Search: “pretraining”

Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data

arXiv:2606.22136v1 Announce Type: new Abstract: Scaling dexterous manipulation requires generalization across objects, scenes, and tasks, yet existing data sources face a trade-off between scale and s

23 Jun 2026

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Architecture-Aware Reinforcement Learning Makes Sliding-Window Attention Competitive in Math Reasoning

DGX agent

arXiv:2606.11634v1 Announce Type: new Abstract: The rapid progress of reasoning and agentic large language models (LLMs) has increased the demand for long-context inference, but self-attention (SA) sc

safetyarxiv-cs-ai

11 Jun 2026

BioMamba: Domain-Adaptive Biomedical Language Models

arXiv:2408.02600v3 Announce Type: replace Abstract: Background. Biomedical language models should improve performance on biomedical text while retaining general-language-modeling fluency. For Mamba-ba

Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning

arXiv:2606.11767v1 Announce Type: cross Abstract: Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-only policies for real robots remains c

Local Ai

Frozen Foundation-Model Embeddings Discard Small-Lesion Signal in Chest Radiography: Implications for Pre-Deployment Evaluation

arXiv:2606.11606v1 Announce Type: new Abstract: Frozen vision-transformer (ViT) foundation-model embeddings increasingly serve as the substrate for downstream chest-radiography (CXR) pipelines, yet wh

local-aiarxiv-cs-cv

LifeSentence: Language models can encode human life course trajectories from longitudinal panel data

arXiv:2606.11220v1 Announce Type: new Abstract: Forecasting human life outcomes is important to gain insights into how individuals attain long and healthy lives. Conventional statistical approaches yi

Noise-Guided Transport for Imitation Learning

arXiv:2509.26294v2 Announce Type: replace-cross Abstract: We consider imitation learning in the low-data regime, where only a limited number of expert demonstrations are available. In this setting, me

Tabular Foundation Models for Clinical Survival Analysis via Survival-Aware Adaptation

arXiv:2606.12006v1 Announce Type: cross Abstract: Predicting time-to-event outcomes such as mortality is a fundamental task in clinical decision-making, commonly addressed through survival analysis. W

TacCoRL: Integrating Tactile Feedback into VLA via Simulation

arXiv:2606.11743v1 Announce Type: cross Abstract: Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often mis

safetyarxiv-cs-lg

AuRA: Internalizing Audio Understanding into LLMs as LoRA

arXiv:2606.11033v1 Announce Type: cross Abstract: Recent efforts to extend large language models (LLMs) to speech inputs typically rely on cascaded ASR-LLM pipelines, end-to-end speech-language models

CoCoSI: Collaborative Cognitive Map Construction for Spatial Intelligence

arXiv:2606.10401v1 Announce Type: new Abstract: Spatial intelligence is a key frontier for multimodal large language models (MLLMs), enabling them to reason about the physical world from visual experi

Domain Adapted Large Language Models for Additive Manufacturing

model-releasesarxiv-cs-lg

arXiv:2603.22017v2 Announce Type: replace Abstract: This work presents a collection of multi-modal domain adapted large language models built upon the instruction tuned variants of open weight models

Making Time Editable in Video Diffusion Transformers

arXiv:2606.10183v1 Announce Type: cross Abstract: Modern Diffusion Transformers for video generation provide limited control over the progression of time and the editing of temporal dynamics. We propo

Sigma-Branch: Hierarchical Single-Path Network Reconstruction for Dynamic Inference with Reduced Active Parameters

arXiv:2606.09924v1 Announce Type: cross Abstract: Deploying deep neural networks on memory-constrained edge accelerators is bottlenecked by per-inference off-chip weight transfer rather than computati

BareWave: Waveform-Native Flow-Matching Text-to-Speech

arXiv:2606.09048v1 Announce Type: cross Abstract: Removing intermediate representations and separately trained decoding stages has become an important direction in generative modeling. In text-to-spee

CapRL++: Unified Reinforcement Learning with Verifiable Rewards for Dense Image and Video Captioning

arXiv:2606.09393v1 Announce Type: new Abstract: Image and video captioning are fundamental tasks that bridge the visual and linguistic domains, playing a critical role in pre-training Large Vision-Lan

Causal Longitudinal Prior-Fitted Networks for Counterfactual Outcome Prediction

model-releasesarxiv-cs-lg

arXiv:2606.05797v2 Announce Type: replace Abstract: Longitudinal treatment decisions from multivariate time-series data require predicting potential outcomes under future treatment sequences in the pr

GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation

arXiv:2606.08530v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background s

HiMat: DiT-based Ultra-High Resolution SVBRDF Generation

arXiv:2508.07011v5 Announce Type: replace Abstract: Creating ultra-high-resolution spatially varying bidirectional reflectance functions (SVBRDFs) is critical for photorealistic 3D content creation, t

safetyarxiv-cs-cv

How Much MRI Preprocessing Is Enough? A Cost-Utility Study for Brain MRI Foundation Models

arXiv:2606.08164v1 Announce Type: new Abstract: MRI preprocessing defines the input distribution seen by brain MRI foundation models, yet it is usually treated as routine data cleaning rather than a m

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data

arXiv:2606.08520v1 Announce Type: new Abstract: Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult.

Uncertainty-Aware Intention Prediction for Human-to-Robot Assembly Teleoperation

arXiv:2606.08341v1 Announce Type: new Abstract: In assisted teleoperation for human-robot collaboration, accurate intention prediction is critical for enabling timely and reliable robotic assistance d

researcharxiv-cs-ro

Skip a Layer or Loop It? Learning Program-of-Layers in LLMs

arXiv:2606.06574v1 Announce Type: new Abstract: Large language models (LLMs) perform inference by following a fixed depth and order, non-recurrent execution of all layers. We reveal the wide existence

researcharxiv-cs-lg

STREAM: Stochastic Riemannian Flow Matching with Anisotropic Decoder for Digital Histopathology Image Generation

arXiv:2606.07036v1 Announce Type: cross Abstract: Synthetic histopathology image generation addresses critical challenges in computational pathology, including patient privacy and the growing need for

TokaMind: A Multi-Modal Transformer Foundation Model for Tokamak Plasma Dynamics

arXiv:2602.15084v2 Announce Type: replace-cross Abstract: We present TokaMind, to our knowledge the first open-source foundation model for tokamak plasma dynamics, based on a Multi-Modal Transformer (

Video-Based Prediction of In-Flight Particle Characteristics in Atmospheric Plasma Spraying

arXiv:2606.07416v1 Announce Type: new Abstract: Atmospheric plasma spraying (APS) is a widely used coating process in which in-flight particle temperature and velocity strongly influence coating quali

researcharxiv-cs-lg

Boosting Brain-to-Image Decoding with TRIBE v2 Data Augmentation

arXiv:2606.06345v1 Announce Type: new Abstract: Brain decoding is limited by the availability of labeled neural data, and remains challenging in low-data regimes. To address this issue, we investigate

6 Jun 2026

VLA-JEPA just dropped in LeRobot 🤖 What makes this model special is that it does not just learn what action to take from a given observatio…

model-releasesclem-delangue--x

VLA-JEPA just dropped in LeRobot 🤖 What makes this model special is that it does not just learn what action to take from a given observation, it also leverages a JEPA world model to learn action-relev

6 Jun 2026

DRIFT: A Residual Flow Adapter for Decoding Continuous Outputs in Vision-Language Models

arXiv:2606.05758v1 Announce Type: new Abstract: Many modern vision-language models (VLMs) build on autoregressive decoding of discrete tokens. While text-based output interfaces enable scalable pretra

Harnessing Structural Context for Entity Alignment Foundation Models

arXiv:2606.06109v1 Announce Type: new Abstract: Entity alignment (EA) aims to identify equivalent entities across heterogeneous knowledge graphs (KGs) and is a key component of knowledge fusion and cr

Applications

In-Context Multiple Instance Learning

arXiv:2606.06458v1 Announce Type: cross Abstract: Multiple Instance Learning (MIL) addresses problems where supervision is available at the level of bags of instances and has been successfully applied

applicationsarxiv-cs-cv

KV-Control: Parameter-Efficient K/V Injection for Trajectory-Controlled Text-to-Motion

arXiv:2606.05624v1 Announce Type: new Abstract: Text-conditioned 3D human motion models now synthesize plausible motions from prompts, but practical animation and embodied-agent workflows rarely stop

3PoinTr: 3D Point Tracks for Learning Manipulation from Unconstrained Human Videos

arXiv:2603.08485v2 Announce Type: replace Abstract: Learning manipulation policies from human videos could greatly reduce the need for expensive robot demonstrations, but existing approaches typically

Local Ai

A Geometric View of Counterfactual Behavior: Interaction of Boundary Proximity and Local Support

arXiv:2606.04209v1 Announce Type: new Abstract: Counterfactual explanations seek small, semantically meaningful changes to an input that alter a model's prediction, and are widely used to interpret an

local-aiarxiv-cs-lg

AUDDT: A Unified Benchmark Toolkit for Audio and Speech Deepfake Detectors

arXiv:2509.21597v2 Announce Type: replace-cross Abstract: With the prevalence of artificial intelligence (AI)-generated content, such as audio deepfakes, a large body of recent work has focused on dev

GENEB: Why Genomic Models Are Hard to Compare

arXiv:2606.04525v1 Announce Type: new Abstract: Progress in genomic foundation models is difficult to assess due to fragmented benchmarks, incompatible evaluation protocols, and task-specific reportin

Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation

arXiv:2606.05015v1 Announce Type: new Abstract: World models, learned generative models that predict how an environment evolves, have become a promising tool for sample-efficient robot learning. Yet h

Multi-Granularity 3D Kidney Lesion Characterization from CT Volumes

arXiv:2606.04365v1 Announce Type: cross Abstract: Radiology reports describe kidney lesions by type, size, enhancement, and attenuation, yet existing 3D methods predict only at the patient or organ le

Physics-Informed Video Generation via Mixture-of-Experts Latent Alignment

arXiv:2606.04737v1 Announce Type: new Abstract: Large-scale video generation models have made remarkable progress in semantic consistency and visual quality, producing videos that are increasingly coh

Backdoor Unlearning Generalization: A Path Toward the Removal of Unknown Triggers in LLMs

arXiv:2606.03785v1 Announce Type: new Abstract: Backdoor attacks in Large Language Models (LLMs) are a growing security concern, where models can generate adversary-chosen content. Existing defenses t

safetyarxiv-cs-cl

ChatHealthAI: Aligning Electronic Health Record Representations with Large Language Models for Grounded Clinical Reasoning

arXiv:2606.02802v1 Announce Type: new Abstract: Large language models (LLMs) exhibit strong natural-language reasoning abilities for clinical decision support, but struggle to effectively model struct

Coherence Maximization Improves Pluralistic Alignment

arXiv:2606.03110v1 Announce Type: new Abstract: Aligning AI systems with diverse human values requires value specifications grounded in concrete examples, but generating such examples without extensiv

safetyarxiv-cs-cl

CoughSense: Five-Class Respiratory Disease Classification via Whisper Encoder Fine-Tuning and Dual-Encoder Cross-Attention Fusion with Balanced Contrastive Learning

arXiv:2606.02998v1 Announce Type: new Abstract: Automated cough analysis offers a path to low-cost respiratory screening, but most existing work stops at binary COVID-19 detection. A practical tool ne

researcharxiv-cs-lg

Diagnosis of Human Object Interaction Detectors for Real World Educational Applications

arXiv:2606.02789v1 Announce Type: new Abstract: Human-object interaction (HOI) recognition is critical for automatically analyzing student behavior in complex educational environments. Although state-

Local Ai

Distill-then-Replace: Efficient Task-Specific Hybrid Attention Model Construction

arXiv:2601.11667v2 Announce Type: replace-cross Abstract: Transformer architectures deliver state-of-the-art accuracy via dense full-attention, but their quadratic time and memory complexity with resp

local-aiarxiv-cs-ai

From None to All: Self-Supervised 3D Reconstruction via Novel View Synthesis

arXiv:2603.27455v2 Announce Type: replace Abstract: In this paper, we introduce NAS3R, a self-supervised feed-forward framework that jointly learns explicit 3D geometry and camera parameters with no g

Leveraging BART to Assess CS1 C++ Programming Assignments using Rubric-based Criteria

arXiv:2606.03814v1 Announce Type: new Abstract: This paper investigates rubric-aware, multitask fine-tuning of transformer models for automated grading of introductory C++ programming assignments, wit

OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform

model-releasesarxiv-cs-ro

arXiv:2606.03392v1 Announce Type: new Abstract: Embodied AI in the real world requires both accurate hardware and robust vision-language-action (VLA) policies. We present OpenEAI-Platform, a fully ope