arXiv preprints from January 1, 2026 through September 19, 2026 — 21:04:37 EST
Recent advances in video generation allow robots to learn manipulation trajectories from generated videos. However, these approaches produce purely kinematic trajectories that lack force information, causing failures in contact-rich tasks where appropriate contact forces are essential for success. In this work, we explore augmenting...
The paper presents a one-pass algorithm in the insert-delete graph stream model that returns a $(1+\varepsilon)(α+2)$-approximation for the size of the maximum matching in a graph of arboricity at most $α$. The algorithm uses $O(\varepsilon^{-4/3}α^{4/3}n^{2/3} \text{polylog} n)$ space. For constant $α$ and $\varepsilon$, this...
Can a logged dataset visit every hidden state frequently and still be exponentially uninformative about a target policy's value? We show that it can when the logger depends on history. For every horizon $H \ge 3$, we construct two POMDPs with at most two latent states per stage, three actions, and a common logger with three memory...
Scientific code repositories encode decades of human knowledge in executable models, methods, and tools. Yet fragmented toolchains, implicit domain conventions, and specialized correctness criteria make this knowledge difficult to convert into reliable learning experience-a challenge we call the scientific experience bottleneck. We...
A \emph{directed feedback vertex set} of a digraph is a set of vertices whose removal destroys all directed cycles. The \textsc{Directed Feedback Vertex Set} (\textsc{DFVS}) problem asks for such a set of minimum cardinality or minimum total weight. Although general \textsc{DFVS} admits no constant-factor approximation under the...
Language agents remain brittle in interactive environments, where success requires long-horizon state tracking, valid action execution, and recovery from failed steps. We extend SwiftSage, a dual-process agent that combines a fast action proposer with a slower planner, using two modular cognitive extensions: an Adaptive Memory Module...
We present EarStreAM, a closed-loop earable system for stress-adaptive meditation that integrates in-ear physiological sensing with personalized, real-time intervention. Leveraging OpenEarable 2.0's multimodal sensing, EarStreAM continuously monitors physiological signals and detects elevated stress from heart rate and heart rate...
Computer-use agents increasingly operate software designed for people, but interfaces often leave actions or task state unclear to machine readers. We present Affora, a design system that supports both readers while preserving visual freedom and familiar human workflows. Three controlled studies examine component implementations,...
Emergent coordinated behaviors of AI agents are starting to present critical safety risks. A key phenomenon driving these behaviors is the rapid formation and spread of beliefs about the world, and mechanistic understanding is crucial for collective alignment. To this end, we introduce the Flag Game, a toy model for studying the...
Visual signals require compact yet sufficient representations for robust downstream prediction. Convolutional sparse coding (CSC) provides an explicit mechanism for suppressing redundant components while preserving signal content, but its sparsity coefficient is typically fixed and manually selected. We propose an adaptive...
Causal discovery aims to recover causal relationships from observed data. In various fields, exploring causal relationships among variables remains an important topic, but this task becomes challenging due to the existence of latent confounders. Ignoring such confounders can lead to false associations and incorrect edge directions. In...
Diffusion samplers reverse a learned noising process using either stochastic (DDPM) or deterministic (DDIM) updates, which represent endpoints of a single family controlled by a scalar noise-injection variance that is applied identically at every spatial location. This uniform approach neglects the geometry of natural images:...
Reliable agent evaluation is complicated by automatic harness optimization, which repeatedly uses a released benchmark $B_{\mathrm{rel}}$ to guide a Proposer that edits prompts, memory, retrieval, tools, and control code around a fixed target agent. Task holdout varies semantic tasks but leaves the benchmark protocol fixed, so a "bad...
Loss spikes are recurrent instabilities in neural-network training and can arise from multiple mechanisms. For Adam in particular, macroscopic loss spikes have been linked to optimizer dynamics, yet how its two momentum timescales govern them remains unclear. We investigate this dependence by mapping training dynamics across the...
The problem of identifiability in linear parametric models (LPMs) whose nodes follow either an ordered logit model or a regular one-parameter exponential family is evaluated. The results go beyond classical structural equation models as well as results for nodes with observations from a homogeneous family of distributions. The main...
The standard geometric derivation of neural scaling exponents takes the intrinsic dimension of a data manifold as its input. On modular addition in $\mathbb{Z}_p$ that derivation has no input. The exact algebraic solution is an orbit of $\mathbb{Z}_p$ acting by isometries. Transitivity alone makes the ratio statistic underlying the...
We introduce TabPFN-3.5, our new flagship Tabular Foundation Model. It significantly outperforms its predecessor, TabPFN-3, and all existing baselines across a broad range of tabular problems. TabPFN-3.5 sets a new state of the art on standard tabular prediction in TabArena, and extends it to the data practitioners encounter in...
Some aspects of AI development resemble a population process in which models are specialised, retrained on the output of peers, or combined by averaging weights. These practices lead to generations of models, in the biological sense studied by population genetics. Here, I develop this parallelism and interpret multigenerational model...
More than 300 million people worldwide are affected by one of over 7,000 known rare diseases, yet diagnosis remains difficult because patients initially present with incomplete and heterogeneous phenotypes. We present HPOQuest, a training-free framework for sequential phenotype acquisition in rare-disease diagnosis. Starting from a...
The reuse of metal powders in directed energy deposition using laser powder offers promising sustainability benefits for additive manufacturing, yet its impact on part quality remains unknown. This study investigates the influence of powder reuse on the directed energy deposition process of Inconel 625. Virgin powder was first...
We study the canonical \textsf{Maximum Clique} and \textsf{Maximum Independent Set} problems in the one-pass edge-arrival graph streaming setting. Here, the edges of some input graph $G = (V,E)$ are presented one at a time (possibly including deletions), before an algorithm needs to produce either a large clique or independent set at...
Video streaming dominates global internet traffic, yet conventional pipelines remain inefficient for structured, human-centric content such as sports, performance, or interactive media. Standard codecs re-encode entire frames, foreground and background alike, treating all pixels uniformly and ignoring the semantic structure of the...
Cloud-native microservices architectures rely on network namespaces for isolation, with the overhead of container communications remaining a critical performance bottleneck. While colocating containers on the same host mitigates some of this overhead, it cannot match the performance of communication within a single network namespace....
Multi-modal talking avatar synthesis aims to generate realistic talking videos from a reference portrait and speech. Despite rapid progress in diffusion-based methods, existing approaches still struggle to jointly achieve accurate lip articulation, human-preferred motion aesthetics, and efficient inference. We observe that phonetic...
Visual-inertial odometry (VIO) is a core capability for autonomous operation in GPS-denied subterranean environments, yet its reliability can degrade sharply under sensor drift, calibration errors, and dynamic occlusion. Existing evaluations mainly emphasize nominal-condition accuracy, offering limited insight into when practical...