CauseCollab: Causal Unified and Modality-Agnostic Network for Heterogeneous Collaborative Perception

Collaborative perception enhances environment understanding through multi-agent information sharing, but its performance in real-world scenarios is constrained by heterogeneous sensor modalities and model architectures. Recent protocol-based two-stage methods alleviate this problem by mapping heterogeneous features into a shared protocol space; however, independently trained modality-specific converters often generate modality-specific pseudo-protocol distributions, leading to semantic inconsistency and error accumulation, which is particularly pronounced in scenarios with large modality discrepancies. To address this issue, we propose CauseCollab, a causal unified and modality-agnostic network. CauseCollab formulates representation learning in the protocol space from a causal perspective, explicitly disentangling semantic factors from modality-specific statistical confounders via causal metric learning. Meanwhile, CauseCollab adopts context-guided Unified Converter for heterogeneous modalities to ensure cross-modal semantic consistency. In addition, integrating new modalities only requires training adapters with minimal parameters. Extensive experiments on the OPV2V and DAIR-V2X datasets demonstrate that CauseCollab achieves state-of-the-art performance, with more significant gains in scenarios involving large modality gaps.

What Is Worth Representing? Representational Empowerment for Continual Model Construction

The first problem of modeling the world is not just estimating the right parameters or causal structure, but deciding what should be represented at all. We frame this problem as continual model construction: an agent maintains an environment-specific model M of an inaccessible world W and curates a persistent library L of reusable representational elements across environments. We propose Representational Empowerment (RepEmp) to score candidate elements by how much they expand the agent's future capacity to model and plan, complementing the classic definition of empowerment, but redefined as control over internal representations instead of external states. We realize the framework as a hierarchical Curator-Actor architecture and test it across three experiments. In a closed-vocabulary causal-learning task, human participants construct causal models at varying abstraction granularities to maximize goal reachability rather than fidelity to the world, a signature better predicted by RepEmp than by information-gain alternatives. Matched simulations reveal that RepEmp-guided construction contributes more than exploration to sufficient structure recovery and cross-task transfer. Finally, in an open-vocabulary planning domain, an LLM-augmented Curator builds more compact symbolic libraries, which also generalize better than baselines. Ablating RepEmp eliminates these benefits. Together, these results identify RepEmp as a key principle for continual model construction: deciding what to build, retain, and reuse under bounded resources.

CASC: Causal Adversarial Subspace Clustering for Multivariate Spatiotemporal Data

Deep subspace clustering plays a critical role in applications involving multivariate spatiotemporal data, such as sea ice monitoring, disease spread analysis, and tracking neuro-degeneration over time. Despite recent advances, existing methods primarily rely on geometric self-expressiveness, assume static subspace structures, and often fail to capture causal dependencies, local spatial interactions, and long-range temporal dynamics inherent in complex spatiotemporal systems. To address these limitations, we propose a novel Causal Adversarial Subspace Clustering (CASC) framework for discovering evolving latent regimes in high-dimensional spatiotemporal data. CASC integrates a U-Net-inspired deep adversarial clustering architecture with stacked FAConvLSTM layers to preserve spatial and temporal structure while learning robust latent representations. A graph attention transformer-based self-expressive network is introduced to jointly model local spatial relationships, global dependencies, and long-range temporal interactions. Furthermore, we propose two new learning objectives: (1) a Causal Subspace Preservation Loss that aligns self-expression coefficients with latent causal relationships, encouraging clusters to reflect underlying causal processes rather than simple feature similarity, and (2) a Dynamic Temporal Subspace Evolution Loss that captures evolving subspace structures and temporal regime transitions in nonstationary environments. Together, these components transform deep subspace clustering from a correlation-driven paradigm into a causal-temporal regime discovery framework.

Human Adults and LLMs as Scientists: Who Benefits from Active Exploration?

A long-standing finding in the causal learning literature is that adults struggle to identify conjunctive causal rules, where an effect requires the simultaneous presence of multiple causes, while performing better in disjunctive settings. However, most demonstrations of this ``conjunctive handicap'' rely on passive observation paradigms with limited evidence, where learners have no control over evidence generation. This paper asks whether this bias persists when adults are granted agency through active exploration. Using a modified ``blicket detector'' task, adult participants freely intervened to identify causal objects under conjunctive or disjunctive rule structures. We show that active exploration substantially improves adults' conjunctive causal reasoning, although conjunctive rules still require more tests to infer than disjunctive rules. We further compare human performance to a range of large language models in the same setting. While some state-of-the-art models approach human-level performance on hypothesis inference accuracy, they often exhibit less efficient exploration strategies and similar conjunctive-disjunctive performance gaps.

Causal Learning with Neural Assemblies

Can Neural Assemblies -- groups of neurons that fire together and strengthen through co-activation -- learn the direction of causal influence between variables? While established as a computationally general substrate for classification, parsing, and planning, neural assemblies have not yet been shown to internalize causal directionality. We demonstrate that the inherent operations of neural assemblies -- projection, local plasticity control, and sparse winner selection -- are sufficient for directional learning. We introduce DIRECT (DIRectional Edge Coupling/Training), a mechanism that co-activates source and target assemblies under an adaptive gain schedule to internalize directed relations. Unlike backpropagation-based methods, DIRECT relies solely on local plasticity, making the resulting causal claims auditable at the mechanism level. Our findings are verified through a dual-readout validation strategy: (i) synaptic-strength asymmetry, measuring the emergent weight gap between forward and reverse links, and (ii) functional propagation overlap, quantifying the reliability of directional signal flow. Across multiple domains, the framework achieves perfect structural recovery under a supervised, known-structure setting. These results establish neural assemblies as an auditable bridge between biologically plausible dynamics and formal causal models, offering an "explainable by design" framework where causal claims are traceable to specific neural winners and synaptic asymmetries.