Transformer
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Agentic World Action Models
2026-10-21 17:59:56Zhuoyang Liu, Dantong Niu, Botong Zhang, Boning Shao, Jing Wang, Ruijie Zheng, Yuvan Sharma, Runyu Lu, Jiaming Liu, Renrui Zhang, Roei Herzig, Yutong Bai, Ken Goldberg, Danfei Xu, Yuke Zhu, Guanzhi Wang, Linxi "Jim" Fan, Trevor DarrellAbstract
Recent world action models provide visual foresight and future prediction for robot manipulation, but lack explicit mechanisms for compositional skill reuse. Agentic robotics combines code-based planning and reasoning with reusable skills, but often lacks predictive grounding in physical dynamics. We introduce AW-0, an agentic world action model framework that integrates code-based planning with joint video and action prediction. We jointly model code, future video, and robot actions as three coupled generative streams within a unified mixture-of-transformers architecture. Within this architecture a code expert generates parameterized skill routines and control logic while video and action experts generate future visual states and low-level motor commands. Code serves two complementary roles: it structures multi-step prediction and control within the world model and represents skills as reusable programs for subsequent agentic execution. We further introduce an automated curation pipeline that labels robot and human video trajectories with aligned programs and consolidates recurring routines into reusable skill libraries. Evaluations on RoboTwin 2.0 and physical bimanual manipulation tasks show improved task performance over VLA and WAM baselines, alongside gains in language following, semantic reasoning and robustness, demonstrating that agentic code enables connection between planning, prediction and execution within WAMs.
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URL
https://arxiv.org/abs/2610.30136
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Quant-Arena: Benchmarking LLM Agents for Quantitative Trading Research
2026-10-21 17:54:01Houde Qian, Zheng Jiang, Wenyi Li, Chenxi Xu, Xinjie Lin, Yuzhao Peng, Ruoyu Han, Youjie Zheng, Kaisen Yang, Qinhuai Na, You Fu, Calvin XiaoAbstract
Quantitative research is an iterative loop: a researcher proposes a market hypothesis, implements it as an executable signal, tests it on historical data, and decides what to keep. Existing benchmarks score formulas, code, or individual trading decisions, leaving open whether large language models (LLMs) can complete this loop and produce strategies that work beyond the research period. We introduce Quant-Arena, a benchmark and public leaderboard for end-to-end quantitative research on real A-share market data. A model constructs features and stock-scoring code, receives feedback only on 2022--2023, and freezes one strategy for assessment on the sealed year 2024. A cash-account evaluator applies trading constraints and costs, including market impact estimated from a simulated order book. Scores are dominated by realized excess return and complemented by signal quality and the diversity of features used by the strategy. We evaluate nine frontier models, among which GPT-6 Astra scores highest; yet no model beats the equal-weight market in 2024. Quant-Arena is open to submissions from any model or agent harness.
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URL
https://arxiv.org/abs/2610.30113
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AtomicRL: Atomic Reinforcement Learning for Long-Horizon Robotic Manipulation
2026-10-21 17:45:24Likui Zhang, Zhe Zhu, Zhihao Zhan, Yibo Bai, Hanlin Wang, Dongwei Li, Bin Wang, Tianle Zhang, Xiaodan Liang, Liang LinAbstract
Vision-language-action (VLA) models have shown promise in robotic manipulation, but imitation learning (IL) alone often struggles to master complex long-horizon skills. Reinforcement learning (RL) offers an effective avenue for further improving VLA policies. However, existing VLA-RL methods typically suffer from delayed and biased credit assignment due to trajectory-level sparse rewards, while imbalanced subtask mastery creates bottlenecks that limit overall performance. To address these challenges, we propose AtomicRL, an RL post-training framework that leverages atomic task structures for reliable credit assignment and adaptive exploration. AtomicRL introduces Semantic-Aware Policy Optimization (SAPO), which uses semantic-aware gating to constrain TD residuals from failed atomic subtasks from propagating across task boundaries, mitigating credit contamination while preserving intra-subtask credit assignment and value bootstrapping. In addition, Bottleneck-Adaptive Target Exploration (BATE) dynamically coordinates task sampling and local exploration incentives based on the mastery of individual atomic subtasks, directing learning toward the remaining bottlenecks. Finally, we develop a Real2Sim2Real pipeline that bridges online RL in simulation with real-world deployment, facilitating practical transfer to physical robots. On LIBERO-LONG, AtomicRL achieves absolute performance gains of 3.6% and 4.0% over PPO across two VLA architectures. On CALVIN ABC-D, it improves full-task performance by up to 9.5% over PPO. Combined with the Real2Sim2Real pipeline, AtomicRL further improves real-world task performance by an average of 21.3%. These results demonstrate that AtomicRL effectively improves the learning efficiency and manipulation performance of VLA policies on long-horizon tasks.
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URL
https://arxiv.org/abs/2610.30097
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Looped Uniform Diffusion Language Models
2026-10-21 17:24:35Saiteja Utpala, Chieh-Hsin Lai, Yuki Mitsufuji, Praneeth VepakommaAbstract
Uniform diffusion language models (UDLMs) generate text by iteratively denoising sequences of ordinary vocabulary tokens, any of which may be corrupted and subsequently revised. During training, UDLMs must denoise from a context that may itself be unreliable, whereas masked diffusion language models (MDLMs) always condition on a clean context. This challenging training objective makes UDLMs more FLOP-intensive to train than MDLMs, but it yields stronger downstream reasoning performance. Recently, selective looping, which recursively applies a few early Transformer layers within each denoising step, has been shown to improve training efficiency in MDLMs under an iso-FLOP budget. We investigate looping in UDLMs while keeping the training objective and sampler unchanged. We find that looping significantly improves training efficiency: looped UDLMs reach the validation NLL of a non-looped UDLM trained on about 0.5 trillion tokens with up to 2.8x fewer training FLOPs on OpenWebText and 3.3x fewer on FineWeb-Edu. We also find that, at a matched NFE budget, looped UDLMs reach up to 9.8% lower generation perplexity than the non-looped UDLM, with most gains achieved at moderate loop counts. Finally, we study different loop-count distributions and find that sampling smaller loop counts more frequently during training improves inference efficiency: on downstream tasks, this strategy uses 12% fewer loops than uniform loop-count sampling without degrading accuracy.
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URL
https://arxiv.org/abs/2610.30066
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From Reasoning to Action: Benchmarking Frontier AI Models on LIBERO-10 Robot Manipulation Tasks
2026-10-21 17:11:52May Espinola, Qifan Zhang, Yu XiangAbstract
Recent advances in frontier AI models have demonstrated remarkable capabilities in visual understanding, reasoning, planning, and tool use, raising the possibility of using general-purpose AI models for robot manipulation without task-specific training. However, their manipulation capabilities have not been systematically evaluated on standardized robotics benchmarks. In this report, we present a unified closed-loop manipulation framework for evaluating frontier AI models on the LIBERO-10 benchmark. Our framework enables models to control a robot directly through visual observations, robot proprioception, and structured tool calls, primarily by specifying target end-effector poses and gripper commands, without task-specific fine-tuning or pretrained manipulation skills. We evaluate six frontier AI models, including GPT-6 Astra, GPT-6.1 Sol, GPT-6 Luna, Claude Opus 5, Claude Opus 5.5, and Gemini-4 Argon, across three reasoning effort levels, resulting in 18 configurations and 1,800 evaluation episodes. Our results show that GPT-6 Astra achieves the highest success rate of 44%, followed by Gemini-4 Argon at 43%. Increasing reasoning effort generally improves manipulation performance, but the benefits vary across models and come at additional inference cost. We also observe substantial differences across tasks, with models performing relatively well on object placement tasks but struggling with precise spatial arrangements and complex multi-step interactions. These findings demonstrate both the potential and limitations of frontier AI models for robot manipulation, highlighting the challenges of translating reasoning capabilities into reliable physical actions. We release our evaluation framework and experimental results to support reproducible benchmarking and future research on reasoning-based robot manipulation.
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URL
https://arxiv.org/abs/2610.30051
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SP-HLM: Sparse-Pose-Driven Motion Generation and Whole-Body Control for Humanoid Loco-Manipulation
2026-10-21 17:03:34Zhaohui Yang, Quanbao Lin, Chengqi Shi, Zhenglang Weng, Jicheng Lin, Boyu Chen, Tengjie Zhu, Guanzhu Ren, Jiahao Xu, Yang Feng, Xiaokang Yang, Yao MuAbstract
Humanoid loco-manipulation requires an effective interface between high-level task policies and whole-body control. Existing interfaces typically rely on a single action representation for both task intent and whole-body coordination. This may burden the high-level policy or leave one aspect underspecified. We present SP-HLM, a framework built on a sparse-pose-driven interface. The interface combines five task-critical body poses with a learned latent motion prior to represent spatial intent and whole-body coordination in complementary forms. SP-VLA, a vision-language-action model, first predicts task-relevant sparse poses and finger joint positions from multimodal observations and language instructions using asynchronous action-chunk inference. Given these sparse targets, SP-MGM, a motion generation model trained through two-stage distillation, reconstructs coordinated full-body motion in real time. A pretrained motion encoder maps this motion to a compact latent representation. SP-GMT, a general motion tracker, then integrates the explicit sparse targets with this implicit motion prior for whole-body control. Experiments in simulation and on a real humanoid robot demonstrate improved motion tracking, whole-body coordination, and loco-manipulation success over existing approaches. Additional results and videos are available on our \href{this https URL}{\textcolor{blue}{project page}}.
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URL
https://arxiv.org/abs/2610.30044
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What the Author Wrote, What the Agent Reads: Silent Cue Loss in Enterprise Document Ingestion
2026-10-21 16:51:25Yikai Zhao, Saurabh Pandey, Pradeep Kumar MisraAbstract
Enterprise agents act on documents. Before an agent can follow a policy, answer a compliance question or file a ticket, some ingestion layer must turn a Word file or PDF into tokens - and that layer is where an agent deployed in the wild silently loses information. We show that one layer is lost by every mainstream converter - the meaning an author encodes in how text looks - and that the loss makes agents confidently wrong rather than visibly incomplete. We build a task from 76 real policy documents: recover the requirements the author singled out, scored against the file's own OOXML properties by a deterministic matcher with no LLM judge. Formatting-blind ingestion collapses from micro F1 0.690 to 0.150 (docling) and 0.075 (plain text), a gap that replicates across six answering models from two vendors - five Claude models spanning the Opus, Sonnet and Haiku tiers, and OpenAI's GPT-5.6. An agent that cannot see the cue guesses, and docling's false-positive rate on requirements the author did not flag is four times ours. A span-level leave-one-out localises the loss to two cues - highlight (+0.302) and colour (+0.262), both Holm-adjusted p < 1e-4 - while bold, italic, monospace and strikethrough each sit within +/-0.003 of zero. The same asymmetry appears in PDF. Colour is also the cue no mainstream converter preserves and no parsing benchmark scores, and it is common: 32.8% of 6,460 documents carry a deliberate colour or highlight, 10.3% on an obligation. A pre-registered test shows that typing a cue for the agent adds +0.085 beyond merely preserving it (Holm-adjusted p = 0.049). We validate the labels against rendered page images through an independent modality (kappa = 0.72) and bound what wording alone can achieve (AUC 0.664). For agent builders the practical finding is that ingestion, not reasoning, is where this reliability is won or lost, and that the fix is cheap and measurable.
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URL
https://arxiv.org/abs/2610.30026
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Training-free Acceleration for Blind Compressed Image Restoration via Activation-Calibrated Singular Value Decomposition
2026-10-21 16:16:41Suhang Yao, Xin Li, Xijun Wang, Yufei Wang, Yeying Jin, Zhibo ChenAbstract
Transformer-based models achieve strong performance on blind compressed image restoration (CIR) under unknown compression settings, but their densely stacked projection operators make deployment costly. We study training-free acceleration for such models through an empirical, operator-level analysis. Specifically, we profile where computation is concentrated, characterize channel-wise activation distributions under compressed inputs, and examine the singular-value decay of representative projection weights. These measurements identify the recurring projections in the attention, feed-forward, convolutional, and prompt-conditioning pathways as effective low-rank replacement targets that preserve the original inference graph. They further establish truncated SVD (TSVD) as a principled training-free baseline for blind CIR and reveal why a uniform low-rank objective is mismatched to the channel-imbalanced feature distributions of compressed images. Accordingly, we formulate Activation-Calibrated Singular Value Decomposition (ASVD) for this restoration setting, deriving low-rank factors entirely offline from pretrained weights and lightweight activation statistics gathered from only a few compressed calibration images. By weighting the decomposition with channel-wise activation magnitudes, our ASVD assigns larger penalties to errors on more active channels, requiring neither retraining nor online calibration and leaving the restoration pipeline intact. When instantiated on PromptCIR at rank 64, ASVD consistently improves PSNR-B over TSVD across four standard benchmarks under identical parameter and MAC budgets. At this operating point, the factorized model cuts parameters by 59% (34.75M to 14.34M) and computation by 16.1% (258.79 to 217.16 GMACs for a 256 x 256 input), enabling acceleration without retraining.
Abstract (translated)
URL
https://arxiv.org/abs/2610.29959
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ToM2Vec: Continuous Theory-of-Mind Tokens for Multi-Agent Coordination
2026-10-21 16:05:54Nithin Sivakumaran, Ali Payani, Hyunji Lee, Mohit Bansal, Elias Stengel-EskinAbstract
Forming an accurate theory-of-mind (ToM) is key to successful multi-agent collaboration and requires reasoning under uncertainty to capture multiple possible partner states. This is hard to do in the text representation space native to large language model (LLM) agents, which more easily describe a single partner state. To address this challenge, we introduce ToM2Vec, which learns to form abstract theories-of-mind in a rich latent space via a fixed budget of continuous reasoning tokens. During training, supervision for these tokens comes from the partner's actual thoughts, which the ToM tokens are trained to abstract and match. At test-time, ToM tokens are generated by each agent and act as conditioners for that agent's thoughts and actions. Across several environments covering collaborative, competitive, and mixed-motive settings (Overcooked-AI, multiparty negotiation, Decrypto, Hanabi, and Collab Escape/Capture), we evaluate ToM2Vec's ability to support multi-agent interactions and collaboration, finding consistent improvements over the base model and a variety of competitive trained and prompted baselines. We show that latent reasoning is critical, with performance dropping when reasoning is expressed in text. Moreover, we show that ToM2Vec training generalizes to partner model families not seen at train-time, including a proprietary model (GPT-5.4). In our analysis, we provide evidence that the latent tokens encode a ToM, rather than task-specific information: ToM2Vec's tokens improve the agent's ability to directly answer questions about partner beliefs, desires, and next actions.
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URL
https://arxiv.org/abs/2610.29934
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Goal Images Are Control Targets: Spatially-Grounded Goal-Image Synthesis for Robotic Manipulation
2026-10-21 16:00:13Riddhi Chatterjee, Ritish Shrirao, Kushagra Mehrotra, Viswanath GopalakrishnanAbstract
Goal-conditioned manipulation policies are steered by a goal image, a picture of the desired post-manipulation scene synthesized from the current observation and a language instruction. The prevailing assumption is that better image-editing quality yields better goals, so goal generators are built and compared using general image-editing metrics. We show this assumption is false. Across two independent goal-conditioned policies on CALVIN, the image editors that top aggregate editing-quality leaderboards (Gemini 3 Pro Image and GPT Image 1.5) produce worse control targets than our proposed far smaller finetuned open models, and the gap widens sharply for the multi-step (long-horizon) tasks robots actually face. A per-dimension analysis explains why. Downstream policy success is governed almost entirely by manipulation adherence (selecting the right object and the right final state; Spearman $\rho \approx 0.9$ with success), while photorealism and aesthetic fidelity, precisely where large proprietary editors excel, are uncorrelated with success ($\rho \approx 0$). This dissociation holds on both CALVIN and the real-world-aligned SIMPLER-Bridge benchmark. We then present SGE-Goal, a spatially-grounded decomposed editing framework that predicts initial and final 2D edit-region masks before goal-image synthesis. SGE-Goal turns open base models (FLUX.1 Kontext, FLUX.2 klein) into the strongest goal generators we evaluate on CALVIN, and second only to Gemini 3 Pro Image on SIMPLER-Bridge. Base models fine-tuned with SGE-Goal also hold up under chaining far better than the best proprietary editor, sustaining roughly seven times the success rate at the longest (five-step) chains. We release code, datasets, checkpoints, and a human-aligned diagnostic evaluator. Our results argue that goal generators must be selected by downstream utility, not by editing-quality leaderboards.
Abstract (translated)
URL
https://arxiv.org/abs/2610.24885
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Benchmarking Large Language Models for Detecting Satirical Code-Mixed Sentences
2026-10-21 15:48:28R\u{a}zvan-Alexandru Sm\u{a}du, Ioana Buhnila, Daniela Tanase, Dumitru-Clementin Cercel, Florin Pop, Mihaela-Claudia CercelAbstract
Code-switching is a natural linguistic phenomenon, yet its impact on high-level reasoning tasks remains largely unexplored in under-resourced languages like Romanian. Natural language processing tasks, such as satire detection, rely heavily on nuanced cultural and syntactic cues that large language models struggle to capture. In this paper, we investigate four methods (i.e., random replacement, phrase translation, dependency parsing, and large language models) for generating synthetic code-mixed Romanian sentences with English, German, French, and Italian. We start with an existing dataset for satire detection, compiled from Romanian news articles and annotated at the sentence level by humans, and augment it with over 600k samples, namely CS-SeLeRoSa. We provide an in-depth analysis of the dataset generation process. Then, we evaluate several multilingual large language models across zero-shot, chain-of-thought, and fine-tuning regimes on both the synthetic corpus and a human-adjudicated gold benchmark, namely CS-SeLeRoSa-Gold. While older open models suffer substantial degradation (dropping to 37%-55% macro-F1), newer models like Gemma 4 31B achieve 68.1% zero-shot, rivaling frontier models like GPT-5 mini (69.5%). Furthermore, fine-tuning significantly reduces formatting errors and improves the results, increasing Gemma 4 31B to 77.5% on CS-SeLeRoSa and 72.6% on the gold standard, outperforming frontier zero-shot baselines.
Abstract (translated)
URL
https://arxiv.org/abs/2610.29907
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ViBMR: A Large-Scale Multi-Sequence Brain MRI Dataset and Comprehensive Evaluation for Vietnamese Radiology Report Generation
2026-10-21 15:46:37Dai Lam Le, Minh Khoi Nguyen, Son Dinh Nguyen, Amir Reza Jafari, Viet Ha, Nguyen Son, Reza Farahbakhsh, Noel Crespi, Phi Le NguyenAbstract
Automated radiology report generation for multi-sequence brain MRI holds strong promise for alleviating radiologists' workload, yet it remains a demanding problem: brain MRI studies are inherently volumetric, each pulse sequence carries complementary diagnostic information, and annotated data are critically scarce for low-resource clinical languages. Existing brain MRI-report resources are still dominated by English reports, translated clinical text, or datasets adapted from task-specific imaging benchmarks, leaving routine low-resource clinical reporting and heterogeneous multi-sequence MRI protocols insufficiently represented. To bridge this gap, we introduce ViBMR, to the best of our knowledge, the first large-scale multi-sequence brain MRI dataset paired with routine Vietnamese clinical reports, comprising 3,649 patients and 11,875 MRI series across T1, T2, FLAIR, and contrast-enhanced T1 sequences. Building on ViBMR, we establish a comprehensive evaluation setup for brain MRI report generation, covering representative medical vision-language models, multi-sequence inputs, and feature aggregation strategies. The results provide key insights into dataset characteristics and model behavior, while demonstrating the necessity of native low-resource clinical datasets for reliable Vietnamese-origin brain MRI report generation. Our dataset and baseline models will be released for non-commercial research.
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URL
https://arxiv.org/abs/2610.29905
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Traditional and Recent Approaches for Infrared Small Target Detection : Overview, Challenges and Perspectives
2026-10-21 15:36:14Thierry Bouwmans, Anastasia Zakharova, Belmar Garcia, Marwa Chendeb El Rai, Meghna Kapoor, Badri Narayan SubudhiAbstract
Since the rise of supervised deep learning models, researchers have attempted to solve infrared small target detection using various models like convolutional neural networks, GANs, Transformers, Mixture of Experts and recent graph/hypergraph neural networks. Moreover, these deep neural network methods have surpassed the traditional unsupervised models and the low-rank and sparse decomposition unsupervised models reviewed in "Traditional and Recent Approaches for Infrared Small Target Detection : Overview, Challenges and Perspectives (Part 1)". In this context, the aim of this paper is to provide a complete survey of the deep learning models in infrared small target detection. First, we categorize the different approaches found in the literature in terms of their modeling strategies. Then, we discuss them in terms of the critical situations that they claim to handle. Furthermore, we present the specific performance evaluation protocols. Then, we conclude with several promising directions for future research.
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URL
https://arxiv.org/abs/2610.18291
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Expandable Modality Experts for Medical Vision-Language Learning
2026-10-21 15:28:40DM BAPPY, Eunsu Kim, Hanjoo Lee, Sung Hak Lee, Sangjeong AhnAbstract
Learning across medical imaging modalities requires making use of images without paired text and accommodating new domains while retaining existing representations. We propose a medical vision-language technique built around an expandable bank of modality experts. Its Multiway Transformer combines shared visual computation with deterministically routed feed-forward experts and a separate text pathway. A modality-aware visual tokenizer supplies targets for masked pretraining on 19.4 million unpaired image rows across seven modalities; contrastive alignment then uses 3.23 million image-text pairs. Additional fundus and optical coherence tomography experts learn from paired data while the original image and text embedding paths remain frozen. With a ViT-Large backbone, the proposed technique achieves the best or tied-best result in 24 of 25 benchmark settings across nine modalities: 10 of 11 zero-shot classification benchmarks, all 10 linear probes, and all four retrieval benchmarks. Mean balanced accuracy is 0.674 for zero-shot classification and 0.856 for linear probing, and mean bidirectional retrieval recall is 20.70%. A separate three-seed sequential experiment with matched adaptation data yields fundus and OCT retrieval gains of 14.95 and 9.31 percentage points, with no measured loss on preceding fundus or pathology tasks. The preservation argument requires unchanged existing computation paths and inference conditions, and feature-identity checks verify retention on evaluated inputs. The proposed technique provides a modular approach to learning and expanding medical vision-language representations.
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URL
https://arxiv.org/abs/2610.29881
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Stochastic Nonlinearities Improve Uncertainty Estimation
2026-10-21 15:26:12Mohammad Sarhangzadeh, Amirreza M. Shebly, Doruk OnerAbstract
Reliable uncertainty estimation is important across visual recognition tasks, providing information about the confidence and reliability of model predictions. Many uncertainty estimation methods obtain predictive diversity through mechanisms that can suppress intermediate features, perturb the input, or require substantial additional computation. Stochastic activation functions, where network units randomly select between multiple nonlinearities during a forward pass, have previously been used to improve optimization behavior, mitigate limitations of fixed ReLU activations, and increase output diversity. In this work, we reframe stochastic activation switching as a lightweight mechanism for uncertainty estimation. The proposed method samples between nonlinear activation functions, inducing predictive diversity while keeping intermediate feature pathways active. This enables uncertainty estimation from a single trained model without the training cost of ensembles, task-specific uncertainty heads, or architectural redesign. We evaluate the proposed approach across classification, semantic segmentation, and out-of-distribution detection using convolutional and transformer-based architectures on diverse datasets. Across these settings, stochastic activation switching improves uncertainty quality while preserving competitive primary-task performance, showing that stochastic nonlinearities provide an effective and information-preserving source of predictive variation for visual recognition.
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URL
https://arxiv.org/abs/2610.29875
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GeoMem-VLA: Internalizing 3D Scene Understanding into Temporal Memory for Vision-Language-Action Models
2026-10-21 15:23:18Qinfan Zhang, Yifan Luo, Haoyuan Shi, Guanlin Liu, Han Dong, Haozhe Shan, Yong Dai, Xiangcong Ren, Xiaozhu JuAbstract
Geometric structure is essential for robotic manipulation and understanding the 3D world. Most VLA models rely on 2D representations of current observations, while geometry-aware approaches often require additional 3D information. However, geometry inferred independently from individual observations is often discarded rather than accumulated into a persistent task representation. Our key insight is that action generation needs a compact, task-relevant geometric abstraction that can be continuously updated, rather than a complete, renderable 3D reconstruction at every step. We introduce GeoMem-VLA, a VLA framework that internalizes explicit 3D supervision into dedicated geometric tokens and maintains them as temporal memory for action generation, without directly aligning the VLM's native visual embeddings with the teacher feature space. During training, a frozen geometry foundation model supervises learnable GeoPlan tokens through a geometric flow-matching objective over the current scene point map and future end-effector tracks. These tokens are integrated with the memory of observation representations, where historical information is retrieved, adaptively fused with current observations, and consolidated to retain event frames as the task progresses. At inference, the policy retrieves historical representations and fuses them with the current working representation to predict actions, without invoking the 3D teacher or explicitly reconstructing the scene. After benchmark-specific downstream adaptation, GeoMem-VLA achieves 98.9% average success on LIBERO and 91.10% / 91.24% on RoboTwin's clean/randomized settings. Across five real-world tasks, GeoMem-VLA achieves 78.0% average success. These results suggest that internalizing and remembering 3D scene understanding is a promising approach to robot control.
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URL
https://arxiv.org/abs/2610.29866
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How Do DiTs Denoise? An Aggregator-Predictor View of Attention and MLPs
2026-10-21 15:14:22Gyeonghun Kang, William Xingxu Chen, Xiang ChengAbstract
How do diffusion transformers (DiTs) represent image content and learn rules for reusing it to generalize? We develop an aggregator--predictor view of DiTs as input-adaptive local denoisers, in which context aggregation and patch prediction provide functional roles for interpreting attention and MLPs. We first establish that, for Gaussian Markov random field (GMRF) priors, the global Bayes denoiser can be approximated using only a subset of context patches, with error decaying exponentially in context radius. We further show that patchwise linear denoisers, often invoked to explain diffusion generalization, recover the empirical local denoiser with sufficiently informative aggregation. Within this view, AdaLN-modulated attention naturally parameterizes an input- and noise-dependent aggregator, while the MLP admits a learned key--value representation for tokenwise patch prediction. Our experiments support this view. DiTs trained on real images exhibit noise-dependent denoising contexts resembling those in the analytic GMRF setting, while attention mass exhibits a qualitatively corresponding broadening pattern. In a controlled CelebA64 study, shared-memory patch predictors used in place of DiT MLPs achieve competitive denoising and generative performance. Finally, cross-dataset component transplantation reveals compatibility patterns consistent with the proposed roles of QK in spatial weighting, VO in feature transport, and MLPs in patch prediction. Together, these results provide a component-level account of DiT denoising and motivate architecture-specific fine-tuning and controlled intervention.
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URL
https://arxiv.org/abs/2610.29854
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Exploring Post-Training Alignment of Small Language Models for Biomedical Data-to-Text Generation: A Case Study of Medication Leaflet
2026-10-21 15:03:37Xi Yang, Guodong Liu, Chuqin Li, Fan Wu, Ergin Soysal, Min Jiang, Xing He, Jiang Bian, Yi Guo, Shams Zaman, Thomas Fuchs, Yonghui WuAbstract
Translating structured biomedical information into accurate, patient-friendly narratives remains a challenging biomedical data-to-text (D2T) task. While small language models (SLMs) are attractive for healthcare applications because of their lower computational cost, easier deployment, and improved data governance, the impact of post-training alignment on biomedical D2T generation has not been systematically studied. In this work, we compare four alignment methods: supervised fine-tuning (SFT), direct preference optimization (DPO), odds ratio preference optimization (ORPO), and group relative policy optimization (GRPO), using Qwen-2.5 models for medication leaflet generation. We further introduce FDALeaflets, a dataset derived from OpenFDA drug labels, to evaluate cross-regulatory generalization in a zero-shot setting. Selected aligned SLMs outperform GPT-5 on several reference-based metrics, whereas GPT-5 achieves better hallucination and adequacy scores on FDALeaflets under LLM-as-judge evaluation. Among RL-free alignment methods, ORPO achieves the best in-domain semantic performance, reaching a semantic textual similarity (STS) score of 0.9752. GRPO achieves the highest FDALeaflets STS (0.9407), exceeding GPT-5 (0.9295). These findings show that post-training alignment is a key factor in improving both semantic fidelity and generalization for biomedical D2T generation, while clinical safety and patient readability require human verification.
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URL
https://arxiv.org/abs/2607.13430
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MemoryTax: The Bitter Lesson of Agent Memory
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Agent memory systems such as Mem0 and Zep decide what to keep before any question arrives; coding agents keep the raw history and let the model search it with its own tools. We ask whether designed memory still helps once the model is strong enough to search for itself. On one LoCoMo conversation (419 turns, 152 questions), we run four memory methods (full context, BM25, Mem0, Zep) and three coding agents (Pi, Codex, Claude Code), each with GPT-4o-mini, GPT-6 Luna and Claude Opus 5.5, and record what every rollout costs. This is a short empirical study, with one conversation and one run per cell. Agent memory is a costly patch for a weak model: Mem0 beats full context only with GPT-4o-mini, and its build alone costs more than a whole full-context rollout. Agent memory also has a ceiling, set by the model that writes it: a stronger reader does not recover what a weaker writer left out. With Claude Opus 5.5, Pi tops the cost-accuracy frontier, scoring 99% for less than half the cost of full context; its one miss is a wrong answer key. Part of that lead comes from photo captions that only the agents could read: on the 88 questions whose evidence has no photo, Pi and full context differ by one answer.
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URL
https://arxiv.org/abs/2610.29823
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Compositionality with Primitives: A Unified View from Euclidean to Hyperbolic Vision-Language Models
2026-10-21 14:34:51Puru Vaish, Meelad Dashti, Christoph Brune, Pascal Mettes, Tatiana Tommasi, Nicola StrisciuglioAbstract
Compositional zero-shot learning (CZSL) aims to recognize novel combinations of previously observed objects and attributes. Prior work showed that large-scale vision-language models encode decomposable semantic structures that can be recomposed to enable generalization. The Geodesically Decomposable Embeddings (GDE) framework formalizes this by identifying directions in the tangent space at the Frechet mean of the embedding distribution, which encode primitive visual concepts. Unseen attribute-object compositions can be synthesized through vector addition of these primitives. We revisit the assumption that compositional generalization requires explicit attribute-object pair re-composition. By means of new compositional scoring functions and extensive evaluations, we show that directly using the decomposed primitives suffices for recognizing unseen compositions. In that, we gain insights on how the geometry of the embedding manifold (Euclidean, spherical, or hyperbolic) and dataset structure affect compositional reasoning. Across models (CLIP, DINOv2, MERU, HyCoCLIP), we show that compositional structure consistently emerges as primitive representations, enabling inference on CZSL benchmarks (MIT-States, VAW-CZSL, UT-Zappos50K, Clothing16K) and group robustness on Waterbirds and CelebA. Code: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.29811
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