We train models to Predict Ego-centric Video from human Actions (PEVA), given the past video and an action represented by the relative 3D body pose. By conditioning on kinematic pose trajectories, structured by the joint hierarchy of the body, our model learns to simulate how physical human actions shape the environment from a first-person point of view. We train an auto-regressive conditional diffusion transformer on Nymeria, a large-scale dataset of real-world egocentric video and body pose capture. We further design a hierarchical evaluation protocol with in-creasingly challenging tasks, enabling a comprehensive analysis of the model's embodied prediction and control abilities. Our work represents an initial attempt to tackle the challenges of modeling complex real-world environments and embodied agent behaviors with video prediction from the perspective of a human.1

Classical information-theoretic generalization bounds typically control the generalization gap through KL-based mutual information and therefore rely on boundedness or sub-Gaussian tails via the moment generating function (MGF). In many modern pipelines, such as robust learning, RLHF, and stochastic optimization, losses and rewards can be heavy-tailed, and MGFs may not exist, rendering KL-based tools ineffective. We develop a tail-dependent information-theoretic framework for sub-Weibull data, where the tail parameter $θ$ controls the tail heaviness: $θ=2$ corresponds to sub-Gaussian, $θ=1$ to sub-exponential, and $0<θ<1$ to genuinely heavy tails. Our key technical ingredient is a decorrelation lemma that bounds change-of-measure expectations using a shifted-log $f_θ$-divergence, which admits explicit comparisons to Rényi divergence without MGF arguments. On the empirical-process side, we establish sharp maximal inequalities and a Dudley-type chaining bound for sub-Weibull processes with tail index $θ$, with complexity scaling as $\log^{1/θ}$ and entropy$^{1/θ}$. These tools yield expected and high-probability PAC-Bayes generalization bounds, as well as an information-theoretic chaining inequality based on multiscale Rényi mutual information. We illustrate the consequences in Rényi-regularized RLHF under heavy-tailed rewards and in stochastic gradient Langevin dynamics with heavy-tailed gradient noise.

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We analyze neural scaling laws in a solvable model of last-layer fine-tuning where targets have intrinsic, instance-heterogeneous difficulty. In our Latent Instance Difficulty (LID) model, each input's target variance is governed by a latent ``precision'' drawn from a heavy-tailed distribution. While generalization loss recovers standard scaling laws, our main contribution connects this to inference. The pass@$k$ failure rate exhibits a power-law decay, $k^{-β_\text{eff}}$, but the observed exponent $β_\text{eff}$ is training-dependent. It grows with sample size $N$ before saturating at an intrinsic limit $β$ set by the difficulty distribution's tail. This coupling reveals that learning shrinks the ``hard tail'' of the error distribution: improvements in the model's generalization error steepen the pass@$k$ curve until irreducible target variance dominates. The LID model yields testable, closed-form predictions for this behavior, including a compute-allocation rule that favors training before saturation and inference attempts after. We validate these predictions in simulations and in two real-data proxies: CIFAR-10H (human-label variance) and a maths teacher-student distillation task.

Equivariant neural networks encode symmetry as an inductive bias and have achieved strong empirical performance in wide domains. However, their expressive power remains not well understood. Focusing on 2-layer ReLU networks, this paper investigates the impact of equiv-ariance constraints on the expressivity of equivariant and layer-wise equivariant networks. By examining the boundary hyperplanes and the channel vectors of ReLU networks, we construct an example showing that equivariance constraints could strictly limit expressive power. However, we demonstrate that this drawback can be compensated via enlarging the model size. Furthermore, we show that despite a larger model size, the resulting architecture could still correspond to a hypothesis space with lower complexity, implying superior generalizability for equivariant networks.