--In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of conventional motion-planning algorithms. Conventional motion planners, such as Rapidly-Exploring Random Trees (RRT), typically compute collision-free paths in configuration space. However, in many manipulation tasks, contact is either unavoidable or essential for task success, such as for creating space or maintaining physical equilibrium. As such, we presents Haptic Rapidly-Exploring Random Trees (HapticRRT), a planning algorithm that incorporates a recently proposed optimality measure in the context of quasi-static manipulation, based on the (squared) Hessian of manipulation potential. The key contributions are i) adapting classical RRT to operate on the quasi-static equilibrium manifold, while deepening the interpretation of haptic obstacles and metrics; ii) discovering multiple manipulation strategies, corresponding to branches of the equilibrium manifold. The video can be found at https://youtu.be/R8aBCnCCL40. Index Terms --Manipulation planning, haptic metric, haptic obstacle, quasi-static manipulation, pendulum pushing, crowded bookshelf insertion, spring clip manipulation. OBOTIC manipulation typically involves the robot establishing contact with specific objects.

Recent inversion-free, flow-based image editing methods such as FlowEdit leverages a pre-trained noise-to-image flow model such as Stable Diffusion 3, enabling text-driven manipulation by solving an ordinary differential equation (ODE). While the lack of exact latent inversion is a core advantage of these methods, it often results in unstable editing trajectories and poor source consistency. To address this limitation, we propose {\em FlowAlign}, a novel inversion-free flow-based framework for consistent image editing with optimal control-based trajectory control. Specifically, FlowAlign introduces source similarity at the terminal point as a regularization term to promote smoother and more consistent trajectories during the editing process. Notably, our terminal point regularization is shown to explicitly balance semantic alignment with the edit prompt and structural consistency with the source image along the trajectory. Furthermore, FlowAlign naturally supports reverse editing by simply reversing the ODE trajectory, highliting the reversible and consistent nature of the transformation. Extensive experiments demonstrate that FlowAlign outperforms existing methods in both source preservation and editing controllability.

As large language models (LLMs) gain popularity, their vulnerability to adversarial attacks emerges as a primary concern. While fine-tuning models on domain-specific datasets is often employed to improve model performance, it can inadvertently introduce vulnerabilities within the underlying model. In this work, we investigate Accidental Vulnerability, unexpected vulnerabilities arising from characteristics of fine-tuning data. We begin by identifying potential correlation factors such as linguistic features, semantic similarity, and toxicity across multiple experimental datasets. We then evaluate the adversarial robustness of these fine-tuned models, analyzing persona shifts and interpretability traits to understand how dataset factors contribute to attack success rates. Lastly, we explore causal relationships that offer new insights into adversarial defense strategies, highlighting the crucial role of dataset design in preserving model alignment. Our code is available at https://github.com/psyonp/accidental_vulnerability.

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Training recommender systems for next-item recommendation often requires unique embeddings to be learned for each item, which may take up most of the trainable parameters for a model. Shared embeddings, such as using content information, can reduce the number of distinct embeddings to be stored in memory. This allows for a more lightweight model; correspondingly, model complexity can be increased due to having fewer embeddings to store in memory. We show the benefit of using shared content-based features ('semantic IDs') in improving recommendation accuracy and diversity, while reducing model size, for two music recommendation datasets, including an online A/B test on a music streaming service.

Many sequential recommender systems suffer from the cold start problem, where items with few or no interactions cannot be effectively used by the model due to the absence of a trained embedding. Content-based approaches, which leverage item metadata, are commonly used in such scenarios. One possible way is to use embeddings derived from content features such as textual descriptions as initialization for the model embeddings. However, directly using frozen content embeddings often results in suboptimal performance, as they may not fully adapt to the recommendation task. On the other hand, fine-tuning these embeddings can degrade performance for cold-start items, as item representations may drift far from their original structure after training. We propose a novel approach to address this limitation. Instead of entirely freezing the content embeddings or fine-tuning them extensively, we introduce a small trainable delta to frozen embeddings that enables the model to adapt item representations without letting them go too far from their original semantic structure. This approach demonstrates consistent improvements across multiple datasets and modalities, including e-commerce datasets with textual descriptions and a music dataset with audio-based representation.

Large language models (LLMs) are increasingly adapted to downstream tasks via reinforcement learning (RL) methods like Group Relative Policy Optimization (GRPO), which often require thousands of rollouts to learn new tasks. We argue that the interpretable nature of language can often provide a much richer learning medium for LLMs, compared with policy gradients derived from sparse, scalar rewards. To test this, we introduce GEPA (Genetic-Pareto), a prompt optimizer that thoroughly incorporates natural language reflection to learn high-level rules from trial and error. Given any AI system containing one or more LLM prompts, GEPA samples system-level trajectories (e.g., reasoning, tool calls, and tool outputs) and reflects on them in natural language to diagnose problems, propose and test prompt updates, and combine complementary lessons from the Pareto frontier of its own attempts. As a result of GEPA's design, it can often turn even just a few rollouts into a large quality gain. Across four tasks, GEPA outperforms GRPO by 10% on average and by up to 20%, while using up to 35x fewer rollouts. GEPA also outperforms the leading prompt optimizer, MIPROv2, by over 10% across two LLMs, and demonstrates promising results as an inference-time search strategy for code optimization.

Phenotype concept recognition (CR) is a fundamental task in biomedical text mining, enabling applications such as clinical diagnostics and knowledge graph construction. However, existing methods often require ontology-specific training and struggle to generalize across diverse text types and evolving biomedical terminology. We present AutoPCR, a prompt-based phenotype CR method that does not require ontology-specific training. AutoPCR performs CR in three stages: entity extraction using a hybrid of rule-based and neural tagging strategies, candidate retrieval via SapBERT, and entity linking through prompting a large language model. Experiments on four benchmark datasets show that AutoPCR achieves the best average and most robust performance across both mention-level and document-level evaluations, surpassing prior state-of-the-art methods. Further ablation and transfer studies demonstrate its inductive capability and generalizability to new ontologies.

In contrast to single-user recommender systems, group recommender systems are designed to generate and explain recommendations for groups. This group-oriented setting introduces additional complexities, as several factors - absent in individual contexts - must be addressed. These include understanding group dynamics (e.g., social dependencies within the group), defining effective decision-making processes, ensuring that recommendations are suitable for all group members, and providing group-level explanations as well as explanations for individual users. In this paper, we analyze in which way large language models (LLMs) can support these aspects and help to increase the overall decision support quality and applicability of group recommender systems.

We introduce a novel technique for creative audio resynthesis that operates by reworking the concept of granular synthesis at the latent vector level. Our approach creates a "granular codebook" by encoding a source audio corpus into latent vector segments, then matches each latent grain of a target audio signal to its closest counterpart in the codebook. The resulting hybrid sequence is decoded to produce audio that preserves the target's temporal structure while adopting the source's timbral characteristics. This technique requires no model training, works with diverse audio materials, and naturally avoids the discontinuities typical of traditional concatenative synthesis through the codec's implicit interpolation during decoding. We include supplementary material at https://github.com/naotokui/latentgranular/ , as well as a proof-of-concept implementation to allow users to experiment with their own sounds at https://huggingface.co/spaces/naotokui/latentgranular .