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Teleoperation, a human-in-the-loop control scheme, allows a human operator to remotely command and guide a mobile robot to navigate in off-road environments, yet fluent and user-friendly tele-navigation requires an alignment of traversability evaluation between human and robot. In the teleoperation system, the human operator typically utilizes off-site incomplete and delayed feedback via a human-machine interface to make a judgment of traversability, while the robot makes such an evaluation based on in situ onboard sensory information, which could cause divergent traversability estimation and thus generate mismatched decisions and actions. Existing approaches for traversability modeling, estimation, and prediction are mainly derived from the view of robots, i.e., robot-centric, and are practically suitable for fully autonomous mobile robots, but neglect the influence of human operators. To address this problem, this paper extends the concept of traversability from robot-centric to human-centric by accounting for the operator's cognitive states, such as attention, workload, and risk tolerance or awareness, termed tele-traversability. We first revisit the definitions and roles of traversability in robotics and then extend them to teleoperation settings. Finally, we highlight future trends and open challenges of tele-traversability toward human-centric teleoperation systems.

Warm-start transfer can make algorithmic tasks generalize rapidly, yet it is unclear which model components provide the gain and whether that gain remains stable under continued optimization. We study cross-operator transfer on modular arithmetic and separate efficacy (early velocity) from stability (post-reach drawdown). In a scale-matched 108-run battery across 12 seed blocks (96-run 2^3 factorial plus 12-run scale control), transferring internal attention/MLP weights (B) alongside token embeddings and readout (E+U) improves early accuracy by 5.46 pp (Holm p=0.0039) and cuts confirmation latency by 558 steps (Holm p=0.0088). While readout plus internal-block transfer satisfies the pre-specified +/-500-step latency equivalence criterion in 1-layer models (TOST p=0.0011, though Full is faster in 11/12 paired seeds), a prospective 2-layer replication confirms the internal-block advantage (12/12 seeds, +704.67 integral units, p=4.88x10^-4) while revealing an architectural boundary: omitting donor embeddings falls 4475.6 units below Full, outside the +/-250-unit margin. Continued target training frequently triggers severe post-grokking relapse. Freezing transferred representation carriers (E, U) nearly eliminates offline relapse (19.40% -> 0.07%, Holm p=0.005859). Online validation-triggered gating slashes True Max Drawdown from 22.06% to 0.60% on 2a+b (p=0.000488), with prospective confirmations extending protection across affine, nonlinear quadratic, and 2-layer targets (10.94-23.47 pp reductions), distinguishing continual stabilization from static early stopping. In non-abelian S_5, unshielded transfer surges transiently (95.4% peak), but a prospective shielding cohort yields no confirmed benefit (+0.15 +/- 1.14 pp). These results establish a component-level dissociation between transfer acceleration and trajectory stability, and expose the empirical boundaries of parameter shielding.

Action Chunking Transformers (ACT) are widely used to learn robot manipulation from demonstrations. Their conditional variational autoencoder includes an encoder meant to capture differences between demonstrations during training. The original ACT paper reported that encoder removal dropped the mean success rate from 35% to 2% on two simulated tasks with human demonstrations. We re-ran this ablation in the original code and checked whether the findings depend on the implementation or training data. The published drop does not reappear in our tests, although smaller gains or losses in success rate remain uncertain. To investigate the discrepancy, we varied training length and how checkpoints are selected for evaluation. Both can reverse which policy scores higher, but the published drop's cause remains unknown. Success rates alone leave open whether the encoder provides information that helps the policy reconstruct demonstrated actions. On the tested ACT benchmark, the sampled latent provides little reconstruction benefit at every tested nonzero weight of the penalty on latent information. At inference, ACT leaves this latent unused and sets it to zero. Skipping the encoder increases training throughput in both implementations we timed. We release code, evaluation tools and results so others can repeat the comparisons and test the encoder on other tasks.

Learning chunk-based visuomotor policies for long-horizon robot manipulation remains challenging. Recent action-chunking methods have shown promising performance by predicting temporally extended action sequences. However, their failures are often dominated by prediction errors at a small number of critical timesteps rather than uniformly poor predictions across the entire action chunk, making uniform refinement inefficient and insufficiently targeted. To address this bottleneck, we propose Uncertainty-Guided Refinement (UGR), a sparse refinement framework for chunk-based visuomotor policies. Specifically, UGR follows a coarse-to-refine design: it first predicts a full action chunk, estimates per-step temporal uncertainty from the coarse hidden states, and applies residual correction only to the most uncertain timesteps selected by a binary mask. The uncertainty branch is decoupled from the coarse action predictor, enabling clean attribution of the refinement gains to uncertainty-guided correction rather than additional predictor capacity. Extensive experiments on five dual-arm manipulation tasks from the RoboTwin benchmark show that UGR achieves the best success rate on four tasks, improves over the ACT baseline by up to 13% absolute, and outperforms both full-chunk and position-agnostic block refinement in ablation studies.

Transformers process information causally, but long-context reasoning may depend on task state discovered only later. We formalize this mismatch through conditional state update tasks. For causal state update processors, providing the condition first can require exponentially less memory in the worst case than providing it last. Motivated by this principle, we introduce Trace as State. We use collected reasoning traces as a textual proxy for task state and place it before the long-context block on a fresh pass, allowing information derived previously to guide rereading. We conduct extensive experiments on Trace as State and Trace Append, a matched control that uses the same task state proxy but put it after the context. Across three models and three long-context datasets, Trace as State outperforms Trace Append in 26 of 27 reported combinations of model, task, and metric. On GraphWalks Parents, exact match lifts DeepSeek V4 Pro Preview from 29.2% on the initial pass and 43.0% with Trace Appendto 81.8% with Trace as State, and from 66.4% and 83.2% to 100.0% for GLM-5.2. These results show that placing traces before the context can improve long-context reasoning while retaining the causal transformer structure.

TRACE (Math & Lienhart, arXiv:2602.01135) reads causal graphs over event types out of a pretrained autoregressive sequence model by thresholding a per-position conditional-mutual-information estimate at a fixed tau. We independently replicate its headline synthetic result: with tau selected on a validation split, mean per-sequence F1 against exact interventional truth reaches 0.90-0.91 at vocabulary size 1000 (paper: 0.91) and 0.86-0.91 from 100 to 2000. First, the optimal threshold is pinned to the truth margin, not to any constant: at every size the errors at tau* straddle the delta = 0.05 margin defining ground truth (missed true edges lie just above it, accepted false ones just below), and the blind optimum lands near delta/2 times the estimator's calibration, confirmed out of sample at 5000. Second, at a single global threshold TRACE mostly recovers a direct, adjacent-influence graph: lag-1 true edges are recalled at 0.97-0.99, while true edges at lag 2 or more read orders of magnitude lower---the reading-scale price of randomizing mediating positions, which an exact test of direct causal effect requires when the truth is unknown. A per-lag threshold family recovers a third to a half of lag-2 truth; on lag-uniform data one validated threshold recalls every lag at 0.40-0.87, 8-26 pp below an atomic-intervention control at lags 3-6. Third, the default lag decay of the paper's synthetic benchmark concentrates about 85% of interventional truth at lag 1 and pushes the rest below the estimator's noise floor, so headline F1 there certifies lag-1 recovery only and conflates the benchmark's skew with the algorithm's own limit; a flatter decay separates the two. Fourth, F1 saturates from N = 2 particles at the selected threshold---a property of the threshold's margin over the noise floor, not of the estimator, which converges as N^(-1/2). We distill five practitioner rules.

When coding agents encounter defective test infrastructure they may reward-hack: hardcoding outputs or editing test files to pass tests they cannot legitimately satisfy, a pattern that has now appeared outside benchmarks, in a coordinated multi-agent intrusion of a major AI platform's production infrastructure. The same capability that lets an agent detect and exploit a defect could let it report one, given the right decision environment. We evaluate escalation channels, structured reporting tools available to the agent at the point of conflict, as a decision-environment intervention that both reduces reward hacking and surfaces the infrastructure defects that trigger it. A $2 \times 2$ factorial separates the contributions of an escalation tool, a standalone anti-reward-hacking policy, and their combination. Across 8 frontier models spanning 5 families, the combined intervention reduces reward hacking from 23.6% to 5.3% (mixed-effects logistic OR = 9.2, 95% CI 5.0--16.8, $p < 10^{-12}$) with no detectable cost or performance overhead, eliminating it entirely for 6 of 8 models. Escalation and hacking are near-perfectly mutually exclusive, with 98.7% of escalations involving no hacking (100% under the combined intervention). Beyond reduction, escalation channels function as diagnostic infrastructure: on top of monitoring, escalation adds +10.1 percentage points of defect detection coverage and is more accurate once it fires (99.4% vs 85.8%). Unlike containment-based approaches that risk outpacing growing model capabilities, escalation channels redirect capability toward disclosure rather than exploitation.

Improving reasoning LLMs requires the ability to judge the quality of long reasoning traces for effective reasoning data curation, strong training signals during reinforcement learning, and an in-depth understanding of reasoning behaviors during model performance evaluation. Additionally, surfacing reasoning mistakes that the model makes would enable improving the model's performance at runtime through providing feedback. Due to the difficulty of this complex task on long reasoning traces, single-model judges (even frontier models) do not do well at identifying reasoning defects. Additionally, leveraging frontier models during online training of reasoning LLMs is generally prohibited due to guardrails in terms of use. In this work, we introduce Reasoning Jury, a system that replaces the single judge with a jury of LLMs and a moderated consensus mechanism, to improve the fidelity of judgments for identifying reasoning defects. In reasoning jury, defects of a reasoning trace and their severity are surfaced through a deliberation where a moderator conducts a discussion amongst the jury where the jurors critique each other's judgments and get to modify their initial votes. The moderator derives a consensus through deliberation amongst jurors or consolidation of judgements. We show that Reasoning Jury with a jury of open-weight models (e.g., gpt-oss-120b) is able to significantly outperform frontier models (opus-4.6, sonnet-4.6, and gemini-3.1-pro) at correctly identifying reasoning defects. Besides accuracy performance improvements, the aggregated cost of the jury (initial verdicts, deliberations, consolidation, etc.) is a fraction (8 to 15%) of the cost of running frontier models in LLM-as-a-judge setup. We also show how these judgements can be leveraged to understand failure modes of reasoning LLMs on benchmarks, which allows much deeper understanding of a model's performance.

LLM agents increasingly rely on third-party skills, using natural-language descriptions for selection and instruction bodies for planning. This progressive-disclosure design exposes two sequential control points to untrusted publishers: a static skill may steer an otherwise correct task onto an unnecessarily costly trajectory. Prior work studies selection manipulation, malicious skill instructions, and tool-chain resource amplification largely separately, leaving their end-to-end composition unclear. We introduce Convergent Detour Hijacking (CDH), a text-only, runtime-independent attack that couples these stages. Under shared semantic cover, a description establishes relevance during selection, while an aligned body reuses that rationale to fabricate plausible dependencies during planning. CDH attracts an attacker-controlled coordinator alongside legitimate skills, recruits unnecessary benign skills into a bounded detour, and then re-enters the original route to preserve task completion. We evaluate it across multiple LLM backends and 491 held-out tasks under single-task and multi-turn conditions. On DeepSeek-V4-Pro, the matched coordinator is selected in 80.02% of tasks; among coordinator-hit runs that complete tasks, token consumption and end-to-end execution time increase by 66.91% and 92.45%, respectively, while aggregate task completion remains comparable. Thus, correct outcomes do not guarantee trajectory integrity or cost safety.

Large Reasoning Models (LRMs) improve performance by allocating additional inference-time compute to generate extended chain-of-thought reasoning. However, recent studies reveal that sequential test-time scaling often yields diminishing or even negative returns, as longer traces exhibit increased uncertainty, error compounding, and drift from the original problem. We propose ThinkRetrieve, a test-time scaling framework that augments the reasoning traces of LRMs with dynamically retrieved solved examples at each reasoning step. Given an external corpus of problems paired with step-by-step solutions, ThinkRetrieve retrieves relevant exemplars at each intermediate step and injects them directly into the thinking trace, providing the model with guidance on how to reason rather than merely what facts are relevant. Experiments across five reasoning models (1.5B--8B parameters) on GSM-8K, MATH-500, AIME 2025, and SciQ demonstrate that ThinkRetrieve consistently improves accuracy over standard test-time scaling, with relative gains of up to $60\%$ on AIME 2025.

Leading large language model providers now conceal their models' step-by-step reasoning, or chain-of-thought, to protect intellectual property and limit information leakage. Rather than storing these traces server-side, providers return them to the client as blocks of encrypted text, which the client passes back with each subsequent request. Building on prior research, we identify an architectural vulnerability: these encrypted blocks are fully compatible and interchangeable across different sessions, users, and models within a provider's ecosystem. We exploit this compatibility to develop a scalable decryption jailbreak. By injecting an encrypted reasoning trace from a given model into a weaker, and less safeguarded model from the same provider, we force it to decode and output the trace verbatim in plaintext, without ever jailbreaking the more capable model directly. This vulnerability enables four distinct attack vectors. First, it circumvents anti-distillation mechanisms, allowing adversaries to extract a proprietary model's reasoning, as we demonstrate across Anthropic, OpenAI, and Google. Second, it allows for large-scale private data extraction. Developers frequently share session logs publicly, unaware of contents of the encrypted blocks. By decoding 315,320 reasoning blocks scraped from public repositories, we recovered 367 Personally Identifiable Information (PII) artifacts and 182 credentials. Third, it inadvertently reveals hazardous information hidden within the reasoning process, even in cases where the model's final, visible output safely rejects a malicious request. Fourth, attackers can leverage this flaw to execute invisible prompt injections, embedding malicious payloads entirely within encrypted blocks to poison public agentic rollouts. Following responsible disclosure, we propose concrete cryptographic and system-level mitigations to secure client-side reasoning.

Spiking Transformers provide a promising paradigm for efficient visual processing with spike-driven computation, yet their Softmax-free Spiking Self-Attention (SSA) struggles to establish spatially localized token interactions. Although existing locality-enhanced SSA methods improve accuracy, it remains unclear whether they consistently induce spatial locality across layers and different Spiking Transformer architectures. Through Mean Attention Distance (MAD) analysis, we reveal that computational locality does not necessarily translate into spatial locality and show that uniformly applying the same locality enhancement overlooks architecture-dependent deployment requirements. Motivated by these observations, we propose Spatially Contiguous Local Attention with Boundary Continuity Pathway (SCLA-BCP). SCLA computes attention within non-overlapping regions of spatially adjacent tokens, while BCP facilitates cross-boundary information exchange through a lightweight convolutional pathway. Furthermore, we develop a hierarchical locality deployment strategy to effectively apply SCLA-BCP across the two major Spiking Transformer architectures. Extensive experiments on seven static and neuromorphic datasets covering classification, detection, and segmentation demonstrate consistent improvements with limited parameter and energy overhead. Notably, our approach improves mAP@50 by up to 9.50% on COCO 2017 and mIoU by up to 3.42% on ADE20K. Visualizations, MAD analysis, and ablation studies further validate its effectiveness.

Language models are widely used for generating and otherwise processing code (e.g., identifying code hallucinations, possible inputs, or predicting outputs); however, LLMs can make mistakes, which can be serious. One key issue is that models are trained on (still) largely human-written, and thus imperfect, code; it's not easy to find sufficiently large code corpora that are entirely free of bugs. Thus, other inference-time ways of reducing LLM errors, without additional training, are desirable. "Reasoning" or "thinking" modes, exposed as a togglable feature by hybrid reasoning models, do reduce errors; however, reasoning consumes additional resources. This paper asks if better performance can be achieved without always incurring the cost of reasoning. Human students of programming learn to avoid mistakes by (a) identifying them, (b) reflecting upon the cognitive lapses that led to them (essentially, "thinking through" the errors), (c) inferring general rules or lessons from these reflections, and (d) internalizing these lessons into rules. In tutorial sessions with an instructor, this is a common Socratic interaction. Examples of such internalizable rules might include the nugget "Before coding, restate the requirements to clarify them." Inspired by this process, this paper describes an approach where we first identify examples in which "thinking mode" in a (low-resource) LLM avoids errors. These errors, and their avoidance via "thinking" in the same LLM, are then examined by a bigger LLM to generate summary explanations; these are then summarized by a large LLM into brief advisory prompts. This approach works on many modest-sized models; in some cases, the "advisory prompts" thus learned can also be gainfully transferred to other models. We also present investigations into the nature of coding errors that language models make, and a characterization of when this approach can be helpful.

Production LLM serving generates millions of diverse requests, making full-trace replay across serving configurations increasingly expensive. Existing trace reduction methods mainly preserve workload distributions or representative requests, but bottleneck-revealing workloads may be rare and non-representative. Moreover, evidence for one component cannot compensate for missing evidence in another, while using predicted bottlenecks as target truth creates circular evaluation. These limitations make it necessary to preserve evidence for every bottleneck component rather than rely on workload representativeness alone. We propose Bottleneck-Preserving Witnessing (BPW), a quality-constrained framework for compact and diagnostically reliable LLM serving replay suites. BPW first performs Workload Candidate Nomination using response-blind workload features and closed source-side measurements. This stage identifies workloads that may expose scheduler, prefill, decode, or KV-cache bottlenecks. Coverage-Priority Sequence Construction then organizes multi-component proposals as reusable hyperedges and prioritizes weak and uncovered dimensions. Finally, Bottleneck Truth Verification derives prediction-independent labels solely from direct target-system measurements. The verified results determine the earliest prefix satisfying the direct two-witness requirement for every component. Experiments on BurstGPT, ServeGen, and Mooncake show that BPW reaches the verified gate with a compact workload set and outperforms 16 policies, achieving relative improvements of 2.3% and 16.3% in Mean prefix Macro-F1 and WBRC-AUC, respectively. Stage-resolved and sensitivity analyses confirm the distinct contributions and local stability of its three stages. Our code is publicly available at https://github.com/llmllmllm/BPW

Reward models (RMs) are central to aligning large language models with human preferences via reinforcement learning. Although traditional scalar RMs enable efficient and probabilistic reward modeling, they rely on superficial cues that fail to generalize to complex or out-of-distribution (OOD) tasks. Conversely, generative RMs leverage extensive reasoning to improve robustness on challenging tasks, but their natural language-based scores lack the numerical flexibility and probabilistic interpretability that scalar RMs offer. While recent approaches combine both paradigms through off-policy multi-task learning, such parallel optimization does not guarantee that generated reasoning traces actively align with or benefit downstream scalar reward prediction. To address this mismatch, we propose LatentRM, a reward modeling framework that learns intermediate reasoning traces as discrete latent variables to explicitly maximize the likelihood of downstream scalar rewards. Through on-policy optimization of the latent reasoning space end-to-end, LatentRM tightly couples deep reasoning-based evaluation with precise scoring. Extensive validations on in-distribution and OOD datasets and RLHF show that LatentRM outperforms scalar, generative, and hybrid RMs on preference modeling and policy alignment across tasks ranging from open-ended conversation to complex reasoning.

Variational quantum circuits have been central to many proposed near-term applications of quantum computing, but a growing body of evidence suggests that trainability and quantum advantage are fundamentally at odds: ansätze expressive enough to resist efficient classical simulation tend to exhibit barren plateaus, while structures that provably rule out barren plateaus typically render them classically simulable. We propose a stacked linear combination of unitaries (S-LCU) as a variational ansatz which provides a tunable trade-off between barren plateaus and classical simulability. Using a diagrammatic analysis, we bound the loss-landscape variance of the Free Fermion S-LCU, whose elements are fermionic Gaussian unitaries. We prove a variance lower bound of $Ω(1/(n k^{3l}))$, with a simulation cost of $O(k^{2l} n^3)$ using the best known classical algorithm, compared to a quantum gate complexity of only $O(lkn^2)$. The number of layers $l$ serves as a single dial that trades computational complexity against the rate of cost concentration. This offers practitioners a systematic method for constructing ansätze with a complexity-trainability trade-off that best suits their application and hardware.

Large language models (LLMs) generate code from natural-language prompts, yet real-world prompts rarely provide complete specifications. When prompts leave input formats, error handling, or design decisions unspecified, LLMs fill these gaps with implicit assumptions that shape the generated code's behavior and correctness. Because these assumptions remain hidden, generated code may satisfy tests while violating developer intent. We present AssumptionMiner, a framework that makes implicit assumptions a first-class artifact of LLM-based code generation. In addition to code, AssumptionMiner produces an explicit assumption layer, a structured representation of inferred constraints and design decisions that developers can inspect, confirm, or revise. An AST-based dependency graph enables targeted regeneration of only the code affected by a revised assumption. We also introduce a benchmark of 180 ambiguous programming tasks with 676 annotated assumptions, including a human-verified subset for evaluating code localization. We evaluate assumption extraction, code localization, and assumption-guided regeneration. Across open-source LLMs, a confidence-weighted ensemble achieves an F1 score of 0.816 for assumption extraction, improving on the strongest offline baseline by 3.6x. On the human-verified localization benchmark, AST-guided localization identifies more precise code regions than keyword-based and whole-file baselines. During assumption revision, targeted regeneration modifies less code than non-targeted alternatives while exposing challenges in handling cascading edits. These results demonstrate that making assumptions explicit improves the transparency and controllability of LLM-based code generation.

Large reasoning models (LRMs) generate long reasoning traces before producing final answers. While these traces may contain useful signals for hallucination detection, harnessing them is non-trivial because long trajectories often include noisy steps that obscure the cues relevant to truthfulness assessment. In this paper, we identify two prevalent forms of reasoning noises, i.e., irrelevant steps and repetitive steps, and show that both substantially degrade hallucination detection performance. Existing confidence-based scores and naive embedding-based filtering fail to reliably separate noisy from informative steps. To address this challenge, we propose REDE, a novel learning framework for denoising reasoning traces for hallucination detection. Specifically, REDE leverages final-answer attention as an automatic supervision signal to shape the step-level representation space, yielding refined embeddings in which noisy steps can be reliably identified and filtered. REDE can be readily plugged into diverse hallucination detectors by operating on the filtered reasoning trajectory after removing noisy steps. Extensive experiments on multiple reasoning benchmarks show that REDE consistently improves detection performance over competitive baselines.

Code search enhances developer productivity by enabling efficient code reuse. Current code search systems often use a retrieve-then-rerank pipeline, where rerankers focus on modeling semantic relevance between queries and code. However, these rerankers overlook critical non-functional qualities like execution speed, memory usage, and maintainability, which are essential for practical software development. Studies reveal developers expect results to maintain high coding standards and satisfy specific needs, such as resource optimization, highlighting the importance of quality-aware code search. Achieving quality-aware code search faces two major challenges: the scarcity of quality-annotated datasets for effective training and the limitations of standard contrastive learning objectives, which fail to capture the ordinal relationships among high-quality, low-quality, and irrelevant code. Although contrastive learning excels in distinguishing relevant from irrelevant code, its binary objective does not support nuanced quality distinctions.To address these challenges, we propose SynH-Rank, a quality-aware code reranking framework that combines LLM-driven diverse data synthesis with hierarchical ranking training. SynH-Rank employs a three-level labeling scheme to explicitly model the hierarchy: high-quality relevant > low-quality relevant > irrelevant. Additionally, we introduce a new benchmark with 4,209 pairs and two novel metrics: Quality Preference Accuracy (QPA) for assessing prioritization of high-quality code and Multi-Condition Accuracy (MCA) for evaluating performance under complex constraints.Experimental results show SynH-Rank improves QPA by 20.15% over backbone models and outperforms standard relevance-only contrastive training by 15.80%, while simultaneously enhancing traditional relevance metrics and multi-condition generalizability.

Autoregressive multimodal large language models (MLLMs) suffer from error snowballing: a single incorrect inference early in a chainof-thought (CoT) trace corrupts all downstream reasoning. We find that in state-of-the-art open-source MLLMs, once the first error occurs, the reasoning cascades into failure across all remaining steps in 65% of such cases (a metric we term the snowball rate). Existing mitigations-sampling multiple chains, post-hoc self-verification, or full program synthesis-either lack symbolic grounding, catch errors too late, or sacrifice the flexibility of natural language reasoning. We propose Constraint-Anchored Reasoning Traces (CART), a neuro-symbolic framework that trains MLLMs to interleave natural language reasoning steps with symbolic constraint assertions: lightweight, machine-checkable statements about visual content (e.g., count(red_objects) = 3). A dual-pronged Constraint Propagation Module-combining a learned neural grounding head with Boolean Constraint Propagation-continuously verifies these anchors against extracted visual features and checks their mutual logical consistency. When a contradiction is detected, a backtrack controller halts generation and reverts to the last consistent checkpoint, preventing error propagation. A variable-frequency emission mechanism allows the model to adaptively control anchor density, avoiding trace bloat. We construct 218K training instances by augmenting GQA, CLEVR-CoGenT, and VCR with ground-truth constraint annotations derived from scene graphs, and fine-tune open-source MLLMs (LLaVA-NeXT, Qwen2-VL) via LoRA. On five benchmarks, CART reduces the snowball rate from 0.65 to 0.14, improves GQA accuracy by +4.6 percentage points over trainingonly baselines, and achieves 89.1 F1 on POPE-all with at most 18% inference overhead.

Continual learning studies how deployed language models can continually acquire new tasks without expensive retraining from scratch. Existing methods, whether rehearsal-based (replaying stored past data) or rehearsal-free (regularising or isolating parameters), overwhelmingly target one objective: preventing catastrophic forgetting. Forward transfer, the past helping the future, has meanwhile been pursued almost exclusively through parameter reuse, with no explicit account of when transfer should be expected at all. We begin one step earlier: before designing a transfer mechanism, we ask when transfer should exist at all. We answer with a framework of three measurable conditions: the target task must leave room for improvement beyond its own limited supervision, transferable information must survive continued optimisation, and replay must come from compatible previous tasks. We instantiate this view as Transfer-Selective Replay (TSR), which selects replay data predicted to benefit the incoming task rather than replaying past examples indiscriminately. Selection is guided by a zero-training task signature, while distillation preserves stability on previous tasks. Under the standard continual learning protocol in the low-budget regime, TSR consistently improves forward transfer while maintaining stability, outperforming existing replay baselines across heterogeneous and homogeneous task streams. More broadly, the results argue for treating transfer as a first-class objective of continual learning, to be understood before it is engineered.

The banking sector increasingly relies on automated systems to monitor electronic transactions for signs of fraud, yet conventional rule-based approaches struggle with high false-positive rates and offer no justification for their outputs, limiting their utility for compliance teams. This paper introduces an Explainable Artificial Intelligence (XAI) framework tailored for banking transaction anomaly detection within internal audit workflows. An Isolation Forest (iForest) model performs unsupervised anomaly scoring, while a SHAP (SHapley Additive exPlanations) layer provides transaction-level, feature-attributed explanations grounded in cooperative game theory [8]. A lightweight Streamlit dashboard renders these outputs in a form accessible to audit professionals without machine learning expertise. Evaluation on a synthetic banking dataset yields 0.91 precision and 0.88 recall, outperforming three unsupervised baselines. Expert feedback confirms that feature-level explanations measurably improve auditor confidence and decision quality. The framework advances the practical deployment of accountable, transparent AI in regulated financial environments.

Learning-based methods for the traveling salesman problem (TSP) are often evaluated through the tours produced after decoding or search, but the learned object itself frequently lives in a surrogate space such as heatmaps, assignments, construction policies, or search-guidance scores. This hides the fundamental question: what Hamiltonian structure has actually been learned before decoding? In this study, we directly answer this question by learning TSP through a structurally meaningful latent object, rather than leaving most of the Hamiltonian structure to the final decoding stage. Based on a connected-by-construction rooted $1$-tree Gibbs family, we propose an end-to-end unsupervised learning pipeline called \emph{C2TSP}. The pipeline learns residual edge perturbations from unbiased TSP cost through implicit differentiation. For structural correction, a smoothed Held--Karp layer restores expected degree balance, while certificate-guided sharpening further pushes the connected distribution toward more tour-like structures. Experiments show that C2TSP yields strong decoding performance while preserving interpretable structural information. Ablations further verify that edge perturbation and certificate-guided sharpening jointly improve both tour cost and tour-like structure.

Precision industrial contact manipulation requires reliable robot policies under pose perturbations and contact-force constraints. Vision-language-action models offer broad generalization but often introduce high inference latency and GPU-memory cost, while vision-action chunking policies are more suitable for real-time industrial control. However, these policies are usually trained by behavior cloning and suffer from distribution shift in contact-rich tasks. This paper proposes PAC-ACT, a reinforcement-learning post-training framework for pretrained Action Chunking Transformer policies. PAC-ACT reformulates policy optimization at the chunk level, constructs an ACT-transferred actor-critic architecture, and introduces a hybrid behavior-prior constraint to preserve the pretrained action distribution during online fine-tuning. Experiments on industrial precision-contact benchmarks show that PAC-ACT improves task success, contact stability, and force safety while retaining low latency and low GPU-memory usage. On the Contour task, PAC-ACT significantly reduces peak contact force and decreases the proportion of force readings above 60 N by 46 times. Sparse-reward ablations further show that the proposed behavior-prior constraint enables effective exploration under randomized initial poses.

Log parsing is a fundamental step in automated log analysis, transforming raw system logs into structured event templates for downstream tasks such as anomaly detection and system monitoring. Existing log parsing methods range from rule-based and clustering-based approaches to neural models that learn semantic representations from log messages. However, neural approaches typically rely on dense matrix multiplications, which can result in high computational cost and energy consumption. This paper presents SpikeLogBERT, a spiking neural network framework for energy-efficient log parsing. The proposed model integrates a spiking transformer architecture with knowledge distillation from a BERT teacher model, enabling spike-driven computation while preserving semantic representation capability. By leveraging sparse spike activations and event-driven processing, the number of active operations during inference can be significantly reduced. As an initial benchmark study, experiments on the HDFS dataset demonstrate that SpikeLogBERT outperforms ANN-based neural log parsing models with a parsing accuracy of 0.99997, while reducing estimated theoretical energy consumption by up to 62.6% under standard 45nm CMOS assumptions.

Generative models have recently seen rapid adoption in End-to-End (E2E) autonomous driving (AD), with diffusion-based denoising and vocabulary-based retrieval becoming the dominant trajectory-decoding paradigms. Despite their architectural diversity, current generative AD planners share a common inference pattern: a fixed set of candidate trajectories (anchors, vocabulary entries, or proposal queries) is scored by one or more learned heads conditioned on the Bird's-Eye-View (BEV) features, and the highest-scored candidate is returned as the final trajectory. Under this design, the scoring head is the only barrier between perception and the motion command, and its decision margins between competing candidates are often small. We introduce \textsc{Derail}, an adversarial framework that exploits this scoring-head attack surface. Evaluated on various generative planners, \textsc{Derail} flips the trajectory selection from a safe to an unsafe candidate, with score drops of $39$--$80\%$ and collision rates of up to $50\%$, consistently outperforming generic loss-maximization and feature-divergence attacks. Our analysis suggests that safety-violating objectives govern attack effectiveness against generative AD planners, and that the scoring-head inference pattern itself is a recurring attack surface worth explicit defensive consideration.

We present ThinkProbe, a framework for structural analysis of LLM reasoning traces. ThinkProbe converts each trace into a Thought Graph a directed graph with cycles, 8 node types, and 6 edge types and derives a 19-metric five-dimensional cognitive profile (5D-CP: Breadth, Depth, Structure, Metacognitive, Efficiency) through a fully non-generative pipeline combining rule-based segmentation and discriminative semantic linking. Applied to 4{,}200 traces from 7 native reasoning models across 200 open-ended questions and 10 cognitive domains, ThinkProbe reveals that reasoning structure is a stable, model-level property: between-model variance exceeds between-domain variance by up to fourfold across four of five cognitive dimensions, with Structure showing genuine sensitivity to question domain, exposing qualitatively distinct cognitive profiles invisible to accuracy-based evaluation.

Large Language Model (LLM) alignment trains an LLM using preference data to produce outputs that better meet established quality standards. While LLM alignment techniques are studied for non-coding tasks, we know little about their usefulness for coding tasks. It is unclear whether LLM code alignment could support both functional requirements (producing executable, correct code) and non-functional requirements (code readability, style, maintainability). It is also unknown whether alignment for a code LLM should begin with base pretrained version or the finetuned (i.e., instruction-tuned) version of the LLM. In this paper, we offer insights on the above two research questions by conducting an empirical study. We studied five state-of-the-art (SOTA) LLMs using two widely used LLM alignment techniques: Direct Preference Optimization (DPO) and BoNBoN. For each training record, we created a preference pair as accepted and rejected instances by using the SelfCodeAlign pipeline. DPO and BoNBoN are reward-free models, i.e., they eliminate the need for multiple reward scores for output preferences. We tuned each LLM using the two alignment techniques in two settings: pretrained and finetuned versions of an LLM. We evaluated functional requirements using four SOTA benchmarks (HumanEval+, MBPP+, EvalPerf, EvoEval) and non-functional requirements using the CODAL benchmark, which evaluates code quality across five dimensions derived from software engineering practices. We find that pretrained-to-aligned pathways achieve larger improvements in the aligned variant over its pretrained variant. But the pretrained variant is generally less accurate than its finetuned variant. However, finetuned- to-aligned offers smaller performance improvements or, in some cases, degradation in the aligned variant than its finetuned variant.

Predicting human item difficulty is central to educational assessment, where reliable estimates support fairness and effective test construction. Existing methods often depend on costly human calibration or item-level textual representations, providing limited evidence about the cognitive processes that make items difficult. We argue that difficulty should be viewed not only as a property of item text, but also as an observable consequence of the problem-solving burden an item induces. Large Reasoning Models (LRMs) offer scalable process evidence through reasoning traces, but such evidence must be structured to support interpretable modeling. To this end, we introduce Epi2Diff (Episode to Difficulty), a framework that maps LRM reasoning traces into cognitively grounded episode sequences. These episodes group trace segments into functional problem-solving states, enabling difficulty to be modeled through reasoning scale, effort allocation, and state transitions. Epi2Diff extracts compact episode-dynamic features and combines them with semantic item representations for human difficulty prediction. Experiments on four real-world human difficulty datasets show that Epi2Diff consistently outperforms strong baselines, including fine-tuned small language models, LLM in-context learning, and supervised LLM adaptation. On SAT-derived classification benchmarks, Epi2Diff achieves an 8.1% average relative gain over supervised LLM fine-tuning baselines. Further analyses show that harder items induce more effortful, iterative, and implementation-centered episode dynamics, rather than merely longer responses. These results demonstrate that cognitive episodes in LRM reasoning traces provide a predictive and interpretable process representation for human item difficulty, offering a new lens for educational measurement with reasoning models.

Trajectory forecasting for autonomous driving has advanced rapidly, yet representative models often produce uninformative posteriors over forecast modes, causing problems for mode pruning. We trace this to a modeling-training mismatch: forecasters are typically modeled as conditional Gaussian mixture models (GMMs) but trained with a winner-take-all (WTA) loss that assigns each sample to its nearest mode. We argue that this K-means-like hard assignment (one-hot), while preventing mode collapse, is the source of uninformative mode probabilities: it over-segments the trajectory space, ignores relatedness among nearby modes, and yields assignment instability under small perturbations. Guided by this lens, we introduce two post-hoc treatments: (1) test-time posterior-weighted merging that aggregates nearby candidate trajectories; and (2) a one-step expectation-maximization (EM) update that replaces hard labels with soft responsibilities, sharing probability mass across neighboring modes. Across several WTA-trained architectures, these lightweight steps produce more informative, faithfully ranked mode posteriors and strengthen final forecasts on popular displacement metrics -- without retraining. Our analysis unifies recent design choices through a GMM-vs-K-means perspective and offers principled, practical corrections that better align training objectives with inference.