Vision-Language Models (VLMs) are increasingly used to evaluate robot manipulation outcomes, but existing benchmarks offer limited evidence of cross-domain generalization. We introduce FailBench, a benchmark for robot failure detection comprising 2,197 manipulation attempts across 14 public sources (12 real-world, 2 simulated). In FailBench, 75% of failures occur naturally, and six real-world sources come from non-failure-detection datasets. Evaluating 13 VLM-based detectors, we find the best model achieves only 0.77 mean balanced accuracy. Notably, models fine-tuned for failure detection consistently underperform general-purpose VLMs and their own pretrained baselines. Performance depends heavily on required visual evidence: models approach saturation when outcomes depend on observable object motion, but degrade to near-chance (<0.60 balanced accuracy) on contact-intensive assembly tasks. Error analysis reveals a systematic bias toward predicting success under ambiguous evidence, which persists even with increased reasoning effort. Finally, we show that input-level intervention--spatially localizing and cropping outcome-relevant regions--improves the top detector by 2.4 percentage points without extra training.
Deep neural networks deployed in the wild must be both efficient and adaptable, requiring model compression and test-time adaptation (TTA). While both are well studied in isolation, their interaction remains poorly understood. We systematically analyze how structured compression affects a model's ability to adapt under distribution shift. Using ResNet-18 and ViT-Base on CIFAR-10-C and ImageNet-C, we evaluate multiple compression methods combined with standard TTA techniques. We introduce a diagnostic framework that examines representational expressivity and adaptation subspace compatibility. Our results reveal a consistent gap: although compressed models retain high accuracy under supervised adaptation, their TTA performance degrades significantly with increasing compression. We show that this stems from reduced representational diversity and structural constraints that limit recoverability. These effects strongly depend on the compression method, highlighting the need to design compression strategies that preserve adaptability.
Francesco Corti, Dong Wang, Young D. Kwon et al.· 0 citations
We investigate what makes synthetic OCR supervision transfer to real Thai documents and use the resulting insights to build Wayu-Paxa-OCR-Zero, a Thai OCR model adapted without OCR labels from real Thai document pages. Synthetic data provide exact labels at scale, but "realism" conflates source domain, page context, typography, spatial structure, and glyph variation. We disentangle these factors with a controlled document-reconstruction pipeline and evaluate each variant under page- and crop-level training on printed and handwritten Thai documents. Non-text context has little consistent effect, whereas typeface diversity, two-dimensional structure, and real handwriting glyphs improve transfer; moreover, source-domain matching depends on training granularity, with in-domain reconstruction approaching real printed supervision under page-level training (1.82% versus 1.31% median character error rate) but underperforming out-of-domain reconstruction under crop-level training (15.59% versus 5.52%). Guided by these findings, we adapt the 0.9B-parameter PaddleOCR-VL-1.6 into Wayu-Paxa-OCR-Zero using 45,723 synthetic pages: relative to its base checkpoint, it reduces median character error rate from 6.64% to 1.24% on printed pages and from 74.87% to 20.55% on handwriting and outperforms Typhoon OCR v1 7B on all five evaluation sets, showing that synthetic-only training can be competitive.
As integrated circuit technology scales into the nanometer regime, the traditional disconnect between logic synthesis and physical design has led to significant PPA (Power, Performance, and Area) degradation and prolonged design closure cycles. Traditional logic synthesis relies on non-physical Wire Load Models (WLMs), while recent spectral-based placement predictors often neglect the inherent hierarchical logic depth and signal flow of netlists, which leads to low-fidelity spatial estimations. To bridge this gap, we propose LevelSyn, a novel physical-aware logic synthesis framework that integrates hierarchical representation learning with a wirelength-driven optimization engine. At its core, LevelSyn leverages a level-asynchronous Graph Neural Network (GNN) to predict high-fidelity gate coordinates by capturing the structural and directional semantics of And-Inverter Graphs (AIGs). To handle industrial-scale designs, a level-aligned subgraph partitioning strategy is introduced to eliminate memory bottlenecks while preserving local logical dependencies. These spatial insights are seamlessly integrated into a newly developed physical-informed synthesis engine within the Berkeley ABC framework. Experimental results on the EPFL benchmark suite demonstrate that LevelSyn significantly outperforms state-of-the-art (SOTA) methods, achieving an average power reduction of 6.89\% and a timing delay improvement of 27.48\%. Furthermore, post-place-and-route validation shows a 99.59\% reduction in design rule check (DRC) violations, highlighting its effectiveness in accelerating design convergence.
Jingyi Zhou, Zhengyuan Shi, Ziyang Zheng et al.· 0 citations
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Timely delivery of delay-sensitive information over dynamic, heterogeneous networks is essential for NextG interactive applications, yet providing strict End-to-End (E2E) peak latency guarantees remains an open challenge. Two obstacles limit the adoption of learning-based network control in this setting: traditional volume-based routing metrics, while highly effective for general traffic management, are not designed to capture traffic urgency; and Deep Reinforcement Learning (DRL) controllers trained from scratch suffer from sample inefficiency, long training times, and early-stage exploration volatility. This paper introduces a deployment-focused network control framework that addresses both obstacles. First, we present Effective Congestion (EC), a deadline-aware metric family that quantifies interface congestion by packet urgency and proactively filters non-viable traffic, coupled with a Uniform Path Grouping (UPG) distribution heuristic promoting robust load-balancing; the resulting policies are embedded into Multi-Agent Deep Reinforcement Learning Effective Congestion ($p^*$) (MADRL EC ($p^*$)), a hybrid architecture combining a distributed scheduler with a centralized RL-based router. Second, we introduce a unified training objective that generalizes existing policy-learning paradigms---behavioral cloning, offline Reinforcement Learning (RL), online RL, and offline-to-online schemes---as special cases, combining a live-reward term, a pre-collected-reward term, and a policy-imitation term. From this objective, we derive the Model-Guided Annealed Reinforcement Learning (MGA-RL) protocol, instantiated on a Deep Deterministic Policy Gradient (DDPG) backbone: a deployment-oriented, demonstration-driven training approach that generalizes conventional Offline-to-Online (O2O) schemes, in which trajectories from a lightweight [...]
Vincenzo Norman Vitale, Mohammad Solki, Antonia Maria Tulino et al.· 0 citations
Action-conditioned JEPA world models enable planning toward visually specified goals without reconstructing future pixels, yet latent prediction alone does not explicitly encourage the learned representations to retain information relevant to robotic control. We introduce an end-to-end JEPA world model that augments latent prediction with inverse dynamics (IDM) and state alignment (SA). While inverse dynamics discourages latent collapse and makes latent transitions informative of the actions that produced them, state alignment grounds consecutive representations in their associated physical configuration and motion. Across four benchmark tasks, our model attains the highest success rates on TwoRoom (100%), PushT (98%), and OGBench-Cube (87%), while performing comparably to LeWorldModel on Reacher. Our ablation further shows that adding state alignment consistently improves planning success over IDM alone across all four tasks. Although LeWorldModel, our primary baseline, attains higher average straightening on OGBench-Cube, transition-subspace analysis shows that its transition energy is concentrated in a substantially lower-dimensional subspace. Our state-aligned model exhibits a higher effective transition dimension than LeWorldModel and improves planning over IDM alone, supporting state alignment as an effective complement to inverse dynamics for robotic planning.
Muyuan Liu (GENISOM AI, Beijing, China) et al.· 0 citations
Generative retrieval has demonstrated significant success by unifying representation learning and search into a single sequence-to-sequence generation task. However, extending this paradigm to cross-modal retrieval reveals a critical challenge arising from the inherent information asymmetry across different modalities, such as the gap between concise text queries and dense visual candidates. This structural mismatch causes the autoregressive decoder to suffer from forced hallucination when generating identifiers via standard trie-constrained beam search, where the model is severely penalized for failing to guess fine-grained details absent from the query, allowing irrelevant candidates to hijack top rankings. To address this issue, we propose Wildcard Inference with Dynamic Expansion (WIDE). WIDE employs Adaptive Entropy Thresholding (AET) to calibrate layer-specific uncertainty boundaries offline. During the decoding generation phase, Asymmetry-aware Wildcard Decoding (AWD) detects semantic blind spots and emits wildcards instead of forced deterministic identifiers, dynamically expanding the search space without incurring log-probability penalties. Finally, Blind-Spot Re-ranking (BSR) evaluates the expanded candidate pool using a hybrid scoring mechanism that combines discrete generation confidence with continuous semantic similarity. Extensive experiments on the M-BEIR benchmark demonstrate that WIDE outperforms state-of-the-art generative retrieval methods, effectively suppressing forced hallucination while maintaining compact index structures.
3D Gaussian Splatting has become a de facto scene representation for novel view synthesis, yet robustly learning 3D Gaussian primitives from visual input remains challenging. Standard optimization relies on gradient-based updates, but a common issue is the gradient vanishing phenomenon: a pixel far from a Gaussian primitive often has diminishing gradient magnitudes to influence primitive attributes, resulting in suboptimal scene reconstruction. In this paper, we propose a method to address gradient vanishing with a piecewise truncated gradient formulation that improves the optimization stability and robustness to initializations. We show that our method consistently improves 3D Gaussian Splatting with random and COLMAP initializations while being generalizable across static and dynamic Gaussian Splatting. As a by-product, we also examine the limitations of current benchmarks for dynamic scenes, and introduce a novel dataset for benchmarking dynamic Gaussian Splatting using synthetic 3D scenes. We demonstrate the effectiveness of our method in both static and dynamic settings for the public benchmarks and our proposed dataset.
Theo Morales, Nhat-Quynh Le-Pham, Robin Atkins et al.· 0 citations
Diffusion reinforcement learning (RL) has recently achieved significant success in post-training image and video generative models. However, most diffusion RL methods, including DanceGRPO and FlowGRPO, recompute selected timesteps with gradient tracking after rollout. Under on-policy training with the same backend for rollout and update, this recomputation is mathematically redundant. Intuitively, the rollout and policy update steps can reuse the same feed-forward backbone to avoid redundant computation, but doing so can incur a large memory overhead during rollout. To address the issue, we present LeanGRPO by restructuring the data-parallel layout and introducing two recompute-free training schedules for trajectory-logprob diffusion RL: (1) LeanGRPO-Retain enables gradient tracking during rollout and directly reuses the resulting computation graphs and saved activations for backward during update, requiring no recomputation; and (2) LeanGRPO-Reweight also enables gradients during rollout, but immediately backpropagates each selected step using a provisional advantage and delays gradient synchronization, then corrects the provisional gradients with the true advantage after the trajectory is completed. These schedules target different model scales and input sizes. Across FlowGRPO/DanceGRPO with FLUX.1-dev and Wan, LeanGRPO achieves up to 1.83x end-to-end speedup while preserving the original optimization objective.
Sijie Wang, Zhiqiang Tan, Xinrui Yang et al.· 0 citations
In conditional coding-based neural video compression, the quality of temporal context directly affects compression per- formance. Existing methods mostly construct context from prop- agated reference features, but they are vulnerable to motion esti- mation and local alignment errors in regions with complex mo- tion, occlusion, and high-frequency textures, resulting in inaccu- rate temporal information. To address this issue, this paper pro- poses a method combining deformable temporal alignment and difference-aware spatial selective fusion. A Context-aware Tem- poral Alignment Module is used to generate complementary tem- poral context, while a Difference-aware Spatial Selective Fusion module adaptively selects reliable temporal information and sup- presses misalignment. Experiments show that the proposed method achieves certain rate-distortion performance improve- ment over DCVC-DC.
Chuyue Shan, Songlin Sun, Wang Chenwei et al.· 0 citations
Tracking depression from multi-session counseling dialogues requires estimating both current symptom severity and how it changes across sessions. Yet progress on this task is constrained by the scarcity of longitudinal counseling data with standardized session-level depression labels. Existing resources typically provide either multi-session conversations without depression labels or labeled interviews in a single session. Building such a benchmark poses three challenges: maintaining longitudinal consistency and diversity, grounding symptom progression in empirical patterns, and expressing controlled depression states naturally without exposing target labels. To address these challenges, we introduce LongCounsel-8, a benchmark suite of three independently generated datasets totaling 7,749 five-session counseling trajectories, grounded in real-world client profiles, depression trajectories, symptom compositions, and counseling patterns. We combine profile-grounded simulation, empirically informed state construction, and indirect behavioral realization to address these challenges. Across the benchmark, simulated self-reports closely recover the controlled states, supporting label fidelity. Experiments on existing depression tracking methods reveal three key findings: (1) lower single-session score error does not guarantee accurate identification of trend, i.e., improvement or worsening; (2) existing methods are consistently less reliable on worsening trajectories; and (3) additional session history may reduce the accuracy of trend prediction. Together, these findings establish LongCounsel-8 as a foundation for advancing depression assessment from static, single-session prediction toward reliable longitudinal tracking of mental-health change.
In low-resource settings, deploying TTS typically requires choosing between a large voice-cloning model with costly inference or a compact fixed-voice system that requires a speaker-specific corpus. We study a third route: using a large voice-cloning model as a programmable data source to turn a short voice reference (e.g., 15 seconds) into a compact fixed-voice student trained entirely on synthetic speech. This setting makes pipeline design consequential: teacher errors become training targets, while filtering failed generations can reduce coverage of difficult texts. Thai further introduces challenges from ambiguous word boundaries, lexical tone, names and loanwords, numeric verbalization, and Thai-English code-switching. We study how text preparation, synthetic generation, quality filtering, rejection sampling, and frontend choices affect the resulting student, and where teacher limitations remain. We evaluate CER, Challenge-Set Keyword Accuracy, Prosody Pause Accuracy, speaker similarity, and speaking rate. The resulting 82M-parameter model, Wayu-Paxa-TTS-Edge, enables on-device Thai TTS without reference audio. It achieves 68.2% Challenge-Set Keyword Accuracy (85.5% of Gemini 3.1) and 91.4% pause precision, outperforming its OmniVoice teacher (89.9%) and reaching 94.8% of Gemini 3.1. It also achieves the lowest pause-placement error and intra-word pause rates among the three systems, and 3.7% and 1.1% CER on Thai and English, respectively. We open-source the model and evaluation framework for Thai TTS development.
Kunat Pipatanakul, Potsawee Manakul, Warit Sirichotedumrong et al.· 0 citations
