Memory Inception: Latent-Space KV Cache Manipulation for Steering LLMs

Steering large language models (LLMs) is usually done by either instruction prompting or activation steering. Prompting often gives strong control, but caches guidance tokens at every layer and can clutter long interactions; activation steering is compact but typically weaker and does not support large structured reminders. We introduce memory inception (MI), a training-free method that steers in latent attention space by inserting text-derived key-value (KV) banks only at selected layers. Rather than materializing reminder content throughout the prompt cache, MI treats steering as selective KV allocation, injecting latent slots only where the model routes to them. On matched personality-steering tasks, MI gives the best overall control--drift trade-off, remaining competitive with prompting while consistently outperforming CAA. On updateable guidance, MI supports mid-conversation behavior shifts without rewriting the visible transcript, achieving the highest post-shift alignment on Qwen3. On structured reasoning, MI outperforms visible prompting on HARDMath and PHYSICS (10/12 subject$\times$mode cells), serving as proxies for structured reasoning in verifiable domains, while cutting content-matched KV storage by up to 118$\times$. These results position MI as a powerful steering method when guidance is persistent, structured, or expensive to keep in the visible transcript.

Real-Time Cellist Postural Evaluation With On-Device Computer Vision

Posture is a critical factor for beginning instrumental learners. Most students receive instruction only once a week, and during the intervals between lessons they have little or no feedback on their physical posture. As a result, posture often deteriorates, increasing the risk of musculoskeletal injury and inefficient technique. Recent advances in computer vision and machine learning make it possible to evaluate posture without the constant presence of a human expert. However, current solutions have been extremely limited in availability and convenience due to their reliance on computationally expensive hardware or multi-sensor setups. We present Cello Evaluator, a real-time postural feedback system for practicing cellists. Through this optimization for on-device computer vision inference, we provide access to cellist postural evaluation to anyone with a current generation Android phone and thus reduces the postural feedback voids within individual practice. To validate our mobile application, we conduct a heuristic evaluation consisting of cellist and UX experts. Overall feedback from the evaluation found the app to be user friendly and helpful.

OMNI-PoseX: A Fast Vision Model for 6D Object Pose Estimation in Embodied Tasks

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression schemes, limiting their generalization, stability, and real-time applicability in robotic systems. We present OMNI-PoseX, a vision foundation model that introduces a novel network architecture unifying open-vocabulary perception with an SO(3)-aware reflected flow matching pose predictor. The architecture decouples object-level understanding from geometry-consistent rotation inference, and employs a lightweight multi-modal fusion strategy that conditions rotation-sensitive geometric features on compact semantic embeddings, enabling efficient and stable 6D pose estimation. To enhance robustness and generalization, the model is trained on large-scale 6D pose datasets, leveraging broad object diversity, viewpoint variation, and scene complexity to build a scalable open-world pose backbone. Comprehensive evaluations across benchmark pose estimation, ablation studies, zero-shot generalization, and system-level robotic grasping integration demonstrate the effectiveness of OMNI-PoseX. The OMNI-PoseX achieves SOTA pose accuracy and real-time efficiency, while delivering geometrically consistent predictions that enable reliable grasping of diverse, previously unseen objects.

PAVE: Premise-Aware Validation and Editing for Retrieval-Augmented LLMs

Retrieval-augmented language models can retrieve relevant evidence yet still commit to answers before explicitly checking whether the retrieved context supports the conclusion. We present PAVE (Premise-Grounded Answer Validation and Editing), an inference-time validation layer for evidence-grounded question answering. PAVE decomposes retrieved context into question-conditioned atomic facts, drafts an answer, scores how well that draft is supported by the extracted premises, and revises low-support outputs before finalization. The resulting trace makes answer commitment auditable at the level of explicit premises, support scores, and revision decisions. In controlled ablations with a fixed retriever and backbone, PAVE outperforms simpler post-retrieval baselines in two evidence-grounded QA settings, with the largest gain reaching 32.7 accuracy points on a span-grounded benchmark. We view these findings as proof-of-concept evidence that explicit premise extraction plus support-gated revision can strengthen evidence-grounded consistency in retrieval-augmented LLM systems.

GSR: Learning Structured Reasoning for Embodied Manipulation

Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of existing approaches is that task reasoning is implicitly embedded in high-dimensional latent representations, making it challenging to separate task structure from perceptual variability. We introduce Grounded Scene-graph Reasoning (GSR), a structured reasoning paradigm that explicitly models world-state evolution as transitions over semantically grounded scene graphs. By reasoning step-wise over object states and spatial relations, rather than directly mapping perception to actions, GSR enables explicit reasoning about action preconditions, consequences, and goal satisfaction in a physically grounded space. To support learning such reasoning, we construct Manip-Cognition-1.6M, a large-scale dataset that jointly supervises world understanding, action planning, and goal interpretation. Extensive evaluations across RLBench, LIBERO, GSR-benchmark, and real-world robotic tasks show that GSR significantly improves zero-shot generalization and long-horizon task completion over prompting-based baselines. These results highlight explicit world-state representations as a key inductive bias for scalable embodied reasoning.

OpenAI GPT-5 System Card

This is the system card published alongside the OpenAI GPT-5 launch, August 2025. GPT-5 is a unified system with a smart and fast model that answers most questions, a deeper reasoning model for harder problems, and a real-time router that quickly decides which model to use based on conversation type, complexity, tool needs, and explicit intent (for example, if you say 'think hard about this' in the prompt). The router is continuously trained on real signals, including when users switch models, preference rates for responses, and measured correctness, improving over time. Once usage limits are reached, a mini version of each model handles remaining queries. This system card focuses primarily on gpt-5-thinking and gpt-5-main, while evaluations for other models are available in the appendix. The GPT-5 system not only outperforms previous models on benchmarks and answers questions more quickly, but -- more importantly -- is more useful for real-world queries. We've made significant advances in reducing hallucinations, improving instruction following, and minimizing sycophancy, and have leveled up GPT-5's performance in three of ChatGPT's most common uses: writing, coding, and health. All of the GPT-5 models additionally feature safe-completions, our latest approach to safety training to prevent disallowed content. Similarly to ChatGPT agent, we have decided to treat gpt-5-thinking as High capability in the Biological and Chemical domain under our Preparedness Framework, activating the associated safeguards. While we do not have definitive evidence that this model could meaningfully help a novice to create severe biological harm -- our defined threshold for High capability -- we have chosen to take a precautionary approach.

Self-Interest and Systemic Benefits: Emergence of Collective Rationality in Mixed Autonomy Traffic Through Deep Reinforcement Learning

Autonomous vehicles (AVs) are expected to be commercially available in the near future, leading to mixed autonomy traffic consisting of both AVs and human-driven vehicles (HVs). Although numerous studies have shown that AVs can be deployed to benefit the overall traffic system performance by incorporating system-level goals into their decision making, it is not clear whether the benefits still exist when agents act out of self-interest -- a trait common to all driving agents, both human and autonomous. This study aims to understand whether self-interested AVs can bring benefits to all driving agents in mixed autonomy traffic systems. The research is centered on the concept of collective rationality (CR). This concept, originating from game theory and behavioral economics, means that driving agents may cooperate collectively even when pursuing individual interests. Our recent research has proven the existence of CR in an analytical game-theoretical model and empirically in mixed human-driven traffic. In this paper, we demonstrate that CR can be attained among driving agents trained using deep reinforcement learning (DRL) with a simple reward design. We examine the extent to which self-interested traffic agents can achieve CR without directly incorporating system-level objectives. Results show that CR consistently emerges in various scenarios, which indicates the robustness of this property. We also postulate a mechanism to explain the emergence of CR in the microscopic and dynamic environment and verify it based on simulation evidence. This research suggests the possibility of leveraging advanced learning methods (such as federated learning) to achieve collective cooperation among self-interested driving agents in mixed-autonomy systems.

Enhanced Vehicle Speed Detection Considering Lane Recognition Using Drone Videos in California

The increase in vehicle numbers in California, driven by inadequate transportation systems and sparse speed cameras, necessitates effective vehicle speed detection. Detecting vehicle speeds per lane is critical for monitoring High-Occupancy Vehicle (HOV) lane speeds, distinguishing between cars and heavy vehicles with differing speed limits, and enforcing lane restrictions for heavy vehicles. While prior works utilized YOLO (You Only Look Once) for vehicle speed detection, they often lacked accuracy, failed to identify vehicle lanes, and offered limited or less practical classification categories. This study introduces a fine-tuned YOLOv11 model, trained on almost 800 bird's-eye view images, to enhance vehicle speed detection accuracy which is much higher compare to the previous works. The proposed system identifies the lane for each vehicle and classifies vehicles into two categories: cars and heavy vehicles. Designed to meet the specific requirements of traffic monitoring and regulation, the model also evaluates the effects of factors such as drone height, distance of Region of Interest (ROI), and vehicle speed on detection accuracy and speed measurement. Drone footage collected from Northern California was used to assess the proposed system. The fine-tuned YOLOv11 achieved its best performance with a mean absolute error (MAE) of 0.97 mph and mean squared error (MSE) of 0.94 $\text{mph}^2$, demonstrating its efficacy in addressing challenges in vehicle speed detection and classification.

Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation

This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a valid grasp. Locations of ICRs can provide guidance for grasp and manipulation planning, learning, and policy transfer. However, ICRs for modern applications have been little explored, in part due to the expense of computing them, as they have a search space exponential in the number of contacts. We present a divide and conquer algorithm based on incremental n-dimensional Delaunay triangulation that produces results with bounded suboptimality in times sufficient for real-time planning. This paper presents the base algorithm for grasps where contacts lie within a plane. Our experiments show substantial benefits over competing grasp quality metrics and speedups of 100X and more for competing approaches to computing ICRs. We explore robustness of a policy guided by ICRs and outline a path to general 3D implementation. Code will be released on publication to facilitate further development and applications.

Guiding Data Collection via Factored Scaling Curves

Generalist imitation learning policies trained on large datasets show great promise for solving diverse manipulation tasks. However, to ensure generalization to different conditions, policies need to be trained with data collected across a large set of environmental factor variations (e.g., camera pose, table height, distractors) $-$ a prohibitively expensive undertaking, if done exhaustively. We introduce a principled method for deciding what data to collect and how much to collect for each factor by constructing factored scaling curves (FSC), which quantify how policy performance varies as data scales along individual or paired factors. These curves enable targeted data acquisition for the most influential factor combinations within a given budget. We evaluate the proposed method through extensive simulated and real-world experiments, across both training-from-scratch and fine-tuning settings, and show that it boosts success rates in real-world tasks in new environments by up to 26% over existing data-collection strategies. We further demonstrate how factored scaling curves can effectively guide data collection using an offline metric, without requiring real-world evaluation at scale.