Dense

Multimodal large language models (MLLMs) offer a promising approach for recovering numerical data from scientific charts, but their ability to reconstruct chart data from visually dense figures remains poorly understood. Existing chart understanding benchmarks primarily evaluate question answering or chart-level reasoning and provide limited support for evaluating structured numerical reconstruction from scientific figures. We introduce \textbf{ChartDensity-Bench}, a benchmark for evaluating MLLMs on structured numerical data reconstruction from compound chart figures under controlled visual density. Built from charts paired with source-level ground-truth data, ChartDensity-Bench systematically varies the number of simultaneously presented charts ($k\in{1,3,6,9}$), enabling controlled evaluation of density-induced degradation. We further propose a multi-dimensional evaluation framework covering structural reliability, reconstruction completeness, parseability, and numerical fidelity. Experiments on five recent MLLMs show that numerical reconstruction generally degrades as visual density increases, while the magnitude of degradation varies substantially across models. Chart-level paired comparisons further show that the same source chart can incur higher reconstruction error when embedded in denser visual contexts. These findings highlight visual density as an important and previously underexplored factor in MLLM chart data reconstruction and provide a systematic benchmark for evaluating model robustness in this setting.

On-policy distillation (OPD) transfers the capabilities of a large language model to a smaller student by providing teacher supervision on the student's own rollouts. In long-horizon agentic tasks, however, uniform token-level matching can allocate supervision poorly: a large local discrepancy need not improve future behavior, while consequential guidance may be beyond the current student's reach or fail to persist without privileged input. We formulate long-horizon OPD as hierarchical supervision allocation and argue that productive guidance lies at the intersection of future utility and current learnability. Crucially, this intersection evolves as the student learns. Based on this principle, we propose LENS-OPD, a coarse-to-fine framework that organizes supervision through Locate, Validate, and Refine. Locate adapts trajectory exposure to the student's evolving competence and proposes a candidate decision for intervention. Validate tests whether teacher guidance at that decision improves the same student's subsequent behavior. Refine internalizes the beneficial guided behavior into the deployable policy and concentrates token-level supervision on decisive teacher-student conflicts within the validated turn. These stages are nested: each finer allocation is conditioned on the coarser decision, rather than being optimized as an independent importance score. Experiments across multiple long-horizon agent benchmarks and student-teacher configurations show that LENS-OPD consistently improves task performance over vanilla OPD and strong curriculum- and selection-based baselines. Our results suggest that effective long-horizon distillation requires teaching at the right depth, the right decision, and the right token.

Collaborative perception improves autonomous perception by sharing intermediate Bird's-Eye-View (BEV) features across connected agents, but dense feature exchange is difficult to deploy under strict Vehicle-to-Everything (V2X) bandwidth limits. Existing efficient methods typically either compress the full feature map uniformly, spending bits on low-value background, or sparsify communication, risking the loss of useful context. We propose a coverage-refinement design for byte-constrained cooperative perception: each agent transmits a highly compressed coarse layer over the full BEV map and allocates the remaining budget to selected high-resolution patches. A Task-Aware Benefit Selector ranks cells by estimated downstream utility, enabling deterministic budgeted refinement and zero-retraining adaptation to changing bandwidth. The receiver reconstructs a dense BEV tensor compatible with standard fusion modules. Experiments on DAIR-V2X and OPV2V show strong accuracy-payload trade-offs at kilobyte-scale budgets. On DAIR-V2X, our method reaches 0.60 AP@0.7 at only 1.87 KB per non-ego agent, compared with 0.52 at 4.61 KB for uniform SimVQ compression. Controlled diagnostics further show that the gain arises from coverage-refinement allocation rather than quantization alone. Code will be published.

We study a parameterized hybrid ranker that fuses a dense embedding list and a sparse lexical list. The method has a small, explicit parameter vector: a dense prior $α\in [0,1]$, a score-versus-rank mix $λ\in [0,1]$, an RRF smoothing parameter $κ> 0$, optional list-geometry coefficients that move $α$ per query, and a router margin $τ$ that can turn sparse search off. We grid-search those ranges on SciFact train (809 queries) and freeze the chosen values on SciFact test (300). The tuned rank-score mix ($α= 0.8$, $λ= 0.75$, $κ= 20$) reaches 0.753 nDCG@10 and 0.889 recall@10, outperforming dense BGE (0.742 / 0.871) and equal-weight RRF (0.707 nDCG@10) on that test split. A list-conditioned $α$ adds +0.0006 nDCG; a sparse-off router is rejected by the same train split (any $τ$ that skipped approximately 50% of queries lost nDCG). These coefficients are dataset-specific. Equal RRF with the same models does not beat dense on a nine-zip BEIR macro-average (0.479 vs. 0.519 nDCG@10). Repeating the same train-then-freeze sweep independently on all 20 indexed units beats equal RRF on 20/20 and dense on 16/20 (unit-mean nDCG@10 0.467 vs. 0.462 dense vs. 0.420 RRF). Other corpora should reuse the ranges, not a copy of the SciFact point.

We train neural networks on synthesized frames to approach the optimum Bayes estimator for dense emitter localization. The result justifies the future work on training neural networks to achieve high-throughput large-FOV super spatiotemporal resolution SMLM.

Vision language action (VLA) policies continue to grow in parameter count, making deployment on resource-constrained robot platforms difficult. The central goal is to reduce the number of LLM-side parameters retained in the deployed policy while preserving downstream task performance. Our approach, AdaDE, adapts selected dense feed forward blocks into mixture of experts (MoE) layers and derives expert retention masks from router statistics during fine tuning. The Dense2MoE conversion preserves the original dense FFN function at initialization, so expert deactivation can start without a separate recovery stage. Instead of using a fixed shutdown rule, expert masks are updated dynamically from router usage statistics, with staged training and expert protection to avoid early collapse. With 40% of the LLM parameters deactivated, AdaDE retains 95.1% average success in LIBERO and 42.0% average success across all 50 RobotWin2.0 tasks. These results suggest that dense to MoE adaptation with dynamic expert deactivation is a practical direction for reducing active VLA model size without severe performance loss.

Dense retrieval systems increasingly rely on multi-billion-parameter language models, whose memory and computational requirements make large-scale indexing, frequent corpus updates, and low-latency serving costly. We present a three-stage training pipeline for developing compact and efficient retrievers that remain competitive with substantially larger models. The pipeline combines cross-lingual alignment, relational knowledge distillation, and contrastive fine-tuning. It requires no original ground-truth relevance labels, relying exclusively on supervision generated by strong embedding models and rerankers utilised as teachers. Using this pipeline, we develop PolDense and EuroDense, both supporting contexts of up to 8,192 tokens. PolDense is a family of six Polish retrievers ranging from 17M to 1B parameters. EuroDense is a 435M-parameter retriever supporting nine European languages. We conduct an extensive evaluation covering 41 Polish and 150 multilingual retrieval tasks. The results demonstrate strong quality-efficiency trade-offs. PolDense-1B outperforms the evaluated retrievers with up to 9B parameters, while the PolDense family forms the Pareto frontier across model sizes. Among the evaluated models below 1B parameters, EuroDense ranks first in both task-averaged and language-averaged performance and leads in seven of nine languages. We release all models publicly.

Detailed routing remains a dominant runtime bottleneck in physical design due to increasing complexity of design rules. Modern routers can struggle to resolve persistent violations under dense operating conditions. While recent work leverages reinforcement learning (RL) to dynamically select costs for each routing iteration, we find that this technique struggles with high-density designs where routing solutions are significantly harder. To address this, we present a history-aware offline RL policy which predicts iterative cost weights in these dense regimes to improve convergence across placement densities by utilizing readily available features from the router. Our policy uses conservative Q-learning similarly to prior work; however, our key insight is that addition of a lightweight LSTM architecture and additional features can retain sequence context and improve routing convergence across multiple densities and route guide qualities. Our policy can be integrated into any cost-based router with minimal pipeline changes, as it does not interfere with the core search algorithm. We evaluate our policy on held-out density and adjustment settings, including difficult operating points induced by dense placement and low guide quality. Our policy reduces design rule violations (DRVs) by an average of 92% over the top public baseline while simultaneously reducing runtime by 10%.

Dense self-supervised learning (SSL) is a powerful paradigm for learning without annotations the local descriptors required to solve dense medical imaging tasks. We present Pix2Rep-v2, a framework for SSL of pixel- and voxel-level representations suitable for few-shot downstream applications. Pix2Rep-v2 addresses the main challenges of dense SSL by leveraging a redundancy reduction objective at the pixel-level with a principle of equivariance of dense representations, that scales efficiently to 3D or wide field-of-view applications. We evaluate our method on four datasets, across multiple tasks, multiple modalities and anatomical structures using multiple backbones in 2D and 3D, and under various data regimes. As an alternative to linear probing or full fine-tuning on the downstream task, we also propose an in-context variant, without downstream training, based on a dense prototype approach. Pix2Rep-v2 shows substantially higher data-efficiency in few-shot scenarios compared to fully supervised baselines, and is competitive with the state-of-the-art e.g., +9.3 Dice points in one-shot segmentation on the M&Ms-2 dataset. Our code and pre-trained models are publicly available at https://github.com/BioMedTP/pix2rep-v2.

Large Language Models (LLMs) in real-world applications often face the risks of specially crafted prompts designed to bypass the safety controls. Existing guardrail methods, such as LLM-as-a-judge and cloud-based safety APIs are able to detect unsafe content. However, they often add a delay of about 250-900 ms to each request. This delay is too high for real-time applications, when the system usually needs to respond in less than 100 ms. Furthermore, routing user prompts through external moderation endpoints raises significant data privacy concerns. This paper introduces Reflex-Guard, a lightweight guardrail that runs locally. It uses jailbreak-aware preprocessing, compact sentence-transformer embeddings, and seven fast binary classifiers. Together, these components enable high-accuracy prompt safety filtering with much lower latency than existing solutions. Through systematic evaluation on a strategically balanced dataset of 30,568 samples drawn from five complementary sources, we demonstrate that Reflex-Guard achieves 95.9% recall on harmful prompts at 37.6 ms end-to-end latency. It is faster than existing baselines, including Llama Guard 2 at 255 ms and SafeDecoding at 723 ms. It can detect 100% of GCG suffix attacks and Base64-encoded prompts using the default threshold. However, DrAttack structured prompts required lowering the threshold to 0.03 for optimal detection, as they produced a distinct probability distribution. Reflex-Guard achieves Reflex Efficiency Score (RES) scores up to 16.79, significantly outperforming Llama Guard 2 (11.90) and SafeDecoding (9.80). This analysis offers practical deployment advice and shows that different attack types occupy distinct regions in the embedding probability space.

Retrieval-augmented generation (RAG) systems rely on retrieval modules to ground large language model (LLM) outputs. LLM-based query expansion enriches retrieval with document-like passages, but evaluations of hybrid retrieval often fuse fixed top-L prefixes of dense and sparse rankings. Because L controls cross-channel contributions and ranking access, it can alter measured expansion gains. We therefore evaluate complete-list effectiveness and record per-channel replay stopping depths required to certify the ordered top-K. This changes the design: because both rankings determine the fused result, their query constructions should be coordinated rather than designed independently. We present DESA (Dense Expansion and Sparse Anchoring), which shares generated references across channels but specializes their integration. Orthogonal residual expansion adds new semantic directions to the dense query, whereas score-product anchoring reorders the original sparse support without admitting expansion-only matches. The same references thus play complementary roles: Dense expands; Sparse anchors. Across seven BEIR datasets, DESA improves nDCG@10 and Recall@20 over the unexpanded query by 3.82% and 2.38%, while reducing dense and sparse replay stopping depths by 36.90% and 36.56%.

Embeddings have emerged as a standard representational interface linking foundation models with downstream systems. Most embedding benchmarks assess representations through discriminative tasks or geometric criteria centered on separability in embedding space. However, strong performance on such evaluations does not establish whether content compressed into an embedding remains accessible to a downstream generator. To address this gap, we introduce the Generative Embedding Benchmark (GEB), in which a decoder answers questions using only a frozen embedding and question text, without access to the original image or intermediate visual features. Answer quality under this readout measures generative information: the answer-relevant content recoverable from an embedding. GEB includes a curated visual-question-answering dataset with a 1,800-item development split and a held-out 900-item test split covering natural images, scene text, and visual documents. Using a common decoder and training recipe, we evaluate seven public embedding models in visual-only and vision-language joint modes. On the test set, visual-only scores range from 28.25 to 33.21; with image-question joint encoding, all five VLM-based embedding models score higher, and the best reaches 65.56. Matched embeddings also outperform text-only inputs, zero embeddings, and shuffled embeddings. Natural-image information is much easier to recover than scene text or visual-document information, while a Qwen3-VL-2B reference with access to the original image reaches 84.30. Together, these results show that generative readout exposes information bottlenecks that separability-based evaluation does not capture.

Proper short-term forecasting of precipitation is crucial in disaster management and preparedness. Nonetheless, the variability and nonlinearity of precipitation make short-term forecasting challenging for meteorologists. Moreover, capturing temporal dependencies in spatiotemporal data is a challenge in precipitation nowcasting. In this article, we introduce a lightweight deep learning model for half-hourly precipitation nowcasting. This model has been designed by incorporating the DenseNet architecture, residual connections, and transformer encoders for effective precipitation nowcasting with reduced model parameters. The North-Eastern region of India has been selected as the area of interest for our study. The region receives the highest precipitation during the months of June-September due to the monsoon season. The proposed model takes the previous five time-steps of half-hourly precipitation as inputs and predicts the precipitation in the next two half-hours. The GPM IMERG precipitation dataset with a 30-minute cadence has been used in this study for training and testing the model. The proposed architecture achieves best MAE of 0.235 millimetres, RMSE of 0.735 millimetres, and KGE score of 0.816 at an interval of 30 minutes.

Wi-Fi networks are moving beyond random channel access toward tightly coordinated operation across access points (APs), a shift reflected in Wi-Fi 8's multi-AP coordination (MAPC). However, the current MAPC specification restricts cooperation to AP pairs, fundamentally limiting the gains achievable in dense deployments and calling for scalable, network-wide coordination in beyond Wi-Fi 8 systems. We target coordinated spatial reuse (Co-SR), where APs transmit concurrently at reduced power. Effective Co-SR demands joint selection and configuration of AP-station transmissions, yet existing approaches simply do not scale: they rely on heavy signaling, slow convergence, unrealistic assumptions, and often require computation time that explodes with network size. We introduce FM4WiFi, a generative ML pipeline that addresses these limitations by producing high-quality Co-SR configurations in a single inference step. FM4WiFi integrates (i) an autoencoder that learns compact latent representations of network states, (ii) a flow-matching generative model that synthesizes feasible Co-SR configurations (including rate control, absent from prior work), and (iii) a surrogate rate predictor that allows rapid, large-scale Co-SR candidate evaluation without dependence on a live system or digital twin. Across extensive evaluations (including experimental validation), FM4WiFi matches or exceeds state-of-the-art baselines at medium-to-large scales and scales to 30+ APs with sub-second inference. Extensive ablation studies validate each modeling and optimization choice.

Sparse retrieval underpins modern search systems, from web search to retrieval-augmented generation. Existing work has introduced Learned Sparse Retrieval (LSR) to push beyond exact lexical matching toward richer semantics. Yet LSR has so far remained tied to encoder-style bidirectional architectures, and its extension to multimodal settings still relies heavily on auxiliary cross-modal modules. To address these limitations, we introduce UEmbed (Unified Embedding), a decoder-only multimodal embedding model that produces both sparse lexical and dense representations in one causal forward pass. UEmbed appends N learnable special tokens to the input and partitions the vocabulary into N disjoint subsets. Each token's causal hidden state predicts sparse weights over its assigned subset, and the N subsets are concatenated into the full sparse vector. Trained on public data, we release UEmbed at 2B, 4B, and 9B scales. UEmbed-9B reaches 71.8 (dense) and 71.0 (sparse) on MMEB-v2, outperforming multimodal embedding models trained on publicly available data (e.g., RzenEmbed). On BEIR, UEmbed also remains competitive with strong dense and sparse baselines. Furthermore, we demonstrate the practical utility of UEmbed across three dimensions: effectiveness, efficiency, and agentic applications. Overall, UEmbed offers a new paradigm: it unifies dense and sparse embeddings in one model, while further extending sparse retrieval to unify text and multimodal inputs.

Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in daily life, making it essential for household robots. Compared to single-object manipulation or interactions between rigid bodies, these tasks are particularly challenging due to the rich multi-point contacts and the complex dynamics of the deformable bodies during interaction. Therefore, object-centric representations such as 6D poses or structural points without task-specific information become insufficient for these interactions. In this work, we propose a hybrid correspondence-based representation tailored for rigid-deformable interactions. First, to capture intricate interaction information, we introduce structure-, task-, and interaction-aware sparse keypoints. The keypoints are generated based on the global structures of both rigid and deformable objects, and filtered by their local interaction contacts. However, tracking these sparse keypoints through the interaction remains difficult due to the high-dimensional dynamics of deformable objects. Therefore, we further construct dense correspondences on the deformable objects for accurate keypoint tracking throughout the manipulation. This hybrid design combines the advantages of both representations: sparse keypoints encode rich, task-specific information for fine-grained manipulation, while dense correspondences ensure efficient tracking and generalization to novel deformations, shapes, and scenarios. Together, they enable one-shot transfer to new tasks with minimal demonstrations. Extensive experiments demonstrate the effectiveness and broad applicability of our method.

Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) is essential for breast cancer management, but reliance on gadolinium-based contrast agents (GBCAs) restricts use in contraindicated populations, prolongs scan protocols, and presents environmental toxicity concerns. Contrast synthesis offers a non-invasive alternative; however, existing approaches struggle to balance spatial realism with temporal continuity, suffer from slow iterative sampling, underutilize structural priors, and lack clinical validation. We propose a novel conditioned latent transport framework that predicts contrast enhancement in a single forward pass. By anchoring the latent trajectory to the pre-contrast anatomy and applying continuous time conditioning, the model synthesizes patient-specific contrast evolution at any acquisition time. The proposed approach outperforms baseline and the state-of-the-art models across spatial, perceptual, temporal, and distributional metrics. Evaluated on an independent external cohort, the method demonstrates robustness to domain shifts induced by scanner noise as well as differing acquisition protocol. Furthermore, our synthetic contrast enhancement significantly improved downstream tumor segmentation performance, yielding a 22.4% relative increase in Dice coefficient (0.60 vs. 0.49 baseline pre-contrast, p < 0.01), reducing boundary segmentation error by over 39%, while outperforming all other generative model baselines. Finally, a reader study involving four breast radiologists evaluated the image quality, kinetic fidelity, and diagnostic viability of our synthesized sequences across 40 randomly selected cases. The results demonstrated that in 70% of cases, synthesized images provided sufficient clinical information to support the same management decisions as real DCE-MRI, suggesting a path toward safer and faster contrast-free or contrast-reduced imaging workflows.

Recovering the 6-DoF pose of the knee bones from a plain radiograph, given the patient's segmented pre-operative CT, turns a routine low-dose image into a quantitative measurement of joint geometry, without the added dose of a repeat CT or a fixed biplanar rig. Classic solutions align a rendered bone silhouette to image edges; recent alternatives refine pose by backpropagating an image-similarity loss through a differentiable X-ray renderer. Both operate one patient at a time and are fragile under a single view. Silhouettes are depth-ambiguous, and differentiable-rendering refinement has a narrow capture range at substantial per-iteration cost. We instead learn an amortized, subject-agnostic dense 2D-3D correspondence, supervised solely by projection geometry. One shared-weight model per bone, trained across 758 patients, registers patients unseen during training. The pose then follows in closed form from a global, initialization-free, render-free PnP+RANSAC solve. Because X-ray formation is transmissive, our correspondence target is transmission-aware rather than tied to a single surface. Though trained only to register, the representation is anatomically semantic: a simple classifier reads a landmark's anatomical region from its embedding across held-out patients, and the same features separate the knee's bones into a 2D-3D-consistent identity learned without any bone label. On a large single-institution cohort the model generalizes well to held-out patients.

Continuous Thought Machines introduce an internal temporal dimension in which neuron-level histories and synchronization-derived representations evolve over a sequence of thought ticks. Extending this mechanism to dense visual prediction is non-trivial, because tasks such as image super-resolution require spatial evidence to remain available at every output location rather than being compressed into a single global representation. In the proposed window-level use of CTM, the thought dynamics produce a compact summary representation for each local window. DQ-CTM transforms this compact thought representation into window-aligned dense queries through a structured low-rank, parameter-efficient compact-to-dense query mechanism. Each position within a window receives its own query, while shared thought dynamics progressively refine the dense representation across ticks. In its super-resolution instantiation, termed ThinkSR, encoded feature maps are partitioned into local visual windows without token pooling, restored to the original feature field after shared refinement, and decoded into a high-resolution image. Preliminary experiments under a fixed four-tick training horizon reveal a progressive reconstruction trajectory. PSNR-Y increases from 28.1045 dB at $T=0$ to 30.2817 dB at $T=4$, while PSNR-RGB increases from 26.6271 dB to 28.7781 dB and the mean $\ell_1$ error decreases from 0.034602 to 0.023545. All 100 evaluated images improve from $T=1$ to $T=4$. These initial results establish the feasibility of sparse latent thought for dense spatial reconstruction and motivate broader continuous-thought architectures for dense vision.

Reinforcement learning holds great promise for improving robot policies beyond the limits of imitation learning. However, its practical adoption remains bottlenecked by the lack of reliable vision-language reward models that provide dense and informative feedback. Two key challenges remain: acquiring diverse failure data at scale and obtaining fine-grained reward signals beyond sparse trajectory-level success labels. Collecting failure trajectories typically requires laborious human effort, while pseudo-failures constructed by relabeling successful demonstrations fail to capture the diverse physical failure modes that arise during robot execution. Meanwhile, existing reward models often predict sparse binary or trajectory-level rewards, which provide limited guidance for efficient policy optimization. We introduce DenseReward, a dense robotic reward model that addresses both challenges. To train DenseReward, we develop an automated failure data generation pipeline that synthesizes physically realistic failure trajectories in simulation without human labeling, covering diverse failure modes such as collisions, missed grasps, object drops, and recovery behaviors. DenseReward predicts dense frame-level reward scores from visual observations and language instructions, enabling fine-grained estimation of task progress throughout an episode. Experiments show that DenseReward outperforms general-purpose VLMs and existing robotic reward models in dense reward prediction across both simulated and real-world manipulation. We further demonstrate that DenseReward provides effective reward guidance for downstream model predictive control and reinforcement learning. We release the dataset, trained reward models, and evaluation suite to support the development of failure-aware dense reward modeling for robot learning.

We introduce DenseAR, a new generative paradigm that reformulates autoregressive image generation as coarse-to-fine next-dense-stride prediction using a compact single-scale tokenizer. Our key insight is that traversing a single-scale latent grid with progressively denser strides naturally captures the transition from global structure to fine detail. This addresses two limitations of existing autoregressive models at once: the slow inference of raster-order autoregression, which DenseAR avoids by predicting multiple tokens in parallel, and the heavy cost of multi-scale approaches, which need long, multi-resolution token sequences to achieve coarse-to-fine prediction. Building on our efficient framework and the flexibility of autoregressive modeling, we further extend DenseAR to a unified model that handles multiple modalities and imaging tasks within a single backbone. We validate DenseAR on both medical and natural images. On multi-contrast brain MRI, a single DenseAR model unifies cross-modal translation, modality-conditioned generation, and tumor segmentation, while remaining competitive with task-specific methods. On ImageNet, DenseAR improves class-conditional generation quality (FID and IS) over both a single-grid baseline without stride ordering and a multi-scale tokenizer-based baseline.

AI agents have become capable of autonomously completing short, well-specified tasks. However, existing terminal benchmarks largely focus on simple problems that finish within minutes and are evaluated only by their final outcome. This setup overlooks intermediate progress and partial solutions, yielding sparse reward signals and an incomplete picture of agent capability. We introduce Long-Horizon-Terminal-Bench, a terminal benchmark of 46 long-horizon tasks spanning nine categories, including experiment reproduction, software engineering, multimodal analysis, interactive games, and scientific computing. Each task follows a Terminal-Bench-style setup with a reference solution or simulation engine, but is further decomposed into fine-grained graded subtasks. This design enables dense intermediate rewards and partial credit, allowing evaluation to capture not only whether an agent reaches the final goal, but also how far it progresses on open-ended workflows. Tasks in Long-Horizon-Terminal-Bench typically require hundreds of episodes and minutes to hours of execution, stressing long-horizon planning, long-context management, and iterative debugging rather than one-shot problem solving. We evaluate 15 frontier models and find that agents consume on average 9.9M tokens per task, with roughly 231 episodes and 85.3 minutes of execution time per run, making Long-Horizon-Terminal-Bench more demanding than prior terminal-based benchmarks. Even the strongest tested model achieves 15.2% pass@1 at a partial-reward threshold of 0.95 and 10.9% at a perfect-reward threshold of 1.0, while the mean pass rate across models is 4.3% and 1.7% under the two thresholds, respectively. These results reveal headroom for improvement. We further analyze failure modes and error patterns, and release Long-Horizon-Terminal-Bench to support future progress on long-horizon terminal agents.

Text-to-image diffusion models fail to generate correct object counts in dense scenes, where overlapping instances collapse into indistinguishable structures despite appearing visually plausible. We identify this as instance ownership collapse: tokens from overlapping objects interact freely through attention, while heavily occluded instances receive weak supervision due to their small visible areas. We address this through layout-aware attention biases that softly bias token interactions toward region-consistent grouping and suppress cross-instance leakage, paired with an amodal-balanced loss that amplifies gradients for occluded objects based on their occlusion level. To enable systematic evaluation, we introduce OverlapDepth-45K, a benchmark of densely overlapping scenes with amodal supervision. Our approach substantially improves count accuracy and prevents instance merging while preserving image quality. Project page: https://bachngoh.github.io/AIBL

Continual post-training enables foundation models to acquire new knowledge while preserving existing capabilities. Recent work suggests that on-policy learning can mitigate forgetting, with on-policy self-distillation emerging as a particularly attractive approach. In this work, we revisit this optimistic view through self-distillation policy optimization (SDPO). Our experiments show that SDPO can accelerate in-domain specialization when teacher signals are stable and well aligned, but it struggles to generalize to out-of-distribution scenarios. In continual post-training, SDPO exhibits stronger forgetting and can even collapse, whereas on-policy reinforcement learning methods such as GRPO adapt more conservatively and better preserve prior capabilities. Further analyses reveal that denser self-distillation induces larger drift in both parameter space and response space, and can amplify high-frequency formatting artifacts through a self-reinforcing teacher--student loop. These findings suggest that on-policy data alone is insufficient for continual learning. Dense self-distillation can accelerate specialization when teacher targets are stable and token-level supervision is reliable, but it should not be treated as a default stabilizer for continual post-training. Our code is available at https://github.com/Moenupa/SDPO-CL.

Time-series models are often evaluated by what they can forecast or classify, but those scores do not show whether their representations preserve the process state a user may want to inspect: event timing, phase, amplitude, frequency, or regime variables. We introduce Aionoscope, a generator-based diagnostic tool for debugging latent-state accessibility in frozen time-series representations. Aionoscope separates process generation from observation rendering, producing seeded synthetic streams with exact categorical and dense labels across mixture complexity and nuisance variation. We instantiate Aionoscope as Primitive Process Mixtures and evaluate 37 model-plus-adapter systems with a common pooled linear-probe protocol. The main result is a mismatch between coarse and fine-grained accessibility. Most systems make component presence easy to recover, but expose dense process state much less reliably: the highest observed dense-probe row reaches 0.689 mean masked $R^2$, while a dense-feature oracle reaches 0.999. This is the failure mode Aionoscope is designed to surface: a representation can look informative at the level of "what kind of signal is present" while hiding the timing, phase, amplitude, frequency, or regime variables needed for debugging.

Accurate segmentation of curvilinear structures remains challenging in biomedical imaging due to their thin geometry, complex topology, and sensitivity to noise. This is particularly critical for microscopy images of cytoskeletal network, where low signal-to-noise ratios and dense filament crossings often lead to fragmented or inaccurate segmentation. In this work, we propose CurvSegFlow, a segmentation framework based on time-conditioned flow matching. Instead of predicting a segmentation mask in a single pass, the method models segmentation as a dynamic process that progressively refines a noisy initialization into the target structure through a learned velocity field. The proposed model combines a U-Net backbone with triple-term loss function and temporal embeddings to guide the refinement process across reconstruction stages. This formulation enables gradual error correction and improves the continuity of thin structures. CurvSegFlow is evaluated on multiple synthetic and real microtubule datasets, as well as on public benchmarks of retinal vessels, corneal nerves and coronary arteries. Across datasets, the method achieves competitive or superior performance compared to established segmentation models, with consistent improvements in precision and structural continuity, particularly under low signal-to-noise conditions. These results show that flow-based iterative refinement provides a robust and general framework for curvilinear structure segmentation. Overall, the proposed approach improves segmentation quality in challenging imaging conditions and generalizes effectively across modalities without architectural changes.

Uncertainty quantification (UQ) is essential for reliable decision-making in safety-critical applications in probabilistic machine learning. For regression problems, dominant scalar UQ approaches - notably, those based on proper scoring rules - measure uncertainty via pointwise predictive risk. This can lead to counterintuitive results when the target statistic is not the conditional expectation. We propose an alternative framework, in which uncertainty is characterised by the volume of the most probable subset of a distribution's support. QUEST (Quantifying Uncertainty via highest dEnSiTy regions) is a novel approach to UQ based on the concentration of Lebesgue measure at a distribution's peak(s), evaluated at one or more values of a robustness parameter $α$. We establish connections between our measures and classical statistics from information theory and economics. We show that, unlike popular alternatives based on proper scoring rules, QUEST measures of epistemic and aleatoric uncertainty satisfy a set of axioms adapted from the UQ literature, including monotonicity under distributional spread and invariance to location shifts. Selective prediction benchmarks confirm that QUEST performs favourably against standard measures such as variance and differential entropy.

In recent years, neural networks have become the dominant models in most point cloud upsampling methods. Although these approaches are achieving good results, they do have drawbacks, such as a lack of interpretability and data dependency. Moreover, they have to be trained on a dataset that is similar to the test data in order to perform well. To avoid these disadvantages, we propose Point Cloud Upsampling through Patch-based Frequency Superposition (PUtPFS), an optimization-based approach that selects subsets of points and estimates the surface of this set through superpositioning spatial frequencies. Then, new points are placed on this surface. By successively selecting points in the least dense regions of the point cloud, a uniform upsampling can be reached. With this method, we surpass the current best upsampling results in the commonly considered point-to-surface distance. Furthermore, we achieve the best Chamfer and Hausdorff distance among the optimization-based approaches. As an additional advantage, our method does not need any training data and is mathematically interpretable.

Finance reporting is a natural proving ground for large language models, and the very-long-context capabilities of recent models across all sizes make rigorous evaluation in this domain an increasingly pressing need. Yet most public financial resources reduce the task to plain-text SEC 10-K filings paired with a handful of question-answer items. We release LEDGER (Long-context Evaluation of Documents for Grounded Extraction and Retrieval), a corpus of 4,999 digitized corporate annual reports - full documents with figures, tables, and narrative, not just regulatory filings. Each report is labeled with 31 consolidated financial KPIs to be extracted and linked to the market's reaction at the earnings date. From this data we derive three evaluation benchmarks spanning the difficulty spectrum: a pure page-level KPI retrieval task with TREC-style relevance judgments over 118,048 questions in natural language, a conversational "needle-in-a-haystack" single-value lookup, and a full KPI extraction task, both from long, numerically dense reports. We additionally provide human OCR-quality annotations with inter-annotator agreement and the complete extraction, validation, and scoring toolchain. We further demonstrate the dataset's research utility with a case study linking CEO-letter rhetoric to post-publication market impact.

Dense embedding retrieval compresses all relevance information into a single inner product, imposing a fundamental geometric limit -- the Voronoi Bottleneck -- on the number of query-document relevance patterns expressible at fixed embedding dimension (d). We make three contributions. (1) Unified capacity theory. We prove that Voronoi complexity and sign-rank are equivalent for top-1 retrieval, yielding tight dimension bounds and a computable diagnostic, the Capacity Utilization Score (CUS), that predicts per-query retrieval failure with AUC (> 0.8) without relevance labels. (2) Diagnosis. CUS identifies two capacity regimes -- moderate ((δ\gtrsim 1)), where density-aware training yields measurable gains, and vacuous ((δ\ll 1)), where it does not -- giving practitioners an a priori check before investing in retraining. (3) DART training. We introduce AT-DW-InfoNCE, an Adaptive-Temperature Density-Weighted contrastive objective with formally derived optimal weighting (α^* = 2.0). On a 100K-query synthetic product-search corpus with controlled relevance structure, DART improves +1.9 Recall@100 over a same-data InfoNCE baseline ((84.9 \pm 0.0) vs. (83.0 \pm 0.3); 8 seeds, (p < 0.001)), outperforming focal loss and temperature-schedule alternatives. DART requires zero inference-time overhead -- it is a drop-in training objective that improves any dual-encoder system.

Scene Graphs (SGs) provide structured representations of visual scenes by modeling objects and their pairwise relationships. Despite recent progress, existing datasets primarily focus on generic natural contexts, leaving domain-specific and function-oriented scenes largely underexplored. This limitation restricts the evaluation of relational reasoning in scientific experimental scenes, thereby hindering the development of intelligent monitoring, analysis, and related applications in such scenes. To address this gap, we introduce PhysScene, the first SG dataset tailored to physics experiments. PhysScene encompasses specialized instruments, structured experimental setups, and functional relations intrinsic to experimental environments, enabling reasoning that extends beyond spatial co-occurrence to logical dependencies. Rather than pursuing large data scale, PhysScene focuses on strong semantic constraints and high relation density in experimental scenes, posing new challenges for existing scene parsing algorithms while offering opportunities for further improvements. Extensive analyses and experiments show that PhysScene complements existing benchmarks and establishes a valuable testbed for advancing scientific visual reasoning. The dataset is publicly available at https://github.com/ZMH-SDUST/PhysScene.

Indoor scene generation is crucial for robot simulation and modern interior design. However, complex layouts together with scarce 3D scene data make learning-based generation challenging. Existing methods often rely on hand-crafted rules or focus on isolated sub-tasks (e.g., floorplan synthesis or single-room furnishing), producing whole-home scenes that lack global coherence, realism, and simulation readiness. To mitigate these limitations, we propose a unified hierarchical framework that decomposes indoor scene synthesis into controllable stages. First, we curate a large-scale dataset of 300K real residential floorplans to train a large language model for whole-home floorplan generation. With detailed descriptions and a K-D tree-based representation, our method enables fine-grained, controllable whole-home floorplan generation. Building upon the generated whole-home floorplan, we leverage image generation models to draft furniture layouts from multi-level roaming viewpoints, and then generate the layouts of small manipulable objects on different supporting surfaces (e.g., cabinets, desks, and dining tables) for embodied AI simulation. During furniture and object layout generation, a VLM-based refiner iteratively corrects furniture and object placement, and a 3D generative model enables flexible replacement of individual assets. We further attach basic physical attributes and simple surface texture and lighting setups to complete the pipeline for embodied AI use. Experiments and user studies demonstrate that our pipeline produces indoor spaces with greater layout diversity and stronger 3D design appeal, outperforming prior methods on both quantitative and qualitative metrics. Finally, alongside our generation pipeline, we will release the floorplan dataset and 5K fully furnished scenes to the community. Project Page: https://kairos-homeworld.github.io/

Dataset condensation aims to construct compact datasets from real data via synthesis or selection. However, existing approaches are ill-suited for diffusion model training: synthetic data generation often yields low-fidelity samples unsuitable for authentic modeling, while real subset selection typically fails to preserve the distributional geometry required by diffusion likelihood objectives. To address this, we propose to reformulate real subset selection as a geometry-aware distribution alignment problem. By incorporating one-sided partial optimal transport, our method selectively aligns a compact subset with the full data distribution while allowing unmatched mass in low-density regions, ensuring the preserved geometric structure necessary for effective diffusion model training. To further ensure distributional fidelity, we complement geometric alignment with lightweight feature-statistics and semantic consistency regularization. An efficient two-stage discrete optimization strategy is proposed to achieve this alignment objective. Extensive experiments across diffusion variants, subset sizes, image resolutions, and training rounds show that our method achieves superior fidelity and distributional coverage in diffusion model training. Codes are available at https://github.com/2018cx/GADC.

We propose DENSER, a Depth-guided ENSemble with Staged EFA-GS Reconstruction for soccer novel view synthesis. DENSER extends EFA-GS with three key contributions: (1) camera-height-based loss weighting that prioritises ground-level broadcast views, (2) monocular depth supervision from Depth-Anything-V2 to regularise geometry in textureless regions, and (3) a three-model pixel-average ensemble whose members diverge from a shared base checkpoint by varying training length and Gaussian scale clamping. On five held-out challenge scenes we achieve a mean PSNR of 29.89 dB, SSIM of 0.791, and LPIPS of 0.366.

Dense retrievers excel at first-stage candidate generation but lack effective reranking in zero-resource settings. Existing approaches face a fundamental dilemma: cross-encoders deliver strong reranking quality but require costly supervised training and incur high latency, while unsupervised BM25 reranking consistently degrades dense retrieval performance on most of BEIR benchmarks. We propose DART (Dense Adaptive Reranking at Test-time), which resolves this dilemma by adapting the scoring function at inference time. For each query, the top-ranked documents serve as pseudo-positive examples and the bottom-ranked as pseudo-negative examples, providing noisy but readily available supervision to adapt a bilinear scoring matrix $W$ via a small number of gradient updates. We further introduce a confidence-weighted margin loss and a cross-query momentum buffer that warm-starts adaptation across queries. On six BEIR benchmarks, DART achieves a mean per-dataset relative NDCG@10 gain of +2.1% over the dense retrieval baseline with under 10ms additional latency per query, demonstrating a powerful capability for zero-shot performance enhancement and cross-domain generalization.

As a widespread form of informal settlements, urban villages present significant challenges for sustainable urban development and governance. Precise mapping of their infrastructure is essential, however, existing remote sensing datasets primarily focus on formal urban environments, lacking fine-grained annotated data for the high-density building patterns and narrow road networks typical of urban villages. To address this gap, we introduce the \textit{DenseUIS} dataset, the first high-resolution remote sensing dataset specifically designed for building and road extraction in extremely dense urban informal settlements, covering 126 urban villages across Shenzhen and Guangzhou in China. Furthermore, we conduct a comprehensive evaluation of state-of-the-art deep learning models on this dataset. Experimental results reveal the limitations of existing methods in handling the unique morphological patterns of dense informal settlements, underscoring the need for specialized approaches. \textit{DenseUIS} therefore provides a robust benchmark for advancing fine-grained urban mapping in complex and high-density informal environments. The dataset is publicly available at https://github.com/rui-research/DenseUIS.

Scaling recommendation models is a central challenge in recommender systems. Recently, RankMixer has emerged as an effective solution, operating on a unified token representation and alternating between token mixing and per-token feedforward networks (P-FFNs) to achieve scalable performance. However, RankMixer suffers from \textit{embedding collapse}, where learned representations have low effective rank, limiting expressivity and underutilizing the expanded representation space. Through empirical analysis and theoretical insights, we identify rigid token mixing and P-FFN modules as the primary causes of this phenomenon, jointly inducing a \textbf{damped oscillatory trajectory} in effective-rank evolution across layers. To address it, we propose RankElastor, a novel architecture that produces spectrum-robust representations with provable collapse mitigation. RankElastor introduces two components: (i) \textbf{parameterized full mixing}, which enables expressive token mixing with improved spectral robustness; and (ii) \textbf{GLU-improved P-FFNs}, which stabilize representation spectra through GLU-style FFN modules. Extensive experiments on large-scale industrial datasets demonstrate that RankElastor consistently improves recommendation performance, mitigates embedding collapse, and exhibits robust scaling behavior. Code is available at this GitHub repository: https://github.com/vasile-paskardlgm/RankElastor

We study dense and mixture-of-experts (MoE) transformers in a tiny-scale pretraining regime under a shared LLaMA-style decoder training recipe. The sparse model replaces dense feed-forward blocks with Mixtral-style routed experts. Dense baselines are modestly width-resized to tightly match either active or total parameter budgets, while tokenizer, data, optimizer, schedule, depth, context length, normalization style, and evaluation protocol are held fixed. Our best sparse recipe uses four experts, top-2 routing, Switch-style load balancing, and router z-loss. In a three-seed full-data comparison, the dense active-match model reaches 1.6545 +/- 0.0012 best validation loss, the MoE reaches 1.5788 +/- 0.0020, and the dense total-match model reaches 1.5608 +/- 0.0025. This yields a matched-active gap of 0.0758 +/- 0.0021 in the MoE's favor and a matched-total gap of 0.0180 +/- 0.0020 in the dense model's favor. Across training, the matched-active advantage grows while the matched-total dense advantage narrows sharply. In this sub-25M-parameter regime, MoE therefore improves validation loss under active-parameter matching but does not surpass dense training at equal total stored capacity.

Probabilistic conditioning is concerned with the identification of a distribution of a random variable $X$ given a random variable $Y$. It is a cornerstone of scientific and engineering applications where modeling uncertainty is key. This problem has traditionally been addressed in machine learning by directly learning the conditional distribution of a fixed joint distribution. This paper introduces a novel perspective: we propose to solve the conditioning problem by identifying a single operator that maps any joint density to its conditional, thus amortizing over joint-conditional pairs. We establish that the conditioning operator can be approximated to arbitrary accuracy by neural operators. Our proof relies on new results establishing continuity of the conditioning operator over suitable classes of densities. Finally, we learn the conditioning map for a class of Gaussian mixtures using neural operators, illustrating the promise of our framework. This work provides the theoretical underpinnings for general-purpose, amortized methods for probabilistic conditioning, such as foundation models for Bayesian inference.

Multimodal large language models (MLLMs) have shown considerable potential in chart understanding and reasoning tasks. However, they still struggle with high information density (HID) charts characterized by multiple subplots, legends, and dense annotations due to three major challenges: (1) limited fine-grained perception results in the omission of critical visual cues; (2) redundant or noisy visual information undermines the performance of multimodal reasoning; (3) lack of adaptive deep reasoning relative to the amount of visual information. To tackle these challenges, we present a novel focus-driven fine-grained chart reasoning model, Chart-FR1, to improve perception, focusing efficiency, and adaptive deep reasoning on HID charts. Specifically, we propose Focus-CoT, a visual focusing chain-of-thought that enhances fine-grained perception by explicitly linking reasoning steps to key visual cues, such as local image regions and OCR signals. Building on this, we introduce Focus-GRPO, a focus-driven reinforcement learning algorithm with an information-efficiency reward that compresses redundant visual information for efficient focusing, and an adaptive KL penalty mechanism that enables flexible control over reasoning depth as more visual cues are discovered. Furthermore, to fill the gap in benchmarks for HID charts, we build HID-Chart, a challenging benchmark with an information-density metric designed to evaluate fine-grained chart reasoning capabilities. Extensive experiments on multiple chart benchmarks demonstrate that Chart-FR1 outperforms state-of-the-art MLLMs in chart understanding and reasoning. Code is available at https://github.com/phkhub/Chart-FR1.

While large models demonstrate the strong representational power of vanilla attention, this core mechanism cannot be directly applied to Dense Object Tracking: its quadratic all-to-all interactions are computationally prohibitive for dense motion estimation on high-resolution features. This mismatch prevents Dense Object Tracking from fully leveraging attention-based modeling in crowded and occlusion-heavy scenes. To address this challenge, we introduce GateMOT, an online tracking framework centered on Q-Gated Attention (Q-Attention), an efficient and spatially aware attention variant. Our key idea is to repurpose the Query from a similarity-conditioning term into a learnable gating unit. This Gating-Query (Gating-Q) produces a probabilistic gate that modulates Key features in an element-wise manner, enabling explicit relevance selection instead of costly global aggregation. Built on this mechanism, parallel Q-Attention heads transform one shared feature map into task-specific yet consistent representations for detection, motion, and re-identification, yielding a tightly coupled multi-task decoder with linear-complexity gating operations. GateMOT achieves state-of-the-art HOTA of 48.4, MOTA of 67.8, and IDF1 of 64.5 on BEE24, and demonstrates strong performance on additional Dense Object Tracking benchmarks. These results show that Q-Attention is a simple, effective, and transferable building block for attention-based tracking in dense tracking scenarios.

Automated sports analysis demands robust multi-object tracking (MOT), yet segmentation-based methods often struggle with mask errors and ID switches in dense scenes. We propose SAMIDARE, a framework that enhances SAM2MOT for crowded scenes through three key components: (1) density-aware mask re-generation and (2) selective memory updates, both for adaptive mask control to preserve target feature integrity, and (3) state-aware association and new track initialization, which improves robustness under mutual occlusions and frequent frame-out events. Evaluated on the SportsMOT dataset, SAMIDARE achieves state-of-the-art performance, outperforming the baseline by 2.5 HOTA and 4.2 IDF1 points on the validation set. These results demonstrate that adaptive feature management using mask control and state-aware association provide a robust and efficient solution for dense sports tracking. Code is available at https://github.com/ZabuZabuZabu/SAMIDARE

This paper presents a framework for mapping unknown scalar fields using a sensor-equipped autonomous robot operating in unsafe environments. The unsafe regions are defined as regions of high-intensity, where the field value exceeds a predefined safety threshold. For safe and efficient mapping of the scalar field, the sensor-equipped robot must avoid high-intensity regions during the measurement process. In this paper, the scalar field is modeled as a sample from a Gaussian process (GP), which enables Bayesian inference and provides closed-form expressions for both the predictive mean and the uncertainty. Concurrently, the spatial structure of the high-intensity regions is estimated in real-time using the Hough transform (HT), leveraging the evolving GP posterior. A safe sampling strategy is then employed to guide the robot towards safe measurement locations, using probabilistic safety guarantees on the evolving GP posterior. The estimated high-intensity regions also facilitate the design of safe motion plans for the robot. The effectiveness of the approach is verified through two numerical simulation studies and an indoor experiment for mapping a light-intensity field using a wheeled mobile robot.

Recurrent neural networks are canonical models of biological memory. In these models, memories are represented by distributed patterns of neural activity that are stored in the recurrent connections between neurons, such that they become attractors of the network's dynamics. During memory recall, network dynamics thus converge toward one of these memory patterns when started from a noisy or partial cue. Therefore, memory performance critically hinges on the dynamical stability of the stored patterns. However, previous theoretical approaches only studied dynamical stability under highly restrictive conditions that do not readily apply to biological neural circuits. Here, we develop a theory of the local stability of discrete fixed points in a broad class of networks with graded neural activities and in the presence of noise. Using methods from random matrix theory, we analyze the bulk and outliers of the eigenvalue spectra of the Jacobians that characterize network dynamics around fixed points. We show that either all fixed points are stable or all of them are unstable, depending on whether their number is below a ``critical load for stability'', which is distinct from the classical critical capacity that measures the maximal number of achievable fixed points regardless of their stability. We further analyze the dependence of this critical load for stability on experimentally measurable quantities characterizing the statistics of memory patterns and the activation functions of neurons. Our analysis highlights the computational benefits of sparse-like patterns and threshold-linear activation functions and offers testable predictions for neural circuits supporting memory.

Retrieval over financial filings is difficult because queries are short and acronym-heavy while the answer-bearing evidence sits inside long, table-dense documents. We study sparse-dense hybrid retrieval on FinDER, a benchmark of expert-annotated questions over corporate 10-K filings. Our first finding is methodological: if the retrieval unit is larger than the dense encoder's input window, the dense model never sees a large share of the labeled evidence, confounding comparison against a full-text sparse baseline. We measure this directly and reduce the imbalance with windows chosen for the encoder budget. On this corpus, fusing BM25 and a compact dense encoder improves reference-level Hit@10 by roughly 28 percent over either component, and training-free, untuned reciprocal rank fusion exceeds the equal-weight blend in an exploratory comparison. We then ask whether choosing the fusion weight per query helps: an oracle over the interpolation-weight grid shows headroom of 21.8 percent, yet none of the three lightweight adaptive routers (a score-confidence heuristic, a random forest over query features, and a ridge regressor over query embeddings) establishes a statistically reliable improvement over the fixed blend under company-grouped cross-validation with cluster-robust inference. Simple fusion is a strong baseline here, and we discuss why per-query weighting does not capture the available headroom.