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LIBERO-PeRM: Benchmarking Personalized Robotic Manipulation
2026-10-15 17:59:59Zhixu Li, Keqian Tang, Litian Gong, Jingyu Yao, Wenqian Zhang, Tianze Xu, Zehao Wang, Yuping Wang, Junge Zhang, Jiachen LiAbstract
Personalization is essential for general-purpose robots to transition into household environments and achieve true practicality. While general robotic manipulation has been extensively studied, personalized robotic manipulation (PeRM) lacks a controlled benchmark for separating task completion from preference satisfaction. We introduce LIBERO-PeRM, a benchmark for preference learning in embodied agents. LIBERO-PeRM studies five questions: 1) how policies follow preferences in zero-shot settings; 2) how they learn single preferences from demonstrations; 3) how efficiently they acquire preferences as demonstrations increase; 4) how learned preferences generalize across layouts and tasks; and 5) how policies compose preferences and behave under conflicts. We propose a controlled formulation and taxonomy of observable preferences in simulation, covering motion, skill, and user-profile choices. This formulation is restricted to language-expressible preferences that can be instantiated in LIBERO without changing the task goal, evaluated automatically, and reused across tasks. Building on LIBERO, our procedural pipeline generates paired demonstrations with and without preferences. We create five task suites (312 tasks) with high-quality demonstrations, rich metadata, and preference-satisfaction metrics. Experiments show that current VLA policies struggle with zero-shot personalization, while SFT makes preferences learnable. Mixed training achieves better no-preference retention than sequential adaptation and improves performance with contextual prompts compared with preference-only training, but can weaken motion-preference learning; preference generalization, decomposition, and conflict handling remain difficult. The code, datasets, and demos can be found on the project website: this https URL.
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URL
https://arxiv.org/abs/2610.22372
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Gen4P: Video Generators are 4D Perceivers
2026-10-15 17:59:48Yitong Xia, Zeren Jiang, Chuanxia ZhengAbstract
We introduce Gen4P, a unified framework for recovering 4D geometry and motion from monocular video. We show that a pretrained video generator can be repurposed into a feed-forward 4D perceiver without iterative denoising. Building on on-demand querying, Gen4P processes clean video latents in a single encoder pass and predicts the requested 4D attributes through a lightweight cross-attention decoder. The on-demand query formulation enables flexible spatial sampling, and our proposed continuous-time queries further provide temporal flexibility. To strengthen geometric knowledge, we propose a straightforward plug-in solution by incorporating a pretrained video-depth LoRA as a frozen geometry prior, improving overall performance without adding extra trainable parameters. Gen4P achieves state-of-the-art or competitive performance on tasks of 3D point tracking, video depth and camera pose estimation. Qualitative results on in-the-wild videos illustrate its capability of tracking complex motion while maintaining the delicate structure. Together, these results demonstrate the potential of video generative pretraining for unified 4D perception. See this https URL for more visual results.
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URL
https://arxiv.org/abs/2610.22371
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Which Tokens to Merge? Diffusion Dynamics for Efficient Image Generation
2026-10-15 17:59:35SeungJu Cha, Ye-Chan Kim, HyunGee Kim, Sungho Koh, Dong-Jin KimAbstract
Token merging has emerged as an effective training-free strategy for accelerating diffusion models by reducing redundant token computation while minimizing generation degradation. A key challenge is determining which tokens can be safely merged and which should be preserved for subsequent computation. Existing method addresses this by preserving prompt-aligned foreground regions, thereby protecting semantically relevant structures. However, this text-relevance criterion overlooks background objects, local details that are not explicitly mentioned in the prompt, leading to degraded structural coherence. In this work, we propose Dynamics-aware Token Merging (DaTMe), a training-free framework that grounds token merging in the underlying diffusion dynamics. Our key insight is that token importance should reflect whether a token remains unresolved during denoising and whether it carries structural information. To this end, DaTMe constructs a dynamics- aware importance map from the Tweedie denoised estimate. The map combines a temporal signal, measuring inter-step changes in the predicted clean image, with a structural signal, capturing local high-frequency content such as boundaries and fine details. Using this map, DaTMe adaptively assigns tokens into merging roles under a given compression ratio: important tokens are preserved as anchors, while tokens that are both temporally stabilized and structurally homogeneous are selected as safe merge candidates. Experiments on PixArt-a and FLUX demonstrate that DaTMe maintains visual fidelity across the entire image, highlighting diffusion dynamics as an effective token-level merging decision in efficient generation. Our code is available at this https URL.
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URL
https://arxiv.org/abs/2610.22370
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SoftCache: Adaptive Step Size Caching for Diffusion Transformers
2026-10-15 17:59:34Shimon Malnick, Nadav Orenstein, Ohad Fried, Shai AvidanAbstract
Diffusion and flow models generate a sample over iterative steps, each a full pass through a large network, and that pass dominates generation cost. Training-free caching accelerates them by reusing activations from recent evaluations instead of recomputing them. Dynamic caching methods decide when to refresh by accumulating a cheap probe of the network input into a staleness signal and spending a fresh evaluation once it crosses a threshold. They perform hard caching: the signal is a binary switch between refresh and reuse, and every step, fresh or cached, advances by the prescribed step size. We observe that the signal carries much more than this switch. How far it sits below the threshold, its headroom, predicts the error induced by reuse. We propose SoftCache, which performs soft caching: instead of a binary switch, the headroom sets how far each cached step goes. Where the headroom is large, the sampler jumps past several scheduled nodes, and as a refresh nears, its steps shrink back toward the original step. These adaptive jumps may land between the scheduled nodes, taking the sampler off its fixed grid. SoftCache requires no training and adds no per-backbone settings: on FLUX for images and on HunyuanVideo and Wan2.1 for video, at speedups from $3.5\times$ to $6.9\times$, it is ahead of every baseline on all four fidelity metrics.
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URL
https://arxiv.org/abs/2610.22369
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Discovering state-of-the-art quantum circuits with large language models
2026-10-15 17:59:20Andi Gu, Alek H. Kemeny, Susanne F. Yelin, Mikhail D. LukinAbstract
Significant efforts are currently being directed toward the implementation of large-scale quantum information processors, but realizing useful quantum advantage also requires the development of efficient quantum algorithms. While for many practical problems the dominant resource costs are associated with a small set of computational primitives, optimizing them in the quantum setting presents unique challenges, including a reversibility constraint absent from ordinary classical computation. Here we introduce an evolutionary framework in which large language models (LLMs) propose circuit designs and an independent evaluator verifies and scores them. We apply this framework to tasks spanning numerical computation, chemistry, optimization, quantum simulation, and number theory. In seven of the eight tasks, the discovered circuits significantly reduce both Toffoli and qubit counts relative to the state of the art. In the eighth, the search discovers a new reversible architecture for prime-field modular inversion. By handling reversibility differently, the architecture makes divsteps -- a classical algorithm previously impractical for reversible integer arithmetic -- viable and substantially improves the Toffoli-qubit trade-off for modular inversion. These results open the door for evaluator-guided LLM co-design of new algorithmic structures for quantum computation.
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URL
https://arxiv.org/abs/2610.22367
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CoDA: Co-Evolution of Data Engines and Action Policies
2026-10-15 17:59:02Tianjiao Yu, Zhilin Ou, Yifan Shen, Xinzhuo Li, Yuanzhe Liu, Onkar Kishor Susladkar, Fan Wang, Ismini LourentzouAbstract
Generative simulation can automate robot environment construction, but physically valid environments are not necessarily useful for training. The challenge is to identify environments that address a policy's failures and supervision that helps it overcome them. We introduce CoDA, a framework in which a simulation data engine and an action policy co-evolve through a shared heterogeneous memory of environment construction, policy failures, and learning progress. The memory compiles validated diagnoses from a vision-language critic into generation programs that recreate difficulties and training programs that help the policy overcome them. We further propose Text2potential to convert these diagnoses into staged potentials for action-chunk value learning, providing dense supervision for policy updates while preserving the task's optimal policy under standard shaping assumptions. Measured learning progress guides further generation and program refinement. Across four manipulation task families, CoDA improves out-of-distribution success from 5.3% after supervised fine-tuning to 27.6%, exceeding the strongest closed-loop baseline by 9.5 percentage points with the same generation budget. On LIBERO-Pro, 15 rounds of generation and training raise success from 25% to 84% under position perturbations and from 1% to 76% under instruction perturbations.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22362
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Grounding Generative Verification in 3D Content
2026-10-15 17:59:01Shuanglin Li, Jiaying Lin, Shuquan YeAbstract
Recent advances in multimodal large language models (MLLMs) and 3D generation have expanded 3D understanding and synthesis. However, beyond visual fidelity, task-specific correctness grounded in 3D evidence remains a major challenge. We argue that building reliable 3D systems requires not only stronger generation and reasoning, but also verification feedback that identifies unmet requirements and explains their violations, allowing systems to reflect on and refine their outputs. Such feedback must integrate multi-view observations and distinguish genuine inconsistencies from projection-dependent appearances. We make three contributions. First, we introduce 3DVerifierBench, a benchmark spanning 10 tasks that evaluates decisions, rejection explanations, and responses to controlled changes in specifications and candidates. A human study reveals a 21.6 percentage-point gap between humans and the strongest tested model, GPT-6 Astra, while explanation-aware analysis exposes weaknesses in rejection reliability. Second, we analyze verification across fine-grained factual categories, exposing errors in values and target binding. We develop a scalable pipeline combining multi-view fact extraction, controlled 3D editing, and native annotations to produce 14,126 training examples with contradiction explanations and linked counterfactuals. Third, we examine how verification could support 3D generation through candidate selection and recursive refinement. In human-labeled sixteen-candidate pools, oracle selection improves complete factual success from 26.7% to 90.0%. In a separate eight-input study, human-guided recursive refinement satisfies all seven requirements for every input, compared with three under parallel Oracle@8. Together, our benchmark, analysis, and data pipeline establish a foundation for models to reflect on 3D content through reliable verification feedback.
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URL
https://arxiv.org/abs/2610.22360
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DK-VLM: Geometry as Position for Spatial Reasoning in Vision-Language Models
2026-10-15 17:58:15Han Su, Meng Tian, Tianyu Huang, Mingyu Gao, Lennox Wei, Dongxu Li, Jianhua Han, Hang Xu, Xiaohe Wu, Wangmeng ZuoAbstract
Vision-language models still struggle to understand 3D spatial relations across views and update spatial judgments as the observer moves. A common approach fuses 3D reconstruction features into visual tokens, but aligning these features with pretrained semantic representations remains challenging under limited spatial supervision. We propose DK-VLM with Dual-Kernel Attention, which computes attention from both a visual token's input position and its geometric position in the scene. A semantic kernel retains the pretrained model's native attention and positional encoding, while a separate geometric kernel uses estimated 3D points and camera poses to directly modulate attention through point displacements and relative view transformations. Then, a learned gate fuses their outputs. Geometry thus enters attention as position rather than as fused reconstruction features. We further introduce Reference-Frame Composition (RC) supervision to train the model to update its reference frame across successive judgments. It provides stepwise turn and heading targets derived from verified single-step annotations. Among the compared methods, DK-VLM-8B achieves the highest average score across six spatial benchmarks and the highest overall scores on VSI-Bench (74.33) and ReVSI-32 (58.28). RC supervision further improves multi-step spatial reasoning, while the full model preserves general video understanding. Project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22356
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OmniVerifier-C1: Decomposed Graded Verifier for Rule-Governed Generative World Modeling
2026-10-15 17:58:04Bowei Liu, Xinchen Zhang, Xuhuan Li, Tianlin Zhang, Kaian Jiang, Jingwei Liu, Congyang Zhao, Yifei Qian, Junhong Liu, Zhiheng Li, Yujiu Yang, Yang Cai, Ling YangAbstract
Generative visual verifiers play a crucial role in advancing multimodal intelligence. To enhance the robustness of visual verifiers in complex multimodal scenarios involving compositional requirements, we move beyond conventional binary verifiers that produce only True/False discrete judgments and introduce a verifier that automatically decomposes complex prompts or environmental rules into fine-grained components and assigns pointwise scores to provide a continuous and more informative critique signal. Our experiments further demonstrate that these structured and interpretable outputs improve the verifier's generalization to out-of-domain multimodal critic tasks. To train this verifier, we introduce a Decoupled RL training strategy that jointly optimizes sub-question-level binary judgment and global alignment scoring, using precise local feedback to develop fine-grained verification capabilities that provide a foundation for reliable continuous scoring at the global level. Under a general reinforcement learning framework, we first empirically demonstrate that the proposed pointwise graded verifier significantly outperforms binary verifiers in traditional text-to-image scenarios. We then extend our investigation to rule-governed generative world modeling where generative models are leveraged for world simulation and world reasoning under explicit rules. From a theoretical standpoint, we further show that a pairwise verification paradigm yields more accurate critiques than the pointwise formulation when ground-truth images are available, with empirical results on diverse structured world-modeling tasks such as Maze and Sudoku further validating the effectiveness of our approach. Overall, our findings suggest a key insight: the transition from generative models to structured world-modeling agents critically hinges on the availability of accurate pairwise graded visual verifiers.
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URL
https://arxiv.org/abs/2610.22355
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Rethinking Routing Exploration in Modern Mixture-of-Experts
2026-10-15 17:58:02Bingcong Li, Hao Ma, Michael Muehlebach, Niao He, Yi MaAbstract
Mixture-of-experts (MoE) models have become an important approach for scaling model parameters. Modern MoE architectures increasingly combine two design choices: fine-grained expert segmentation and shared experts. The former increases expressiveness by enabling more expert combinations at a fixed activation ratio, and the latter introduces experts that are active for every token. We identify an exploration dilemma between these designs: shared experts can make routing less exploratory by reducing the variability of token representations. This conflicts with the greater need for exploration induced by fine-grained expert segmentation due to the combinatorially enlarged routing space. Consequently, the additional expressiveness offered by fine-grained segmentation may not be fully realized in practice. MirrorMoE is proposed to reconcile this exploration dilemma by shrinking the exploration space through token-adaptive suppression of unnecessary experts. MirrorMoE consistently improves performance across model scales.
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URL
https://arxiv.org/abs/2610.22353
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MLExpert: Towards a Generalist Agentic Model for Autonomous Machine Learning Engineering
2026-10-15 17:56:32Shangheng Du, Jinxin Shi, Shuaiyu Zhang, Yiming Wu, Junpeng Zhao, Shiyang Feng, Xin Li, Liang He, Xiangchao Yan, Bo ZhangAbstract
Large language models (LLMs) are expanding from assisting scientific research and engineering to autonomously developing and improving AI systems, advancing AI for AI (AI4AI) as a pathway toward recursive self-improvement (RSI). Workflow-driven machine learning engineering (MLE) systems provide a practical path toward this pursuit through complex orchestration that manages long-horizon experimentation, while recent MLE systems adopt model-directed interaction, allowing models to autonomously organize experiments and adapt optimization strategies based on execution feedback. However, feedback from each experiment reflects several preceding decisions, and a long MLE run contains many such costly experiments. Training must therefore select useful supervision from long interaction trajectories and learn from intermediate outcomes. We propose a post-training method for autonomous long-horizon MLE optimization and apply it to train MLExpert, a 35B Mixture-of-Experts agentic model. We design the Kaggle-MLE Factory to construct executable tasks and an interaction harness for model-directed experimentation. Hierarchical agentic SFT transfers general tool-use and coding capabilities to MLE through outcome-guided supervision. Windowed Interaction RL (WIRL) treats the multi-turn decisions between successive experiment results as an execution window and assigns it a shared outcome-based reward. Asynchronous collection and policy correction support policy updates before the trajectory ends. On MLE-Bench Lite, MLExpert improves the average medal rate of the base model from 37.9% to 72.7%, achieving performance comparable to larger frontier models such as Kimi-K3 and GLM-5.3. Further experiments show that MLExpert improves performance on NatureBench Lite, agent scaffold optimization, and algorithm optimization, suggesting that the learned optimization capability generalizes to other tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22344
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GeoState: Learning View-Decoupled Geometry States for 3D World Modeling
2026-10-15 17:56:18Hongchang Liu, Jian Liu, Yujuan Ding, Liang Peng, Xun Jiang, Fei Ma, Xing Xu, Yi BinAbstract
Recent 3D world models increasingly use features from geometry foundation models (GFMs) as predictive world states, benefiting from their rich geometric priors. However, the view dependence of these features entangles scene dynamics with camera-induced variation, making the resulting state evolution harder to predict. We propose GeoState, a view-decoupled geometry representation for predictive 3D world modeling that separates scene-state evolution from camera-dependent observation. Specifically, a scene tokenizer aggregates multi-view GFM features into a view-decoupled scene state, which a geometry decoder queries using camera rays. An autoregressive world model then predicts future scene states, while camera motion is modeled separately. The predicted states can therefore be decoded under either predicted or externally specified cameras, while retaining a single context-derived scale throughout the rollout without per-frame scale alignment. Experiments show that GeoState outperforms prior 3D world models on Waymo, supports geometrically consistent cross-view querying, and generalizes zero-shot to KITTI and nuScenes. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.22343
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Dexterity from Supervised Play
2026-10-15 17:55:50Botao He, Yiming Dou, Yiannis Aloimonos, Jitendra Malik, Akash Sharma, Ruoshi LiuAbstract
How can robots autonomously collect the contact-rich experience needed to learn dexterous manipulation? We present DSP: Dexterity from supervised play, a framework in which a robot learns a play policy from minutes of human play through behavior cloning, then deploys it autonomously to collect hours of interaction data to train a world model. During inference, the same play policy then guides model-predictive control (MPC) by proposing candidate action sequences for evaluation under the learned world model. To accelerate inference, we also introduce a method for distilling a closed-loop, goal-conditioned policy through self-play within the learned world model. We evaluate this framework on underactuated pushing and any-to-any in-hand pose reorientation with a multifingered hand, in simulation and real world. In real world experiment, our method outperforms hindsight behavior cloning by 69.6% in success rate and achieves comparable success to reinforcement learning with 490 times less interaction data. These results demonstrate that supervised play can autonomously collect interaction data, guide model-based planning, and enable policy learning without any task-specific demonstrations or sim-to-real transfer.
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URL
https://arxiv.org/abs/2610.22340
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Sim-to-Real Reinforcement Learning for Path-Safe Target Reaching in Robotic Harvesting of Hydroponic Lettuce
2026-10-15 17:54:16Al Bashir, Partho Ghose, Yibin Wang, Robert G. Hardin, Joshua Peeples, Genhua Niu, Azlan ZahidAbstract
Robotic harvesting requires precise manipulation to ensure accurate positioning of the end-effector, especially in a constraint workspace. This study introduces the Path-Safe Approach Proximal Policy Optimization (PSA-PPO), a target-conditioned local reaching framework designed for robotic harvesting of nutrient film technique (NFT)-hydroponic lettuce in greenhouses. The proposed PSA-PPO preserves the standard clipped PPO objective while introducing a harvesting-oriented policy formulation that integrates target-conditioned observations, corridor-aware spatial constraints, trajectory-history-based safety encoding, and task-specific success criteria for constrained robotic manipulation. PSAPPO was trained entirely in Isaac Lab and successfully transferred to a physical UR10e robotic arm without any real-world policy fine-tuning. In a controlled physical benchmark against 150 scheduled targets, PSA-PPO achieved the highest reaching rate of 94.7%, outperforming Cartesian+TOTG (86.0%), RRTConnect (88.0%), and RRT* (80.0%), while reducing median RMS jerk by 39.8 to 73.0% relative to the classical planners during the final approach segment. A formulation ablation evaluated over 200 simulation targets demonstrates that path-safety and side-corridor shaping are the principal drivers of harvesting-compatible performance: removing either term substantially degrades strict success even when terminal endpoint accuracy is preserved or improved, confirming that optimization toward the endpoint alone is an insufficient objective for constrained crop-proximal manipulation. Finally, PSA-PPO was integrated with an RGB-D vision module and an end-effector and evaluated as a complete greenhouse harvesting system across 144 lettuce harvesting attempts, achieving 94.4% vision-guided target reaching and 86.1% complete harvesting success.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22337
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Illumination-Aware Active Perception for Spacecraft Inspection
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Harsh and rapidly varying orbital illumination introduces failure modes during spacecraft inspection. Existing planners rely on line-of-sight inspection metrics which perform occlusion checks against a known target and conflate geometric visibility with task-relevant information. These metrics overlook illumination effects including eclipse, self-shadowing, and specular reflection from spacecraft materials and tend to declare components as inspected despite the corresponding images lacking sufficient information. We propose an inspection-planning framework that replaces geometric visibility with a learned measure of camera information derived from a classifier variational autoencoder (VAE) that operates directly on the captured image. The encoder model is trained to classify spacecraft surface components from rendered patches, and its total latent variance is used to learn the varying illumination of said components, replacing binary visibility checks with a continuous, image-grounded quantity. We evaluate the approach by implementing a Guidance, Navigation, and Control architecture in a photorealistic physics simulator, and vary lighting and viewing geometries with multiple orbits. We show that, although all approaches successfully maximize their own objective, our approach results in better illumination: a mean brightness of $0.57$, with $81.6\%$ of observations above $0.25$, compared with $0.02$ ($3.0\%$) for geometric planning with an illumination band and $0.04$ ($6.0\%$) for purely geometric planning.
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URL
https://arxiv.org/abs/2610.22335
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Co-Evolving Acting and Forecasting for Language Agents
2026-10-15 17:52:52Haofei Yu, Yixing Chen, Yining Zhao, Xuyan Ye, Yuxiang Liu, Zhigang Hua, Yan Xie, Shuang Yang, Jiaxuan YouAbstract
Training language agents is bottlenecked by the high cost of long-horizon rollouts, yet standard agentic reinforcement learning (RL) learns only from a terminal scalar reward, leaving the supervision in intermediate steps largely unused. Prior work exploits this supervision through value targets that estimate per-step success probabilities or observation targets that fit environment response. Both are hard to construct well: (1) value targets come from the same single scalar signal for each step in the trajectory, and (2) observation targets, such as web pages and terminal logs, are long and noisy and reach only one step ahead. We propose CoPE, which adds a third kind of multi-step action targets. On successful on-policy trajectories, CoPE trains the policy backbone to generate the action sequences that follows each history. Each action is also supervised when forecast from the preceding histories, forming a temporal ensemble that the shared backbone absorbs during training, and this enables acting and forecasting to co-evolve. The policy still acts one step at a time at inference, with no overhead. Across five benchmarks (ALFWorld, ScienceWorld, WebShop, $\tau^2$-bench, and AppWorld), CoPE (1) achieves stronger aggregate performance than GRPO and RL baselines with predictive auxiliary targets across simulated environments, while improving overall performance on both realistic applications; (2) delivers up to $1.9\times$ and $2.0\times$ higher sample efficiency than ECHO and GRPO, respectively, on ScienceWorld; and (3) achieves these gains with a single policy backbone, without additional models, separate pretraining, or inference overhead. The codebase is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20597
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KnowGPO: Knowledge-Grouped Policy Optimization for Search Agents
2026-10-15 17:52:33Siqi Chen, Zhengxi Lu, Yuchen Yan, Xingyu Wu, Qipeng Chen, Xin Zhang, Aiting Liu, Chao Deng, Jie Liu, Jin Ma, Weiming Lu, Jun Xiao, Yongliang ShenAbstract
Deep search agents solve knowledge-intensive tasks through long-horizon, multi-turn interactions, where assigning credit to individual search decisions is fundamentally difficult. Outcome-based reinforcement learning provides only a single terminal reward shared across an entire trajectory. Recent process-supervision methods aim to assign credit at finer granularity, but they typically anchor credit to either surface-level trajectory states or model-internal signals, both of which become unreliable in deep search where observations are heterogeneous and retrieved contexts are long and noisy. We propose KnowGPO, a reinforcement learning framework that aligns trajectories by the task-relevant knowledge they have acquired rather than by their surface observations. For each query, KnowGPO decomposes the information required to derive the answer into atomic knowledge conditions, and represents the state of a trajectory at each step by the subset of conditions it has satisfied. Trajectories sharing the same knowledge state are grouped for within-group comparison, and the incremental knowledge gain between consecutive steps serves as an environment-grounded process reward. Experiments on Xbench, BrowseComp-ZH, and GAIA show KnowGPO consistently outperforms outcome-only (GRPO) and process-supervision baselines (GiGPO, IGPO) by 3.8 to 4.2 points, with our 8B model rivaling or exceeding most 32B open-source systems.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22331
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Twice Upon a Time: Complementary Representations for Time-Series Reasoning
2026-10-15 17:52:18Hedi Zisling, Liran Nochumsohn, Ilan Naiman, Mihir Parmar, Omri AzencotAbstract
Time Series Language Models (TSLMs) enable language-based understanding and reasoning over temporal data, yet a fundamental question remains: what information should their time-series representations preserve, and what variation should they factor out? Existing TSLMs typically expose the language model to a single representation, imposing a fixed inductive bias across downstream tasks. We instead introduce complementary representations as a design principle for time-series reasoning. Our model combines two visual views: line plots preserve absolute measurements and the observed coordinate frame, while normalized delay embeddings factor out positive amplitude rescaling and offsets while exposing temporal structure. Dedicated visual encoders integrate both views into a shared language model through visual tokens and multi-level feature fusion. Evaluation-time interventions verify that the two views exhibit distinct invariance profiles, while single-view ablations show that their combination is particularly beneficial beyond basic perception, with the large gains in prediction and reasoning. Built on Qwen3-VL-8B, our dual-view model improves overall TSRBench accuracy from 44.5% with line plots alone to 53.2%, substantially exceeding the strongest evaluated dedicated TSLM baseline at 36.7%. It further achieves 89.9% accuracy on TSExam and 86.8% numerical accuracy on multivariate ChatTS alignment. Together, these results demonstrate that complementary representations provide an effective design principle for general-purpose TSLMs, enabling models to exploit temporal structure without sacrificing access to the original measurement frame.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22327
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Dense4D: Pixel-Level 4D Human Correspondence
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Reconstructing human motion in 4D requires identifying the same surface points through articulation, deformation and changes in visibility. We introduce Dense4D, to our knowledge the first feed-forward model dedicated to dense 4D correspondence across the body, clothing and hair from a set of monocular RGB images, without a body template. Trained specifically for human geometry, Dense4D jointly processes person-centred crops with known image-to-crop transforms to predict Human Point Maps (HPMs) and depth for each image. An HPM assigns each person pixel the 3D position of its observed surface point at a common reference time. These maps support amodal correspondence: points hidden in the reference image can be localised from observations in other frames. Matching HPM coordinates across crops establishes correspondence without predicting camera poses or large scene displacements; per-image depth then lifts the matches into 3D tracks. Experiments on real people demonstrate substantially higher tracking accuracy and closer agreement with scanned surfaces than the evaluated baselines. Points from different frames assemble into coherent human geometry in the reference pose, providing visible evidence of consistent dense correspondence through articulation and clothing deformation. Additional qualitative results, videos, and an interactive viewer are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.22325
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Training Reasoning Models to Generate Diverse Scientific Ideas
2026-10-15 17:52:12Manya Wadhwa, Pranav Narayanan Venkit, Hiroaki Hayashi, Yu Li, Tuhin Chakrabarty, Chien-Sheng WuAbstract
One of the first steps of a research pipeline is generating ideas. Large Language Models (LLMs) are increasingly used to automate this step, but most of this work optimizes the quality of individual ideas, while overlooking diversity. In our work, we study document-grounded ideation, focusing on increasing the diversity of LLM generated ideas and ensuring they are high quality. Given prior papers, a model must propose a set of ideas that are each high-quality and clearly distinct from one another, while also being grounded in the input documents. To optimize for this, we propose training with a set-level reinforcement learning objective. In our setup, in a single generation, the model writes K structured idea cards grounded in the source papers, and the set is scored jointly, where each idea's quality is weighted by its distance from the ideas written before it. This teaches the model to steer each new idea away from its predecessors. We show that our trained 8B model achieves higher creative utility (a measure combining quality and diversity) than Claude Opus 4.8 and GPT-6 Astra on our contamination-free benchmark. In a pilot human study with four experts, our sets are judged as promising as Claude Opus 4.8's and contain marginally more unique ideas. When a coding agent runs proof-of-concept experiments on the ideas, our model's success@k is comparable to Claude Opus 4.8's, so we see that the added diversity does not cost any executability.
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URL
https://arxiv.org/abs/2610.22324
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