arXiv:2606.03054v1 Announce Type: new
Abstract: Tool-augmented vision-language agents can acquire external perceptual evidence through OCR, detection, segmentation, and other tools, but executing every proposed tool call is costly and sometimes unnecessary. We study the pre-call control problem: after a ReAct-style VLM agent proposes a perceptual tool call, should the call be executed, or skipped before its output enters the context? Across five benchmarks, we find that the baseline agent exhibits poor local selectivity: helpful and harmful calls occur at similar rates (11.8% vs. 9.9%), while most calls do not change the immediate forced-answer prediction. We introduce ToolGate, a lightweight external controller that predicts execute/skip decisions from trajectory text and simple structural features. Across two Qwen3-VL backbones, ToolGate reduces token cost to 64-69% of the unrestricted ReAct baseline while preserving average accuracy in cross-domain settings. With matched-domain trajectory training on Qwen3-VL-30B, it further improves average accuracy by 1.65 points. These results show that tool-augmented VLM agents benefit not only from better perceptual tools, but also from explicit control over when tool outputs are worth paying for.
Science Journals
arXiv:2606.03066v1 Announce Type: new
Abstract: The rapid rise of generative AI has made multimodal fake news increasingly realistic and pervasive, posing severe threats to public trust and social stability. Existing detection methods rely heavily on manipulation-specific models and large-scale labeled data, resulting in poor generalization to emerging manipulation types. We observed that the essence of manipulated misinformation lies in its intrinsic conflicts, \textbf{i.e.,} semantic or physical inconsistencies either across modalities or with common world knowledge. Inspired by this observation, we propose \textbf{C}onflict-\textbf{O}riented \textbf{RE}asoning (\textbf{CORE}) framework, an effective paradigm that learns to endows multimodal large language models (MLLMs) with explicit conflict-capturing capability. To this end, CORE first constructs the Conflict Attribution Corpus (CAC) with fine-grained annotations of conflict factors and sources, providing essential data support for subsequent conflict perception training. By performing conflict-oriented representation enhancement and reasoning based on CAC, CORE achieves robust and generalizable conflict detection, effectively and rapidly adapting to unseen manipulation types with a few samples or in even zero-shot settings. Extensive experiments demonstrate that CORE surpasses state-of-the-art models. The dataset and code are publicly available at https://github.com/shen8424/CORE.
arXiv:2606.03075v1 Announce Type: new
Abstract: Vision-Language Models (VLMs) inherit the auto-regressive generation paradigm and cache the keys and values (KV) of all previous tokens to accelerate inference, resulting in memory consumption that scales linearly with context length. This issue is particularly pronounced in VLMs due to substantial redundancy in the visual modality. Although KV cache eviction approaches can effectively reduce inference memory, they often incur significant performance degradation in VLMs, as most are designed for language models and overlook the inherent gap between text and vision. By systematically analyzing the modality gap in VLMs in this work, we argue that the importance of visual information should be grounded in textual guidance and accordingly propose a Text-Grounded KV Eviction method for VLMs (TGV-KV). TGV-KV comprises three submodules: (1) Text-Vision Budgeting (TVB) assigns budget to each layer based on the mutual information interaction. (2) Text-Weighted Ranking (TWR) assesses the priority of text and ranks vision importance based on weighted text-image attention. (3) Text-Prioritised Retention (TPR) policy strategically preserves text KV to avoid acute information loss. We evaluate TGV-KV across five models with different sizes and architectures, showing that TGV-KV preserves 99.2% full-KV accuracy on the VizWiz-VQA task with LLaVA-NeXT and boosts end-to-end throughput by 52.6% with an extreme retention budget of 5%. Code is available at https://github.com/Danielement321/TGV-KV.
arXiv:2606.03078v1 Announce Type: new
Abstract: Effective document-level machine translation (DocMT) requires capturing long-range discourse dependencies. Recent work has explored retrieval-based and discourse-aware context selection. However, these approaches often lack an explicit mechanism for modeling structured discourse dependencies between distant paragraphs in a document. In this paper, we propose G^2C-MT (Graph-Guided Context for Machine Translation), which views DocMT context selection as a structured path discovery problem on a lightweight discourse graph, rather than retrieving unstructured context sets or relying on expensive LLM-based discourse modeling. In detail, we represent each paragraph as a node and model the relationship between each pair of nodes, considering their semantic similarity, adjacency, and keyword overlap. Furthermore, we propose a depth-biased random walk over the graph to sample a backward context path for each target paragraph. The context path will be used to prompt a large language model (LLM) for translation. This framework naturally supports multi-path context sampling, which can improve robustness by aggregating diverse translation candidates for discourse-ambiguous inputs. Experiments conducted across various domains show that G^2C-MT outperforms strong baselines on multiple LLMs, including DeepSeek-V3, Gemini-2.5-Flash-lite, and the Qwen-2.5/3 series.
arXiv:2606.03080v1 Announce Type: new
Abstract: Causal language models factorize sequence probabilities using only preceding context, leaving future information unexploited during training despite its availability in the training data. This paper introduces Regret Pre-training, a self-supervised framework grounded in the Learning Using Privileged Information (LUPI) paradigm. The framework employs a dual-view architecture in which a single model generates both a causal Student distribution and a future-conditioned Teacher distribution. The training objective augments standard language modeling with a regret loss that minimizes the KL divergence from teacher to student, transferring future-aware signals to the causal representations. We investigate two teacher configurations on the OLMoE-1B-7B architecture:LocalRegret, which extends attention by one future token, andGlobalRegret, which conditions on bidirectional context with the target position masked. Experiments on nine downstream tasks following 4 billion tokens of training demonstrate that both configurations consistently outperform the baseline. On average,GlobalRegret andLocalRegret achieve 33.9% and 32.2% accuracy respectively, surpassing the baseline's 30.2%. Most notably,GlobalRegret improves BoolQ performance by 18.1 percentage points (61.0% vs 42.9%). The framework introduces no additional parameters and requires only one extra inference-mode forward pass per training step.
arXiv:2606.03118v1 Announce Type: new
Abstract: Objective: Diseases such as age-related macular degeneration and retinitis pigmentosa cause the degradation of the photoreceptor layer. One approach to restore vision is to electrically stimulate the surviving retinal ganglion cells with a microelectrode array such as epiretinal implants. Epiretinal implants are known to generate visible anisotropic shapes elongated along the axon fascicles of neighboring retinal ganglion cells. Recent work has demonstrated that to obtain isotropic pixel-like shapes, it is possible to map axon fascicles and avoid stimulating them by inactivating electrodes or lowering stimulation current levels. Avoiding axon fascicle stimulation aims to remove brushstroke-like shapes in favor of a more reduced set of pixel-like shapes. Approach: In this study, we propose the use of isotropic and anisotropic shapes to render intelligible images on the retina of a virtual patient in a reinforcement learning environment named rlretina. The environment formalizes the task as using brushstrokes in a stroke-based rendering task. Main Results: We train a deep reinforcement learning agent that learns to assemble isotropic and anisotropic shapes to form an image. We investigate which error-based or perception-based metrics is adequate to reward the agent. The agent is trained in a model-based data generation fashion using the psychophysically validated axon map model to render images as perceived by different virtual patients. We show that the agent can generate more intelligible images compared to the naive method in different virtual patients. Significance: This work shares a new way to address epiretinal stimulation that constitutes a first step towards improving visual acuity in artificially-restored vision using anisotropic phosphenes.
arXiv:2606.03131v1 Announce Type: new
Abstract: Reward models are central to large language model (LLM) alignment, but they remain vulnerable to reward hacking. To evaluate reward-model robustness, we introduce RewardHackBench containing 13 reward-hacking patterns covering real life high-stakes domains and general settings, and we find severe failures on specific subcategories across eight reward models. To mitigate these failures, we propose HARVE, a training-free reward-head editing method for scalar reward models. Instead of fine-tuning the reward model, HARVE identifies a multi-directional hacking subspace from residual stream directions associated with selected hacking subcategories, and removes the component of the reward-head vector aligned with that subspace. This directly reduces the reward head's sensitivity to hacking-related features using only a small set of contrastive gold-hacked examples, without gradient updates or fine-tuning. Comprehensive experiments across eight reward models indicates that \model improves hacking robustness, outperforms fine-tuning baselines, and preserves reward-models' general capability. Further analyses suggest that reward hacking is better captured as a multidimensional residual-space structure than by isolated surface cues.
arXiv:2606.03159v1 Announce Type: new
Abstract: As autonomous vehicle capabilities advance, the safe evaluation of driving policies in long-tail scenarios remains a critical bottleneck. In closed-loop simulation, the driving policy model actively interacts with the environment, where its actions dynamically update the simulator state and directly influence the next set of generated sensor observations. While recent reconstruction-based neural simulators offer photorealism, they are fundamentally constrained by their initial captured data and struggle to generalize to highly dynamic or novel scenes. To overcome these limitations, we introduce OmniDreams, a foundation generative world model mid- and post-trained from the Cosmos diffusion model to autoregressively generate action-conditioned videos in real time. By leveraging the rich visual priors of Cosmos and mid- and post-training on 21k hours of driving scenarios, OmniDreams synthesizes complex, unobserved phenomena that are hard for traditional simulators to capture, such as extreme weather and unpredictable dynamic agent behaviors. Crucially, it autoregressively conditions its photorealistic sensor generation on past frames, the current simulator state, and immediate driving actions. Deployed in a closed-loop system with the Alpamayo 1 policy model and AlpaSim orchestrator, OmniDreams acts as a highly responsive, reactive environment, providing a scalable and comprehensive solution for training and evaluating next-generation autonomous driving policies. We additionally show preliminary results indicating that a world-action model (WAM) post-trained from OmniDreams achieves strong performance on the Physical AI Autonomous Vehicles NuRec dataset, surpassing the VLA-based Alpamayo 1.5 research policy model while using only 1/5 the total parameters. These results highlight the potential for a real-time world model like OmniDreams to also serve as a backbone for policy architectures.
arXiv:2606.03215v1 Announce Type: new
Abstract: E-commerce dispute resolution typically relies on the security assumption that digital evidence truthfully reflects physical reality. Generative AI (GenAI) invalidates this threat model, enabling attackers to fabricate hyper-realistic evidence of product defects at negligible cost. Through semi-structured interviews with merchants (N=17) and platform workers (N=13) in the Chinese e-commerce market, we characterize this shift toward GenAI-enabled scalable fabrication. We outline a taxonomy of four GenAI-enabled threat vectors across the transaction, dispute, logistics and communication phases, highlighting how attackers exploit GenAI to synthesize physically plausible product defects at scale. To mitigate these threats, platforms and merchants are adapting verification strategies, relying on AI tools for automated screening and adversarial interrogation (e.g., requesting multi-angle videos) to increase attack complexity. However, we find several challenges that hinder the adoption of these defenses, including implementation hurdles like structural platform constraints and fundamental limitations regarding the technical sophistication of GenAI. We conclude by outlining design implications for privacy-preserving cross-platform fraud databases, and traceability mechanisms such as embedding verifiable material anchors into the product.
arXiv:2606.03216v1 Announce Type: new
Abstract: We study preference alignment for image inpainting. Rather than proposing yet another method, we revisit the problem from first principles and reassess its core challenges. We adopt the widely used direct preference optimization framework and construct preference training data with publicly available reward models. Our empirical study spans nine reward models, two benchmarks, and two baseline inpainting models that differ in architecture and generative mechanism. Our main findings are: (1) Most reward models provide valid signals for preference data construction, although some are unreliable as evaluators. (2) Across models and benchmarks, preference data exhibits consistent trends under both candidate and sample scaling. (3) Reward models display pronounced biases--particularly in brightness, composition, and color scheme--that make them prone to inducing reward hacking. (4) A simple ensemble of reward models mitigates such biases and yields robust, generalizable performance. {\color{rebuttal_blue}(5) Preference alignment is transferable to the object removal task, where the goal shifts from open-ended creative generation to coherent background completion. (6) Further analysis reveals that a calibrated ensemble method further mitigates hacking and improves robustness.} Without modifying model architectures or introducing additional datasets, our models substantially outperform prior state-of-the-art models on standard metrics, large vision-language model evaluations, and human assessments. Our code is available at: https://github.com/shenytzzz/Follow-Your-Preference.
arXiv:2606.03232v1 Announce Type: new
Abstract: Graph Neural Networks (GNNs) have revolutionized Neural Force Fields for atomistic simulations, achieving near-quantum accuracy at reduced cost, yet adapting these models to new chemical systems requires expensive retraining of foundation models. Inspired by model merging in vision and language processing, we introduce GFFMERGE, the first principled framework for closed-form model merging in GNNs. We exploit the linear structure of message-passing layers and formulate merging as a convex embedding-alignment problem with an analytical solution. Through the first systematic benchmarking of model merging for GNNs, we show that existing methods designed for vision and language catastrophically fail on force field regression, while GFFMERGE recovers performance approaching gold standard joint training. Across molecular (MD17, MD22), solid-state (LiPS20), and large-scale graph benchmarks, GFFMERGE and GNNMERGE (its generic GNN counterpart) achieve 5-27$\times$ speedups while enabling modular composition of specialized models. Remarkably, our closed-form solution alone outperforms all baseline methods before fine-tuning and provides superior initialization for faster, data-efficient convergence.
arXiv:2606.03259v1 Announce Type: new
Abstract: Translation quality depends on purpose: the same source text demands different translations depending on audience, tone, and communicative intent. Yet MT models and metrics treat translation as a fixed mapping from source to target. LLMs enable users to explicitly specify purpose alongside source text, yet this capability has not been evaluated at scale. We introduce a systematic evaluation of purpose-driven MT across 50 languages, 5 model sizes and 8 text domains. We find that (1) explicit instructions substantially improve translation adaptedness, with larger gains on informal domains (conversation, social media), for larger model sizes and for higher-resource languages; (2) instructions outperform semantically-matched few-shot examples and paragraph-level context; (3) traditional MT metrics fail to capture adaptation quality, often penalizing adapted translations; (4) when curated instructions are unavailable, models can self-generate them from surrounding document context, closing up to 80% of the adaptedness gap to curated instructions. Our results establish that purpose-adapted MT is a viable and measurable capability of LLMs, while highlighting the need for purpose-aware metrics.
arXiv:2606.03260v1 Announce Type: new
Abstract: Deep learning surrogates for 3D Partial Differential Equations (PDEs) often fail to generalize across geometric transformations because they depend heavily on specific coordinate systems. While equivariant networks offer a solution, they typically rely on local operations in the spatial domain, making the global receptive field, which is essential for PDE dynamics, computationally expensive. Conversely, Fourier Neural Operators (FNOs) efficiently capture global interactions, yet establishing 3D equivariance within them remains impractical due to the prohibitive cost of spectral group convolutions. To bridge this gap, we introduce EqGINO, a geometrically robust framework that enforces isotropy in the spectral domain. By design, EqGINO guarantees exact equivariance to the discrete symmetries inherent to the discretized computational domain. Beyond this discrete guarantee, our structural prior enables effective generalization to arbitrary continuous orientations even with a limited number of SE(3)-transformed training samples. Consequently, our method robustly models coordinate-invariant physical laws on complex irregular 3D geometries. Our code is available at https://github.com/sung-won-kim/EqGINO
arXiv:2606.03266v1 Announce Type: new
Abstract: Digitizing complex documents with handwritten content, irregular tables, and heterogeneous layouts remains challenging, as traditional Optical Character Recognition (OCR) systems fail to capture writing nuances, author-specific conventions, and document structure, and recent LLM-based approaches lack mechanisms for precise, scalable correction. We present an interactive document digitization system that integrates layout-aware parsing, OCR, and LLM-based reconstruction with user-driven refinement. The system is informed by a formative study that identifies key challenges and interaction needs in real-world digitization workflows. It supports both direct edits and natural-language instructions, and introduces a layout-aware propagation mechanism that generalizes user corrections across structurally similar regions. This enables not only efficient error correction but also document re-shaping into structured, analyzable representations. We evaluate the system through a within-subjects user study (n=12) on real-world documents. Results show improved correction efficiency and reduced repetitive effort, demonstrating more effective and controllable document digitization procedure.
arXiv:2606.03672v1 Announce Type: new
Abstract: Recent unified audio generation models can support diverse tasks across speech, sound effects, and music, but most of them still focus on isolated task-level synthesis. However, real video production often requires multiple components of a complete audio track to be generated jointly and consistently for the same video. We present Foley-Omni, a unified multimodal audio generation model that extends isolated task-level synthesis to complete video soundtrack generation by jointly modeling speech, sound effects, and music within a shared latent generation process. To support training and reproducible evaluation, we develop an audiovisual data curation pipeline and introduce V2ST-Bench, a benchmark for holistic video soundtrack generation evaluation. Experiments show that Foley-Omni achieves competitive performance with expert systems on individual synthesis tasks, while improving speech intelligibility, audiovisual consistency and perceptual quality for mixed soundtrack generation.
arXiv:2606.03678v1 Announce Type: new
Abstract: Generating safety-critical scenarios is essential for validating and improving autonomous driving systems, yet it inherently requires maximizing adversariality to expose failures while preserving realism. Existing methods usually manage this trade-off with handcrafted heuristics, confining generation to known priors and overlooking underexplored patterns. While recent open-ended agentic evolution can push this limit, unconstrained general agents lack strict simulator grounding and tend to collapse the multi-objective tension into single-scalar maximization. Here we present EvoDrive, the first automated, LLM-based agentic evolution framework for multi-objective scenario generation. EvoDrive employs a simulator-grounded actor-critic architecture where a memory-driven actor iteratively proposes improvements to the generators and critics filter out implausible candidates, and a self-evolving world evaluator routes promising proposals to optimize simulation budgets. EvoDrive further maintains a Pareto archive of evaluated candidates to preserve diverse attack-realism trade-offs and guide future evolution via simulation feedback. Benchmark results on MetaDrive and CARLA show that EvoDrive not only significantly expands the Pareto frontier across various generators, but also produces valuable scenarios for policy training.
arXiv:2606.03692v1 Announce Type: new
Abstract: Recent AI agents can flexibly invoke skills to solve complex tasks, but their long-term improvement is fundamentally constrained by a lack of systematic skill construction, accumulation, and transfer. In particular, without a unified framework for skill consolidation, agents tend to redundantly construct similar capabilities across different tasks, are unable to effectively transform experience into reusable assets, and struggle to generalize task-specific skills to novel scenarios. To address this limitation, we propose SkillPyramid, a skill consolidation framework that reuses existing skill experience for broader task generalization. Operating on a hierarchical skill topology, SkillPyramid further introduces a self-evolution mechanism that enables agents to compose, validate, and incorporate new skills during task execution. Experiments on ALFWorld, WebShop, and ScienceWorld across four backbone models show that SkillPyramid substantially increases the average reward by 38.0% and reduces execution steps by 27.7%. Overall, our method transforms a skill collection from a static resource pool into a dynamic evolution system.
arXiv:2606.03697v1 Announce Type: new
Abstract: Integrated Circuits (ICs) are omnipresent, yet their globalized manufacturing process remains vulnerable to supply chain threats. Hardware Reverse Engineering (HRE) is essential for detecting such threats and re-establishing trust; however domain experts remain scarce due to a lack of educational programs. To contribute educational insights in this critical and rapidly evolving technology domain, we present our HRE course focusing on digital circuit analysis and digital circuit extraction from ICs. The course targets junior-level undergraduates at a major European research university. The curriculum has been refined over nine iterations (2017-2025), with several alumni subsequently pursuing careers in the HRE field. By reflecting on the evolution of the course organization, content, and assignments, we derive key lessons learned. We further distill these insights into actionable design priorities for educators developing courses in rapidly evolving technological domains, emphasizing iterative growth and sustainable workload management for both students and instructors.
arXiv:2606.03713v1 Announce Type: new
Abstract: Multi-modal Large Language Models (MLLMs) achieve strong performance on vision-language tasks, but incorporating visual inputs through a vision encoder (e.g., CLIP) substantially expands the attack surface, making these models vulnerable to visual adversarial perturbations. Prior defenses typically preserve compatibility with pretrained MLLMs by enforcing strict alignment to CLIP's original embedding space during adversarial fine-tuning; while practical, this constraint fundamentally limits achievable robustness. We present a systematic investigation of adversarial robustness in MLLMs. We first introduce a diagnostic CLIP-alignment protocol that predicts, prior to full MLLM training, which robust vision encoders will transfer effectively to the multimodal setting, revealing that large-scale multimodal adversarial pretraining, rather than unimodal scale alone, is the critical factor for strong robustness transfer. Integrating such encoders into MLLMs via end-to-end multimodal training yields average gains of 28 CIDEr points on captioning and 11.7% VQA accuracy under strong adversarial attacks compared to constrained plug-and-play baselines. We further show that adversarial training applied directly to a standard non-robust MLLM degrades both clean and adversarial performance, establishing robust visual representations as a strict prerequisite, while end-to-end adversarial training from a robust backbone delivers additional gains of 1.9 CIDEr points and 4.3% VQA accuracy. Beyond training-time defenses, lightweight test-time visual stochastic transformations serve as an effective black-box defense for non-robust MLLMs, elevating adversarial performance from near-zero to levels comparable with robust models. Finally, we show that our robust models substantially reduce toxic generation under white-box visual jailbreak attacks. Code and pretrained weights will be released publicly.
arXiv:2606.03756v1 Announce Type: new
Abstract: We introduce Neural Navigation Functions (Neural-NF), a learned reactive navigation function capable of zero-shot transfer across unseen environment geometries. Neural-NF places data-driven adaptation within a structured elliptic planner, where the navigation objective is learned while planner structure is preserved by construction. Specifically, intrinsic Laplacian-derived features are mapped to local PDE coefficients, and solving the resulting boundary value problem produces a globally consistent value function on each target domain. For every admissible learned model, the resulting policy is collision-free, provides monotonic descent and a global minimum at the goal by construction. This admits a linearly-solvable optimal-control interpretation for any parameter setting. Empirically, Neural-NF achieves strong zero-shot transfer across diverse geometries and outperforms learned planners that directly predict the value function by up to a $5\times$ improvement.
arXiv:2606.03773v1 Announce Type: new
Abstract: High-quality pretraining data is a central ingredient in modern language models, but German-language resources remain far less developed than their English counterparts: they are often smaller, less carefully curated, weakly documented, and rarely validated through controlled training experiments. We introduce KletterMix, a high-quality German corpus for language model pretraining and annealing, designed as a reusable dataset artifact for the natural language processing and modeling community. KletterMix is built by translating a state-of-the-art English pretraining corpus into German while preserving document boundaries, metadata, source structure, and topical diversity. This construction yields a German corpus with the scale and diversity of a modern pretraining dataset, while enabling direct comparison to its English source. We document the dataset through a broad set of corpus-level analyses, including translation quality, document length distributions, topic coverage, source composition, and geographic metadata. Using COMETKiwi, we show that the translated documents achieve strong quality across diverse domains, suggesting that careful translation can preserve much of the semantic and stylistic richness of the original corpus. Beyond dataset construction, we evaluate KletterMix as training data. Through controlled pretraining and annealing ablations against established German corpora, we show that models trained on KletterMix achieve measurable improvements on German-language downstream evaluations. These results demonstrate that carefully curated translated data can substantially strengthen the German pretraining data ecosystem.
arXiv:2606.03851v1 Announce Type: new
Abstract: We study the two-action apple-tasting problem with switching costs against an oblivious adversary. In an equivalent normalized formulation, at each round the learner chooses between a revealing action and a blind action: the revealing action gives reward $0$ and reveals the hidden value $x_t\in[-1,1]$ of the blind action; the blind action gives reward $x_t$ but reveals nothing. The learner pays one unit whenever they switches actions, and regret is measured against the best fixed action in hindsight.
General feedback-graph algorithms with switching costs give $\widetilde O(T^{2/3})$ regret guarantees for this problem. The two-action apple-tasting graph was the natural candidate for the missing $\Omega(T^{2/3})$ obstruction in the switching-cost classification: such a lower bound would have transferred to a large family of still-unclassified feedback graphs. We prove that this obstruction is not there: the oblivious minimax expected regret for this problem satisfies \[
\frac{1}{2\sqrt3}\cdot\sqrt T
\le
R_T^\star
\le
2\sqrt{3}\cdot \sqrt{T}. \]
arXiv:2606.03862v1 Announce Type: new
Abstract: Computing the Lipschitz constant of the solution map of a multi-parametric quadratic program is important for the analysis of optimization-based control. This problem is governed by three factors: the parameter dimension, the number of decision variables, and the number of constraints. While empirical evidence has long suggested exponential complexity, a rigorous complexity-theoretic proof has been lacking. In this paper, we fill this gap by proving that this problem is not only NP-hard but also APX-hard. Furthermore, we reveal that: (a) the problem becomes polynomial-time solvable when the number of constraints or decision variables is fixed; and (b) both NP-hardness and APX-hardness persist even in the scalar parameter case. These results confirm that the complexity stems from the number of constraints and variables, rather than the parameter dimension. Numerical experiments further validate these theoretical findings.
arXiv:2606.03868v1 Announce Type: new
Abstract: Recent world action models leverage video foundation models by aligning broad visual-dynamics priors with executable robot actions. We revisit this alignment from a distributional perspective. Existing formulations typically narrow the aligned prior into an observation-conditioned policy distribution over future actions. In contrast, we keep the distribution broader by modeling the joint space of interaction videos and executable hand trajectories under multiple conditioning regimes. We propose Donk, a unified video-action denoising model for dexterous hands. With language, an initial image, and the initial hand state, Donk samples future videos and bimanual MANO trajectories as an action policy. Without the image condition, the same denoising architecture samples paired video-action rollouts from a text-conditioned distribution, turning the aligned video prior into a data engine. Across action, video, and text-only generation evaluations, Donk improves dexterous trajectory accuracy, preserves strong video fidelity, and produces smooth text-conditioned action rollouts under the same unified training recipe.
arXiv:2606.03919v1 Announce Type: new
Abstract: Understanding and anticipating scientific change requires models that distinguish between endogenous consolidation and exogenous diffusion of scientific concepts. Using the quantum computing subtree of concepts in OpenAlex, we construct a temporally resolved concept co-occurrence network and track each concept pair through its upstream citation lineage and downstream diffusion. We train LightGBM models on distributional and diversity-aware features to predict four outcomes: endogenous reinforcement, exogenous diffusion, their ratio, and diffusion entropy. After controlling for overall publication growth of the scientific body, endogenous reinforcement proves largely unpredictable in the primary quantum-computing benchmark. In contrast, exogenous diffusion and entropy are strongly predictable ($R^2$ up to $0.78\`a) and are driven by upstream heterogeneity, citation breadth, and distributional dispersion, as shown by SHAP analyses; replications on robotics, advanced materials, and neuro implants confirm that exogenous diffusion remains the top-ranked target across fields ($R^2_test \sim 0.60-0.87$), while endogenous predictability rises markedly in neuro implants (R^2_test = 0.83), indicating that the quantum-computing asymmetry does not generalise uniformly. Case studies reveal that sharp entropy increases coincide with the opening of new conceptual frontiers, while entropy collapses signal technological convergence or paradigm displacement. These results demonstrate that conceptual diffusion is governed by stable structural regularities embedded in semantic and citation environments. By identifying early diversity-based signals of cross-domain uptake, the approach provides a scalable foundation for anticipatory scientometrics, technology foresight, and innovation-oriented policy analysis in rapidly evolving research fields.