Spiking Transformers merge the energy-efficiency of spiking neural networks (SNNs) with the representational power of self-attention, creating a promising architecture for high-performance, energy-efficient computation. However, a performance gap persists versus its counterparts in artificial neural networks (ANNs). Unlike prior works attributing this to binary activations, we reveal that both spiking neurons and spiking self-attention (SSA) act as low-pass filters through multiscale spectral analysis. This characteristic leads to the dissipation of high-frequency components. To address this issue, we propose the Spiking Contrastive Attention (SCA) paradigm, which draw inspiration from the edge-detection and differential sensing properties of biological visual system. By extracting contrast prototypes via global contrastive aggregation and applying local differential refinement, SCA effectively enhances high-frequency information. Extensive experiments show that SCA is a general module that consistently boosts Spiking Transformers across image classification, semantic segmentation, and event-based tracking. Furthermore, it achieves lower complexity, offering superior efficiency over original SSA. These results establish its potential as a fundamental building block for energy-efficient Spiking Transformers.
https://arxiv.org/abs/2610.01403
Alzheimer's disease (AD) diagnosis requires sequential evidence acquisition under heterogeneous test costs and patient burden. Fixed-modality predictors do not jointly decide which test to acquire or when the available evidence is sufficient for diagnosis. We propose SCOPE-AD (Sequential Cost-Aware Ordinal-Belief Planning with Energy-Based Models for Diagnostic Agents) for cost-aware classification of cognitively normal (CN), mild cognitive impairment (MCI), and AD cases. A mask-aware ordinal model represents uncertainty along the ordered CN--MCI--AD continuum. Retrospective training records provide sampled Bellman targets for an energy-based teacher, whose action distributions are distilled into a Qwen policy. At deployment, the agent selects acquisition or diagnosis actions under availability and budget constraints without access to unacquired values. After each acquisition, the evidence and ordinal belief are updated before the next decision. On ADNI, SCOPE-AD achieves 77.70\% Macro-F1 at an average acquisition cost of \$50.46, exceeding the strongest evaluated baseline by 9.34 percentage points. Full-modality evaluation raises Macro-F1 by only 1.89 points while increasing acquisition cost by 116.7 times. These results support selective acquisition for cost-effective diagnosis.
https://arxiv.org/abs/2610.01278
Objective assessment of microsurgical technical skill is essential for competency-based training and quality assurance, yet existing video-based approaches predominantly rely on RGB images and therefore overlook the 3D spatial relationships that characterize instrument-anatomy interactions. Although stereo operating microscopes provide complementary depth information, conventional stereo matching algorithms can produce sparse and unreliable depth estimates under high-magnification imaging conditions, limiting their use for automated skill assessment. This work presents a semantic RGB-Depth framework for surgical skill assessment from microscopic stereo videos. A regression-based depth fusion method combines sparse metric stereo depth with dense monocular depth estimates to generate a dense geometric representation of the surgical scene. This representation is integrated with semantically decomposed RGB streams corresponding to individual surgical instruments and surrounding anatomy. A hierarchical attention architecture jointly encodes these streams to capture discriminative patterns of instrument use and instrument-anatomy interaction across surgeons at different training levels. The framework was evaluated on 33 ex vivo transoral microlaryngeal procedures performed by six surgeons, comprising attending surgeons and surgical residents, using leave-one-surgeon-out cross-validation. The proposed semantic RGB-Depth model achieved an F1 score of 0.938 for skill-level classification, compared with 0.696 for semantic RGB and 0.929 for semantic depth. These results suggest that geometric information can improve automated surgical skill assessment from microscopic stereo videos. The learned spatial, temporal, and semantic attention patterns also support qualitative examination of the scene regions, video segments, and semantic streams emphasized by the model.
https://arxiv.org/abs/2610.01205
Exercise-specific joint selection can improve skeleton-based correctness classification, but what does that gain establish? We audit 1,057 repetitions from ten REHAB24-6 subjects, separating evaluation aggregation, subset structure, and temporal representation. The manual-subset kNN gain changes from 0.055 for pooled out-of-fold AUROC to 0.020 for equal-weight within-person AUROC; both paired intervals include zero. Among 1,000 dimension-matched random maps, 14 match or exceed the manual pooled result, versus 145 when bilateral structure and trunk inclusion are also matched. RBF-SVM retains a positive within-person gain, whereas logistic regression and a random-convolution comparator have negative point gains under that estimand. Sequence-order and paired-seed controls further qualify the interpretation. This exploratory audit shows why joint-selection claims require explicit estimands and structurally appropriate controls; it does not establish a new algorithm or clinical benefit.
https://arxiv.org/abs/2610.01188
Electroencephalography (EEG) foundation models are often pretrained with a fixed channel vocabulary or a limited set of montages, making transfer difficult when electrode layouts change. We propose CortexBridge, a lightweight adapter that combines EEG features with electrode and atlas coordinates to map arbitrary montages into a shared cortical latent space. Evaluated with three frozen foundation models on five brain-computer interface (BCI) datasets from the Mother of All BCI Benchmarks (MOABB), CortexBridge improves performance in 13 of 15 evaluations. The gains in balanced accuracy average 0.80% for EEGPT, 0.70% for LaBraM, and 3.26% for CBraMod, with a maximum gain of 13.02% on 12-class steady-state visual evoked potential (SSVEP) classification. Visualizations of the learned atlas representations reveal task-dependent spatial patterns, with SSVEP showing a more concentrated representation in the Yeo Visual network than auditory P300. These results establish cortical alignment as a learnable and anatomically grounded routing mechanism from heterogeneous EEG montages to pretrained foundation models.
https://arxiv.org/abs/2610.01124
Illusory matches between distinct yet visually similar 3D surfaces--doppelgangers--remain a fundamental obstacle for large-scale, in-the-wild 3D reconstruction and visual localization. Prior work mitigates this issue with pairwise classifiers, but this design limits multi-view contextual reasoning and incurs O(n^2) inference complexity for downstream structure-from-motion (SfM). We present MVDG, a scalable multi-view disambiguation framework built on the 3D foundation model VGGT, which jointly reasons over an arbitrary number of multiview images. By incorporating 3D-aware multi-view features, our method reduces dependence on pairwise comparisons by encoding and decoding views in a single pass. We further observe that direct multi-view fine-tuning of VGGT can be unstable under noisy supervision; motivated by label ambiguity in Doppelgangers, we construct a pseudo-pairwise training set from AerialMegaDepth and show that fine-tuning on sampled subsets yields stable optimization and strong generalization to held-out scenes. Finally, because full SfM evaluation (even with faster pipelines such as GLOMAP) remains expensive, we process a pseudo-pairwise dataset for efficient validation; we derive a predictive relationship between regular SfM metrics and the classification accuracy on this pseudo-pairwise test. Experiments show that our method achieves comparable pairwise accuracy while improving both SfM accuracy and inference speed over baselines.
https://arxiv.org/abs/2610.01098
Models specialized for the same task converge to similar behavior, yet the parameter updates that produce it share no common coordinate system, so weight-space task arithmetic stays confined to a single model and cannot cross architectures without a structural correspondence. Drawing on Plato's allegory of the cave, we hypothesize that these model-specific updates are shadows of one shared, model-agnostic object, which we call the platonic task vector. To make it operational for models that pair an image or audio encoder with a text encoder, we introduce Universal Task Descriptors: matrices whose shape is independent of architecture and embedding dimension, which record a task's functional effect and support addition and negation as matrix operations. Transferring a descriptor into a target means editing the target until it reproduces the descriptor on the task's unlabeled probe images and class-name prompts, requiring no per-image labels. We realize this edit in two ways. First, the descriptor factorizes into a shift field on image embeddings, so a single least-squares solve yields a linear operator that folds into the target's last layer as a weight edit; by linearity, a bank of such operators admits any composition at any strength as a signed sum. Second, a low-rank adapter trained on the same objective reaches every layer and fits compositions jointly, at the cost of one optimization per edit. Heterogeneous models share this object only partially, with a model-specific residual comparable in norm to the shared component, yet cross-model transfer still retains 74-80 percent of the gain of the target's own descriptors. Experiments across six model families, eight classification tasks, and an audio-text setting show that task knowledge transfers and composes across heterogeneous models under both realizations.
https://arxiv.org/abs/2610.00929
Open Set Recognition (OSR) aims to enable models to accurately classify known classes while rejecting samples from unseen classes. A key challenge in OSR lies in the inability to model the unbounded distribution of unknown classes during training, often leading to the misclassification of samples from these classes. Rather than modeling unknowns, recent work shapes the feature space so that known classes are compact and well separated, and spherical representation learning methods have achieved strong results this way. Label smoothing has been identified as one of the key drivers of this success, yet it applies the same coefficient to every training sample, regardless of how well each sample is already embedded. We show that the spherical representation learning objectives used in OSR share a single alignment--uniformity structure in which labels enter only through the alignment term. Label smoothing therefore acts as an alignment dial, and a fixed coefficient sets this dial to the same value for every sample. We propose a plug-in, SmoothOperator (SmoothOP), which sets the smoothing coefficient of each sample from its \textbf{prominence}, an embedding-space signal measuring how clearly the sample's own class stands out against its strongest competing class. Our method integrates into four existing spherical representation learning methods at minimal training overhead. SmoothOP assigns strong smoothing to samples with high prominence, which reduces their alignment and relaxes their pull. On the Semantic Shift Benchmark, SmoothOP-augmented variants generally outperform their base objectives across datasets, degrees of semantic shift, and OSR post-processors, with gains of up to 4.7\% in AUROC, OSCR, and closed-set accuracy.
https://arxiv.org/abs/2610.00851
Vision-Language Models (VLMs) enable video annotation at scale, but costs accumulate quickly: processing a typical 60-second short-form video at one frame per second requires millions of tokens. To reduce costs, researchers rely on heuristics such as sampling a subset of frames, compressing videos into image grids, or using only a single modality. However, it remains unclear which heuristics save cost, and whether they preserve the downstream conclusions these annotations enable. To address this gap, we conduct a systematic evaluation of these heuristics using short-form videos, on two computational social science (CSS) tasks: sentiment and topic classification. We evaluate each configuration along three axes the literature typically treats separately: classification accuracy, validity of downstream inference, and per-video token cost. First, we find that accuracy and validity diverge: the highest-accuracy configuration can produce wrong conclusions. Second, modality value is not guaranteed: text alone can yield strong performance, indicating that adding modalities can add cost without adding signal. Finally, we find that cost can be decoupled from video length when annotating short-form videos: a single $2\times8$ image grid built via simple shot-transition detection approaches full-video understanding ($\kappa$ within~.05), at $\sim 15\%$ of the token cost. Based on these findings, we derive guidelines that can enable cost-aware VLM annotation in CSS.
https://arxiv.org/abs/2610.00809
Recent theoretical work identified fundamental properties of representation geometry that shape inference ability of deep neural networks. These include signal-noise factorization (SNF), the ability to segregate signal from noise, and signal-signal factorization (SSF), the ability to segregate task-specific and task-irrelevant signals. Here, we built regularizers that reinforce these two properties during training. We compared networks trained with these regularizers to $L_2$-regularized baseline networks on the CIFAR-100 classification task to understand how our regularizers shape representation geometry and impact performance on a well-known computer vision baseline. Enhancing SNF via regularization improved model performance but enhancing SSF did not. Motivated by biomedical applications, we investigated how our regularizers affected performance on the BloodMNIST dataset treated with MedMNIST-C corruptions at five severity levels, and found even larger performance gains using the SNF regularizer. To understand the mechanism by which SNF-regularization produces improved performance, we analyzed the nuisance subspaces across regularization regimes, finding that the SNF-regularized models represent noise in distinct subspaces, separate from class-relevant signal. Because this geometry is explicit, the dominant corruption-induced directions can be estimated on held-out data and projected out of the representations. This manipulation led to a substantial gain in accuracy. These results show that regularizers that enforce signal-noise factorization can produce substantial improvements on computer vision tasks that contain out-of-distribution image distortions at inference time. They also highlight how shaping representations affects model performance: isolating nuisance variables from categorical ones is more important than maintaining factorized representations of categorical variables.
https://arxiv.org/abs/2610.00751
Federated learning (FL) has recently attracted increasing attention in remote sensing (RS) since it enables collaborative model training across decentralized RS image archives without requiring direct access to local data. However, FL performance significantly degrades when the data distributions between clients are heterogeneous, which often occurs due to geographical differences, seasonal changes, and varying image acquisition and atmospheric conditions. To address this challenge, in this letter, we propose a novel personalized FL framework (denoted as FedMAD) for RS image classification problems. The proposed framework separates globally shared representation parameters from client-specific adaptation parameters to preserve client-specific features while maintaining globally transferable representations. This is achieved by integrating lightweight modulation modules and local batch normalization layers into the backbone network. Although globally shared parameters are collaboratively optimized between clients, client-specific parameters remain local to preserve domain-specific feature characteristics. In addition, FedMAD introduces a modulation-aware directional aggregation strategy that dynamically adjusts the importance of aggregation for each client according to the alignment of local modulation updates. This allows the global optimization process to suppress conflicting client updates originating from heterogeneous data distributions while enhancing the contribution of clients with consistent adaptation behaviors. The experimental results obtained on the BigEarthNet-S2 and EuroSAT datasets demonstrate the effectiveness of FedMAD compared to state-of-the-art FL algorithms under heterogeneous RS data distributions. The code of the proposed framework will be publicly available at this https URL.
https://arxiv.org/abs/2610.00693
With the rapid adoption of large language models (LLMs) and parameter-efficient fine-tuning (PEFT) methods, the risk of backdoor attacks has become more severe. Existing backdoor purification methods typically rely on at least one of the strong assumptions, such as prior knowledge of triggers, access to clean references, or aggressive retraining, and they often lack comprehensive evaluations. These constraints substantially limit their practical applicability. To overcome these challenges, our work proposes purifying LoRA-tuned LLMs without these assumptions and even without post-hoc retraining of the suspect parameters. Our objective is to significantly reduce the attack success rates (ASR) while preserving both (i) the base model's general capabilities and (ii) the new downstream skills learned through the adapter. Through a series of ablation studies, we progressively scale our approach from a single layer in a text classification setting to a full-parameter LLM in the generative task. Through careful data curation and feature approximation, we extract high-fidelity backdoor directions and, for each layer or head, construct orthogonal null spaces in both the input and output channels, onto which the LoRA updates are projected. Empirically, our null-space projection method reduces the ASR from nearly 100% to less than 10%, while preserving the base model's benign performance and the adapter's learned abilities during downstream task adaptation.
https://arxiv.org/abs/2610.00685
We introduce VideoMSN, a Masked Siamese Network framework for efficient self-supervised spatio-temporal representation learning in videos. Instead of relying on heavy 3D architectures or reconstruction-based autoencoders for learning with unlabeled data, we repurpose standard image Vision Transformers by representing videos as super images which are grids composed of frames sampled from videos. From each super image, we construct two views: one with spatial patch masking and the other with temporal frame masking, ensuring no information leakage across frames. A shared Vision Transformer (ViT) encoder aligns their embeddings using a masked Siamese loss, capturing both motion and appearance cues without reconstruction. Our decoder-free formulation leverages an image foundation model towards efficient video representation learning. Starting from pretrained DINO-v3 and DeiT-v3 image encoders, VideoMSN achieves state-of-the-art performance on Kinetics-400, UCF101, and HMDB51 while requiring up to $32\times$ fewer and $160\times$ fewer video pretraining epochs compared to prior video self-supervised learning methods. Our proposed approach also shows strong performance in low-shot classification, confirming the transferability of the learned representations in a label-scarce scenario. Project Page: this https URL.
https://arxiv.org/abs/2609.40347
Converting free-text radiology reports into structured labels supports cohort building, quality assurance, and monitoring of clinical imaging models, but the strongest label extractors are hosted proprietary models whose use raises privacy, cost, and reproducibility concerns. We asked whether a fine-tuned open-weight model (Gemma-3-12B) can match GPT-4o at multi-label intracranial hemorrhage (ICH) acuity extraction from non-contrast head-CT reports, and which ingredients matter. Using a 2x2 design, we crossed two adaptation strategies (a discriminative classification head, CH; generative instruction fine-tuning, IFT) with two training-data sources (distillation of real GPT-4o-labeled reports; synthetic reports generated by GPT-4o from real exemplars), across five training sizes, benchmarked on 100 expert-adjudicated reports against GPT-4o and the un-tuned open-weight base. The distilled instruction-tuned model (DIFT) matched GPT-4o (macro-F1 0.845 vs 0.850; p = 1.000) and exceeded the base model by 0.178. The decisive factor was the training-data source, not the fine-tuning method: both synthetic-data models failed to exceed the un-tuned open-weight base at any training size and underperformed the distilled models across all acuity classes. Fine-tuning and inference fit within the memory envelope of a single 24 GB consumer GPU. For narrow, high-value clinical label-extraction tasks, distilling real reports, rather than generating synthetic ones, is what closes the gap to a hosted model, enabling a private, low-cost, version-stable on-premises alternative.
https://arxiv.org/abs/2609.40236
This study compared classifiers that differentiate between urbanized and non-urbanized areas based on unmanned aerial vehicle (UAV)-acquired RGB imagery. The tested solutions in-cluded numerous vegetation indices (VIs) thresholding and neural networks (NNs). The analysis was conducted for two study areas for which surveys were carried out using different UAVs and cameras. The ground sampling distances for the study areas were 10 mm and 15 mm, respectively. Reference classification was performed manually, obtaining approximately 24 million classified pix-els for the first area and approximately 3.8 million for the second. This research study included an analysis of the impact of the season on the threshold values for the tested VIs and the impact of image patch size provided as inputs for the NNs on classification accuracy. The results of the con-ducted research study indicate a higher classification accuracy using NNs (about 96%) compared with the best of the tested VIs, i.e., Excess Blue (about 87%). Due to the highly imbalanced nature of the used datasets (non-urbanized areas constitute approximately 87% of the total datasets), the Mat-thews correlation coefficient was also used to assess the correctness of the classification. The analysis based on statistical measures was supplemented with a qualitative assessment of the classification results, which allowed the identification of the most important sources of differences in classification between VIs thresholding and NNs.
https://arxiv.org/abs/2609.40212
Retrieval-augmented generation asks one question at volume: does this evidence support this claim? The answer is one bit, yet most pipelines obtain it from a text generator and pay generation prices for the prose wrapped around it. We compare a non-generative decision model, which returns a typed value from a declared enumeration together with a native probability and no text, against a frontier LLM configured as an engineer would deploy it for binary classification. Both answer the same 495 human-labelled claims from LLM-AggreFact, so every comparison is within-item. We report three things. First, the two systems are statistically indistinguishable on the metric this task is conventionally scored by, a paired difference of -0.56 points, Jev minus Astra, at a 187-fold cost difference. Second, that tie carries almost no information about deployment: the systems disagree on 15.2% of claims, and the cheaper one admits 23.2% of the claims annotators marked unsupported against the frontier model's 14.1%. A component whose job is to catch unsupported claims should be judged on that rate, and the conventional headline hides it. Third, because the errors differ they compose: routing the claims the cheap model is confident about and escalating the rest reaches 74.10 at USD 2.92 per thousand claims against 73.83 at USD 8.93, with the threshold chosen out of fold. But a matched random-escalation control at in-sample thresholds, spending the same budget by coin flip, does as well, so what buys the saving is the escalation share and not the probability that picks what to escalate. Measured against the cheap model it is built from, the cascade costs 61-fold more for 0.83 points, 95% CI [-3.36, 4.86], and it is the more permissive guard of the two. Equal accuracy conceals unequal errors. All predictions, prompts, pricing and code are released.
https://arxiv.org/abs/2610.20634
Raman spectroscopy enables label-free molecular characterization across materials science, analytical chemistry, biomedicine, and industrial process monitoring. However, machine learning for high-dimensional spectroscopy remains constrained by limited labelled data and a mismatch between the physical organization of spectra and feature-agnostic models. Channel coverage alone does not ensure that related bands share a common inference context. Here we present RamanPFN, a general-purpose spectral foundation framework that enables unified in-context inference through physics-guided spectral learning. It captures full-spectrum compositional covariation via Global Compositional Unmixing (GCU), which decomposes distributed, multi-band mixture signatures into shared non-negative latent bases. Simultaneously, it resolves local vibrational structure through Local Vibrational Subspace Encoding (LVSE), which preserves fine-grained peak morphology, intensity fluctuations, and peak shifts within contiguous spectral neighborhoods. Extensive evaluation across 74 diverse public Raman datasets covered 129 regression targets and was further extended to 21 classification tasks. RamanPFN achieved state-of-the-art performance across all reported aggregate metrics against 28 independently reproduced methods spanning chemometrics, spectral neural networks, deep tabular learners and tabular foundation models. RamanPFN establishes a physics-guided paradigm for scientific spectroscopy, enabling data-efficient predictive learning across diverse chemical systems.
https://arxiv.org/abs/2608.02157
Automated classification of brain tumors from MRI is a heavily published application of deep learning in medical imaging, with reported accuracies on public benchmarks routinely exceeding 98%. However, accuracy does not capture a critical dimension of benchmark quality: dataset integrity, defined as the independence of test from training data at the image, patient, and acquisition-source levels. We introduce a three-layer contamination framework comprising duplicate, patient, and source-label leakage to assess the public corpora on which this literature rests. We audit the three most widely used corpora against a chest-radiograph negative control and quantify each layer's effect on measured performance across nine architectures and three evaluation conditions. Contamination is severe at every layer: 28.8% of the dominant corpus's official test split has a near-twin in its own training split, a second corpus leaks 22.3% of its test images byte-identically, 95.5% of traceable test images share a patient with training, and file-header features containing no anatomy separate tumor from no-tumor at 0.959 balanced accuracy, at parity with fine-tuned ResNet backbones. The unexpected result is that removing every identified leaked test image leaves balanced accuracy essentially unchanged: stable performance after deduplication does not establish benchmark integrity. Our findings establish dataset integrity as a distinct, measurable axis of benchmark quality that a stable leaderboard cannot certify. For biomedical research, reported accuracy on these corpora alone does not establish that a model has learned to recognize tumors rather than exploit dataset-specific cues. We release the contaminated-file lists, recovered patient identifiers, and deduplicated splits.
https://arxiv.org/abs/2610.00421
Hyperspectral remote sensing has advanced across diverse deep learning paradigms, including spectral spatial CNNs, Vision Transformers, Mamba, graph neural networks, Kolmogorov Arnold networks, and self supervised masked autoencoding. Yet progress remains hindered by fragmented repositories, incompatible tensor conventions, and non standardized evaluation. Hyperspectral Image Models addresses these challenges through a modular framework unifying 55 representative models across six paradigms with a common registry, automatic 4D/5D tensor adaptation, and standardized constructors. It integrates 24 benchmark scenes from Airborne, Spaceborne, UAV, and Mars CRISM sensors, with caching, label remapping, PCA, explicit band selection or raw spectra, optional spatial max pooling, and arbitrary PxP patch extraction. To prevent inflated accuracy from overlapping windows, it supports class balanced random partitioning and spatially disjoint regional blocking with Chebyshev guard bands that eliminate train test pixel overlap. Experiments use a single this http URL with deterministic seeds and complete provenance, generating LaTeX benchmark tables and classification maps. Across 1,320 model scene evaluations and 6,600 seeded runs, scene difficulty dominates architecture, with mean accuracy ranging from 96.40% on Botswana to 56.70% on Houston 2018, versus a 15 point spread across paradigm means. No paradigm universally dominates, while sub 1 M parameter models can match architectures two orders of magnitude larger. Code is publicly available at this https URL.
https://arxiv.org/abs/2609.39871
Grammar-constrained generation guarantees syntactic validity, but can substantially degrade semantic quality when the model's preferred outputs are poorly aligned with the imposed grammar. This trade-off is particularly severe when the prompt is underspecified or the model has limited instruction-following ability. Beam search can partially mitigate these failures by exploring multiple valid sequences, but its computational cost grows with beam width, while sequence-level probability is only an imperfect proxy for semantic quality. We introduce GrammarRL, a label-free reinforcement learning method that adapts language models to grammar constraints without requiring annotated data. GrammarRL optimizes the model using two complementary self-supervised rewards derived from its own likelihoods: a direct reward, measuring how likely the constrained output is given the input, and a reverse reward, measuring how well the input can be reconstructed from the generated output. We optimize these rewards with a Reinforce Leave-One-Out (RLOO) objective over groups of grammar-constrained rollouts, augmented with the top-1 beam-search hypothesis and regularized towards a frozen base model. We evaluate GrammarRL on sign language gloss translation, hierarchical text classification, and named entity recognition using Llama models ranging from 1B to 8B parameters. GrammarRL consistently outperforms constrained greedy decoding, with an average improvement of 9.8 points and gains of up to 22.8 BLEU. It matches or outperforms beam search on two of the three tasks while preserving greedy-decoding inference cost. Ablations further show that the two rewards are complementary: either reward alone can underperform the untrained baseline, whereas their combination consistently improves upon it.
https://arxiv.org/abs/2609.39869