Learning from Medical Entity Trees: An Entity-Centric Medical Data Engineering Framework for MLLMs

Multimodal Large Language Models (MLLMs) have shown transformative potential in medical applications, yet their performance is hindered by conventional data curation strategies that rely on coarse-grained partitioning by modality or department. Such fragmented approaches fail to capture the hierarchical and interconnected nature of clinical medical knowledge, limiting the models' ability to perform fine-grained recognition and complex reasoning. In this paper, we propose a novel Entity-Centric Medical Data Engineering framework. We automatically extract entities from authoritative medical literature to construct a Medical Entity Tree (MET), a hierarchical structure that systematically encodes diseases, anatomical structures, modalities, and symptoms into a unified knowledge repository. Building upon the MET, we propose an advanced data engine that includes: (1) node-guided retrieval to anchor raw data to specific medical concepts, (2) a two-stage hybrid filtering and alignment pipeline to ensure precise visual-semantic correspondence, and (3) knowledge-aware data synthesis to generate enriched captions and targeted reasoning VQA pairs, leveraging structural constraints. Extensive evaluations across six medical benchmarks demonstrate that our approach significantly enhances the medical capabilities of general-purpose MLLMs, improving their ability to handle complex clinical queries and achieve state-of-the-art performance in diverse medical contexts.

MEG-RAG: Quantifying Multi-modal Evidence Grounding for Evidence Selection in RAG

Multimodal Retrieval-Augmented Generation (MRAG) addresses key limitations of Multimodal Large Language Models (MLLMs), such as hallucination and outdated knowledge. However, current MRAG systems struggle to distinguish whether retrieved multimodal data truly supports the semantic core of an answer or merely provides superficial relevance. Existing metrics often rely on heuristic position-based confidence, which fails to capture the informational density of multimodal entities. To address this, we propose Multi-modal Evidence Grounding (MEG), a semantic-aware metric that quantifies the contribution of retrieved evidence. Unlike standard confidence measures, MEG utilizes Semantic Certainty Anchoring, focusing on high-IDF information-bearing tokens that better capture the semantic core of the answer. Building on MEG, we introduce MEG-RAG, a framework that trains a multimodal reranker to align retrieved evidence with the semantic anchors of the ground truth. By prioritizing high-value content based on semantic grounding rather than token probability distributions, MEG-RAG improves the accuracy and multimodal consistency of generated outputs. Extensive experiments on the M$^2$RAG benchmark show that MEG-RAG consistently outperforms strong baselines and demonstrates robust generalization across different teacher models.

MTRouter: Cost-Aware Multi-Turn LLM Routing with History-Model Joint Embeddings

Multi-turn, long-horizon tasks are increasingly common for large language models (LLMs), but solving them typically requires many sequential model invocations, accumulating substantial inference costs. Here, we study cost-aware multi-turn LLM routing: selecting which model to invoke at each turn from a model pool, given a fixed cost budget. We propose MTRouter, which encodes the interaction history and candidate models into joint history-model embeddings, and learns an outcome estimator from logged trajectories to predict turn-level model utility. Experiments show that MTRouter improves the performance-cost trade-off: on ScienceWorld, it surpasses GPT-5 while reducing total cost by 58.7%; on Humanity's Last Exam (HLE), it achieves competitive accuracy while reducing total cost by 43.4% relative to GPT-5, and these gains even carry over to held-out tasks. Further analyses reveal several mechanisms underlying its effectiveness: relative to prior multi-turn routers, MTRouter makes fewer model switches, is more tolerant to transient errors, and exhibits emergent specialization across models. Code: https://github.com/ZhangYiqun018/MTRouter

Allo{SR}$^2$: Rectifying One-Step Super-Resolution to Stay Real via Allomorphic Generative Flows

Real-world image super-resolution (Real-SR) has been revolutionized by leveraging the powerful generative priors of large-scale diffusion and flow-based models. However, fine-tuning these models on limited LR-HR pairs often precipitates "prior collapse" that the model sacrifices its inherent generative richness to overfit specific training degradations. This issue is further exacerbated in one-step generation, where the absence of multi-step refinement leads to significant trajectory drift and artifact generation. In this paper, we propose Allo{SR}$^2$, a novel framework that rectifies one-step SR trajectories via allomorphic generative flows to maintain high-fidelity generative realism. Specifically, we utilize Signal-to-Noise Ratio (SNR) Guided Trajectory Initialization to establish a physically grounded starting state by aligning the degradation level of LR latent features with the optimal anchoring timestep of the pre-trained flow. To ensure a stable, curvature-free path for one-step inference, we propose Flow-Anchored Trajectory Consistency (FATC), which enforces velocity-level supervision across intermediate states. Furthermore, we develop Allomorphic Trajectory Matching (ATM), a self-adversarial alignment strategy that minimizes the distributional discrepancy between the SR flow and the generative flow in a unified vector field. Extensive experiments on both synthetic and real-world benchmarks demonstrate that Allo{SR}$^2$ achieves state-of-the-art performance in one-step Real-SR, offering a superior balance between restoration fidelity and generative realism while maintaining extreme efficiency.

Time Series Gaussian Chain Graph Models

Time series graphical models have recently received considerable attention for characterizing (conditional) dependence structures in multivariate time series. In many applications, the multivariate series exhibit variable-partitioned blockwise dependence, with distinct patterns within and across blocks. In this paper, we introduce a new class of time series Gaussian chain graph models that represent contemporaneous and lagged causal relations via directed edges across blocks, while capturing within-block conditional dependencies through undirected edges. In the frequency domain, this formulation induces a cross-frequency shared group sparse plus group low-rank decomposition of the inverse spectral density matrices, which we exploit to establish identifiability of the time series chain graph structure. Building on this, we then propose a three-stage learning procedure for estimating the undirected and directed edge sets, which involves optimizing a regularized Whittle likelihood with a group lasso penalty to encourage group sparsity and a novel tensor-unfolding nuclear norm penalty to enforce group low-rank structure. We investigate the asymptotic properties of the proposed method, ensuring its consistency for exact recovery of the chain graph structure. The superior empirical performance of the proposed method is demonstrated through both extensive simulation studies and an application to U.S. macroeconomic data that highlights key monetary policy transmission mechanisms.

Variational Feature Compression for Model-Specific Representations

As deep learning inference is increasingly deployed in shared and cloud-based settings, a growing concern is input repurposing, in which data submitted for one task is reused by unauthorized models for another. Existing privacy defenses largely focus on restricting data access, but provide limited control over what downstream uses a released representation can still support. We propose a feature extraction framework that suppresses cross-model transfer while preserving accuracy for a designated classifier. The framework employs a variational latent bottleneck, trained with a task-driven cross-entropy objective and KL regularization, but without any pixel-level reconstruction loss, to encode inputs into a compact latent space. A dynamic binary mask, computed from per-dimension KL divergence and gradient-based saliency with respect to the frozen target model, suppresses latent dimensions that are uninformative for the intended task. Because saliency computation requires gradient access, the encoder is trained in a white-box setting, whereas inference requires only a forward pass through the frozen target model. On CIFAR-100, the processed representations retain strong utility for the designated classifier while reducing the accuracy of all unintended classifiers to below 2%, yielding a suppression ratio exceeding 45 times relative to unintended models. Preliminary experiments on CIFAR-10, Tiny ImageNet, and Pascal VOC provide exploratory evidence that the approach extends across task settings, although further evaluation is needed to assess robustness against adaptive adversaries.

Precise Aggressive Aerial Maneuvers with Sensorimotor Policies

Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems' accessible area by navigating through narrow openings in the environment. Among the most relevant problems, a representative one is aggressive traversal through narrow gaps with quadrotors under SE(3) constraints, which require the quadrotors to leverage a momentary tilted attitude and the asymmetry of the airframe to navigate through gaps. In this paper, we achieve such maneuvers by developing sensorimotor policies directly mapping onboard vision and proprioception into low-level control commands. The policies are trained using reinforcement learning (RL) with end-to-end policy distillation in simulation. We mitigate the fundamental hardness of model-free RL's exploration on the restricted solution space with an initialization strategy leveraging trajectories generated by a model-based planner. Careful sim-to-real design allows the policy to control a quadrotor through narrow gaps with low clearances and high repeatability. For instance, the proposed method enables a quadrotor to navigate a rectangular gap at a 5 cm clearance, tilted at up to 90-degree orientation, without knowledge of the gap's position or orientation. Without training on dynamic gaps, the policy can reactively servo the quadrotor to traverse through a moving gap. The proposed method is also validated by training and deploying policies on challenging tracks of narrow gaps placed closely. The flexibility of the policy learning method is demonstrated by developing policies for geometrically diverse gaps, without relying on manually defined traversal poses and visual features.

RAGEN-2: Reasoning Collapse in Agentic RL

RL training of multi-turn LLM agents is inherently unstable, and reasoning quality directly determines task performance. Entropy is widely used to track reasoning stability. However, entropy only measures diversity within the same input, and cannot tell whether reasoning actually responds to different inputs. In RAGEN-2, we find that even with stable entropy, models can rely on fixed templates that look diverse but are input-agnostic. We call this template collapse, a failure mode invisible to entropy and all existing metrics. To diagnose this failure, we decompose reasoning quality into within-input diversity (Entropy) and cross-input distinguishability (Mutual Information, MI), and introduce a family of mutual information proxies for online diagnosis. Across diverse tasks, mutual information correlates with final performance much more strongly than entropy, making it a more reliable proxy for reasoning quality. We further explain template collapse with a signal-to-noise ratio (SNR) mechanism. Low reward variance weakens task gradients, letting regularization terms dominate and erase cross-input reasoning differences. To address this, we propose SNR-Aware Filtering to select high-signal prompts per iteration using reward variance as a lightweight proxy. Across planning, math reasoning, web navigation, and code execution, the method consistently improves both input dependence and task performance.

ChartNet: A Million-Scale, High-Quality Multimodal Dataset for Robust Chart Understanding

Understanding charts requires models to jointly reason over geometric visual patterns, structured numerical data, and natural language -- a capability where current vision-language models (VLMs) remain limited. We introduce ChartNet, a high-quality, million-scale multimodal dataset designed to advance chart interpretation and reasoning. ChartNet leverages a novel code-guided synthesis pipeline to generate 1.5 million diverse chart samples spanning 24 chart types and 6 plotting libraries. Each sample consists of five aligned components: plotting code, rendered chart image, data table, natural language summary, and question-answering with reasoning, providing fine-grained cross-modal alignment. To capture the full spectrum of chart comprehension, ChartNet additionally includes specialized subsets encompassing human annotated data, real-world data, safety, and grounding. Moreover, a rigorous quality-filtering pipeline ensures visual fidelity, semantic accuracy, and diversity across chart representations. Fine-tuning on ChartNet consistently improves results across benchmarks, demonstrating its utility as large-scale supervision for multimodal models. As the largest open-source dataset of its kind, ChartNet aims to support the development of foundation models with robust and generalizable capabilities for data visualization understanding. The dataset is publicly available at https://huggingface.co/datasets/ibm-granite/ChartNet

PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videos

Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely heavily on supervised training with high-quality 3D data and manual annotations, limiting scalability and diversity. To address this limitation, we propose PAWS, a method that directly extracts object articulations from hand-object interactions in large-scale in-the-wild egocentric videos. We evaluate our method on the public data sets, including HD-EPIC and Arti4D data sets, achieving significant improvements over baselines. We further demonstrate that the extracted articulations benefit downstream tasks, including fine-tuning 3D articulation prediction models and enabling robot manipulation. See the project website at https://aaltoml.github.io/PAWS/.