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Providing formal guarantees for neural network-based controllers in large-scale interconnected systems remains a fundamental challenge. In particular, using neural certificates to capture cooperative interactions and verifying these certificates at scale is crucial for the safe deployment of such controllers. However, existing approaches fall short on both fronts. To address these limitations, we propose neural cooperative reach-while-avoid certificates with Dynamic-Localized Vector Control Lyapunov and Barrier Functions, which capture cooperative dynamics through state-dependent neighborhood structures and provide decentralized certificates for global exponential stability and safety. Based on the certificates, we further develop a scalable training and verification framework that jointly synthesizes controllers and neural certificates via a constrained optimization objective, and leverages a sufficient condition to ensure formal guarantees considering modeling error. To improve scalability, we introduce a structural reuse mechanism to transfer controllers and certificates between substructure-isomorphic systems. The proposed methodology is validated with extensive experiments on

Large language models are often influenced by extraneous input features, such as cues revealing a user's preferred answer. Consistency training reduces this influence by training models to behave similarly across inputs with and without the extraneous feature. However, existing methods train for consistency over entire responses or internal activations, which also constrains whether the model verbalises said extraneous features. We show this leads to obfuscation, where the model learns not to mention a cue while remaining influenced by it, which may undermine monitorability. To address this, we introduce Rate Matching Consistency Training (RMCT), which trains for consistency over selected behavioural properties without constraining how this behaviour is expressed. RMCT matches the rate at which the model exhibits a target behaviour (e.g., following a bias cue) across input perturbations, rather than requiring paired inputs with and without the extraneous feature, extending consistency training to settings where the extraneous features cannot be removed. We evaluate RMCT on sycophancy reduction in two open-weight language models, achieving reductions in bias-following comparable to

Machine Unlearning has recently garnered significant attention, aiming to selectively remove knowledge associated with specific data while preserving the model's performance on the remaining data. A fundamental challenge in this process is balancing effective unlearning with knowledge retention, as naive optimization of these competing objectives can lead to conflicting gradients, hindering convergence and degrading overall performance. To address this issue, we propose Learning to Unlearn while Retaining, aimed to mitigate gradient conflicts between unlearning and retention objectives. Our approach strategically avoids conflicts through an implicit gradient regularization mechanism that emerges naturally within the proposed framework. This prevents conflicting gradients between unlearning and retention, leading to effective unlearning while preserving the model's utility. We validate our approach across both discriminative and generative tasks, demonstrating its effectiveness in achieving unlearning without compromising performance on remaining data. Our results highlight the advantages of avoiding such gradient conflicts, outperforming existing methods that fail to account for th

Understanding the role of confinement while crystallizing nanocrystals is very relevant for predicting their structure and physical properties. With this aim we perform Langevin dynamics simulations of nanocrystals of the model system of few hundred vortices nucleated in micron-sized superconductors. We study the crystallization dynamics and the low-temperature structural properties of vortex nanocrystals nucleated in field-cooling conditions when changing vortex density or elasticity of the system and physical size of the samples. The low-temperature snapshots obtained in simulations present a healing effect at the edges that is in quantitative agreement with experimental data in Bi2Sr2CaCu2O8+δ micron-sized samples. We show that the low-temperature radial distribution of topological defects is a stationary profile frozen at a temperature below the melting line tuned by intrinsic properties of the vortex structure and on the confinement effect. These findings on the dynamics and spatial profile of topological defects can be applied to describe the physical properties of confined soft condensed matter nanocrystals in general.

We present Thinking While Driving, a concurrent routing framework that integrates LLMs into a graph-based traffic environment. Unlike approaches that require agents to stop and deliberate, our system enables LLM-based route planning while agents are moving, significantly reducing intersection wait times. Under high traffic, agents average just 0.75 seconds of decision latency. To coordinate many agents in real-time, we implement a non-blocking asynchronous architecture using Unity coroutines and a dedicated request manager. The environment is a weighted undirected graph with live congestion metrics, updated continuously by the agents to enable shared perception. Our results show LLM-driven agents can dynamically adapt to traffic, reroute around congestion, and exhibit behaviors beyond static pathfinding, all while maintaining real-time performance. This work provides a reproducible framework for future research in adaptive routing and multi-agent cooperation.

Recent advances in Large Audio-Language Models (LALMs) have made real-time, streaming spoken interaction increasingly practical. In this setting, reasoning quality and responsiveness are tightly coupled: delaying reasoning until the speech endpoint can improve answer quality but moves deliberation into user-visible response delay, while answering too early risks committing before decisive evidence arrives. We introduce a learnable wait-think-answer control formulation for LALMs. Motivated by the incremental nature of human conversation, the controller decides under partial audio evidence when to wait, when to externalize a compact reasoning update, and when to answer. Using Qwen2.5-Omni-7B as the base model, we construct aligned wait-think-answer traces from spoken reasoning data, train the controller with supervised fine-tuning (SFT), and then apply Decoupled Clip and Dynamic Sampling Policy Optimization (DAPO). The reward combines answer correctness, action validity, update timing, latency synchronization, reasoning quality, and chain consistency, optimizing the complete wait-think-answer trajectory and not the final answer alone. On a six-task synthetic spoken reasoning question

We propose a framework that enables neural models to "think while listening" to everyday sounds, thereby enhancing audio classification performance. Motivated by recent advances in the reasoning capabilities of large language models, we address two central questions: (i) how can thinking be incorporated into existing audio classification pipelines to enable reasoning in the category space and improve performance, and (ii) can a new architecture be designed from the ground up to support both thinking and test-time scaling? We demonstrate that in both settings, our models exhibit improved classification accuracy. Leveraging test-time scaling, we observe consistent gains as the number of sampled traces increases. Furthermore, we evaluate two open-source reasoning models, GPT-OSS-20B and Qwen3-14B, showing that while such models are capable of zero-shot reasoning, a lightweight approach--retraining only the embedding matrix of a frozen, smaller model like GPT-2--can surpass the performance of billion-parameter text-based reasoning models.

Recent advancements in multimodal large language models (MLLMs) have garnered significant attention, offering a promising pathway toward artificial general intelligence (AGI). Among the essential capabilities required for AGI, creativity has emerged as a critical trait for MLLMs, with association serving as its foundation. Association reflects a model' s ability to think creatively, making it vital to evaluate and understand. While several frameworks have been proposed to assess associative ability, they often overlook the inherent ambiguity in association tasks, which arises from the divergent nature of associations and undermines the reliability of evaluations. To address this issue, we decompose ambiguity into two types-internal ambiguity and external ambiguity-and introduce AssoCiAm, a benchmark designed to evaluate associative ability while circumventing the ambiguity through a hybrid computational method. We then conduct extensive experiments on MLLMs, revealing a strong positive correlation between cognition and association. Additionally, we observe that the presence of ambiguity in the evaluation process causes MLLMs' behavior to become more random-like. Finally, we validat

Large language models (LLMs) have demonstrated remarkable capabilities in chain of thought (CoT) reasoning. However, the current LLM reasoning paradigm initiates thinking only after the entire input is available, which introduces unnecessary latency and weakens attention to earlier information in dynamic scenarios. Inspired by human cognition of thinking while reading, we first design a \textit{\textbf{streaming thinking}} paradigm for LLMs, where reasoning unfolds in the order of input and further adjusts its depth once reading is complete. We instantiate this paradigm with \textit{StreamingThinker}, a framework that enables LLMs to think while reading through the integration of streaming CoT generation, streaming-constraint training, and streaming parallel inference. Specifically, StreamingThinker employs streaming reasoning units with quality control for CoT generation, enforces order-preserving reasoning through streaming attention masks and position encoding, and leverages parallel KV caches that decouple input encoding from reasoning generation, thereby ensuring alignment and enabling true concurrency. We evaluate StreamingThinker on the Qwen3 model family across math reasoni

In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range of view of onboard camera sensors. To enable robots to tackle these challenges, we propose a new approach, Proprioceptive Obstacle Detection and Estimation while navigating in clutter PROBE, which instead relies only on the robot's proprioception to infer the presence or absence of occluded rectangular obstacles while predicting their dimensions and poses in SE(2). The proposed approach is a Transformer neural network that receives as input a history of applied torques and sensed whole-body movements of the robot and returns a parameterized representation of the obstacles in the environment. The effectiveness of PROBE is evaluated on simulated environments in Isaac Gym and with a real Unitree Go1 quadruped robot.

Neural network pruning has emerged as a promising approach for deploying LLMs in low-resource scenarios while preserving downstream task performance. However, for the first time, we reveal that such pruning disrupts LLMs' internal activation features crucial for lie detection, where probing classifiers (typically small logistic regression models) trained on these features assess the truthfulness of LLM-generated statements. This discovery raises a crucial open question: how can we prune LLMs without sacrificing these critical lie detection capabilities? Our investigation further reveals that naively adjusting layer-wise pruning sparsity based on importance inadvertently removes crucial weights, failing to improve lie detection performance despite its reliance on the most crucial LLM layer. To address this issue, we propose Truthful Pruning aligned by Layer-wise Outliers (TPLO), which places greater emphasis on layers with more activation outliers and stronger discriminative features simultaneously. This preserves LLMs' original performance while retaining critical features of inner states needed for robust lie detection. Moreover, we introduce a prompting rule to enrich the Truthfu

Large Language Models (LLMs) demonstrate promising capabilities in solving scientific problems but often suffer from the issue of hallucination. While integrating LLMs with tools can mitigate this issue, models fine-tuned on tool usage become overreliant on them and incur unnecessary costs. Inspired by how human experts assess problem complexity before selecting solutions, we propose a novel two-component fine-tuning method, Adapting While Learning (AWL). In the first component, World Knowledge Learning (WKL), LLMs internalize scientific knowledge by learning from tool-generated solutions. In the second component, Tool Usage Adaptation (TUA), we categorize problems as easy or hard based on the model's accuracy, and train it to maintain direct reasoning for easy problems while switching to tools for hard ones. We validate our method on six scientific benchmark datasets across climate science, epidemiology, physics, and other domains. Compared to the original instruct model (8B), models post-trained with AWL achieve 29.11% higher answer accuracy and 12.72% better tool usage accuracy, even surpassing state-of-the-art models including GPT-4o and Claude-3.5 on four custom-created datase

Recent advances in visual generation have increasingly explored the integration of reasoning capabilities. They incorporate textual reasoning, i.e., think, either before (as pre-planning) or after (as post-refinement) the generation process, yet they lack on-the-fly multimodal interaction during the generation itself. In this preliminary study, we introduce Thinking-while-Generating (TwiG), the first interleaved framework that enables co-evolving textual reasoning throughout the visual generation process. As visual content is progressively generating, textual reasoning is interleaved to both guide upcoming local regions and reflect on previously synthesized ones. This dynamic interplay produces more context-aware and semantically rich visual outputs. To unveil the potential of this framework, we investigate three candidate strategies, zero-shot prompting, supervised fine-tuning (SFT) on our curated TwiG-50K dataset, and reinforcement learning (RL) via a customized TwiG-GRPO strategy, each offering unique insights into the dynamics of interleaved reasoning. We hope this work inspires further research into interleaving textual reasoning for enhanced visual generation. Code will be re

Recent advances in speech large language models (speech LLMs) have enabled seamless spoken interactions, but these systems still struggle with complex reasoning tasks. Previously, chain-of-thought (CoT) prompting or fine-tuning has been to shown to significantly improve the reasoning abilities of text-based LLMs. In this work, we investigate the effect of CoT fine-tuning for multi-stream speech LLMs, demonstrating that reasoning in text space improves the accuracy of speech LLMs by 2.4x, on average, over a suite of spoken reasoning tasks. Beyond accuracy, the latency of the spoken response is a crucial factor for interacting with voice-based agents. Inspired by the human behavior of "thinking while listening," we propose methods to reduce the additional latency from reasoning by allowing the model to start reasoning before the user query has ended. To achieve this, we introduce an entropy-based metric, "question completeness," which acts as an indicator to guide the model on the optimal time to start reasoning. This method provides greater control over the accuracy-latency trade-off compared with heuristic-based approaches and, under equivalent latency conditions, yields a 4% accur

The consumption of a video requires a considerable amount of energy during the various stages of its life-cycle. With a billion hours of video consumed daily, this contributes significantly to the greenhouse gas emission. Therefore, reducing the end-to-end carbon footprint of the video chain, while preserving the quality of experience at the user side, is of high importance. To contribute in an impactful manner, we propose 3R-INN, a single light invertible network that does three tasks at once: given a high-resolution grainy image, it Rescales it to a lower resolution, Removes film grain and Reduces its power consumption when displayed. Providing such a minimum viable quality content contributes to reducing the energy consumption during encoding, transmission, decoding and display. 3R-INN also offers the possibility to restore either the high-resolution grainy original image or a grain-free version, thanks to its invertibility and the disentanglement of the high frequency, and without transmitting auxiliary data. Experiments show that, while enabling significant energy savings for encoding (78%), decoding (77%) and rendering (5% to 20%), 3R-INN outperforms state-of-the-art film gra

Large Language Models (LLMs) demonstrate impressive capabilities, yet interaction with these models is mostly facilitated through text. Using Text-To-Speech to synthesize LLM outputs typically results in notable latency, which is impractical for fluent voice conversations. We propose LLM2Speech, an architecture to synthesize speech while text is being generated by an LLM which yields significant latency reduction. LLM2Speech mimics the predictions of a non-streaming teacher model while limiting the exposure to future context in order to enable streaming. It exploits the hidden embeddings of the LLM, a by-product of the text generation that contains informative semantic context. Experimental results show that LLM2Speech maintains the teacher's quality while reducing the latency to enable natural conversations.

Standard temporal planning assumes that planning takes place offline and then execution starts at time 0. Recently, situated temporal planning was introduced, where planning starts at time 0 and execution occurs after planning terminates. Situated temporal planning reflects a more realistic scenario where time passes during planning. However, in situated temporal planning a complete plan must be generated before any action is executed. In some problems with time pressure, timing is too tight to complete planning before the first action must be executed. For example, an autonomous car that has a truck backing towards it should probably move out of the way now and plan how to get to its destination later. In this paper, we propose a new problem setting: concurrent planning and execution, in which actions can be dispatched (executed) before planning terminates. Unlike previous work on planning and execution, we must handle wall clock deadlines that affect action applicability and goal achievement (as in situated planning) while also supporting dispatching actions before a complete plan has been found. We extend previous work on metareasoning for situated temporal planning to develop a

While loops are present in virtually all imperative programming languages. They are important both for practical reasons (performing a number of iterations not known in advance) and theoretical reasons (achieving Turing completeness). In this paper we propose an approach for incorporating while loops in an imperative language shallowly embedded in the Coq proof assistant. The main difficulty is that proving the termination of while loops is nontrivial, or impossible in the case of non-termination, whereas Coq only accepts programs endowed with termination proofs. Our solution is based on a new, general method for defining possibly non-terminating recursive functions in Coq. We illustrate the approach by proving termination and partial correctness of a program on linked lists.

In this tutorial, we program big-step and small-step total interpreters for the While language extended with input and output primitives. While is a simple imperative language consisting of skip, assignment, sequence, conditional and loop. We first develop trace-based interpreters for While. Traces are potentially infinite nonempty sequences of states. The interpreters assign traces to While programs: for us, traces are denotations of While programs. The trace is finite if the program is terminating and infinite if the program is non-terminating. However, we cannot decide (i.e., write a program to determine), for any given program, whether its trace is finite or infinite, which amounts to deciding the halting problem. We then extend While with interactive input/output primitives. Accordingly, we extend the interpreters by generalizing traces to resumptions. The tutorial is based on our previous work with T. Uustalu on reasoning about interactive programs in the setting of constructive type theory.