Learning from Contrasts: Synthesizing Reasoning Paths from Diverse Search Trajectories

Monte Carlo Tree Search (MCTS) has been widely used for automated reasoning data exploration, but current supervision extraction methods remain inefficient. Standard approaches retain only the single highest-reward trajectory, discarding the comparative signals present in the many explored paths. Here we introduce \textbf{Contrastive Reasoning Path Synthesis (CRPS)}, a framework that transforms supervision extraction from a filtering process into a synthesis procedure. CRPS uses a structured reflective process to analyze the differences between high- and low-quality search trajectories, extracting explicit information about strategic pivots and local failure modes. These insights guide the synthesis of reasoning chains that incorporate success patterns while avoiding identified pitfalls. We show empirically that models fine-tuned on just 60K CRPS-synthesized examples match or exceed the performance of baselines trained on 590K examples derived from standard rejection sampling, a 20$\times$ reduction in dataset size. Furthermore, CRPS improves generalization on out-of-domain benchmarks, demonstrating that learning from the contrast between success and failure produces more transferable reasoning capabilities than learning from success alone.

The Myth of Expert Specialization in MoEs: Why Routing Reflects Geometry, Not Necessarily Domain Expertise

Mixture of Experts (MoEs) are now ubiquitous in large language models, yet the mechanisms behind their "expert specialization" remain poorly understood. We show that, since MoE routers are linear maps, hidden state similarity is both necessary and sufficient to explain expert usage similarity, and specialization is therefore an emergent property of the representation space, not of the routing architecture itself. We confirm this at both token and sequence level across five pre-trained models. We additionally prove that load-balancing loss suppresses shared hidden state directions to maintain routing diversity, which might provide a theoretical explanation for specialization collapse under less diverse data, e.g. small batch. Despite this clean mechanistic account, we find that specialization patterns in pre-trained MoEs resist human interpretation: expert overlap between different models answering the same question is no higher than between entirely different questions ($\sim$60\%); prompt-level routing does not predict rollout-level routing; and deeper layers exhibit near-identical expert activation across semantically unrelated inputs, especially in reasoning models. We conclude that, while the efficiency perspective of MoEs is well understood, understanding expert specialization is at least as hard as understanding LLM hidden state geometry, a long-standing open problem in the literature.

A Tale of Two Temperatures: Simple, Efficient, and Diverse Sampling from Diffusion Language Models

Much work has been done on designing fast and accurate sampling for diffusion language models (dLLMs). However, these efforts have largely focused on the tradeoff between speed and quality of individual samples; how to additionally ensure diversity across samples remains less well understood. In this work, we show that diversity can be increased by using softened, tempered versions of familiar confidence-based remasking heuristics, retaining their computational benefits and offering simple implementations. We motivate this approach by introducing an idealized formal model of fork tokens and studying the impact of remasking on the expected entropy at the forks. Empirically, the proposed tempered heuristics close the exploration gap (pass@k) between existing confidence-based and autoregressive sampling, hence outperforming both when controlling for cost (pass@NFE). We further study how the increase in diversity translates to downstream post-training and test-time compute scaling. Overall, our findings demonstrate that simple, efficient, and diverse sampling from dLLMs is possible.

EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday environments. However, existing human datasets are often limited in scope, difficult to extend, and fragmented across institutions. We introduce EgoVerse, a collaborative platform for human data-driven robot learning that unifies data collection, processing, and access under a shared framework, enabling contributions from individual researchers, academic labs, and industry partners. The current release includes 1,362 hours (80k episodes) of human demonstrations spanning 1,965 tasks, 240 scenes, and 2,087 unique demonstrators, with standardized formats, manipulation-relevant annotations, and tooling for downstream learning. Beyond the dataset, we conduct a large-scale study of human-to-robot transfer with experiments replicated across multiple labs, tasks, and robot embodiments under shared protocols. We find that policy performance generally improves with increased human data, but that effective scaling depends on alignment between human data and robot learning objectives. Together, the dataset, platform, and study establish a foundation for reproducible progress in human data-driven robot learning. Videos and additional information can be found at https://egoverse.ai/

ChatSVA: Bridging SVA Generation for Hardware Verification via Task-Specific LLMs

Functional verification consumes over 50% of the IC development lifecycle, where SystemVerilog Assertions (SVAs) are indispensable for formal property verification and enhanced simulation-based debugging. However, manual SVA authoring is labor-intensive and error-prone. While Large Language Models (LLMs) show promise, their direct deployment is hindered by low functional accuracy and a severe scarcity of domain-specific data. To address these challenges, we introduce ChatSVA, an end-to-end SVA generation system built upon a multi-agent framework. At its core, the AgentBridge platform enables this multi-agent approach by systematically generating high-purity datasets, overcoming the data scarcity inherent to few-shot scenarios. Evaluated on 24 RTL designs, ChatSVA achieves 98.66% syntax and 96.12% functional pass rates, generating 139.5 SVAs per design with 82.50% function coverage. This represents a 33.3 percentage point improvement in functional correctness and an over 11x enhancement in function coverage compared to the previous state-of-the-art (SOTA). ChatSVA not only sets a new SOTA in automated SVA generation but also establishes a robust framework for solving long-chain reasoning problems in few-shot, domain-specific scenarios. An online service has been publicly released at https://www.nctieda.com/CHATDV.html.

VERTIGO: Visual Preference Optimization for Cinematic Camera Trajectory Generation

Cinematic camera control relies on a tight feedback loop between director and cinematographer, where camera motion and framing are continuously reviewed and refined. Recent generative camera systems can produce diverse, text-conditioned trajectories, but they lack this "director in the loop" and have no explicit supervision of whether a shot is visually desirable. This results in in-distribution camera motion but poor framing, off-screen characters, and undesirable visual aesthetics. In this paper, we introduce VERTIGO, the first framework for visual preference optimization of camera trajectory generators. Our framework leverages a real-time graphics engine (Unity) to render 2D visual previews from generated camera motion. A cinematically fine-tuned vision-language model then scores these previews using our proposed cyclic semantic similarity mechanism, which aligns renders with text prompts. This process provides the visual preference signals for Direct Preference Optimization (DPO) post-training. Both quantitative evaluations and user studies on Unity renders and diffusion-based Camera-to-Video pipelines show consistent gains in condition adherence, framing quality, and perceptual realism. Notably, VERTIGO reduces the character off-screen rate from 38% to nearly 0% while preserving the geometric fidelity of camera motion. User study participants further prefer VERTIGO over baselines across composition, consistency, prompt adherence, and aesthetic quality, confirming the perceptual benefits of our visual preference post-training.

EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation

Understanding and predicting object motion from egocentric video is fundamental to embodied perception and interaction. However, generating physically consistent 6DoF trajectories remains challenging due to occlusions, fast motion, and the lack of explicit physical reasoning in existing generative models. We present EgoFlow, a flow-matching framework that synthesizes realistic and physically plausible trajectories conditioned on multimodal egocentric observations. EgoFlow employs a hybrid Mamba-Transformer-Perceiver architecture to jointly model temporal dynamics, scene geometry, and semantic intent, while a gradient-guided inference process enforces differentiable physical constraints such as collision avoidance and motion smoothness. This combination yields coherent and controllable motion generation without post-hoc filtering or additional supervision. Experiments on real-world datasets HD-EPIC, EgoExo4D, and HOT3D show that EgoFlow outperforms diffusion-based and transformer baselines in accuracy, generalization, and physical realism, reducing collision rates by up to 79%, and strong generalization to unseen scenes. Our results highlight the promise of flow-based generative modeling for scalable and physically grounded egocentric motion understanding.

A Decade-Scale Benchmark Evaluating LLMs' Clinical Practice Guidelines Detection and Adherence in Multi-turn Conversations

Clinical practice guidelines (CPGs) play a pivotal role in ensuring evidence-based decision-making and improving patient outcomes. While Large Language Models (LLMs) are increasingly deployed in healthcare scenarios, it is unclear to which extend LLMs could identify and adhere to CPGs during conversations. To address this gap, we introduce CPGBench, an automated framework benchmarking the clinical guideline detection and adherence capabilities of LLMs in multi-turn conversations. We collect 3,418 CPG documents from 9 countries/regions and 2 international organizations published in the last decade spanning across 24 specialties. From these documents, we extract 32,155 clinical recommendations with corresponding publication institute, date, country, specialty, recommendation strength, evidence level, etc. One multi-turn conversation is generated for each recommendation accordingly to evaluate the detection and adherence capabilities of 8 leading LLMs. We find that the 71.1%-89.6% recommendations can be correctly detected, while only 3.6%-29.7% corresponding titles can be correctly referenced, revealing the gap between knowing the guideline contents and where they come from. The adherence rates range from 21.8% to 63.2% in different models, indicating a large gap between knowing the guidelines and being able to apply them. To confirm the validity of our automatic analysis, we further conduct a comprehensive human evaluation involving 56 clinicians from different specialties. To our knowledge, CPGBench is the first benchmark systematically revealing which clinical recommendations LLMs fail to detect or adhere to during conversations. Given that each clinical recommendation may affect a large population and that clinical applications are inherently safety critical, addressing these gaps is crucial for the safe and responsible deployment of LLMs in real world clinical practice.

PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videos

Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely heavily on supervised training with high-quality 3D data and manual annotations, limiting scalability and diversity. To address this limitation, we propose PAWS, a method that directly extracts object articulations from hand-object interactions in large-scale in-the-wild egocentric videos. We evaluate our method on the public data sets, including HD-EPIC and Arti4D data sets, achieving significant improvements over baselines. We further demonstrate that the extracted articulations benefit downstream tasks, including fine-tuning 3D articulation prediction models and enabling robot manipulation. See the project website at https://aaltoml.github.io/PAWS/.

Compensating Visual Insufficiency with Stratified Language Guidance for Long-Tail Class Incremental Learning

Long-tail class incremental learning (LT CIL) remains highly challenging because the scarcity of samples in tail classes not only hampers their learning but also exacerbates catastrophic forgetting under continuously evolving and imbalanced data distributions. To tackle these issues, we exploit the informativeness and scalability of language knowledge. Specifically, we analyze the LT CIL data distribution to guide large language models (LLMs) in generating a stratified language tree that hierarchically organizes semantic information from coarse to fine grained granularity. Building upon this structure, we introduce stratified adaptive language guidance, which leverages learnable weights to merge multi-scale semantic representations, thereby enabling dynamic supervisory adjustment for tail classes and alleviating the impact of data imbalance. Furthermore, we introduce stratified alignment language guidance, which exploits the structural stability of the language tree to constrain optimization and reinforce semantic visual alignment, thereby alleviating catastrophic forgetting. Extensive experiments on multiple benchmarks demonstrate that our method achieves state of the art performance.