This paper presents a framework that leverages pre-trained foundation models for robotic manipulation without domain-specific training. The framework integrates off-the-shelf models, combining multimodal perception from foundation models with a general-purpose reasoning model capable of robust task sequencing. Scene graphs, dynamically maintained within the framework, provide spatial awareness and enable consistent reasoning about the environment. The framework is evaluated through a series of tabletop robotic manipulation experiments, and the results highlight its potential for building robotic manipulation systems directly on top of off-the-shelf foundation models.

LLMs often require adaptation to domain-specific requirements, a process that can be expensive when relying solely on SFT. We present an empirical study on applying CPO to simulate a post-editing workflow for data-efficient domain adaptation. Our approach synthesizes preference pairs by treating the base model's own raw output as the 'rejected' translation and the human-approved TM entry as the 'chosen' one. This method provides direct feedback on the model's current knowledge, guiding it to align with domain-specific standards. Experiments in English-Brazilian Portuguese and English-Korean show that, by using just 14.7k preference pairs, the model achieves performance close to that of a model trained on 160k+ samples with SFT, demonstrating significant data efficiency. Although we showcase its effectiveness in MT, this application of CPO naturally generalizes to other generative tasks where a model's initial drafts can serve as a contrastive signal against a golden reference.

Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. However, these approaches often suffer from high computational cost, exposure bias, and unstable inference dynamics, which lead to divergence under distribution shifts. Energy-Based Models (EBMs) address these issues by learning energy landscapes end-to-end and modeling equilibrium dynamics, offering improved robustness and reduced exposure bias. Yet, policies parameterized by EBMs have historically struggled to scale effectively. Recent work on Energy-Based Transformers (EBTs) demonstrates the scalability of EBMs to high-dimensional spaces, but their potential for solving core challenges in physically embodied models remains underexplored. We introduce a new energy-based architecture, EBT-Policy, that solves core issues in robotic and real-world settings. Across simulated and real-world tasks, EBT-Policy consistently outperforms diffusion-based policies, while requiring less training and inference computation. Remarkably, on some tasks it converges within just two inference steps, a 50x reduction compared to Diffusion Policy's 100. Moreover, EBT-Policy exhibits emergent capabilities not seen in prior models, such as zero-shot recovery from failed action sequences using only behavior cloning and without explicit retry training. By leveraging its scalar energy for uncertainty-aware inference and dynamic compute allocation, EBT-Policy offers a promising path toward robust, generalizable robot behavior under distribution shifts.

Large Language Models (LLMs) are increasingly excelling and outpacing human performance on many tasks. However, to improve LLM reasoning, researchers either rely on ad-hoc generated datasets or formal mathematical proof systems such as the Lean proof assistant. Whilst ad-hoc generated methods can capture the decision chains of real-world reasoning processes, they may encode some inadvertent bias in the space of reasoning they cover; they also cannot be formally verified. On the other hand, systems like Lean can guarantee verifiability, but are not well-suited to capture the nature of agentic decision chain-based tasks. This creates a gap both in performance for functions such as business agents or code assistants, and in the usefulness of LLM reasoning benchmarks, whereby these fall short in reasoning structure or real-world alignment. We introduce TempoBench, the first formally grounded and verifiable diagnostic benchmark that parametrizes difficulty to systematically analyze how LLMs perform reasoning. TempoBench uses two evaluation benchmarks to break down reasoning ability. First, temporal trace evaluation (TTE) tests the ability of an LLM to understand and simulate the execution of a given multi-step reasoning system. Subsequently, temporal causal evaluation (TCE) tests an LLM's ability to perform multi-step causal reasoning and to distill cause-and-effect relations from complex systems. We find that models score 65.6% on TCE-normal, and 7.5% on TCE-hard. This shows that state-of-the-art LLMs clearly understand the TCE task but perform poorly as system complexity increases. Our code is available at our \href{https://github.com/nik-hz/tempobench}{GitHub repository}.

Retrieval-Augmented Generation (RAG) shows significant promise in knowledge-intensive tasks by improving domain specificity, enhancing temporal relevance, and reducing hallucinations. However, applying RAG to finance encounters critical challenges: restricted access to proprietary datasets, limited retrieval accuracy, regulatory constraints, and sensitive data interpretation. We introduce AstuteRAG-FQA, an adaptive RAG framework tailored for Financial Question Answering (FQA), leveraging task-aware prompt engineering to address these challenges. The framework uses a hybrid retrieval strategy integrating both open-source and proprietary financial data while maintaining strict security protocols and regulatory compliance. A dynamic prompt framework adapts in real time to query complexity, improving precision and contextual relevance. To systematically address diverse financial queries, we propose a four-tier task classification: explicit factual, implicit factual, interpretable rationale, and hidden rationale involving implicit causal reasoning. For each category, we identify key challenges, datasets, and optimization techniques within the retrieval and generation process. The framework incorporates multi-layered security mechanisms including differential privacy, data anonymization, and role-based access controls to protect sensitive financial information. Additionally, AstuteRAG-FQA implements real-time compliance monitoring through automated regulatory validation systems that verify responses against industry standards and legal obligations. We evaluate three data integration techniques - contextual embedding, small model augmentation, and targeted fine-tuning - analyzing their efficiency and feasibility across varied financial environments.

Large Language Models (LLMs) are increasingly demonstrating the potential to reach human-level performance in generating clinical summaries from patient-clinician conversations. However, these summaries often focus on patients' biology rather than their preferences, values, wishes, and concerns. To achieve patient-centered care, we propose a new standard for Artificial Intelligence (AI) clinical summarization tasks: Patient-Centered Summaries (PCS). Our objective was to develop a framework to generate PCS that capture patient values and ensure clinical utility and to assess whether current open-source LLMs can achieve human-level performance in this task. We used a mixed-methods process. Two Patient and Public Involvement groups (10 patients and 8 clinicians) in the United Kingdom participated in semi-structured interviews exploring what personal and contextual information should be included in clinical summaries and how it should be structured for clinical use. Findings informed annotation guidelines used by eight clinicians to create gold-standard PCS from 88 atrial fibrillation consultations. Sixteen consultations were used to refine a prompt aligned with the guidelines. Five open-source LLMs (Llama-3.2-3B, Llama-3.1-8B, Mistral-8B, Gemma-3-4B, and Qwen3-8B) generated summaries for 72 consultations using zero-shot and few-shot prompting, evaluated with ROUGE-L, BERTScore, and qualitative metrics. Patients emphasized lifestyle routines, social support, recent stressors, and care values. Clinicians sought concise functional, psychosocial, and emotional context. The best zero-shot performance was achieved by Mistral-8B (ROUGE-L 0.189) and Llama-3.1-8B (BERTScore 0.673); the best few-shot by Llama-3.1-8B (ROUGE-L 0.206, BERTScore 0.683). Completeness and fluency were similar between experts and models, while correctness and patient-centeredness favored human PCS.

Large Language Models (LLMs) training is prohibitively expensive, driving interest in low-precision fully-quantized training (FQT). While novel 4-bit formats like NVFP4 offer substantial efficiency gains, achieving near-lossless training at such low precision remains challenging. We introduce TetraJet-v2, an end-to-end 4-bit FQT method that leverages NVFP4 for activations, weights, and gradients in all linear layers. We identify two critical issues hindering low-precision LLM training: weight oscillation and outliers. To address these, we propose: 1) an unbiased double-block quantization method for NVFP4 linear layers, 2) OsciReset, an algorithm to suppress weight oscillation, and 3) OutControl, an algorithm to retain outlier accuracy. TetraJet-v2 consistently outperforms prior FP4 training methods on pre-training LLMs across varying model sizes up to 370M and data sizes up to 200B tokens, reducing the performance gap to full-precision training by an average of 51.3%.

Foundation models for time series are emerging as powerful general-purpose backbones, yet their potential for domain-specific biomedical signals such as electroencephalography (EEG) remains rather unexplored. In this work, we investigate the applicability a recently proposed time series classification foundation model, to a different EEG tasks such as motor imagery classification and sleep stage prediction. We test two pretraining regimes: (a) pretraining on heterogeneous real-world time series from multiple domains, and (b) pretraining on purely synthetic data. We find that both variants yield strong performance, consistently outperforming EEGNet, a widely used convolutional baseline, and CBraMod, the most recent EEG-specific foundation model. These results suggest that generalist time series foundation models, even when pretrained on data of non-neural origin or on synthetic signals, can transfer effectively to EEG. Our findings highlight the promise of leveraging cross-domain pretrained models for brain signal analysis, suggesting that EEG may benefit from advances in the broader time series literature.

Transformer-based architectures have advanced text summarization, yet their quadratic complexity limits scalability on long documents. This paper introduces BiSparse-AAS (Bilinear Sparse Attention with Adaptive Spans), a novel framework that combines sparse attention, adaptive spans, and bilinear attention to address these limitations. Sparse attention reduces computational costs by focusing on the most relevant parts of the input, while adaptive spans dynamically adjust the attention ranges. Bilinear attention complements both by modeling complex token interactions within this refined context. BiSparse-AAS consistently outperforms state-of-the-art baselines in both extractive and abstractive summarization tasks, achieving average ROUGE improvements of about 68.1% on CNN/DailyMail and 52.6% on XSum, while maintaining strong performance on OpenWebText and Gigaword datasets. By addressing efficiency, scalability, and long-sequence modeling, BiSparse-AAS provides a unified, practical solution for real-world text summarization applications.

Machine learning models typically assume that training and test data follow the same distribution, an assumption that often fails in real-world scenarios due to distribution shifts. This issue is especially pronounced in low-resource settings, where data scarcity and limited domain diversity hinder robust generalization. Domain generalization (DG) approaches address this challenge by learning features that remain invariant across domains, often using causal mechanisms to improve model robustness. In this study, we examine two distinct causal DG techniques in low-resource natural language tasks. First, we investigate a causal data augmentation (CDA) approach that automatically generates counterfactual examples to improve robustness to spurious correlations. We apply this method to sentiment classification on the NaijaSenti Twitter corpus, expanding the training data with semantically equivalent paraphrases to simulate controlled distribution shifts. Second, we explore an invariant causal representation learning (ICRL) approach using the DINER framework, originally proposed for debiasing aspect-based sentiment analysis. We adapt DINER to a multilingual setting. Our findings demonstrate that both approaches enhance robustness to unseen domains: counterfactual data augmentation yields consistent cross-domain accuracy gains in sentiment classification, while causal representation learning with DINER improves out-of-distribution performance in multilingual sentiment analysis, albeit with varying gains across languages.