Robotwin

AI applications have shifted from single, monolithic foundation models (FM) to compound agentic systems. Yet today's stacks remain fragmented: even as protocols (e.g., MCP, A2A) ease tool/agent connectivity, each framework embeds an implicit runtime for state, memory, budgets, and guardrails, making behavior non-portable and governance brittle. It mirrors computing before operating systems, when every program re-implemented basic services. This position paper argues that the field now needs a Foundation Model Operating System (FMOS) -- a system layer that virtualizes FM interactions analogous to how virtual machines abstract physical hardware, giving applications the illusion of dedicated, trustworthy FM instances with effectively unbounded capabilities. Internally, the FMOS orchestrates knowledge across memory tiers, model selection and resource allocation, and verification and policy enforcement. Like the human brain switching between fast intuition and slow deliberation, the FMOS learns when to intervene and when to let inference proceed directly and continuously adapting its policies based on operational experience.

AI-assisted writing can flatten meaning in human storytelling, enabling the production of homogeneous outputs without the intentional effort and sense-making writing entails. To address this challenge, we present The House with a Million Windows (HWAMW), an LLM-based interactive fiction system designed to help users explore both the breadth and depth of potential meanings within their personal stories -- drawing on a psychological paradigm called the restorying intervention. In HWAMW, users play through a text-based narrative in which they tell a story, then encounter a set of LLM-generated "windows" reframing it according to different literary styles. Empirical evidence shows that HWAMW increases users' sense of narrative identity, while an expert review explores how this effect is achieved. Our findings suggest that HWAMW facilitates restorying and offers a valuable paradigm for AI-assisted writing, wherein LLMs do not tell our stories but rather help us see greater potential in the stories we tell.

Enterprise settings provide a challenging environment for question-answering agents, which often rely on Retrieval-Augmented Generation, Deep Research (DR), and related techniques. Much of this challenge comes from the complexity of enterprise data: information is often spread across evolving and potentially conflict- ing emails, chat messages, documents, and other artifacts. Existing benchmarks typically have limited real-world complexity, short-form responses, and unnatural queries, so they often fail to capture the challenges of enterprise settings. In this work, we introduce an automated pipeline for generating synthetic datasets of emails reflecting realistic workplace scenarios, along with long- and short-form questions and gold answers grounded in the data. Our method simulates long-running enterprise projects spanning several months and involving up to 25 interacting employees across multiple roles. The data emphasizes ambiguity, distributed information, and naturally occurring queries. To validate the pipeline, we evaluate few standard agentic baselines on our datasets using the latest frontier models. We find that aggregate scores averaged over all queries remain below 80% for each dataset, indicating significant room for improvement. These findings suggest that more work remains to be done for enterprise deployment and underscore the importance of realistic, high-complexity evaluation data for developing stronger real-world enterprise DR systems.

Vision-language-action (VLA) models map visual observations and language instructions directly to robot actions, but long-horizon tasks require more than action prediction. An agent must coordinate perception, planning, execution, progress verification, and recovery as the physical state evolves. An action prediction or a model-generated skill decision does not, by itself, guarantee that the proposed operation is valid in the current state or that its outcome will be verified. We propose EmbodiedSkills, a unified framework that treats each skill decision as an execution proposal: the runtime checks its prerequisites before execution and verifies the outcome afterward. A shared executable-skill interface connects high-level skill selection, bounded low-level VLA execution, and post-action verification within a single agent loop. Because this interface remains fixed, low-level VLA policies can be replaced or adapted without changing the agent loop. The interface also records planning, execution, verification, and recovery events as structured trajectories, which provide supervision for individual components and can support optional online adaptation when interactive feedback is available. We instantiate EmbodiedSkills with Qwen3-VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO. Task-adapted low-level VLA policies achieve an average success rate of 86.20% across 50 RoboTwin 2.0 tasks and 97.40% across the four LIBERO suites. These results establish the execution performance of the task-adapted low-level VLA policies used in EmbodiedSkills. On four memory-dependent RMBench tasks, the same task-adapted execution approach achieves 12.5% average success. The framework provides a trainable and inspectable agent layer for turning these policies into closed-loop embodied systems.

Digital interfaces are traditionally implemented through intermediate representations such as code, requiring their appearance and behavior to be specified in advance. We introduce Solaris, an interface world model that instead generates an interactive UI directly, frame by frame, in response to user actions. Solaris treats mouse interactions as conditioning signals and autoregressively synthesizes the resulting visual state at interactive speeds. To enable real-time generation while maintaining visual coherence over extended interactions, we combine autoregressive frame generation with few-step distillation and training on the model's own outputs. A language model complements the visual world model by interpreting user intent and specifying how interactions should affect the generated environment, separating high-level reasoning from visual rendering. By generating both the appearance and behavior of an interface dynamically, Solaris enables open-ended interactions that need not be explicitly programmed in advance. We view interface world models as a step toward a new paradigm for software, where interfaces are generated and adapted continuously around user intent rather than implemented as fixed collections of predefined states and

Cardiovascular sensing systems must preserve clinically useful information despite signal degradation, wireless losses, energy constraints, and edge-computation latency. We introduce Physiological Information Reliability (PIR), a cross-layer framework that represents physiological information value jointly with wireless, energy, and computation states and uses a contextual bandit to adapt sensing and communication decisions. We integrate multimodal ECG/PPG signal-quality estimation with physiological information value and an adaptive network-coding layer under burst-erasure conditions. Across controlled multiseed experiments, PIR-LinUCB demonstrates a promising low-energy operating point while maintaining medical latency constraints and competitive physiological estimation performance relative to fixed and heuristic policies. We analyze the resulting accuracy-energy-latency trade-offs and identify limitations of proxy PIV estimation and simulated communication dynamics. These results provide an initial computational demonstration of physiological-information-aware resource allocation and motivate future clinical and real-channel validation.

Visual aliasing, also known as the doppelganger problem, remains a key challenge for structure-from-motion (SfM): visually similar but physically distinct surfaces can produce incorrect image matches and degrade reconstruction quality. Previous work mitigates this issue with geometry-aware foundation-model features, but places a heavy transformer classifier on top of the backbone, making large-scale disambiguation expensive. We introduce XDG, an efficient visual disambiguation model designed for scalable SfM. Our key observation is that a 3D foundation model already performs the cross-view geometric reasoning necessary for visual disambiguation, so doppelganger classification should adapt the backbone representation directly rather than relearn pair reasoning in a separate heavy decoder. XDG fine-tunes Depth Anything 3 with lightweight LoRA adapters and repurposes its camera tokens as compact pair-level classification tokens. A compact MLP head predicts whether a candidate image pair observes the same 3D surface. Extensive experiments show that XDG provides a favorable accuracy-efficiency tradeoff: it remains competitive with the state-of-the-art disambiguation method across pairwise and reconstruction benchmarks and delivers more than a 3x inference speedup. On individual LaMAR scenes containing thousands of images, XDG saves more than 10 hours of visual disambiguation processing. Code is available at https://github.com/xtcpete/xdg.

Large-scale vision--language--action (VLA) policies have advanced generalist robot control, yet most remain stimulus-to-action black boxes: actions are exposed, but their explanatory state is not. They provide no native account of three explanatory signals: task progress, the next semantic transition, or local command reliability. Prior work shows that progress and event structure aid long-horizon control and that uncertainty supports monitoring; however, such capabilities are typically added or extracted only after action pretraining. The field therefore lacks a VLA foundation model whose explanatory state is jointly pretrained with control. Drawing on biological sensorimotor organization, in which outcome-sensitive, event-segmented, and probabilistic predictions structure behavior, we introduce LM-X. LM-X learns three directly supervised online signals: return-to-go (RTG) estimates visible progress and state quality; event-to-go (ETG) predicts the action sequence to the next semantic event; and heteroscedastic action-flow variance reports local command reliability. RTG conditions ETG and both condition action generation; uncertainty is estimated inside the action expert, making explanation part of control rather than a post-hoc description. We pretrain LM-X on more than 20,000 hours of heterogeneous real-robot trajectories, including over 1,000 hours of failed rollouts. A controlled gate favors joint over post-hoc training. LM-X achieves 74.1% success on 50 randomized-hard RoboTwin2.0 tasks and 73.5% on seven real-robot tasks, compared with 55.4% and 50.7% for GR00T N1.7. Its signals track progress and regression, anticipate event-scale motion, detect high-error actions, and provide advance failure warning. These results establish LM-X as an explainable VLA foundation model that couples transparent predictive state with stronger generalist control.

World Action Models (WAMs) jointly predict future actions and the evolution of the environment. At each inference, a WAM generates a chunk of actions and the robot executes a fixed prefix before replanning. We argue that this fixed execution horizon is poorly matched to execution dynamics: the chunk reliability varies across task stages, so when to replan depends on the result of accumulated execution, not on the step counts. We propose TempoWAM (Timing Execution by Monitoring Progress Online), a lightweight plug-and-play execution scheme for WAMs. A Recurrent Progress Monitor first estimates task progress from the current observation, task instruction, remaining actions, and execution history; and an Adaptive Execution Protocol then evaluates whether the chunk is advancing the task to decide if replanning is needed. To bridge the training-deployment gap, the protocol is calibrated by a task-dependent calibration factor with online adaptation. Experiments on LIBERO, RoboTwin, and real-world tasks show that TempoWAM consistently improves the efficiency-success trade-off of WAM execution. On real robots, it reduces WAM inferences by 26.9% on easy tasks while maintaining success, and improves success by 13.3 points on difficult tasks.

Industrial device commissioning requires engineers to manually extract hundreds of protocol-specific parameters from heterogeneous PDF manuals and transcribe them into supervisory control systems, a time-intensive, error-prone workflow. This paper presents SysName, a production-oriented pipeline that automates device configuration end-to-end for Modbus RTU, OPC-UA, Profibus DP, and CANopen. It builds a hybrid dense-sparse retrieval index augmented by an ontology graph derived from ECLASS, AAS, and SOSA/SSN, using a BGE-M3 encoder with a cross-encoder reranker to surface relevant manual passages. A local LLM (T=0.1) generates ontology-aligned JSON-LD configurations via protocol-specific prompts and a four-step repair pipeline. A two-stage abstention gate, combining a reranker-score threshold and an IRI resolution ratio, blocks unsafe LLM invocations and filters low-coverage configurations before SHACL validation. On a gold set of 28 field-level queries, the hybrid retriever reaches 0.96 HitRate@10, and the reranker raises MRR@10 from 0.56 to 0.63 with perfect score separation for abstention. The generator attains field-level F1=0.87 with exact match on 9 of 12 runs. End-to-end runs on an H100 GPU complete in 2.6-6.6s per device with zero unsafe writes and zero silent failures on a five-device benchmark; every unsuccessful run is flagged by abstention or deployment verification. Component-wise evaluation localises the single systematic failure to OPC-UA generation, invisible to end-to-end metrics alone. A case study commissions a physics-simulated Universal Robots UR5e robot from unmodified vendor documentation (254-page manual, 8-page register list, 496 chunks), reaching field-level F1=1.0 over three runs with read-back and joint-consistency verification. An ablation study and comparison with five industrial-LLM systems complete the analysis.

Brain magnetic resonance imaging (MRI) is central to neuroscience and clinical assessment, but models are commonly developed for individual diseases, populations or imaging protocols. Foundation models promise more general representations, yet they are usually pretrained once and can lose earlier capabilities when updated with new data. Here we show that Alcmaeon, a three-dimensional brain MRI foundation model pretrained without manual labels on more than 425,000 volumes and derived imaging maps, can be expanded sequentially across clinical domains. Alcmaeon combines volumetric encoding and latent diffusion generation with Graph-Blueprint Pruning (GBP), which protects network modules important to earlier domains while leaving the remaining capacity trainable. Across expansion from healthy ageing and neurodegeneration to developmental, psychiatric and tumour imaging, GBP showed less forgetting than sequential adaptation and elastic weight consolidation across voxel-level reconstruction measures, with its largest advantage after adaptation to tumour imaging. The blueprints provided an inspectable record of how model capacity was protected and reused. Representations from different model levels supported image synthesis, disease classification, survival modelling and postoperative prediction, although no single representation was optimal for every task. These findings provide a route towards brain MRI foundation models that can grow with emerging data while retaining earlier capabilities.

Text-conditioned chest X-ray generation aims to synthesize realistic radiographs that faithfully depict specified findings. Existing work has primarily improved quality by updating image generators, implicitly treating prompts as fixed after CXR-domain adaptation. We show that this generator-centric view leaves a substantial optimization dimension underexplored. With a CXR-adapted Sana generator frozen, one-pass reformulation by an unmodified LLM reduces RadDINO-FID from 54.225 to 27.572. Prompt analysis shows that the LLM suppresses temporal comparisons, uncertainty, and other non-renderable report content while emphasizing visible radiographic findings. However, unconstrained reformulation reduces BioViL-T alignment with source prompts from 0.695 to 0.609. We therefore introduce JustLLMGRPO, which applies standard Group Relative Policy Optimization (GRPO) only to the LLM prompt policy while keeping Sana frozen. Group-relative radiology-aware image feedback retains visual focus while preserving source-prompt alignment. On CheXGenBench, JustLLMGRPO reduces RadDINO-FID to 26.780, a 50.6% improvement over direct prompting, while maintaining alignment (0.696 versus 0.695). It also achieves state-of-the-art distribution coverage and downstream classification utility. These results show that substantial performance can remain latent in how radiographic information is expressed to an adapted generator. Code is publicly available at https://github.com/pxcai/JustLLMGRPO.

Accurate Online Failure Prediction (OFP) has been shown to be feasible in Operating Systems (OSs) settings, but prediction alone is not sufficient for practical adoption. Without diagnostic insight, operators have limited basis to trust alerts or decide how to respond. Moreover, even when predictive accuracy is high, it is often unclear whether models are capturing meaningful failure processes or merely exploiting workload-specific noise and incidental correlations in telemetry. This paper reports a practical experience building and evaluating an explainable OFP pipeline for Linux OSs. We combine consensus-based feature selection for detection with temporal onset analysis, subsystemlevel causal analysis, and complementary diagnostic mechanisms to support failure interpretation. Evaluated under strict crossworkload conditions with frozen training artifacts, it achieved 91-94% detection on unseen workloads without retraining, while maintaining false alarm rates below 1%. However, failure mode diagnosis proved substantially more sensitive to workload shift, and several diagnostics mechanisms showed limited effectiveness for specific failure types. Our experience highlights three main lessons: i) detection generalizes more robustly than diagnosis across workload changes; ii) early-warning capability depends strongly on the failure mode, ranging from 38 to 215 seconds in our study; and iii) unseen failure modes are not reliably diagnosable from related training modes alone, providing 0% accuracy under Leave-One-Mode-Out (LOMO) evaluation. Taken together, these results show the value of complementary explainability mechanisms for interpreting accurate failure predictions, revealing when predictive signals reflect transferable failure structure and when diagnostic generalization breaks down under workload variation.

An LLM agent's capability depends not only on model weights but on its harness: prompts, tools, skills, and control flow. Self-improvement loops already edit harnesses, yet single-lineage search is path-dependent and local wins often regress other tasks. We introduce DarwinX, which treats self-evolution as selection over a population of harnesses with the model frozen: a preserve-and-extend contract admits only variants that extend coverage without regressing, an archive keeps alternative lineages for recombination, and failure-, teacher-, and self-derived evidence share one edit interface. Fitness comes from each benchmark's own verifier: no gold solutions, no hand-picked winners. Across four benchmarks that progressively separate the evolution signal from the test, one loop adds about 17 points on average: Terminal-Bench 2.1 rises +7.7 to 83.2% on a matched base and to the verified frontier at 84.7% on a stronger one; TerminalWorld's held-out split reaches 68.3%, ahead of every off-the-shelf agent; WebArena-Infinity real-task pass@1 rises from 43.5% to 93.0% audit-clean; and a Terminal-Bench 2.1 harness transfers unchanged to SWE-bench Verified. What evolves is general agent competence, not benchmark-specific patches, so it survives changes of task, verifier, and base model. A frozen model need not be a fixed agent: harness selection turns evaluation compute into durable capability.

We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, while training-time CBF guidance represents clearance to every body link, and an adversarial motion prior regularizes the resulting evasive reflexes. We evaluate on a controlled any-link contact benchmark with seeded throws in two regimes: single throws and a deployment loop in which the robot walks back to its station and recovers between throws. On this benchmark, the policy comes within a few points of a privileged state oracle: a fixed onboard camera alone is adequate for evasion. We find that usable barrier structure depends on perceptual observability: Joint-CBF gives the best performance with accurate ball states, degrades under fixed-camera observations when used only as training guidance, and recovers with a ball-tracking gimbal or privileged runtime filter. We therefore deploy a lightweight Link-CBF policy zero-shot on the Unitree G1 in the real world, where it tolerates imperfect perception, succeeds on 95% of throws, and uses semantic segmentation to dodge different balls.

Algorithmic news personalization in regional markets often fails because modern deep learning models require massive interaction data while real-world news has a short Time-to-Live (TTL < 48 h) and shallow article pools. This structural item cold-start deprives collaborative filtering of the data needed for robust modeling. This paper presents Project Kairos, a framework that bridges this data scarcity through a contextual online learning approach (LinUCB). To ensure numerical integrity for continuous operation, Kairos replaces error-prone Sherman-Morrison inversions with direct rank-1 updates of Cholesky factors. This preserves the positive definiteness of the covariance matrix even under ill-conditioned data scenarios. Simultaneously, Matryoshka Representation Learning (MRL) integration addresses inference latency. Empirical evaluations based on the Tagesschau API demonstrate that exploiting semantic redundancy in the feature space achieves a 4.85-fold efficiency gain without significantly compromising ranking precision. Kairos thus provides a blueprint for high-performance recommendation systems in resource- and data-constrained environments.

Medical world models aim to learn a latent state of patient or organ physiology and a transition function that forecasts how that state evolves under interventions, supporting downstream tasks from imaging-based diagnosis to digital-twin treatment planning. Two failure modes threaten the reliability of such models in clinical deployment: (i)\emph{covariate shift}, because training data are fragmented across hospitals, scanners, and time, so the feature distribution seen by the latent-dynamics predictor differs across fragments and from the distribution at deployment; and (ii)\emph{confidence misalignment}, because multi-step forecasts are often overconfident exactly where clinical risk is highest. We argue that both problems admit a unified treatment via a single lightweight regularisation objective, \textbf{CalTwin}, which combines a Fisher-Information-based shift penalty adapted from our prior work on fragmented covariate-shift remediation~\cite{khan2025mitigating,khan2025causal} with a Confidence Misalignment Penalty adapted from our prior work on calibrated vision-language classification~\cite{khan2025confidence}, applied here to a GRU-based medical world model's latent transition predictor. We derive the combined objective, establish which proof steps transfer from the classification setting without modification and which require adaptation, and evaluate it on the PhysioNet 2019 Sepsis Challenge, treating the two hospital systems as sequential training fragments and the unseen system as an out-of-distribution test. CalTwin reduces OOD next-step latent-state MSE by 9.1% relative to the no-penalty baseline (FIM penalty alone accounts for 7.0%); the ECE reduction from the Confidence Misalignment Penalty is real but small (0.7% for CalTwin, 1.3% for CMP alone).

Qubes OS is a revealing case for security measurement because its architecture makes component boundaries security-relevant. We present a protocol-driven longitudinal analysis of 109 public Qubes Security Bulletins (QSBs, 2011--2025), the official Qubes-maintained Xen Security Advisory (XSA) tracker, and a secondary vulnerability-event sensitivity series. The study measures the public advisory record rather than latent vulnerability incidence or realized compromise. The methodology combines audited deterministic component attribution, change-point analysis, overdispersion checks, severity-proxy weighting, censoring sensitivity, documentary latency lower bounds, and baseline-aware evaluation of vulnerability discovery models (VDMs). The results show persistent upstream dependence in that public record. On the official tracker, 113 of 464 XSAs affect Qubes; under primary labeling, 87 of 109 QSBs (79.8%) are attributable to Xen, CPU/microarchitectural, or other upstream components rather than Qubes-core logic, with similar results under weighted views. Change-point analyses identify 2015Q1 as the dominant break in the quarterly advisory series, while post-2018 annual disclosure rates are statistically flat. Poisson inferences are stable under dispersion diagnostics and negative-binomial sensitivity checks. The attribution codebook performs well in a stratified 30-QSB audit, and S-shaped VDMs fit descriptively but do not significantly outperform a rolling-mean baseline in short-horizon forecasts. Overall, the Qubes public advisory record appears stable, but not quiet: disclosure activity plateaus at a higher level than in the earliest years, while the observed burden remains concentrated in upstream trust anchors.

Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable heading estimation remains a critical challenge due to the lack of gravitational constraints and the inherent weak observability of heading in complex environments. Most existing methodologies are specifically tailored for the startup phase, relying on a singular initial alignment to establish the heading reference. Consequently, these approaches lack the adaptability required to refine heading estimates dynamically, which renders the system highly vulnerable to accumulated drift and observation noise during prolonged navigation or immediately following GNSS signal outages. To address these limitations, this paper proposes WinTA-GIL, a novel heading refinement framework that integrates information from Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and Light Detection and Ranging (LiDAR) through a temporal window-based optimization strategy. Unlike conventional alignment methods restricted to the startup phase, WinTA-GIL leverages high-precision local trajectories from LiDAR-Inertial Odometry (LIO) to register against filtered GNSS observations. This approach transforms heading estimation into a repeatable, trajectory-based consistency optimization problem. In particular, an adaptive re-estimation mechanism based on state discrimination is incorporated to trigger heading corrections whenever necessary, thereby effectively suppressing the inertial drift accumulated during challenging conditions. Extensive experiments on both open-source and self-collected datasets demonstrate that WinTA-GIL significantly outperforms state-of-the-art approaches in both estimation accuracy and system robustness.

Large language models are increasingly used as evolutionary engines for scientific discovery: generate candidates, select winners, feed them back as parents, and repeat. We audit whether this loop actually compounds discovery in scientific equation discovery, a setting where finite samples make structure underdetermined and interpolation easy. Under matched LLM-call budgets, parent-conditioned evolution is indistinguishable from fresh independent sampling: median OOD NMSE is 0.045 vs. 0.049, instructed multi-parent crossover is worse, final success is predicted by initial proposal quality, and multiple iteration schemes fail to add solved problems. Operationally, the loop reduces to what it produces: a dictionary of candidate terms. We turn that diagnosis into PTB-Search, a one-generation method for componentized scientific discovery. PTB-Search samples independent LLM proposals once, extracts reusable terms into a per-problem dictionary, and performs train-only set-level sparse selection with least-squares coefficients. Its central principle is that underdetermined data identifies the joint behavior of term sets, not reliable per-term credit. On identical dictionaries and zero additional LLM calls, set-level selectors solve 165--169 of 717 cells, while single-term reductions solve only 74--78. On the official 239-problem LLM-SRBench split, PTB-Search reaches 73.2% Acc0.1 with Llama-3.1-8B and 77.0% with a single-seed DeepSeek-V4 anchor, versus 49.2% for the best reported baseline, using one tenth of the standardized call budget. A program-domain stress test gives a scoped boundary: generation count remains unreliable, while retained external state can help in harder non-linear spaces. Across these results, LLMs are best understood as material suppliers; discovery is carried by external set-level selection over reusable components.

Scalable and reliable grading of command-line examinations remains a challenge in computing education, where rising enrolments make manual marking difficult and rule-based autograders cannot handle partial credit, equivalent solutions, or syntactic variation. This paper evaluates whether four frontier Large Language Models (GPT, Claude Opus, Gemini, and GLM) can approximate expert judgment when grading short Linux/bash command responses. The study adopts a four-level cognitive taxonomy that combines cognitive complexity and operational impact, ranging from information retrieval (L1) and basic file manipulation (L2) to structural operations (L3) and advanced system management (L4). The models were tested with two prompt variants, a minimal baseline and a rubric-enhanced version, on 1200 real responses from second-year Computer Engineering students independently graded by three expert instructors. Gemini~3.0 Pro with rubric-guided prompting achieved the highest human-AI agreement (ICC(3,1) = 0.888, MAE = 0.10, Bland-Altman bias = -0.014). Agreement declined consistently as taxonomy level increased, with the largest discrepancies at higher levels. Across all models, rubric quality had a larger effect than provider choice, with structured prompts consistently improving agreement. These results show that question complexity is a reliable predictor of the difficulty LLMs face in grading accurately, and they establish a principled, taxonomy-based framework for determining which questions are suitable for AI-assisted grading and which require human review, while also providing a transferable evaluation protocol and prompt templates.

Long-context inference is increasingly common in large language model (LLM) serving, driven by retrieval-augmented generation and agentic systems. In disaggregated inference, these workloads require transferring large Key-Value (KV) caches across the network, where decoding cannot begin until the transfer completes. Recent KV quantization techniques reduce data volume and alleviate this bottleneck, but existing schemes fail to achieve both low network-exposed latency and high inference accuracy. We challenge the assumption that the KV cache is an indivisible unit that must be fully received before use. We leverage the observation that different bits in the KV cache contribute unequally to attention computation and inference precision: the most significant bits capture the coarse structure of attention and the least significant bits refine precision. This property enables partial use of the KV cache during decoding. We present Lynx, a system that enables progressive, split-stream KV transfer by partitioning the KV cache into a high-priority Anchor stream carrying the most significant bits and a low-priority Residual stream carrying remaining precision. Decoding begins upon receipt of the Anchor stream and proceeds speculatively while the Residual stream is transferred concurrently, followed by verification that ensures equivalence to higher-precision decoding. Across multiple models and serving workloads, Lynx achieves Time-to-First-Token (TTFT) comparable to aggressive 4-bit KV quantization, while matching the accuracy of high-precision (BF16) inference, improving TTFT over standard 8-bit KV quantization by up to $1.43\times$ and improving accuracy over state-of-the-art by up to $5.1\%$.

As computing education expands beyond traditional programming into operational domains such as systems administration and command-line environments, existing pedagogical frameworks struggle to capture a dimension that is critical in these contexts: the real-world consequences of learner actions. Existing cognitive taxonomies classify learning objectives by mental operations but do not account for system impact, leaving a critical gap in command-line education where conceptually simple commands can have severe consequences. This work presents CogTax, a four-level cognitive taxonomy that integrates two dimensions: cognitive complexity, derived from Bloom's Revised Taxonomy, and operational impact, which distinguishes observational, reversible, structural, and administrative operations. The four progressive levels range from safe read-only inspection to advanced system management requiring integration of multiple abstract models. Then, the taxonomy level is defined as the maximum of these dimensions, ensuring that both conceptual understanding and operational awareness are addressed. CogTax gives instructors a principled framework for sequencing course material and calibrating assessment difficulty, and gives students an explicit reference for self-assessment and gap identification. To demonstrate that taxonomy levels are automatically assignable, making the framework scalable without manual expert annotation, a classifier that combines syntactic representations derived from abstract syntax trees with semantic embeddings is trained. Evaluated on 585 expert-annotated Linux/bash commands, this combined approach achieves 89% accuracy, outperforming either representation alone, and demonstrates cross-language extensibility through structural equivalences across command languages.

Contextual bandits with graph-structured arms arise in recommendation, citation retrieval, and social advertising, where arms connected on a graph tend to share reward signal. Standard dimensionality reduction ignores this structure, inflating exploration cost by a factor of $d/k$. We propose GraphDR-LinUCB, which projects arm features onto the graph's low-frequency spectral subspace and runs linear UCB in the resulting $k$-dimensional space. We prove the first $\wtO(k\sqrt{T})$ regret bound for spectral-projection-based contextual bandits, reducing dimension dependence from $d$ to $k$; a perturbation argument extends this to noisy graphs, with an explicit penalty for reward-smoothness mismatch and graph-estimation error. Our central theoretical finding is that the high-frequency reward component need not incur a worst-case linear-in-$T$ penalty: its actual cost depends on its realized impact along the played path, not on its total energy. A simple spectral comparison between subspaces ($Γ_k$) predicts which reducer wins on a given dataset, correctly calling five of six real-dataset outcomes without any fitted threshold. Across a synthetic benchmark and six real datasets (MovieLens, Amazon, LastFM, ogbn-arxiv, MIND), GraphDR-LinUCB reduces cumulative regret by $15\times$ over full-dimensional LinUCB and outperforms competing graph-aware methods on five of six; the single failure is precisely where the graph's spectral subspace is misaligned with the reward.

We present KernelPro, a closed-loop multi-agent system that automatically generates, profiles, and iteratively optimizes GPU kernel code by integrating large language model (LLM) code generation with hardware profiler feedback and pluggable bottleneck detection tools. KernelPro introduces four contributions: (1) a semantic feedback operator that encodes expert heuristics as pluggable micro-profiling tools, transforming raw hardware metrics into actionable natural language guidance; (2) a two-stage tool invocation architecture where roofline-based bottleneck classification filters which specialized analysis tools execute, combining kernel-level (ncu), instruction-level (SASS), and system-level (nsys) profiling; (3) a domain-adapted MCTS with progressive widening, asymmetric branching, log-reward calibration, dead-end pruning, and search memory for cross-iteration learning; and (4) direct CuTe source-level code generation via autonomous code search over the CUTLASS/CuTe codebase. On KernelBench, KernelPro achieves geometric mean speedups of 2.42x/4.69x/5.30x on Levels 1/2/3, establishing state-of-the-art performance across all difficulty levels. On VeOmni's expert-optimized MoE training kernels, KernelPro achieves 1.23x over hand-tuned Triton by generating a from-scratch raw-CUDA+CuTe Hopper WGMMA kernel. Ablation studies demonstrate that each design component independently and significantly improves optimization quality: micro-profiling tools (p < 0.0001 vs raw metrics), MCTS search (26% higher geometric mean vs greedy, p = 0.004), and proactive tool orchestration (23% improvement, p = 0.035). Finally, KernelPro is the first CUDA kernel coding agent to optimize energy efficiency beyond the speed-only focus of prior systems, demonstrating an 11.6% measured energy reduction at matched speed.

Small ($\sim$2B) GUI-grounding agents are attractive for on-device deployment, accessibility tooling, and low-cost iteration, but at this scale they face two open recipe questions: how to obtain bounding-box training data without expensive human annotation, and how to combine supervised fine-tuning with reinforcement learning. We address both, with the explicit goal of pushing small-model performance rather than scaling up. WinDOM is a $54{,}425$-record grounding corpus harvested by driving an open-source Windows 11 web reimplementation under headless Playwright, with bounding boxes read directly off the DOM and no OCR or human annotation. Self-Family Distillation (SFD) is a single rejection-sampling cold-start parameterised only by the teacher choice: either an EMA of the student (no external model) or a frozen larger same-family teacher. We then treat the saturation depth of the SFD cold-start as an explicit GRPO hyperparameter. On a Qwen3.5-2B student, the under-saturated cold-start is a better GRPO initialiser than the converged one: SFD-4B with Early-init RL gains $+5.4$ OOD-mean ($+3.5$ ScreenSpot-Pro, $+7.0$ OSWorld-G, $+5.8$ ScreenSpot-V2) over the base. The same-size EMA mode lands within roughly one OOD-mean point of the cross-size $4$B variant ($65.2$ vs $66.3$) without an external teacher.

Accurate segmentation of thin, tortuous anatomical structures, such as retinal vessels, cerebral vasculature, and facial wrinkles, remains challenging due to low contrast, frequent discontinuities, and severe class imbalance. Although recent convolutional and Transformer-based models have improved performance, they often yield fragmented predictions and fail to recover fine branches. We propose CSWinUNETR, a general-purpose backbone for 2D and 3D thin-structure segmentation. It employs cross-shaped stripe self-attention to model long-range principal-axis context and incorporates cyclic shifts to enhance information exchange across stripes. To better preserve fine-grained details, we further introduce a detail-enhanced multi-scale self-attention module that aggregates contextual features from multi-resolution representations. In addition, we propose sparse-control dynamic snake convolution, which reconstructs reliable dense curvilinear kernels from sparsely predicted control points to better follow tortuous geometry. Extensive experiments on four benchmarks across ophthalmology, neurovascular imaging, and dermatology demonstrate that CSWinUNETR consistently outperforms state-of-the-art methods without task-specific post-processing or topology-aware losses. The code is available at https://github.com/labhai/CSWinUNETR.

Process twins provide real-time representations of entire production processes. By capturing how process steps interact, rather than monitoring a single machine in isolation as an asset-based digital twin does, they have the potential to drive efficiency gains across the whole process. However, developing a process twin is costly. It requires accurately modelling the entire production process: its process steps, the equipment and product-specific settings each step uses, and its process variations. The resulting model must then be bound to live operational data. We present FacProcessTwin, a system that leverages a large language model (LLM) to reduce this development time, building a process twin from a plant's process documentation and natural-language input from an operator. FacProcessTwin generates this complete process model and then automatically binds its process steps to live operational data. The generated model and its data bindings are rendered as an interactive process diagram through which manufacturing personnel can monitor and correct the system's autonomous decisions, such as resolving uncertainty at safety-critical binding steps. We evaluate FacProcessTwin through a real-world case study of an Australian food manufacturer, covering 16 production process flows that span chilled, frozen, and aseptic shelf-stable product categories and include process variations within the same product. The results show that FacProcessTwin generates these process models accurately (a mean F1 of 95.2% against ground truth) and builds each twin in roughly a sixth of the manual time. Its human-in-the-loop governance then keeps the safety-critical bindings correct: at ambiguous tags where a single-pass baseline silently mis-binds 75.0% of the time, FacProcessTwin defers to the operator and mis-binds none.

World Action Models (WAMs) present a promising paradigm for robotic control via video prediction. However, current WAMs suffer from fundamental spatial bottlenecks: standard text inputs introduce referential ambiguity in cluttered scenes, while unstructured RGB predictions lack semantic grounding and remain biased by task-irrelevant backgrounds. To overcome these limitations, we introduce MaskWAM, an object-centric world-action model. By jointly integrating masks as both explicit inputs and predictions via a unified Mixture of Transformers (MoT), MaskWAM unlocks robust policy generalization. This design provides two key benefits: (1) predicting future masks yields object-centric semantic supervision that suppresses visual noise, significantly enhancing even standard text-conditioned WAMs; and (2) coupling this predictive supervision with first-frame visual prompts, such as target object masks, establishes a precise spatial anchor that substantially reduces language ambiguity. Crucially, as WAMs are inherently vision-driven architectures, direct mask conditioning yields substantially stronger guidance than text alone, establishing a precise and robust paradigm for manipulating unseen objects. Evaluations on LIBERO, RoboTwin, and real-world tasks demonstrate that MaskWAM significantly outperforms baselines in both language-clear and language-ambiguous tasks.

Embodied world models have emerged as a pivotal paradigm for visual robotic decision-making and interactive environment simulation. However, conventional embodied frameworks rely on low-dimensional structured action vectors (e.g., joint angles and end-effector poses), which suffer from limited expressive capacity, poor generalization across diverse embodiments, and unnatural dynamic modeling for complex physical interactions. To address these limitations, this paper proposesiMac (Image as Action Control), a novel unified control paradigm that treats raw visual images as native action representations for embodied world models. Departing from traditional explicit kinematic action encoding, iMac formulates continuous visual manipulation as image-based action tokens, which inherently encapsulate spatial motion intentions, interactive geometric constraints and subtle physical dynamics. We construct a dual-branch embodied architecture consisting of an image-action encoder and a dynamic world predictor: the encoder compresses target-driven visual images into compact action embeddings, while the predictor learns environment transition rules conditioned on image actions to achieve high-fidelity future state prediction and closed-loop embodied control. Extensive experiments are conducted on public embodied manipulation benchmarks and real-world robotic scenarios. The results demonstrate that iMac outperforms vector-based action control baselines in prediction accuracy, task success rate and cross-scene generalization ability. Moreover, our image-action design eliminates the reliance on manually defined action spaces, realizing flexible and universal control for heterogeneous embodied agents. This work provides an innovative visual-action perspective for embodied world models, offering a simple yet effective paradigm for scalable robotic perception and manipulation.

A robotics benchmark score measures success under one fixed evaluation setup, yet is routinely treated as evidence of general manipulation capability. We identify four failure modes, each of which weakens or invalidates a benchmark's role as a valid proxy for that capability: shortcut solvability, lack of statistical significance, creeping overfitting, and data-source dependence. We propose one diagnostic per failure mode. We audit LIBERO, CALVIN, SimplerEnv, RoboCasa, and RoboTwin 2.0 under these diagnostics. LIBERO and CALVIN fail multiple diagnostics. RoboCasa and RoboTwin 2.0 fail fewer, despite appearing far less often in recent progress claims. On LIBERO, a 0.09B probe with no language encoder scores at or near reported SOTA, and most reported gains are not provably statistically significant. On CALVIN, randomizing block poses within the training range drops performance for every tested policy. We release the four diagnostics with reference implementations for authors and reviewers to apply before treating a benchmark score as evidence of progress. Code and artifacts are available at https://ripl.github.io/manipulation_benchmark_audit/.

Unix competence is the ability to use shell and operating-system primitives as first-class tools, not merely to write programs through a terminal. Current terminal benchmarks tend to blur this distinction: a solver fluent in Python but weak in Unix can pass a substantial fraction of Terminal-Bench 2.0, while the reverse skill profile is rarely exercised. We make the distinction operational and build a training surface for the Unix component. unix-ctf is a procedural generator of capture-the-flag tasks for shell agents. Each task hides a short token (a flag of the form flag(a3b1c9...)) inside a fresh Linux container using a single Unix feature, and the agent must recover it. Tasks are produced by an LLM-assisted synthesis pipeline that generates candidate hiding techniques, rewrites them into parameterized hide-and-find script pairs, and filters them with a bidirectional contract: the hide script must leave no plaintext trace of the flag on disk, and the find script must recover the flag in a fresh directory. Because the LLM only writes the planting and recovery steps (the container, layout, and grading harness are fixed), the pipeline lands 656 of 750 raw attempts as portable, reusable variants (87.5%). Our reproduction of Endless Terminals' full-container-generation approach lands only 17.4% under the same checks. The 656 variants canonicalize to 155 distinct techniques. Fine-tuning Qwen3-8B with LoRA using GRPO on this surface lifts solve rate from 11.6% to 43.6% on a 15-skill multi-family holdout (n=225), redistributes which InterCode-CTF tasks the model solves, and produces a +33 pp gain in Forensics while reaching 32/100 on InterCode-CTF. These results suggest that Unix competence is separable, trainable, and best evaluated directly rather than folded into programming-through-a-shell.

Despite the rapid progress of multimodal large language models in building Graphical User Interface (GUI) agents, their real-world task completion is fundamentally bottlenecked by a lack of world knowledge about GUI operations. Existing solutions typically rely on expensive multi-agent scaffolding or conventional post-training paradigms, such as Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL). However, post-training only allows agents to implicitly absorb world knowledge through action annotations or reward signals, leading to inefficient trajectory memorization rather than genuine comprehension. Therefore, an approach that enables explicit learning of this knowledge is imperative. To this end, we propose GUI-CIDER, a mid-training method that explicitly internalizes GUI world knowledge through Causal Internalization and Density-aware Exemplar Reselection. GUI-CIDER operates in three stages: (1) data synthesis, which distills static planning and dynamic causal knowledge from GUI trajectories into text; (2) exemplar reselection, which filters the corpus by rewarding causal structures and penalizing semantic redundancy; and (3) mid-training, where the refined data is used to embed the acquired knowledge. Extensive experiments on two GUI knowledge benchmarks and three task completion benchmarks demonstrate that GUI-CIDER consistently improves both the agent's understanding of GUI operations and its task success rates.The codes are available at https://github.com/Wuzheng02/GUI-CIDER.

Recently, there has been increased interest in Small Language Models (SLMs), which are fast, show good performance, and have lower hardware demands than large language models (LLMs). However, SLMs hallucinate more frequently than LLMs, impacting their ability to solve complex multi-step reasoning problems as early mistakes cascade to the final response. To address this, existing works think-first followed by iterative retrieval to reduce hallucination. We argue that the think-first strategy is not always necessary as we find that: (i) SLMs are often accurately confident in their initial answer and, (ii) hallucinations can actually be beneficial for honing in on the true answer. As such, we position our work as an inversion of this strategy, i.e., answer first-reason later. We propose a cognitively-inspired framework where the model is first allowed to quickly answer the question (System-I (zero-shot)) and then resorts to deeper thinking (System-II) based on evidence retrieved from a knowledge source using the initial hypothesis. By combining System-I and System-II style thinking, we show that our method can outperform prior work that takes the traditional think-first route on various multi-step question-answering benchmarks.

Functionality-correct repository setup aims to configure execution environments (e.g., dependencies, build scripts) to successfully execute a repository's documented features. It presents significant challenges due to diverse, repository-specific failures, including dependency incompatibilities, missing toolchains, incomplete installations, and verification-strategy mismatches. Existing LLM agents struggle to robustly resolve these issues, specifically failing to support (1) cross-repository experience transfer, (2) multi-step trial-and-repair under non-invertible state changes, and (3) robust verification of setup outcomes to distinguish setup-induced failures from repository bugs. To address this, we introduce SetupX, an experiential learning-based setup framework. First, we construct a Self-Evolving Experience Representation (XPU), a dual-modality knowledge unit encoding setup signals, textual guidance, executable actions to dynamically transfer verified environment fixes to unseen repositories. Second, we employ Experience-Augmented Speculative Execution backed by a LIFO Docker snapshot stack, enabling the agent to proactively trial fixes and safely roll back to known-good states. Third, we introduce a Prosecutor-Judge Verification Protocol that separates evidence collection from final judgment, enabling more reliable setup verification beyond superficial build-time metrics. Evaluation results on carefully-crafted benchmarks show SetupX achieves highest performance (e.g., 92% pass rate) and outperforms the strongest baseline by over 19%. Crucially, SetupX excels in complex multi-repository setup requiring coordinating multiple interconnected services across different containers. The code repository is available at https://github.com/OpenDataBox/SetupX.

Linux is the foundation of the digital age, accounting for the majority of the cloud and mobile OS markets. Any device that runs Linux uses the Linux page cache, a central pillar in OS and application performance, serving to reduce extraneous disk access. Many page cache eviction policies have been developed but remain bound by the rigidity of heuristics. The rise of AI-driven tools in recent years, melded with the ever-increasing variety of workloads for Linux devices, sets the stage for machine-learning-driven cache eviction policies. Promising research has been done in this field, but only in the field of user-space applications such as CDNs. We develop LearnedCache, an eBPF-integrated single-layer perceptron-based cache eviction policy for the Linux page cache, trained on real kernel data from diverse workloads. We demonstrate median AUCs of nearly 80% over multiple linear models modeling page reuse time, then take a step further by embedding these models inside the Linux kernel for real-time performance evaluation. Through statistical testing over 50 paired trials against a baseline of FIFO for each workload, LearnedCache reveals that machine-learning-derived cache eviction policies are practical in the Linux kernel under representative empirical workloads and are able to surpass conventional FIFO by statistically significant margins of up to 10% in insertion rate, a frequency-adjusted derivation of cache hit rate, in specific workloads while incurring minimal overhead.

CT report generation (CTRG) requires models to summarize three-dimensional anatomical context and pathological findings from hundreds of axial slices. Existing methods typically learn a direct image-to-text mapping, providing limited mechanisms for modeling how CT evidence evolves across slices or how reports respond to controlled changes in latent lesion-related factors. We propose SliceWorld, a CT-specific world-state framework that treats an axial CT scan as an ordered sequence along the z-axis. SliceWorld encodes prefix CT evidence into factor-aware latent states containing anatomy, lesion, and uncertainty components, and projects these states into world tokens used for multi-step future-slice feature prediction, lesion-factor intervention, and LLM-based report generation. The model is first pretrained on CT slice sequences with predictive, factor-aware, and counterfactual objectives, and is then fine-tuned on paired CT-report data. Experiments on M3D-Cap and CT-RATE show that SliceWorld improves natural language generation metrics and clinically oriented automatic evaluation. Further analyses demonstrate multi-horizon future-slice prediction, measurable factor alignment, reduced-slice robustness, and selective lesion-sensitive report modulation.

Deploying vision models across devices with varying resource constraints, or even on a single device where available compute fluctuates due to battery state, thermal throttling, or latency deadlines, typically requires training and maintaining separate models. Width-adaptive inference addresses this by training a single set of shared weights containing multiple nested subnetworks of increasing capacity, but prior CNN-based approaches required switchable batch normalization, while recent scalable methods have focused on Vision Transformers. We present Slimmable ConvNeXt, which shows that ConvNeXt's modern design, specifically LayerNorm and inverted bottlenecks, makes it particularly suited for channel-width slimming, eliminating the normalization overhead of classical slimmable networks and producing a simpler training pipeline than both prior CNN and ViT approaches. On ImageNet-1k, Slimmable ConvNeXt-T with 3 subnetworks achieves 80.8% top-1 accuracy at 4.5 GMACs and 77.4% at 1.2 GMACs, trained from scratch for 600 epochs. At comparable compute, this exceeds HydraViT's 6-head subnetwork (78.4% at 4.6 GMACs) by 2.4 percentage points and its 3-head configuration (73.0% at 1.3 GMACs) by 4.4 percentage points, while also outperforming MatFormer-S (78.6%) and SortedNet-S (78.2%) at the same GMACs. Scaling to Slimmable ConvNeXt-B further improves maximum accuracy to 82.8% at 15.35 GMACs.

We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action histories into a shared semantic space. The same VLM also serves as a unified reasoning module, autoregressively producing task-, action-, and future-oriented chains of thought in a single forward pass and projecting the final hidden state into a dense latent variable. A Unified Future Generator (UFG) then conditions on this latent variable and jointly generates future videos and future actions through two modality-specific output heads within the same denoising process. The language, video, and action losses are all backpropagated into the shared representation, enabling the model to jointly optimize understanding, reasoning, imagination, and action during training, rather than training three isolated expert systems. Experiments demonstrate that unification does not imply compromise. With a single checkpoint, Pelican-Unify 1.0 achieves strong performance across all three capabilities: 64.7 on eight VLM benchmarks, the best among comparable-scale models; 66.03 on WorldArena, ranking first; and 93.5 on RoboTwin, the second-best average among compared action methods. These results show that the unified paradigm succeeds in preserving specialist strength while bringing understanding, reasoning, imagination, and action into one model.

We present Darwin Family, a framework for training-free evolutionary merging of large language models via gradient-free weight-space recombination. We ask whether frontier-level reasoning performance can be improved without additional training, by reorganizing latent capabilities already encoded in existing checkpoints. Darwin introduces three key ideas: (i) a 14-dimensional adaptive merge genome enabling fine-grained component- and block-level recombination; (ii) MRI-Trust Fusion, which adaptively balances diagnostic layer-importance signals with evolutionary search through a learnable trust parameter; and (iii) an Architecture Mapper that enables cross-architecture breeding between heterogeneous model families. Empirically, the flagship Darwin-27B-Opus achieves 86.9% on GPQA Diamond, ranking #6 among 1,252 evaluated models, and outperforming its fully trained foundation model without any gradient-based training. Across scales from 4B to 35B parameters, Darwin models consistently improve over their parents, support recursive multi-generation evolution, and enable a training-free evolutionary merge that combines Transformer- and Mamba-based components. Together, the Darwin Family demonstrates that diagnostic-guided evolutionary merging is a practical and reproducible alternative to costly post-training pipelines for reasoning-centric language models.

Multimodal Large Language Models (MLLMs) have revolutionized GUI automation, yet their efficacy is largely established on idealized, single-layer interfaces. This paper identifies a critical reliability gap: state-of-the-art agents face distinct robustness challenges in real-world desktop environments characterized by multi-window stacking, occlusion, and visual clutter. To address this, we introduce WinDeskGround, a novel benchmark and synthesis framework tailored for evaluating GUI grounding robustness. Unlike static datasets, our framework parametrically generates complex desktop scenarios by controlling window occlusion, layout density, and semantic similarity, thereby simulating the distribution shifts of authentic workflows. We construct a diverse meta-dataset of 1,356 high-fidelity instruction-target pairs and conduct comprehensive evaluations of five leading MLLMs. Our results demonstrate that while top-tier agents excel in simplified settings, their accuracy declines under partial occlusion. WinDeskGround provides a valuable benchmark to facilitate the assessment and advancement of GUI agent robustness in realistic environments. The code is available at https://github.com/ZZZhr-1/WinDeskGround.

Recent conditional image generation methods can improve controllability by generating images that are faithful to conditions such as sketches, human poses, segmentation maps, and depth. By applying these techniques to image augmentation while preserving annotations, generated images can be used as additional training data and can improve recognition performance. However, for high-level driving tasks such as traffic-rule extraction and driving-behavior understanding, simply using annotations as conditions is insufficient. Instead, images must be augmented while preserving the detailed high-level structure of the original scene. One possible solution is to use multiple conditions so that generated images retain diverse structural cues after generation. However, when multiple conditions are used, conflicts among conditions can prevent reliable structure preservation. In this work, we input semantic segmentation, depth, and edges extracted from the original image into a multi-condition image generation model, thereby providing rich structural information as conditions. We further propose a modeling approach for handling conflicts among multiple conditions and show that it enables image generation with stronger structural preservation. We also build a generation framework and evaluation protocol for driving tasks, establishing a basis for comparison with prior and future models. As a result, this work contributes to image generation research by addressing condition conflicts in multi-condition generation and provides an important step toward mitigating data scarcity in high-level autonomous-driving tasks.

World Action Models (WAMs) enable decision-making through imagined rollouts by predicting future observations and actions. However, the reliability of these imagined futures remains under-examined: is a generated future merely visually plausible, or is it dynamically compatible with the action sequence it claims to model? In this work, we identify action-state consistency, the alignment between predicted actions and induced state transitions, as a missing reliability axis for WAMs. Through a systematic study across representative joint-prediction and inverse-dynamics models, we find that action-state consistency systematically separates successful and failed rollouts across many tasks and follows similar success-failure trends as learned value estimates. These results suggest that consistency captures decision-relevant structure beyond visual realism. We further identify background collapse as an important boundary condition, where low-dynamics failed trajectories can become deceptively consistent because static futures are easier to predict. Building on these findings, we introduce a value-free consensus strategy for test-time selection, which ranks candidate rollouts by agreement among predicted futures. This strategy improves success rates on RoboCasa and RoboTwin 2.0 without additional training or reward modeling. Taken together, our findings establish action-state consistency as both a diagnostic tool for evaluating WAM reliability and a practical signal for value-free planning.

Security updates create a short but important window in which defenders and attackers can compare vulnerable and patched software. Yet in many operational settings, the most accessible artifacts are binary packages rather than source patches or advisory text. This paper asks whether a language-model agent, restricted to local binary-derived evidence, can reconstruct the security meaning of Linux distribution updates. Patch2Vuln is a local, resumable pipeline that extracts old/new ELF pairs, diffs them with Ghidra and Ghidriff, ranks changed functions, builds candidate dossiers, and asks an offline agent to produce a preliminary audit, bounded validation plan, and final audit. We evaluate Patch2Vuln on 25 Ubuntu .deb package pairs: 20 security-update pairs and five negative controls, all manually adjudicated against private source-patch and binary-function ground truth. The agent localizes a verified security-relevant patch function in 10 of 20 security pairs and assigns an accepted final root-cause class in 11 of 20. Oracle diagnostics show that six security pairs fail before model reasoning because the binary differ or ranker omits the right function, with one additional context-export miss. A separate bounded validation pass produces two target-level minimized behavioral old/new differentials, both for tcpdump, but no crash, timeout, sanitizer finding, or memory-corruption proof; all five negative controls are classified as unknown and produce no validation differentials. These results support agentic vulnerability reconstruction from binary patches as a useful research target while showing that binary-diff coverage and local behavioral validation remain the limiting components.

Evolutionary computation has long promised to deliver both high-performance optimization tools as well as rigorous scientific simulations of Darwinian evolution. However, modern algorithms frequently abandon evolutionary fidelity for physics-inspired heuristics or superficial biological metaphors. This paper derives a suite of advanced gradient-based optimization algorithms directly from evolutionary first principles. We introduce Darwinian Lineage Simulations (DLS) to prove that, in an asexual context, Fisher's and Wright's historically opposed views of evolution are actually formally equivalent; One can partition Fisher's deterministically-evolving total population into Wright's randomly-drifting sub-populations. We prove that proper bookkeeping requires introducing a specific kind of structured noise (the DLS noise relation). Crucially, any bookkeeping choices which satisfy this relation will yield a faithful simulation of evolution. Using this vast representational freedom, we prove that a broad family of battle-tested optimization algorithms are already perfectly compatible with evolutionary dynamics. These include: Stochastic Gradient Descent as well as many regularizations/approximations of Newton's method and Natural Gradient Descent. By simply adding DLS noise (i.e., evolutionarily faithful genetic drift), these algorithms become scientifically valid in silico simulations of Darwinian evolution. Finally, we demonstrate that even the state-of-the-art Adam optimizer can be brought into evolutionary compliance through a minor mathematical surgery.

LLM agents have been increasingly adopted for solving security tasks. However, existing evaluations usually require source code access, while commercial off-the-shelf (COTS) binaries dominate deployed software and require reasoning from stripped, optimized machine code. This discrepancy raises an important question: can modern LLM agents reason about vulnerabilities in critical COTS binaries? Motivated by this question, we build SLYP, a REACT-style pipeline for end-to-end vulnerability discovery and validation of COTS binaries. SLYP combines extensible MCP servers for binary exploration and dynamic debugging, and validates candidate vulnerabilities by synthesizing debugger-verified proof-of-concept (PoC) crashes. We evaluate SLYP and production coding agents, including Claude Code and Codex, on COTS Windows binaries centered on a 20-object COM benchmark. SLYP uncovers all 64 vulnerable entry functions while default production agents miss up to 15; SLYP also surfaces more true vulnerabilities than the state-of-the-art static analyzer, which discovers at most 35 with a large number of false positives. For validation, SLYP generates debugger-verified PoCs for 67.5% of cases, while default production agents generate none. Further ablations show that tool sets and model choice materially affect COTS binary reasoning. Our additional evaluation also demonstrates the generalizability of SLYP on Windows kernel targets. To date, SLYP has uncovered 39 zero-day vulnerabilities, 31 in COM/RPC services and 8 in kernel drivers, all disclosed to the Microsoft Security Response Center (MSRC), with 23 assigned CVEs and $203,000 bounty awards.

Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose dWorldEval, which uses a discrete diffusion world model as a scalable evaluation proxy for robotics policies. Specifically, dWorldEval maps all modalities - including vision, language, and robotic actions - into a unified token space, modeling them via a single transformer-based denoising network. In this paper, we propose dWorldEval, using a discrete diffusion world model as a scalable evaluation proxy for robotics policy. Specifically, it maps all modalities, including vision, language, and robotics action into a unified token space, then denoises them with a single transformer network. Building on this architecture, we employ a sparse keyframe memory to maintain spatiotemporal consistency. We also introduce a progress token that indicates the degree of task completion. At inference, the model jointly predicts future observations and progress token, allowing automatically determine success when the progress reaches 1. Extensive experiments demonstrate that dWorldEval significantly outperforms previous approaches, i.e., WorldEval, Ctrl-World, and WorldGym, on LIBERO, RoboTwin, and multiple real-robot tasks. It paves the way for a new architectural paradigm in building world simulators for robotics evaluation at scale.

Conditional medical image generation plays an important role in many clinically relevant imaging tasks. However, existing methods still face a fundamental challenge in balancing inference efficiency, patient-specific fidelity, and distribution-level plausibility, particularly in high-dimensional 3D medical imaging. In this work, we propose GDM, a generative drifting framework that reformulates deterministic medical image prediction as a multi-objective learning problem to jointly promote distribution-level plausibility and patient-specific fidelity while retaining one-step inference. GDM extends drifting to 3D medical imaging through an attractive-repulsive drift that minimizes the discrepancy between the generator pushforward and the target distribution. To enable stable drifting-based learning in 3D volumetric data, GDM constructs a multi-level feature bank from a medical foundation encoder to support reliable affinity estimation and drifting field computation across complementary global, local, and spatial representations. In addition, a gradient coordination strategy in the shared output space improves optimization balance under competing distribution-level and fidelity-oriented objectives. We evaluate the proposed framework on two representative tasks, MRI-to-CT synthesis and sparse-view CT reconstruction. Experimental results show that GDM consistently outperforms a wide range of baselines, including GAN-based, flow-matching-based, and SDE-based generative models, as well as supervised regression methods, while improving the balance among anatomical fidelity, quantitative reliability, perceptual realism, and inference efficiency. These findings suggest that GDM provides a practical and effective framework for conditional 3D medical image generation.

Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (SoCs) introduce significant timing indeterminism due to shared resource contention. This paper performs an architectural analysis of the PREEMPT RT Linux kernel on a Raspberry Pi 5, specifically isolating the impact of kernel activation paths (deferred execution SoftIRQs versus real-time direct activation) on a 250 Hz control loop. Results show that under heavy stress, the standard kernel is unsuitable, exhibiting worst-case latencies exceeding 9 ms. In contrast, PREEMPT RT reduced the worst-case latency by nearly 88 percent to under 225 microseconds, enforcing a direct wake-up path that mitigates OS noise. These findings demonstrate that while PREEMPT RT resolves scheduling variance, the residual jitter on modern SoCs is primarily driven by hardware memory contention.

Assessing the security posture of modern computing systems typically requires the use of multiple specialized tools. These tools focus on different aspects such as configuration compliance, file integrity, and vulnerability exposure, and their outputs are often difficult to interpret collectively. This paper introduces the Unified Compliance Aggregator (UCA), a framework that integrates several open-source security tools into a single composite score representing overall system security. The proposed framework combines outputs from Lynis, OpenSCAP (STIG and CIS profiles), AIDE, Tripwire, and Nmap NSE. A normalization process converts heterogeneous outputs into a consistent 0 to 100 scale, followed by weighted aggregation. We also introduce a logarithmic scoring model for file integrity measurements to address limitations observed in prior linear approaches. Experiments were conducted on Ubuntu 22.04 across different hardening levels and environments. Results show consistent improvement in composite scores as systems are hardened, while also revealing contrasting behavior between compliance and file integrity tools. Two case studies, a basic web server and a DVWA-based system illustrate how the framework can be applied in practical scenarios.

Nonlinear system identification must balance physical interpretability with model flexibility. Classical methods yield structured, control-relevant models but rely on rigid parametric forms that often miss complex nonlinearities, whereas Neural ODEs are expressive yet largely black-box. Physics-Informed Neural Networks (PINNs) sit between these extremes, but inverse PINNs typically assume a known governing equation with fixed coefficients, leading to identifiability failures when the true dynamics are unknown or state-dependent. We propose \textbf{SOLIS}, which models unknown dynamics via a \emph{state-conditioned second-order surrogate model} and recasts identification as learning a Quasi-Linear Parameter-Varying (Quasi-LPV) representation, recovering interpretable natural frequency, damping, and gain without presupposing a global equation. SOLIS decouples trajectory reconstruction from parameter estimation and stabilizes training with a cyclic curriculum and \textbf{Local Physics Hints} windowed ridge-regression anchors that mitigate optimization collapse. Experiments on benchmarks show accurate parameter-manifold recovery and coherent physical rollouts from sparse data, including regimes where standard inverse methods fail.

We introduce LinuxArena, a control setting in which agents operate directly on live, multi-service production environments. LinuxArena contains 20 environments, 1,671 main tasks representing legitimate software engineering work, and 184 side tasks representing safety failures such as data exfiltration and backdooring, making it the largest and most diverse control setting for software engineering to date. We validate LinuxArena is useful for control research by running sabotage evaluations, which measure whether attackers can complete side tasks while working on main tasks, and monitor evaluations, which measure a monitor model's ability to detect sabotage attempts. Against a GPT-5-nano trusted monitor at a 1% step-wise false positive rate, Claude Opus 4.6 achieves roughly a 23% undetected sabotage success rate. We additionally release LaStraj, a dataset of human-crafted attack trajectories that evade monitors at substantially higher rates than any model-generated attacks we elicited, showing that current attack policies do not saturate LinuxArena. These results suggest that LinuxArena has meaningful headroom for both attackers and defenders, making it a strong testbed for developing and evaluating future control protocols.

LLM agents are becoming increasingly important in the security domain, but leading systems are often closed-source, cloud-based, hard to reproduce or use with sensitive code. This creates a need for small, local models that can perform security tasks under strict resource constraints, though effective methods for developing them remain unexplored. In this paper, we address this gap by proposing a two-stage post-training recipe that turns a small local language model into a security agent. To this end, we focus on Linux privilege escalation as a representative setting to systematically study the training of local models, as the task is both automatically verifiable and requires multi-step interactive reasoning. Using an experimental setup that mitigates data leakage, we post-train a small 4B model in two stages: supervised fine-tuning on traces from procedural privilege-escalation environments, followed by reinforcement learning with verifiable rewards. On a held-out benchmark of 12 Linux privilege-escalation scenarios, supervised fine-tuning doubles the baseline success rate under a tight budget of 20 interaction rounds, and subsequent reinforcement learning training improves our model, PrivEsc-LLM 4B, to 93.3% success, behind only Claude Opus 4.7 at this budget. At the same time, the expected inference cost per successful escalation decreases by more than 80x. Our findings not only show that small local models can be adapted to complex security tasks, but also document the challenges involved, offering guidance for transferring this recipe to other settings.

Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily accelerated, cheaply reset, or massively replicated, suggesting that real-world policy learning is not merely an algorithmic problem, but inherently a systems problem. We present USER, a \underline{U}nified and extensible \underline{S}yst\underline{E}m for real-world online policy lea\underline{R}ning. On the systems side, USER introduces a hardware abstraction layer for unified robot management and an adaptive communication plane that enables efficient cloud-edge training. On the learning side, USER adopts a fully asynchronous training framework, designs a persistent and cache-aware replay buffer, and provides extensible abstractions for rewards, algorithms, and policies. Experiments in both simulation and the real world demonstrate that USER supports multi-robot coordination, heterogeneous manipulators, cloud-edge training with large models, and long-running asynchronous training. Together, these capabilities establish USER as a unified and extensible systems foundation for real-world online policy learning.

Robot manipulation uses temporal context to select actions and visual foresight to assess their consequences, yet dense representations of past and future observations incur substantial processing costs. We introduce PACT-WAM, a world-action model that jointly generates a 16-step action trajectory and its temporally corresponding visual forecast through conditional flow sampling. Hierarchical history encoding assigns coarse spatial representations to earlier observations and finer representations to recent ones, retaining 16 observations with 256 tokens per view, 75% fewer than dense encoding of the same frames. A shared flow module jointly updates continuous action and visual states through two modality-specific heads under transition-wise causal attention, and a TiTok-VAE decoder reconstructs multi-view future images from the visual latents. Decoded forecasts also support Proposal Review (PR), a vision-language model component for execution-prefix selection and proposal rejection. Without PR, PACT-WAM achieves average success rates of 98.6%, 92.3%, and 78.0% on LIBERO, RoboTwin 2.0, and real-world Piper tasks, respectively. PR provides a test-time enhancement, raising these rates to 99.5%, 93.4%, and 86.7%. Ablations show that hierarchical history allocation and joint action-visual generation improve control success, while analyses of visual capacity and forecast-guided execution characterize the trade-offs between success and proposal-generation cost.

Random walk (RW)-based algorithms have long been popular in distributed systems due to low overheads and scalability, with recent growing applications in decentralized learning. However, their reliance on local interactions makes them inherently vulnerable to malicious behavior. In this work, we investigate an adversarial threat that we term the ``Pac-Man'' attack, in which a malicious node probabilistically terminates any RW that visits it. This stealthy behavior gradually eliminates active RWs from the network, effectively halting the learning process without triggering failure alarms. To counter this threat, we propose the CREATE-IF-LATE (CIL) algorithm, which is a fully decentralized, resilient mechanism that enables self-creating RWs and prevents RW extinction in the presence of Pac-Man. Our theoretical analysis shows that the CIL algorithm guarantees several desirable properties, such as (i) non-extinction of the RW population, (ii) almost sure boundedness of the RW population, and (iii) convergence of RW-based stochastic gradient descent even in the presence of Pac-Man with a quantifiable deviation from the true optimum. Moreover, the learning process experiences at most a linear time delay due to Pac-Man interruptions and RW regeneration. Our extensive empirical results on both synthetic and public benchmark datasets validate our theoretical findings.

Diffusion models have emerged as powerful generative priors for solving inverse imaging problems. However, their practical deployment is hindered by the substantial computational cost of slow, multi-step sampling. Although Consistency Models (CMs) address this limitation by enabling high-quality generation in only one or a few steps, their direct application to inverse problems has remained largely unexplored. This paper introduces a modified consistency sampling framework specifically designed for inverse problems. The proposed approach regulates the sampler's stochasticity through a measurement-consistency mechanism that leverages the degradation operator, thereby enforcing fidelity to the observed data while preserving the computational efficiency of consistency-based generation. Comprehensive experiments on the Fashion-MNIST and LSUN Bedroom datasets demonstrate consistent improvements across both perceptual and pixel-level metrics, including the Fréchet Inception Distance (FID), Kernel Inception Distance (KID), peak signal-to-noise ratio (PSNR), and structural similarity index measure (SSIM), compared with baseline consistency and diffusion-based sampling methods. The proposed method achieves competitive or superior reconstruction quality with only a small number of sampling steps.

Random walk (RW)-based algorithms have long been popular in distributed systems due to low overheads and scalability, with recent growing applications in decentralized learning. However, their reliance on local interactions makes them inherently vulnerable to malicious behavior. In this work, we investigate an adversarial threat that we term the ``Pac-Man'' attack, in which a malicious node probabilistically terminates any RW that visits it. This stealthy behavior gradually eliminates active RWs from the network, effectively halting the learning process without triggering failure alarms. To counter this threat, we propose the Average Crossing (AC) algorithm--a fully decentralized mechanism for duplicating RWs to prevent RW extinction in the presence of Pac-Man. Our theoretical analysis establishes that (i) the RW population remains almost surely bounded under AC and (ii) RW-based stochastic gradient descent remains convergent under AC, even in the presence of Pac-Man, with a quantifiable deviation from the true optimum. Our extensive empirical results on both synthetic and real-world datasets corroborate our theoretical findings. Furthermore, they uncover a phase transition in the extinction probability as a function of the duplication threshold. We offer theoretical insights by analyzing a simplified variant of the AC, which sheds light on the observed phase transition.

Fuzzing frameworks like syzkaller have uncovered thousands of Linux kernel crashes, many of which are critical and security-sensitive. However, the ability to rapidly repair these crashes has not kept pace, particularly given the complexity and low-level nature of kernel code. Predominantly targeting user-space applications, existing LLM-based program repair techniques are not tailored to the unique challenges posed by kernel fuzz bugs-such as the absence of natural language bug reports, lack of exhaustive test oracles, and highly specialized crash artifacts. Thus, in this work, we first identify the prevalent bottlenecks that generic agents struggle with in complex systems such as the Linux kernel. Guided by these findings, we then build kAgent, a workflow-based agent inspired by how kernel developers diagnose and fix bugs, and kGym++, the co-designed toolstack supporting kAgent's requests. kAgent inspects relevant execution logs, generates execution-grounded natural language hypotheses, synthesizes candidate patches, validates patches through crash reproduction, and iteratively refines its reasoning. We ablate these agentic system features in kAgent and quantitatively analyze their contributions to the overall performance. We also report our experience on building agents for kernel crash repair. Although derived from this work on Linux, we note that our experience applies broadly to fuzzing-discovered bugs in complex systems software. We evaluate kAgent on kBenchSyz and show that it can repair up to 54.5% of crashes without localization and 65% with correct file hints. We also show kAgent's generalization on a few wild Syzkaller bugs, and how different patch types offer varying utility to developers who debug complex system software.