News & Research

arXiv:2606.00860v1 Announce Type: cross Abstract: Self-report questionnaires remain the prevailing tool for probing the psychological states of persona-conditioned agents (PC-Agents). However, classical instruments inherit two well-known threats: contamination from training corpora and directional bias driven by social-desirability or contextual framing. To overcome these methodological bottlenecks, we ask whether projective paradigms can be adapted into a robust psychometric tool. We introduce \textbf{GenPT} (Generative Projective Testing), which reformulates TAT, Rorschach, and SCT with newly generated stimuli and organizes assessment as a three-stage pipeline to derive standardized psychological indicators and target states. Evaluating PC-Agents induced via CharacterRAG and AnnaAgent profiles, we benchmark GenPT's reliability and validity against classical questionnaires. The results indicate that questionnaires exhibit systematic directional shifts under social-desirability framing

arXiv:2510.14025v2 Announce Type: replace Abstract: Adversarial purification has achieved great success in combating adversarial image perturbations, which are usually assumed to be additive. However, non-additive adversarial perturbations such as blur, occlusion, and distortion are also common in the real world. Under such perturbations, existing adversarial purification methods are much less effective since they are designed to fit the additive nature. In this paper, we propose an extended adversarial purification framework named NAPPure, which can further handle non-additive perturbations. Specifically, we first establish the generation process of an adversarial image, and then disentangle the underlying clean image and perturbation parameters through likelihood maximization. Experiments on GTSRB and CIFAR-10 datasets show that NAPPure significantly boosts the robustness of image classification models against non-additive perturbations.

arXiv:2606.01241v1 Announce Type: new Abstract: Navigation and manipulation are fundamental capabilities of embodied intelligence, enabling robots to interpret natural language commands and interact physically with their surroundings. However, current Vision-Language-Action (VLA) models remain constrained by task-specific architectures, specializing in either navigation or manipulation, which hinders the development of general-purpose robotic agents. To bridge this gap, we introduce OneVLA, a unified architecture that integrates these distinct tasks into a single, cohesive framework. Specifically, we design a unified action head capable of generating both navigation and manipulation actions without requiring task-specific variants. Furthermore, we propose a multi stage progressive training strategy-incorporating curated data construction and Chain-of-Thought (CoT) fine-tuning that facilitates strong positive transfer and mutual reinforcement between the two domains. Extensive experimen

arXiv:2606.01363v1 Announce Type: new Abstract: Model-based reinforcement learning (MBRL) infers information about the environment from a learned dynamics model and bears the potential to address open problems such as data efficient and safe learning in robotics. However, inaccuracies of the learned dynamics model are typically exploited by the agent, substantially hampering the capabilities of MBRL methods. We present a framework for dealing with inaccuracies of probabilistic models through targeted handling of uncertainty that effectively mitigates model exploitation. We present recent successes in learning directly on hardware and safe exploration, and discuss future directions for uncertainty-aware MBRL.

arXiv:2603.02238v2 Announce Type: replace Abstract: Length generalization is a key property of a learning algorithm that enables it to make correct predictions on inputs of any length, given finite training data. To provide such a guarantee, one needs to be able to compute a length generalization bound, beyond which the model is guaranteed to generalize. This paper concerns the open problem of the computability of such generalization bounds for C-RASP, a class of languages which is closely linked to transformers. A positive partial result was recently shown by Chen et al. for C-RASP with only one layer and, under some restrictions, also with two layers. We provide complete answers to the above open problem. Our main result is the non-existence of computable length generalization bounds for C-RASP (already with two layers) and hence for transformers. To complement this, we provide a computable bound for the positive fragment of C-RASP, which we show equivalent to fixed-precision transfo

arXiv:2606.00933v1 Announce Type: new Abstract: Coordinating multiple robots in shared environments requires generating feasible trajectories for each agent while accounting for interactions among agents. Centralized planning approaches become difficult to scale as the number of robots increases, while decentralized approaches that allow each agent to plan independently do not inherently account for inter-agent interactions. This paper presents a framework for coordinated multi-robot motion planning that combines decentralized generative trajectory planning with multi-agent reinforcement learning (MARL)-based coordination. Each robot independently generates candidate trajectories using a diffusion model trained on single-agent motion data, leveraging the generative model's ability to produce feasible and diverse trajectories. To reduce conflicts between agents, a centralized value function trained via MARL guides the reverse diffusion process through gradient-based steering, enabling i

arXiv:2603.11653v2 Announce Type: replace-cross Abstract: Continual Reinforcement Learning (CRL) for Vision-Language-Action (VLA) models is a promising direction toward self-improving embodied agents that can adapt in openended, evolving environments. However, conventional wisdom from continual learning suggests that naive Sequential Fine-Tuning (Seq. FT) leads to catastrophic forgetting, necessitating complex CRL strategies. In this work, we take a step back and conduct a systematic study of CRL for large pretrained VLAs across diverse lifelong RL benchmarks. We find that, contrary to established belief, simple Seq. FT with low-rank adaptation (LoRA) is remarkably strong: it achieves high plasticity, exhibits little to no forgetting, and retains strong zero-shot generalization, frequently outperforming more sophisticated CRL methods. Through detailed analysis, we show that this robustness arises from a synergy between the large pretrained model, parameter-efficient adaptation, and on-

arXiv:2606.01993v1 Announce Type: cross Abstract: Abundant procedural knowledge on the Web holds great potential for helping agents solve long-horizon tasks. However, such knowledge is often multimodal, heterogeneous, noisy, and implicitly assumes human executors, making it difficult to use directly as the skills required by agents. To bridge the gap between human-oriented guides and agent-executable skills, we formalize this problem as guide-to-skill learning: converting in-the-wild guides into executable skills and continuously improving them from trajectories observable to the agent. To evaluate the capability of existing agents on this task, we introduce MMG2Skill-Bench, the first benchmark designed for this problem. We further propose MMG2Skill, a closed-loop framework that compiles guides into editable skills, conditions a fixed vision-language model (VLM) agent on these skills during execution, and revises the skills from trajectory-level root-cause feedback without using benchm

arXiv:2605.14709v2 Announce Type: replace Abstract: Recent unified models integrate multimodal understanding and generation within a single framework. However, an "understanding-generation gap" persists, where models can capture user intent but often fail to translate this semantic knowledge into precise pixel-level manipulation. This gap results in two bottlenecks in anything-to-image task (X2I): the attention entanglement bottleneck, where blind planning struggles with complex prompts, and the visual refinement bottleneck, where unstructured feedback fails to correct imperfections efficiently. In this paper, we propose a novel framework that empowers unified models to autonomously switch between generation strategies based on instruction complexity and model capability. To achieve this, we construct a hierarchical data pipeline that constructs execution paths across three adaptive modes: direct generation for simple cases, self-reflection for quality refinement, and multi-step planni

arXiv:2605.02122v2 Announce Type: replace-cross Abstract: Human evaluation remains the primary standard for assessing modern AI systems, yet annotator disagreement, bias, and variability make system rankings fragile under standard majority vote aggregation. Majority vote discards annotator reliability and item-level ambiguity, often yielding unstable comparisons across annotator subsets. We introduce STABLEVAL, a disagreement-aware evaluation framework that models latent item correctness and annotator-specific confusion patterns to produce posterior expected item credit and calibrated agent-level scores. Unlike label-denoising approaches such as Dawid-Skene, STABLEVAL is explicitly designed for stable and uncertainty-aware system evaluation rather than hard label recovery. We formalize ranking stability as a first-class evaluation objective and analyze how aggregation methods preserve or distort underlying annotator behavior. Across controlled synthetic experiments and multiple real-wo

arXiv:2606.00487v1 Announce Type: new Abstract: Using a diffusion model for parallel drafting is a promising approach for speculative decoding. By predicting tokens at multiple future positions in a single forward pass, diffusion drafters substantially reduce drafting latency. However, this shifts the bottleneck to verification: verifying a single sequence limits acceptance length, while verifying large draft trees incurs excessive target-model latency. We identify a key mismatch in existing draft-tree methods: existing diffusion-tree methods rank nodes by the marginal probability, ignoring that verification is prefix-conditioned. As a result, they may verify unreachable descendants of rejected prefixes, increasing latency with limited acceptance gains. To address this, we propose TAPS, a target-aware prefix selection method that turns diffusion marginals into path-conditioned acceptance estimates. TAPS then selects a compact prefix-closed subtree under a fixed verification budget, imp

arXiv:2602.19848v2 Announce Type: replace Abstract: Skin lesion classification datasets often suffer from severe class imbalance, with malignant cases significantly underrepresented, leading to biased decision boundaries during deep learning training. We address this challenge using class-conditioned diffusion models to generate synthetic dermatological images, followed by self-supervised MAE pretraining to enable huge ViT models to learn robust, domain-relevant features. To support deployment in practical clinical settings, where lightweight models are required, we apply knowledge distillation to transfer these representations to a smaller ViT student suitable for mobile devices. Our results show that MAE pretraining on synthetic data, combined with distillation, improves classification performance while enabling efficient on-device inference for practical clinical use.

arXiv:2606.00950v1 Announce Type: new Abstract: Unsupervised skill discovery (USD) aims to learn diverse behaviors without reward functions, but often results in task-irrelevant or hazardous behaviors due to uniform exploration. Guided skill discovery (GSD) addresses this issue by incorporating human intent to focus exploration on meaningful regions. However, existing GSD methods typically require training additional guidance models, and rely on pre-defined rules or expert demonstration, which can be ineffective under sparse, online-collected human feedback. To overcome this, we propose COLLIE, a GSD framework that leverages dense unsupervised data to construct a semantically coherent skill latent space. This latent space is well-structured, enabling reliable guidance with sparse online feedback. Moreover, its semantic coherence property enables training-free construction of guidance signals, eliminating the need for additional model training beyond skill learning. Theoretical analysis

arXiv:2606.00377v1 Announce Type: new Abstract: Diffusion models have emerged as the backbone of modern generative AI, powering advances in vision, language, audio and other modalities. Despite their success, they suffer from hallucinations, implausible samples that lie outside the support of true data distribution, which degrade reliability and trust. In this work, we first empirically confirm previously proposed hypothesis that score smoothness causes hallucinations in Image Generation diffusion models and provide a density-based perspective. We further formalize this notion by linking the hallucinations probability mass to lipschitz constant of the learned score function. Motivated by this, we introduce a Variance-Guided Score Modulation (VSM) strategy that controls the score Jacobian, in turn reducing score smoothness and better approximating the ground truth score that decreases hallucinations. Empirical results on synthetic and real-world datasets demonstrate that our approach re

arXiv:2512.09730v3 Announce Type: replace-cross Abstract: Interpreto is an open-source Python library for interpreting HuggingFace language models, from early BERT variants to LLMs. It provides two complementary families of methods: attribution methods and concept-based explanations. The library bridges recent research and practical tooling by exposing explanation workflows through a unified API for both classification and text generation. A key differentiator is its end-to-end concept-based pipeline (from activation extraction to concept learning, interpretation, and scoring), which goes beyond feature-level attributions and is uncommon in existing libraries. See GitHub: https://github.com/FOR-sight-ai/interpreto and the demo website: https://for-sight-ai.github.io/interpreto-demo/.