The main goal of generative modeling is to use finitely many samples from a distribution to construct a sampling scheme capable of generating new samples from the same distribution. Among the families of existing generative models, flow matching (FM) [23, 24] is notable for its flexibility and simplicity. Given a target probability distribution, FM utilizes a parametric model (e.g., neural network) to learn the velocity vector field that defines a deterministic, continuous transformation (a normalizing flow) and transports a source probability distribution (e.g., standard Gaussian) to the target distribution. While the population formulation of FM often exhibits appealing structure--sometimes even admitting gradient-field velocities--practical models are trained on finite datasets and therefore optimize empirical objectives. This empirical setting substantially alters the geometry of the learned velocity field and the energetic properties of the resulting sampler. These notes aim to clarify how empirical FM behaves, how it differs from its population counterpart, and what implicit biases arise in the learned sampling dynamics. From now on, we assume that all the probability distributions/measures (except the empirical distribution) of the random variables considered are absolutely continuous (i.e., they have densities with respect to the Lebesgue measure), in which case we shall abuse the notation and use the same symbol to denote both the distribution and the density. To maintain the flow of the main text, we defer discussion of related work and all proofs of the theoretical results to the appendix.

Abstract-- In collaborative human-robot tasks, safety requires not only avoiding collisions but also ensuring safe, intentional physical contact. We present ContactRL, a reinforcement learning (RL) based framework that directly incorporates contact safety into the reward function through force feedback. This enables a robot to learn adaptive motion profiles that minimize human-robot contact forces while maintaining task efficiency. In simulation, ContactRL achieves a low safety violation rate of 0.2% with a high task success rate of 87.7%, outperforming state-of-the-art constrained RL baselines. In order to guarantee deployment safety, we augment the learned policy with a kinetic energy based Control Barrier Function (eCBF) shield. Real-world experiments on an UR3e robotic platform performing small object handovers from a human hand across 360 trials confirm safe contact, with measured normal forces consistently below 10N. These results demonstrate that ContactRL enables safe and efficient physical collaboration, thereby advancing the deployment of collaborative robots in contact-rich tasks.

We present a systematic theoretical framework that interprets masked diffusion models (MDMs) as solutions to energy minimization problems in discrete optimal transport. Specifically, we prove that three distinct energy formulations--kinetic, conditional kinetic, and geodesic energy--are mathematically equivalent under the structure of MDMs, and that MDMs minimize all three when the mask schedule satisfies a closed-form optimality condition. This unification not only clarifies the theoretical foundations of MDMs, but also motivates practical improvements in sampling. By parameterizing interpolation schedules via Beta distributions, we reduce the schedule design space to a tractable 2D search, enabling efficient post-training tuning without model modification. Experiments on synthetic and real-world benchmarks demonstrate that our energy-inspired schedules outperform hand-crafted baselines, particularly in low-step sampling settings.

We present a differentiable extension of the VEROS ocean model, enabling automatic differentiation through its dynamical core. We describe the key modifications required to make the model fully compatible with JAX autodifferentiation framework and evaluate the numerical consistency of the resulting implementation. Two illustrative applications are then demonstrated: (i) the correction of an initial ocean state through gradient-based optimization, and (ii) the calibration of unknown physical parameters directly from model observations. These examples highlight how differentiable programming can facilitate end-to-end learning and parameter tuning in ocean modeling. Our implementation is available online.

We consider the optimization of cost functionals on infinite dimensional manifolds and derive a variational approach to accelerated methods on manifolds.

We consider the optimization of cost functionals on infinite dimensional manifolds and derive a variational approach to accelerated methods on manifolds.

These innovative pavings convert the kinetic energy of footsteps into clean electric energy. We walk here, we walk there, we walk everywhere. Maybe you're headed to work or to lunch in a busy city. You're expending energy, and the exercise is good for you. But what if, on top of that, we could recapture all that freely supplied energy and convert it to usable electricity?

The marking problem consists in assessing typed student answers for correctness with respect to a ground truth solution. This is a challenging problem that we seek to tackle using a combination of a computer algebra system, an SMT solver and a term rewriting system. A Large Language Model is used to interpret and remove errors from student responses and rewrite these in a machine readable format. Once formalized and language-aligned, the next step then consists in applying automated reasoning techniques for assessing student solution correctness. We consider two methods of automated theorem proving: off-the-shelf SMT solving and term rewriting systems tailored for physics problems involving trigonometric expressions. The development of the term rewrite system and establishing termination and confluence properties was not trivial, and we describe it in some detail in the paper. We evaluate our system on a rich pool of over 1500 real-world student exam responses from the 2023 Australian Physics Olympiad.

Since weather forecasts are fundamentally uncertain, reliable decision making requires information on the likelihoods of future weather scenarios. We explore the sensitivity of machine learning weather prediction (MLWP) using the 24h Pangu Weather ML model of Huawei to errors in the initial conditions with a specific kind of Singular Vector (SV) perturbations. Our Arnoldi-SV (A-SV) method does not need linear nor adjoint model versions and is applicable to numerical weather prediction (NWP) as well as MLWP. It observes error growth within a given optimization time window by iteratively applying a forecast model to perturbed model states. This creates a Krylov subspace, implicitly based on a matrix operator, which approximates the local error growth. Each iteration adds new dimensions to the Krylov space and its leading right SVs are expected to turn into directions of growing errors. We show that A-SV indeed finds dynamically meaningful perturbation patterns for the 24h Pangu Weather model, which grow right from the beginning of the forecast rollout. These perturbations describe local unstable modes and could be a basis to initialize MLWP ensembles. Since we start A-SV from random noise perturbations, the algorithm transforms noise into perturbations conditioned on a given reference state - a process that is akin to the denoising process of the generic diffusion based ML model of GenCast, therefor we briefly discuss similarities and differences.