LangForce: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where goal-driven data collection creates a dataset bias. In such datasets, language instructions are highly predictable from visual observations alone, causing the conditional mutual information between instructions and actions to vanish, a phenomenon we term Information Collapse. Consequently, models degenerate into vision-only policies that ignore language constraints and fail in out-of-distribution (OOD) settings. To address this, we propose LangForce, a novel framework that enforces instruction following via Bayesian decomposition. By introducing learnable Latent Action Queries, we construct a dual-branch architecture to estimate both a vision-only prior $p(a \mid v)$ and a language-conditioned posterior $π(a \mid v, \ell)$. We then optimize the policy to maximize the conditional Pointwise Mutual Information (PMI) between actions and instructions. This objective effectively penalizes the vision shortcut and rewards actions that explicitly explain the language command. Without requiring new data, LangForce significantly improves generalization. Extensive experiments across on SimplerEnv and RoboCasa demonstrate substantial gains, including an 11.3% improvement on the challenging OOD SimplerEnv benchmark, validating the ability of our approach to robustly ground language in action.

BayesianVLA: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where goal-driven data collection creates a dataset bias. In such datasets, language instructions are highly predictable from visual observations alone, causing the conditional mutual information between instructions and actions to vanish, a phenomenon we term Information Collapse. Consequently, models degenerate into vision-only policies that ignore language constraints and fail in out-of-distribution (OOD) settings. To address this, we propose BayesianVLA, a novel framework that enforces instruction following via Bayesian decomposition. By introducing learnable Latent Action Queries, we construct a dual-branch architecture to estimate both a vision-only prior $p(a \mid v)$ and a language-conditioned posterior $π(a \mid v, \ell)$. We then optimize the policy to maximize the conditional Pointwise Mutual Information (PMI) between actions and instructions. This objective effectively penalizes the vision shortcut and rewards actions that explicitly explain the language command. Without requiring new data, BayesianVLA significantly improves generalization. Extensive experiments across on SimplerEnv and RoboCasa demonstrate substantial gains, including an 11.3% improvement on the challenging OOD SimplerEnv benchmark, validating the ability of our approach to robustly ground language in action.

TwinBrainVLA: Unleashing the Potential of Generalist VLMs for Embodied Tasks via Asymmetric Mixture-of-Transformers

Standard Vision-Language-Action (VLA) models typically fine-tune a monolithic Vision-Language Model (VLM) backbone explicitly for robotic control. However, this approach creates a critical tension between maintaining high-level general semantic understanding and learning low-level, fine-grained sensorimotor skills, often leading to "catastrophic forgetting" of the model's open-world capabilities. To resolve this conflict, we introduce TwinBrainVLA, a novel architecture that coordinates a generalist VLM retaining universal semantic understanding and a specialist VLM dedicated to embodied proprioception for joint robotic control. TwinBrainVLA synergizes a frozen "Left Brain", which retains robust general visual reasoning, with a trainable "Right Brain", specialized for embodied perception, via a novel Asymmetric Mixture-of-Transformers (AsyMoT) mechanism. This design allows the Right Brain to dynamically query semantic knowledge from the frozen Left Brain and fuse it with proprioceptive states, providing rich conditioning for a Flow-Matching Action Expert to generate precise continuous controls. Extensive experiments on SimplerEnv and RoboCasa benchmarks demonstrate that TwinBrainVLA achieves superior manipulation performance compared to state-of-the-art baselines while explicitly preserving the comprehensive visual understanding capabilities of the pre-trained VLM, offering a promising direction for building general-purpose robots that simultaneously achieve high-level semantic understanding and low-level physical dexterity.

LLMBoost: Make Large Language Models Stronger with Boosting

Ensemble learning of LLMs has emerged as a promising alternative to enhance performance, but existing approaches typically treat models as black boxes, combining the inputs or final outputs while overlooking the rich internal representations and interactions across models.In this work, we introduce LLMBoost, a novel ensemble fine-tuning framework that breaks this barrier by explicitly leveraging intermediate states of LLMs. Inspired by the boosting paradigm, LLMBoost incorporates three key innovations. First, a cross-model attention mechanism enables successor models to access and fuse hidden states from predecessors, facilitating hierarchical error correction and knowledge transfer. Second, a chain training paradigm progressively fine-tunes connected models with an error-suppression objective, ensuring that each model rectifies the mispredictions of its predecessor with minimal additional computation. Third, a near-parallel inference paradigm design pipelines hidden states across models layer by layer, achieving inference efficiency approaching single-model decoding. We further establish the theoretical foundations of LLMBoost, proving that sequential integration guarantees monotonic improvements under bounded correction assumptions. Extensive experiments on commonsense reasoning and arithmetic reasoning tasks demonstrate that LLMBoost consistently boosts accuracy while reducing inference latency.

PhysBrain: Human Egocentric Data as a Bridge from Vision Language Models to Physical Intelligence

Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception and action. However, most VLMs are trained primarily on third-person data, creating a fundamental viewpoint mismatch for humanoid robots. Scaling robot egocentric data collection remains impractical due to high cost and limited diversity, whereas large-scale human egocentric videos offer a scalable alternative that naturally capture rich interaction context and causal structure. The key challenge is to convert raw egocentric videos into structured and reliable embodiment training supervision. Accordingly, we propose an Egocentric2Embodiment translation pipeline that transforms first-person videos into multi-level, schema-driven VQA supervision with enforced evidence grounding and temporal consistency, enabling the construction of the Egocentric2Embodiment dataset (E2E-3M) at scale. An egocentric-aware embodied brain, termed PhysBrain, is obtained by training on the E2E-3M dataset. PhysBrain exhibits substantially improved egocentric understanding, particularly for planning on EgoThink. It provides an egocentric-aware initialization that enables more sample-efficient VLA fine-tuning and higher SimplerEnv success rates (53.9\%), demonstrating effective transfer from human egocentric supervision to downstream robot control.

PLoP: Precise LoRA Placement for Efficient Finetuning of Large Models

Low-Rank Adaptation (LoRA) is a widely used finetuning method for large models. Its small memory footprint allows practitioners to adapt large models to specific tasks at a fraction of the cost of full finetuning. Different modifications have been proposed to enhance its efficiency by, for example, setting the learning rate, the rank, and the initialization. Another improvement axis is adapter placement strategy: when using LoRA, practitioners usually pick module types to adapt with LoRA, such as Query and Key modules. Few works have studied the problem of adapter placement, with nonconclusive results: original LoRA paper suggested placing adapters in attention modules, while other works suggested placing them in the MLP modules. Through an intuitive theoretical analysis, we introduce PLoP (Precise LoRA Placement), a lightweight method that allows automatic identification of module types where LoRA adapters should be placed, given a pretrained model and a finetuning task. We demonstrate that PLoP consistently outperforms, and in the worst case competes, with commonly used placement strategies through comprehensive experiments on supervised finetuning and reinforcement learning for reasoning.

Local MDI+: Local Feature Importances for Tree-Based Models

Tree-based ensembles such as random forests remain the go-to for tabular data over deep learning models due to their prediction performance and computational efficiency. These advantages have led to their widespread deployment in high-stakes domains, where interpretability is essential for ensuring trustworthy predictions. This has motivated the development of popular local (i.e. sample-specific) feature importance (LFI) methods such as LIME and TreeSHAP. However, these approaches rely on approximations that ignore the model's internal structure and instead depend on potentially unstable perturbations. These issues are addressed in the global setting by MDI+, a feature importance method which exploits an equivalence between decision trees and linear models on a transformed node basis. However, the global MDI+ scores are not able to explain predictions when faced with heterogeneous individual characteristics. To address this gap, we propose Local MDI+ (LMDI+), a novel extension of the MDI+ framework to the sample specific setting. LMDI+ outperforms existing baselines LIME and TreeSHAP in identifying instance-specific signal features, averaging a 10% improvement in downstream task performance across twelve real-world benchmark datasets. It further demonstrates greater stability by consistently producing similar instance-level feature importance rankings across multiple random forest fits. Finally, LMDI+ enables local interpretability use cases, including the identification of closer counterfactuals and the discovery of homogeneous subgroups.

CDR-Agent: Intelligent Selection and Execution of Clinical Decision Rules Using Large Language Model Agents

Clinical decision-making is inherently complex and fast-paced, particularly in emergency departments (EDs) where critical, rapid and high-stakes decisions are made. Clinical Decision Rules (CDRs) are standardized evidence-based tools that combine signs, symptoms, and clinical variables into decision trees to make consistent and accurate diagnoses. CDR usage is often hindered by the clinician's cognitive load, limiting their ability to quickly recall and apply the appropriate rules. We introduce CDR-Agent, a novel LLM-based system designed to enhance ED decision-making by autonomously identifying and applying the most appropriate CDRs based on unstructured clinical notes. To validate CDR-Agent, we curated two novel ED datasets: synthetic and CDR-Bench, although CDR-Agent is applicable to non ED clinics. CDR-Agent achieves a 56.3\% (synthetic) and 8.7\% (CDR-Bench) accuracy gain relative to the standalone LLM baseline in CDR selection. Moreover, CDR-Agent significantly reduces computational overhead. Using these datasets, we demonstrated that CDR-Agent not only selects relevant CDRs efficiently, but makes cautious yet effective imaging decisions by minimizing unnecessary interventions while successfully identifying most positively diagnosed cases, outperforming traditional LLM prompting approaches. Code for our work can be found at: https://github.com/zhenxianglance/medagent-cdr-agent

ProxySPEX: Inference-Efficient Interpretability via Sparse Feature Interactions in LLMs

Large Language Models (LLMs) have achieved remarkable performance by capturing complex interactions between input features. To identify these interactions, most existing approaches require enumerating all possible combinations of features up to a given order, causing them to scale poorly with the number of inputs $n$. Recently, Kang et al. (2025) proposed SPEX, an information-theoretic approach that uses interaction sparsity to scale to $n \approx 10^3$ features. SPEX greatly improves upon prior methods but requires tens of thousands of model inferences, which can be prohibitive for large models. In this paper, we observe that LLM feature interactions are often hierarchical -- higher-order interactions are accompanied by their lower-order subsets -- which enables more efficient discovery. To exploit this hierarchy, we propose ProxySPEX, an interaction attribution algorithm that first fits gradient boosted trees to masked LLM outputs and then extracts the important interactions. Experiments across four challenging high-dimensional datasets show that ProxySPEX more faithfully reconstructs LLM outputs by 20% over marginal attribution approaches while using $10\times$ fewer inferences than SPEX. By accounting for interactions, ProxySPEX identifies features that influence model output over 20% more than those selected by marginal approaches. Further, we apply ProxySPEX to two interpretability tasks. Data attribution, where we identify interactions among CIFAR-10 training samples that influence test predictions, and mechanistic interpretability, where we uncover interactions between attention heads, both within and across layers, on a question-answering task. ProxySPEX identifies interactions that enable more aggressive pruning of heads than marginal approaches.

Not All Tokens Are What You Need In Thinking

Modern reasoning models, such as OpenAI's o1 and DeepSeek-R1, exhibit impressive problem-solving capabilities but suffer from critical inefficiencies: high inference latency, excessive computational resource consumption, and a tendency toward overthinking -- generating verbose chains of thought (CoT) laden with redundant tokens that contribute minimally to the final answer. To address these issues, we propose Conditional Token Selection (CTS), a token-level compression framework with a flexible and variable compression ratio that identifies and preserves only the most essential tokens in CoT. CTS evaluates each token's contribution to deriving correct answers using conditional importance scoring, then trains models on compressed CoT. Extensive experiments demonstrate that CTS effectively compresses long CoT while maintaining strong reasoning performance. Notably, on the GPQA benchmark, Qwen2.5-14B-Instruct trained with CTS achieves a 9.1% accuracy improvement with 13.2% fewer reasoning tokens (13% training token reduction). Further reducing training tokens by 42% incurs only a marginal 5% accuracy drop while yielding a 75.8% reduction in reasoning tokens, highlighting the prevalence of redundancy in existing CoT.