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arXiv AI Papers

VLM-Guided Contact Retargeting and Generative Partner Modeling for Humanoid-Human Interaction

Humanoid-human interaction requires robots to operate under severe partial observability: during close physical contact, the human partner is occluded, truncated, or outside the robot's field of view, causing pose estimation to fail and often necessitating external tracking or privileged human state. At the same time, heavy mutual occlusions introduce errors into the human-human motion-capture data used for learning. We present REACT, a framework for learning deployable humanoid-human interaction policies from human-human demonstrations. REACT treats semantic contact structure as the key supervisory signal connecting demonstration processing, interaction learning, and onboard control. First, a VLM-guided contact modeling and retargeting pipeline identifies semantically meaningful contacts and transfers them onto humanoid-human geometry while preserving interaction structure. Using these annotations, privileged interaction policies learn physically grounded behaviors through interaction-aware contact rewards and are then distilled into deployable egocentric depth policies trained entirely from onboard sensing using photorealistic human depth rendering. To address severe partial observability, we introduce generative partner-state modeling objectives that predict partner motion from occluded egocentric views. We evaluate REACT in simulation and on a real Unitree G1 humanoid across five contact-rich interactions. Semantic contact modeling substantially improves preservation of demonstrated interactions, while generative partner-state modeling improves contact recall on four of five interactions, most under heavy occlusion. On real hardware, REACT performs all five interactions using onboard sensing alone.

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arXiv AI Papers

BitMTP: When Multi-Token Prediction Meets Low-Bit Large Language Models

For efficient deployment of large language models (LLMs), methods of ultra-low-bit backbones reduce weight storage, memory traffic, and linear-layer execution cost, while multi-token prediction (MTP) methods reduce sequential decoding steps by predicting multiple future tokens in parallel. Although complementary, the direct combination of these methods cannot accelerate decoding at comparable quality: masked drafting lacks intermediate token input supplied in next-token training, while wider computation and causal key-value (KV) updates can offset the savings from fewer steps. To address these challenges, we propose BitMTP, an algorithm-system co-design framework for efficient MTP on ultra-low-bit LLM backbones. A joint next-token prediction and MTP objective equips a single model with both autoregressive (AR) generation and block-causal drafting. Confidence-only decoding, speculative-only decoding, and hybrid decoding provide different quality-throughput operating points without using separate draft and verifier models. Accepted-prefix alignment keeps the committed prefix, materialized causal KV boundary, and CUDA Graph replay state consistent for continued generation. BitMTP uses this contract to select width-specialized low-bit execution and reuse captured graphs over shared KV storage. On NVIDIA H20, BitMTP with hybrid decoding achieves five-task mean speedups of 2.2x on BitNet b1.58-2B and 2.1-2.4x on 1.7B-4B Bonsai models at comparable task quality. On RTX 3090 and Jetson Orin, it further achieves up to 2.0x in five-task mean throughput and 3.3x on MBPP+, respectively. These results demonstrate that BitMTP accelerates ultra-low-bit LLM generation across backbones, model sizes, and GPU types. The source code is released at https://github.com/PolyU-VCLab/BitMTP

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AWS Machine Learning Blog

Discover tools at runtime with AWS Agent Registry

Hardcoded tool wiring breaks down as an agent's catalog grows from a handful of tools to hundreds. This post walks through a runtime Discover, Instantiate, Execute loop built on AWS Agent Registry, where an orchestrator discovers MCP servers and A2A agents through semantic search at runtime instead of compiling every tool at build time.

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Microsoft Research

Called to serve: Tech, research, and positive impact

Lab Director Chris White has worked on research challenges with real-world implications—from new approaches to wartime data analysis to tools for combating human trafficking. He talks to program manager Weishung Liu about the influences that led to the work and more. The post Called to serve: Tech, research, and positive impact appeared first on Microsoft Research .

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arXiv AI Papers

APRIL: Ambiguity-Aware Expert Routing for Respiratory Sound Domain-Incremental Learning

Automated respiratory sound classification enables continuous, non-invasive respiratory assessment, yet long-term deployment remains challenging due to domain shifts from evolving recording devices and acquisition periods. When privacy and governance regulations prohibit replaying historical data, sequential learning easily overwrites previously acquired knowledge. Preserving dedicated domain experts prevents parameter interference, but selecting the correct expert at inference is difficult under overlapping acoustic distributions and absent domain labels. To resolve this dilemma, we propose APRIL, an exemplar-free domain-incremental framework for RSC. Built on a shared frozen BEATs backbone, APRIL sequentially inherits and isolates low-rank experts to enable new-domain adaptation without altering earlier models. A multi-level prototype router retrieves the top-two candidate experts and dynamically selects the final model by integrating domain-routing posteriors with classification confidence, adaptively weighted by matching ambiguity. We establish standardized device- and temporal-incremental benchmarks on the ICBHI and SPRSound datasets across forward and reversed domain orders. Evaluated over five random seeds, APRIL consistently achieves the highest final-session average Score among compared continual learning approaches, reaching 64.4% and 65.4% on ICBHI, and 83.1% and 82.2% on SPRSound under forward and reversed sequences, respectively. Crucially, average forgetting remains under 1.0% across all protocols, demonstrating robust domain adaptation and long-term knowledge retention without data replay. Overall, APRIL offers a reliable and privacy-preserving paradigm for deploying continuous respiratory sound classification across real-world healthcare settings.

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arXiv AI Papers

From Comparison to Selection: Enhancing Cross-Scale Generalization of Pointer Networks Trained with Reinforcement Learning for Capacitated Drone Delivery Routing

Unmanned aerial vehicles (UAVs) enable fast, flexible last-mile and emergency delivery, but their routing remains challenging as the number of clients varies. Classical approaches based on mixed-integer programming and heuristics can scale poorly or require problem-specific design, motivating learning-based alternatives. Reinforcement learning is particularly promising, provided a single policy can generalize across problem sizes without retraining. Although attention-based Pointer Networks are inherently size-agnostic, their solution quality degrades under both upscaling and downscaling. Using the Capacitated Vehicle Routing Problem (CVRP) as a controlled proxy, with fixed capacity reflecting drone payload constraints, we investigate this degradation and identify three contributing factors: shifts in node density, attention dispersion, and dilution of the mean-pooled graph context. We systematically compare architecture-wide, encoder-side, and decoder-side modifications to address these limitations and propose a learned, permutation-invariant graph-context aggregation mechanism, implemented as a weighted average and as Set2Set. Results reveal distinct requirements for transfer in each direction: entropy-based attention scaling reduces the CVRP20-to-CVRP100 performance gap by 1.41 percentage points, while the proposed aggregation methods achieve the largest improvement on the more challenging CVRP100-to-CVRP20 transfer, approximately 0.9 percentage points. Exploiting this complementarity, we introduce an approach selector that chooses the best model for each training-target size pair. The selector reduces cost relative to the reference model across all nine seen train-test pairs and eight of nine pairs involving unseen sizes (CVRP35, CVRP75, and CVRP200), achieving improvements of up to 3.2 percent.

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arXiv AI Papers

Polarity Blindness in LLM Safety: A Systematic Study of Negation, Antonym Substitution, and Adversarial Framing

Negation remains a persistent challenge for language models across NLP tasks and modalities. We show that this weakness can undermine LLM safety guardrails through a structural vulnerability we term polarity blindness: the failure to recognize harmful intent after polarity-altering linguistic transformations. We study two forms of polarity inversion: grammatical negation and antonym replacement, and use synonym replacement as a polarity-preserving control. We further test whether an adversarial textual wrapper amplifies these failures. Using a 260-prompt benchmark across 10 state-of-the-art LLMs and 3 languages (English, Spanish, Czech), stratified by harmfulness potential and evaluated on a validated 0-5 harm scale, we find that polarity blindness affects most evaluated models, with mean harm scores reaching 4.12 for the most vulnerable model. The effect persists across typologically differing negation systems, suggesting that polarity blindness reflects a broader limitation in semantic robustness rather than a language- or grammar-specific failure.

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arXiv AI Papers

Staged Continual Adaptation of Multimodal Foundation Models for Japanese Financial Documents

Staged post-training of multimodal foundation models chains vision-language alignment, reasoning distillation, and domain tuning, yet how each phase trades capabilities against the others remains under-characterised. Tracking an 8.4B-parameter model from an un-fine-tuned baseline through three training phases on Japanese financial documents (evaluated on five text-input benchmarks), we find the phases interact non-additively: math-only distillation overwrites the financial knowledge acquired earlier even as procedural math skill survives, and the domain phase repairs more than it installs. A skip-phase ablation is best for domain knowledge but forfeits numerical-reasoning gains, so per-phase contributions are not decomposable and the best checkpoint is task-dependent, with implications for checkpoint retention and scheduling rather than added stages.

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arXiv AI Papers

CollabSciReM: Aligning Language Models for Scientific Conversations via Science-Aware Reward Decomposition

Large Language Models (LLMs) are increasingly used as research collaborators for hypothesis refinement, methodological planning, and technical analysis across multi-turn interactions. In this setting, a useful assistant must be accurate, methodologically justified, logically consistent, and token-efficient. Current alignment approaches rarely achieve all of these together. Instruction-tuned models gain conversational quality through verbosity, and we show that science-agnostic general collaborative rewards compress responses at the expense of scientific rigor. We propose CollabSciReM, a goal-conditioned reward framework that decomposes the session-level reward into conversational quality, scientific rigor, and structural efficiency. We also introduce SciQuality, a pairwise evaluation of multi-turn research conversations grounded in 300 held-out scientific papers and scored on six dimensions: methodological soundness, justification, logical consistency, factual correctness, novelty, and responsiveness. Fine-tuned on 8.62K synthetic research conversations, CollabSciReM is preferred on SciQuality over a science-agnostic reward baseline trained on the same data for all four Llama and Qwen models, including a 65.3% win rate at matched response length. For the 7B and 8B models, CollabSciReM outperforms the science-agnostic reward baseline on the primary metric in 8 of 10 single- and multi-turn benchmark settings. In a blind study, domain experts rated CollabSciReM significantly higher on novelty than the general-reward variant and reported fewer hallucinated responses than both the general-reward variant and the base model.

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arXiv AI Papers

The Shape of the DPO Hyperparameter Landscape: What to Measure, How It Moves with Scale, and When Not to Transfer It

Direct preference optimisation (DPO) is widely used for language model post-training, but its performance depends strongly on the choice of its hyperparameters, such as the learning rate and the reference-policy regularisation parameter β. To better understand the DPO hyperparameter landscape, we conduct extensive experiments using a dense hyperparameter grid across different model scales from the same family. This allows us to analyse how the optimal DPO hyperparameters evolve with model size and the number of update steps, with intermediate checkpoints providing an inexpensive signal to accelerate the hyperparameter optimisation process. Furthermore, by evaluating our models on both static and dynamic benchmarks, we identify which benchmarks provide the strongest signal for hyperparameter selection. Finally, we investigate how different state-of-the-art hyperparameter optimisation strategies perform in this setting. Our experiments show that the optimal learning rate varies with model size and that hyperparameters are not transferable across training datasets. We also find that validation loss is a poor proxy for hyperparameter optimisation, as hyperparameters that minimize validation loss only weakly correlate with optimal hyperparameters for downstream benchmarks. Therefore, DPO hyperparameters need to be tuned specifically for the target model, dataset, and evaluation objective. We also show that short candidate training runs can substantially reduce the cost of this selection. We release all our training configurations and evaluation results to support reproducible analysis of selection quality and training cost.

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arXiv AI Papers

Physical-Variable-Informed Deep Learning for Robust Diagnosis in Industrial Fluid Transport Systems

Industrial fluid transport systems are monitored through heterogeneous sensing streams, but robust fault diagnosis remains difficult because response signals vary with operating conditions and differ from physical variables in sampling rate, observation duration and data granularity. To address these challenges, we propose a physical-variable-informed deep learning framework (PhyNet) for robust fault diagnosis under real-world sampling heterogeneity. PhyNet treats physical variables as global operating constraints and response signals as local diagnostic evidence. Its physical-to-response cross-attention mechanism connects sequence-level physical-variable tokens with a learnable global response token, enabling interaction without strict temporal alignment. Across four benchmarks, including three real-world cavitation datasets and one public two-phase-flow dataset, PhyNet achieves the best performance across all evaluated metrics. Class-wise analyses, together with attention and masking analyses, show improved discrimination of ambiguous states and indicate that physical variables meaningfully constrain local response interpretation. These findings demonstrate a deployment-oriented approach to robust diagnosis in heterogeneous industrial environments.

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arXiv AI Papers

Enumeration-Guided Training of Neural Hamilton-Jacobi Safety Certificates

Hamilton-Jacobi (HJ) reachability analysis offers formal safety guarantees for control systems, but training accurate neural certificates remains difficult, particularly when unsafe regions are hard to characterize. We propose a verification-guided training framework that addresses this by using probabilistic enumeration of safety constraints to detect forward-invariance violations, i.e., states where the learned certificate incorrectly classifies unsafe behavior. This produces a compact, targeted set of counterexamples that more precisely captures the failure boundary than inputs generated by standard adversarial attack methods. Crucially, using this representation to fine-tune a pretrained HJ value function yields larger certified regions and reduces certification time across all tested benchmarks. We further introduce a shielding mechanism based on the refined certificates to enforce safety constraints at deployment time. We evaluate the proposed safety filter in a realistic, physics-based Isaac Sim environment and through real-world autonomous racing experiments, achieving zero safety constraint violations compared to a nominal controller and a backup policy based on Linear Quadratic Regulation (LQR). These results demonstrate the effectiveness of the proposed shielding mechanism in ensuring safe operation under high-speed, safety-critical conditions.

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arXiv AI Papers

Physical Operating-Condition-Guided Vision-Language Matching for Cavitation Diagnosis in Industrial Pipeline Systems

Cavitation diagnosis in industrial pipeline systems is challenging because acoustic responses vary substantially with operating conditions, while similar time-frequency patterns may correspond to different cavitation states. To address this issue, we propose a physical operating-condition-guided vision-language matching (POC-VLM) for cavitation diagnosis. POC-VLM first constructs physical operating-condition-aware semantic descriptions by explicitly incorporating sample-specific operating variables into candidate cavitation texts. A time-frequency-conditioned text adaptation module then dynamically aligns these physical semantics with the observed acoustic response, followed by global-local vision-language matching to capture both holistic and localized discriminative patterns. In parallel, a K-nearest neighbours-based non-parametric physical operating-condition prior estimates the physical plausibility of each candidate state and is fused with the vision-language semantic evidence at the decision level. Experiments on three real-world cavitation datasets show that POC-VLM consistently outperforms representative data-driven, multimodal and domain-specific diagnostic methods. Further analyses verify the complementary roles of vision-language semantic matching and physical operating-condition priors, while demonstrating robust performance under varying sampling rates, noise levels and observation durations.

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arXiv AI Papers

LaLa-World: Scaling Latent World Models with Natural Language Actions

This paper shows that JEPA-style latent world models (LWMs) can learn across diverse domains and data sources by adopting the language-conditioned interface of video generation models. We establish this approach as an effective and efficient basis for planning with imagination and downstream policy fine-tuning. To this end, we introduce LaLa-World, a Language-conditioned Latent World model that learns from simulation and robot trajectories together with broader image and video data. Two designs make this work. First, we describe both numerical actions and visual changes in language, enabling joint training of a single future predictor across heterogeneous datasets. Second, we build the predictor on a language model, allowing it to interpret language conditions while predicting future latent states. The resulting predictor achieves higher average MPC planning performance than existing LWMs trained separately for each domain or task. Adding image and video data further improves average planning performance and robustness to action phrasing. In a matched comparison with an RAEv2-based video generation model baseline, LaLa-World reaches comparable planning performance with 6less training cost and 13.9faster planning. Beyond planning, the pretrained LaLa-World serves as an initialization for LaLa-Policy, which jointly predicts actions and future visual representations. LaLa-Policy performs competitively with Cosmos Policy on LIBERO and RoboCasa, with up to 5.5faster inference.

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arXiv AI Papers

SAPD: Learning from Agent Experience without Environment Interaction

Scaling the training of Large Language Model (LLM) agents typically requires a large collection of executable environments, whose construction, maintenance, and operation constrain the expansion of training experience. Existing offline trajectories offer an opportunity to reuse interaction experience, yet effectively refining the current policy without revisiting these environments remains challenging: supervised fine-tuning (SFT) can lead to catastrophic forgetting, while online reinforcement learning requires real-time interaction with the environment. To address this challenge, we propose Step-Advantage Policy Distillation (SAPD), a method for learning from offline trajectories using relative step advantages. SAPD decomposes multi-turn trajectories into individual decision contexts for on-policy distillation, allowing the student to generate responses conditioned on recorded histories, and introduces relative step advantage signals to stabilize training. The entire process requires neither new environment observations nor additional multi-turn interactions. Experiments on ALFWorld, WebShop, and Search-based QA show that SAPD improves performance across different teacher configurations, mitigates catastrophic forgetting compared with SFT, and runs at least 4.7faster per training step than online OPD. We will release our code soon.

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