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209últimos 7 días

arXiv AI Papers

Multi-Agent Orchestration with the Common-Sense Reasoning Capabilities of LLMs for Autonomous Driving

Autonomous vehicles require robust perception and decision-making capabilities to operate in diverse and unseen scenarios. While reinforcement learning and rule-based methods can provide effective control and safety mechanisms, their performance may degrade in situations requiring contextual reasoning. Large Language Models (LLMs) have demonstrated strong capabilities in understanding multimodal information and generating contextual reasoning, however, their use for direct vehicle control can introduce latency and hallucination risks. To address these limitations, a hybrid framework is proposed. This system uses an orchestrator to coordinate PPO-trained reinforcement learning and PID control, with LLM common-sense reasoning applied throughout the framework. LLM reasoning is further employed iteratively to refine the RL reward function for dynamic driving environments. The proposed framework is evaluated in highly randomized CARLA scenarios under diverse environmental and traffic conditions. The results demonstrate the potential of integrating LLM-based reasoning with conventional autonomous driving methods while retaining structured control and safety mechanism.

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arXiv AI Papers

When Text and Numbers Disagree: Evidence Arbitration in Large Language Models

Large language models (LLMs) are increasingly used in settings where textual summaries, numerical observations, and external tool outputs may provide conflicting evidence. We study how LLMs arbitrate between such sources when they support opposing decisions. To do so, we introduce a controlled synthetic benchmark in which latent risk trajectories generate both numerical time series and natural language summaries, allowing us to construct conflicts where exactly one evidence source is aligned with the ground-truth label. This design lets us independently manipulate modality, temporal recency, source reliability, and evidence provenance. Across open-weight instruction-tuned models, we find that arbitration behaviour is systematic rather than random: models exhibit distinct text-versus-number preferences, follow temporal recency more consistently than explicit reliability cues, and can over-rely on external forecasts even when they conflict with direct contextual evidence. These results suggest that current LLMs often rely on heuristic arbitration strategies when integrating heterogeneous evidence, highlighting a failure mode for tool-augmented decision systems.

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AWS Machine Learning Blog

Domain and publish date filters for Web Search on AgentCore

Web Search on Amazon Bedrock AgentCore now supports runtime domain and published-date filtering. New per-request filters give developers per-call control over which web sources their agents consult and how fresh those sources must be, all enforced server-side. This release also expands Web Search to the Europe (Ireland) and Asia Pacific (Tokyo) Regions.

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arXiv AI Papers

ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning

We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree-of-freedom (DoF) robot embodiments that can solve long-horizon tasks directly from raw visuo-tactile perception. ADEPT pretrains a dexterous policy on a generic object reposing task, then post-trains downstream policies with this pretrained behavior as a prior. ADEPT enables learning new behaviors that are otherwise difficult to discover from scratch on multi-fingered robots and avoids learning the same set of skills over again for every new downstream task. The pretrained policy zero-shots the reposing phase of downstream tasks, but naïve RL fine-tuning rapidly degrades this capability during transfer. We address this with a stable post-training recipe combining behavior-cloning distillation, critic warm-up, and conservative on-policy updates. To safely exploit the full kinematic dexterity, we introduce a joint-space Geometric Fabric that mediates between the RL policy and the robot. We distill post-trained teachers into perceptive students that zero-shot sim-to-real transfer on two embodiments: a 23 DoF Kuka-Allegro with two RGB cameras, and a 29 DoF Flexiv-Sharpa with two RGB cameras and five vision-based tactile sensors, and can solve long-horizon tasks from challenging initial states with dexterity at human-level speed.

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arXiv AI Papers

Beyond Teacher Likelihood: Group-Calibrated On-Policy Distillation for Long-Context Reasoning

On-policy distillation (OPD) trains a student on its own responses using dense token-level guidance from a stronger teacher. In long-context tasks, however, token-level teacher support can favor locally plausible responses that omit evidence distributed across the input or violate global task constraints. Task-specific verifiers, in contrast, evaluate task completion at the response level and may return graded rewards that reflect partial success. We diagnose this mismatch on fixed responses from two representative long-context evidence-aggregation tasks. Across longer input ranges, trajectory-level OPD scores become progressively less aligned with verifier rewards, indicating teacher-verifier disagreement. Motivated by this observation, we introduce Group-Calibrated On-Policy Distillation (GC-OPD). GC-OPD separately normalizes verifier rewards and trajectory-level OPD scores within each rollout group and uses their difference as a signed teacher-verifier disagreement residual. Relative-advantage-based credit assignment (RACA) distributes this trajectory-level residual across tokens according to their relative OPD advantages while preserving the original OPD signal. Across five long-context benchmarks, post-training with GC-OPD raises the five-benchmark averages of the official Qwen3-4B and Qwen3-8B checkpoints from 29.08 to 40.47 and from 35.12 to 44.65, respectively. Vanilla OPD reaches 39.31 and 43.56 under the same setup. Controlled ablations show that the signed residual is more effective than either an additional OPD-derived term or direct group-normalized verifier reward addition, while RACA further improves over uniform token allocation. Together, these results demonstrate that group-relative residual calibration can incorporate verifier outcomes without discarding dense token-level guidance. Code is available at https://github.com/SolereZhang/GC-OPD.

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arXiv AI Papers

Learned, Then Lost: A Measured Single-Example Counterfactual in Pre-training

A single training example's contribution to a finished model is normally estimated rather than measured, because measuring it takes two expensive full pre-training runs that differ in one row of one batch. We ran that counterfactual 24 times at a small scale. We trained 32 GPT-2 models at 124M parameters from scratch on OpenWebText, over four conditions and eight seeds. At step 200 of 9,536, at peak learning rate, we replaced one row of a 256-row batch with a fixed context injection carrying a 194-token passage. The three injected conditions are: 1. fluent prose with a corpus-attested subject, 2. fluent prose with a fabricated subject matched to it within 0.14% on full-batch gradient delta, and 3. random keyboard characters. The fourth condition is an uninjected twin. The passage is learned from one exposure and then decays. Fifty steps after injection, the arm that saw a passage predicts it better than the arm that did not by 0.039 and 0.044 nats of cross-entropy on the passage, at eight of eight seeds with p < 10^{-4}. At the final step we do not detect that difference for either passage, at p = 0.25 and p = 0.71, against minimum detectable effects of 0.025 and 0.079 nats, nor between the two passages, at p=0.54. Every geometric measure we report is taken after that decay. Our pre-registered contrast on interpolation loss barrier is +0.0068 with p = 0.509, against a minimum detectable effect of 0.032 barrier units. Held-out cross-entropy is -0.00044 with p = 0.310. Per-layer centered kernel alignment does not detectably separate any condition at any layer. Weight displacement reaches 44.1% of the seed-to-seed Euclidean distance and is 92% settled by the midpoint of training, while the barrier reaches 3.0% of the seed-to-seed barrier. Those two figures sit roughly 15 times apart, and that is a lower bound. The injection relocates the model within its basin without moving it out.

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arXiv AI Papers

Interpretable AI predicts a 2026 summer dry anomaly in central China

Seasonal precipitation anomalies are largely regulated by atmospheric circulation, which dynamical models predict with greater reliability than precipitation itself. Here, we employ a deep learning model that translates dynamical circulation predictions into precipitation estimates. Predictions initialized from March to May consistently indicate a dry anomaly over central China in summer 2026. Retrospective evaluations revealed higher predictive skill in the analogue years, which also tended to feature central equatorial Pacific warming persisting from the preceding winter into summer. This warming favors an anomalous cyclonic circulation over the western North Pacific-South China Sea-South China region, which induces northerly winds and moisture divergence that jointly suppress rainfall over central China. Supporting this mechanism, layer-wise relevance propagation (LRP) independently identifies these northerly winds as the dominant driver of the prediction among all model inputs. Perturbation tests supported this attribution: removing LRP-identified features effectively eliminates the dry anomaly. Our framework thus provides physically interpretable explanations for AI-derived regional climate projections, facilitating evidence-based assessment before observational data become available.

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arXiv AI Papers

Beyond the Transcript: Detecting Covert Co ordination in Latent Multi-Agent Communication

Language-model agents can communicate through continuous hidden states that are invisible in public transcripts, creating opportunities for covert harmful coordination. We introduce Verifiable Latent Alignments (VLA), an activation-aware framework for monitoring and steering these private communication channels. For every monitored decision, VLA links the private latent-state record and channel status to the resulting public action using a shared event identifier, enabling matched causal analysis. Our first contribution is a neutral-only three-layer monitor combining representation anomaly detection, counterfactual action-distribution influence, and sparse-autoencoder interpretation support. Our second contribution is a steerability framework spanning black-box behavioral instructions and white-box matched-neutral counterfactuals. Our third contribution is an evaluation on a controlled multi-agent auction benchmark covering homogeneous and heterogeneous model pairs, many-agent scalability, and intervention effectiveness. The sequential monitor achieves mean area under the receiver operating characteristic curve (AUROC) of 0.993 for homogeneous agents and 0.854 for heterogeneous pairs when text- and latent-collusion rows are pooled as positives. In Qwen3-0.6B auctions with 25-100 bidders, monitoring requires only a small normalized load relative to all possible directed pairs, while full white-box steering achieves 100% bid-distribution recovery and reduces collusive low-bid behavior by 47.3 percentage points. Because full white-box steering replays the matched neutral counterfactual, its exact recovery is a sanity check by construction. Overall, the controlled study shows that the evaluated private channel attacks can be monitored without training the primary monitor on attack examples and mitigated when matched counterfactual access is available.

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arXiv AI Papers

Continuous-Time Reinforcement Learning for Controlled Hawkes Jump-Diffusions

We study stochastic control of multivariate Hawkes-driven stochastic differential equations with machine learning algorithms in a non-Markovian setting. Due to the path dependence of the memory of the Hawkes intensity, this problem does not fall within classical stochastic control theory outside particular Markovian kernels. We first develop a finite-dimensional Markovianization procedure and algorithm to approximate multivariate Hawkes processes with mixtures of exponential kernels. We prove the convergence of the Markovianized approximation of the Hawkes process, its intensity, and the value of the problem to the original non-Markovian processes and the value of the primal problem. We then formulate continuous-time deterministic policy gradient learning on the Markovianized approximation of the problem, called Hawkes-CT DDPG. We propose a model-free algorithm to solve the non-Markovian Hawkes-driven optimization by observing only the event times of the process, the realization of the solution to the SDE, and a chosen set of decay filters, while the Hawkes kernel coefficients remain unknown. We compare our continuous time reinforcement learning Hawkes-CT DDPG method with discrete time reinforcement learning techniques under three different types of kernels: simple exponential, Erlang, and power-law kernels.

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arXiv AI Papers

SCORE: Subject Coordinate Recovery for Label-Free Cross-Subject EEG-to-Image Retrieval

Accurate visual decoding can reveal how the brain represents visual information and recover perceived content from neural signals such as electroencephalography (EEG), with potential for neural communication. However, current EEG-to-image retrieval methods perform far below their within-subject counterparts for new users without labeled calibration, limiting real-world deployment. To understand this gap, we analyze EEG features across subjects and find that different subjects preserve similar relationships among concepts but express them along different coordinate directions. We therefore propose Subject Coordinate Recovery (SCORE), a target label-free framework combining recovery-aware source training with coordinate alignment at deployment. During training, SCORE aligns source subject EEG with a common image space and simulates unseen-subject recovery through source-only episodes. At deployment, with both encoders frozen, SCORE selects reliable EEG-image landmarks through hubness-corrected matching and estimates an orthogonal transformation to recover target EEG coordinates without source data or target labels. In 200-way retrieval on two public benchmarks, SCORE outperforms the unadapted baseline for every target subject and achieves the best overall accuracy. It reaches 53.23%/83.55% and 12.01%/32.16% Top-1/Top-5 on THINGS-EEG2 and Alljoined-1.6M, respectively, surpassing the strongest baselines by 17.45/15.70 and 3.08/4.62 percentage points. Without target labels or encoder updates, SCORE brings brain-based visual decoding closer to robust, practical, low-latency deployment across users.

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arXiv AI Papers

Beyond Trial Averaging: Anchoring Neural and Visual Representations for Few-Repetition Brain-to-Image Retrieval

Decoding visual information from brain signals probes neural representations and enables neuro-rehabilitation and dream decoding. Recent brain-to-image retrieval approaches have achieved promising performance, typically by averaging many (up to 80) neural trials per image, requiring repeated stimulus presentation that increases latency, cost, and user burden. When only one or a few repetitions are available, the retrieval accuracy drops sharply. This drop is commonly attributed to query noise because averaging suppresses noise and increases signal stability. However, we find a non-transitive alignment pattern: the low-repetition query signal and the image representation each align with the high-repetition center, but not directly with each other. This pattern shows that query noise is only part of the problem and that gallery placement also affects retrieval. We therefore propose a neural-anchor-based retrieval (NEAR) framework that treats the high-repetition center as an anchor and approaches it from both sides: a denoiser pulls the noisy query toward the true anchor, and a small network predicts each candidate's pseudo anchor from its image and pulls the image toward it. Across four datasets spanning EEG, MEG and fMRI, NEAR consistently improved retrieval in the few-repetition regime. On THINGS-EEG2, it improved 200-way Top-1 accuracy by 5.7 and 9.3 percentage points respectively, when averaging one and four repetitions. By anchoring neural and visual representations, NEAR reduces reliance on repeated acquisition and brings neural retrieval closer to real-world deployment.

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arXiv AI Papers

PGFS++: Molecular Property Improvement under Synthesis and Diversity Constraints

Improving molecular properties, such as drug-likeness or binding affinity, is a recurring task in early-stage drug discovery. However, molecules optimized in an unconstrained chemical space have limited practical value if they cannot be synthesized. Policy Gradient for Forward Synthesis (PGFS) is a synthesis-aware reinforcement learning method for molecular improvement, but its use of reactant embedding prediction makes reactant selection indirect, which, as we show, limits learning effectiveness. We first develop PGFS+, in which reaction templates and second reactants are represented by trainable embedding lookup tables. Combined with a more effective scoring function and RL algorithm, PGFS+ significantly improves the desired property. However, it exposes a reward-hacking failure mode: a powerful reactant search can map diverse input molecules to the same high-reward magnet molecule, improving the reward while collapsing the output diversity. We therefore introduce PGFS++, a synthesis-aware reinforcement learning framework for input-specific molecular improvement. Given an input molecule, PGFS++ treats it as the start of a forward-synthesis trajectory, applies learned reaction templates with compatible in-stock building blocks, and produces a molecule with improved target properties, an explicit synthesis route, and structural similarity to the input. Experiments on molecular improvement tasks show that PGFS++ improves target properties while preserving high output diversity.

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arXiv AI Papers

Discretizing Continuous Time Series for Imputation with Masked Diffusion Training

Time series imputation is a crucial area for reliable time series analysis, yet it remains challenging due to the complex temporal dynamics and noise of real-world data. Existing approaches, however, exhibit two limitations: missing and observed values are embedded within the same representation space without explicit structural separation, and continuous diffusion-based methods are trained to predict added noise rather than the original signal. To address these, we propose the Masked Diffusion Time-series Imputation Model (MDTIM), which leverages the training paradigm of masked diffusion model for imputation tasks. The MASK token is structurally orthogonal to valid observations, and the model directly predicts the original values, naturally aligning both the representation and the learning objective with the imputation task. To bridge the gap between discrete masked diffusion and the continuous, ordinal nature of time series, we further introduce Stochastic Discretization, which maps continuous values to ordinal-aware tokens while preserving continuous dynamics. Our experiments on diverse benchmarks confirm that MDTIM achieves superior robustness and scalability, consistently outperforming state-of-the-art deterministic and generative baselines across various missing scenarios.

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arXiv AI Papers

Pretraining Reusable Inference Across Views with Synthetic Task Priors

Modern pretrained encoders make representations from heterogeneous views increasingly reusable, but the procedure that determines view utility and combines evidence is still relearned for each downstream task. Consequently, knowledge about view relevance, complementarity, reliability, and missingness is repeatedly discarded rather than transferred across tasks. We therefore reformulate multi-view learning as learning a reusable, task-conditioned inference procedure rather than a fixed fusion function. Based on this perspective, we propose SIMPLE, a prior-fitted multi-view in-context learner that predicts query labels by conditioning on a small labeled support set. Since existing real-world datasets cover only a limited range of view configurations and task structures, we construct a controllable synthetic task prior in embedding space. It generates diverse support-query episodes with varying class structures, shared and view-specific factors, representation geometries, cross-view dependencies, reliability levels, missingness patterns, and distribution shifts. A hierarchical inference architecture then performs reasoning within views, across views, and across support and query samples. Experiments on multi-view and multi-omics benchmarks demonstrate that the frozen variant of SIMPLE achieves competitive performance without updating the inference backbone, while lightweight adapter calibration attains leading performance on most evaluated datasets. Together, the results under frozen, one-shot, and missing-view settings support the central hypothesis that multi-view reasoning itself can be pretrained and reused, while lightweight adapter calibration provides task-specific alignment when needed.

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