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01.
arXiv (CS.AI) 2026-06-25

Evaluating AGENTS.md: Are Repository-Level Context Files Helpful for Coding Agents?

arXiv:2602.11988v2 Announce Type: replace-cross Abstract: A widespread practice in software development is to tailor coding agents to repositories using context files, such as AGENTS.md. Although this practice is strongly encouraged by agent developers, there is currently no rigorous investigation into whether such context files are actually effective for real-world tasks. In this work, we study this question and evaluate coding agents' task completion performance in two complementary settings: established SWE-bench tasks from popular repositories, with LLM-generated context files, and a novel collection of issues from repositories containing developer-committed context files. Surprisingly, we find that providing context files does not generally improve task success rates, while increasing inference cost by over 20% on average. This observation holds across different LLMs, coding agents, and for both LLM-generated and developer-committed context files. Specifically, we find that while instructions in the context files are well followed by coding agents, repository overviews, although popular and recommended by model providers, are not helpful. We conclude that while context files are useful for specifying non-standard coding practices, any attempts to improve performance should be rigorously evaluated before deployment.

02.
arXiv (CS.AI) 2026-06-15

Patcher: Post-Hoc Patching of Backdoored Large Language Models

arXiv:2606.02995v2 Announce Type: replace-cross Abstract: Large language models remain vulnerable to jailbreak backdoor attacks, where adversaries poison safety alignment data to embed hidden triggers that bypass safety mechanisms. Existing defenses often require comprehensive attack information or multiple triggered examples, making them impractical when defenders only observe a single reported failure case without knowing whether it stems from a backdoor attack or a natural alignment bug. This paper presents Patcher, a post-hoc defense framework that repairs backdoored language models using only a single reported failure case and the model parameters. Patcher operates in two stages. First, it localizes backdoor triggers by computing response-conditioned gradient-based saliency scores and applying adaptive clustering to separate triggers from benign context. Second, it patches the model through a constrained fine-tuning objective that breaks the trigger-response association while preserving benign-task utility and robustness to non-triggered jailbreak attacks through KL-divergence constraints. We conduct extensive evaluations across multiple backdoor attack strategies and demonstrate that Patcher successfully localizes triggers and neutralizes backdoors while maintaining model utility. We further show robustness against adaptive attacks designed to evade our defense. This work represents a significant step toward practical defenses against training-time attacks in deployed language models.

03.
bioRxiv (Bioinfo) 2026-06-16

Super Learner Ensemble Modeling of CPTAC Proteomic Data for Survival Prediction in Head and Neck Squamous Cell Carcinoma

Survival analysis in head and neck squamous cell carcinoma (HNSCC) is traditionally performed using Cox proportional hazards models, alongside some exploration into black-box machine learning methods. The Super Learner (SL) algorithm addresses this model selection dilemma by combining diverse candidate algorithms into a weighted ensemble to perform comparably to the best candidate method. This study evaluates the performance of SL in HNSCC. Proteomic features as well as clinical covariates from 96 CPTAC HNSCC samples were modeled with three candidate algorithms (Cox LASSO, Cox Ridge, and Random Survival Forest) as well as the ensemble SL method. Models were optimized via Uno's time-dependent Concordance Index (C-index) and tested at 1- and 3-year time horizons using 2000 bootstrap resamples. The Cox Ridge regression model achieved the highest predictive accuracy among the four total methods. However, the SL demonstrated stable performance over both time horizons (1-year C-index: 0.985; 3-year C-index: 0.960). Variable importance analysis of the Cox Ridge model successfully identified malignant proteins (ATR, MAML1, MIEN1) alongside novel potential prognostic indicators (ZNF800, KERA). This analysis emphasizes the statistical necessity for larger cohorts for ensemble learning, while providing a benchmark of proteomic indicators in HNSCC.

04.
arXiv (CS.CV) 2026-06-25

MVTrack4Gen: Multi-View Point Tracking as Geometric Supervision for 4D Video Generation

Synthesizing a novel-view video from a monocular reference video along a target camera trajectory requires both geometric consistency and motion fidelity with respect to the reference video. Existing methods based on explicit 3D representations are limited by the accuracy of off-the-shelf reconstruction modules, which often produce inaccurate geometry for dynamic objects in monocular videos. In contrast, camera-conditioning-only methods can achieve high visual quality but often struggle to preserve geometric and motion consistency. In this work, we introduce MVTrack4Gen (Multi-View point Tracking for Novel-View Generation), a motion-aware training framework that leverages multi-view point tracking as an additional geometric and motion supervision signal for camera-conditioning-only novel-view video diffusion models. Our key finding is that specific attention layers encode strong correspondence cues, where query features attend to key features at geometrically corresponding locations across views and over time, and the misalignment of these correspondences causes motion inconsistency. Based on this observation, we route these features into an auxiliary multi-view tracking head and jointly train the diffusion model with a point-tracking objective. By explicitly strengthening these motion-aware correspondences, MVTrack4Gen improves existing models to better follow the motion in the reference view and maintain cross-view geometric consistency. Across diverse benchmarks, our method achieves state-of-the-art geometric consistency and competitive camera accuracy.

05.
arXiv (CS.AI) 2026-06-24

DTT-BSR+: A Generative-Regression Cascade for Music Source Restoration

arXiv:2606.24127v1 Announce Type: cross Abstract: Music source restoration (MSR) requires jointly addressing source unmixing and the inversion of non-linear production effects. Current methods struggle to achieve accurate target signal reconstruction while maintaining semantic consistency. To address this limitation, we propose DTT-BSR+, a two-stage cascade MSR system that decouples distribution fitting from signal reconstruction into separate stages. A generative DTT-BSR separator in the first stage produces stems matching the prior of clean sources, and a modified Demucs network in the second stage enhances the first stage output using time-domain and multi-resolution spectral losses. DTT-BSR+ improves multi-mel signal-to-noise ratio (MMSNR) over the single-stage DTT-BSR across all stems, and surpasses the state-of-the-art X-LANCE MSR system on five stems. We also reveal through Fréchet Audio Distance (FAD) decomposition an implicit trade-off between signal reconstruction accuracy and semantic distribution fitting across stems.

06.
arXiv (CS.CV) 2026-06-12

CD-RCM: Generalizable Continuous-Depth Novel View Synthesis for Reflectance Confocal Microscopy

Reflectance confocal microscopy (RCM) provides noninvasive, cellular-resolution "optical biopsies" of human skin in vivo by acquiring en-face images at successive depths, forming a sparse z-stack. Due to optical limitations, these stacks are anisotropic 3D volumes with lateral resolution (0.5 $\mu$m) $\sim$6 times higher compared to axial resolution, which is defined by the optical sectioning (3 $\mu$m), limiting the interpretation of tissue. Our goal is to provide continuous-depth visualization by interpolating intermediate sections and making the 3D volume isotropic. Such a representation permits arbitrary-direction sectioning, including histopathology-like cross-sectional examination, without requiring per-patient optimization. To that end, we introduce the first RCM-specific novel-view synthesis (NVS) approach, CD-RCM, a feedforward model that predicts realistic, unseen depths from sparsely sampled RCM stacks. Classical neural rendering methods focus on reconstruction from surface-level multi-view observations. In contrast to surface-level camera views, RCM can acquire optically sectioned en-face images of tissue beyond the surface up to 200 $\mu$m. However, during visualization of the RCM stacks, observations of the shallower sections (towards the surface) obscure the deeper ones. This unique axial imaging geometry and layer-dependent anatomical organization motivated our development of a tailored architectural and training framework that explicitly accounts for RCM's depth-resolved, occlusive imaging physics. Experiments demonstrate that CD-RCM achieves high-fidelity novel-view synthesis with sub-second inference time.

07.
arXiv (CS.LG) 2026-06-11

Prediction-Powered Risk Monitoring of Deployed Models for Detecting Harmful Distribution Shifts

arXiv:2602.02229v2 Announce Type: replace Abstract: We study the problem of monitoring model performance in dynamic environments where labeled data are limited. To this end, we propose prediction-powered risk monitoring (PPRM), a semi-supervised risk-monitoring approach based on prediction-powered inference (PPI). PPRM constructs anytime-valid lower bounds on the running risk by combining synthetic labels with a small set of true labels. Harmful shifts are detected via a threshold-based comparison with an upper bound on the nominal risk, satisfying assumption-free finite-sample guarantees on the type-I error. We demonstrate the effectiveness of PPRM through extensive experiments on image classification, large language model (LLM), and telecommunications monitoring tasks.

08.
arXiv (CS.CV) 2026-06-12

Radar-Guided Polynomial Fitting for Metric Depth Estimation

We propose POLAR, a novel radar-guided depth estimation method that introduces polynomial fitting to efficiently transform scaleless depth predictions from pretrained monocular depth estimation (MDE) models into metric depth maps. Unlike existing approaches that rely on complex architectures or expensive sensors, our method is grounded in a fundamental insight: although MDE models often infer reasonable local depth structure within each object or local region, they may misalign these regions relative to one another, making a linear scale and shift (affine) transformation insufficient given three or more of these regions. To address this limitation, we use polynomial coefficients predicted from cheap, ubiquitous radar data to adaptively adjust predictions non-uniformly across depth ranges. In this way, POLAR generalizes beyond affine transformations and is able to correct such misalignments by introducing inflection points. Importantly, our polynomial fitting framework preserves structural consistency through a novel training objective that enforces local monotonicity via first-derivative regularization. POLAR achieves state-of-the-art performance across three datasets, outperforming existing methods by an average of 24.9% in MAE and 33.2% in RMSE, while also achieving state-of-the-art efficiency in terms of latency and computational cost.

09.
arXiv (CS.CV) 2026-06-18

Recognizing and Reconstructing a Multi-Unit Floor Plan

Digital twins have a major potential to form a significant part of urban management in emergency planning, as they allow more efficient designing of the escape routes, better orientation in exceptional situations, and faster rescue intervention. Nevertheless, creating the twins still remains a largely manual effort, due to a lack of 3D-representations, which are available only in limited amounts for some new buildings. Thus, in this paper we aim to synthesize 3D information from commonly available 2D architectural floor plans. We propose two novel pixel-wise segmentation methods based on the MDA-Unet and MACU-Net architectures with improved skip connections, an attention mechanism, and a training objective together with a reconstruction part of the pipeline, which vectorizes the segmented plans to create a 3D model. The proposed methods are compared with two other state-of-the-art techniques and several benchmark datasets. On the commonly used CubiCasa benchmark dataset, our methods have achieved the mean F1 score of 0.86 over five examined classes, outperforming the other pixel-wise approaches tested. We have also made our code publicly available to support research in the field.

10.
arXiv (CS.LG) 2026-06-18

Anti-causal domain generalization: Leveraging unlabeled data

arXiv:2602.17187v2 Announce Type: replace-cross Abstract: The problem of domain generalization concerns learning predictive models that are robust to distribution shifts when deployed in new, previously unseen environments. Existing methods typically require labeled data from multiple training environments, limiting their applicability when labeled data are scarce. In this work, we study domain generalization in an anti-causal setting, where the outcome causes the observed covariates. Under this structure, environment perturbations that affect the covariates do not propagate to the outcome, which motivates regularizing the model's sensitivity to these perturbations. Crucially, estimating these perturbation directions does not require labels, enabling us to leverage unlabeled data from multiple environments. We propose two methods that penalize the model's sensitivity to variations in the mean and covariance of the covariates across environments, respectively, and prove that these methods have worst-case optimality guarantees under certain classes of environments. Finally, we demonstrate the empirical performance of our approach on a controlled physical system and a physiological signal dataset.

11.
arXiv (CS.CV) 2026-06-11

Echoes of the Prior: A Computational Phenomenology of Forgetting

Memory is not merely the storage of data; it is the scaffolding of reality. When biological memory fades, the world does not simply turn black; it regresses into an unrecognizable chaos. Echoes of the Prior is an interactive installation that attempts to visualize this subjective phenomenology of forgetting. By inducing controlled synaptic decay within a Feed-Forward 3D Reconstruction model, we create an artistic analogy for the erosion of the brain's predictive priors. We position the Neural Network not as a tool for engineering, but as a cognitive proxy - a silicon brain whose structural degeneration evokes the disorienting, poetic, and terrifying experience of losing one's grip on the world. Ultimately, we offer this framework as a catalyst, inviting the wider community to explore the uncharted potential of neuromorphic aesthetics in visualizing the fragility of intelligence. Interactive demo see https://decart-4d.github.io/.

12.
arXiv (CS.CV) 2026-06-16

Deep Residual Injection for Full-Spectrum Forensic Signal Perception in Multimodal Large Language Models

Multimodal large language models (MLLMs) have been increasingly adopted in forensics for their robust semantic understanding. As AI-generated images become realistic, semantic-level inconsistencies alone are often insufficient for reliable detection. This motivates a critical question: whether MLLMs can achieve full-spectrum forensic signal perception, i.e., capturing low-level generator artifacts without sacrificing pre-trained semantic knowledge. We further perform a layer-wise analysis of forensic signal perception in MLLMs, showing that semantic information is primarily formed in the early-to-middle layers, whereas direct fine-tuning for artifact learning disrupts these semantic representations. Based on this insight, we propose Deep Visual Residual MLLM (Deep-VRM) to preserve early semantic processing while injecting artifact-specific visual signals as a residual path into an intermediate layer, where they are fused with semantic token representations and propagated through subsequent trainable layers. This enables later layers to jointly model semantic reasoning and signal-level forensic cues, and surprisingly, the model learns to adaptively leverage different levels of forensic signals depending on the input, achieving robust and generalizable detection performance. Extensive experiments show that our method achieves state-of-the-art across most benchmarks. The code and data are available at https://github.com/KQL11/Deep-VRM.

13.
Science (Express) 2026-06-11

Chemically induced skin tumors arise from long-lived stem cells of the upper hair follicle | Science

Authors: Unknown Author

The identification of the cancer cell of origin is a fundamental question in cancer biology. We used fluorescent lineage tracing of independent mouse skin stem cell populations, single cell transcriptomics, and Duplex sequencing, to identify the origin of chemically induced skin tumors. Tumors arose predominantly from Lgr6+ and / or Lrig1+ stem cells of the upper hair follicle, but only very rarely from the Lgr5 + and Krt19 + hair follicle bulge. Lgr6 + stem cells initiated by dimethylbenzanthracene responded to tumor promoter treatment resulting in clonal expansion of initiated cells carrying the canonical Hras Q61L mutation. Spontaneous mutations in Kras also clonally expanded, but did not generate tumors unless the Hras gene was deleted, thus revealing a competitive interaction between Hras and Kras pathways that influences clonal selection.

14.
arXiv (CS.AI) 2026-06-18

MagpieTTS-LF: Inference-Time Long-Form Speech Generation Without Training on Long-Form data

arXiv:2606.18485v1 Announce Type: cross Abstract: Neural Text-to-Speech (TTS) systems achieve remarkable quality on short utterances but long-form speech generation shows prosodic drift, speaker inconsistencies and sentence boundary artifacts. Existing approaches either compress sequences, increase context length or naively concatenate independently synthesized chunks. We present an inference-time approach called MagpieTTS-LF that enables MagpieTTS to produce coherent long-form speech without model retraining. Our method introduces three key innovations: (1) soft attention priors to guide monotonic alignment while preserving past and future context; (2) a stateful inference algorithm that maintains context across sentence chunks, ensuring prosodic continuity; (3) history-aware text encoding that uses past text for discourse-level prosodic planning. Experiments on long texts show significant improvements in long-range intelligibility, prosodic coherence, speaker consistency, and boundary naturalness compared to other baselines.

15.
arXiv (CS.LG) 2026-06-25

A Zeroth-Order Deep Learning Method for Fully Nonlinear Parabolic Partial Differential Equations with Unknown Coefficients

arXiv:2606.24999v1 Announce Type: new Abstract: High-dimensional partial differential equations (PDEs) with unknown coefficients arise widely in scientific machine learning, including continuous-time reinforcement learning, yet solving them efficiently in a data-driven way remains challenging. Existing deep learning solvers often rely on repeated automatic differentiation to evaluate differential operators, which can cause instability and amplify derivative errors in high dimensions, while probabilistic methods based on stochastic representations require explicit knowledge of the data-generating dynamics and therefore do not apply to black-box environments. We introduce two types of simulators as data-generating mechanisms, and take a ``representing-then-learning" approach that learns the solutions and their derivatives under settings where the underlying PDE operators are accessible only through simulations and pointwise evaluations. Our representation of derivatives relies on the zeroth-order derivative (ZOD) estimators derived from perturbed Monte Carlo trajectories. This fully model-free approach generates targets for the gradient and Hessian networks using only function evaluations. We provide a statistical learning analysis of the proposed approach, including a bias–variance tradeoff for ZODs. Assuming a standard contraction property of the underlying operator, we establish a non-asymptotic error bound that decomposes the total error into discretization error, approximation error, statistical error, and ZOD bias. Crucially, we derive the sample complexity of the learned representations in (weighted) Sobolev space, characterizing the error up to second-order derivatives. Numerical experiments illustrate the competitive performance of the method in moderate and high dimensions.

16.
arXiv (quant-ph) 2026-06-16

Adaptively secure unitary designs with constant non-Clifford cost

arXiv:2510.08129v2 Announce Type: replace Abstract: Randomness is a fundamental resource in quantum information, with crucial applications in cryptography, algorithms, and error correction. A central challenge is to construct unitary $k$-designs that closely approximate Haar-random unitaries while minimizing the costly use of non-Clifford operations. In this work, we present a protocol able to generate unitary $k$-designs on $n$ qubits, secure against any adversarial quantum measurement, with a system-size-independent number of non-Clifford gates. Our construction applies a $k$-design only to a subsystem of size $\Theta(k)$, independent of $n$. This ``seed'' design is then ``diluted'' across the entire $n$-qubit system by sandwiching it between two random Clifford operators. The resulting ensemble forms an $\varepsilon$-approximate unitary $k$-design on $n$ qubits. We prove that this construction achieves full quantum security against adaptive adversaries using only $\tilde{O}(k^2 \log\varepsilon^{-1})$ non-Clifford gates. If one requires security only against polynomial-time adaptive adversaries, the non-Clifford cost decreases to $\tilde{O}(k + \log^{1+c} \varepsilon^{-1})$. This is optimal, since we show that at least $\Omega(k)$ non-Clifford gates are required in this setting. Compared to existing approaches, our method significantly reduces non-Clifford overhead while strengthening security guarantees to adaptive security as well as removing artificial assumptions between $n$ and $k$. These results make high-order unitary designs practically attainable in near-term fault-tolerant quantum architectures.

17.
arXiv (quant-ph) 2026-06-25

Detection of patterns in a discrete-outcome sensor network

arXiv:2606.25100v1 Announce Type: new Abstract: A discrete outcome quantum sensor network is one in which we are only interested in which detectors are activated. This can be studied in either the strong or weak interaction regime. If the detectors interact strongly with the environment, it is possible to definitely find which ones were activated. If the interaction is weaker, there is a possibility of making an error, and the object is to minimize the probability of this happening. Here we will be interested in this weaker interaction regime. We will also assume that only certain patterns of detectors will be activated, different patterns being translated versions of a fundamental one. Our object will be to find which pattern has been activated. We will look at both one and two-dimensional detector arrays and make use of techniques from minimum-error state discrimination.

18.
arXiv (CS.AI) 2026-06-17

Gaussian DP for Reporting Differential Privacy Guarantees in Machine Learning

arXiv:2503.10945v3 Announce Type: replace-cross Abstract: Current practices for reporting differential privacy (DP) guarantees for machine learning (ML) algorithms such as DP-SGD provide an incomplete and potentially misleading picture. For instance, if only a single $(\varepsilon, \delta)$ is known about a mechanism, standard analyses show that there could exist highly accurate inference attacks against training data records, when, upon a more careful analysis, such accurate attacks do not exist for most practical mechanisms. In this position paper, we argue that using _non-asymptotic_ Gaussian Differential Privacy (GDP) as the primary means of communicating DP guarantees in ML avoids these potential downsides. Using two recent developments in the DP literature: (i) open-source numerical accountants capable of computing the privacy profile and $f$-DP curves of DP-SGD to arbitrary accuracy, and (ii) a decision-theoretic metric over DP representations, we show how to provide non-asymptotic bounds on GDP using numerical accountants, and show that GDP can capture the entire privacy profile of DP-SGD and related algorithms with virtually no error, as quantified by the metric. To support our claims, we investigate the privacy profiles of state-of-the-art DP large-scale image classification, and the TopDown algorithm for the U.S. Decennial Census, observing that GDP fits their profiles remarkably well in all cases. We conclude with a discussion on the strengths and weaknesses of this approach, and discuss which other privacy mechanisms could benefit from GDP.

19.
arXiv (quant-ph) 2026-06-19

Accelerated Rydberg electromagnetically induced transparency quantum memory via shortcuts to adiabaticity

arXiv:2603.18399v2 Announce Type: replace Abstract: Electromagnetically induced transparency (EIT) enables coherent light-matter storage, forming the basis of photonic quantum memories that are essential for scalable quantum networks and distributed quantum computing. However, accelerating the storage process violates the adiabatic condition, resulting in the excitation of the lossy intermediate state and a reduction in writing efficiency. We propose and numerically investigate a high-speed, high-fidelity quantum storage scheme by incorporating a shortcut-to-adiabaticity (STA) technique based on counter-diabatic (CD) driving. By introducing a precisely engineered auxiliary field into a conventional EIT system, our protocol significantly shortens the writing time beyond the conventional adiabatic limit while effectively suppressing the transient population of the lossy intermediate state. Furthermore, our scheme demonstrates strong flexibility in pulse design, remaining effective across different temporal profiles of both the control and signal fields. It also exhibits robustness against imperfections in the CD drive. Even with imperfect single-photon writing and non-ideal Rydberg blockade, the scheme retains clear advantages, maintaining high storage performance and overcoming the intrinsic speed-fidelity trade-off of traditional EIT protocols. These features pave the way for fast and robust quantum devices suitable for high-throughput quantum repeaters and advanced quantum information processing.

21.
arXiv (CS.CV) 2026-06-11

SG2Loc: Sequential Visual Localization on 3D Scene Graphs

Visual localization in complex indoor environments remains a critical challenge for robotics and AR applications. Sequential localization, where pose estimates are refined over time, is important for autonomous agents. However, traditional methods often require storing extensive image databases or point clouds, leading to significant overhead. This paper introduces a novel, lightweight approach to sequential visual localization using 3D scene graphs. Our method represents the environment with a compact scene graph, where nodes represent objects (with coarse meshes) and edges encode spatial relationships. For each image in the localization phase, we extract per-patch semantic features, predicting object identities. Localization is performed within a particle filter framework. Each particle, representing a camera pose, projects the coarse object meshes from the scene graph into the image, assigning object identities to patches based on visibility. The similarity of the per-patch features, in the input image, and object features from the scene graph determines the weight of a particle. Subsequent images are incorporated sequentially, refining the pose estimate. By leveraging a compact scene graph and efficient semantic matching, our method significantly reduces storage while maintaining performance on real-world datasets. The code will be available at https://github.com/DmblnNicole/sg2loc.

22.
arXiv (quant-ph) 2026-06-15

Efimov Effect in Ultracold Microwave-Shielded Polar Molecules

arXiv:2602.21433v2 Announce Type: replace-cross Abstract: A quantum-mechanical description is presented for the three-body physics of shielded dipolar molecules, including a prediction of observable Efimov physics. Despite the anisotropic and long-range nature of the interaction, shielding enables a regime in which universality emerges already at the two-body level and extends to the three-body sector, where Efimov physics emerges. On the negative side of the scattering-length resonance, computed trimer binding energies display the characteristic scaling expected for Efimov resonances. Finally, the sudden approximation can be used to create trimer bound states, starting from positive energy trap states as a way to create or detect these molecular trimers. Moreover, the three-body parameter expressed in dipolar units is found to be universal.

23.
arXiv (CS.LG) 2026-06-25

Stagnant Neuron: Towards Understanding the Plasticity Loss in Multi-Agent Reinforcement Learning Value Factorization Methods

arXiv:2606.25335v1 Announce Type: new Abstract: Multi-Agent Reinforcement Learning (MARL) value factorization methods can suffer from a loss of plasticity, gradually failing to adapt when transferring to new task instances. We trace this issue to stagnant neurons, units whose gradient updates become negligibly small relative to their weights, thereby hindering learning. While existing plasticity injection methods exist, they prove ineffective for such neurons. To address this, we propose Knowledge-retentive Neuron-level PlastIcity Focusing InjEction (KNIFE), a novel method that directly targets stagnant neurons. KNIFE replaces each stagnant neuron with a composite unit comprising three specialized components: a frozen knowledge neuron to preserve acquired knowledge, a re-initialized active neuron to restore learning capacity, and a compensation neuron to ensure the combined output matches the original, thus maintaining previous learned cooperation knowledge. Extensive experiments on SMACv2, predator-prey, and matrix games demonstrate that KNIFE significantly outperforms state-of-the-art plasticity injection methods.

24.
arXiv (CS.LG) 2026-06-16

Scalable and Interpretable Representation Alignment with Ordinal Similarity

arXiv:2606.16379v1 Announce Type: new Abstract: Evaluating representation similarity is fundamental to representation learning. However, existing metrics suffer from significant limitations: they lack interpretability due to shifting baselines, lack robustness to outliers, and are computationally intractable for large datasets, forcing reliance on heuristic approximations. To address this, we develop an ordinal-similarity framework, instantiated by the Triplet (TSI) and Quadruplet (QSI) Similarity Indices, which measure alignment by quantifying the consistency of ordinal relationships. We theoretically demonstrate this formulation is inherently interpretable, robust to outliers, and computationally efficient. Finally, we establish a formal equivalence between TSI and local neighborhood alignment, measured by Mutual Nearest Neighbors. Empirically, we validate these properties and show that ordinal similarity offers a scalable approach to measuring alignment, enabling practitioners to better understand and design representations.

25.
arXiv (CS.AI) 2026-06-11

LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition

arXiv:2606.11628v1 Announce Type: cross Abstract: The most widely-adopted robot learning pipelines today learn skills from robot demonstrations or structured human data, which are expensive to collect and tied to specific embodiments. In contrast, unstructured human videos provide a scalable alternative. They contain diverse manipulation demonstrations across objects, scenes, and strategies, but are not directly connected to robot action. We propose LUCID, a two-stage framework that learns task intent from unstructured human videos drawn from internet-scale datasets and learns robot control in massively-parallel simulation. The intent model predicts short-horizon intent (what should happen next in the scene) from the current observation in closed loop. An embodiment-specific sensorimotor policy converts this intent into robot actions. The intent interface is shared across controllers, so the same intent model can be applied to different embodiments, from our primary dexterous hand to a parallel-jaw gripper. We evaluate LUCID on five real-world manipulation tasks: stirring, wiping, and binning supervised by only internet video, with zero-shot transfer to novel scenes and object instances; and push-T and cable routing supervised by 1 hr each of self-collected smartphone video. Project page: https://lucid-robot.github.io/.