News & Research

arXiv:2606.01713v1 Announce Type: new Abstract: We propose FlipItRight, a framework for stable planar pose-targeted throw-flip with a high-DoF manipulator. The task is decomposed into an object-level planner, which generates candidate release states satisfying the desired landing pose, and a robot-level planner, which evaluates executability and constructs a feasible swing motion. Treating the release state as an explicit intermediate representation enables principled candidate filtering, adaptive selection of release and pre-swing configurations, and structured near-release motion design -- in particular, approximately constant end-effector velocities during the final swing phase to improve robustness to release-timing uncertainty. We validate on a real platform across objects of varying shape, size, and mass, achieving a 90% success rate across 120 trials. Ablation studies confirm that each design choice contributes to throwing performance, and the framework requires no prior data or

arXiv:2606.01291v1 Announce Type: cross Abstract: Training Variational Quantum Circuits (VQCs) under Noisy Intermediate-Scale Quantum (NISQ) constraints introduces severe computational limitations: classical statevector simulation memory scales exponentially ($\mathcal{O}(2^n)$), and global cost functions suffer from barren plateaus where gradient variance decays exponentially ($\mathcal{O}(1/2^n)$). This paper introduces and evaluates the Quantum Algorithm for Distributed Reduction of Entanglements (QADR), a hybrid quantum-classical machine learning framework that decomposes a global $n$-qubit VQC into localized sub-circuits operating approximately within the causal light cones of individual target qubits. QADR reduces classical simulation memory scaling from $\mathcal{O}(2^n)$ to $\mathcal{O}(n \cdot 2^{2d+1})$ for a light cone radius $d$, while naturally mitigating global barren plateaus. We benchmark QADR against standard global VQCs, Support Vector Machines (SVM), and two customiz

arXiv:2606.02339v1 Announce Type: cross Abstract: Entropy minimization (EM) is the dominant objective for test-time adaptation, yet its failure mode, model collapse, remains poorly understood. In this work, we show that distribution shifts can cause feature clusters corresponding to distinct classes in the model's representation space to merge, while the decision boundary remains fixed. This induces a systematic skew in the predicted class distribution, referred to as prediction bias. Prediction bias refers to a shift in the predicted class distribution, with some classes overrepresented and others suppressed. We show that entropy minimization amplifies this prediction bias by tightening the existing clusters, reinforcing the incorrect groupings until all predictions collapse to a trivial solution. Next, to demonstrate the significance of prediction bias and mitigate it, we further propose Distribution Shift Bias Reduction (DSBR), a bias-correcting objective that specifically targets t

arXiv:2602.03554v2 Announce Type: replace-cross Abstract: Recent progress has expanded the use of large language models (LLMs) in drug discovery, including synthesis planning. However, objective evaluation of retrosynthesis performance remains limited. Existing benchmarks and metrics typically rely on published synthetic procedures and Top-K accuracy based on single ground-truth, which does not capture the open-ended nature of real-world synthesis planning. We propose a new benchmarking framework for single-step retrosynthesis that evaluates both general-purpose and chemistry-specialized LLMs using ChemCensor, a novel metric for chemical plausibility. By emphasizing plausibility over exact match, this approach better aligns with human synthesis planning practices. We also introduce CREED, a novel dataset comprising millions of ChemCensor-validated reaction records for LLM training, and use it to train a model that improves over the LLM baselines under this benchmark.

arXiv:2606.01444v1 Announce Type: new Abstract: Scientific discovery is not only answer generation but revision of the representational regime in which evidence, artifacts, operations, and verifiers are typed. We develop a category-theoretic account of agentic discovery for materials science. In a fixed regime b with schema category S_b, the system state is a copresheaf I_t: S_b -> Set, and provenance is the category of elements \int_{S_b} I_t. Fixed-regime operation is an update on such states, endofunctorial only when provenance-preserving refinements are specified and preserved. Discovery is instead a verified regime transition u: S_b -> S_b': old artifacts are preserved, transported by the left Kan extension Lan_u I_t, and compared with the post-transition state to identify residual content beyond functorial transport. This separates retrieval, search, and discovery without subjective novelty. We instantiate the framework in two systems. In Builder/Breaker, a protein-mechanics worl

arXiv:2602.03282v2 Announce Type: replace-cross Abstract: A common assumption in representation learning is that globally well-distributed embeddings support robust and generalizable representations. This focus has shaped both training objectives and evaluation protocols, implicitly treating global geometry as a proxy for representational competence. While global geometry effectively encodes which elements are present, it is often insensitive to how they are composed. We investigate this limitation by testing the ability of geometric metrics to predict compositional binding across a diverse suite of vision encoders. We find that standard geometry-based statistics exhibit near-zero correlation with compositional binding. In contrast, functional sensitivity, as measured by the input--output Jacobian, reliably tracks this capability. We further provide an analytic account showing that this disparity arises from objective design, as existing losses explicitly constrain embedding geometry b

arXiv:2312.03644v3 Announce Type: replace Abstract: Offline Multi-agent Reinforcement Learning (MARL) is valuable in scenarios where online interaction is impractical or risky. While independent learning in MARL offers flexibility and scalability, accurately assigning credit to individual agents in offline settings poses challenges because interactions with an environment are prohibited. In this paper, we propose a new framework, namely Multi-Agent Causal Credit Assignment (MACCA), to address credit assignment in the offline MARL setting. Our approach, MACCA, characterizing the generative process as a Dynamic Bayesian Network, captures relationships between environmental variables, states, actions, and rewards. Estimating this model on offline data, MACCA can learn each agent's contribution by analyzing the causal relationship of their individual rewards, ensuring accurate and interpretable credit assignment. Additionally, the modularity of our approach allows it to integrate with vari

arXiv:2606.01863v1 Announce Type: new Abstract: Continual learning struggles to balance retaining past knowledge with absorbing new tasks. Stefan-CL elegantly resolves this stability-plasticity dilemma through the physics of melting. It frames consolidated knowledge as a protected "solid" and unused capacity as an adaptable "liquid." As the network learns, this boundary expands, governed by a "latent heat" tuning dial. By mathematically freezing the learned interior, Stefan-CL cuts forgetting to near zero, matching memory-heavy baselines without storing raw data, forging a beautiful, physics-grounded path for AI.

arXiv:2606.01503v1 Announce Type: cross Abstract: Unified vision-language models (VLMs) integrate visual understanding and visual generation within a single autoregressive backbone, but their joint training is computationally expensive and largely overlooked from an efficiency perspective. In this work, we study the feasibility and limits of token-reduction-based acceleration for unified VLM training. Through a systematic analysis of layerwise attention allocation, we uncover a fundamental asymmetry: visual understanding exhibits substantial late-layer visual redundancy, whereas visual generation maintains persistent dependence on image tokens across depth. Guided by this observation, we design task-specific accelerators that selectively reduce image-token computation for each objective. While these methods achieve significant efficiency gains in isolated settings, we observe a consistent synergy loss under unified training -- task-specific token dropping necessitates divergent paramet

arXiv:2605.15141v3 Announce Type: replace Abstract: Real-time interactive video generation requires low-latency, streaming, and controllable rollout. Existing autoregressive (AR) diffusion distillation methods have achieved strong results in the chunk-wise 4-step regime by distilling bidirectional base models into few-step AR students, but they remain limited by coarse response granularity and non-negligible sampling latency. In this paper, we study a more aggressive setting: frame-wise autoregression with only 1--2 sampling steps. In this regime, we identify the initialization of a few-step AR student as the key bottleneck: existing strategies are either target-misaligned, incapable of few-step generation, or too costly to scale. We propose \textbf{Causal Forcing++}, a principled and scalable pipeline that uses \emph{causal consistency distillation} (causal CD) for few-step AR initialization. The core idea is that causal CD learns the same AR-conditional flow map as causal ODE distill

arXiv:2603.14010v2 Announce Type: replace Abstract: Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, recovering them from visual observations is inherently challenging, as images provide only partial and ambiguous cues about both part geometry and their underlying kinematic structure. Existing approaches typically rely on multi-stage pipelines, retrieval from asset libraries, or explicit part segmentation. We present URDF-Anything+, an end-to-end autoregressive diffusion framework that generates simulation-ready URDF models directly from a single RGB image. Conditioned on visual observations and object geometry, URDF-Anything+ operates in a structured latent space and jointly models part geometry and articulation in a unified generation process. Specifically, the model sequentially predicts each articulated part together with its associated joint parameters, while a termination token dynamically determines the numbe

arXiv:2606.01665v1 Announce Type: new Abstract: We quantify the energy floor -- the minimum achievable cost given action space constraints -- for Soft Actor-Critic (SAC) HVAC control on the sbsim calibrated building simulator. Through minimum-action experiments, we directly measure this floor at USD 35.51/day, dominated by continuous electrical loads (USD 35.44, 99.8%) with negligible gas consumption. The standard SAC baseline, initialized with schedule-policy replay buffer transitions, converges to USD 37.18/day, 4.7% above the floor. We identify buffer initialization as the dominant source of sub-optimality in this scenario: training from an empty buffer reduces cost to USD 35.57/day, eliminating 96% of the gap. Expanding the supply water temperature range by 10 K yields negligible additional savings (USD 0.03/day), and further expansion triggers physical constraint violations. We additionally uncover a discount factor coupling (gamma_eff = 0.891) shrinking the effective planning hor

arXiv:2501.08640v2 Announce Type: replace Abstract: We propose a way to bound the generalisation errors of several classes of quantum reservoirs using the Rademacher complexity. We give specific, parameter-dependent bounds for two particular quantum reservoir classes. We analyse how the generalisation bounds scale with growing numbers of qubits. Applying our results to classes with polynomial readout functions, we find that the risk bounds converge in the number of training samples. The explicit dependence on the quantum reservoir and readout parameters in our bounds can be used to control the generalisation error to a certain extent. It should be noted that the bounds scale exponentially with the number of qubits n. The upper bounds on the Rademacher complexity can be applied to other reservoir classes that fulfill a few hypotheses on the quantum dynamics and the readout function.

arXiv:2606.00686v1 Announce Type: new Abstract: The prevailing paradigm in large language model (LLM) alignment operates via erasure, filtering unsafe data or training models to strictly refuse harmful prompts. While effective at reducing immediate toxicity, this approach fundamentally constricts the model's epistemological scope, resulting in over-cautious systems that output uninformative blanket refusals to sensitive yet benign queries. In this work, we challenge the orthodoxy that unsafe data must be discarded. We propose a dialectical approach to alignment, positing that unsafe data encodes rich, domain specific knowledge critical for nuanced, safe, and informative generation. To operationalize this, we introduce SafeMoE, a Mixture-of-Experts (MoE) framework that isolates unsafe knowledge into domain-specific Low-Rank Adapters (LoRA experts) trained exclusively on harmful corpora. To synthesize safety from these unsafe primitives, we train a lightweight gating network using a mini

arXiv:2606.01038v1 Announce Type: new Abstract: This paper presents a new robust integrated planning and control (IPC) strategy for multirotor uncrewed aerial vehicles. We propose a nonlinear model predictive control (NMPC) formulation that embeds control barrier functions (CBFs) as exponential penalties, improving feasibility while ensuring smooth obstacle avoidance under tight input bounds. The penalty weights provide a practical tuning knob to trade off tracking accuracy against avoidance aggressiveness. We enhance the system robustness by employing a high-gain disturbance observer (HGDO) to estimate and compensate for external disturbances. We also incorporate a Kalman filter (KF) for computationally efficient, real-time prediction of obstacle motion, enabling avoidance of moving obstacles. Comparative studies against both conventional NMPC and NMPC with hard CBF constraints, validated in Gazebo and hardware experiments, demonstrate superior feasibility, safety, and robustness. To