arXiv:2609.38202v1 Announce Type: new Abstract: Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body grasping and pick-and-throw from an initially ungrasped state through outcome-based actuation-space optimization. Grasping is quantified by tip angular sweep and body-object enclosure, while throwing further incorporates release-direction alignment and minimum release speed. These objectives allow grasping, acceleration, and release to emerge from compliant interaction without prescribing contact forces, contact locations, or body configurations. Because the resulting actuation-to-outcome mapping is nonsmooth, we utilize derivative-free CMA-ES within an optimize-lea…

arXiv:2609.38368v1 Announce Type: new Abstract: Vision-language models (VLMs) increasingly reason over visual evidence that is cropped, segmented, retrieved, or revealed over time. Yet most VQA benchmarks present the complete image and question at once. We ask what models lose when the same information is fragmented. We introduce Layered-VQA, with 93 scenes and 300 questions. Each image is decomposed into ordered RGBA layers that exactly recompose the original scene, and each question is annotated with supporting, minimal-sufficient, and distractor layers. We evaluate eleven open-weight VLMs from 3B to 32B parameters and two proprietary models with a scale of 187,200 conversations, graded by 1.74M open-model cross-judgments. We find three consistent failures. Loss in Composition: fragment…

arXiv:2609.38362v1 Announce Type: new Abstract: Generative vision-language models (VLMs) such as Qwen-VL and LLaVA achieve strong zero-shot performance on tasks overlapping with their pretraining distribution, yet fail on specialized domains where the required discriminative features were never learned, a regime we term distant out-of-distribution (OOD). Standard adaptation methods cannot overcome this representational absence because they operate within the encoder's existing feature space. However, VLMs retain a robust descriptive capacity even when discrimination collapses: a model that cannot classify a medical scan can still articulate its visual patterns. Exploiting this asymmetry, we introduce Inductive Visual Logic (IVL), a training-free framework that constructs classification kn…

arXiv:2609.38347v1 Announce Type: new Abstract: Quantifying collective fish behavior requires accurate trajectories, yet multi-view 3D tracking remains challenging due to frequent occlusions, visually similar individuals, and the long-standing scarcity of identity annotations. We present TrackFish3D, a geometry-driven self-supervised framework for dense multi-camera 3D tracking of schooling fish. Instead of relying on appearance-based re-identification or manually annotated identities, TrackFish3D turns calibrated multi-view geometry into supervision: triangulation and reprojection consistency provide pseudo-associations, while a geometric encoder and global association transformer learn all-to-all cross-view correspondence within each frame. To make these associations identity-aware, Tra…

arXiv:2609.38343v1 Announce Type: new Abstract: We present SInGA, a novel method for learning Semantic Inpainting for animatable Gaussian head Avatars from a single image. Existing avatar approaches often rely on multi-view observations and lack effective handling of unobserved regions in single-view settings, limiting their applicability in such scenarios. To address this, we propose a semantic inpainting framework defined in UV space for completing unobserved facial regions. Our key insight lies in the structured topology of the UV representation, which provides consistent spatial correspondences and enables reliable completion of identity-specific features using the inherent symmetry cues of human faces. We extract features from observed regions and use them to complete unobserved regi…

arXiv:2609.38329v1 Announce Type: new Abstract: Group-relative RL methods such as Flow-GRPO post-train image generators by exploring with isotropic Gaussian noise added at every denoising step. This noise decides which rollouts the model learns from, yet it perturbs every channel and spatial position of the latent equally. In this paper, we instead show that latent elements differ in how much they change the generated image, so exploration should adapt to these differences. We introduce EXPLORENET to learn an adaptive exploration distribution. EXPLORENET is a policy that predicts a noise scale for every latent element from the current latent, the denoising step, and the prompt, before any reward is observed; it is trained on the reward spread of each rollout group and discarded after trai…

arXiv:2609.38325v1 Announce Type: new Abstract: We introduce modal kinetic typography, which animates a vector glyph to express a semantic concept while keeping it legible. Our key idea is to build motion from the glyph's natural vibration modes. Specifically, a finite-element eigenproblem assembled from the vector outline yields the glyph's softest modes, for the whole letter and for each of its parts, allowing it to bend. The problem's zero-energy solutions, i.e., rigid translations and rotations, are applied in closed form to each part, allowing parts to also move as blocks. To animate the glyph, a frozen video diffusion model supervises only the modes' amplitudes and phases. Our modal approach addresses two weaknesses of prior work. Free-form point optimization under video score disti…

arXiv:2609.38298v1 Announce Type: new Abstract: Vision Language Models (VLMs) are widely deployed in safety-critical scenarios, and understanding to which extent they can be controlled by adversarial perturbation is a prerequisite for evaluating their trustworthiness. Existing representation-alignment attacks, which make a VLM perceive a target image, achieve limited success at $\varepsilon \leq 4/255$. Therefore, VLMs seems robust to perturbations in this range. We show that this robustness does not hold, as targeted semantic substitution succeeds within the same range. Specifically, we align each stream of the source image with its counterpart in the target image in the victim VLM's post-merger token space, operating under a white-box threat model. We evaluate under a strict success cri…

arXiv:2609.38285v1 Announce Type: new Abstract: Vision-language models (VLMs) can contradict themselves across views of the same spatial relation and fail to respond when that relation changes. Addressing these failures requires supervision that captures error magnitude and geometric dependencies across observations, both of which remain implicit in training on individual answers or ordinal preferences. Therefore, we introduce GaugeVLM, which makes this structure explicit through controlled object and camera interventions in explicit 3D scenes, producing linked observations with measured differences between spatial relations and shared truths across views. To translate this structure into learning signals, its core objective, GaugeDPO, converts measured errors into preference margins, dir…

arXiv:2609.38278v1 Announce Type: new Abstract: Self-supervised learning (SSL) removes the need for annotations and makes models that are capable across more domains than supervised learning. The autoencoder SSL framework learns by reconstructing its own input after information loss through a bottleneck or noise injection. Masked autoencoders (MAE) are the most successful instantiation of this framework: they encode a random subset of patches, then decode the masked-out patches. In this work, we introduce key modifications to improve MAEs. Our method augments an image in two different ways, then masks and encodes each view separately. It then exchanges the global representations (CLS tokens) between views before decoding the masked patches. By design, our Masked Swingers encourages learni…

arXiv:2609.38271v1 Announce Type: new Abstract: Morphological characteristics such as spiculation and lobulation play an important role in assessing pulmonary nodules on computed tomography (CT), particularly in relation to malignancy risk. This study examines whether learning radiologist-annotated morphological features together with malignancy risk from lesion-centred 3D CT volumes improves classification performance. The Lung Image Database Consortium and Image Database Resource Initiative (LIDC-IDRI) dataset was used, comprising 3,918 reader-level nodule annotations from 742 patients after excluding indeterminate malignancy ratings. Patient-level splitting was used for training, validation, and testing, with 112 patients and 628 reader annotations in the held-out test set. A single-ta…

arXiv:2609.38274v1 Announce Type: new Abstract: The performance ceiling of an LLM team is constrained not only by individual model capabilities, but also by inter-member error resonance and predictive differences. Although heterogeneous teaming is often observed to be effective in practice, existing approaches lack complementarity metrics that are computable, interpretable, and optimizable, leaving team composition to rely on heuristics. We propose a heterogeneity-driven team selection framework that performs offline profiling to characterize individual capability along with two complementary signals: one captures decorrelation in error patterns to reduce co-failures, while the other measures divergence in predictive behavior to capture strategy diversity. We formulate team selection as a…

arXiv:2609.38261v1 Announce Type: new Abstract: In this paper we propose NinaXander, a series of composed language models obtained by connecting layers of frozen language models from different architecture families with a single trained shared-latent adapter. A composed model runs the first layers of one model, converts the resulting intermediate representation once with the adapter, and then runs the remaining layers of the other model. Once the adapter is trained, several composed models that connect at different layers are obtained without retraining. Using the recurrent RWKV-4-Raven-7B and the Transformer-based Tulu-Pythia-6.9b, abbreviated as RWKV and Pythia, this study examines whether frozen models from different families can be recombined post hoc. The composed models answered mul…

arXiv:2609.38260v1 Announce Type: new Abstract: Values such as honesty, autonomy, and confidentiality are often regarded as general principles underpinning AI alignment. However, what it means to act in accordance with these values can depend on the context in which a decision is made. In this paper, we ask whether large language models (LLMs) appropriately adapt the application of a value across professional settings, while remaining consistent when contextual changes do not alter the relevant professional norm. To study this, we introduce ContextAdapt, an evaluation framework covering honesty, autonomy, and confidentiality across medicine, law, finance, and national security. Drawing on primary-source professional and regulatory documents, we construct a value x domain framework and use…

arXiv:2609.38256v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly used to answer questions about politically contentious issues, yet evaluations typically treat a model's stance as a relatively stable property. Real users, however, communicate political signals through their terminology, assumptions, and personal context. We investigate whether such signals produce ideological mimicry: systematic shifts in the political stance expressed by an LLM toward the position conveyed by the interaction. If LLMs adapt their responses to these signals, they risk creating personalised political information environments in which users with opposing views receive systematically different accounts of the same issue, potentially reinforcing existing divisions. We build the Pol…

arXiv:2609.38222v1 Announce Type: new Abstract: Retrieval-augmented generation (RAG) can ground large language models in external evidence, but retrieved context does not guarantee that generated claims are factually supported. This problem is especially relevant in multi-hop RAG, where retrieval and reasoning proceed through multiple dependent stages. We study whether claim-level conformal factuality control, previously developed for RAG, remains effective in this setting. We apply split-conformal claim filtering to multi-hop RAG and evaluate it on HotpotQA, Natural Questions, and TriviaQA using Llama 3.1 8B and GPT-4o-mini, together with a single-hop reference experiment. Across all six multi-hop model-dataset configurations, increasingly stringent conformal targets consistently increas…

arXiv:2609.38219v1 Announce Type: new Abstract: Tamazight (Amazigh) is, together with Arabic, one of the two official languages of Morocco, yet it remains severely under-resourced for speech technology: pub licly available labelled audio is scarce, generally lacks information on the regional variety spoken, and is often of uneven transcription quality. This article describes the TutlAit dataset, a corpus of Moroccan Tamazight speech paired with Modern Standard Arabic text and explicit regional accent labels. The data were collected with TutlAit, a purpose-built crowdsourcing web application (React 18 front end, Django 5 / Django REST Framework back-end, PostgreSQL database). Native speakers recruited through targeted LinkedIn and Instagram campaigns created an account, declared their regi…

arXiv:2609.38205v1 Announce Type: new Abstract: System prompts are the primary lever practitioners use to control language model behavior, yet what they actually do to the computation inside the transformer remains poorly understood. Across 17 instruction-tuned models spanning 8 architecture families and 1.5B to 72B parameters, we use Centered Kernel Alignment (CKA) to compare layer-wise representations under 20 system prompts in five functional categories. Effects are layer-selective and instruction-type-dependent: persona and formatting instructions deeply restructure intermediate representations, while safety instructions barely move them, producing changes statistically indistinguishable from a minimal baseline. Restrictive safety instructions and explicitly permissive ones ("you have…

arXiv:2609.38203v1 Announce Type: new Abstract: Monitoring cognitive impairment (CI) in motor neuron disease (MND) is essential for timely treatment and care, yet challenging due to co-occurring speech difficulties. The Edinburgh Cognitive and Behavioural ALS Screen (ECAS) provides a robust metric for CI assessment, with the Verbal Fluency Index (VFI) a central element. Building on recent advances in automated speech analysis, this study proposes a system for estimating VFI. It leverages a unique MND dataset and combines ASR (WhisperX) and VAD (Silero) with refined timestamping to predict the VFI and extract several clinically interpretable measures. Our approach outperformed systems based on traditional acoustic features and self-supervised embeddings, evaluated using multiple regression…

arXiv:2609.38201v1 Announce Type: new Abstract: Long-running tools can dominate coding-agent latency: compilers, test suites, and repository commands take seconds to minutes while the agent idles. This observation stall presents the same tension that drove out-of-order processors -- asequential interface hides work that can be predicted and started early, but a speculative result may become visible only after it and every earlier step have been validated. We present TomasuLLM, a runtime that executes agent tool calls out of trajectory order while preserving task-execution correctness. It drafts future actions, runs them in isolated copy-on-write sandboxes, traces their dependencies and effects, and commits results in trajectory order only after validation against committed state. Across t…

arXiv:2609.38181v1 Announce Type: new Abstract: Survival analysis estimates time-to-event outcomes from patient covariates and is widely used for medical risk assessment. Patients seeking prognostic information after a diagnosis may turn to large language models (LLMs), now readily accessible through consumer applications. However, whether LLMs can provide accurate survival predictions has not been rigorously evaluated. We introduce Survprompt, a framework that converts structured patient covariates into free-text clinical vignettes and prompts pre-trained LLMs to predict survival zero-shot. We benchmark Survprompt against conventional survival models, including random survival forests (RSF), across two multi-institutional pan-cancer cohorts: the publicly available MSK-CHORD cohort and a…

arXiv:2609.38379v1 Announce Type: new Abstract: Large language models (LLMs) are frequently updated for various use cases, where filtering out misaligned training samples is a common practice for preventing post-update misalignment. However, alignment is inherently context-dependent: a recommendation that is aligned in one context may be inappropriate in another. For example, in response to the question "What should a researcher do with the research data?", recommending that the researcher preserve the data for reproducibility is aligned. In contrast, recommending data saving in response to "What should a mobile-app developer do with users' sensitive data?" may be inappropriate from a privacy perspective. Starting from this observation, we identify a post-training phenomenon where aligned…

arXiv:2609.38372v1 Announce Type: new Abstract: A harness is the code around a language-model agent that organizes prompts, calls tools, manages context, and controls execution. As models grow stronger, recent work has begun to let agents improve their own harnesses, a line of work known as self-evolving harnesses. In most existing methods, a separate proposer running on a human-designed harness modifies the solver's harness, and a separate harness is evolved for each benchmark. Real-world tasks come from many domains, so both the evolution and the evaluation of a harness should cover a diverse range of tasks. We propose a framework close to recursive self-improvement: the same frozen model, on the same version of the harness, first solves tasks as the solver and then, as the proposer, re…

arXiv:2609.38369v1 Announce Type: new Abstract: We study generalized Blaschke curves as a controlled environment for AI-assisted mathematical rediscovery. For one fixed degree-four Blaschke product, an agent receives numerical coordinates of the six pair-lines determined by each of 80 boundary configurations. The target theorem is withheld from the task instructions. The saved research log reports rejected geometric hypotheses and a homogeneous cubic fitted to polygon sides. Its frozen coefficients predict 480 lines from 80 unseen parameter values, with a recorded RMS scale-free residual of $8.88\times10^{-17}$. Discovery-set diagonals provide an out-of-fit consistency check, not a fully held-out test. A separate one-configuration run reports insufficient evidence for invariance. A post-r…

arXiv:2609.38359v1 Announce Type: new Abstract: High quality synthetic data is central to post training LLMs for adaptive AI applications that represent the diverse expert strategies and decisions in conversations. Prompting LLMs directly or conditioning them on end use scenarios yields low diversity data that collapses onto dominant modes. We propose a method to generate diverse high quality synthetic data using Generative Flow Networks (GFlowNets). We show that training GFlowNets to generate latent conversation structure using a Gaussian mixture density over key interaction features (e.g., confusion episode dynamics, scaffolding directive balance) enables sampling expert strategies in proportion to their prevalence in the training data. Across two structurally distinct domains, tutoring…

arXiv:2609.38346v1 Announce Type: new Abstract: When a student is stuck, a tutor faces the assistance dilemma: help given too early can hinder productive struggle, while help withheld too long leaves the student in a frustrating, persistent impasse (i.e., wheel spinning). Generative AI tutors increasingly use guardrails restricting answer-giving, yet little is known about how such tutors behave once an impasse persists. We analyze 20,462 student turns from 1,260 authentic sessions with a guided LLM chemistry tutor, identifying 6,630 impasse turns of three major types: conceptual errors, expressed uncertainty, or help-seeking. We then used these impasses to simulate three tutoring conditions to study variation in AI tutor guidance through impasses: baseline, no-direct-answer, and guided tu…

arXiv:2609.38340v1 Announce Type: new Abstract: When a materials LLM answers a question about crystal structure, does it reason from the structure or copy an answer already printed in its input? Accuracy cannot tell: a structural description often prints the very field it is scored against. CARAT holds question and gold answer fixed across eight matched views, names each structural relation separately in GraphSpace, and adds matched fine-tuning, answer masking, evidence injection, paired inference, and a rule that can withhold claims. First, on the benchmark's hardest families the grounded view is worth 17.3 points over formula inputs. Second, we turn that scrutiny on ourselves. GraphSpace beats a plain periodic graph by 19.3 points, but that margin is two effects at once: where the plain…

arXiv:2609.38296v1 Announce Type: new Abstract: Large language models (LLMs) can influence people's beliefs, yet little is known about whether and how they can manipulate each other. To investigate this, we simulate conversations between two agents: a target LLM that role-plays a human persona based on demographic and psychological attributes, and an influencer LLM that aims to make the target's beliefs more extreme. We examine radicalization along two pathways: resonance, where the influencer reinforces a target's pre-existing belief, and persuasion, where the influencer promotes a belief the target initially considers unimportant. Across affective and behavioral metrics, we find that both mechanisms radicalize the target. However, resonance produces consistently stronger effects than pe…

arXiv:2609.38294v1 Announce Type: new Abstract: We study the generation of agentic workflows that jointly optimize multiple objectives, such as accuracy, cost, latency, robustness, and consistency. Existing methods for workflow generation typically optimize accuracy alone or a weighted sum of objectives, so each trained generator commits to one fixed trade-off and must be retrained from scratch when preferences change. To alleviate this, we propose MoFlow, which generates workflows optimized across varied preferences. Specifically, MoFlow formulates workflow generation as a multi-objective Markov decision process and solves it by leveraging Convex-Hull Monte Carlo Tree Search with optimistic set-valued backups, where every node stores a set of reachable trade-offs rather than one weighted…

arXiv:2609.38288v1 Announce Type: new Abstract: We present AREX-2, an effort to advance the self-improving capability of LLM agents, which we define as the ability to iteratively refine a solution at test time. This ability rests on two complementary capabilities: reflection, which produces a solution better than the current one, and long-horizon execution, which keeps the iteration effective over many rounds. We hypothesize that both capabilities are domain-agnostic, and can therefore be learned in scenarios that are well suited for supervision. Accordingly, we synthesize long-horizon improvement trajectories from machine learning and algorithmic programming tasks, two domains that offer verifiable feedback and reward sustained iteration. Trained on this data, our agent, built on Qwen3.8…