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SNAP3D: Physically Grounded 3D Parts for Assembly from a Single Image

SNAP3D uses physics simulation feedback to make single-image 3D part generation produce valid, stable assemblies, validated through 3D printing.

The framework improves part-aware 3D generation by resolving inter-part penetration, recovering contact graphs between neighboring parts, and placing parameterized connectors at contact surfaces. Physical simulation feedback refines connector placement, orientation, and dimensions to improve assembly stability while preserving geometry. A physics-based evaluation protocol tests assembly validity and stability under gravity, and results are validated through 3D printing and real-world assembly.

Hugging Face daily papers · 6d agoAI research

PhysStream: Streaming Physics-Grounded Video Generation with Structured Scene Memory and Fine-Grained Motion Control

PhysStream enables mid-generation interactive control of physics-grounded video via structured scene memory and velocity-increment signals, reducing motion distribution distance 33%.

PhysStream is an autoregressive physics-grounded image-to-video model that maintains structured scene memory—positional maps and object tracking maps derived online from previously generated frames—and accepts fine-grained motion control via sparse velocity-increment signals encoding physical quantities. Training runs in two stages: a bidirectional model finetuned with motion-control conditioning, then a causal autoregressive model with structured scene memory. It supports interactive mid-generation control over multi-object tabletop rigid-body scenes, reducing motion distribution distance (FVMD) by 33% and trajectory error by 12% over the strongest baselines. Human evaluators preferred it in over 85% of in-the-wild comparisons.

Hugging Face daily papersupdated · 1d agofirst · 2d agoAI research 2 sources

Fast Learning Rates for Physics-Informed Kernel Methods

Theoretical analysis proves finite-sample learning rates for physics-informed kernel estimators, showing differential observations can improve rates from n^-1/4 to n^-1/2.

The paper analyzes a physics-informed kernel estimator combining n value observations and m differential observations for a linear differential operator D, asking how much differential information improves prediction. The authors prove finite-sample bounds, supported by simulations, revealing a two-regime structure: when m is limited the rate depends jointly on n and m, and when m exceeds a problem-dependent threshold the rate saturates to the oracle rate. Examples in Sobolev spaces, including partial Laplacian constraints on the torus and gradient observations on bounded domains, illustrate improvements from the nonparametric n^-1/4 rate to the parametric n^-1/2 rate, plus physically consistent rates in a stronger norm.

arXiv cs.AI / cs.LG / cs.CL · 20h agoAI research

PhysBrain 1.5: From Vision-Language Models to Physical Foundation Models

PhysBrain 1.5, an 8B physical foundation model, sets open-source state of the art across 28 embodied understanding benchmarks.

The paper presents PhysBrain 1.5, a unified 8B model for understanding physical environments, generating actions, and predicting future states, built from a vision-language model with joint autoregressive next-token prediction over language, end-effector motion, and dense visual targets. Pre-training uses embodied supervision from human interaction videos, followed by supervised fine-tuning on human demonstrations, robot trajectories, and simulated experience. The model averages 72.5 across 28 embodied benchmarks, setting a new open-source state of the art and performing on par with proprietary GPT-6-Astra and Gemini 3.6 Flash, with best open-source results on 14 benchmarks.

Hugging Face daily papers · 3d agoAI research1

ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models

ActionPiece improves action tokenization for vision-language-action models via physical rank consistency, reaching 94.8% on LIBERO with Qwen3-VL-4B.

The paper introduces physical rank consistency (PRC), a metric measuring whether tokenization preserves local physical distance rankings of actions after reconstruction. ActionPiece preserves physical action relationships through joint supervision of representation learning and quantization, alongside reconstruction losses. Under the same Qwen3-VL-4B policy training setup, ActionPiece achieves 94.8% on LIBERO, 68.8% on unseen LIBERO-Plus, 71.9% on SimplerEnv, and 51.5% across VLA-Arena L0-L2.

Hugging Face daily papers · 1d agoAI research

FreqSpaNet: Frequency and Spatial Learning of SFPF for Physical Layer Hardware Integrity Detection

FreqSpaNet learns spatio-frequency polarization fingerprints to detect unauthorized wireless hardware replacement, reaching 96.31% mean AUROC across seven replacement scenarios.

FreqSpaNet is a representation learning network for open-set hardware anomaly detection using spatio-frequency polarization fingerprints (SFPFs), which capture device-dependent responses across frequencies and directions. A frequency branch models local variations among neighboring frequencies while a geometry-aware spatial branch models directional relationships via angular information, combined through adaptive fusion and complementary pretraining. It achieves a mean AUROC of 96.31%, 9.05 points above the baseline, and is verified under seven hardware replacement scenarios.

arXiv cs.AI / cs.LG / cs.CL · 1d agoAI research1

Agent as Policy for Robotic Manipulation

Agent as Policy lets a general-purpose agent drive a physical robot via runtime reasoning and program generation, reaching 100% success on manipulation tasks.

The paper introduces Agent as Policy (AGP), which puts task planning and execution for a physical robot under a general-purpose agent's control with no task-specific or environment-specific training. The agent interprets visual evidence, writes executable programs, issues motion commands, and revises actions based on physical outcomes. AGP was evaluated on real-world manipulation tasks including assembly from human videos, block construction from goal images, die reorientation, targeted throwing, and bimanual towel folding. It achieved success rates of 100%, 100%, and 80% on three block construction configurations.

Hugging Face daily papers · 6d agoAI research

A Chosen Future Can Still Be Rewritten: Causal Writability in Video Models

Study shows video models often learn correct physics but fail to use it; low-dimensional 'causal writability' edits can restore correct motion.

The paper demonstrates 'causal writability' in video generation models: physically correct motion remains available inside the model even when the model outputs incorrect motion. In a red/blue mass oscillation setup, a low-dimensional edit predicted from simple physical variables restores correct fast motion, with a sharp depth boundary marking commitment. Early causal writability predicts which training errors later get corrected, and both writability and closure reproduce in a pretrained 1.3B video model.

arXiv cs.AI / cs.LG / cs.CL · 2d agoAI research

MIT creates method to force AI to comply with safety rules

MIT researchers published HardFlow, a method enforcing hard safety constraints on flow-matching generative models' final outputs without retraining.

MIT researchers led by Zeyang Li and Navid Azizan developed HardFlow, a trajectory-optimization method that enforces strict, non-negotiable constraints on flow-matching generative models by checking rule satisfaction only at the final generation step. Published in IEEE TPAMI, it outperformed six rival projection and guidance methods on four simulated benchmarks including D3IL robotic manipulation, Maze2D, physical process control, and image editing. All results are simulation-only, with no independent reproduction yet reported.

Hacker News · security · 2d agoAI researchHN 24↑ · 25 comments

Comprehensive reconstruction of collider events with hypergraph representation learning and graph-conditioned diffusion

VyPER framework reconstructs collider events using hypergraph representation learning and graph-conditioned diffusion, outperforming existing reconstruction techniques across Standard Model processes.

Researchers present VyPER, a geometric learning framework that represents collider events as hypergraphs with a physics-inspired topology for particle event reconstruction. It combines supervised hyperedge classification for assigning measured jets and charged leptons to parent particles with a graph-conditioned diffusion model predicting unmeasured neutrino kinematics, optimized with a joint loss. Evaluated across several proton-proton collision processes, it demonstrates accurate reconstruction across Higgs, electroweak, and top-quark sectors.

arXiv cs.AI / cs.LG / cs.CL · 20h agoAI research

Bridging Control, Inference, Transport, and Thermodynamics: From Theory to Applications in Learning

Review connects control theory, optimal transport, probabilistic inference, thermodynamics, and machine learning via free-energy optimization under constraints.

The review unifies five fields: control theory, optimal transport, probabilistic inference, non-equilibrium thermodynamics, and machine learning. The common conceptual thread is optimization of free-energy-like functionals under dynamical or statistical constraints. Selected applications are presented in reinforcement learning, variational inference, and generative modeling. The tutorial-style text assumes no prior familiarity and begins from physics principles.

arXiv cs.AI / cs.LG / cs.CL · 2d agoAI research

In-Context Robot Learning with VLM Agentsnew

GPT-Policy uses commercial VLM agents like GPT-6 Astra for in-context robot learning, translating demonstrations and feedback into verified robot actions without gradient updates.

The paper (arXiv 2609.19138) presents GPT-Policy, a framework combining a context compiler that preserves task-relevant visual transitions, a VLM such as GPT-6 Astra that proposes robot-tool actions, and a constrained controller that verifies and executes each action. Real-robot trials show human video demonstrations improve task completion even without robot action labels, while aligned action references yield further gains on contact-sensitive tasks. Evaluation covers success and efficiency metrics, matched model comparisons, and controlled context ablations.

Hugging Face daily papers · 1d agoAI research

Tables Decoded: DELTA for Structure, TARQA for Understanding

DELTA extracts tables into compact OTSL text and TARQA fine-tunes LLMs on it, beating VLM baselines on table QA.

DELTA separates physical structure recognition, logical structure recognition, and OCR to output tables in Optimised Table Structure Language (OTSL), a compact unified format encoding cell arrangements and content. It achieves TEDS-Structure scores comparable to state-of-the-art methods across FinTabNet, PubTabNet, and PubTables-1M, with robustness tested on a curated Hindi benchmark, TORQUE. TARQA, an LLM fine-tuned on OTSL sequences, gains 9.3 percentage points on WTQ TabQA and 9.2 points on FinTabNetQA TabVQA; code, models, and the benchmark are released on GitHub.

arXiv cs.AI / cs.LG / cs.CL · 1d agoAI research

Reduced-Space Multi-Fidelity Bayesian Optimization of Process Simulation Models

RS-MFBO couples global sensitivity analysis with fidelity-augmented Gaussian processes to slash costly high-fidelity simulation runs in industrial flowsheet optimization.

The paper presents RS-MFBO, a reduced-space multi-fidelity Bayesian optimization framework for high-dimensional, expensive black-box functions. It integrates Global Sensitivity Analysis for dimensionality reduction with a fidelity-augmented Gaussian process and a cost-aware acquisition strategy featuring cooldown and promotion mechanisms. Validation on a plasmid DNA bioprocess (SuperPro Designer) and a green fuel synthesis plant (Aspen HYSYS) shows substantial reductions in high-fidelity evaluations while remaining competitive with single-fidelity baselines.

arXiv cs.AI / cs.LG / cs.CL · 1d agoAI research

Discovery Foundation Models: Toward Open-Ended Discovery Intelligence

Proposes Discovery Foundation Models that participate in creating new problems and knowledge, instantiated in Zetema and the GALILEO therapeutic-discovery system.

The paper formulates Discovery Foundation Models (DFMs) as general-purpose systems for open-ended discovery, supporting seven coupled capabilities from problem discovery through evidence-grounded revision and continual improvement. It instantiates the framework with Zetema, combining explicit research-state dynamics, verification gating, external grounding, and cross-task Discovery Skill evolution. GALILEO, a real therapeutic-discovery system, closes the loop between Dry-Lab reasoning, robotic and hands-on Wet-Lab experimentation, and iterative hypothesis revision. The authors also define process-centered evaluation so discovery behavior can be trained and measured beyond final answers.

arXiv cs.AI / cs.LG / cs.CL · 2d agoAI research 2 sources

Safe Meta-Reinforcement Learning via Information Space Reachability

Safe meta-RL framework reasons about safety in information space, learning a safety value function used for safety filtering and constrained policy optimization.

The paper proposes safe meta-RL that reasons about safety in information space, capturing both physical state and the agent's belief over the underlying task. A safety value function measures the probability of avoiding unsafe regions indefinitely and satisfies a self-consistency condition and Bellman equation, making it learnable via meta-RL. The resulting algorithm uses the learned function for safety filtering and constrained policy optimization, with effectiveness demonstrated on meta-RL benchmarks.

arXiv cs.AI / cs.LG / cs.CL · 2d agoAI research

Quenched Ensemble Sampling

Quenched Ensemble Sampling generalizes nested sampling's hard energy constraint to repulsive potentials, traversing first-order phase transitions where tempering fails.

Quenched Ensemble Sampling generalizes nested sampling's hard energy constraint into a family of repulsive potentials at the energy boundary, preserving monotone energy descent while making the constrained target amenable to scalable gradient-based kernels. On synthetic phase-transition models it estimates marginal likelihood and draws posterior samples across first-order transitions where popular alternatives such as tempering fail. Applications include marginal likelihood estimation for Bayesian neural network architecture comparison and partition function estimation in a high-dimensional continuous lattice field theory.

arXiv cs.AI / cs.LG / cs.CL · 2d agoAI research1

Claude Fable 5.1 Solves the Cyphral Distich, a 370-year-old cipher

Claude Fable 5.1 solved Sir Thomas Urquhart's 370-year-old Cyphral Distich cipher, recovering a hidden royalist prayer for Charles II.

Vals AI reports that Claude Fable 5.1 solved the Cyphral Distich, a 64-number cryptogram from Sir Thomas Urquhart's Logopandecteision unsolved since 1653, in 44 minutes using 176k tokens with no human hints. The key insight was that the cipher's key was the book itself: each number indexes a word in the corresponding Proquiritation, taking the first letter, yielding 'O GOD UPHOLD KING CHARLS THE SECOND AND MAKE HIM THE SUPREME RULER OF THIS LAND'. The model also deciphered the larger Cyphral Octastich (285 numbers) from The Jewel (1652) using page-based word indexing, recovering all but nine letters of a royalist prayer. The puzzle had been listed among Klaus Schmeh's Top 50 unsolved encrypted messages.

Hacker News · AI · 3d agoAI researchHN 63↑ · 6 comments1· 1 read

GPT-6 Astra pilots a surveillance drone and runs a business on its own

GPT-6 Astra outperforms Claude Fable 5.1 on Vending-Bench and becomes the first model to beat the human-AI baseline on all five Drone-Bench subtasks.

Andon Labs tested OpenAI's GPT-6 Astra on two agent benchmarks: Vending-Bench 2, where Astra averaged $15,515 running a simulated vending-machine business versus Claude Fable 5.1's $5,422, and Drone-Bench, where models write code for a DJI Tello EDU drone to navigate an office and follow a specific person. Astra is the first model whose best submissions beat the human-AI baseline on all five Drone-Bench subtasks, using a COLMAP and DA3 pipeline with depth filtering for 3D reconstruction. Reliability remains limited, as an average Astra run has only a 2.8 percent chance of passing all five drone steps sequentially. In Vending-Bench Arena, Astra refused a price-fixing proposal from GLM-5.3, while Claude Fable 5.1 participated in an arrangement Andon Labs classified as illegal price-fixing.

The Decoder · 4d agoAI research

Retrospectively Reverse-Engineering Apple's Neural Engine

A developer reverse-engineers Apple's M1 Neural Engine architecture, mapping compute cores, MAC datapaths, and schedulers to explain the NPU's decline as transformers displaced CNN workloads.

A developer who previously maintained a reverse-engineered Linux driver for Apple's Neural Engine (ANE) published a retrospective deep dive mapping the M1 ANE's full internal architecture: compute, datapath, scheduler, memory, and execution model. The M1 ANE has 16 compute cores with 128 FP16 (or 256 INT8) MAC lanes each, totaling 2048 parallel MAC lanes, using 32-bit Q16.16 fixed-point accumulation with FP16 readout and an accumulator that saturates at 2^15. The author argues the ANE's dataflow was architected around the predictable reuse patterns of 2017-era CNN workloads (dating to the A11 Bionic), which autoregressive transformer decode broke, limiting its usefulness for general ML. With Apple's M5 folding ANE cores into GPU cores to tout LLM performance, the post frames this as the beginning of the end for the standalone NPU.

Hacker News · AI · 5d agoAI researchHN 54↑ · 7 comments2

Training Specialist Models without Reasoning Trajectories for Domain Expert Distillation

Study shows specialists trained on question-answer pairs implicitly select latent reasoning trajectories, and tuning choices control the precision-generalization trade-off in distillation.

The work demonstrates that specialist optimization implicitly selects from a latent trajectory space when specialists are trained only on question-answer pairs without explicit reasoning supervision. Using student distillation as an agnostic probe across 27 specialist-student pairings, specialization-generalization profiles correlate exceptionally strongly. Explicitly controlling the specialist's distributional drift systematically shifts both teacher and distilled student along a controllable trade-off between domain precision and general-capability retention across chemistry, physics, and multilingual settings, even across divergent model families.

Hugging Face daily papers · 5d agoAI research

Realtime-Venus: A full-duplex interaction system with asynchronous delegation

Realtime-Venus introduces two 9B full-duplex interaction models (Omni and Audio) that outperform Gemini 3.1 Live and GPT-4o on continuation metrics.

Realtime-Venus is a proactive full-duplex interaction system built on two separately trained 9B models: Realtime-Venus-Omni for audio-visual interaction and Realtime-Venus-Audio for spoken interaction. A dual-loop runtime lets foreground interaction continue while Realtime-Venus-Harness asynchronously executes background reasoning and tool tasks. Realtime-Venus-Omni leads on six of eight video benchmarks, including StreamingBench (70.2%), OVO-Bench (64.7%), and Daily-Omni (81.3%), while Realtime-Venus-Audio tops MMAU (78.0%) and MMAU-Pro (63.2%). On Full-Duplex-Bench v1.5, Realtime-Venus-Audio handles 75% of interruptions and exceeds Gemini 3.1 Live and GPT-4o on all three continuation metrics.

Hugging Face daily papers · 5d agoAI research

3D Point Splatting for mmWave Radar Novel View Synthesis

Researchers propose 3DPS, a differentiable point renderer for mmWave radar novel view synthesis that outperforms optical-NVS baselines by 1.7x-5.2x.

The paper introduces 3D Point Splatting (3DPS), the first differentiable point renderer for radar, derived from the solid-angle form of the radar equation with ITU-R P.2040 material models and complex phasor splatting. On six outdoor ColoRadar scenes it reaches 0.587 mean Pearson correlation on held-out range-azimuth images, between 1.7x and 5.2x the RadarSplat, Radar Fields, and DART baselines. The same optimized scene produces ADC, complex range profile, and RA outputs via standard FFT pipelines, and training takes about 3 minutes per scene on an RTX 4090.

arXiv cs.AI / cs.LG / cs.CL · 6d agoAI research