Noticias de IA - ítems

arXiv:2606.07974v2 Announce Type: replace-cross Abstract: Latent world models learn representations that enable them to predict how actions change the environment - a capability we call physical intuition. We find that these same representations also support action intuition: a lightweight head can learn a goal-conditioned action prior directly from the frozen encoder's features. We introduce PRISM to investigate how action intuition can be extracted from frozen world-model representations and used to guide goal-conditioned planning. The prior's mean and predicted uncertainty guide the search for useful actions, while the world model evaluates their consequences against the goal. Experiments on four simulated control tasks and two real-robot platforms show that a lightweight action head improves planning performance, and that the same fusion interface accepts a diffusion prior over the same frozen features without modification. These results demonstrate the potential of reusing world-model representations to both predict action consequences and guide action selection.

arXiv:2606.05646v2 Announce Type: replace-cross Abstract: Large language models (LLMs) have enabled powerful software engineering (SE) agents capable of navigating complex codebases and resolving real-world issues. However, these agents remain fundamentally episodic: they fail to retain, refine, and reuse experiences across tasks, repeatedly reconstructing context from scratch and reproducing similar mistakes. Even with memory support, they offer no remedy for the absence of a principled, task-agnostic \textit{memory utility}, making them difficult to evaluate rigorously or generalize across agents and settings. To tackle these limitations, we introduce MemOp, a closed-loop framework for memory augmentation in SE agents. MemOp grounds memory utility in \textit{validated downstream impact}, establishing utility as both a task-agnostic \textbf{evaluation benchmark} and an annotation-free \textbf{optimization signal}. Evaluating MemOp across four benchmarks, three programming languages, and two SE agents, under complementary \textit{single-episode} and \textit{cross-episode} memory augmentation, results demonstrate the \textbf{effectiveness} of MemOp, achieving absolute gains of up to $\uparrow5.25\%$ in success rate and $\uparrow4.63\%$ in resolve efficiency, while notably reducing deployment cost by $\geq10.33\%$. MemOp further exhibits \textbf{generalizability} across SE agents, memory backbones, and optimization algorithms, together with \textbf{transferability} of MemOp-trained memory model to unseen programming languages and SE activities. Our project page: https://xhguo7.github.io/MemOp/.

arXiv:2606.02552v2 Announce Type: replace-cross Abstract: Despite advances in depth estimation, flying points remain a persistent failure mode: near object boundaries, depth estimators often predict spurious 3D points in the empty space between foreground and background surfaces. We trace this artifact to a standard modeling choice: assigning each pixel a single depth hypothesis. At boundaries, a pixel can straddle a foreground and a background surface, so its true depth is ambiguous between the two. A model that predicts a single depth cannot keep both possibilities, so training instead pulls the prediction toward an intermediate depth that lies on neither surface. We address this with MDA, a mixture-density representation that lets the model predict multiple depth hypotheses and their associated probabilities for each pixel. Near boundaries, different hypotheses can align with different surfaces, and the decoded depth is selected from one of these hypotheses rather than placed in the empty space between them. Across different architectures, MDA substantially improves boundary reconstruction over each base model and largely removes flying-point artifacts even under severe input blur, while adding negligible runtime overhead. The same mixture-density framework naturally extends to transparent objects, where it predicts multiple depth layers at transparent pixels, and to sky regions, where a dedicated component separates the unbounded sky from finite-depth regions, producing flying-point-free skylines.

arXiv:2606.01478v3 Announce Type: replace-cross Abstract: High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing robots' capabilities. While aerial robotics simulators have evolved to support specialized needs such as fidelity, differentiability, and swarms independently, a unified platform that synthesizes data across all these domains is missing. In this work, we propose Crazyflow, a simulator designed to push the frontier of aerial robotics algorithm development, supporting model-based and data-driven methods, gradient-based and sampling-based approaches, single- and multi-agent systems, and state- and vision-based policy learning. Crazyflow combines high-fidelity dynamics with JAX for speed and differentiability, scaling to millions of environments or thousands of swarms with thousands of drones on single CPUs and GPUs, and beyond on clusters. Real-world experiments show Crazyflow supports both analytical-gradient-based policy learning, achieving high-accuracy tracking without domain randomization, and sampling-based obstacle avoidance at speeds exceeding half a billion steps per second. Breaking the traditional train-then-deploy paradigm, Crazyflow's performance enables in-flight reinforcement learning; we demonstrate this by throwing a physical drone into the air and training a recovery policy from scratch in 0.37 seconds, catching it before it hits the ground. By pushing accuracy, speed, and differentiability simultaneously, Crazyflow serves as an open-source resource for synthetic data generation, with emerging capabilities for large-scale parallelization for online, in-execution learning and optimization, opening the door to novel algorithm development.

arXiv:2605.30913v2 Announce Type: replace-cross Abstract: Large language models (LLMs) are increasingly deployed in conversational settings where user phrasing ranges from polite to casual to toxic, yet less is known about whether such lexical variation in otherwise semantically equivalent prompts can degrade factual reliability. We study how lexical and tone-based prompt perturbations affect the factual reliability of LLMs. Using controlled prompt variations spanning polite, random, and increasingly toxic levels, we evaluate seven LLMs on ARC-Easy, GSM8K, and MMLU. We find that lexical perturbations reduce factual accuracy and increase predictive uncertainty in most models. Interestingly, increasing toxicity results in decreasing accuracy. To examine whether these answer inconsistencies correspond to internal changes, we conduct attribution-graph analyses of model activations and influences. We find that perturbations amplify perturbation-sensitive variant nodes relative to core reasoning nodes. We also observed a monotonic trend with increasing toxicity score and increasing activation and influence in Variant nodes. These findings position prompt wording and tone as a critical dimension of LLM reliability and provide behavioral and mechanistic evidence that surface-level lexical variation can alter factual outputs and internal computation.

arXiv:2605.26893v2 Announce Type: replace-cross Abstract: Chain-of-Thought (CoT) reasoning has significantly enhanced the reasoning capabilities of large language models (LLMs). However, existing reinforcement learning methods primarily optimize outcome-level rewards, providing limited supervision over the reasoning process. As a result, models may produce shortcut-prone or unstable reasoning trajectories even when the final answer is correct. We propose GeoFaith, a spatio-temporal latent dynamics framework for learning faithful reasoning processes without process reward models. GeoFaith combines final-state latent uncertainty, which measures whether a completed trajectory lies in a well-supported manifold region, with predictive-entropy dynamics, which penalize abnormal uncertainty patterns such as premature collapse, oscillation, and prolonged uncertainty. These signals are incorporated as process regularization into GRPO, jointly optimizing answer correctness and reasoning quality without step-level process annotations. Experiments show that GeoFaith consistently improves reasoning accuracy, produces more efficient reasoning trajectories, and outperforms both outcome-only reinforcement learning and process-supervision baselines.

arXiv:2605.24155v2 Announce Type: replace-cross Abstract: Effective skills-aware talent recommendation must balance behavioral transition patterns, trajectory-sensitive adaptation, and inspectable occupation-level criteria. Evidence from public benchmarks on how these signals interact, however, remains limited. This study proposes CF-RL-TOPSIS, an interpretable late-fusion model that integrates a transition-aware collaborative branch, a compact reinforcement-style occupation-family bandit, and an entropy-weighted TOPSIS branch constructed from six semantic proxies; the validation-selected fusion coefficients remain auditable. The model is evaluated on two frozen public ICT talent-history benchmarks, JobHop and Karrierewege, using repeated chronological top-5 ranking and paired Wilcoxon tests. On JobHop the full hybrid attains NDCG@5 = 0.3040 +/- 0.0073 and significantly surpasses repeat-last, item Markov, transition-aware collaborative filtering, the CF+TOPSIS hybrid, GRU4Rec, and SASRec (p <= 0.0039 across planned comparisons). On Karrierewege the hybrid remains competitive but does not significantly exceed the strongest Markov baseline, revealing a persistence-dominated setting in which the bandit branch appropriately shrinks to near-zero weight. Proxy-sensitivity, family-level deep Q-network, and runtime checks support this interpretation, and a worked user-level case shows how branch scores, criterion weights, and rank shifts can be inspected for an individual recommendation. The contribution is not a benchmark-agnostic superiority claim, but a reproducible account of the conditions under which transparent late fusion adds value beyond simple continuation heuristics. In semantically rich, non-saturating talent-history regimes the three branches reinforce one another; in persistence-dominated regimes the same architecture remains competitive through its collaborative backbone, with the adaptive branch correctly inactive.

arXiv:2605.21856v2 Announce Type: replace-cross Abstract: Large language models (LLMs) have demonstrated impressive reasoning abilities across a wide range of tasks, but data contamination undermines the objective evaluation of these capabilities. This problem is further exacerbated by malicious model publishers who use evasive, or indirect, contamination strategies, such as paraphrasing benchmark data to evade existing detection methods and artificially boost leaderboard performance. Current approaches struggle to reliably detect such stealthy contamination. In this work, we uncover a critical phenomenon: a model's generated reasoning steps actively mask its underlying memorization. Inspired by this, we propose the Zero-CoT Probe (ZCP), a novel black-box detection method that deliberately truncates the entire Chain-of-Thought (CoT) process to expose latent shortcut mappings. To further isolate memorization from the model's intrinsic problem-solving capabilities, ZCP compares the model's zero-CoT performance on the original benchmark against an isomorphically perturbed reference dataset. Furthermore, we introduce Contamination Confidence, a metric that quantifies both the likelihood and severity of contamination, moving beyond simple binary classifications. Extensive experiments on both previously identified contaminated models and specially fine-tuned contaminated models demonstrate that ZCP robustly detects both direct and evasive data contamination. The code for ZCP is accessible at https://github.com/Yifan-Lan/zero-cot-probe.

arXiv:2605.21060v2 Announce Type: replace-cross Abstract: Accurate and well-calibrated Machine Learning (ML) models are mandatory in high-stakes settings, yet effective multiclass calibration remains challenging: global approaches assume calibration errors are homogeneous across the latent space, while local methods often rely on representation-space dimensionality reduction, discarding latent directions relevant to miscalibration. To address these issues, we propose a compositional approach to multiclass calibration, where region-specific calibration maps are constructed from shared factors. We instantiate this idea via Vector Quantization (VQ), which induces a structured partition of the representation space, and an indexed parameterization of Dirichlet concentrations that enables parameter sharing across regions. Our approach learns heterogeneous calibration maps that generalize well even to sparse regions of the latent space. Experiments on benchmark datasets show significant improvements in local calibration while maintaining competitive global calibration and predictive performance.

arXiv:2605.19398v5 Announce Type: replace-cross Abstract: Image-to-video models often generate videos that remain overly static, compared to text-to-video models. While prior approaches mitigate this issue by weakening or modifying the image-conditioning signal, they often require additional training or sacrifice fidelity to the reference image. In this work, we identify reference-frame dominance as a key mechanism behind motion suppression. We observe that non-reference frames in I2V models allocate excessive self-attention to reference-frame key tokens, causing reference information to be over-propagated across time and suppressing inter-frame dynamics. Based on this finding, we propose DyMoS (Dynamic Motion Slider), a training-free and model-agnostic method that rebalances the attention pathway from generated frames to the reference frame during initial denoising steps. DyMoS leaves both the input image and model weights unchanged and introduces a single scalar parameter for continuous control over motion strength. Experiments across multiple state-of-the-art I2V backbones demonstrate that DyMoS consistently improves motion dynamics while maintaining visual quality and fidelity to the reference image.