic information than conventional video tokenizer latents. Under matched generation settings, our best variant achieves gFVD scores of 117.86 and 19.16 on UCF101 and K600, respectively, while converging up to 6x faster}. We further show that reconstruction quality alone is insufficient to characterize generative utility and introduce tFVD, a temporal-coherence diagnostic that correlates more reliably with downstream generation quality. Beyond video generation, V-RAE also improves future video prediction on Cityscapes over the Wan 2.2 VAE latent space under matched prediction settings. Taken together, the experiments show that frozen semantic representations can support video reconstruction, generation, and predictive modeling. The project page: https://v-rae.github.io/.

Simulating ecohydrological processes is essential for understanding complex environmental systems and guiding sustainable management amid accelerating climate change and human pressures. Process-based models provide physical realism but can suffer from structural rigidity, high computational costs, and complex calibration, while machine learning (ML) methods are efficient and flexible yet often lack interpretability and transferability. We propose a unified three-phase framework that integrates process-based models with ML and progressively embeds them into artificial intelligence (AI) through knowledge distillation. Phase I, behavioral distillation, enhances process models via surrogate learning and model simplification to capture key dynamics at lower computational cost. Phase II, structural distillation, reformulates process equations as modular components within a graph neural network (GNN), enabling multiscale representation and seamless integration with ML models. Phase III, cognitive distillation, embeds expert reasoning and adaptive decision-making into intelligent modeling agents using the Eyes-Brain-Hands-Mouth architecture. Demonstrations for the Samish watershed highlight the framework's applicability to ecohydrological modeling, showing that it can reproduce process-based model outputs, improve predictive accuracy, and support scenario-based decision-making. The framework offers a scalable and transferable pathway toward next-generation intelligent ecohydrological modeling systems, with the potential extension to other process-based domains.

Few-step streaming audio--video generation requires both causal modeling and step distillation, yet standard training recipes face two context-related challenges. Teacher forcing pairs clean history with a noisy target, but supervises predictive contextual representations only indirectly through velocity prediction. Meanwhile, directly reusing bidirectional score models in causal Distribution Matching Distillation (DMD) creates a mismatch between generation and scoring contexts. We address these challenges with Salt++, a two-stage post-training framework comprising Causal Self-Flow (CSF) and context-aligned autoregressive DMD. CSF exploits contextual information asymmetry by varying the history while keeping the noisy target fixed: a noise-mixed-history student aligns its intermediate representations with those of a clean-history exponential-moving-average teacher. This self-supervised signal encourages the student to extract semantic information and improves cross-modal alignment. Context-aligned AR DMD shares the causal mask and prefix across generator sampling, fake-score training, and real-score evaluation to match generated and reference distributions under a block-conditional KL objective. With calibrated teacher guidance, it performs clean-prefix few-step distillation and then adapts to generated histories without switching objectives or requiring separate consistency distillation. At 480p, Salt++ improves visual and motion quality by 57% and 45% over OmniForcing on JavisBench under the same 4-step causal setting. A separate scale-wise post-training stage extends Salt++ to 4-step 1664times960 generation, outperforming bidirectional LTX-2 on six of seven reported metrics. Project page: https://xingtongge.github.io/Saltpp

A user's movie, news, and dialogue histories differ in their native actions and outputs, yet each interaction supplies evidence that can update user memory. We study whether these histories can train one reusable update mechanism. An action-on-item schema pairs a mapped interaction role with a content embedding, allowing shared update parameters to operate on separate user states. We establish invariance to native relabeling, bounded state changes under item-embedding perturbations, and a pooled-training bound under explicit compatibility conditions. The Multi-Timescale State Hypothesis (MTSH) specifies how this evidence enters, persists, and is consumed; PerTIDE implements it with action gating, three state-space traces, fusion, and command-conditioned readout. On PENS, the same history encoder supports both next-news prediction and personalized headline generation. In a controlled PENS-to-MovieLens experiment, a frozen source-trained core exceeds an identically structured random core by 15.23 MRR points after fitting the same target consumer. On MIND, PerTIDE retains a 4.12-point MRR advantage over a same-input three-branch state-space control. Action, readout, and trace interventions identify complementary contributions to these gains. Together, the theory and experiments support learning history updates across compatible sources and reusing them through predictive and generative consumers.

Knowledge Graph Retrieval-Augmented Generation (KG-RAG) extends the RAG paradigm by incorporating structured knowledge from knowledge graphs, enabling Large Language Models (LLMs) to perform more precise and explainable reasoning. While KG-RAG improves factual accuracy in complex tasks, existing KG-RAG models are often severely overconfident, producing high-confidence predictions even when retrieved sub-graphs are incomplete or unreliable, which raises concerns for deployment in high-stakes domains. To address this issue, we propose Ca2KG, a Causality-aware Calibration framework for KG-RAG. Ca2KG integrates counterfactual prompting, which exposes retrieval-dependent uncertainties in knowledge quality and reasoning reliability, with a panel-based re-scoring mechanism that stabilises predictions across interventions. Extensive experiments on two complex QA datasets demonstrate that Ca2KG consistently improves calibration while maintaining or even enhancing predictive accuracy.

Recent advances in medical vision language models guide the learning of visual representations; however, this form of supervision is constrained by the availability of paired image text data, raising the question of whether robust radiology encoders can be learned without relying on language supervision. In this work, we introduce RadJEPA, a self-supervised framework built on a Joint Embedding Predictive Architecture that learns without language supervision. Pre-trained solely on unlabeled chest X-ray images, the model learns to predict latent representations of masked image regions. This predictive objective differs fundamentally from both image text pre-training and DINO-style self-distillation: rather than aligning global representations across views or modalities, RadJEPA explicitly models latent-space prediction. We evaluate the learned encoder on disease classification, semantic segmentation, and report generation tasks. Across benchmarks, RadJEPA achieves performance exceeding state-of-the-art approaches, including Rad-DINO.

Equipping embodied agents with the ability to reason about tasks, foresee physical outcomes, and generate precise actions is essential for general-purpose manipulation. While recent Vision-Language-Action (VLA) models have leveraged pre-trained foundation models, they typically focus on either linguistic planning or visual forecasting in isolation. These methods rarely integrate both capabilities simultaneously to guide action generation, leading to suboptimal performance in complex, long-horizon manipulation tasks. To bridge this gap, we propose BagelVLA, a unified model that integrates linguistic planning, visual forecasting, and action generation within a single framework. Initialized from a pretrained unified understanding and generative model, BagelVLA is trained to interleave textual reasoning and visual prediction directly into the action execution loop. To efficiently couple these modalities, we introduce Residual Flow Guidance (RFG), which initializes from current observation and leverages single-step denoising to extract predictive visual features, guiding action generation with minimal latency. Extensive experiments demonstrate that BagelVLA outperforms existing baselines by a significant margin on multiple simulated and real-world benchmarks, particularly in tasks requiring multi-stage reasoning.

Intelligent systems across physics, language and perception often exhibit factorisable structure, yet are typically modelled by monolithic neural architectures that do not explicitly exploit this structure. The separable neural architecture (SNA) addresses this by formalising a representational class that unifies additive, quadratic and tensor-decomposed neural models. By constraining interaction order and tensor rank, SNAs impose a structural inductive bias that factorises high-dimensional mappings into low-arity components. Separability need not be a property of the system itself: it often emerges in the coordinates or representations through which the system is expressed. Crucially, this coordinate-aware formulation reveals a structural analogy between chaotic spatiotemporal dynamics and linguistic autoregression. By treating continuous physical states as smooth, separable embeddings, SNAs enable distributional modelling of chaotic systems. This approach mitigates the nonphysical drift characteristics of deterministic operators whilst remaining applicable to discrete sequences. The compositional versatility of this approach is demonstrated across four domains: autonomous waypoint navigation via reinforcement learning, inverse generation of multifunctional microstructures, distributional modelling of turbulent flow and neural language modelling. These results establish the separable neural architecture as a domain-agnostic primitive for predictive and generative intelligence, capable of unifying both deterministic and distributional representations.

This study investigates the hydrodynamics of droplet formation in a T-shaped cylindrical microfluidic device using micro-PIV experiments and CFD simulations. Devices of 150 micro-m internal diameter were fabricated from PDMS via a cost-effective embedded templating method. Flow visualization was conducted using immiscible silicone oil and deionized water, forming water-in-oil droplets. A mathematical model coupling the Navier-Stokes and conservative level-set equations was solved using the finite element method. Detailed flow fields (velocity, pressure, and phase distribution) were obtained over a wide range of flow-rate ratios (0.1-10) and capillary numbers (0.001-0.1) to characterize droplet formation mechanisms. Phase evolution revealed distinct breakup stages (lag, filling, necking, and pinch-off) and multiple regimes (squeezing, dripping, sausage flow, and parallel flow with tip streaming). A regime map delineating droplet and non-droplet regions was developed. Droplet size, curvature, and internal flow profiles exhibited strong dependence on Ca and Qr. Scaling analysis showed linear dependence of droplet size on Qr in the squeezing regime, with curvature nearly independent of Qr. In contrast, both size and curvature followed power-law dependence on Ca and Qr in the dripping regime. Velocity fields inside droplets were laminar and parabolic in the core. Fully developed plug-like profiles appeared in squeezing, whereas front and rear regions remained developing in dripping. Correlations for droplet length, curvature, and film thickness, including a novel thin-film model incorporating visco-inertial and capillary effects, enable predictive design within the studied range. These findings advance fundamental understanding of confined droplet dynamics and provide quantitative guidelines for optimizing droplet-based microfluidic systems.

Video world models must generate physically plausible futures, not just realistic frames. Existing approaches typically use semantic, physical, or predictive information to guide the visual generation stream, leaving a fundamental question: where inside the generator should predictions of scene evolution live? Standard video tokens jointly encode appearance and dynamics, but provide no distinct state for learning and reading predictive dynamics. We answer this question with the Physical Registry: temporally grounded registry slots inside a video DiT that are initialized from an observation-conditioned forecast, co-evolve with video tokens, and receive future-representation supervision, making predictive dynamics an explicit, readable state of the generator. In a controlled comparison of predictive-state interfaces on Physics-IQ Verified, Physical Registry improves vanilla fine-tuning by 9.9/8.7 points on I2V/V2V, the largest gain among the interfaces we compare. Across all Cosmos and WAN backbones, Physical Registry improves Physics-IQ Verified scores. With only 0.45% additional parameters, it enables Cosmos 3 Nano 16B to surpass the published I2V score of Cosmos 3 Super 64B (43.56 vs. 42.7). On WorldModelBench, it also improves physical adherence and the total score for all four evaluated backbones. Because the registry becomes candidate-specific while remaining readable, the Physical Registry Selector (PRS) ranks emerging futures by how far their intermediate registry readouts depart from the shared forecast before full denoising is complete. Across four backbones, this selection improves I2V scores by 5.6-15.9% without completed-video external scoring. Together, these results support a broader principle: dynamics prediction should live as an explicit model state that co-evolves with the video representation. Project page: https://grainsack.github.io/physical-registry/

Hierarchical language generation separates continuous semantic modeling from discrete text realization, but its effectiveness depends on what the latent space compresses and how the discrete generator uses it. We propose Cola2, a framework that jointly studies continuous semantic compression, the balance between reconstruction and generation, and continuous-discrete co-adaptation. Cola2 dynamically segments text into semantic spans, controls the compression rate through auxiliary-loss-free negative feedback, and combines reconstruction and generation supervision to learn compact, predictive latent representations. A block-causal masked diffusion decoder is trained with clean, noisy, and dropped latent conditions, while classifier-free guidance adjusts the balance between semantic reconstruction and autonomous generation. Token-prediction gradients update the encoder through the latents, whereas Flow Matching prior learning is decoupled from representation learning by stop-gradient. During inference, generated text is re-encoded under a fixed span layout to keep the latent history consistent with the actual text context. Experiments on five downstream tasks with about 210 billion training tokens validate the core designs and show competitive, unsaturated scaling. With 346.03 billion source tokens, an unconverged checkpoint reaches a 60.10 average across eight tasks and surpasses Llama-3-8B on HellaSwag and StoryCloze despite its reported pretraining budget being over 43 times larger. These results demonstrate the potential of continuous-latent hierarchical language generation.

Vision-Language-Action (VLA) models have achieved strong semantic generalization for embodied policy learning, yet they learn reactive observation-to-action mappings without explicitly modeling how the physical world evolves under intervention. A growing body of work addresses this limitation by integrating world models, predictive models of environment dynamics, into the action generation pipeline. We term this emerging paradigm World Action Models (WAMs): embodied foundation models that unify predictive state modeling with action generation, targeting a joint distribution over future states and actions rather than actions alone. However, the literature remains fragmented across architectures, learning objectives, and application scenarios, lacking a unified conceptual framework. We formally define WAMs and disambiguate them from related concepts, and trace the foundations and early integration of VLA and world model research that gave rise to this paradigm. We organize existing methods into a structured taxonomy of Cascaded and Joint WAMs, with further subdivision by generation modality, conditioning mechanism, and action decoding strategy. We systematically analyze the data ecosystem fueling WAMs development, spanning robot teleoperation, portable human demonstrations, simulation, and internet-scale egocentric video, and synthesize emerging evaluation protocols organized around visual fidelity, physical commonsense, and action plausibility. Overall, this survey provides the first systematic account of the WAMs landscape, clarifies key architectural paradigms and their trade-offs, and identifies open challenges and future opportunities for this rapidly evolving field.

Adversarial examples are inputs to machine learning models designed to cause the model to make a mistake. They are useful for understanding the shortcomings of machine learning models, interpreting their results, and for regularisation. In NLP, however, most example generation strategies produce input text by using known, pre-specified semantic transformations, requiring significant manual effort and in-depth understanding of the problem and domain. In this paper, we investigate the problem of automatically generating adversarial examples that violate a set of given First-Order Logic constraints in Natural Language Inference (NLI). We reduce the problem of identifying such adversarial examples to a combinatorial optimisation problem, by maximising a quantity measuring the degree of violation of such constraints and by using a language model for generating linguistically-plausible examples. Furthermore, we propose a method for adversarially regularising neural NLI models for incorporating background knowledge. Our results show that, while the proposed method does not always improve results on the SNLI and MultiNLI datasets, it significantly and consistently increases the predictive accuracy on adversarially-crafted datasets -- up to a 79.6% relative improvement -- while drastically reducing the number of background knowledge violations. Furthermore, we show that adversarial examples transfer among model architectures, and that the proposed adversarial training procedure improves the robustness of NLI models to adversarial examples.

World Action Models (WAMs) couple future visual prediction with robot action generation, enabling policies to model how the physical world evolves during interaction. Existing WAMs differ in how predictive dynamics are exposed to the action pathway. Explicit-future WAMs provide direct access to predicted scene evolution, but incur substantial inference costs from iterative video denoising. In contrast, direct-policy WAMs efficiently predict actions from the current observation but lack an explicit inference-time interface for exposing predictive dynamics to the Action DiT. To bridge this gap, we propose ForeWAM, a dynamics-conditioned direct-policy WAM that provides predictive context for action generation without decoding future videos. At its core, Future-KV performs a single Video DiT prefill over the current visual latent and stochastic future slots, and reuses the resulting layer-wise key-value states throughout action denoising. We further introduce dynamics registers supervised by a frozen latent action teacher, encouraging the implicit future states to capture interaction-induced transitions such as object motion, contact changes, and task progress. Ground-truth future observations and the teacher are used only during training; deployment requires neither and performs no future video generation. Without embodied robot data pretraining, the standard and accelerated variants of ForeWAM achieve average success rates of 96.7% and 96.9% on LIBERO, respectively. The standard variant further achieves 61.6% success on LIBERO-Plus. These results demonstrate that direct-policy WAMs can retain efficient action prediction while exposing predictive dynamics to the action pathway without explicitly generating future observations.

Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple predictive video world modeling with action generation, but remain largely vision-centric and therefore cannot directly model these contact dynamics. We present DexTacWAM, a visuo-tactile WAM that encodes each fingertip independently, aggregates the resulting features through a finger- and pose-aware tactile compressor, and injects the tactile latent into a video diffusion world model for joint visuo-tactile world modeling. Across six contact-rich dexterous manipulation tasks on a 22-DoF bimanual platform, DexTacWAM achieves the highest score on every task, averaging 70.6 versus 38.0 for the strongest baseline. Ablations attribute the gain to modeling contact evolution as part of the predicted world state rather than tactile conditioning alone: removing tactile world modeling reduces the four-task mean from 74.7 to 26.6 while keeping the same tactile features and action expert. After four hours of tactile-encoder adaptation with a frozen pretrained vision VAE, our continual vision-to-touch learning extends the pretrained video model to touch using roughly 100 demonstrations per task without tactile midtraining, while retaining visual prediction quality within 0.5 dB of vision-only counterparts. The compressor retains 89.4% of pre-fusion contact recall while enabling 2.26x faster training and 1.29x faster inference. Together, these results show that pretrained video priors can be extended to distributed multi-finger contact dynamics in a data- and compute-efficient manner.

World-action models (WAMs) couple predictive visual modeling with action generation, typically relying on iterative denoising with a fixed denoising steps. However, manipulation tasks contain actions chunks with varying sensitivity to generation errors: critical actions require precision, while less sensitive actions allow faster generation with fewer denoising steps. Here we introduce AnyStep World Action Model, a general framework for tunable-budget prediction and scene-dependent computation allocation. Our budget-aligned teacher-trajectory distillation trains interval-conditioned flow maps using explicit frozen-teacher transitions and shared low-rank adapters, supporting action generation from one-step prediction to multi-step refinement. Building on this capability, a lightweight risk-benefit scheduler predicts teacher-curvature-based difficulty and budget-specific student-teacher fidelity from a single one-step preview, selecting the smallest budget predicted to satisfy risk-adaptive fidelity requirements. We evaluate our framework on three widely used WAMs Motus, FastWAM, and LingBotVA using RoboTwin 2.0. Our method reduces average denoising steps by 60.2%, 49.8%, and 85.28%, respectively, while maintaining baseline task success rates. In particular, our AnyStep training substantially improves model performance under a one-step denoising budget, increasing task success rates by 7.07%, 12.08%, and 8.94% on Motus, FastWAM, and LingBotVA, respectively. Experiments on six real-world manipulation tasks further validate its effectiveness.

Large language models (LLMs) are increasingly critical to digital library workflows, yet their ability to process historical language remains poorly understood. Historical difficulty is typically treated as a monolithic barrier, conflating orthographic variation, linguistic distance, and pretraining exposure. In this paper, we propose a diagnostic framework that decomposes this difficulty into four distinct dimensions: tokenization cost, predictive uncertainty (surprisal), semantic robustness, and context sensitivity. We evaluate this framework on three datasets spanning three centuries: (1) a newly curated corpus of 17th-century Italian texts (1610-1689) digitized from original page images; (2) canonical 19th-century Italian "I Promessi Sposi" serving as a high-exposure control; and (3) 18th-century Russian civil print books as a contrastive orthographic stress test. Our results reveal a distinct dissociation between encoding cost and comprehension. While Russian and early modern Italian incur comparable tokenization penalties (25-30% inflation), their predictive difficulty diverges sharply. 17th-century Italian is on average 2.4 times more surprising than its modern equivalent - with academic prose reaching 3.2 times - whereas Russian shows only a modest increase. But predictive uncertainty does not imply representational degradation: embedding similarity remains robust (> 0.85) across all datasets, confirming that models can represent historical meaning even when generation is unstable. Finally, we demonstrate that a minimal temporal context prompt reduces historical surprisal by approximately 60%, offering a simple, model-agnostic mitigation. These findings suggest that while historical text imposes a consistent encoding tax, digital libraries can safely deploy LLMs for semantic retrieval tasks, provided that generative applications are carefully adapted.

World Action Models (WAMs) jointly model action generation and environment dynamics and are mostly built on pretrained Video Diffusion Models (VDMs). In VDM-based WAMs, observations are first encoded by a VAE, and the resulting compressed latents are then processed by large video diffusion backbones to extract effective features for action generation. However, this paradigm ties WAM performance and training cost to large-scale video generation pretraining, limiting WAM efficiency and scalability. In this paper, we theoretically and empirically investigate how visual representations affect action generation in WAMs. Our results show that predictive embeddings from Joint-Embedding Predictive Architecture (JEPA) encoders better support action generation than compressed VAE latents, with I-JEPA performing best in our encoder comparison. Based on these findings, we propose LeWAM, which conditions action generation on JEPA embeddings and models environment evolution by predicting future embeddings in the same space, without relying on a video diffusion backbone. We further find that imitation learning matches demonstrated actions but does not distinguish better actions from worse ones, even though small action deviations can greatly affect task success. To address this limitation without additional environment interaction or the human oversight required for resets and safety, we introduce Demonstration-Guided DPO (DemoDPO), an offline preference refinement stage that derives preference supervision directly from demonstrations.With only 0.4B trainable parameters, LeWAM achieves an average success rate of 92.28\% on RoboTwin 2.0, comparable to that of state-of-the-art VLAs and WAMs, and maintains practical effectiveness on real-world manipulation tasks.

Multimodal reasoning provides robotic foundation models with predictive context needed for reliable action generation. However, language-based reasoning captures task semantics but struggles to express fine-grained physical dynamics, while latent reasoning models future state evolution but offers limited structure for organizing these dynamics into reusable reasoning primitives. To bridge this gap, we introduce PhysWord, a reasoning-before-acting foundation model built on Physical Words, which use atomic action verbs as shared semantic anchors for continuous representations of physical dynamics. Specifically, PhysWord predicts upcoming atomic action words and directly aligns their contextual hidden states with latent targets derived from the corresponding future observations. Building on these primitives, we construct a temporally structured PhysWord space with visual and optional tactile variants of each action word. Autoregressively predicting Physical Words across future timesteps captures transitions between execution stages, providing structured multimodal context for action generation. PhysWord achieves state-of-the-art success rates of 90.3\% on visuotactile UniVTAC and 99.6\% on vision-based LIBERO-Long, and outperforms competing methods on real-world tasks using bimanual grippers and dexterous hands. Further evaluations demonstrate that our structured latent reasoning framework generalizes to unseen scenarios and enables long-horizon manipulation. Project page: https://nvidia-isaac.github.io/video_to_data/physicalword/

We introduce EnerVerse, a comprehensive framework for embodied future space generation specifically designed for robotic manipulation tasks. EnerVerse seamlessly integrates convolutional and bidirectional attention mechanisms for inner-chunk space modeling, ensuring low-level consistency and continuity. Recognizing the inherent redundancy in video data, we propose a sparse memory context combined with a chunkwise unidirectional generative paradigm to enable the generation of infinitely long sequences. To further augment robotic capabilities, we introduce the Free Anchor View (FAV) space, which provides flexible perspectives to enhance observation and analysis. The FAV space mitigates motion modeling ambiguity, removes physical constraints in confined environments, and significantly improves the robot's generalization and adaptability across various tasks and settings. To address the prohibitive costs and labor intensity of acquiring multi-camera observations, we present a data engine pipeline that integrates a generative model with 4D Gaussian Splatting (4DGS). This pipeline leverages the generative model's robust generalization capabilities and the spatial constraints provided by 4DGS, enabling an iterative enhancement of data quality and diversity, thus creating a data flywheel effect that effectively narrows the sim-to-real gap. Finally, our experiments demonstrate that the embodied future space generation prior substantially enhances policy predictive capabilities, resulting in improved overall performance, particularly in long-range robotic manipulation tasks.

We investigate the problem of producing structured graph representations of visual scenes. Our work analyzes the role of motifs: regularly appearing substructures in scene graphs. We present new quantitative insights on such repeated structures in the Visual Genome dataset. Our analysis shows that object labels are highly predictive of relation labels but not vice-versa. We also find that there are recurring patterns even in larger subgraphs: more than 50% of graphs contain motifs involving at least two relations. Our analysis motivates a new baseline: given object detections, predict the most frequent relation between object pairs with the given labels, as seen in the training set. This baseline improves on the previous state-of-the-art by an average of 3.6% relative improvement across evaluation settings. We then introduce Stacked Motif Networks, a new architecture designed to capture higher order motifs in scene graphs that further improves over our strong baseline by an average 7.1% relative gain. Our code is available at github.com/rowanz/neural-motifs.

Efficiently managing compute resources for Large Language Model (LLM) inference remains challenging due to the inherently stochastic and variable lengths of autoregressive text generation. Accurately estimating response lengths in advance enables proactive resource allocation, yet existing approaches either bias text generation towards certain lengths or rely on assumptions that ignore model- and prompt-specific variability. We introduce CASTILLO, a dataset characterizing response length distributions across 13 widely-used open-source LLMs evaluated on seven distinct instruction-following corpora. For each langleprompt, modelrangle sample pair, we generate 10 independent completions using fixed decoding hyper-parameters, record the token length of each response, and publish summary statistics (mean, std-dev, percentiles), along with the shortest and longest completions, and the exact generation settings. Our analysis reveals significant inter- and intra-model variability in response lengths (even under identical generation settings), as well as model-specific behaviors and occurrences of partial text degeneration in only subsets of responses. CASTILLO enables the development of predictive models for proactive scheduling and provides a systematic framework for analyzing model-specific generation behaviors. We publicly release the dataset and code to foster research at the intersection of generative language modeling and systems.

In the hospitality industry, understanding the factors that drive customer review ratings is critical for improving guest satisfaction and business performance. This work proposes ReviewGraph for Review Rating Prediction (RRP), a novel framework that transforms textual customer reviews into knowledge graphs by extracting (subject, predicate, object) triples and associating sentiment scores. Using graph embeddings (Node2Vec) and sentiment features, the framework predicts review rating scores through machine learning classifiers. We compare ReviewGraph performance with traditional NLP baselines (such as Bag of Words, TF-IDF, and Word2Vec) and large language models (LLMs), evaluating them in the HotelRec dataset. In comparison to the state of the art literature, our proposed model performs similar to their best performing model but with lower computational cost (without ensemble). While ReviewGraph achieves comparable predictive performance to LLMs and outperforms baselines on agreement-based metrics such as Cohen's Kappa, it offers additional advantages in interpretability, visual exploration, and potential integration into Retrieval-Augmented Generation (RAG) systems. This work highlights the potential of graph-based representations for enhancing review analytics and lays the groundwork for future research integrating advanced graph neural networks and fine-tuned LLM-based extraction methods. We will share ReviewGraph output and platform open-sourced on our GitHub page https://github.com/aaronlifenghan/ReviewGraph

World action models inherit the predictive capability of world models, enabling action generation to be guided by anticipated future observations. However, they rely primarily on vision and often fail in contact-rich manipulation, where critical cues arise from physical interaction. In this paper, we propose Dream-Tac, a unified Tactile-World Action Model that jointly models actions, future visual observations, and tactile dynamics. Specifically, Dream-Tac introduces (i) contact-gated visuotactile fusion to selectively integrate tactile signals and (ii) a contact-aware attention bias to better regulate cross-modal interactions during manipulation. To support real-time deployment, we further design a dual-level acceleration strategy, reformulating the contact-aware bias to preserve the fused attention path during training and introducing cache-based diffusion acceleration at inference, achieving up to 2.9times faster training and 1.8times faster inference. Across six contact-rich manipulation tasks, Dream-Tac improves action accuracy by 31.7\% on average, demonstrating the effectiveness of unified visuotactile world modeling.Code is available at https://github.com/LYFCLOUDFAN/Dream-Tac.

Robust robot control benefits from explicitly modeling state transitions, but video-generation world action models (WAMs) introduce substantial deployment cost. Existing latent WAMs avoid explicit future generation, but often compress predictive representations or separate predictive modeling from the representations used for action generation. We introduce JEPA-WAM, a latent WAM built in a pretrained V-JEPA space, which couples latent transition prediction with continuous action generation through a shared predictor. JEPA-WAM predicts a spatially structured joint current-future target that captures task-shared visual temporal structure between current and future observations, while preserving dense patch-level correspondence. Through the shared predictor, transition supervision directly shapes the backbone, from which dedicated representations are extracted for action prediction. The same design can also be instantiated in pretrained VLA policies while preserving their original perception and action pathways. On LIBERO-Plus, JEPA-WAM achieves 79.2%, the best result without large-scale robot-policy pretraining, while its pretrained π_{0.5} instantiation reaches 86.3%, achieving the best overall performance. Experiments on RoboTwin 2.0 and real-world bimanual manipulation further demonstrate strong generalization under visual and spatial shifts.

World Action Models (WAMs) model future environment evolution under action conditioning, offering a scalable paradigm for autonomous driving. However, existing approaches focus largely on model architecture design, and how a WAM can efficiently learn better world representations for planning remains underexplored. To address this gap, we propose ReWorld, the first representation learning framework specifically designed for autonomous-driving world action models. In WAMs, standard training supervises only the output ends of the generation and planning modules, leaving the intermediate representations that carry world knowledge to be shaped only indirectly, as byproducts of fitting these outputs. The core idea of ReWorld is to treat intermediate representations as direct targets of optimization, shaping them along three complementary dimensions. On the Video DiT responsible for generation, we impose future-predictive supervision on its intermediate representations. On the Action DiT responsible for planning, we first align its intermediate representations cross-modally with the video world representation, then further shape them to be discriminative around safety-critical boundaries via hard-negative supervision. In addition, we systematically analyze the effectiveness of existing representation learning methods in video generation world models, and discuss why their performance is limited on this task. Experiments on nuScenes and NAVSIM show that ReWorld improves fine-tuned video generation by 23.9% in FVD (81.3 to 61.9), raises closed-loop PDMS from 89.1 to 90.4 without any post-training such as RL or post-processing, and accelerates from-scratch convergence by approximately 2x.

World models have become a central paradigm for learning predictive simulators that support generation, planning, and decision-making. Yet, despite rapid progress in industry-scale interactive video generation, the broader research community still lacks compact, reproducible, and easily extensible implementations for studying the design choices underlying modern world models. We introduce Nano World Models, a minimalist codebase for future video prediction centered around diffusion forcing. Nano World Models provides a unified interface for generative objectives, model scales, action-conditioning mechanisms, latent observation spaces, datasets, evaluation protocols, and long-horizon rollout procedures. This design enables controlled studies of world-modeling components that are often entangled across separate implementations. Through experiments across simple control environments, game simulation, and real-robot data, we examine how prediction parameterization, architecture scale, action injection, sampling budget, and domain complexity affect video prediction quality and autoregressive rollout behavior. By releasing code, configurations, evaluation scripts, and pretrained checkpoints, Nano World Models aims to provide a compact yet extensible experimental substrate for open, reproducible, and scientific world-model research.

This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both leveraging future state prediction to enable robust and dynamic dance motions in real-world environments. In the offline motion generation stage, human dance demonstrations are captured via a motion capture (MoCap) system, retargeted to the robot by solving a Quadratic Programming (QP) problem, and further refined using Trajectory Optimization (TO) to ensure dynamic feasibility. In the online motion execution stage, a centroidal dynamics-based Model Predictive Control (MPC) framework tracks the planned motions in real time and proactively adjusts swing foot placement to adapt to real world disturbances. We validate our framework on the full-size humanoid robot Kuavo 4Pro, demonstrating the dynamic dance motions both in simulation and in a four-minute live public performance with a team of four robots. Experimental results show that longer prediction horizons improve both motion expressiveness in planning and stability in execution.

General full-wave electromagnetic solvers, such as those utilizing the finite-difference time-domain (FDTD) method, are computationally demanding for simulating practical GPR problems. We explore the performance of a near-real-time, forward modeling approach for GPR that is based on a machine learning (ML) architecture. To ease the process, we have developed a framework that is capable of generating these ML-based forward solvers automatically. The framework uses an innovative training method that combines a predictive dimensionality reduction technique and a large data set of modeled GPR responses from our FDTD simulation software, gprMax. The forward solver is parameterized for a specific GPR application, but the framework can be extended in a straightforward manner to different electromagnetic problems.

Large language models are informing decisions with ever-higher stakes. As the consequences of their errors grow, a central question becomes harder to ignore: how much can we trust an individual answer? Yet recognizing when to defer remains difficult because language models can present incorrect conclusions with fluent explanations and an authoritative tone. Uncertainty quantification seeks to address this disconnect by estimating the reliability of individual predictions. However, many existing methods require repeated generations or separately trained components, and their scalar estimates do not reveal where uncertainty arises or how it evolves during reasoning. Recent work has also shown that generation length can be strongly associated with uncertainty estimates and correctness, raising the question of how much of an estimator's predictive power comes from uncertainty-specific information rather than output length alone. Mechanistic interpretability offers a way to address these limitations by connecting human-interpretable concepts to intermediate model states. Building on this capability, we introduce the U-Space, a low-dimensional subspace that makes a model's evolving uncertainty measurable and interpretable. We identify semantic anchors for doubt and certainty, map their unembedding directions back into the residual space, and combine their contrasts into an orthogonal basis. The U-Lens projects each token state onto these basis vectors, yielding an interpretable token-level uncertainty map that can be inspected directly or aggregated into a scalar uncertainty score. Our approach requires no correctness labels, repeated generations, or training. Across reasoning benchmarks, its confidence score outperforms established baselines under both standard and length-controlled evaluation and transfers more reliably than supervised estimators. Code: https://github.com/s2labres/U-Space.

Unified atomistic modeling has the potential to accelerate discovery in chemistry, materials science, and biology by bridging data-rich chemical domains and data-scarce biological contexts. However, existing generative approaches to atomistic modeling remain highly specialized to scientific disciplines (chemistry vs. biology) or do not leverage both high-volume organic (molecule) and inorganic (material) data for general-purpose pretraining. To this end, we introduce Zatom-2, an atomistic generative model pretrained on approximately five million structures from the OMol25 and OMat24 electronic structure datasets. Zatom-2 features a multiscale Transformer architecture coupled with conditional flow matching that supports force conditioning and foundational pretraining tasks such as generation, structure prediction, and prediction of molecular and material energies and forces. Empirically, Zatom-2 achieves better molecular distribution fidelity than Zatom-1 and achieves strong performance on existing molecule and material generation benchmarks. Zatom-2 demonstrates the ability to control sample generation across low- and high-force regimes, and enhances protein generation in a low-data setting through joint generative-predictive pretraining and transfer learning, increasing protein backbone designability in a length extrapolation setting from 67.8% without pretraining to 74.8% after finetuning on 2,000 protein domains.

Vision-language-action (VLA) policies emphasize semantic understanding, whereas world-action models (WAMs) learn predictive representations of environment dynamics. Systems that expose a policy to both sources often still concentrate action computation on a single expert. We present EWAM, an action-centric unified embodied model whose asymmetric joint attention lets action tokens read semantic, current-visual, predicted-future, and action information at every layer while the perceptual experts retain their distinct roles. Without layer-wise supervision, EWAM develops an emergent depth-wise specialization: action queries attend mainly to vision-language features in shallow layers, to predicted future frames in intermediate layers, and to action tokens themselves in deep layers. This handoff replicates across tasks and is stable across denoising steps. Checkpoint tracking and causal interventions show that it is learned and that action generation depends on it. EWAM is pretrained in two separate regimes, one on cross-embodiment robot trajectories and one on human egocentric video. In simulation and real-robot experiments, it surpasses existing VLA, WAM, and hybrid baselines. Human egocentric data improve both cross-embodiment transfer and real-robot robustness, and subtask-phase supervision improves long-horizon completion. Together, these results suggest that unified embodied learning can induce an ordered internal progression from semantic understanding, through visual foresight, to action formation.