News & Research

arXiv:2605.28401v1 Announce Type: new Abstract: Mixed Reality (MR) headsets promise a future of immersive telepresence where virtual humans blend indistinguishably into real or virtual surroundings. Achieving this vision requires a method for capturing a user's motion, estimating appearance under novel lighting, and understanding the environment - all from the constrained viewpoint of a head-mounted display (HMD). Existing approaches treat these as isolated problems: they either focus on driving avatars with baked-in lighting or rely on studio setups for relighting. In this paper, we present EgoRelight, a holistic framework for egocentric telepresence that simultaneously captures full-body human performance, synthesizes photorealistic and relightable appearance, and estimates high dynamic range (HDR) environment maps from a single HMD. First, to ensure motion and surface reconstruction, we propose an egocentric perception module that leverages stereo down-facing cameras to extract dens

arXiv:2605.19342v2 Announce Type: replace Abstract: Multimodal latent-space reasoning aims to replace explicit thinking with images by performing visual reasoning directly in a compact latent space. However, existing approaches largely rely on visual supervision and produce latent representations that lack sufficient semantic richness, limiting their ability to support diverse region-level reasoning tasks. In this work, we introduce Semantic-Enriched Latent Visual Reasoning (SLVR), a two-stage learning framework that enriches latent representations with attribute-level visual semantics and aligns them with diverse reasoning objectives. In the first stage, SLVR learns semantically enriched region-centric latents under fine-grained attribute supervision. In the second stage, we design Multi-query Group Relative Policy Optimization (M-GRPO) to align latent representations across multiple queries grounded in the same region. To support this framework, we construct SLV-Set, comprising appro

arXiv:2603.14773v2 Announce Type: replace-cross Abstract: Fine-tuning large models on edge devices is severely hindered by the memory-intensive backpropagation (BP) in standard frameworks like federated learning and split learning. While substituting BP with zeroth-order optimization can significantly reduce memory footprints, it typically suffers from prohibitively degraded convergence speed. To resolve this dilemma, we propose Hybrid-Order Split Federated Learning (HO-SFL). By reformulating the split learning process within a Lagrangian framework, HO-SFL decouples the optimization landscape: The server performs precise first-order updates (i.e., BP), whereas clients conduct memory-efficient zeroth-order optimization. This hybrid design not only eliminates the need for client-side BP but also enables dimension-free model aggregation, drastically lowering communication costs. Crucially, we provide a theoretical convergence analysis, demonstrating that HO-SFL mitigates the dimension-dep

arXiv:2605.27567v1 Announce Type: new Abstract: Causal discovery is a cornerstone of scientific reasoning, yet whether large language models can perform it reliably remains an open question. Recent benchmarks show that even fine-tuned models plateau on simple causal graphs and degrade as complexity grows, but why they fail has not been established. We prove the failure is fundamental: supervised fine-tuning, direct preference optimization, and in-context learning all produce predictors that cannot distinguish between causal graphs generating similar observational data, and any attempt to do so requires the model's internal representations to grow unboundedly, violating the very conditions under which these methods work. We formalize this as a kernel obstruction theorem, establishing that the limitation is intrinsic to the learning paradigm, \emph{not any particular model or dataset}. We propose Agentic Causal Bayesian Optimization (A-CBO), wherein a frozen language model serves as an i

arXiv:2605.27794v1 Announce Type: cross Abstract: This paper studies adaptive targeting under network interference in a bandit setting, where treatments applied to one individual may affect others through spillover effects. We consider a linear model in a sparse regime, where each individual's outcome can be affected by at most a few others. We first establish a regret lower bound showing that ignoring the network structure and reducing the problem to a standard linear bandit inevitably leads to inefficient learning, particularly in large populations. To understand how structural information can be leveraged, we analyze regimes with varying levels of knowledge of the interference structure: (1) full support knowledge, (2) knowledge of the column support sizes, and (3) no prior knowledge. For each regime, we establish regret lower bounds characterizing the fundamental limits of learning, and develop algorithms that achieve near-optimal regret. Together, our results provide a unified vie

arXiv:2605.28223v1 Announce Type: new Abstract: Consumer EEG headbands, HRV biofeedback devices, and closed-loop neurostimulation systems share a fundamental design flaw: they reward measurable proxy signals rather than the outcomes they claim to produce. When a user optimises for calm EEG, HRV coherence, or breathing resonance, their brain learns to produce those signals through whatever strategy is most efficient, including strategies unrelated to the intended benefit. We formalise this as reward misspecification: the policy maximising proxy reward R_proxy is not the policy maximising true intended outcome V_target. This produces three failure modes: proxy mismatch, strategy shortcutting, and transfer failure. We review how existing devices including Muse, HeartMath, Unyte IOM2, and clinical neurofeedback systems instantiate these failures. We introduce a four-tier measurability taxonomy distinguishing reliably measurable wearable targets (Tier 1) from targets that are currently or p

arXiv:2605.25767v2 Announce Type: replace Abstract: Synthesizing high fidelity contrast enhanced MRI is clinically valuable for safer and more efficient breast cancer screening, yet remains challenging due to complex lesion textures and heterogeneous enhancement patterns.

arXiv:2605.28016v1 Announce Type: new Abstract: Ultra-low-field (ULF) MRI offers portable and low-cost imaging but suffers from poor image quality. To address this, we present our submission to the 2025 ULF Enhancement Challenge (ULF-EnC), where the goal is to synthesise high-field-like MRIs from 64 mT scans. Our pipeline enhances ULF MRI through a combination of anatomical conditioning and model ensembling. We first generate tissue segmentation priors using a Swin UNETR trained solely on challenge-provided data. These priors condition two independent enhancement networks - a CycleGAN and a transformer-based residual enhancement model (T-REX) - each trained to synthesise 3 T-like MRIs. Outputs from both models are combined using a weighted average. Our approach produces enhanced MRIs that were comparable to high-field scans both quantitatively and qualitatively.

arXiv:2605.27384v1 Announce Type: cross Abstract: This position paper reflects empirical data collected during my PhD from a large-scale within-subjects study (N = 90). The study compared a highly human-like, spoken embodied conversational agent (ECA) against a low human-like text base agent (no embodiment, text bubble only) within a mobile, Unity-developed game about pre-decimal UK currency. The game included two agents with different roles-an Instructor (Alex) and a Shopkeeper/Collaborator. Users interacted using voice and mouse input. The quantitative data I collected included a usability questionnaire (CCIR MINERVA) and the Agent Persona Instrument. Data was analyzed using paired t-test, repeated measures ANOVA and multiple linear regression to identify correlations between the persona and usability. The results showed a statistically significant preference for the version of highly human-like agents, with a large effect size. This is further discussed alongside qualitative finding

arXiv:2602.18647v2 Announce Type: replace-cross Abstract: We introduce InfoNoise, an online adaptive noise schedule for diffusion training that reallocates optimization effort toward noise levels where denoising is most informative. Together with loss weighting, a noise schedule induces an effective allocation across denoising problems, often fixed before informative noise levels are known. InfoNoise makes this allocation data-adaptive by estimating a conditional-entropy-rate profile from denoising losses during training, without auxiliary models or offline search. Through I--MMSE, this profile identifies where noisy observations rapidly reduce uncertainty about the clean sample and guides adaptation of the training noise distribution. It changes only this distribution, keeping the objective, weighting, and parameterization fixed. On image benchmarks, where schedules have been extensively tuned, InfoNoise matches or slightly exceeds strong baselines and can reach the same quality with

arXiv:2506.12444v2 Announce Type: replace-cross Abstract: In this paper, we propose Adjusted Shuffling SARAH, a novel algorithm that integrates shuffling strategies into the recursive SARAH framework using a dynamic weighting mechanism to enhance exploration. We analyze the algorithm under two operating modes. First, we show that the Exact Mode matches the best-known theoretical guarantees for shuffling variance-reduced methods in both strongly convex and non-convex settings. Second, to address large-scale regimes, we introduce an Inexact Mode that utilizes mini-batch estimators. A key contribution of our work is proving that this Inexact Mode achieves a total complexity independent of the dataset size, making it significantly more scalable than existing shuffling methods when the sample size is large.

arXiv:2603.12824v2 Announce Type: replace-cross Abstract: Vision-Language Model (VLM) based retrievers have advanced visual document retrieval (VDR) to impressive quality. They require the same multi-billion parameter encoder for both document indexing and query encoding, incurring high latency and GPU dependence even for plain-text queries. We observe that this design is unnecessarily symmetric: documents are visually complex and demand strong visual understanding, whereas queries are just short text strings. NanoVDR exploits this query--document asymmetry by decoupling the two encoding paths: a frozen 2B VLM teacher indexes documents offline, while a distilled text-only student as small as 69M parameters encodes queries at inference. The key design choice is the distillation objective. Through systematic comparison of six objectives across three backbones and 22 ViDoRe benchmark datasets, we find that pointwise cosine alignment on query text consistently outperforms ranking-based and

arXiv:2605.27539v1 Announce Type: new Abstract: Many children experience challenges in emotional regulation and social interaction, which can limit their participation in everyday activities and therapeutic programs. For socially assistive robots to be effective in this context, it is essential that children remain consistently and meaningfully engaged. We explore engagement strategies for a tactile robot designed to support children suffering from anxiety disorders through daily interactions. The robot delivers either synthetic emotional feedback or point rewards to encourage user participation. We evaluated these strategies through two studies: a preference assessment with 16 school children aged 6-8 years, and a behavioral study with 14 university students aged 20-27 years in naturalistic environments. The study with school children indicated a preference for emotional engagement over points-based approaches. The follow up study with university students across a full day of interact

arXiv:2605.28803v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models unify perception, reasoning, and control within a single policy, yet their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive. Prior quantization efforts offer only partial solutions, compressing the LLM backbone while leaving the DiT action head at full precision, or resorting to mixed-precision schemes, driven by the belief that uniformly quantizing the action head is inherently unstable. We challenge this assumption with Omega-QVLA, the first training-free post-training quantization framework that compresses both the language backbone and the entire diffusion action head of a VLA model to a uniform W4A4 precision, eliminating the need for mixed-precision allocation. Omega-QVLA combines a composite SVD-Hadamard rotation that equalizes per-channel weight energy while diffusing residual activation outliers with per-step DiT activation sca

arXiv:2604.05333v3 Announce Type: replace Abstract: Modern LLM agents increasingly rely on reusable skills, and as they interact with personal applications, web browsers, and other interfaces, skill libraries can scale to thousands of skills. Scaling to larger skill sets introduces two key challenges. First, loading the full skill set saturates the context window, driving up token costs, hallucination, and latency. Second, semantic retrieval surfaces topically relevant skills but misses their prerequisite chain of upstream and downstream skills, creating a prerequisite gap that leaves the retrieved bundle execution-incomplete. In this paper, we present Graph-of-Skills (GoS), an inference-time structural retrieval layer for large skill libraries. GoS constructs an executable skill graph offline from skill packages, then at inference time retrieves a bounded, dependency-aware skill bundle through hybrid semantic-lexical seeding, reverse-aware Personalized PageRank, and context-budgeted h