The top row shows the starting object configuration with its goal rendered as a transparent overlay, while the bottom row shows the result after the robot's motion. GD2P synthesizes diverse hand poses conditioned on object geometry, handling flat (left), volumetric (middle), and tall (right) objects. Grey arrows represent the transporting direction, whereas white volumetric dots mark the estimated fingertip contact with the object. Abstract-- Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing work in nonprehensile manipulation relies on parallel-jaw grippers or tools such as rods and spatulas. In contrast, multi-fingered dexterous hands offer richer contact modes and versatility for handling diverse objects to provide stable support over the objects, which compensates for the difficulty of modeling the dynamics of nonprehensile manipulation. Therefore, we propose G eometry-aware D exterous P ushing and P ulling (GD2P) for nonprehensile manipulation with dexterous robotic hands. We study pushing and pulling by framing the problem as synthesizing and learning pre-contact dexterous hand poses that lead to effective manipulation. We generate diverse hand poses via contact-guided sampling, filter them using physics simulation, and train a diffusion model conditioned on object geometry to predict viable poses. At test time, we sample hand poses and use standard motion planners to select and execute pushing and pulling actions. GSS holds concurrent appointments as a Professor at USC and as an Amazon Scholar. This paper describes work performed at USC and is not associated with Amazon. All authors are with the Thomas Lord Department of Computer Science at the University of Southern California, USA.

Improving pretraining data quality and size is known to boost downstream performance, but the role of text complexity--how hard a text is to read--remains less explored. We reduce surface-level complexity (shorter sentences, simpler words, simpler structure) while keeping core content approximately constant and ask: (i) How does complexity affect language modeling across model sizes? (ii) Can useful representations be learned from simpler text alone? (iii) How does pretraining text complexity influence downstream language understanding? We simplify human-written texts using a large language model, pretrain causal models (28M-500M) from scratch on original vs. simplified data, and evaluate them in fine-tuning and zero-shot setups. We find that perplexity is sensitive to the interaction between model capacity and text complexity--smaller models degrade far less on simpler texts--while text complexity has little impact on fine-tuning evaluations, with zero-shot evaluations indicating that simpler texts benefit performance on linguistic knowledge tasks, whereas more complex texts favor tasks requiring world knowledge and entity tracking. Our findings suggest that different types of data diversity affect transfer and zero-shot performance differently, providing insight into tailoring data curation to specific goals.

Large language models (LLMs) are increasingly applied in diverse real-world scenarios, each governed by bespoke behavioral and safety specifications (spec) custom-tailored by users or organizations. These spec, categorized into safety-spec and behavioral-spec, vary across scenarios and evolve with changing preferences and requirements. We formalize this challenge as specification alignment, focusing on LLMs' ability to follow dynamic, scenario-specific spec from both behavioral and safety perspectives. To address this challenge, we propose Align3, a lightweight method that employs Test-Time Deliberation (TTD) with hierarchical reflection and revision to reason over the specification boundaries. We further present SpecBench, a unified benchmark for measuring specification alignment, covering 5 scenarios, 103 spec, and 1,500 prompts. Experiments on 15 reasoning and 18 instruct models with several TTD methods, including Self-Refine, TPO, and MoreThink, yield three key findings: (i) test-time deliberation enhances specification alignment; (ii) Align3 advances the safety-helpfulness trade-off frontier with minimal overhead; (iii) SpecBench effectively reveals alignment gaps. These results highlight the potential of test-time deliberation as an effective strategy for reasoning over the real-world specification boundaries.

Recent advances in large language models (LLMs) have enabled human-like social simulations at unprecedented scale and fidelity, offering new opportunities for computational social science. A key challenge, however, is the construction of persona sets that authentically represent the diversity and distribution of real-world populations. Most existing LLM-based social simulation studies focus primarily on designing agentic frameworks and simulation environments, often overlooking the complexities of persona generation and the potential biases introduced by unrepresentative persona sets. In this paper, we propose a systematic framework for synthesizing high-quality, population-aligned persona sets for LLM-driven social simulation. Our approach begins by leveraging LLMs to generate narrative personas from long-term social media data, followed by rigorous quality assessment to filter out low-fidelity profiles. We then apply importance sampling to achieve global alignment with reference psychometric distributions, such as the Big Five personality traits. To address the needs of specific simulation contexts, we further introduce a task-specific module that adapts the globally aligned persona set to targeted subpopulations. Extensive experiments demonstrate that our method significantly reduces population-level bias and enables accurate, flexible social simulation for a wide range of research and policy applications.

With the rapid advancement of Large Language Models (LLMs), LLM-based agents exhibit exceptional abilities in understanding and generating natural language, enabling human-like collaboration and information transmission in LLM-based Multi-Agent Systems (MAS). High-performance LLMs are often hosted on web servers in public cloud environments. When tasks involve private data, MAS cannot securely utilize these LLMs without implementing the agentic privacy-preserving mechanism. To address this challenge, we propose a General Anonymizing Multi-Agent System (GAMA), which divides the agents' workspace into private and public spaces, ensuring privacy through a structured anonymization mechanism. In the private space, agents handle sensitive data, while in the public web space, only anonymized data is utilized. GAMA incorporates two key modules to mitigate semantic loss caused by anonymization: Domain-Rule-based Knowledge Enhancement (DRKE) and Disproof-based Logic Enhancement (DLE). We evaluate GAMA on two general question-answering datasets, a public privacy leakage benchmark, and two customized question-answering datasets related to privacy. The results demonstrate that GAMA outperforms existing baselines on the evaluated datasets in terms of both task accuracy and privacy preservation metrics.

Thinking about science and technology in terms of return on investment misses the point. Here's what kids really need to know. That's what led me to become a professor. As a high school student, one of my major life goals was to figure out how to build an actual light sword. Doing so is all but impossible, so it didn't really matter if I went into engineering or science, but I pursued STEM just the same.

How does AI affect how we learn? When OpenAI released " study mode " in July 2025, the company touted ChatGPT's educational benefits. "When ChatGPT is prompted to teach or tutor, it can significantly improve academic performance," the company's vice president of education told reporters at the product's launch. But any dedicated teacher would be right to wonder: Is this just marketing, or does scholarly research really support such claims? While generative AI tools are moving into classrooms at lightning speed, robust research on the question at hand hasn't moved nearly as fast.

This work presents a novel representation learning framework, interactive world latent (IWoL), to facilitate team coordination in multi-agent reinforcement learning (MARL). Building effective representation for team coordination is a challenging problem, due to the intricate dynamics emerging from multi-agent interaction and incomplete information induced by local observations. Our key insight is to construct a learnable representation space that jointly captures inter-agent relations and task-specific world information by directly modeling communication protocols. This representation, we maintain fully decentralized execution with implicit coordination, all while avoiding the inherent drawbacks of explicit message passing, e.g., slower decision-making, vulnerability to malicious attackers, and sensitivity to bandwidth constraints. In practice, our representation can be used not only as an implicit latent for each agent, but also as an explicit message for communication. Across four challenging MARL benchmarks, we evaluate both variants and show that IWoL provides a simple yet powerful key for team coordination. Moreover, we demonstrate that our representation can be combined with existing MARL algorithms to further enhance their performance.

This paper investigates a fundamental yet underexplored issue in Salient Object Detection (SOD): the size-invariant property for evaluation protocols, particularly in scenarios when multiple salient objects of significantly different sizes appear within a single image. We first present a novel perspective to expose the inherent size sensitivity of existing widely used SOD metrics. Through careful theoretical derivations, we show that the evaluation outcome of an image under current SOD metrics can be essentially decomposed into a sum of several separable terms, with the contribution of each term being directly proportional to its corresponding region size. Consequently, the prediction errors would be dominated by the larger regions, while smaller yet potentially more semantically important objects are often overlooked, leading to biased performance assessments and practical degradation. To address this challenge, a generic Size-Invariant Evaluation (SIEva) framework is proposed. The core idea is to evaluate each separable component individually and then aggregate the results, thereby effectively mitigating the impact of size imbalance across objects. Building upon this, we further develop a dedicated optimization framework (SIOpt), which adheres to the size-invariant principle and significantly enhances the detection of salient objects across a broad range of sizes. Notably, SIOpt is model-agnostic and can be seamlessly integrated with a wide range of SOD backbones. Theoretically, we also present generalization analysis of SOD methods and provide evidence supporting the validity of our new evaluation protocols. Finally, comprehensive experiments speak to the efficacy of our proposed approach. The code is available at https://github.com/Ferry-Li/SI-SOD.

Reinforcement Learning with Verifiable Rewards (RLVR) has proven effective for complex reasoning tasks with clear correctness signals such as math and coding. However, extending it to real-world reasoning tasks is challenging, as evaluation depends on nuanced, multi-criteria judgments rather than binary correctness. Instance-specific rubrics have recently been used in evaluation benchmarks to capture such judgments, but their potential as reward signals for on-policy post-training remains underexplored. We introduce $\textbf{Rubrics as Rewards}$ (RaR), an on-policy reinforcement learning method that extends RLVR beyond verifiable domains by using rubric-based feedback. Across both medical and science domains, we evaluate multiple strategies for aggregating rubric feedback into rewards. The best RaR variant achieves relative improvements of up to $31\%$ on HealthBench and $7\%$ on GPQA-Diamond over popular LLM-as-judge baselines that rely on direct Likert-based rewards. These results demonstrate that RaR-trained policies adapt well to diverse evaluation formats, performing strongly on both rubric-based and multiple-choice tasks. Moreover, we find that using rubrics as structured reward signals yields better alignment for smaller judges and reduces performance variance across judge scales.