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Multimodal large language models (MLLMs) are increasingly integrated into autonomous driving (AD) systems; however, they remain vulnerable to diverse safety threats, particularly in accident-prone scenarios. Recent safeguard mechanisms have shown promise by incorporating logical constraints, yet most rely on static formulations that lack temporally grounded safety reasoning over evolving traffic interactions, resulting in limited robustness in dynamic driving environments. To address these limitations, we propose GuardAD, a model-agnostic safeguard that formulates AD safety as an evolving Markovian logical state. GuardAD introduces Neuro-Symbolic Logic Formalization, which represents safety predicates over heterogeneous traffic participants and continuously induces them via n-th order Markovian Logic Induction. This design enables the inference of emerging and latent hazards beyond single-step observations. Rather than simply vetoing unsafe actions, GuardAD performs Logic-Driven Action Revision, where inferred safety states actively guide action refinement without modifying the underlying MLLM. Extensive experiments on multiple benchmarks and AD-MLLMs demonstrate that GuardAD substantially reduces accident rates (-32.07%) while slightly improving task performance (+6.85%). Moreover, closed-loop simulation evaluations, together with physical-world vehicle studies, further validate the effectiveness and potential of GuardAD.

Underwater images captured by Autonomous Underwater Vehicles (AUVs) are inevitably affected by artificial light sources, which often produce halos in the foreground of the camera and seriously interfere with the quality of the image. The existing underwater image enhancement methods fail to fully consider this key problem, and the robustness of processing images under artificial light scenes is poor. In practical applications, since underwater image enhancement itself is a very challenging task, the influence of artificial light sources will lead to serious degradation of image performance and affect subsequent vision tasks. In order to effectively deal with this problem, this paper designs a single halo image correction method based on an iterative structure. The network is mainly divided into two sub-networks, one is the halo layer separation sub-network which aims to separate the halo by gradient minimization, and the other is the multi-scale recovery sub-network which aims to recover the image information masked by halo. The UIEB and EUVP synthetic datasets are used for training to ensure that the network can fully learn the characteristics and laws of underwater halo images. Then a large number of halo images taken in an underwater environment with real artificial light are collected for testing. In addition, the brightness distribution characteristics of underwater halo images are analyzed and the radial gradient is introduced to constraint eliminate halo to improve the effect of underwater image restoration.

Autonomous agents have rapidly matured as task executors and seen widespread deployment via harnesses such as OpenClaw. Safety concerns have rightly drawn growing research attention, and beneath them lie the values silently steering agent behavior. Existing value benchmarks, however, remain confined to LLMs, leaving agent values largely uncharted. From intuitive, empirical, and theoretical vantage points, we show that an agent's values diverge from those of its underlying LLM, and the agentic modality further introduces dataset-, evaluation-, and system-level challenges absent from text-only protocols. We close this gap with Agent-ValueBench, the first benchmark dedicated to agent values. It features 394 executable environments across 16 domains, offering 4,335 value-conflict tasks that cover 28 value systems and 332 dimensions. Every instance is co-synthesized through our purpose-built end-to-end pipeline and curated per-instance by professional psychologists. Each task ships with two pole-aligned golden trajectories whose checkpoints anchor a trajectory-level rubric-based judge. Benchmarking 14 frontier proprietary and open-weights models across 4 mainstream harnesses, we uncover three concerted findings. Agent values first manifest as a Value Tide of cross-model homogeneity beneath interpretable counter-currents. This tide bends non-additively under harness pull, and yet more decisively under deliberate steering via embedded skills. Together these results signal that the agent-alignment lever is shifting from classical model alignment and prompt steering toward harness alignment and skill steering.

Recent advances in vision-language models have enabled mobile GUI agents to perceive visual interfaces and execute user instructions, but reliable prediction of action consequences remains critical for long-horizon and high-risk interactions. Existing mobile world models provide either text-based or image-based future states, yet it remains unclear which representation is useful, whether generated rollouts can replace real environments, and how test-time guidance helps agents of different strengths. To answer the above questions, we filter and annotate mobile world-model data, then train world models across four modalities: delta text, full text, diffusion-based images, and renderable code. These models achieve SoTA performance on both MobileWorldBench and Code2WorldBench. Furthermore, by evaluating their downstream utility on AITZ, AndroidControl, and AndroidWorld, we obtain three findings. First, renderable code reconstruction achieves high in-distribution fidelity and provides effective multimodal supervision for data construction, while text-based feedback is more robust for online out-of-distribution (OOD) execution. Second, world-model-generated trajectories can provide transferable interaction experience in the training process and improve agents' end-to-end task performance, although these data do not preserve the original distribution. Last, for overconfident mobile agents with low action entropy, posterior self-reflection provides limited gains, suggesting that world models are more effective as prior perception or training supervision than as universal post-hoc verifiers.

Dynamic scene reconstruction represents a fundamental yet demanding challenge in computer vision and robotics. While recent progress in 3DGS-based methods has advanced dynamic scene modeling, obtaining high-fidelity rendering and accurate tracking in scenarios with substantial, intricate motions remains significantly challenging. To address these challenges, we propose PaMoSplat, a novel dynamic Gaussian splatting framework incorporating part awareness and motion priors. Our approach is grounded in two key observations: 1) Parts serve as primitives for scene deformation, and 2) Motion cues from optical flow can effectively guide part motion. Specifically, PaMoSplat initializes by lifting multi-view segmentation masks into 3D space via graph clustering, establishing coherent Gaussian parts. For subsequent timestamps, we leverage a differential evolutionary algorithm to estimate the rigid motion of these parts using multi-view optical flow cues, providing a robust warm-start for further optimization. Additionally, PaMoSplat introduces an adaptive iteration count mechanism, internal learnable rigidity, and flow-supervised rendering loss to accelerate and optimize the training process. Comprehensive evaluations across diverse scenes, including real-world environments, demonstrate that PaMoSplat delivers superior rendering quality, improved tracking precision, and faster convergence compared to existing methods. Furthermore, it enables multiple part-level downstream applications, such as 4D scene editing.

This paper studies kernelized bandits (also known as Gaussian process bandits) in an adversarial environment, where the reward functions in a known reproducing kernel Hilbert space (RKHS) may be adversarially chosen at each round. We show that the exponential-weight algorithm achieves $\tilde{O}(\sqrt{T γ_T})$ adversarial regret, where $T$ and $γ_T$ denote the number of total rounds and the maximum information gain, respectively. For squared exponential (SE) and $ν$-Matérn kernels, we also show algorithm-independent lower bounds that guarantee the optimality of our algorithm up to polylogarithmic factors. Furthermore, we present a computationally efficient variant of our algorithm using Nyström approximation while maintaining nearly optimal regret guarantees.

In offline reinforcement learning (RL), we learn policies from fixed datasets without environment interaction. The major challenges are to provide guarantees on the (1) performance and (2) safety of the resulting policy. A technique called safe policy improvement (SPI) provides a performance guarantee: with high probability, the new policy outperforms a given baseline policy, which is assumed to be safe. Orthogonally, in the context of safe RL, a shield provides a safety guarantee by restricting the action space to those actions that are provably safe with respect to a given safety-relevant model. We integrate these paradigms by extending shielding to offline RL, relying solely on the available dataset and knowledge of safe and unsafe states. Then, we shield the policy improvement steps, guaranteeing, with high probability, a safe policy. Experimental results demonstrate that shielded SPI outperforms its unshielded counterpart, improving both average and worst-case performance, particularly in low-data regimes.

Offline-to-online learning aims to improve online decision-making by leveraging offline logged data. A central challenge in this setting is the distribution shift between offline and online environments. While some existing works attempt to leverage shifted offline data, they largely rely on UCB-type algorithms. Thompson sampling (TS) represents another canonical class of bandit algorithms, well known for its strong empirical performance and naturally suited to offline-to-online learning through its Bayesian formulation. However, unlike UCB indices, posterior samples in TS are not guaranteed to be optimistic with respect to the true arm means. This makes indices constructed from purely online and hybrid data difficult to compare and complicates their use. To address this issue, we propose sample-mean anchored TS (Anchor-TS), which introduces a novel median-based anchoring rule that defines the arm index as the median of an online posterior sample, a hybrid posterior sample, and the online sample mean. The median anchoring systematically corrects bias induced by distribution shift by mitigating over-estimation for suboptimal arms and under-estimation for optimal arms, while exploiting offline information to obtain more accurate estimates when the shift is small. We establish theoretical guarantees showing that the proposed algorithm safely leverages offline data to accelerate online learning, and quantifying how the degree of distribution shift and the size of offline data affect the resulting regret reduction. Extensive experiments demonstrate consistent improvements of our algorithm over baselines.

Modern off-policy reinforcement learning algorithms often rely on simple uniform replay sampling and it remains unclear when and why non-uniform replay improves over this strong baseline. Across diverse RL settings, we show that the effectiveness of non-uniform replay is governed by three factors: replay volume, the number of replayed transitions per environment step; expected recency, how recent sampled transitions are; and the entropy of the replay sampling distribution. Our main contribution is clarifying when non-uniform replay is beneficial and providing practical guidance for replay design in modern off-policy RL. Namely, we find that non-uniform replay is most beneficial when replay volume is low, and that high-entropy sampling is important even at comparable expected recency. Motivated by these findings, we adopt a simple Truncated Geometric replay that biases sampling toward recent experience while preserving high entropy and incurring negligible computational overhead. Across large-scale parallel simulation, single-task, and multi-task settings, including three modern algorithms evaluated on five RL benchmark suites, this replay sampling strategy improves sample efficiency in low-volume regimes while remaining competitive when replay volume is high.

Privacy protection has become a critical requirement in the era of ubiquitous visual data sharing, imposing higher demands on efficient and robust privacy detection algorithms. However, current robust detection models are severely hindered by the lack of comprehensive datasets. Existing privacy-oriented datasets often suffer from limited scale, coarse-grained annotations, and narrow domain coverage, failing to capture the intricate details of sensitive information in realworld environments. To bridge this gap, we present a large-scale, fine-grained Visual Privacy Dataset (VPD-100K), designed to facilitate generalized privacy detection. We establish a holistic taxonomy comprising four primary domains: Human Presence, On-Screen Personally Identifiable Information (PII), Physical Identifiers, and Location Indicators, containing 100,000 images annotated with 33 fine-grained classes and over 190,000 object instances. Statistical analysis reveals that our dataset features long-tailed distributions, small object scales, and high visual complexity. These characteristics make the dataset particularly valuable for demanding, unconstrained applications such as live streaming, where actors frequently face unintentional, realtime information leakage. Furthermore, we design an effective frequency-enhanced lightweight module consisting of frequency-domain attention fusion and adaptive spectral gating mechanism that breaks the limitations of spatial pixel intensity to better capture the subtle details of sensitive information. Extensive experiments conducted on both diverse image and streaming videos benchmarks consistently demonstrate the effectiveness of our VPD-100K dataset and the wellcurated frequency mechanism. The code and dataset are available at https://vpd-100k.github.io/.

Terrain segmentation is a fundamental capability for autonomous mobile robots operating in unstructured outdoor environments. However, state-of-the-art models are incompatible with the memory and compute constraints typical of microcontrollers, limiting scalable deployment in small robotics platforms. To address this gap, we develop a complete framework for robust binary terrain segmentation on a low-cost microcontroller. At the core of our approach we design Nano-U, a highly compact binary segmentation network with a few thousand parameters. To compensate for the network's minimal capacity, we train Nano-U via Quantization-Aware Distillation (QAD), combining knowledge distillation and quantization-aware training. This allows the final quantized model to achieve excellent results on the Botanic Garden dataset and to perform very well on TinyAgri, a custom agricultural field dataset with more challenging scenes. We deploy the quantized Nano-U on a commodity microcontroller by extending MicroFlow, a compiler-based inference engine for TinyML implemented in Rust. By eliminating interpreter overhead and dynamic memory allocation, the quantized model executes on an ESP32-S3 with a minimal memory footprint and low latency. This compiler-based execution demonstrates a viable and energy-efficient solution for perception on low-cost robotic platforms.

Adaptive behavior requires the brain to transition between distinct contexts while maintaining representations of prior experience. The ability to reconfigure neural representations without erasing previously acquired knowledge is central to learning in dynamic environments, yet the neural mechanisms that support this balance remain unclear. Understanding these mechanisms is also critical for addressing catastrophic forgetting in artificial systems designed for lifelong learning. Here, we identify joint sparse coding and temporal dynamics in both the mouse medial prefrontal cortex (mPFC) and computational networks as mechanisms that help preserve prior representations during context transitions. Specifically, sparsity in context-dependent representations reduces cross-context interference, whereas temporal dynamics within the network activity further enhance context separability across time. Strikingly, networks endowed with both properties, such as spiking neural networks, exhibit improved retention during lifelong learning without auxiliary heuristics. These findings establish joint sparse coding and temporal dynamics as a core mechanism supporting flexible context reconfiguration in lifelong learning and, through their activity constraining nature, as an energy-efficient architectural principle for stable adaptation. Together, they provide a mechanistic framework for understanding how the brain preserves prior knowledge while flexibly adapting to new contexts.

Robotic imitation learning typically assumes access to optimal demonstrations, yet real-world data collection often yields suboptimal, exploratory, or even failed trajectories. Discarding such data wastes valuable information about environment dynamics and failure modes, which can instead be leveraged to improve decision-making. While 3D policies reduce reliance on high-quality demonstrations through strong spatial generalization, they still require large-scale data to achieve high task success. To address this, we propose DALI-R, a Data-Asymmetric Latent Imagination and Reranking framework for 3D robotic imitation learning from mixed-quality trajectories. It learns a Latent World Model over 3D point clouds for imagined rollouts and a Task Completion Scorer that reranks candidate action chunks, improving decision-making without additional high-quality demonstrations. We instantiate DALI-R with both diffusion and efficient flow-matching policies and evaluate it on Adroit and MetaWorld benchmarks. Across the two evaluated 3D base policies, DALI-R achieves an average $6.8$% improvement in success rate while incurring less than $0.7\times$ additional inference overhead.

Vision-Language Models (VLMs) have demonstrated exceptional general reasoning capabilities. However, their performance in embodied navigation remains hindered by a scarcity of aligned open-world vision and robot control data. Despite simulators providing a cost-effective alternative for data collection, the inherent reliance on photorealistic simulations often limits the transferability of learned policies. To this end, we propose \textit{\textbf{S}andbox-\textbf{A}bstracted \textbf{G}rounded \textbf{E}xperience} (\textbf{\textit{SAGE}}), a framework that enables agents to learn within a physics-grounded semantic abstraction rather than a photorealistic simulation, mimicking the human capacity for mental simulation where plans are rehearsed in simplified physics abstractions before execution. \textit{SAGE} system operates via three synergistic phases: (1) \textit{Genesis}: constructing diverse, physics-constrained semantic environments to bootstrap experience; (2) \textit{Evolution}: distilling experiences through Reinforcement Learning (RL), utilizing a novel asymmetric adaptive clipping mechanism to stabilize updates; (3) \textit{Navigation}: bridging the abstract policy to open-world control. We demonstrate that \textit{SAGE} significantly improves planner-assisted embodied navigation, achieving a 53.21% LLM-Match Success Rate on A-EQA (+9.7% over baseline), while showing encouraging transfer to physical indoor robot deployment.

Inference-time guidance is essential for steering generative robot policies toward dynamic objectives without retraining, yet existing methods are largely confined to chunk-based architectures that exhibit high latency and lack the reactivity needed for test-time preference alignment or obstacle avoidance. In this work, we formally derive the optimal guidance term for Stochastic Interpolants (SI) by analyzing the value function's time evolution via the Backward Kolmogorov Equation, establishing a modified drift that theoretically guarantees sampling from a target distribution. We apply this framework to real-time control through the Streaming Stochastic Interpolant Policy (SSIP), which generalizes the deterministic Streaming Flow Policy (SFP). Unifying this guidance law with the streaming architecture enables fast and reactive control. To support diverse deployment needs, we propose two complementary mechanisms: training-free Stochastic Trajectory Ensemble Guidance (STEG) that computes gradients on-the-fly for zero-shot adaptation, and training-based Conditional Critic Guidance (CCG) for amortized inference. Empirical evaluations demonstrate that our guided streaming approach significantly outperforms conventional chunk-based policies in reactivity and provides superior, physically valid guidance for dynamic, unstructured environments.

Action chunking emerged as a pivotal technique in imitation learning, enabling policies to predict cohesive action sequences rather than single actions. Recently, this approach has expanded to reinforcement learning (RL), enhancing behavioral consistency and reducing bootstrapping errors in value function estimation. However, existing methods rely on a fixed chunk length, creating a performance bottleneck as the optimal length varies across states and tasks. In this paper, we propose Adaptive Action CHunking (ACH), a novel offline-to-online RL algorithm that dynamically modulates chunk length during both training and inference. To find the optimal chunk length for a dynamically varying current state, we simultaneously estimate action-values for all candidate chunk lengths in a single forward pass, using a Transformer-based architecture. Our mechanism allows the agent to select the most effective chunk length adaptively based on the current state. Evaluated on 34 challenging tasks, ACH consistently outperforms fixed-length baselines, demonstrating superior generalization and learning efficiency in complex environments.

With the advancement of autonomous driving, numerous annotated multi-modality datasets have become available. This presents an opportunity to develop domain-adaptive 3D object detectors for new environments without relying on labor-intensive manual annotations. However, traditional domain adaptation methods typically focus on a single source domain or a single modality, limiting their effectiveness in multi-source, multi-modality scenarios. In this paper, we propose a novel framework for multi-source, multi-modality unsupervised domain adaptation in 3D object detection for autonomous driving. Given multiple labeled source domains and one unlabeled target domain, our framework first introduces hierarchical spatially-conditioned (HSC) domain classifiers, which jointly align features from both camera and LiDAR modalities at two distinct levels for each source-target domain pair. To effectively leverage information from multiple source domains, we construct a prototype graph between each pair of domains. Based on this, we develop a prototype graph weighted (PGW) multi-source fusion strategy to aggregate predictions from multiple source detection heads. Experimental results on three widely used 3D object detection datasets - Waymo, nuScenes, and Lyft - demonstrate that our proposed framework effectively integrates information across both modalities and source domains, consistently outperforming state-of-the-art methods.

The real world unfolds along a single set of physics laws, yet human intelligence demonstrates a remarkable capacity to generalize experiences from this singular physical existence into a multiverse of games, each governed by entirely different rules, aesthetics, physics, and objectives. This omni-reality adaptability is a hallmark of general intelligence. As Artificial Intelligence progresses towards Artificial General Intelligence, the multiverse of games has evolved from mere entertainment into the ultimate ground for training and evaluating AGI. The pursuit of this generality has unfolded across four eras: from environment-specific symbolic and reinforcement learning agents, to current large foundation models acting as generalist players, and toward a future creator stage where agent both creates new game worlds and continually evolves within them. We trace the full lifecycle of a generalist game player along four interdependent pillars: Dataset, Model, Harness, and Benchmark. Every advance across these pillars can be read as an attempt to break one of five fundamental trade-offs that currently bound the whole system. Building on this end-to-end view, we chart a five-level roadmap, progressing from single-game mastery to the ultimate creator stage in which the agent simultaneously creates and evolves within theoretical game multiverse. Taken together, our work offers a unified lens onto a rapidly shifting field,and a principled path toward the omnipotent generalist agent capable of seamlessly mastering any challenge within the multiverse of games, thereby paving the way for AGI.

Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies often rely on implicit terrain representations or blind proprioceptive feedback, limiting their ability to generalize across varying stair geometries and to anticipate required gait adjustments. This paper proposes an explicit stair geometry conditioning framework for robust humanoid stair climbing. Instead of encoding terrain as high-dimensional latent features, we extract a compact set of interpretable geometric parameters, including step height, step depth, and current yaw angle relative to the robot heading. These explicit stair parameters directly condition a Proximal Policy Optimization (PPO)-based locomotion policy, enabling proactive modulation of swing-foot clearance and stride characteristics according to stair structure. Simulation experiments demonstrate improved generalization across unseen stair heights beyond the training distribution. Real-world experiments on the Unitree G1 humanoid validate reliable indoor and outdoor stair traversal. In challenging outdoor scenarios, the robot successfully ascends 33 consecutive steps without failure, demonstrating robustness and practical deployability.

We present Urban-ImageNet, a large-scale multi-modal dataset and evaluation benchmark for urban space perception from user-generated social media imagery. The corpus contains over 2 Million public social media images and paired textual posts collected from Weibo across 61 urban sites in 24 Chinese cities across 2019-2025, with controlled benchmark subsets at 1K, 10K, and 100K scale and a full 2M corpus for large-scale training and evaluation. Urban-ImageNet is organized by HUSIC, a Hierarchical Urban Space Image Classification framework that defines a 10-class taxonomy grounded in urban theory. The taxonomy is designed to distinguish activated and non-activated public spaces, exterior and interior urban environments, accommodation spaces, consumption content, portraits, and non-spatial social-media content. Rather than treating urban imagery as generic scene data, Urban-ImageNet evaluates whether machine perception models can capture spatial, social, and functional distinctions that are central to urban studies. The benchmark supports three tasks within one standardized library: (T1) urban scene semantic classification, (T2) cross-modal image-text retrieval, and (T3) instance segmentation. Our experiments evaluate representative vision, vision-language, and segmentation models, revealing strong performance on supervised scene classification but more challenging behavior in cross-modal retrieval and instance-level urban object segmentation. A multi-scale study further examines how model performance changes as balanced training data increases from 1K, 10K to 100K images. Urban-ImageNet provides a unified, theory-grounded, multi-city benchmark for evaluating how AI systems perceive and interpret contemporary urban spaces across modalities, scales, and task formulations. Dataset and benchmark are available at: huggingface.co/datasets/Yiwei-Ou/Urban-ImageNet and github.com/yiasun/dataset-2.

While reasoning has become a central capability of large language models (LLMs), the reasoning patterns required for different scenarios are often misaligned. Mathematical reasoning typically relies on intrinsic logic to solve closed-world problems in a single response, whereas agentic reasoning requires not only internal reasoning but also multi-turn interaction with external environments, interleaving thought and action. This misalignment prevents mathematical and agentic reasoning from effectively benefiting from each other, often yielding unstable reasoning behavior and only limited performance gains under multi-task learning. In this paper, we propose M2A, a novel paradigm that synergizes mathematical and agentic reasoning via model merging. To avoid overfitting to superficial reasoning patterns under joint training, M2A operates directly in parameter space: it identifies the feature subspace critical for agent behavior, and merges the mathematical reasoning task vector only along its null space, thereby injecting reasoning capability along directions that do not perturb agent behavior. Unlike SFT or RL, M2A requires no additional gradient-update and exposes the merging coefficient as a simple knob for controlling reasoning length. Experiments in a challenging real-world coding agent setting show that our method effectively extends agentic reasoning depth and delivers substantial performance improvements. Applied to a fine-tuned Qwen3-8B, M2A improves its SWE-Bench Verified resolved rate from 44.0% to 51.2% without retraining the model. Code is available at https://github.com/laplucky/M2A.git.

Multi-Object Tracking (MOT) in dynamic environments relies on robust temporal reasoning to maintain consistent object identities over time. Transformer-based end-to-end MOT models achieve strong performance by explicitly modeling temporal dependencies, yet training them requires extensive bounding-box and identity annotations. Given the high labeling cost and strong redundancy in videos, Active Learning (AL) is an effective approach to improve annotation efficiency. However, existing AL methods for MOT primarily operate at the frame level, which is structurally misaligned with modern end-to-end trackers whose inference and training rely on multi-frame clips. To bridge this gap, we formulate clip-level active learning and propose Clip-level Uncertainty and Temporal-aware Active Learning (CUTAL). In contrast to frame-based approaches, CUTAL scores each clip using uncertainty metrics derived from multi-frame predictions to capture inter-frame correspondence ambiguities, while enforcing temporal diversity to select an informative and non-redundant subset. Experiments show that CUTAL achieves stronger overall performance than baselines at the same label budgets across MeMOTR and SambaMOTR. Notably, CUTAL achieves performance comparable to full supervision for MeMOTR on both datasets using only 50% of the labeled training data.

Synthetic data becomes crucial for large language model training, but its effectiveness is highly inconsistent. We provide an information-theoretic account of this inconsistency: synthetic data improves a model only when the generation-training loop is information-open, i.e., shaped by external signals (verifiers, environments, or rubrics) that inject task-relevant information beyond the model's current distribution. When the loop is information-closed (relying on the model's own outputs without such signals), the data processing inequality ensures that task-relevant information can only decrease, making collapse a predicted outcome. Among information-open pipelines, both efficiency and generalization hinge on the meta-level of supervision: a coarser signal such as binary correctness treats all acceptable outputs as equivalent, so the behavior it teaches is not tied to any particular domain or surface form and generalizes naturally across tasks and domains. These observations lead to a guiding thesis: learning preferentially converges to the most information-efficient signal component available, which accelerates learning when that component is the intended one, but causes reward hacking when a spurious pattern happens to be simpler.

Sub-footprint target mixing within a laser footprint significantly increases LiDAR intensity uncertainty, especially in complex environments where heterogeneous materials inside one footprint cause nonlinear distortions that impair intensity-based applications. However, the forward mixing inherent to the single-pixel detection mode of LiDAR systems blurs sub-footprint contributions, making sub-footprint effects difficult to address effectively in existing studies. To address this issue, we introduce a novel, physics-based framework that explicitly resolves sub-footprint intensity correction in full-waveform LiDAR (FW-LiDAR) point clouds. The key innovation is to make the otherwise implicit intra-footprint mixing process explicit: we first develop a spatiotemporal laser-beam distribution model to physically characterize within-footprint forward mixing of multi-target returns. Building on this formulation, we incorporate ancillary information including waveform parameters and surface geometry as constraints to pose a well-defined inverse unmixing problem and decompose each footprint into fractional contributions from multiple sub-targets. We then recover sub-footprint-corrected intensities by inverting the observed mixtures through a unified combination of parametric and model-driven approaches. To the best of our knowledge, few prior studies explicitly establish sub-footprint inversion and correction within a single laser footprint, and our framework offers a principled, physics-grounded solution. Experiments on both controlled and real-world LiDAR datasets demonstrate that the proposed method significantly enhances semantic separability across heterogeneous targets and intensity consistency across homogeneous targets.

Theory of Mind (ToM), the ability to track others epistemic state, makes humans efficient collaborators. AI agents need the same capacity in multi agent settings, yet existing benchmarks mostly test literal ToM by asking direct belief questions. The ability act optimally on implicit beliefs in embodied environments, called functional ToM, remains largely untested. We introduce EnactToM, an evolving benchmark of 300 embodied multi-agent tasks set in a 3D household with partial observability, private information, and constrained communication. Each task is formally verified for solvability and required epistemic depth, and new tasks are generated increase difficulty as models improve. On the hard split, all seven evaluated frontier models score 0.0% Pass^3 on functional task completion, while averaging 45.0% on literal belief probes. Manual analysis traces 93% of sampled failures to epistemic coordination breakdowns such as withheld information, ignored partner constraints, and misallocated messages, providing a concrete target for future work.

Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Translation-Invariant Edge Bundles or KiTE-Extend, a planner-agnostic action selection mechanism for sampling-based kinodynamic motion planning. KiTE-Extend uses a library of trajectory segments computed offline to guide action selection during online planning, improving the ability of existing planners to identify feasible motion segments without altering state propagation, collision checking, or cost evaluation, and without changing their theoretical guarantees. While KiTE-Extend can modestly improve single-agent planners, its benefits are most clear in the multi-agent setting, where it is able to explore more effectively and significantly improve planning through the dense spatiotemporal constraints introduced by robot-robot interaction. Through experiments on multiple kinodynamic systems and environments, we show that KiTE-Extend reduces planning time and improves scalability across the three most common MRMP paradigms: centralized, prioritized, and conflict-based.

DRIVE-C is a controlled corruption dataset designed to evaluate visual perception robustness in autonomous driving systems. It is built from real-world forward-facing driving videos collected across daytime, nighttime, urban, rural, freeway, and parking environments. Clean clips are anonymized via localized face and license plate blurring, then transformed with physics-inspired synthetic degradations. The dataset contains 10 clean clips and 600 corrupted clips spanning 12 camera degradation types across five severity levels, with per-clip metadata and Global Sensor Health Index (GSHI) annotations. DRIVE-C supports robustness benchmarking, degradation-aware modeling, uncertainty estimation, out-of-distribution (OOD) detection, and sensor health monitoring for Advanced Driver Assistance Systems (ADAS). By providing pixel-aligned clean and degraded video clips with fully reproducible corruption parameters, DRIVE-C offers a structured testbed for studying perception reliability under controlled camera degradation.

Closed-loop tool-using agents are increasingly evaluated in executable web, code, and micro-task environments, but benchmark reports often conflate workloads, action-generating drivers, and the evidence admitted for systems-facing claims. We present an executable benchmarking suite that makes these objects explicit under a shared evidence-admission contract. The suite connects WebArena Verified, a SWE-Gym slice with SWE-bench-compatible verification, and MiniWoB++ through common workload adapters, task manifests, event schemas, replay/freeze policy, declared drivers, and reporting pipelines. In the canonical release, the gate separates paper-facing evidence from preflight, fixture, smoke, and diagnostic rows while preserving non-admitted artifacts for audit and onboarding. The admitted evidence records latency, invalid-action behavior, patch-generation cost, verifier metadata, replay bindings, and provenance under one auditable contract. The gate is decision-relevant rather than merely clerical: in a separate WebArena Verified controller study, clean-baseline and medium live-stressed evaluation select different fixed controller variants under the same workload and admission contract. The release is scoped as a benchmarking suite and admitted evidence, not a new agent policy, model leaderboard, backend comparison, or autonomous SWE-bench solver.

Classical coding-theoretic guarantees often rely on trust assumptions, such as requiring sufficiently many honest nodes compared with adversarial ones. These assumptions are difficult to enforce in open decentralized systems where participants are not centrally certified. At the same time, such environments often contain incentive mechanisms: participants may be rewarded only when their submitted data are accepted and the system remains functional. This changes the role of an adversary. Rather than acting as a pure saboteur, a strategic adversary may submit data that are consistent enough to be accepted while still degrading the quality of the final estimate. The game-of-coding framework models this strategic interaction between a data collector (DC) and an adversary. Existing works on the game of coding mostly consider the complete-information case, where the DC knows how the adversary trades off acceptance and estimation error. In this paper, we study an incomplete-information version of the game of coding in which the DC, acting as a Stackelberg leader, does not know the adversary's utility trade-off and must learn through repeated interaction. Prior work on the unknown-adversary setting considered an explore-then-commit objective, where only the final selected acceptance rule is evaluated. In contrast, we study the full learning trajectory: every acceptance rule used during the algorithm is executed and contributes to performance. We propose an algorithm that refines its search around promising acceptance rules, prove that it achieves sublinear cumulative regret, and evaluate its performance through numerical experiments.

Accurate air quality prediction is essential for public health, environmental monitoring, and industrial safety. However, most existing approaches rely on centralized learning paradigms, which introduce challenges related to scalability, privacy preservation, and communication overhead in distributed Internet of Things (IoT) environments. Moreover, current federated learning (FL) based solutions predominantly utilize unimodal data, limiting their capability to capture complex environmental patterns. To address these limitations, we propose M$^2$FedAQI, a lightweight multimodal federated framework for decentralized Air Quality Index (AQI) prediction across heterogeneous edge devices. The proposed framework integrates visual and tabular modalities through a feature modulation based fusion mechanism that enables efficient cross-modal interaction while maintaining low computational overhead. M$^2$FedAQI is evaluated on two benchmark datasets, PM25Vision and TRAQID, for both classification and regression tasks under centralized and federated settings. Experimental results demonstrate that M$^2$FedAQI consistently outperforms existing approaches, achieving improvements of up to 11.0% in Accuracy, 3.53% in AUC, 12.2% in F1-score, and 18.0% in $R^2$, while reducing MAE and RMSE by up to 25.4% and 20.4%, respectively, compared with the strongest baselines. Furthermore, deployment on heterogeneous edge devices demonstrates efficient resource utilization in terms of communication overhead, memory footprint, and computational cost. To enhance communication security, TLS-based authentication is incorporated to ensure secure client participation and protect the FL communication channel from unauthorized third-party access without modifying the underlying FL protocol.