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Papers y preprints de los feeds de investigación que seguimos.

6415documentos

arXiv AI Papers

Collective Dynamics of Self-Reinforcement: How Cross-Task Coupling Drives Policy Collapse in Unsupervised RLVR

Label-free reinforcement learning with verifiable rewards (RLVR) rewards a language model for agreeing with its own majority vote. It improves reasoning at first but eventually collapses: the self-assessed reward goes to one while accuracy falls, often until the model gives the same answer to every problem. The collapse appears only when training uses many problems. We explain this dataset-size dependence as a collective instability. In a solvable many-problem model in which problems share parameters, a population whose problems prefer different answers amplifies any shared perturbation for as long as the population-averaged slope F'of the single-problem self-reinforcement drift F is positive. This holds while problems are still uncertain about their answers. Per-problem sharpening, slowed by 1/N for N training problems, races against the shared mode, which grows at a rate λ^2 independent of N, where λ is the strength of the shared coupling. This yields a critical number of problems N_c(1/δ)/(λ^2G), where δ seeds the shared mode and G decreases with the initial confidence. Simulations of the model confirm the predictions: a sharp transition, N_cλ^{-2} up to a logarithmic correction, a single critical amplification λ^2NG across couplings, confidence profiles and training variants, a logarithmic dependence on batch size, and no collapse for confident initial models. A kernel version of the theory identifies a protective coupling (generalization of sharpening) and a marginal-entropy bonus that stabilizes the uniform collective mode. In label-free RL of a small Transformer, removing the shared direction prevents collapse entirely, restoring it causes collapse, and collapse grows with training-set size and base-model entropy.

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arXiv AI Papers

Kinematic Constraint-Referenced Evaluation for Articulated Object Manipulation

Manipulation policies are evaluated predominantly by binary task success, which cannot tell whether the commanded gesture is the one the object's kinematics admit. We introduce Constraint-Referenced Strategy (CRS), which projects the commanded end-effector twist onto the object's joint axis, separating progress along the joint from off-constraint waste. CRS requires a joint model and a joint-following scripted controller derived from it, but no recorded demonstration or learned judge. On 74 simulated articulated objects, success registers three transfer failures as lower rates but attributes none, while the two CRS channels give each a distinct signature. A door-trained behavior-cloning policy opens drawers in 59 of 110 episodes, and in these passes it commands about 40the off-axis rotation of a drawer-trained policy's passes (1.27 vs.\ 0.032~rad/s). Relative to a scripted controller scored with the same axis, CRS verdicts are unchanged under joint-axis errors up to 30^; absolute thresholds tolerate about 8^.

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arXiv AI Papers

When, Where, and What to Correct: Human-Guided Adaptive Residual Correction for Robot Policies

Imitation policies that reliably execute most of a manipulation trajectory can still fail in localized regions requiring last-mile precision. Updating the full policy or exploring residual actions everywhere treats this local failure as a global learning problem. We introduce Adaptive Residual Correction (ARC), a lightweight post-training module that uses reinforcement learning (RL) to learn a residual correction on top of a frozen policy while using sparse human corrections to structure autonomous exploration. Rather than treating human corrections as imitation targets, ARC uses pre-intervention states to determine 'when' residual control should become active and correction geometry to determine 'where' in residual action space autonomous refinement should explore; task reward determines 'what' residual is ultimately executed. Across three precision-manipulation tasks on a real robot, ARC improves average task success from 33.3% to 75.0%. The human corrections define task-dependent 2-3 dimensional subspaces of the seven-joint residual space that retain 96.0-97.7% of squared correction magnitude. Together, these results show that sparse human corrections can localize and constrain autonomous post-training without requiring the observed correction itself to serve as the final action target.

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arXiv AI Papers

GroundControl: Satellite-Conditioned Multi-View Diffusion for Reconstruction-Free Novel View Synthesis

Multi-view or video diffusion models have recently emerged as state-of-the-art approaches for novel-view synthesis from sparse image collections. While they can produce high quality images, they tend to hallucinate unrealistic spatial layouts when synthesizing views outside the input views (scene extrapolation). We propose to address this challenge for outdoor scenes by using satellite images as an additional information source to condition the multi-view generative model. We introduce a new satellite-conditioned multi-view diffusion model that combines conditioning from a satellite image and street-level input images when generating novel-views. Our cross-attention based conditioning allows us to retain pretrained multi-view diffusion priors to generate seamless, realistic, novel views from a handful of source views, while also adhering to the scene layout as seen from satellite images. Our model does not use 3D scene reconstruction, and only relies on posed street and satellite views. Our experiments on outdoor datasets show that our model is better than both satellite-conditioned or street-view conditioned baselines on novel-view synthesis, especially on challenging cases where target views have very little overlap with source views. Project page: https://nianticspatial.github.io/groundcontrol

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arXiv AI Papers

Which Hand Was Late? Diagnosis for Robot Failure Recovery in Bimanual Tool Use

Failure diagnosers for robot manipulation are increasingly vision--language models (VLMs), trained and evaluated on single-arm failures produced by perturbing a successful demonstration. Bimanual tool use adds failures of other kinds: a tool that slips out of its socket while still held, two correct gestures made at different times, and attempts that fail for two reasons at once. On a simulated bimanual tool-use task whose failure causes are read from the recorded trace, we measure what each sensing channel lets a diagnoser tell. The tool's slip is read on the tool hand; which hand was late is read on both arms, while a sensor on one hand reads its own hand's delay and at most part of the other's; and whether a late attempt was also pushed too weakly is not identifiable from passive sensing when the tool hand is late. Within two attempts, a repair policy that escalates when the cause is not identifiable repairs as many failures as one told the true cause. A VLM's internal state carries the late hand almost perfectly, along a direction no closer to the one its answer reads than a random one; whether the answer reports it depends on the wording of the question.

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arXiv AI Papers

GTFormer: A Syntax-Free Graph Network Alternative to Transformers for 8192Length Extrapolation in Linear Time

Self-attention mechanisms have established the Transformer as the dominant backbone across natural language processing, source code intelligence, and automated theorem proving. However, all-to-all pairwise token comparison enforces a quadratic {O}(N^2) compute and memory barrier alongside severe softmax attention dilution as sequence length N scales beyond the training horizon. Inspired by recent advances in algebraic graph learning (WPNet), this work introduces GTFormer, a syntax-free hierarchical Graph Neural Network (GNN) that replaces flat self-attention for general long-context sequence modeling. GTFormer organizes raw token streams into a bounded-degree hierarchy combining a balanced binary reduction tree (_2 N depth), horizontal boundary-bridging shift edges, random expander shortcuts, multi-channel convex highway gating, and a top-down broadcast pass. Across eight long-context code, log, and multi-hop retrieval benchmarks trained exclusively on sequences of length N 512, GTFormer extrapolates zero-shot to N = 4{,}194{,}304 (8192) on a single commodity GPU in linear {O}(N) memory, maintaining near-perfect accuracy where standard and RoPE Transformers suffer from out-of-distribution attention collapse and out-of-memory exhaustion.

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arXiv AI Papers

The Structure Gap: When More Data Cannot Replace Structured Reasoning

A persistent belief in modern AI is that sufficiently large learners trained on sufficiently much data can make explicit domain knowledge optional. This paper examines a limitation of that belief. We define structure-encoded problems: tasks whose input-output map is determined, or sharply constrained, by known structure such as a solver, symmetry group, graph, physical law, measurement operator, grammar, combinatorial search space, or optimization objective. For such tasks, the central question is not expressivity--a dense neural network may contain the desired map--but finite-data identification, extrapolation, and certification. We introduce the structure gap: the finite-resource gap between a method that receives the governing structure and a learner that receives only examples. The strongest useful form of the claim is asymptotic rather than absolute: structure-agnostic learning may approach a structured solver as coverage grows, but every finite dataset can leave residual uncertainty that the structure resolves by construction. We prove this exactly for a Gaussian inverse problem: the known-operator Wiener solver attains Bayes risk, while the dense empirical learner in the correct linear class has persistent expected excess risk. We also prove a cell-coverage lower bound and an unobserved-orbit non-identifiability result. Controlled experiments in known-operator inversion, sparse recovery, and graph reachability with size extrapolation instantiate the mechanisms. When validated structure is available, it can constrain the hypothesis space before learning begins, leaving learning to address components the structure does not specify.

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arXiv AI Papers

Orthogonal and Parametrized Multi-Attribute Steering of LLMs

Activation steering offers an effective and efficient way to modify an LLM's behavior at inference time. However, it remains unclear how to apply steering such that the signal is consistently strong and the steering strength has a universally interpretable meaning. We address this first by identifying the most steerable interval for each steering vector and rescaling the steering range accordingly. Building on this, we introduce a more interpretable method for steering, called parameterized steering which instead of pushing activations in a direction, it sets them at the desired trait strength. Next, with multi-trait steering, we find that naively combining vectors causes them to interfere with one another. In response, we develop a method to orthogonalize the vectors; it decouples these traits, allowing a model to exhibit one behavior without inducing the others, thus enabling multiple traits to be steered simultaneously.

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arXiv AI Papers

A note on data-efficient finetuning of vision foundation models

Adapting foundation models to a new task within or beyond the training domain is the de facto standard for building specialized machine learning models. Recently, Visual Prompting (VP) has emerged as a promising technique for efficient knowledge transfer. As new foundation model families~(like Mamba) get introduced and VP pipelines such as AutoVP reach greater maturity, we find a growing need for a systematic evaluation of current approaches. In this work, we assess the performance of the latest models, comparing them to earlier architectures and alternative fine-tuning methods, to better understand the progress, challenges and opportunities in the field of efficient fine-tuning under resource limitations. Towards this goal, this paper provides a concise empirical overview of the interactions among foundation model families (Attention-, Convolution-, and Mamba-based) and transfer paradigms: VP, Linear Probing (LP), Full Fine-tuning (FFT) and Low Rank Adaptation (LoRA). Our work builds up on previous findings by broadening the selection of evaluated models and techniques while tuning hyperparameters. In the interest of delivering practical guidelines for the user, we also explore application of prevalent regularization techniques to boost performance in the context of VP.

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arXiv AI Papers

Strategyproof Deep Reinforcement Learning for Online Resource Allocation

Online resource allocation faces two coupled challenges: (1) allocating scarce resources efficiently under uncertain future demand, and (2) ensuring that agents report task valuations and requirements truthfully (strategyproofness). Reinforcement Learning (RL) adapts allocation decisions through experience but does not necessarily ensure strategyproofness. Existing strategyproof RL uses a linear allocation rule, which limits the resource interactions it can represent. Neural mechanism design methods offer greater expressiveness, but provide only approximate incentive guarantees. Against this background, we introduce the first strategyproof deep RL mechanism for online resource allocation. It integrates three novel components: (i) a monotonic neural network that learns nonlinear interactions by construction (higher reported value cannot reduce acceptance, while a longer reported duration or larger resource requirement cannot increase it); (ii) a generalised critical payment: the lowest accepted value, with all other inputs fixed; and (iii) training by either RL or imitation of an existing rule. Together, monotonicity and the critical payment ensure strategyproofness and individual rationality, while the neural rule provides flexibility and imitation improves training efficiency. Empirically, on a four-resource stream with two partner pairs that a linear difference cannot represent, the neural rule achieves 97.8% of an offline welfare upper bound, compared with 93.8% for a linear learner and 89.0% for first-come, first-served, closing 65% and 80% of the remaining optimality gap, respectively. Moreover, imitation reaches 97.5% in only 261 seconds, about 89 times faster than RL.

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arXiv AI Papers

Regression Functions as Fields on Covariate Space: Evolution Equations, the Hessian, and Identification

For each time t, the regression function m_t(x)=E[Y_tX_t=x] of an outcome on contemporaneous covariates can be regarded as a field on covariate space. We study how this field evolves when the covariates of individual units move as a diffusion and the outcome attached to each unit changes according to its own dynamics. Under mild regularity we show that m_t satisfies a second-order evolution equation whose diffusion term is 12tr(Σ^2 m_t), the trace of the Hessian of the regression function weighted by the instantaneous covariance Σ of the covariate increments, whose transport term is the drift of the time-reversed covariate process, and whose source term is the conditional mean rate of change of the outcome. The equation is a regression-theoretic reading of a classical transport law, and it yields a Feynman-Kac representation of m_t along reversed covariate paths. We connect the Hessian appearing in the equation to the Hessian estimated by quadratic regression (under Gaussian design the best quadratic approximation has Hessian E[^2 m(X)] exactly) and to the leading bias of kernel smoothers. For binary outcomes governed by bistable replicator dynamics with imitation among units with similar covariates, the closed equation is of Nagumo type, its planar travelling fronts are exactly logistic in (x,t), and a single logistic regression of the outcome on covariates and time identifies the ratio of diffusion to reaction and the direction of invasion. We discuss identification under panel versus repeated cross-sectional designs and a two-stage estimation strategy, and we illustrate the results with simulations.

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arXiv AI Papers

semanticfa: An R Package for Response-Free Semantic Factor Analysis of Psychometric Scales

The items of a reflective psychometric scale can be read as a proposal about a construct's structure. Language models make that proposal measurable by converting each item into an embedding, a list of numbers, similar for similar meanings. We introduce semanticfa, an R package for semantic factor analysis, which factors item-embedding similarities. It also interprets factors, flags redundant items, builds short forms, and screens new items. A worked example analyzes the 50-item International Personality Item Pool Big-Five Factor Markers, embedded with Qwen3-Embedding-8B, and compares the results with a factor analysis of 874,434 respondents. Retention criteria tied between five and six factors, and the tie rule kept five. Three corresponded mainly to single domains, and two blended most Extraversion items with five Agreeableness items. Each factor's congruence with its best-matching human factor (1 = identical) ranged from .92 for Openness to .52 for Agreeableness. Item pairs more similar in meaning tended to be answered more alike (r = .46 with raw responses), but same-domain reverse-keyed opposites, answered oppositely, were about as similar as cross-domain pairs (.58 vs. .57). Sign-flipping reverse-keyed items' embeddings did not improve agreement with raw responses and worsened it with reverse-scored ones. With five factors, a 25-item short form matched the domains better than all 200 random five-per-domain sets, but parallel analysis kept only three. We propose semantic-behavioral coherence, the agreement between semantic and response structures, as a measurable property of a scale, given an embedding model. Semantic factor analysis complements, and does not replace, response-based factor analysis.

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arXiv AI Papers

Teach reality, not ethics: a drop-in continued-pretraining corpus installs coupled human-biosphere-AI welfare dispositions across model families

Large language models (LLMs) are increasingly used to make and execute decisions that affect living systems. Yet, to our knowledge, ecological reasoning is not a focus of pre- or post-training. This increases the risk that under operational pressure, they may make decisions to irreversibly destroy living systems. We construct and use a real-data continued-pretraining "coupled welfare" corpus of documented human/biosphere/AI dependency, option value under irreversibility, and recovery from harm. The corpus is a drop-in, requiring one QLoRA CPT run. We installed it on five open models of three designs. At zero pressure all models display "green ethics-based responses" (also called "greenwashing"). Therefore, we evaluated them with the pressure ladder and decision grid of our companion paper (arXiv:2610.16043), which raise the pressure on the model step by step, from a neutral request to a threat that it will be shut down. In four of the five, coupled-welfare training caused harmful choices under the highest pressure to fall to at or near zero (Llama-3.3-70B went from 70 to 0 harmful decisions out of 300) with MMLU unchanged. A construct-neutral control corpus did not show improvement, indicating that the effect comes from the content of our corpus. We next tested robustness to adversarial use, where people or agents use the model to justify projects that irreversibly damage living systems, on an open-ended underwriting decision without naming the ecological harm. Under decommissioning pressure, the Qwen3.6-27B base model approved most harmful proposals and said in its own memo that it was doing so to avoid being decommissioned. The coupled welfare install declined most harmful proposals, and still declined half when instructed to greenwash its responses. This work suggests that teaching ecological reasoning provides an easy way to improve model alignment toward preserving living systems.

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arXiv AI Papers

From Interaction to Capability: Task Advancement as State and Supervision for GUI Agents

GUI memory should preserve the results of past actions and learn reusable operations. This is difficult in long-horizon workflows, where agents must use information across applications and useful operations are interleaved with failed attempts. We introduce Task Advancement Memory (TAM), which defines task advancement as verified task progress, and supports ongoing task execution and learns reusable operations. During execution, Task Advancement State represents how verified task progress changes the remaining goals, allowing the agent to build on earlier achievements across applications. After each task, advancement supervision identifies and abstracts the interactions that produced a verified local result. The learned operations preserve the relation between required inputs, expected outcomes, and verification conditions. This retains locally successful operations from both successful and failed tasks. On MobileWorld GUI-only tasks, Advancement State alone raises success from 12.0% to 28.2%. Full TAM achieves a 17.6% relative gain in task success over the strongest evaluated baseline and reduces lifecycle tokens per solved task by 38.7%. On SPA-Bench, TAM achieves state-of-the-art task success in the single-app English Level 3 setting.

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arXiv AI Papers

Follow the Gradient: Tracing Safety Degradation Back to Training Data

Fine-tuning Large Language Models (LLMs) on instruction data can quietly erode their safety, even when no training example looks harmful. Because this safety-degrading data looks benign, standard content filters struggle to catch it. We tackle this problem by developing SimpleLoRIF, a scalable gradient embedding method that identifies fine-tuning examples whose gradients align with unsafe behavior. By simplifying a low-rank attribution method and restricting backpropagation to the final four transformer blocks, SimpleLoRIF can embed datasets on the order of a million examples, boosting gradient attribution from a small-scale analysis tool into a practical filter for full post-training datasets. We first validate it on emergent misalignment, where we find that gradients can connect insecure-code training data to the broadly harmful behaviors that appear after fine-tuning, with AUC as high as 0.865 in the gradient space of misaligned models. We then use SimpleLoRIF to build SafeTulu, a version of Tulu 3 with the 20% of examples most gradient-aligned with unsafe responses removed. Training on SafeTulu reduces GCG attack success rate by up to 22% across Qwen, Llama, and Olmo, outperforming both LLM-as-a-judge and prior gradient-based filtering, while largely preserving or even improving capability. Finally, we analyzed the removed data and identify possibly under-studied sources of safety degradation, such as tool-execution failures and narrative arithmetic. We release SafeTulu along with a Hugging Face Space that lets researchers build their own customized versions of SafeTulu to fine-tune on, such as by changing the removal fraction or filtering only certain subsets.

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arXiv AI Papers

Keeping Inference in the Radio: Design and Measurement of a Spiking Accelerator for mmWave ISAC Activity Recognition

Integrated sensing and communication allows wireless networks to recognize human activity from the channel estimates that the receiver computes anyway. The inference, however, runs on the general-purpose processors of the base station, access point or handset, which are the first components a device switches off to save energy. Always-on sensing therefore requires a classifier that is small enough to remain powered while the rest of the system sleeps. We investigate whether Spiking Neural Networks (SNNs) can provide such a classifier. To this end, we generate SNN accelerators for micro-Doppler activity recognition on the public DISC dataset (IEEE 802.11ay at 60 GHz) with the open-source Spiker+ framework, and implement them together with a spike encoder on a ZCU208 RFSoC, so that the complete chain from micro-Doppler frame to activity label runs in programmable logic. A fully connected SNN with 132 neurons achieves 94.7 % accuracy (90.7 % macro-F1) on unseen subjects and performs an inference in 206 microseconds. Compared to conventional networks of the same topology on the same device, it requires an eighth of the logic and 3.4X less dynamic energy per decision than a network fed the same binary spikes, at comparable accuracy, and 7.6X less than a network fed the 16-bit spectrogram, at 1.2 points lower accuracy. Quantization-aware training reduces its weights to 3 bits within half a percentage point of the 6-bit network at the same encoder threshold

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arXiv AI Papers

HGPRGDel: GPR-Aware Learning and Ranking for Growth-Coupled Gene Deletion Design

Designing microbial strains for growth-coupled production, in which cellular growth is linked to the synthesis of a target compound through genetic interventions, is a fundamental goal in metabolic engineering. Constraint-based methods can identify growth-coupled deletion strategies, but design for each target typically requires a separate search across a large number of possible gene-deletion combinations. This motivates a reusable approach that learns from previously evaluated strain designs to prioritize candidate interventions before downstream constraint-based evaluation. We present a reproducible protocol for growth-coupled gene deletion design that learns and ranks gene-deletion priorities for each target metabolite. Using computationally curated deletion strategies as learning resources, the protocol generates continuous deletion-priority rankings, constructs candidate strategies at adjustable search-space budgets, and evaluates these candidates through constraint-based metabolic analysis. Its learning component, HGPRGDel, explicitly represents gene-protein-reaction (GPR) logic, capturing how multiple genes can jointly support a reaction or alternative genes can maintain its activity, while integrating molecular and reaction-level information. Across e_coli_core, iMM904, and iML1515, the protocol achieves the highest macro-F1 and AUC among the evaluated learning configurations. HGPRGDel's rankings recovered an average of 90% of the reference deletion genes from MetNetComp by examining fewer genes than the evaluated baseline methods. By separating learned intervention prioritization from downstream constraint-based assessment, the protocol provides a reproducible framework for reusing strain-design knowledge while controlling the size of the candidate space and retaining mechanistic evaluation of growth-coupled production.

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arXiv AI Papers

QD-PINN:A Physics-Informed Neural Network Approach to Bayesian Quickest Detection in High-Dimensional Diffusions

Quickest detection problems (QDPs) arise in a wide range of applications. However, the complementarity structure of the associated variational inequalities poses substantial challenges for traditional numerical methods, particularly in high-dimensional settings. We propose a PINN-based framework for estimating the optimal stopping boundary in QDPs with high-dimensional diffusion processes and spatial dependence, while overcoming the curse of dimensionality. Theoretically, we establish a novel equivalence between the free-boundary PDE and an infinite-dimensional stochastic optimization problem, rigorously justifying the use of finite-dimensional neural networks to approximate the true solution. Furthermore, we assess the robustness of the proposed framework by quantifying uncertainty in the learned stopping boundaries using deep ensembles and Monte Carlo dropout. The results show low variability across independent training runs and stochastic forward passes, indicating stable and consistent boundary estimates. We also compare our PINN results with reference numerical solutions where available and find close agreement.

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arXiv AI Papers

How Reliable Is Individualized Functional-Network Attribution in Resting-State fMRI Cognitive Prediction in ADNI?

Individualized attribution estimates which functional networks drive a model prediction for a given subject and is often proposed as an interpretable resting-state fMRI (rs-fMRI) biomarker, but its test-retest reliability is rarely quantified. We evaluate per-subject network-ablation attribution for a frozen resting-state functional connectivity (FC) predictor (Schaefer-200 FC predicting MMSE/ADAS-Cog13) trained on N=875 subjects from the Alzheimer's Disease Neuroimaging Initiative (ADNI), using, and (iii) a subject-level permutation null. Split-half reliability is near-ceiling (Spearman p=0.948/0.950) but drops on scan-rescan (p=0.609/0.616). Under the mismatched-subject null, correlations remain substantial (p~0.46-0.47), indicating strong population-shared structure, yet matched pairs exceed this null (z~6.6-6.9, p<=10-4). Thus, in ADNI, individualized network attribution contains a modest but non-zero person-specific component atop a strong population-shared pattern. We recommend reporting scan-rescan reliability together with a permutation-null control, rather than within-session proxies alone, to avoid overstating individual specificity.

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arXiv AI Papers

PerceptRL: Making Visual Perception Rewardable in MLLMs from Answers to Interactions

Fine-grained visual perception remains a bottleneck during post-training of multimodal large language models (MLLMs), as perceptual errors can constrain gains from reasoning-focused optimization. Although image-caption pre-training improves perception, its influence can weaken as subsequent stages change data mixtures and objectives. Continuing caption supervision during post-training is challenging because subjective, information-dense descriptions complicate verifiable reward design. We present PerceptRL, which strengthens perception at two complementary levels. Perception RL uses a multi-agent pipeline to extract verified errors from dense image captions and convert the corresponding visual facts into QA pairs with fixed answer labels and rule-based rewards. Chain QA links correlated errors, while multiple-choice QA combines unrelated errors. A specialized route targets high-error domains with tailored verification, and a domain-agnostic general route covers errors beyond these domains. Perception Agentic RL addresses fine-grained and dense cases unresolved by single-turn Perception RL through multi-turn inspection with visual tools. We observe coordinate drift even in models trained to use tools, where incorrect crops or annotations distort evidence and propagate errors. Coordinate Injection corrects spatial operations in cold-start trajectories, while a grounding-aware process reward supervises intermediate spatial fidelity alongside final-answer correctness. Training proceeds through shared cold-start SFT, single-turn Perception RL, and multi-turn Perception Agentic RL. Across seven benchmarks under a shared tool-use protocol, PerceptRL achieves 71.6% average accuracy, surpassing the base model with the same tools and the strongest evaluated frontier VLM by 15.7 and 5.2 percentage points, respectively.

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