Compositional generalisation has been divided into lexical and structural generalisation. Previous work has found that structural generalisation is harder than lexical for Transformers. We propose that this difference is not inherent to Transformers, but due to the high diversity of lexical types and low diversity of structural types in the specific datasets of these previous works. By type diversity we mean the number of different constructors of that type, instead of, for example, the specific word combinations that might populate the structure. To test this, we vary the amounts of type diversity of lexical and structural types in previously published datasets. We create linguistically diverse variants of the COGS and SLOG datasets using Grammatical Framework. We find that type diversity correlates with compositional generalisation equally in lexical and structural test cases, supporting our hypothesis. We note a contradiction with the proposition in previous work that compound divergence explains the difficulty in compositional generalisation tasks. We further investigate the effects of other dataset properties on compositional generalisation, such as the diversity of types other than the novel test structure, and surface properties of the logical semantics format.
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Post-training attention sparsification reduces the quadratic cumulative attention cost of pretrained Transformers by selecting a small set of context units (tokens or blocks) for each query. Existing trainable methods usually use a lightweight selector to score context units, followed by hard Top-K selection that blocks gradients from the language modeling loss. Consequently, these methods commonly distill layer-wise dense attention distributions. Although this encourages the selector to rank context units by dense attention weights in the original model, the ranking is not directly aligned with their impact on predictions under a fixed attention budget (i.e., the number of attended context units per query), potentially wasting the limited budget on less useful units. To address this misalignment, we propose Simple Attention Sparsification (SAS), a gated sparse attention mechanism that optimizes context ranking end-to-end with the language modeling loss. The key idea is to inject the selector's continuous scores into attention logits during training, allowing the loss to update the selector through standard backpropagation. We identify several choices crucial for this simple design to work well in practice: placing the gate inside the attention softmax in log form, using normalized softmax gates to calibrate historical context against the always-retained current block, and preserving continuous selector scores so the model learns relative priorities rather than only hard selections. To support long-sequence training, we implement a memory-efficient Triton kernel that integrates SAS into FlashAttention-style computation. Across reasoning, long-context understanding, and agentic tasks, SAS consistently outperforms trainable sparse attention baselines across attention budgets, with especially large gains under tight budgets, demonstrating more effective context ranking for downstream tasks.
Frontier language models are more aggressively using subquadratic attention to reduce the memory footprint and compute requirements during inference while still delivering frontier accuracy. While existing systems make dense attention-centric disaggregated serving decisions, we show that disaggregating inference around the unique arithmetic intensity and memory footprint of subquadratic attention LLMs can achieve significant throughput and energy efficiency gains on emerging DRAM-based and SRAM-only heterogeneous systems. We introduce SQD (SubQuadratic Disaggregation), a fine-grained heterogeneous disaggregation scheme that splits decode by quadratic and subquadratic attention rather than by operator type, and that applies across subquadratic attention variants. For sparse attention LLMs, we disaggregate decode into top-k selection, which must index through the full KV, and top-k attention plus FFN, which have static memory footprints. For linear and sliding-window attention LLMs, we disaggregate decode into dense attention layers and subquadratic attention layers plus FFN. In an adjusted 8xB200 heterogeneous system proxy, we observe average tokens/J improvements of 53% on GLM 5.2, 31% on Nemotron 3 Ultra, and 56% on Gemma 4 31B over the strongest GPU-only baselines. In an analytical model of a Rubin plus LPX system with fixed power budgets, we observe 1.2x to 1.5x tighter achievable latencies and up to 3.6x higher throughput over the best baseline of attention-FFN disaggregation. Our experiments also reveal architectural insights on chip and interconnect provisioning for next-generation heterogeneous systems serving subquadratic attention.
Accurate prediction of equity returns remains a major challenge in computational finance due to the non-stationary, nonlinear, and low signal-to-noise ratio nature of financial time series. This paper proposes a hybrid two-stage architecture that combines a long short-term memory (LSTM) network with an XGBoost gradient-boosted regressor for multi-horizon stock return prediction across a diversified panel of 14 U.S. equities spanning six industry sectors. The LSTM component, comprising two stacked layers with 64 hidden units, processes 60-day sliding windows of five sequential market features to produce 64-dimensional temporal embeddings that encode learned sequential market dynamics. These embeddings are concatenated with 14 hand-crafted technical indicators to form a 78-dimensional hybrid feature vector, which is subsequently passed to an XGBoost regressor tuned via 3-fold cross-validation grid search. The framework is trained on a multi-stock pooled corpus using strict chronological splits and per-stock MinMaxScaling to prevent look-ahead bias, and evaluated across four prediction horizons of 30, 90, 252, and 365 trading days. Experimental results demonstrate that the hybrid model achieves a test RMSE of 0.0949 on the 30-day horizon, roughly one-third that of the standalone LSTM baseline, while marginally matching or surpassing the XGBoost-Only baseline across the majority of stocks. Directional accuracy rises with horizon length, reaching 97.6% at 365 days; we show, however, that this largely tracks the high base rate of positive long-horizon returns in the sample, and we therefore benchmark directional accuracy against a naive always-positive predictor and treat the above-base-rate gap at short horizons as the more informative signal. A composite investment scoring framework derived from multi-horizon predictions is further proposed to support portfolio ranking and decision support.
Dance-to-music (D2M) generation aims to synthesize music that is rhythmically and stylistically aligned with dance videos. A key challenge arises from the semantic mismatch between sparse dance cues, such as rhythm and style, and the dense information required for music composition, including structure, instrumentation, and expressive dynamics. Existing methods typically rely on these sparse cues and supervise only the final audio output, resulting in poorly learned music representations and generated music with limited musicality and structural coherence. To address these issues, we propose Curriculum-guided Multi-scale representation Alignment with scale-aware Optimal Transport (CMA-OT), a novel paradigm that leverages an external music expert to provide hierarchical supervision for the generator's latent features, bridging the semantic gap and enhancing representation learning. To effectively incorporate hierarchical supervision, we introduce a curriculum-guided multi-scale learning strategy that progressively transfers musical knowledge from the expert to the music generator, enabling stable and effective representation learning. Moreover, to accommodate the semantic and structural variations across different expert scales and achieve fine-grained alignment under temporal mismatch, we propose a scale-aware optimal transport alignment mechanism, which models soft correspondences between hierarchical expert representations and the generator's latent features. Extensive experiments on two datasets demonstrate that CMA-OT achieves state-of-the-art performance in rhythmic synchronization, perceptual quality, and overall music generation.
Full-duplex evaluation often emphasizes whether an agent keeps speaking or stops. That binary cannot express a third response humans use routinely: continuing to speak while incorporating what the listener just contributed. The contribution may be a missing word, a correction or a clarification. We introduce Duplex Cue, an evaluation of this in-turn adaptation in full-duplex voice agents. Duplex Cue separates listener intent (backchannel, collaboration, or interruption) from speaker behavior: continuing unchanged, adapting within the turn, or yielding. Adaptation includes acknowledgment as well as content revision. In a single-model case study using 300 human-confirmed cues from unscripted English conversations, we compare recorded human responses with PersonaPlex continuations generated while replaying the listener's audio. We retain 208 pairs with the ongoing speaker active at cue onset and a scorable response in each condition. On the 66 collaborative pairs, recorded speakers adapt in 68.2\% of cases, compared with 34.8\% for PersonaPlex. The model otherwise continues unchanged (42.4\%) or yields (22.7\%). These findings show why evaluating natural voice interaction requires measuring how an agent responds to a listener's contribution as well as whether it keeps speaking.
When providing forecasted probabilities with a predictive model, the ideal model offers perfect calibration: the true probability of the outcome (i.e., the probability that Y=1) exactly matches the forecasted probability f(X). In practice, models inevitably exhibit calibration error, and it is therefore important to be able to measure this miscalibration to assess a model's reliability. The Expected Calibration Error (ECE) is the most widely used measure of miscalibration, but is known to be impossible to estimate the ECE with guaranteed accuracy in an assumption-free setting. In this work, we propose an alternative measure, the rankECE, that is based on comparing points with neighboring values of the predicted probability f(X). Our theoretical guarantees and empirical results establish that rankECE provides a better proxy for ECE as compared to binned approximations to ECE, which are the most commonly-used approximations in practice.
In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is difficult to model analytically. We present ASTRIL-MPC, a language-guided neural kinematics model predictive control (MPC) framework for autonomous traversal. A learned kinematics model predicts short-horizon task-state increments from a height sequence and recent trajectories; NMPC plans with multi-objective costs and strict feasibility constraints; and a large language model (LLM) proposes bounded updates to selected weights and bounds through a safety-checked interface with range clipping, rate limiting, and consistency checks. The compiled predictor enables a full control cycle within 100 ms. Across three traversal tasks and a multi-height generalization setting, ASTRIL-MPC improves an aggregate traversal-quality score by up to 71% over a non-adaptive NMPC and by 67% over a PPO baseline, while eliminating measurable collision impacts during descent. These results indicate that combining learned kinematics, optimization-based planning, and language-guided retuning yields data-efficient and robust autonomy for articulated tracked robots.
Agentic systems offer a promising way to automate embodied benchmark construction, but existing approaches typically cover isolated stages or remain specialized to predefined environments and task families. More importantly, multi-step construction produces dependent intermediate artifacts that are often passed downstream without artifact-specific verification, allowing local defects to propagate into the final benchmark. We present Embodied-BenchForge, an agentic framework that transforms user-specified evaluation intents into complete embodied benchmark artifacts. It formulates construction as Closed-Loop Benchmark Synthesis, integrating forward artifact synthesis with backward verification and repair. Skill-Orchestrated Artifact Synthesis composes typed and reusable skills into executable workflows, while an artifact dependency graph records intermediate outputs and their dependencies. Requirement-Guided Verification and Repair applies artifact-specific contracts throughout construction and uses provenance to trigger local re-execution or upstream rollback when verification fails. Embodied-BenchForge constructs six benchmarks covering diverse embodied scenarios in the Offline EQA Track, together with one interactive benchmark containing 220 executable tasks in the Interactive Embodied Track. Evaluations of representative MLLMs and embodied agents show that the benchmarks distinguish model capabilities in both observation-based understanding and closed-loop execution. Quality assessment and ablations validate benchmark quality and the effectiveness of verification and repair, while repair and skill-reuse analyses demonstrate efficient localized recovery and cross-benchmark reusability.
Conversational voice agents have advanced significantly, offering increasingly natural human-machine interactions through both cascaded and end-to-end architectures. However, while recent benchmarks extensively evaluate dyadic interactions and passive audio comprehension, they largely overlook a prevalent real-world scenario: multi-party conversations. Evaluating agents in these settings is fundamentally more challenging than in dyadic interactions due to the exponentially greater conversational complexity. For voice agents to integrate seamlessly into human group dynamics, they must not only generate contextually appropriate responses but also demonstrate a nuanced understanding of open turn-taking. To address this gap, we introduce Multiparty Bench (MP-Bench), the first benchmark specifically designed to objectively evaluate conversational speech systems as active participants within multi-party contexts. MP-Bench assesses agent behavior along two primary dimensions: turn-taking awareness and response appropriateness. Additionally, we incorporate comprehension-based question-answering tasks as a complementary evaluation. By benchmarking 12 voice agents, we find that real-time voice agents stay at or below 22% on multiparty comprehension and remain near chance on multiparty turn-taking, exposing an open challenge for real-time voice agents under multiparty scenario.
Recent breakthroughs in LLM-based systems and their abilities in problem solving and coding have allowed progress in the AI for Science paradigm, potentially replacing human roles in machine learning (ML) research. However, while several frameworks of fully autonomous end-to-end ML research have been proposed, successful implementations of them are often limited to problems with narrow search spaces, like language modeling or biomedical ML benchmarks. In this paper, we explore how autonomous research can be adapted to solve open-ended, industry-grade ML problems, by considering a case study: telecom ticket retrieval, an open-ended task with degrees of freedom in representation, architecture, and training data generation. We discover that autonomous research for open-ended problems with commercial and open-source agents shows both promise and limitations: while autonomous research can excel in narrow hyperparameter optimization, it lacks human-like intuition and creativity and requires operational overhead. Even with minimal human supervision, autonomous research can reach 90\% of state-of-the-art performance (0.34 vs. 0.38 Recall@1) in a much shorter time period (10 weeks vs. 10 months of human work) at a modest cost (up to \$200 per Cursor campaign). Our empirical evidence recommends that human researchers and autonomous research frameworks work together for best results in ML research.
Fine-grained control of language model behaviors (e.g., steering) is among the more actionable outcomes of interpretability research. For binary concepts such as refusal, a single direction in activation space often suffices for steering. However, many concepts are not binary: Animals and Countries contain many subcategories, each with multiple instances. For these concepts, the search space over possible representation geometries is far larger than for binary concepts; it is thus not clear what geometries are most appropriate, nor what methods are most effective at recovering them. In this work, we introduce MAxBench, a geometry-agnostic evaluation framework for multinomial concept representations based on sampling from the recovered concept representation. We use MAxBench to compare 10 localization methods (covering 5 geometry types) across 6 concepts and 4 models. Using this framework, we find that (i) affine subspaces steer more reliably and have greater recall than rank-one or linear subspaces; (ii) much of this advantage is due to better non-zero offsets rather than the choice of bases; (iii) manifold steering is competitive with the best methods when applicable; and (iv) no method consistently outperforms prompting, in alignment with prior findings on binary concepts. These findings underscore the importance of expanding the scope of interpretability research and meta-evaluation to concepts with more varied structure.
Enterprise Digital Twins (EDTs) promise data-driven decision support at organizational scale, but realizing them requires navigating siloed departments, tacit knowledge, and high-stakes decisions with long-horizon consequences. Existing approaches involve domain experts during model development but focus less on early organizational buy-in in EDTs. We present a vision for trustworthy EDT engineering grounded in an `involving before evolving' paradigm: rapidly involving stakeholders through a working prototype before evolving toward federation and full interoperability. Our three-stage approach combines foundation models for rapid prototyping, an ontological backbone for federated interoperability, and observability tooling for stakeholder trust. We ground our vision in an ongoing collaboration with Michelin, a multinational manufacturer, where an initial prototype has helped support stakeholder buy-in.
