Optimization
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WCC: A Learning-Based Framework for Deciding When to Apply Cooperative Coevolution in Large-Scale Optimization
2026-10-27 14:37:10Wenjie Qiu, Hepei Li, Jianfeng Wang, Jun Zhang, Yue-Jiao GongAbstract
Cooperative Coevolution (CC) and Non-Decomposition Algorithms (NDAs) are two primary approaches for large-scale global optimization (LSGO). Although both have achieved success, they exhibit markedly different performance across problem types and each faces approach-specific limitations, leaving the question of "when to use CC" unresolved. We address this gap with WCC, a novel learning-based framework that dynamically decides when to deploy CC in LSGO. WCC employs a streamlined design for efficient adaptive learning. We formulate the decision as a Markov decision process, designing a targeted feature set, a robust reward, and a tailored network architecture to provide the agent with rich information about the problem state and optimization progress. Our auto-regressive policy enables WCC to perform fine-grained, dynamic switching between CC and NDAs while conditionally allocating the computational budget without expert specifications. WCC shows strong competitiveness and superior generalization across problems, optimization horizons, and baseline optimizers. It realizes a "train-once and reuse" paradigm under a low budget, significantly curbing LSGO cost. Additionally, in-depth analyses yield insights not captured by existing theory, offering practical guidance on when and how to effectively deploy CC.
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URL
https://arxiv.org/abs/2610.37329
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AnalogScout: Simulation-Efficient PVT-Aware Analog Sizing with LLM Agents
2026-10-27 14:33:02Yichen Long, Keren ZhuAbstract
Analog device sizing must satisfy all specifications across process, voltage, and temperature (PVT) corners to ensure tape-out success, but simulating every candidate at all corners dominates the sizing time and slows design iteration. Conventional surrogate-based optimizers search the sizing space directly, while recent large language model (LLM) agents add circuit knowledge to designs but still delegate the sizes to global optimizers. Both learn the circuit response from repeated multi-corner SPICE simulations and optimize on top of it, which becomes expensive under a limited simulation budget. Providing an agent with reusable verified designs and sizing sub-blocks analytically could save most of this budget. We propose AnalogScout, a simulation-efficient PVT-aware sizing framework driven by an LLM agent. Combining elite-design reuse, analytic gm/Id local sizing and global refinement under full-corner verification, AnalogScout reduces power by 43.3% relative to the evolution strategy CMA-ES at an equal budget of 16k simulations on three SKY130 OTAs of increasing complexity, and reaches the final CMA-ES power after 7.0% of that budget. It also attains lower power than Bayesian optimization on all three OTAs and than two re-implemented LLM-driven flows on the two OTAs where they were tested.
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https://arxiv.org/abs/2610.37319
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MvT: Event-based Multi-view Projection for Multiple Object Tracking
2026-10-27 14:26:53Muxi Zha, Banglei Guan, Minzu Liang, Zibin Liu, Yang Shang, Qifeng Yu, Laurent KneipAbstract
Event cameras are increasingly used for Multiple Object Tracking (MOT), but their asynchronous event output often requires specialized methods. Existing processing methods primarily follow two paradigms, pseudo-frames and event-by-event. The former is the prevailing approach since its data format aligns with images, making image-based techniques applicable. However, it suffers from tracking failures when trajectories overlap or are spatially close on pseudo-frames. Facing this challenge, we propose a multi-view pipeline, Multi-view Tracking (MvT), which preserves the 2D data format to leverage image-based techniques directly while introducing additional spatio-temporal views to resolve tracking ambiguities in a single view. MvT comprises a Multi-view Projection (MvP) module and a Multi-view Fusion (MvF) stage. MvP encodes events into three complementary spatio-temporal views while mitigating the pattern discretization. Within MvF, multi-view results are unified into a 3D coordinate system, and tracklets are associated through an optimization model subject to specific criteria combination. Evaluations on four datasets, including our self-collected Small Objects Dataset (SOD), show that MvT seamlessly integrates image-based methods and outperforms existing non-learning and learning trackers in generalized scenarios, and effectively resolves the single-view tracking ambiguities. Being training-free, MvT is applicable when ground-truth annotation is infeasible, thereby highlighting its practical, data-efficient potential. Code is available at this https URL.
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https://arxiv.org/abs/2610.37309
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RPSD: Retrieval-Privileged On-Policy Self-Distillation with Optimal Transport
2026-10-27 14:08:38Dongyue Li, Zebang Cheng, Zhongyi Deng, Hongboxu, Yi Bin, Fei MaAbstract
Sequential recommendation predicts a user's next interaction from historical behavior. Recent LLM-based methods recast this task as generative recommendation and increasingly adopt reinforcement learning such as GRPO for post-training. However, these methods suffer from two limitations, namely credit-blind optimization, where a sequence-level reward is shared across all generated tokens, and collaborative-blind supervision, where each training signal is derived from a single user and ignores behavioral patterns shared across similar users. To address both issues, we propose Retrieval-Privileged on-policy Self-Distillation (RPSD). For credit-blind optimization, we introduce on-policy self-distillation (OPSD), in which a teacher with privileged knowledge re-evaluates the student's on-policy response, and the token-level confidence difference between the student and teacher reshapes the shared sequence-level advantage into token-specific credit. However, the privileged knowledge in vanilla OPSD is still derived from a single user, leaving collaborative-blind supervision unresolved. We therefore ground the teacher in collaborative behavioral evidence from similar users. Specifically, we use temporally aware optimal transport (OT) to compare interaction trajectories across users by jointly considering item similarity and temporal structure, and further apply diversity-aware selection to retain complementary trajectories as privileged evidence. In this way, on-policy self-distillation provides fine-grained token-level credit, while OT enriches the teacher with structured cross-user evidence. To the best of our knowledge, this is the first work to bring on-policy self-distillation to sequential recommendation and to use cross-user behavior as its privileged signal. Extensive experiments across multiple real-world datasets demonstrate that RPSD achieves state-of-the-art performance.
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URL
https://arxiv.org/abs/2610.37281
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Aligning Large Language Models for Safety in African Languages: A Case Study of Hausa
2026-10-27 13:46:44Valdini Douglace Lemofouet, Blessing Ngozi Uzor, Paula Chikaodinaka Anyanwu, Danielle Blanche Kapsa, Saminu Mohammad Aliyu, Seid Muhie Yimam, Shamsuddeen Hassan MuhammadAbstract
Safety alignment research for large language models (LLMs) remains concentrated on high-resource languages, leaving open how existing alignment methods perform in low-resource, culturally distinct settings. We study this question for Hausa, a language spoken by more than 200 million people across West Africa. We introduce HausaSafeLM, one of the first Hausa safety preference dataset, built from 10,000 prompts derived from PKU-SafeRLHF: 3,000 human-corrected (gold) and 7,000 machine-translated (silver) examples spanning six harm macro-categories. Using Qwen2.5-7B-Instruct, we compare supervised fine-tuning (SFT) and SFT followed by Direct Preference Optimization (DPO) under both data regimes, evaluating on 500 harmful and 200 benign Hausa this http URL find that the untuned base model appears highly safe by refusal-rate metrics alone, but this reflects limited Hausa generation ability rather than genuine alignment: its refusals are almost uniformly low quality. SFT improves both refusal fluency and precision and benefits substantially from the larger, noisier silver-tier data, while DPO sharpens refusal precision but comes at a steep, largely data-invariant cost to linguistic quality. No single configuration jointly maximizes safety, helpfulness, and fluency. Our results suggest that current alignment techniques teach models when to refuse more readily than how to do so fluently in underrepresented languages, and that refusal-rate metrics alone are an unreliable signal of safety in low-resource settings.
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URL
https://arxiv.org/abs/2610.37245
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Uncovering Shortcut Amplification in Video RLVR through the Lens of Perceptual Uncertainty Collapse
2026-10-27 13:26:13Jiafeng Liang, Xianhao Ou, Tao Ren, Rongchuan Mu, Runxuan Liu, Dandan Tu, Ming Liu, See-Kiong Ng, Bing QinAbstract
Reinforcement learning with verifiable rewards (RLVR) has emerged as an effective post-training paradigm for enhancing the video reasoning capability of Large Multimodal Models (LMMs). Despite its empirical effectiveness, we show that outcome-level optimization can introduce an undesirable shortcut amplification effect, whereby models increasingly favor text-prior answers even when they are not supported by the visual evidence. To characterize this behavior, we investigate the training dynamics of video RLVR through the lens of perceptual uncertainty, analyzing how predictive uncertainty evolves under video-conditioned and text-only contexts. Our analysis identifies a perceptual uncertainty collapse phenomenon, in which RL training continuously sharpens the model's answer distribution while the uncertainty reduction attributable to visual evidence progressively diminishes. A further gradient-direction analysis reveals that such confidence enhancement becomes increasingly less aligned with visually grounded uncertainty reduction and is instead dominated by text-prior compression. Motivated by these findings, we propose Bifocal Self-distillation Policy Optimization (BSPO), a self-distillation framework that regulates policy updates with two complementary distributional signals. Specifically, BSPO derives empirical reasoning principles from intra-group correct and incorrect rollouts to identify reasoning-sensitive tokens, and introduces shortcut-aware visual perturbation to penalize predictions that remain invariant when task-relevant visual evidence is weakened. By adaptively reweighting the original RL advantage, BSPO preserves the task-solving benefits of RLVR while promoting updates that are both reasoning-sensitive and visually grounded. Extensive experiments validate the effectiveness of BSPO in improving video reasoning performance and strengthening visual faithfulness.
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https://arxiv.org/abs/2610.37211
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Does Your Generalist Skill Optimizer Really Incentivize Agentic Tasks? Rethinking Skill Optimization via Bipartite Attribution
2026-10-27 13:21:09Jiawei Zhou, Bo Peng, Yuxuan Huang, Ming Zhang, Youbang Sun, Xiang Wang, Chaochao LuAbstract
Skill optimizers adapt an agent to long-horizon tasks, such as repairing a terminal environment, by rewriting its skill, a natural-language procedure in its context, and keeping the edits that raise success on a small dev set. On such tasks success is noisy, so a gain on a small dev set does not show that an edit helps, and a success score does not show what the edit costs. We introduce BiPA, which replays an optimizer's acceptance rule on candidates identical to its seed to measure what selection alone reports, and records each episode as a bipartite graph of turns and the text they read to trace extra input tokens to the behavior behind them. Across three optimizers, three agentic benchmarks and two models, the learned skills succeed about as often as their hand-written seed, 0.1 points higher on average. Their dev gains vanish on test: keeping the best of several candidates on at most 30 tasks reports gains this large even when none changed. They read about 16% more input tokens: the optimizers almost always add rules, half to re-check work and some to act one call at a time, and the agent follows them as extra turns, each re-sending the whole conversation. Four principles follow: accept an edit only if its gain exceeds what selection alone reports; charge it for the turns it adds, not for its length; let the editor delete and merge rules; show it what earlier rules cost. Code is available at this https URL.
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https://arxiv.org/abs/2610.37201
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A Bi-level Co-design Framework for Lunar Monoped with 2D Jump and Landing Control
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Legged robots for lunar exploration must be designed for low gravity, where reduced contact forces and long flight phases make leg morphology and controller choice interdependent. We study this for a planar monoped in lunar gravity ($1.625$ m/s$^2$) using a bi-level co-design framework: a differential evolution outer loop searches over link lengths, and each candidate is evaluated on a vertical jump by either a quadratic program based task-space controller (QP-TSC) or a direct-collocation based trajectory optimization. The two controllers yield different optimal link lengths, and trajectory optimization outperforms the QP-TSC across most of the design space, with 17% lower Cost of Transport (COT) at their respective optima. We then extend to a 2D jump, where trajectory optimization with centroidal angular momentum regulation produces stable in-place and forward jumps, and an LQR controller absorbs impact and stabilizes the robot after touchdown. This is demonstrated on a baseline morphology with both links 0.3 m long.
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https://arxiv.org/abs/2610.37199
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Beyond Parameter Protection: Fisher-Shaped EWC for Replay-Free Continual Learning
2026-10-27 12:42:27Liying Wang, Simone Magistri, Joost van de WeijerAbstract
In replay-free continual learning, Elastic Weight Consolidation (EWC) uses Fisher information matrix (FIM) to protect acquired knowledge by penalizing changes to historically important parameters. However, a local importance estimate at the retained solution does not in general characterize sensitivity after finite parameter displacement. This motivates controlling Fisher sensitivity over a neighborhood of potential future updates. We propose Fisher-Shaped EWC (FS-EWC), which extends the role of FIM from parameter protection to solution formation for future retention. During task learning, FS-EWC minimizes the worst-case empirical FIM trace within a prescribed neighborhood, explicitly favoring solutions that are less sensitive to bounded future displacement. At task completion, trajectory-based model merging constructs the retained solution from multiple optimization states rather than a single terminal iterate, after which FIM is estimated for subsequent consolidation. Experiments across multiple benchmarks show that FS-EWC improves performance over EWC, while controlled studies indicate a more favorable stability--plasticity balance and greater tolerance to parameter drift. These results suggest that effective knowledge retention requires both forming solutions with future retention in mind and protecting acquired knowledge.
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URL
https://arxiv.org/abs/2610.37145
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Predicate Neuron: Differentiable Quantization of Predicate Relations in Gradient-based Learning
2026-10-27 12:07:22Ioannis Konstantoulas, Iliana Loi, Kyriakos SgarbasAbstract
In machine learning, symbolic reasoning approaches often rely on static architectures that hinder integration into deep neural networks and gradient-based optimization. To address this, we introduce the Native Predicate Neuron, a differentiable logic-reasoning neural module that enriches standard architectures with symbolic reasoning capabilities via first-order logic quantization. The proposed neuron models relational logic by learning to alternate between operations using a single trainable parameter. It features a tailored gradient mechanism with a dual-nature formulation: executing hard logical operations during training while maintaining differentiability for backpropagation. By quantizing both its input and choice state, the Predicate Neuron approximates continuous and non-continuous functions, effectively resolving discontinuities that standard deep learning architectures struggle with. We evaluate the Predicate Neuron across Fully-Connected, Convolutional, Recurrent, and Transformer architectures on benchmarks like MNIST and Wikitext. Results show that incorporating Predicate Neurons accelerates convergence, boosts accuracy, and lowers loss in general, with particularly strong improvements in tasks requiring monotonic reasoning or handling discontinuities. Overall, the Predicate Neuron natively integrates into standard neural networks to enable fuzzy logic operations and is available in Keras and PyTorch.
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URL
https://arxiv.org/abs/2610.37727
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TriDifNet: A Unified Three-Task Diffusion Network for End-to-End RGB-T Perception
2026-10-27 12:02:19Qianchao He, Jing Liu, Yunhao Li, Xiaoqing TianAbstract
Infrared--visible (IR--VIS) multi-modal perception supports robust scene understanding under challenging illumination. Infrared and visible images are often misaligned due to platform motion, viewpoint changes, and modality-dependent distortions, causing registration errors to propagate into subsequent fusion and detection stages. We propose TriDifNet, a unified three-task diffusion network for end-to-end RGB-T perception. To the best of our knowledge, TriDifNet is the first diffusion-based network that jointly optimizes registration, fusion, and detection for misaligned RGB-T pedestrian perception. TriDifNet consists of three diffusion-based modules, i.e., the Registration Diffusion Module (RegDM), the Fusion Diffusion Module (FusDM), and the Detection Diffusion Module (DetDM). RegDM aligns the unaligned infrared image to the optical reference by estimating a dense deformation field. FusDM performs residual conditional diffusion to generate a detection-oriented fused representation with optical structural cues and complementary infrared saliency. DetDM formulates pedestrian detection as an iterative denoising process in bounding-box space. To couple the three tasks, TriDifNet introduces a closed-loop optimization mechanism, where detection semantics guide fusion and registration, and the fusion result further regularizes geometric alignment. A stage-wise progressive training strategy and a lightweight Nash multi-task learning (Nash-MTL)-based late-stage refinement are further adopted to balance registration, fusion, and detection optimization. Extensive experiments on the KAIST multispectral pedestrian benchmark show that TriDifNet achieves superior downstream detection performance under misaligned RGB-T settings. Against strong system-level competitors, TriDifNet achieves 65.44\% Recall, 57.55\% mAP$_{50}$, and 26.83\% mAP$_{50:95}$.
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https://arxiv.org/abs/2610.37097
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Exploring the Limits of the Delta Learning Hypothesis: Single-Pair Generator Biases in Direct Preference Optimization
2026-10-27 11:24:50Giuseppe Curci, Stefano Simonazzi, Andrea Molinari, Andrea ZugariniAbstract
Direct Preference Optimization (DPO) typically relies on preference pairs generated from diverse model pools and ranked by an external LLM judge. The recently proposed delta-learning hypothesis suggests that comparable supervision can instead be obtained from a single pair of models by treating the larger model's response as preferred. We investigate the limits of this approach across model families and scales. We show, both theoretically and empirically, that fixed model pairs introduce systematic, generator-dependent biases that are predictive of the preference label independent of response quality. Consequently, DPO trained on single-pair data consistently underperforms multi-model preference data, despite the larger generator producing higher-quality responses, and we trace this gap to training dynamics consistent with reward hacking on these biases. We further show that simply increasing the number of generators, even without an external judge, is enough to partially mitigate this effect. Our results highlight generator diversity as a critical factor in preference-data construction.
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URL
https://arxiv.org/abs/2610.37058
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AI-Assisted Discovery of CNOT Decompositions for Quantum Permutations on Constrained Topologies
2026-10-27 11:15:22Daniele Lizzio Bosco, Jacopo Cossio, Simone Faro, Francesco Pio Marino, Gabriele Messina, Carla Piazza, Giuseppe SerraAbstract
Efficient quantum circuit compilation is challenging for quantum computers, where limited qubit connectivity can introduce substantial overhead in the implementation of logical operations. Recent AI-assisted synthesis methods have shown considerable potential for reducing circuit complexity, but their role in uncovering principles that can guide the design of new deterministic compilation algorithms remains largely unexplored. In this work, we investigate this perspective for the synthesis of quantum permutations into CNOT circuits under constrained qubit connectivity. Using AlphaCNOT as an exploratory tool, we identify a recurring decomposition for remote transpositions that improves on the construction based on adjacent SWAP routing. For two qubits at graph distance $d>1$, the discovered pattern yields a topology-legal implementation using at most $6d-4$ CNOT gates, compared to the $6d-3$ gates required by the corresponding SWAP-based construction. We formalize this observation through a constructive proof to define Global Transpositions, a deterministic synthesis method that searches for a minimum-cost decomposition of an entire permutation into topology-aware logical transpositions. The resulting method subsumes optimal SWAP routing within its synthesis model and provides certified upper bounds on the topology-constrained CNOT cost. Our experiments also reveal circuits that cannot be expressed as concatenations of independently synthesized transpositions. Instead, these circuits exploit intermediate linear transformations that temporarily leave the permutation subgroup and combine partial effects of multiple logical operations, a mechanism we call intermediate CNOT fusion. Our results show that AI-assisted synthesis can support not only circuit optimization, but also the discovery of reusable identities, provable constructions, and hidden mechanisms in quantum circuit compilation.
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https://arxiv.org/abs/2610.37045
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State estimation for a hybrid rigid-continuum space manipulator system
2026-10-27 11:14:36Lorenzo Ticozzi, Patricio A. Vela, Panagiotis TsiotrasAbstract
Spacecraft-mounted robotic manipulators can support long-term operability of orbiting assets by conducting tasks such as on-orbit assembly, repair, upgrade, and refueling. In this context, the integration of continuum/soft robotic mechanisms into space manipulator designs promises to reduce stowage volume and mass, as well as to improve operational safety through the inherent mechanical compliance of soft structures. This work presents a novel state reconstruction pipeline for a hybrid soft-rigid space manipulator, in which the distal link is a tendon-driven continuum robot. The estimation problem is formulated as a maximum a posteriori (MAP) inference problem over the hybrid manipulator's configuration, conditioned on discrete, noisy measurements from joint encoders and a vision-based sensing pipeline. The resulting soft-constrained optimization problem is transcribed as a factor graph, providing a compact representation for fusing heterogeneous measurements with the rigid-soft kinematic model. Furthermore, the adoption of the Geometric Variable Strain (GVS) approach yields a minimum-order parameterization of the configuration, a property expected to facilitate model-based feedback control design in future work. The proposed implementation is validated in simulation on a closed-loop trajectory where, for better realism, position measurements for the continuum link are obtained by means of a simulated visual pipeline leveraging synthetic photorealistic images. The state reconstruction accuracy and computational performance confirm the potential of the proposed framework for hybrid soft-rigid robotic applications in orbit.
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https://arxiv.org/abs/2610.37043
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Evaluating Priority Dispatch for Premium Membership in On-demand Taxi-sharing
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In this paper, we analyze the dispatch-level feasibility of introducing premium membership into an on-demand taxi-sharing service using a sequential optimal insertion method. We propose two dispatch-level methods: deadline shortening for premium users, and deadline shortening with dedicated premium vehicles. We compare them with a baseline dispatch method through SUMO-based simulations under three demand scenarios: steady uniform demand, time-varying demand with a peak period, and urban-focused demand with concentrated peak traffic. Our results show that the suitable priority mechanism depends on operating conditions and premium ratio, suggesting that condition-dependent method switching may provide premium benefits while keeping non-premium-user burden smaller for overall optimization.
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https://arxiv.org/abs/2610.37011
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PailitaoMMSearch2.0 Technical Report: Scaling Generative Retrieval to Unified End-to-End Multimodal Search
2026-10-27 10:17:33Xiaohan Ye, Zihan Gong, Jingqian Zhao, Lianyu Du, Yunmeng Shu, Xu Chen, Zesheng Zhou, Renchun You, Bocheng Chen, Jinsong Lan, Haihong Tang, Bo ZhengAbstract
Generative retrieval models have been increasingly adopted in search and recommendation systems. However, industrial generative retrieval models are commonly specialized to a fixed online scenario: they learn from scenario-specific interactions, support a narrow set of query forms and retrieval objectives. We study how to remove these couplings and build a unified end-to-end multimodal search system for open-ended image--text queries, heterogeneous shopping intents, and online scenarios with different resource constraints. We present \textbf{PailitaoMMSearch}, which directly generates product Semantic IDs from a raw query image and free-form instruction and scales along three dimensions. \textbf{Data scaling} uses a reusable toolset that can be composed into intent- and lifecycle-specific workflows for cold-start synthesis, quality control, real-traffic refinement, and continuous data production. \textbf{Intent scaling} progressively equips one model with e-commerce product knowledge, multiple retrieval relations, and adjustable reasoning budgets through continual pre-training (CPT), mixed-budget supervised fine-tuning (SFT), and unified reinforcement learning (RL). The RL stage combines intent-balanced optimization and Sample--Beam rollouts aligned with multi-candidate serving. \textbf{Scenario scaling} exposes quality--cost operating points across model capacity and reasoning budget. The system is deployed in multimodal search applications on Taobao Pailitao. A controlled online A/B test reports statistically significant improvements, including item page views $\textbf{+17.90\%}$, transactions $\textbf{+27.04\%}$, and gross merchandise value $\textbf{+8.94\%}$.
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URL
https://arxiv.org/abs/2610.36958
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JevRec: Linguistic Encoding with Jev-like Decision Modeling for LLM-based Generative Recommendation
2026-10-27 09:59:44Qiyong Zhong, Jiajie Su, Ming Yang, Li ZhangAbstract
Generative recommendation (GR) represents items as semantic identifiers (SIDs) and autoregressively generates the next item's SID from interaction history. However, most methods assign the same SID length to all items despite highly unequal interaction frequencies. This uniform design repeatedly incurs the cost of fine-grained codes for popular items, while shortening codes to reduce this cost also compresses the semantic representations of long-tail items. Inspired by the compact forms of frequent expressions in natural language, we propose JevRec to encode items as variable-length words and generate the next item from interaction context. Linguistic encoding retains frequency-dependent semantic prefixes from shared codebooks, producing shorter SIDs for popular items and richer descriptions for long-tail items. Yet predicting a sequence-level length and generating token-level content impose different optimization requirements that may conflict under a shared output head. Our Jev-like decision modeling component therefore predicts a length distribution with a dedicated head and generates content conditioned on length through a separate head while sharing the interaction-history representation. Experiments on three public datasets show that JevRec outperforms all compared baselines across the evaluated recommendation metrics. Further analyses show lower training and inference time than TIGER and reduced gradient conflict between length and content prediction.
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URL
https://arxiv.org/abs/2610.36937
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LingGS: Decoupling Feed-Forward Geometry Prediction from Camera Tracking for High-Fidelity Gaussian SLAM
2026-10-27 08:51:00Da Li, Yihan Zang, Ivan Viola, Zeyu Wang, Dominik EngelAbstract
Achieving high-quality reconstruction and responsive camera tracking remains challenging for monocular RGB Gaussian splatting SLAM under a limited optimization budget. We present an online system that addresses this challenge by combining learned geometric priors with explicit geometric camera tracking, which can substantially outperform learned camera prediction in terms of tracking accuracy. A frozen streaming 3D foundation model serves as a virtual RGB-D sensor, providing depth estimation from monocular video. An explicit geometric solver then estimates camera motion through feature reprojection, and a streaming Gaussian mapper integrates the resulting observations into a dense scene representation. We further show that geometric tracking improves camera pose accuracy across representative streaming geometry backbones, demonstrating the broader applicability of our approach. Extensive experiments on indoor and outdoor datasets show that our method significantly improves reconstruction quality over existing approaches, achieving about 7 FPS on a single RTX 4090 and delivering 2-3 times the throughput of the evaluated prior SLAM systems.
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URL
https://arxiv.org/abs/2610.36853
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Evolving Agent Teams
2026-10-27 08:46:21Shiyi Cao, Ziming Mao, Dacheng Li, Joseph E. Gonzalez, Ion StoicaAbstract
The rapid progress of software engineering agents drives interest in applying them to open-ended problems such as GPU kernel optimization. However, we find that existing coding agents converge to local optima on real-world, expert-written kernels (e.g., FlashInfer). We introduce Evolving Agent Teams, a multi-agent framework that escapes such local optima. It features (1) a central supervisor that diagnoses each local optimum and restructures a team of agents; and (2) a persistent file system that comprises a learning document, an evolution history, and per-team artifacts, grounding restructuring with accumulated experience. Under a matched token budget, Evolving Agent Teams consistently outperforms strong coding-agent baselines. With an extended token budget, Evolving Agent Teams generates a CUDA kernel that reaches 1.2x mean speedup over the production FlashInfer MLA paged decode kernel from scratch and wins on 36 of 47 production workloads from FlashInfer-Bench (0.86-0.99x on the remaining 11). It also demonstrates superior performance on tasks such as KDA prefill on AMD MI350X (3.01x over vLLM) and NVIDIA B200 (3.44x over FlashKDA), MoE expert-offload serving on Apple silicon (30.3 tokens/s decode for Qwen3.8-Flash-Next in MLX 4-bit on a 48 GB M4 Pro), and RoboDojo robot manipulation (62.1 on held-out seeds vs. 55.3 for the best leaderboard entry). Code is available at this https URL.
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https://arxiv.org/abs/2610.36848
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SetGRPO: Calibrating Grader-Induced Policy Optimization
2026-10-27 08:11:30Jiale Huang, Zixu Li, Zhiwei Chen, Zhiheng Fu, Jinhe Bi, Yupeng HuAbstract
Rubric-based reinforcement learning uses fine-grained grader feedback to train large language models on open-ended tasks, but grader randomness can alter GRPO updates in ways that score discrepancies alone cannot characterize. Because GRPO jointly normalizes rewards within each response group and combines the resulting training coefficients with response-level gradients, a scoring discrepancy can shift the coefficients of the entire group and induce policy-dependent update changes. Selective execution further affects the direction-reversal risk of retained updates. To address this, we propose Set-Valued Group Relative Policy Optimization (SetGRPO). It comprises three modules: (a) Joint Reward Set Calibration constructs a joint uncertainty set for the training coefficients; (b) Geometry-Guided Safe Recovery maps candidate coefficients into the current policy's local update geometry and determines the largest safe recovery ratio for each response group; and (c) Selective Risk-Gated Optimization selects a global threshold through independent risk calibration to control the conditional direction-reversal risk of accepted updates while preserving the original GRPO objective. Under exchangeability, SetGRPO provides finite-sample marginal coverage for the joint coefficient set and simultaneous risk control across candidate thresholds. On ten open-ended benchmarks spanning three domains, SetGRPO achieves the highest macro average among all compared training methods on both Qwen3.5 and Llama3.2 model families.
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https://arxiv.org/abs/2610.36807
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