arXiv subjects

Yusuke Iwasawa

Publications and source records attributed to Yusuke Iwasawa.

At least 19 recordsLinked to original sources

arXiv2026

MINERVA: How Small Can a Manipulation Policy Be and Still Solve LIBERO?

Vision-language-action (VLA) models with billions of parameters now dominate the LIBERO manipulation benchmark, but the model capacity actually required by the benchmark remains unclear. We introduce MINERVA (MINimal Efficient Robotic Vision-Action policy), a family of deliberately compact visuomotor policies designed to measure this task-specific capacity floor. A 0.54M-parameter policy achieves 95.1% average success over 2,000 rollouts on the four standard LIBERO suites, only 2.4 points below the reported LeRobot $\pi_{0.5}$ result despite using 7,700$\times$ fewer parameters. Performance saturates near 1M parameters and collapses below 0.25M. Across broad architectural, training, and inference sweeps, only action-chunk length and vision capacity consistently exceed a $\pm$1-point training-seed band. Flow matching provides no detectable advantage over direct L1 regression across three seeds, while regression is up to 3.8$\times$ faster on GPU. A task-ID permutation probe shows that standard LIBERO instruction conditioning primarily selects among memorized tasks: changing only the task-ID mapping reduces success to near chance. The same recipe achieves 94.6% success across 89 LIBERO-90 tasks, while LIBERO-Plus perturbations reduce performance to 46--56%, with near-zero robustness to photometric shifts. The 0.54M policy replans every control step in 5--9 ms per chunk on a laptop CPU, 113$\times$ faster than SmolVLA and 1,400$\times$ faster than $\pi_{0.5}$, without a GPU. These results establish a first empirical estimate of LIBERO's task-specific capacity floor and motivate capacity-aware design and distillation for deployment-efficient robot policies.

cs.RO↗

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.

cs.RO↗

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

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

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

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

NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation

Goal-conditioned visual navigation requires a robot to act under partial observability by anticipating how its motion will change the future egocentric view and whether that change brings it closer to the goal. Navigation world models provide such visual foresight, but they remain prediction modules that require an external planner to convert predicted futures into closed-loop control. We propose Navigation World Action Model (NavWAM), a diffusion-transformer policy that turns navigation world-model prediction into executable action by representing future observations, goal-progress values, and action chunks in a shared latent sequence. By learning future prediction jointly with the action and value targets that determine closed-loop behavior, NavWAM makes visual foresight directly usable for robot control. We build NavWAM through simulation pretraining and real-robot adaptation, and evaluate it on image-goal navigation against planning-based world models and a representative direct navigation policy. Across offline benchmarks and closed-loop real-robot deployment, NavWAM improves over planning-based world-model baselines in our evaluations while using the default policy mode without CEM-style action search. Project page: https://dachii-azm.github.io/navwam/

cs.RO↗

arXiv2026

SMC-ITA: Sequential Monte Carlo Inference-Time Alignment for Video-to-Audio Generation

Video-to-audio (V2A) generation must jointly satisfy audiovisual alignment, semantic consistency, temporal synchronization, and perceptual quality. While prior work has mainly focused on model architecture, multimodal conditioning, and training objectives, inference-time alignment for V2A remains underexplored. In this paper, we study inference-time alignment for flow-matching-based V2A generation and formulate it as a search problem. We propose Sequential Monte Carlo Inference-Time Alignment (SMC-ITA), which combines lookahead-based reward estimation and sequential Monte Carlo resampling to reallocate computation adaptively using multi-dimensional cross-modal rewards. SMC-ITA improves over naive single-trajectory sampling, achieving a 55.67% relative reduction in DeSync, a 20.23% improvement in IB-score, and a 15.44% improvement in Audio Quality. Under matched NFE budgets, it also achieves the best overall trade-off among the compared search baselines, outperforming Best-of-N and Beam Search. Ablation studies further show that lookahead improves the reliability of intermediate reward estimates and that systematic resampling is a strong practical default for V2A inference-time alignment.

eess.AS↗

arXiv2026

On Advantage Estimates for Max@K Policy Gradients

Reinforcement learning with verifiable rewards is widely used for post-training reasoning models, but sparse outcome rewards make exploration difficult. A complementary approach is to optimize inference-time objectives such as pass@K and max@K directly, yet existing policy-gradient estimators for these objectives use different signals, baselines, and normalizations, making their relationships unclear. We study this issue through baseline design and advantage centering. Starting from the advantage estimator of a leading method in the field, we show that it is policy-gradient unbiased but yields a non-centered advantage. We then introduce a Leave-Two-Out baseline that preserves policy-gradient unbiasedness while making realized batch advantages exactly centered. The resulting method, MaxPO, has an efficient quadratic-time implementation and integrates naturally into group-based RL for LLM post-training. We further derive the canonical finite-batch advantage for max@K, providing a unified view of existing advantage estimators. Empirically, we verify that the L2O baseline reduces gradient variance and outperforms non-centered alternatives.

cs.LG↗

arXiv2026

OrderGrad: Optimizing Beyond the Mean with Order-Statistic Policy Gradient Estimation

Policy-gradient methods usually optimize expected return, but many real world applications care about distributional properties of returns: tail risk, outlier robustness, or best-of-K discovery. We introduce OrderGrad, a family of likelihood-ratio and reparameterization gradient estimators for order-statistic objectives. OrderGrad optimizes finite-sample L-statistics, i.e., weighted averages of sorted rewards or costs, recovering objectives such as VaR, CVaR, trimmed means, medians, and top-m/best-of-K criteria by changing only the rank weights. For any fixed sample size and rank-weight vector, OrderGrad provides an unbiased gradient estimator for the corresponding order-statistic objective. The method is implemented as a simple reward transformation that can then be used in an otherwise standard policy-gradient or reparameterized update. We study the resulting estimator's variance behavior and evaluate it on tasks where mean optimization is mismatched to the deployment objective, including LLM math post-training and other tasks. OrderGrad provides a unified, plug-and-play route to risk-averse, robust, and exploratory learning. Code: https://github.com/paavo5/ordergrad

cs.LG↗

arXiv2026

Clustered Self-Assessment: A Simple yet Effective Method for Uncertainty Quantification in Large Language Models

Large language models (LLMs) demonstrate remarkable performance across diverse tasks, but they often generate responses that appear plausible while being factually incorrect. This problem is compounded by the lack of explicit uncertainty estimates, which makes it difficult for users to judge the reliability of model outputs. Existing uncertainty quantification methods typically rely on indirect signals, such as entropy across sampled generations. These signals can be difficult to interpret and do not fully leverage the model's ability to assess its own uncertainty. We propose a simple yet effective self-assessment method for uncertainty quantification in LLMs. Our approach groups sampled generations into semantically distinct clusters, converts them into answer options in a structured multiple-choice question, and uses the probability assigned by the LLM to each option as a confidence estimate. Experiments across multiple models and datasets show that our method consistently outperforms baseline approaches. Notably, it achieves competitive performance with as few as two additional samples, demonstrating both its effectiveness and efficiency.

cs.CL↗

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

JMed48k: A Multi-Profession Japanese Medical Licensing Benchmark for Vision-Language Model Evaluation

We introduce JMed48k, a multi-profession Japanese healthcare licensing benchmark for evaluating vision-language models. Built from official PDF materials released by the Japanese Ministry of Health, Labour and Welfare, JMed48k contains 48,862 exam questions and 20,142 images from 11 national licensing examinations between 2005 and 2025, with visual content annotated under an 8-type taxonomy. From this corpus, we derive JMed48k-Eval, a recent five-year evaluation subset with 12,484 scored questions, including 9,905 text-only questions and 2,579 questions with images. We evaluate 21 proprietary, open-source, and medical-specific models, reporting text-only and with-image performance separately. Because these subsets contain different questions, we further introduce a paired image-removal audit that evaluates questions with images before and after removing visual content to explore four answer-transition states. The audit shows that proprietary and open source models gain substantially from images, whereas medical-specific systems show limited observable use of visual evidence, with many correct answers persisting after image removal. Even among proprietary models, the net image-removal effect varies sevenfold across professions, from +5.7 points on Physician questions to +39.8 points on Public Health Nurse questions. We release JMed48k to support reproducible, profession-stratified evaluation of vision-language models in medical licensing settings.

cs.CV↗

arXiv2026

QuadNorm: Resolution-Robust Normalization for Neural Operators

Normalization layers in neural operators usually compute statistics by uniformly averaging discrete grid values, making the normalization itself discretization-dependent and thereby a source of transfer error across different resolutions or meshes. To enable discretization robustness, we introduce a quadrature normalization family that replaces existing uniform averaging in normalization layers with numerical quadrature: QuadNorm and BlendQuadNorm. On endpoint-inclusive uniform grids, the proposed quadrature moments are $O(h^2)$-consistent across discretizations, meaning that their cross-resolution mismatch decays quadratically with grid spacing. A transfer-error bound then predicts how normalization-induced mismatch scales with both the resolution gap and network depth. The experiments show the same gap- and depth-scaling trends predicted by the transfer-error bound. On Darcy, QuadNorm delivers the best cross-resolution performance at every tested target resolution from $64^2$ to $256^2$; on real-data benchmarks, Transolver with QuadNorm achieves nearly resolution-invariant transfer. The largest gains appear on nonperiodic PDEs and nonspectral architectures, where native-resolution improvements also emerge. We also validate BlendQuadNorm, which stays close to LayerNorm behavior and serves as a conservative default for periodic FNO settings. These results identify normalization as a previously overlooked source of resolution dependence in neural operators.

cs.LG↗