We conducted the experiment on Meta-World, a multi-task RL benchmark containing various robotics manipulation tasks.

Somewhat surprisingly, learning in a Markov Decision Process is most often considered under the performance criteria ofconsistency or regret minimization(see e.g.

Underthisassumption,weintroduce IMED-RLandprove that its regret upper bound asymptotically matches the regret lower bound.

The idea is illustrated in Figure 1.

Flow map models such as Consistency Models (CM) and Mean Flow (MF) enable few-step generation by learning the long jump of the ODE solution of diffusion models, yet training remains unstable, sensitive to hyperparameters, and costly. Initializing from a pre-trained diffusion model helps, but still requires converting infinitesimal steps into a long-jump map, leaving instability unresolved. We introduce mid-training, the first concept and practical method that inserts a lightweight intermediate stage between the (diffusion) pre-training and the final flow map training (i.e., post-training) for vision generation. Concretely, Consistency Mid-Training (CMT) is a compact and principled stage that trains a model to map points along a solver trajectory from a pre-trained model, starting from a prior sample, directly to the solver-generated clean sample. It yields a trajectory-consistent and stable initialization. This initializer outperforms random and diffusion-based baselines and enables fast, robust convergence without heuristics. Initializing post-training with CMT weights further simplifies flow map learning. Empirically, CMT achieves state of the art two step FIDs: 1.97 on CIFAR-10, 1.32 on ImageNet 64x64, and 1.84 on ImageNet 512x512, while using up to 98% less training data and GPU time, compared to CMs. On ImageNet 256x256, CMT reaches 1-step FID 3.34 while cutting total training time by about 50% compared to MF from scratch (FID 3.43). This establishes CMT as a principled, efficient, and general framework for training flow map models.

Incorporating external knowledge is crucial for knowledge-intensive tasks, such as question answering and fact checking. However, language models (LMs) may ignore relevant information that contradicts outdated parametric memory or be distracted by irrelevant contexts. While many context utilisation manipulation techniques (CMTs) have recently been proposed to alleviate these issues, few have seen systematic comparison. In this paper, we develop CUB (Context Utilisation Benchmark) - the first comprehensive benchmark designed to help practitioners within retrieval-augmented generation (RAG) diagnose CMTs under different context conditions. With this benchmark, we conduct the most extensive evaluation to date of seven state-of-the-art methods, representative of the main categories of CMTs, across three diverse datasets and tasks, applied to nine LMs. Our results reveal that most existing CMTs struggle to handle the full spectrum of context types encountered in real-world retrieval-augmented scenarios. We also find that many CMTs display inflated performance on simple synthesised datasets, compared to more realistic datasets with naturally occurring samples. Our findings expose critical gaps in current CMT evaluation practices and demonstrate the need for holistic testing and the development of CMTs that can robustly handle multiple context types.

Following a stroke, individuals often experience mobility and balance impairments due to lower-limb weakness and loss of independent joint control. Gait recovery is a key goal of rehabilitation, traditionally achieved through high-intensity therapist-led training. However, manual assistance can be physically demanding and limits the therapist's ability to interact with multiple joints simultaneously. Robotic exoskeletons offer multi-joint support, reduce therapist strain, and provide objective feedback, but current control strategies often limit therapist involvement and adaptability. We present a novel gait rehabilitation paradigm based on physical Human-Robot-Human Interaction (pHRHI), where both the therapist and the post-stroke individual wear lower-limb exoskeletons virtually connected at the hips and knees via spring-damper elements. This enables bidirectional interaction, allowing the therapist to guide movement and receive haptic feedback. In a study with eight chronic stroke patients, pHRHI training outperformed conventional therapist-guided treadmill walking, leading to increased joint range of motion, step metrics, muscle activation, and motivation. These results highlight pHRHI's potential to combine robotic precision with therapist intuition for improved rehabilitation outcomes.

We introduce Conceptual Metaphor Theory (CMT) as a framework for enhancing large language models (LLMs) through cognitive prompting in complex reasoning tasks. CMT leverages metaphorical mappings to structure abstract reasoning, improving models' ability to process and explain intricate concepts. By incorporating CMT-based prompts, we guide LLMs toward more structured and human-like reasoning patterns. To evaluate this approach, we compare four native models (Llama3.2, Phi3, Gemma2, and Mistral) against their CMT-augmented counterparts on benchmark tasks spanning domain-specific reasoning, creative insight, and metaphor interpretation. Responses were automatically evaluated using the Llama3.3 70B model. Experimental results indicate that CMT prompting significantly enhances reasoning accuracy, clarity, and metaphorical coherence, outperforming baseline models across all evaluated tasks.