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Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
arXiv:2609.28660v1 Announce Type: new Abstract: Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology gaps, ensuring dynamical feasibility, and sim-to-real deployment. We present Morphometric Imitation, a three-stage framework that transforms reconstructed HOIs into zero-shot sim-to-real visuomotor policies. First, morphometric optimization (MMO) kinematically retargets human motion across hand morphologies while preserving demonstrated contacts. Second, residual reinforcement learning (RL) refines the kinematic reference using object pose and contact information from the human motion to produce dynamically feasible robot demonstrations. Third, these demonstrations are distilled into visuomotor policies. Across three robot hands and ten HOIs, MMO improves contact F1 over the strongest of five baselines by at least 8 points for every hand, while also improving t
TW3Cast: A Frozen Router of Lightly Fine-Tuned Foundation Models for Time-Series Forecasting on GIFT-Eval, Selected Entirely on the Training Split
arXiv:2609.28506v1 Announce Type: new Abstract: TW3Cast is a time-series forecasting system that reaches position 3 of 130 entries on the GIFT-Eval benchmark by mean MASE rank, as of 2026-09-14. The two entries above it belong to the leaderboard's agentic category, multi-step systems that use agents or language models to reason about, generate or select forecasts. TW3Cast runs no agent and no language model. Its selection is a table computed once on the training split and then frozen, and its experts are public foundation models lightly fine-tuned on those training splits. For each of the 97 dataset, frequency and horizon configurations, the table serves one of four modes: a specialist, which is a LoRA or full fine-tune of Chronos-2, TiRex or Toto whose training data was cleaned and enriched by explicit rules; a quantile blend that contains a specialist; a blend of base models; or a selection tournament played on a backtest carved from the training split. Every decision in the table wa
How to Maximize Your Coding Agent Subscriptions
Get more out of your coding agent subscriptions The post How to Maximize Your Coding Agent Subscriptions appeared first on Towards Data Science.
Beyond RAGs: Building Actually Truthful AI Harnesses
Retrieval is not evidence. How to build AI that proves its own claims. The post Beyond RAGs: Building Actually Truthful AI Harnesses appeared first on Towards Data Science.
GPT-6 Sol and Luna: Near-Astra Performance at Half the Price?
What happens when a frontier model s abilities get packed into cheaper, faster versions? That s what OpenAI did with GPT-6 Sol and GPT-6 Luna, two new models built with methods similar to GPT-6 Astra. OpenAI is cutting API prices for both models by 50% compared with their GPT-5.6 versions, and says they bring Astra s gains in [ ] The post GPT-6 Sol and Luna: Near-Astra Performance at Half the Price? appeared first on Analytics Vidhya.
When the Correct Answer Is Nothing, What Does Your Pipeline Return?
The reliability mechanisms we add to LLM pipelines are often the ones that make them confidently wrong. The post When the Correct Answer Is Nothing, What Does Your Pipeline Return? appeared first on Towards Data Science.
The Drift Contract: Spectral Updates for Depth-Robust Local Learning
arXiv:2609.26811v1 Announce Type: new Abstract: Local learning trains each layer with its own auxiliary loss and no global backward pass, which makes layer updates structurally parallel. Two problems have kept it marginal: accuracy degrades as depth grows, and hyperparameters are fragile. We apply Muon-style spectral update geometry (momentum orthogonalization with spectral step scaling) to per-layer local updates, an intersection not previously studied. On CIFAR-10 MLP benchmarks with local linear heads, a single step-size setting is the best value in our tested grids from width 128 to 2048 and from depth 12 to 48, while local Adam requires re-tuning along both axes and still collapses at depth 48 (31.3 percent re-tuned per depth, 19 percent with its depth-12 setting transferred, vs 42.7 percent for the spectral update at its unchanged setting). At five seeds and width 512 the spectral update leads local Adam by a clear margin (48.9 +/- 0.5 vs 46.6 +/- 0.3). Prospectively specified co
FLINT: Fast Lightweight Inference for Traversability
arXiv:2609.26857v1 Announce Type: new Abstract: Navigation in off-road conditions is challenging due to the lack of structure. There is no fixed vocabulary for what is traversable. The traversability depends on both the environment and the embodiment's dynamics. Neither of these two variables can be hand-labeled at scale. Thus, traversability has to be learned by the embodiment's own experience. Modern platforms tend to use multiple sensors to estimate traversability and navigate: RGBD cameras, lidar, radar, IMU, with computationally intensive platforms to run inference on neural networks. Against this trend, we propose FLINT, a lightweight traversability estimator: a 21.6M-parameter backbone, 38\times smaller than a comparable foundation-model backbone, that scores higher on held-out terrain probes and runs at 14.7 FPS on CPU alone using a RGB camera has the only sensor. Despite that gap in scale, FLINT produces a cheaper, more accurate costmap than a deployed foundation-model system
Harness as a Language: A Minimalist Agent Framework With Maximal Expressivity
arXiv:2609.26891v1 Announce Type: new Abstract: Modern language-model agents are built around the \textit{agent loop}, where the LLM is placed in an environment exposing a set of tools, and the LLM has full control over the workflow by alternating between tool calls and observing their output. However, certain workflows currently require additional engineering beyond the agent loop itself, such as memory systems and self-improving systems. We built an LLM agent framework, JAZ, to explore the extent to which a minimal harness that is little more than the agent loop itself can accomplish tasks these specialized systems are built for. JAZ exposes a single LLM-based primitive invoke and provides a set of built-in hooks that allow the programmer to apply constraints and monitoring. Generalizing existing code-mode agent loops, \texttt{invoke} is the simplest loop that satisfies two defining properties: (1) the LLM can write arbitrary executable code that can include recursive \texttt{invoke}
Signal2Symbol: Neuro-Symbolic Temporal Reasoning for Explainable Physiological Time-Series Anomaly Detection
arXiv:2609.26820v1 Announce Type: new Abstract: Physiological time series such as electrocardiograms (ECG) and electroencephalograms (EEG) exhibit complex temporal structure, substantial acquisition variability, and a strong need for transparent decision-making. Although deep models can achieve high detection performance, they often provide limited insight into why a segment is anomalous, how local anomalies relate over time, and whether a detection belongs to a broader recurring pattern. We propose Signal2Symbol, a neuro-symbolic framework for explainable biosignal anomaly detection. The method first converts ECG/EEG signals into symbolic sequences using either a learned VQ-VAE (Vector Quantized Variational Autoencoder) codebook or a SAX (Symbolic Aggregate approXimation) baseline. It then constructs bigram enriched token-window transactions and scores anomalies through rare itemset evidence derived from minimal rare itemset mining. Detected anomalous windows are merged into intervals
Backdoors in Learning-Based Industrial Robotic Arm Manipulation: An Empirical Security Study
arXiv:2609.26868v1 Announce Type: new Abstract: Learning-based models (e.g., visuomotor and Vision-Language-Action (VLA)) are increasingly explored for industrial robotic manipulation, where model predictions are directly translated into physical actions. This tight coupling between model behavior and physical execution makes hidden security vulnerabilities particularly consequential. While backdoor attacks have been widely studied in conventional AI models, their effects on deployed learning-based robotic arm manipulation systems remain less understood: a backdoored robot can behave normally during benign operation while inducing attacker-specified behaviors only when specific triggers are present, posing potentially serious risks in physical environments. In this work, we present a preliminary empirical security study of backdoor attacks and defenses in learning-based robotic manipulation on two real commercial industrial robotic arms (FANUC and xArm). We investigate whether a backdo
Silent Failures in Agent-Tool Interaction: An Audit of ToolUniverse
arXiv:2609.26836v1 Announce Type: new Abstract: Agentic AI systems are increasingly adopting automated pipelines that integrate multiple tools. While prior research and benchmarks have studied about task success and task completion of these agentic systems, the research about agent to tool interaction, specifically in biology agentic workflow is limited. This study investigates specific failures in agent to tool interaction where a tool invocation appears successful, some or all of the information or functionality from the tool via API/ wrapper is incomplete or missing and there are no communications / notifications to the user or the agent about such missing information. We call this a silent failures as the user or the agents are not aware that such failure has occurred. For the purposes of this study we developed an audit mechanism to identify such silent failures in Agent to tool interaction, by examining 15 scientific tools (and their associated API documentation and tool document