SignSeek: Learning Transferable Representations for Sign Dictionary Retrieval

Sign language dictionaries are essential resources for sign language learners, yet automatically retrieving a sign from a dictionary, given only a query video, remains a challenging problem due to the natural variability between signers. Existing sign representation learning methods are built for closed-set recognition, producing embeddings that do not generalise to the open-set, signer-independent setting that retrieval demands. \textbf{SignSeek} closes this gap by contrastively learning sign representations with saliency-guided articulator masking. A contrastive objective aligns same-gloss signs across signers, while our Articulator Saliency-Guided Masking (ASGM) pinpoints the single most critical articulator per sign. This drives two complementary objectives, a masked contrastive alignment (MAC) loss that sees the sign through a single articulator and a masked prediction (MAP) loss that reconstructs it in latent space from the surrounding spatio-temporal context. Pretrained on 266K samples ($\sim$5,700 glosses) across multiple sign languages, \textbf{SignSeek} sets a new state-of-the-art performance in cross-corpus retrieval on ASL-Citizen, WLASL, and NMFs-CSL without any downstream fine-tuning. Strikingly, it achieves zero-shot generalisation to an entirely unseen British Sign Language (BSL), surpassing methods explicitly trained on BSL, and transfers seamlessly to isolated sign recognition and subtitle alignment, outperforming prior skeleton-based methods.

OutageDiT: A Generative Foundation Model for Power Outage Forecasting and Scenario Simulation

Power-outage planning requires scenarios before an event occurs. These scenarios must represent uncertainty in magnitude, timing, and duration while preserving temporal dependence. However, severe events are rare, and data from any single region contain few examples of extreme outage and restoration patterns. To address this challenge, we introduce OutageDiT, a foundation model for generating seven-day outage trajectories at quarter-hour resolution, trained on outage and weather records across the United States. Specifically, a condition encoder processes the historical context and known future covariates once per forecast, and a shallow flow decoder reuses the resulting horizon-aligned states to generate complete trajectories. The resulting samples support point forecasting, uncertainty quantification, and conditional event simulation within one deep generative model. Across outage forecasting benchmarks, OutageDiT improves forecast accuracy and scenario quality over strong baselines and supports zero-shot transfer to held-out regions. Together, these results position conditional outage simulation as a bridge from outage forecasting to operational planning under uncertainty.

Graph4BiLO: Graph Neural Network Approximation for Bilevel Mixed-Integer Linear Optimization

Bilevel mixed-integer linear optimization problems model hierarchical decision processes in which a leader anticipates the optimal response of a follower. Although expressive, these problems are computationally challenging because lower-level optimality is embedded in the leader's feasible region. Value-function reformulations replace the nested follower optimization with a constraint involving the follower's optimal value, but evaluating this value function exactly can itself be expensive. This paper introduces Graph4BiLO, a graph neural network (GNN) approach for learning bilevel value functions from variable--constraint graph representations. In contrast to fixed-length multilayer perceptron (MLP) representations, the GNN uses shared message-passing parameters and can therefore be applied across multiple problem sizes with a single trained model. The learned ReLU network is encoded exactly as mixed-integer linear constraints and embedded in an approximate single-level formulation. A repair step subsequently re-solves the follower problem for the selected leader decision to recover a bilevel-feasible follower response. We evaluate Graph4BiLO on knapsack interdiction instances with 20--100 items against the exact MibS solver and the learning-based Neur2BiLO method. Graph4BiLO obtains objective values comparable to Neur2BiLO across all tested sizes while avoiding size-specific neural networks. An additional out-of-distribution experiment demonstrates zero-shot transfer from 20-item training instances to previously unseen 40- and 60-item instances. However, embedding message passing at every graph node substantially increases the resulting mixed-integer formulation size and solve time. These results identify a central tradeoff between size-generalizable graph representations and the computational cost of embedding GNNs within optimization models.

Conservative Hybrid Graph Networks for Process Systems with Learned Routing

Industrial process networks do not maintain a single effective topology while operating: streams are throttled or bypassed, and units move between idle, transition, and active regimes. Models of such systems are typically trained on measured state trajectories while the operating mechanisms that generated them remain latent, and an unconstrained graph network can fit such a trajectory without assigning stable physical meaning to the recovered routing. We address both problems with the Conservative Hybrid Graph Network (CHGN), which learns routing, regime assignment, and removal rates as data-driven surrogates and inserts them into a fixed transport equation, so that the mass balance holds by construction for any predicted routing. CHGN trained on networks of 10-20 nodes transfers zero-shot to unseen graphs of 25-40 nodes without retraining, reaching an RMSE of 2.1e-3 against 6e-2 to 9e-2 for GNN baselines under the same protocol, with a gate MAE of 7.9e-3 and regime accuracy of 94.3% (1.2e-2 and 96.4% respectively on the fixed training topology). On a fluid-mixing pilot plant, CHGN improves on a persistence baseline for held-out physical faults but does not predict manual interventions, for which the governing valve actions are unobserved. The model therefore transfers across process topologies without retraining and exposes the latent mechanisms governing plant behaviour to inspection.

When Tokenizers Fail: Byte-Level Chunking for Zero-Shot Transfer to Low-Resource Languages

Subword tokenization hinders low-resource language processing by imposing frequency patterns from dominant languages onto script-sharing variants. Byte-level models bypass this issue by processing raw UTF-8 characters, yet they create a granularity mismatch for word-level tasks in non-Latin scripts. Hierarchical byte-level architectures address this mismatch by grouping bytes into word-aligned chunks. However, these architectures require massive training data and suffer from representational misalignment when paired with frozen subword-based language models. In this paper, we propose an adapted hierarchical network framework that bridges this modality gap without extensive training. Our method initializes byte embeddings directly from the subword representations of a frozen base model. We apply a chunk alignment loss to project dynamically grouped byte chunks toward precomputed subword targets, and interleave lightweight part-of-speech (POS) supervision to guide boundary detection. Experiments across six languages demonstrate that our tokenizer-free approach improves performance for word-level morphological tasks, yielding up to a 13.3% improvement on POS tagging.

Learning Woody Clearing With Loss Alignment for Zero-Shot Regrowth and Woody Segmentation

Detecting woody clearing is vital for managing biodiversity. Deep learning models can detect change in woody vegetation from bitemporal remote sensing imagery, however generated products may not meet end-user specifications due to unaligned loss definitions. Further limitations of deep learning models are the reliance on large datasets which can be difficult to attain for spatially rare and ambiguous events such as regrowth detection. In this work we train a model to detect woody change using bitemporal Sentinel-2 imagery consisting of 7 years' worth of annual imagery across the state of New South Wales, Australia. To align the objective of the model with end-user metrics, we introduce the loss scaling coefficient $α$ which transforms the objective to optimize for specific $F_β$ scores. Introducing $α$ was found to increase precision by 1.85x or recall by 1.12x. We propose input imagery augmentation and generation techniques that allow the woody change detection model to zero-shot transfer to regrowth and woody segmentation tasks. For woody segmentation, image generation techniques using activation maximization with low $α$ values for stability and image generation techniques derived from handcrafted features utilizing a mosaic of clearing patches and artificial trees for contextual grounding were found to outperform prior woody segmentation works of the study area, reducing the overall error by up to 18.2%. For zero-shot woody regrowth, creating pseudo-post and prior images resulted in the model achieving an F1 score of 0.845, creating a foundation for future regrowth detection work.

PhaseShift: Topology-Aware Data Harmonization and Model Consolidation Across Signalized Intersections

Learned traffic-behavior models are commonly trained separately for each intersection, creating model portfolios that cannot share evidence across sites. We present PhaseShift, a topology-aware framework that harmonizes heterogeneous roadside trajectories into a shared actor-centric representation and trains one reusable backbone. Ego-relative coordinates, trajectory-induced movement paths, normalized signal context, and variable-cardinality interaction tokens remove site conventions while preserving behaviorally relevant topology. The backbone supports pooled operation, zero-shot at a held-out intersection, and low-data adaptation. We evaluate five intersections in two Florida regions on balanced field data, 100k training windows and equal-sized test sets per site under a replay-conditioned, best-of-sampled-trajectory protocol. At 10s, one pooled model lowers both minADE and minFDE relative to trained local models at all five sites, with median reductions of 36.8% and 22.0%. Leave-one-intersection-out deployment, including one cross-region fold, beats local training on both 10-s metrics at four of five sites, although short-horizon performance is less uniform. Fine-tuning with 1,000 target update windows improves on zero-shot at three sites and is the strongest regime at one. At site 7, every cross-site mixture sharply lowers long-horizon error under a fixed 100k-window budget; test-likelihood gains argue against a best-of-sample dispersion-only explanation. Local models fall behind calibrated IDM at the two highest-flow sites after long autoregressive rollouts; pretrained-backbone regimes do not. Within this five-site evaluation, PhaseShift demonstrates consolidation across heterogeneous physical control settings while identifying sites that still require adaptation. The protocol measures conditional single-vehicle generation under replayed context, not closed-loop traffic simulation.

Multi-Agent Self-Improving Reinforcement Learning for Video Reasoning

Video reasoning tasks such as grounded video question answering and temporal grounding require selecting temporal evidence that supports the query. In many current training setups, temporal supervision is applied through local objectives such as boundary regression or span generation, while verification is used mainly to rerank candidate segments at inference time. We study whether a frozen verifier can also guide training. Our multi-agent framework couples a trainable \emph{Grounder} with a frozen \emph{Verifier}: the Grounder samples candidate trajectories and evidence segments, the Verifier assigns query-conditioned segment scores, a group-relative policy-gradient objective favors trajectories that outperform their within-input peers, and a bootstrapped calibration loss steers temporal predictions toward verifier-preferred spans. Trained on source tasks and evaluated without target-dataset fine-tuning, a two-billion-parameter instantiation transfers zero-shot across grounded question answering, temporal grounding, and long-video question answering, reaching 28.7\% intersection-over-union and 25.4\% answer-grounding accuracy on a grounded-question-answering benchmark, 46.1\% intersection-over-union on a temporal-grounding benchmark, and 54.1\% on a long-video question-answering benchmark. Relative to a strong same-scale baseline, the gains are modest but consistent, with the clearest improvements on relevance-oriented metrics such as intersection-over-union and moderate-overlap recall. Within the tested benchmarks and transfer setting, the results support frozen verification as a training signal for evidence selection, while showing that strict boundary precision remains comparatively weaker. Code and models are available at https://anonymous.4open.science/r/MASIRL-E50C/

Towards Zero-Shot Task Transfer with Neurosymbolic World Models

State-of-the-art model-based reinforcement learning methods learn neural world models that allow policy improvement by planning in a latent space, without assumptions on the structure of the underlying environment. While expressive, these models are generally task-dependent: they learn uninterpretable latent representations that are tied to the training task and thus hard to generalize to new tasks. In this work, we present a novel world model formulation where the reward prediction only depends on a subset of structured, symbolic components of the whole latent state. Decoupling observation reconstruction and reward prediction allows us to learn world models that can adapt zero-shot, i.e. without further environment interactions, to new reward functions defined over the same symbolic state space. We discuss the main advantages and challenges of learning these neurosymbolic world models and demonstrate the strong generalisation properties of our approach over purely neural methods.

MoRAX: Mobility-based Representation Augmentation for Geospatial Foundation Models

Geospatial Foundation Models (GFMs) are emerging as a powerful paradigm for learning semantically rich and geographically consistent visual and physical representations. However, their reliance on Earth-observation (EO) data leaves information about human activity largely underrepresented. Human mobility data reveals the functional and relational structure between regions that is missing from EO data, but is often limited only to the city where it is observed, making it challenging to use for transferable urban representation learning. We introduce MoRAX, a lightweight framework for augmenting geospatial embeddings with functional structure derived from human mobility. MoRAX preserves the coverage and consistency of a GFM while providing information about the functional connectivity among urban regions, permitting zero-shot deployment in unseen cities with or without available mobility data. Across four target cities spanning two countries, the MoRAX teacher model, which observes mobility, consistently outperforms GFMs and strong urban representation baselines in eight socioeconomic and environmental prediction tasks. Meanwhile, the student model, which never takes mobility data as input, approaches the teacher in performance on most tasks. Transfer results across countries further demonstrate that modulation conditioned on mobility flows provides a general mechanism for grounding geospatial foundations in the human dimension of cities.

Self-Supervised Topologically Invariant Manifold Learning for Railway Image Quality Assessment

Existing blind image quality assessment (BIQA) methods typically rely on synthetic distortions and subjective annotations, limiting generalization in real-world domains. To address this, we propose a fully self-supervised BIQA framework based on topologically invariant manifold learning under boundary constraints, which constructs a stable quality reference without manual labels. The framework generates progressive background dilution scales via repeated random cropping around each target; exploiting the monotonic degradation of target information density across these scales, it establishes a self-constrained quality manifold. A linearized spatial moment projection eliminates geometric distortions from random cropping; then a monotonicity divergence filter prunes background-sensitive evaluators, isolating an elite pool \(\mathcal{M}_{\text{elite}}\). A robust M-estimator with a principal component stabilizer fuses the metrics into an asymptotically efficient pseudo-ground truth \(q_{\text{PGT}}\), contracting variance toward the Cramér-Rao lower bound. Extensive evaluations demonstrate that the elite evaluator pool, distilled from 11 baseline metrics, secures superior zero-shot transferability across standard synthetic and wild benchmarks (CSIQ, LIVEC, LIVE-2). Concurrently, deployments on the CQU Railway Rolling Stock Surveillance Dataset (2,797 images) yield a manifold cosine similarity \(>0.999\) and a 100.0\% survival rate under industrial extreme stresses, robustly validating its cross-paradigm decoupling and topological resilience.

From Fixed Grids to Moving Particles:A Transferable Latent Operator for Fluid Dynamics

Lagrangian modeling is vital to fluid dynamics, as it characterizes particle transport and complements the Eulerian representation. However, Lagrangian trajectories are less commonly available than Eulerian fields, while most neural operators are trained and evaluated primarily in the Eulerian representation. This mismatch motivates a new learning problem: can a model trained solely on Eulerian observations generalize zero-shot from Eulerian field prediction to Lagrangian particle rollout, without Lagrangian supervision or task-specific adaptation? To address this problem, we propose the Transferable Latent Operator (TLO), which learns a unified flow representation shared by Eulerian field prediction and Lagrangian particle rollout. TLO decouples latent flow evolution from coordinate-dependent decoding: querying the evolving latent representation at fixed spatial coordinates yields Eulerian fields, whereas querying velocities at particle positions and recursively updating these positions enables Lagrangian rollout. Across five fluid-dynamics benchmarks, TLO consistently outperforms existing neural operators in both Eulerian field prediction and zero-shot Lagrangian rollout, with further gains from limited Lagrangian fine-tuning.

OGR-MARL: Option-Guided Residual Multi-Agent Reinforcement Learning for Heterogeneous USV Cooperative Pursuit in Constrained Port Waterways

Heterogeneous USV cooperative pursuit in constrained port waterways requires evader interception under navigation, traffic, and role constraints. This paper proposes OGR-MARL, an option-guided residual multi-agent reinforcement learning framework that is decoupled from a specific MARL algorithm. OGR-MARL integrates shared evader belief, role-conditioned option targets, adaptive rule penalties, and residual policy learning, allowing different MARL algorithms to learn corrective actions on top of rule-guided behaviors rather than exploring constrained port environments from scratch. We instantiate OGR-MARL with representative continuous-control MARL backbones, including MADDPG, MATD3, MAPPO, and MASAC, yielding OGR-MADDPG, OGR-MATD3, OGR-MAPPO, and OGR-MASAC. Experiments in an abstract Xiazhimen port-waterway scenario show that the OGR-MASAC instantiation achieves a 75.0% capture rate, promising mission-effective rule compliance, and the best heterogeneous coordination among the tested methods. Without retraining, zero-shot transfer to a QGIS/AIS-informed Xiazhimen map achieves promising results, demonstrating the generalization potential of OGR-MARL in more complex port scenarios.

Cognitive Demand Steering for Adaptive Meta-Reasoning in Large Language Models

Recent meta-reasoning frameworks improve LLM reasoning by wrapping chain-of-thought generation in an iterative control loop, allowing more effective backtracking, termination of reasoning loops, and injection of promising reasoning patterns, among other strategy adjustments. Despite promising results, methods often rely on backward-looking reward functions, utilize coarse search actions, or require additional reasoning controller training requiring many-shot supervision. We introduce Cognitive Demand Steering (CDS), a training-free meta-reasoning framework equipped with residual demand assessment: at each step, an LLM-based progress evaluator characterizes the residual reasoning required to arrive at a solution rather than merely evaluating the previous step. This allows a meta-controller to select reasoning interventions comprising both general-purpose exemplars and actions (e.g., general guidance for quantitative reasoning) that directly tackle this forward-looking demand signal. This shift eliminates the need for any trained component while enabling zero-shot transfer across models and tasks with no adaptation. Rather than relying on coarse characterizations, we employ cognitive scales to both design interventions as well as profile initial problem complexity and residual demand signal over 16 dimensions motivated by cognitive science (e.g., attention and scan, learning and abstraction, spatio-physical reasoning), giving the controller a fine-grained vocabulary for diagnosing. Averaged across three frontier LLMs and six reasoning benchmarks, CDS improves accuracy by $21.9\%$ over direct calls and $9\%$ over standard CoT reasoning, with the largest gains on difficult mathematics and coding tasks.

Train Small, Deploy Large: Zero-Shot GNN Transfer Through Geometric Renormalization

Graph neural networks (GNNs) can operate on large graphs but become infrastructure-sensitive at the scale of millions of nodes and typically require scalable training techniques for even larger graphs. This raises a central question: when can a model trained on a smaller, scaled-down replica of a graph be deployed on the full-resolution graph without retraining? We introduce a zero-shot transfer protocol in which a GNN is trained on a graph coarse-grained by geometric renormalization (GR), and the resulting weights are transferred directly to the original network. Across synthetic and real-world networks, training on GR scaled-down replicas preserves much of the original-scale predictive performance while significantly reducing training cost. We further find that learned representations and predictive trajectories remain aligned across scales. These findings suggest that structural similarity may be more important than network size in determining GNN transferability, opening a path toward scale-equivariant graph architectures.

CHARM: A Multimodal Graph Foundation Model with Hierarchical Context Modeling for Zero-Shot Transfer

Graph foundation models (GFMs) have emerged as a promising paradigm for transferring knowledge across graph domains and tasks. Real-world graphs associate nodes with text, images, and other modalities, making multimodal graphs essential for representing complex entities and relations. Moreover, collecting labels and adapting models for every new graph domain is costly and often infeasible, motivating zero-shot transfer. Unfortunately, zero-shot transfer on multimodal graphs remains underexplored. Existing GNN-based graph foundation models typically require downstream adaptation, whereas LLM-based graph methods mainly address unimodal graphs or tasks within a single domain. This setting presents two key challenges. First, models must generalize knowledge from individual modalities while capturing transferable cross-modal relations. Second, without target-domain fine-tuning, node representations remain entangled with domain-specific structures and modality-specific characteristics, obscuring shared concepts in unseen domains. To address these challenges, we propose CHARM, a multimodal graph foundation model with hierarchical context modeling for zero-shot transfer. CHARM replaces isolated raw nodes with hierarchical graph contexts that capture multimodal semantics and cross-modal relations. These contexts map domain-specific node patterns to shared high-level concepts, reducing reliance on target-domain supervision or adaptation. A modality-aware graph context encoder integrates multimodal information with graph structure and converts the resulting representations into graph tokens for a large language model . Experiments show consistent improvements on zero-shot multimodal graph tasks.

SILICA: Repurposing Diffusion Priors for Joint Glass Segmentation and Depth Estimation

Standard depth sensors systematically fail on transparent surfaces, creating corrupted 3D maps and severe navigation hazards. While specialized hardware sensors can detect glass, they lack modularity and have extensive hardware dependencies. Consequently, learning-based monocular depth estimation has emerged as a compelling alternative. However, domain-specific glass-aware monocular depth estimators struggle with unfamiliar indoor layouts; restricted by the severe scarcity of real-world glass depth annotations, they fail to generalize zero-shot to new settings. This motivates us to explore whether the extensive priors of text-to-image diffusion models can enable generalizable perception of transparent surfaces. We introduce SILICA, a unified pipeline leveraging these priors to jointly predict glass segmentation and glass-aware depth. This mutual information exchange establishes a robust spatial hierarchy, entirely eliminating the need for paired real-world glass depth annotations. Subsequently, we use the predicted segmentation mask to explicitly filter incorrect glass depth points from standard sensors, recovering accurate metric glass depth for downstream 3D mapping and autonomous collision avoidance. Supported by our novel Mirage 18k dataset, extensive experiments demonstrate that SILICA achieves remarkable zero-shot transfer across diverse, unseen environments, outperforming state-of-the-art models by almost 20% and setting a new benchmark for transparent surface perception.

FAIR: Feature-Augmented Implicit Regularization for AI-generated Fake Image Detection

Generalization remains a critical bottleneck in AI-generated image detection. Because many modern generators are proprietary or adversarially modified, existing detectors overfit to the low-level textural patterns of accessible training data, resulting in severe failures on unseen domains. Conventional regularization techniques (e.g., $L_1$/$L_2$ norms, Dropout) apply indiscriminate parametric constraints and fail to provide the domain-invariant structure necessary for cross-generator robustness. To address this, we propose Feature-Augmented Implicit Regularization (FAIR). FAIR introduces an orthogonal, macro-structural prior, specifically, Scene Composition Structure (SCS), during training to geometrically constrain the model's optimization trajectory. By augmenting the primary feature space with domain-invariant SCS features, FAIR explicitly penalizes texture-biased shortcut learning. Crucially, this structural prior is entirely discarded at inference, yielding a smoothed, generalized decision boundary with zero architectural or computational overhead. Extensive evaluations across five massive benchmarks demonstrate that integrating FAIR into state-of-the-art detectors significantly improves cross-generator generalization, boosting accuracy by up to 8.04% and establishing new state-of-the-art robustness in zero-shot transfer scenarios.

Think at 5 Hz, Act at 20 Hz: Asynchronous Fast-Slow Vision-Language-Action Inference for Closed-Loop Driving

Large language models bring instruction following and scene reasoning to end-to-end driving, but their inference latency collides with the control rate a vehicle requires. Existing closed-loop agents hide this gap by invoking the model on alternate simulation ticks and replaying the previous command in between, so half of all control outputs ignore the newest observations. We present a fast-slow architecture that removes this compromise. A frozen 7B vision-language backbone acts as the slow system, digesting navigation instructions and visual history at low frequency while exposing its per-layer key-value cache as a standing representation of the scene. A lightweight action expert acts as the fast system, attending to this cache and to the current camera frame at every simulation tick to regress waypoints in a single forward pass. Since the cache lags behind the world at deployment, we train the expert under randomized staleness, aligning training with asynchronous execution. On LangAuto-Short routes in CARLA, our system produces fresh control at every 50 ms simulation tick and lifts route completion from 37.0 to 94.0 over the frame-skipping baseline. A frame-skip ablation with the same expert separates the two factors at work: the expert raises the driving score on its own, while per-tick freshness raises completion from 82.1 to 94.0 and cuts red-light violations by a third. Trained on a single town, the expert transfers zero-shot to two unseen towns, holding 84-94% route completion where the baseline reaches 31-41%. It reduces open-loop waypoint error by nearly a factor of four compared to the backbone's own action head, at a per-tick model cost of 32 ms that is independent of history length on a single consumer GPU.

GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model

Visual navigation policies built on large pretrained models have so far followed a common recipe: a dedicated visual encoder, a bespoke action head, and training on thousands of hours of cross-embodiment datasets. We ask whether this recipe is necessary. In this paper, we introduce GemNav, a visual robot navigation policy that adapts a frozen Multimodal Large Language Model (MLLM) for short-to-medium horizon waypoint navigation using Low-Rank Adaptation (LoRA) on the language tower alone, with no auxiliary visual encoder and no continuous regression head. Waypoints and categorical navigation signals share a single discrete token vocabulary generated by the language-model head, and a soft-decoded auxiliary loss recovers the metric structure that pure cross-entropy training discards. On a single 8.7-hour open corpus, roughly three orders of magnitude smaller than competing training sets, the policy transfers zero-shot to four physically distinct unseen environments and stops within 0.25-0.42m of the goal across 20 real-world trials covering an open carpark, an obstacle carpark, a long outdoor chemical yard, and an indoor warehouse. Conditioning on short image histories improves offline metrics but yields no robot benefit, pointing to a ceiling on what temporal context adds once pretrained vision features are in place. These results indicate that discrete-token adaptation of frozen MLLMs can provide a data-efficient, deployable alternative for foundation model robot navigation.

Cross-Platform Control for Autonomous Surface Vehicles via Adaptive Reinforcement Learning

Autonomous surface vehicles vary widely in hydrodynamic and actuation characteristics, yet most controllers are designed for single-platform deployment. We present an adaptive reinforcement learning approach for trajectory tracking that enables zero-shot cross-platform deployment using a single policy. Since the deployment platform's dynamics are unknown to the policy, we address cross-platform generalization with the standard partial-observability approach of conditioning on interaction history, employing a teacher-student architecture in which a learned module infers a latent representation of the platform dynamics. The policy is trained in simulation under randomized vessel dynamics and is deployed zero-shot to two real-world platforms without any fine-tuning, despite relying on a simple analytical dynamics model rather than a high-fidelity hydrodynamic simulator. In real-world experiments on two different platforms, the adaptive policy outperforms non-adaptive learning-based baselines by up to 58% in position mean absolute error while approaching the tracking accuracy of a platform-specific tuned controller.

Holographic Quantum Transformer: A Generalist Neuro-Symbolic Architecture for Solving Frustrated Systems via Generative Attention

Simulating two-dimensional frustrated quantum matter is a grand challenge due to the sign problem and exponential Hilbert space complexity. In this work, we introduce the Holographic Quantum Transformer (HQT), a physics-inspired generative architecture that leverages global self-attention to resolve non-local entanglement patterns. We validate HQT on the square lattice $J_1-J_2$ Heisenberg model. On the heavily frustrated $8 \times 8$ lattice at the quantum critical point ($J_2=0.5$), HQT reaches a ground-state energy per site ($E/N$) of $\mathbf{-0.5001(1)}$, consistent with the expected finite-size scaling trend. Beyond numerical accuracy, HQT exhibits intrinsic physical awareness, autonomously recovering the underlying $J_2$ interaction geometry through interpretable attention maps. Our central contribution is ``Holographic Transfer", a zero-shot size-extrapolation protocol with rapid alignment: a model trained on $8 \times 8$ systems is directly projected onto larger $10 \times 10$ lattices via continuous positional-embedding interpolation and head re-initialization, achieving high-fidelity initialization and rapid convergence. This zero-shot protocol yields an energy of $E/N = \mathbf{-0.49782(3)}$, statistically consistent with the variational state of the art while requiring no from-scratch training on the target lattice. Our results establish generative attention as a scalable paradigm for transferable quantum simulation.

LeCropFollow: Latent Space Planning for Navigation in Unstructured Crop Fields

Unstructured navigational features, such as irregular planting or discontinuities, remain the primary failure mode for under-canopy agricultural robots. Existing geometric approaches often fail in these scenarios because they compress high-dimensional visual data into deterministic spatial references, effectively discarding the uncertainty and semantic context required to navigate ambiguous terrain. To address this, we present LeCropFollow, a visual navigation framework that bypasses explicit geometric modeling in favor of a learned latent representation. By integrating a self-supervised semantic heatmap extractor with TD-MPC2, a Model-Based Reinforcement Learning (MBRL) planner, our system optimizes trajectories directly within a latent manifold. The framework operates over the uncompressed heatmap signal, preserving the semantic context that geometric reductions discard. We demonstrate that this representational shift enables zero-shot transfer from simplified simulation to the physical world without fine-tuning. Extensive field experiments in late-stage corn fields show that LeCropFollow matches state-of-the-art baselines in unstructured rows but significantly outperforms them in plantation gaps, achieving a 2.4x reduction in semantic failures compared to keypoint-based methods. These results suggest that latent planning offers a robust alternative to geometric estimation for operations in heterogeneous agricultural environments. Code, models, and data available: https://felipe-tommaselli.github.io/lecropfollow .

Exploration and Online Transfer with Behavioral Foundation Models

Zero-shot Transfer in Reinforcement Learning (RL) aims to train an agent that can generate optimal policies for any reward function, without additional learning at transfer time, while training only on reward-free trajectories. For their generality over tasks, such models are sometimes called ``Behavioral Foundation Models'' (BFMs). While they have shown strong performances and improvements in recent years, the current framework and algorithms still assume that, during the transfer phase, the agent is informed offline about the reward (the task to solve) through a dataset of state-reward pairs, which it uses to pick the best policy to deploy. However, in practice if the reward is a black-box (e.g. direct user feedback), it is not possible to generate such a dataset: it is necessary to observe the reward through interactions with the environment. In other words, the current framework of offline transfer is not aligned with the traditional RL setting of online learning through trial-and-error, which requires exploration in order to find rewards. This paper proposes to tackle this new online transfer in zero-shot RL, with the key insight that the BFM itself can be used to generate exploration policies. We show that it is possible to frame this online learning problem in terms of a bandit-like exploration-exploitation problem. More precisely, at each step the bandit algorithm recommends a policy, the BFM executes it in the environment, which yields a reward and a new state; we repeat the process until we converge to the optimal policy. In the popular context of linear reward approximation, we derive a formulation inspired by Upper Confidence Bound and show that exploration can be achieved through the minimization of the eigenvalues of an uncertainty matrix. We evaluate qualitatively and quantitatively our framework on a simple environment to validate the concept of our method.

SonoCLIP: Mask-Guided Region-Aware Vision-Language Pretraining for Fetal Ultrasound Analysis

Vision-language foundation models have shown strong potential in medical image analysis. Although foundation models for ultrasound imaging have recently emerged, the domain remains particularly challenging due to severe speckle noise, acquisition variability, and subtle anatomical boundaries, leading to high inter-observer variability. Existing CLIP-based models rely primarily on global image-text alignment, limiting their sensitivity to clinically decisive local structures. We propose SonoCLIP, the first million-scale region-controllable fetal ultrasound vision-language foundation model that integrates segmentation masks as mask-channel visual prompts within the vision encoder, enabling joint global-local contrastive representation learning. To support scalable region-text alignment, we introduce a sigmoid-based pairwise contrastive loss that improves stability under large-scale supervision. We further curate a 1.44M-image multimodal fetal ultrasound dataset spanning 24 standard planes for large-scale pretraining. Extensive cross-center evaluations demonstrate that SonoCLIP achieves superior zero-shot transfer performance under both global and mask-guided inference, establishing a controllable and clinically oriented foundation model for fetal ultrasound analysis. Our code and data are available at https://github.com/Harrison-one/SonoCLIP.

Zero-Shot Size Transfer for Neural ODEs on Sparse Random Graphs: Graphon Limits and Adjoint Convergence

Graph Neural Differential Equations (GNDEs) model continuous-time graph dynamics by parameterizing Neural ODE velocity fields with Graph Neural Networks. Their local, size-independent filters suggest a zero-shot size-transfer principle: train on a small graph and deploy on larger, similar graphs without retraining. We develop a quantitative theory for this principle on sparse random graphs sampled from graphons. We consider Graphon Neural Differential Equations (Graphon-NDEs) and adjoint Graphon-NDEs as the infinite-node limits of the forward and adjoint GNDE systems, and establish well-posedness. For an $n$-node random graph with sparsity parameter $α_n$, we prove trajectory-wise convergence of GNDE solutions to Graphon-NDE solutions at rate $O((α_n n)^{-1/2})$, up to logarithmic factors, with high probability. We also establish uniform-in-time convergence bounds for adjoint systems governing hidden-state and parameter gradients. We further study discretize-then-optimize (DTO) and optimize-then-discretize (OTD) training. Under explicit Euler discretization with $M$ steps, we show that DTO and OTD are asymptotically consistent, with hidden-state and local parameter-gradient discrepancies of orders $O(1/M)$ and $O(1/M^2)$, respectively, up to sparsity and logarithmic factors. Experiments on HSBM and tent graphons support the theoretical rates, while zero-shot transfer experiments across four graphon classes demonstrate accurate deployment of learned GNDEs on larger independently sampled graphs.

Decentralized Autonomous Traffic Management through Corridor Networks

As autonomous aircraft are introduced at scale and traffic density increases, centralized management becomes insufficient to coordinate the large numbers of crewed and uncrewed aircraft. Dedicated Advanced Air Mobility (AAM) corridors have therefore been proposed for organizing high-density autonomous traffic flows. The desire to scalably provide autonomous aircraft flexibility in trajectory planning motivates the development of decentralized approaches to traffic management in AAM corridors. In this work, we extend a multi-agent reinforcement learning (MARL) approach to address the challenge of decentralized traffic flow management in air corridor networks. We test policies trained in a single-corridor setting on increasingly complex multi-corridor networks with combinations of merges and splits in a zero-shot manner. Experimental results demonstrate that learned behaviors transfer well to scenarios with varying traffic density, network geometry, and heterogeneous vehicle performance, without needing centralized coordination or model retraining. We evaluate system-level performance in terms of conformance to corridor boundaries, completion rates, average speeds, distance traveled, and maintenance of inter-aircraft separation. We find that although our policies require only locally coordinated entry, traversal, and exit behaviors, they collectively produce desirable traffic flows through the corridor network.

KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation

Generalizing manipulation policies across robot embodiments remains difficult because standard policies entangle task reasoning with embodiment-specific motor control. We study zero-shot cross-embodiment manipulation, where a policy trained on source embodiments must be deployed on a structurally different target embodiment without additional task demonstrations. We introduce Kinematic Interaction Transfer across Embodiments (KITE), which decouples manipulation into embodiment-agnostic task reasoning and embodiment-specific motor control, connected through a learned latent representation of interaction intent based on contact patterns. Task reasoning is performed by a shared policy that predicts latent intents from source demonstrations, while motor control is performed by an intent-conditioned action decoder learned from each embodiment's kinematic model. With KITE, adaptation to a new embodiment requires only training a new action decoder using its kinematic model, without recollecting demonstration data. We evaluate KITE on three manipulation tasks spanning transfer between parallel grippers, dexterous hands, and composite embodiments. KITE consistently achieves zero-shot transfer to structurally different target embodiments, outperforming state-of-the-art baselines in transfer success and task-embodiment scope.

Physics-Preserving Latent Compression for Zero-Shot Resolution Transfer in 3D Turbulence

High-resolution turbulence modeling is essential for scientific computing, but remains constrained by the cost of direct numerical simulation and the scarcity of full-resolution data. Existing scientific compressors reduce storage but typically operate on per-frame representations, whereas learned compressors yield compact latents that are often resolution-dependent and weakly aligned with the physics of turbulence. This raises the need for a compression framework that reduces data size, preserves physical diagnostics, and transfers from low-resolution training fields to high-resolution test fields without retraining. In this paper, we propose Physics-Preserving Latent Compression (PPLC), a patch-local latent compressor for three-dimensional turbulence. Motivated by inertial-range scale similarity, PPLC treats fixed-size patches as transferable units and applies a shared variational autoencoder independently of the global grid size. It combines exact mean preservation, zero-mean fluctuation encoding, an invertible Haar wavelet front-end, shift-consistency regularization, and overlap-aware reconstruction. Instantiated on forced isotropic turbulence, PPLC is trained only on stride-downsampled 256^3 fields and transfers zero-shot to 1024^3 fields. Experiments show that PPLC improves the balance between reconstruction accuracy and physical fidelity over classical and learned baselines, keeping diagnostics such as dissipation, enstrophy, energy spectra, and incompressibility closer to the ground truth. Beyond turbulence compression, PPLC offers a general strategy for physics-preserving latent representations that support data-efficient scientific surrogate modeling.

Decoupling the Declarative from the Procedural in Vision-Language-Action Models

Deploying generalist robotic agents in the real world requires transferable skills. Specifically, a policy trained to clone a behavior from object-specific demonstrations must generalize beyond that object, otherwise data collection requirements become intractable. Recently, fine-tuning of pre-trained billion-parameter Vision-Language Models (VLMs), initially on large-scale robot datasets and then on fewer scenario-specific demonstrations, has emerged as the predominant paradigm for designing Vision-Language-Action (VLA) models. While these policies achieve state-of-the-art manipulation performance in-distribution, they remain brittle to minor spatial, semantic, and task variations. In this work, we address the inability of current models to decouple the declarative (i.e., concepts and entity semantics) from the procedural knowledge (i.e., how to do something) encoded in their parameters, which is a fundamental bottleneck for zero-shot skill transfer to novel objects. To address this, we propose w$^{2}$VLA, a new VLA model with restructured information flow. Rather than feeding all multimodal tokens from the VLM encoder into a large, opaque transformer-based action expert, our approach modulates the robot state sequence with visual, spatial, and skill information in a compositional and interpretable manner. Unlike popular, state-of-the-art VLAs, we show that our modular approach successfully decouples knowledge representations, enabling robust behavior cloning and unprecedented zero-shot skill transfer capabilities across dissimilar, unseen objects.