arXiv subjects

Yutaka Matsuo

Publications and source records attributed to Yutaka Matsuo.

At least 37 records · Page 2Linked to original sources

arXiv2026

Improving Cross-embodiment Transfer in Latent Action Models with Action-Similarity Supervision

As generalist robot policies gain vision and language from web-scale pretraining, demonstrations remain costly to collect and tied to the robot that recorded them. Latent action models (LAMs) address both by learning latent actions from action-free videos that can be shared across embodiments, however, in practice, LAMs are sensitive to background visual noise, and the same motion from two different robots may be encoded with different latents. One solution to the background visual noise is to add an auxiliary loss predicting the robot action from the latent action, further associating the latent action space to the embodiment specific robot action space. We study a different use of the same labels, through action-similarity supervision. The similarity between any two latent actions is trained to match the similarity of the two ground-truth robot action sequences. The ground-truth actions are never predicted by the LAM, so the latent action does not need to encode embodiment specifics. We evaluate cross-embodiment transfer on RoboTwin 2.0 in a controlled setup, two bimanual robots demonstrate disjoint task sets, a policy is trained on all the demonstrations, and each robot is evaluated closed-loop on the tasks only the other demonstrated. With the policy architecture and its hyperparameters, the dataset, and the evaluation protocol fixed, predicting latent actions instead of ground-truth actions more than doubles cross-embodiment success. Given the same ground-truth actions, similarity supervision transfers better than an auxiliary loss that predicts the ground-truth action during the LAM training. Computing the similarities on end-effector motion rather than joint-space motion, and letting the loss compare latent actions across the two robots, gives the best approach of the study.

cs.RO↗

arXiv2026

Emergence of Exploration in Policy Gradient Reinforcement Learning via Retrying

In reinforcement learning (RL), agents benefit from exploration only because they repeatedly encounter similar states: trying different actions can improve performance or reduce uncertainty; without such retries, a greedy policy is optimal. We formalize this intuition with ReMax, an objective that evaluates a policy by the expected maximum return over $M$ samples, where $M$ is a positive integer, while accounting for return uncertainty. Optimizing this objective induces stochastic exploration as an emergent property, without explicit bonus terms. For efficient policy optimization, we derive a new policy-gradient formulation for ReMax and introduce ReMax PPO (RePPO), a PPO variant that optimizes ReMax while generalizing the discrete retry count $M$ to a continuous parameter $m > 0$, enabling fine-grained control of exploration. Empirically, RePPO promotes exploration, without any explicit exploration bonuses, on the MinAtar and Craftax benchmarks. The code is available at https://github.com/nissymori/remax-rl .

cs.LG↗

arXiv2026

CHASE: Cache-Hole-Adapted Skip Exit for Looped State-Space Language Models

Recent work on looped language models suggests that many reasoning problems benefit from greater computational depth rather than from additional independent parameters. Existing studies, however, focus almost exclusively on Transformer backbones, leaving open whether this principle also applies to state-space language models. We investigate Looped Mamba and Looped Hybrid Mamba-Transformer architectures, which repeatedly apply a shared Mamba (or hybrid) block to introduce explicit finite-depth recurrent computation. On two controlled reasoning tasks-Mano (modular-arithmetic manipulation) and p-hop induction-Looped Mamba consistently outperforms parameter-matched non-looped baselines and, in several settings, matches or exceeds non-looped models of equal effective depth. We then extend the study to language model pre-training under matched iso-parameter and iso-FLOPs protocols, which jointly disentangle the effects of parameter sharing and effective depth: looped models remain competitive on downstream benchmarks with substantially fewer distinct parameters, although deeper non-looped models retain an advantage in validation perplexity under strict iso-FLOPs comparisons. Finally, we adapt Ouro's two-stage exit gate to Looped Mamba for threshold-controlled selection among recurrent-step outputs. Executing such exits on a state-space backbone, however, leaves the recurrent state without its deeper updates, and validation perplexity then degrades severely. We therefore introduce a cache-hole adaptation that aligns continued training with skipped-state inference. At the scales studied, the adapted model keeps perplexity close to full computation and matches or exceeds full-compute exit-state selection on downstream benchmarks while executing roughly half of the recurrent steps, which translates into measured inference speedups once the prefill is compute-bound.

cs.AI↗

arXiv2026

Zipping the Thought: When and How Compressed Reasoning Data Works in LLM Post-Training

Large language models (LLMs) can now solve complex problems through long chain-of-thought (CoT) reasoning, but the trade-off between performance and token cost remains a central challenge. To address this issue, supervised fine-tuning (SFT) often uses compressed reasoning data, where CoT traces are shortened into compact forms. However, the effect of such compressed reasoning data on post-training remains poorly understood. In this paper, we propose a taxonomy of CoT consisting of Explicit CoT, which outputs all operations without aggregation, Composed CoT, which combines multiple operations into a single step, and Implicit CoT, which omits intermediate operations. As a controlled mechanistic study, we construct a synthetic compositional reasoning task that allows controlled variation of difficulty, compression granularity, and data size, and conducted a comprehensive set of experiments across different model families and sizes. Notably, we find that (i) coarser CoT requires more SFT data, (ii) compared with Explicit CoT, Composed CoT and Implicit CoT benefit more from data scaling, while Composed CoT benefits from data repetition and Implicit CoT tends to lead to memorization, (iii) unlike SFT, subsequent reinforcement learning (RL) with verifiable rewards (RLVR) decomposes compressed steps learned during SFT, and (iv) unidirectional CoT ordering shows stronger generalization on longer sequential tasks. Our findings provide implications for CoT design under data resource constraints and offer important insights into the mechanisms of SFT and RL in LLM post-training.

cs.AI↗

arXiv2026

DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptation

Vision-language-action (VLA) models have made strong progress in language-conditioned robot manipulation, but improving their performance in a new workspace still often requires action-labeled data from that environment. Collecting such data by human teleoperation is costly, especially when each workspace, object arrangement, or task may require new demonstrations. We present DREAM, a framework that generates fine-tuning data for a pretrained VLA from a captured workspace and a language instruction, without requiring a task-specific human demonstration. DREAM reconstructs the workspace, automatically translates the instruction into symbolic task goals and success criteria using a large language model, and uses task-and-motion planning to generate feasible robot trajectories. The planned trajectories are augmented across randomized object configurations, verified by the generated success criteria, and rendered into image-action examples for VLA fine-tuning. Through real-robot experiments on language-conditioned manipulation tasks, we study whether DREAM can serve as a scalable data-collection system for the deployment workspace by examining whether fine-tuning on its automatically generated data improves success over direct deployment and how its data-collection cost compares with human teleoperation when adapting a VLA to a new workspace.

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arXiv2026

Temporally Centered SIGReg Improves LeWorldModel Representations for Robot Policy Learning

Recent work on LeWorldModel (LeWM) has shown that the Sketched Isotropic Gaussian Regularizer (SIGReg) enables stable end-to-end world model learning from pixels by regularizing the latent representation toward an isotropic Gaussian. While effective for latent-space planning, the representations learned by Raw LeWM are poorly suited for downstream robot policy learning. In this paper, through Monte Carlo analysis, we show that the Raw LeWM objective biases variance allocation toward the temporally persistent component, thereby suppressing the variance of the temporally centered residual. Consistent with this analysis, trained Raw LeWM representations exhibit suppressed residual variation and reduced decodability of robot state and dynamics, particularly gripper dynamics, which are crucial for robotic manipulation. To address this issue, we apply SIGReg to temporally centered residuals rather than to the whole latent representation. This simple change decouples persistent and residual variance allocation while retaining an effective anti-collapse property. On the LIBERO benchmark, our method improves downstream policy success on the Goal suite by 1.66x and raises the average success rate across all suites from 63.6% to 83.8%. Without external pretraining, it also outperforms both Diffusion Policy trained from scratch and the pretrained OpenVLA baseline. These results associate the variance-allocation bias of Raw LeWM with the downstream policy gap, and show that decoupling persistent and residual variation yields representations better suited for downstream robot policy learning.

cs.LG↗

arXiv2026

Omanic: Towards Step-wise Evaluation of Multi-hop Reasoning in Large Language Models

Evaluating the reasoning abilities of large language models (LLMs) solely from final answers can obscure failures in intermediate steps, especially in multi-hop QA benchmarks without step-level annotations. To address this gap, we introduce Omanic, an open-domain 4-hop QA benchmark designed not only to measure final-answer accuracy but also to diagnose where reasoning breaks down. Omanic contains 10,296 machine-generated training examples (OmanicSynth) and 967 expert-reviewed human-annotated evaluation examples (OmanicBench), with each evaluation question decomposed into single-hop sub-questions, intermediate answers, and structured graph topologies. Experiments with proprietary and open-source LLMs show that Omanic is challenging, while step-wise analysis reveals a later-hop bottleneck, factual knowledge floor, and error propagation along reasoning chains. Fine-tuning on OmanicSynth transfers to six reasoning and mathematics benchmarks, yielding a 7.41-point average gain and validating its effectiveness as supervision for reasoning-capability transfer. We release the data at https://huggingface.co/datasets/li-lab/Omanic and the code at https://github.com/XiaojieGu/Omanic.

cs.CL↗

arXiv2026

HealMed: Multilingual Evaluation of Large Language Models in Medicine

We present HealMed, an expert-reviewed benchmark for multilingual evaluation of large language models in medicine. HealMed contains 1,000 examples in each of nine languages, drawn from nine datasets and covering three task formats: MCQA, NLI and open-ended QA. The benchmark was developed over two years by 23 physicians and medical experts based across nine countries and regions. Each translation was evaluated and revised by two experts fluent in English and the corresponding target language. On HealMed, performance declined most in low-resource languages, although the size of the gap varied markedly across languages and models. The strongest proprietary models were the most stable across languages, whereas many open-source and medically specialized models showed larger and less consistent gaps. Medical specialization alone did not ensure multilingual robustness. Furthermore, expert revision could either raise or lower measured performance, indicating that translation quality materially affects cross-language evaluation results.

cs.CL↗

arXiv2026

WorldPack: Dynamic Frame Compression for Long-context Video World Modeling

Video world models have attracted significant attention for their ability to produce high-fidelity future visual observations conditioned on past observations and navigation actions. However, achieving temporally and spatially consistent generation over long horizons remains an open challenge: existing approaches either compress past frames without explicitly accounting for 3D viewpoint geometry or retrieve only a handful of spatially relevant frames without increasing the total amount of retained history. In this paper, we propose WorldPack, a video world model that introduces spatially-aware compressed memory to address both limitations simultaneously. The key insight is that compression rates should not be uniform or temporally determined, but should instead be dynamically allocated based on 3D spatial relevance to the current viewpoint. WorldPack achieves this through two tightly coupled mechanisms: trajectory packing, which fits substantially more historical frames into a fixed-length context through hierarchical frame compression, and geometric selection, which leverages camera pose information and field-of-view overlap to assign lower compression to spatially important frames and higher compression to less relevant ones. Together, these mechanisms expand the effective context from 4 to 22 frames with moderate computational overhead: trajectory packing increases diffusion-model inference time by 16%, while FoV-based geometric selection introduces an additional cost. We evaluate WorldPack on LoopNav, a Minecraft benchmark for long-horizon spatial consistency, and conduct comprehensive experiments on the RECON, real-world navigation dataset, across multiple metrics. WorldPack outperforms strong baselines, including Oasis, Mineworld, DIAMOND, and NWM, with pronounced gains on spatial reasoning tasks that require recall of distant observations.

cs.CV↗

arXiv2026

Bootstrapping Niche Multilingual Code Translation via Reinforcement Learning with Execution-Based Verifiable Supervision

Code translation must preserve executable behavior across many programming languages, yet neural code translation has largely focused on a few popular languages such as C++, Java, and Python. This leaves a niche, many-to-many setting where parallel supervision is sparse, producing plausible but non-executable translations. We address this setting with preference-based reinforcement learning driven by execution-based supervision. Our pipeline firstly expands verifiable seed Python programs into a multilingual pool of execution-validated codes. Using the pool, a base LLM generates translation candidates across language pairs, which we label by their execution outcomes. The resulting preferences are used to train a reward model that scores cross-language translation quality. Finally, we optimize our base LLMs with GRPO over 600 directed language pairs (25 x 24) using the reward model as a signal. To evaluate the niche translation capability, we introduce HumanEval-X++, an execution-based benchmark that extends HumanEval-X to a broad many-to-many language space. We evaluate our approach using Qwen-3.5 4B and 9B models. On HumanEval-X++ and existing benchmarks, it yields consistent gains over the untrained baselines. In particular, the 4B model achieves an average improvement of 13% across all languages on HumanEval-X++, with a gain of 21% on mid-tier languages. Our study establishes a reliable approach of data generation, training, and benchmarking, paving the way toward further bootstrapping the quality of many-to-many translation for programming languages.

cs.CL↗

arXiv2026

Batch-wise Adaptive Pruning: Periodic Neuron Activation-Aware Weight Pruning for Language Reasoning Model

Large Reasoning Models (LRMs) achieve strong performance on complex tasks through extended chain-of-thought generation, but incur substantial computational costs during inference. In production settings, batched inference is essential for high throughput, yet the existing training-free adaptive pruning methods we evaluate severely degrade in this regime. Because a batch must share a single pruning mask, these methods aggregate activations across samples and then apply threshold-based selection; the threshold, calibrated offline on unaggregated activations, no longer matches the aggregated distribution, so the realized sparsity ratio drifts and accuracy on reasoning tasks collapses under batched inference. In this work, we propose a training-free adaptive pruning method designed specifically for batched inference in LRMs, built on two components. First, we replace threshold-based selection with periodic top-k selection over the aggregated importance scores, which is unaffected by the shift that aggregation induces in the activation distribution, and which runs selection once per update period rather than at every token, preserving the speedup. Second, based on the observation that important neurons re-fire periodically during long reasoning generation, we introduce an activation memory that accumulates importance across update phases so that recurring neurons are retained. Experiments on diverse reasoning benchmarks demonstrate that our method outperforms the previous state-of-the-art adaptive pruning method by 39.7 percentage points in average accuracy at batch size 4 with 50% target sparsity on DeepSeek-R1-Distill-Qwen-7B, and reaches 1.40x speedup over dense inference at 50% actual sparsity.

cs.CL↗

arXiv2026

Auditing Instruction-Trajectory Mismatches in Multimodal Robot Demonstrations

Robot demonstration datasets used to train vision-language-action policies can contain a subtle but harmful failure mode: trajectories that are behaviorally correct but paired with the wrong language instruction. We study post-hoc auditing of these Instruction-Trajectory Mismatches (ITMs). Unlike failed rollouts, ITMs often look plausible, and can corrupt the language-behavior mapping learned by the policy. We propose Multimodal Probabilistic Fusion (MMPF), a training-free auditing framework that treats each modality as an expert, estimates a task-label distribution from local neighborhood agreement and global prototype similarity, and then fuses modalities with predictive-entropy weighting in a product of experts. Across LIBERO benchmarks with injected instruction mismatches and noisy real-robot data, MMPF achieves the strongest overall ITM detection and label correction accuracy. We also show that auditing improves most downstream policy learning in settings where language is needed to disambiguate the task. We demonstrate in real robot experiments that our method can achieve improved policy performance and show the trade-off of filtering demonstrations compared to relabeling.

cs.RO↗

arXiv2026

Benchmarking and Reasoning Distillation of Large Language Models for Feedback Controller Design in Complex Dynamical Systems

Although remarkable capabilities have been demonstrated by Large Language Models (LLMs) across scientific domains, feedback controller design remains underexplored. Existing benchmarks focus mainly on linear single-Degree-of-Freedom (DoF) systems and large API-hosted models, leaving performance on complex controller-design tasks and feasibility for edge deployment unclear. To address these limitations, we introduce the Complex Dynamics-to-Control Benchmark for Large Language Models (CoDyControlBench), comprising 132 system configurations across five evaluation dimensions: number of DoF, system type, coupling level, damping regime, and controller type. Six state-of-the-art LLMs were evaluated over three independent runs, including three commercial models (GPT, Gemini, and Claude) and three open-source models (GLM, DeepSeek, and Qwen). GPT achieved the highest design success rate at 94.8\%, whereas Qwen showed the lowest rate at 50.0\%. Across the benchmark dimensions, DoF and controller type exhibited the largest model-averaged variations in design success, with success-rate ranges of 36.3\% and 17.6\%, respectively, exceeding those associated with system type, coupling level, and damping regime. Comparison of GPT and Qwen showed that their performance gap arose mainly from the control-design knowledge, particularly gain selection and the use of transient-limiting mechanisms. For edge deployment, a specialized 1.5B-parameter model was developed through reasoning distillation. The reasoning-distilled model outperformed the answer-distilled and base model on CoDyControlBench, maintained stable performance across 1-6 DoFs, and achieved successful traget tracking in all three physical trials on a pneumatic-artificial-muscle-driven robotic arm. These results establish a benchmark baseline and highlight the potential of lightweight, edge-deployable controller-design models.

cs.RO↗

arXiv2026

Looped Transformers with Source-Centered State Evolution

Looped Transformers create a useful train- and test-time compute axis by reusing the same Transformer block over recurrent depth, increasing effective depth at a fixed parameter count. However, that shared block must then govern an entire trajectory of varying hidden states over trained and extrapolated depths. Furthermore, in additive-injection looped Transformers, an input-conditioned signal is reintroduced at every recurrent step, so applying the shared transition at an input-conditioned reference can still move the hidden state. In this paper, we propose Source-Centered State Evolution (SCSE), which is designed to reconcile input conditioning with reference-preserving shared recurrence. Specifically, SCSE retains input dependence through its learned anchor and initial deviation, allows nonzero deviations to drive recurrent computation while mapping zero deviation to zero, and guarantees exact anchor invariance through its zero-deviation mask. The designated anchor is thereby a one-step fixed point by construction. The zero-deviation forcing bias is the next deviation produced from the anchor itself and vanishes in SCSE, while nonzero deviations remain active and support state-dependent recurrent computation. Our theory shows that the zero-deviation forcing bias is a design degree of freedom whose task effect can be harmful, neutral, or beneficial; SCSE resolves this choice in favor of exact anchor invariance by setting the bias to zero. Across WikiText-2, WikiText-103, direct web-corpus pretraining, held-out web-text transfer, and LAMBADA completion, SCSE improves the controlled recurrent quality frontier. Ablation studies identify the learned anchor and the anchor-coordinate deviation recurrence as the primary contributors to the gain, and a trained-model case study grounds the anchor-response diagnostic in observed recurrent motion.

cs.LG↗

arXiv2026

Diagnosing Long-Video Quantitative Reasoning in Multimodal LLMs via Enumeration and Counting

Final-answer video QA can show whether a model predicts the right number, but not which instances it counted, when the supporting evidence occurs, or why it failed. We diagnose long-video quantitative reasoning in multimodal large language models (MLLMs) through three coupled abilities: enumerating query-relevant instances, temporally grounding supporting evidence, and aggregating the evidence into counts. To support this analysis, we build EC-Bench, an evidence-annotated evaluation suite with 152 untrimmed videos longer than 30 minutes, 1,699 open-ended queries across six reasoning categories, and human-verified evidence spans. We evaluate 22 open-source and proprietary MLLMs using timestamped visual frames and transcripts. The best average scores reach only 29.98% Enumeration F1 and 23.74% Counting accuracy, compared with human performance of 78.57% and 82.97%, respectively. Our analyses show that counting errors are rarely isolated arithmetic mistakes: Enumeration F1 is strongly associated with Counting accuracy, temporal grounding quality is associated with lower counting error, and Counting accuracy drops as supporting evidence becomes more distributed. These findings recast long-video counting as evidence retrieval, temporal grounding, deduplication, and aggregation across the video, rather than simple numerical prediction.

cs.CV↗

arXiv2026

SUNTA: Hierarchical Video Prediction with Surprise-based Chunking

Hierarchical state-space models (HSSMs) offer a promising approach to long-horizon prediction by segmenting sequences into temporal chunks. However, their performance hinges on how chunk boundaries are determined. While prior HSSMs typically rely on fixed-length chunking or similarity-based boundary detection, these methods often misalign with the intrinsic temporal structure of the data. We argue that chunking should instead be driven by prediction errors, which more directly indicate when longer-range context becomes necessary. Nevertheless, integrating surprise-based chunking into HSSMs introduces critical challenges, including hierarchical collapse during end-to-end training and the absence of surprise signals during open-loop prediction. To address these issues, we propose Surprise-based Nested Temporal Abstraction (SUNTA), a method that employs a decoupled training strategy to preserve surprise signals and uses internal inconsistency as a top-down surprise metric to determine chunk boundaries within imagined rollouts. Experiments on video prediction tasks in 2D and 3D environments demonstrate that SUNTA outperforms baselines, uniquely maintaining accurate predictions over 250 timesteps, whereas all baselines degrade within the first 10 timesteps.

cs.AI↗

arXiv2026

Exploration of Fast-Slow Latent Recurrence for Train-Short, Test-Long Generalization

We study out of distribution generalization in streaming tasks where models are trained on short sequences but must operate over much longer, unknown horizons under bounded memory. Our focus is on a persistent fast slow recurrent formulation in which a latent state is maintained across observations rather than reset at each stream step. For each incoming observation, the model performs multiple weight-shared latent updates with a recurrent core and then carries the resulting state forward to the next observation. This allows the model to maintain and refine a compact stream-level state without reprocessing a growing context. We evaluate this formulation across symbolic sequence prediction, supervised navigation, and partially observable reinforcement learning tasks. Across these settings, persistent latent recurrence improves OOD generalization over recurrent, state-space, and Transformer baselines. Through recurrent-core ablations, we identify architectural ingredients that are consistently associated with strong OOD performance, including state-dependent transitions and feature-wise nonlinear mixing. Together, these results highlight the value of revisiting persistent recurrence as an architectural bias for more generalizable sequence prediction.

cs.LG↗

arXiv2026

E3VS-Bench: A Benchmark for Viewpoint-Dependent Active Perception in 3D Gaussian Splatting Scenes

Visual search in 3D environments requires embodied agents to actively explore their surroundings and acquire task-relevant evidence. However, existing visual search and embodied AI benchmarks, including EQA, typically rely on static observations or constrained egocentric motion, and thus do not explicitly evaluate fine-grained viewpoint-dependent phenomena that arise under unrestricted 5-DoF viewpoint control in real-world 3D environments, such as visibility changes caused by vertical viewpoint shifts, revealing contents inside containers, and disambiguating object attributes that are only observable from specific angles. To address this limitation, we introduce {E3VS-Bench}, a benchmark for embodied 3D visual search where agents must control their viewpoints in 5-DoF to gather viewpoint-dependent evidence for question answering. E3VS-Bench consists of 99 high-fidelity 3D scenes reconstructed using 3D Gaussian Splatting and 2,014 question-driven episodes. 3D Gaussian Splatting enables photorealistic free-viewpoint rendering that preserves fine-grained visual details (e.g., small text and subtle attributes) often degraded in mesh-based simulators, thereby allowing the construction of questions that cannot be answered from a single view and instead require active inspection across viewpoints in 5-DoF. We evaluate multiple state-of-the-art VLMs and compare their performance with humans. Despite strong 2D reasoning ability, all models exhibit a substantial gap from humans, highlighting limitations in active perception and coherent viewpoint planning specifically under full 5-DoF viewpoint changes.

cs.CV↗