4arXiv cs.LG (Machine Learning)·
CNeVA: Controllable neural variational agents for steerable traffic simulation
Researchers introduce Controllable Neural Variational Agents (CNeVA), a framework for traffic simulation that infers per-agent Gaussian behavior latents from discounted returns via conjugate variational updates, conditioning a rectified-flow trajectory generator with classifier-free guidance. The system enables interpretable steering along axes such as speed, acceleration, and safety compliance without sacrificing realism. Evaluated on the Waymo Open Motion Dataset, CNeVA achieves competitive realism while offering per-channel controllability absent from higher-ranked imitation baselines. The work also introduces soft eligibility gates to address reward signal scarcity near decision thresholds.
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Neuronal Stochastic Attention Circuit (NSAC) for Probabilistic Representation Learning
Researchers introduce NSAC, a biologically-inspired continuous-time attention architecture that models attention logits as solutions to an Ornstein-Uhlenbeck stochastic differential equation, drawing on C. elegans Neuronal Circuit Policy wiring to induce Gaussian distributions over attention weights. The architecture enables joint quantification of aleatoric and epistemic uncertainty via a two-term objective combining Gaussian negative log-likelihood with an epistemic-separation regularizer. Empirical evaluation spans irregular time-series function approximation, multivariate regression, long-range forecasting, Industry 4.0 tasks, and autonomous vehicle lane-keeping, showing competitive accuracy with well-calibrated uncertainty estimates.
COMPACT-VA: Planning-aligned token compression for long-context autonomous driving
Researchers introduce COMPACT-VA, a working memory framework using conditional VQ-VAE to compress extended temporal context in vision-action autonomous driving models. Compression is conditioned on historical trajectory and a learned planning intent derived from future trajectories during training, enabling end-to-end optimization without backbone modifications. On high-signal dynamic scenarios, the method achieves 68.3% success rate (>6% improvement) with 3.3x speedup and 2.7x memory reduction over uncompressed processing.
CARV: Compute-Aware Variance Reduction for Diffusion Teacher Gradient Estimation
CARV is a hierarchical Monte Carlo estimation framework that reduces gradient variance when using frozen pretrained diffusion models as teachers in downstream pipelines such as text-to-3D distillation and data attribution. The approach amortizes expensive upstream computation (rendering, simulation, encoding) over cheap diffusion-noise resamples, augmented by timestep importance sampling and stratified-inverse-CDF construction. In text-to-3D experiments, CARV delivers 2–3× effective compute multipliers; in single-step distillation, it cuts gradient variance by an order of magnitude but does not improve FID, revealing that MC variance is not the bottleneck in that regime.
Scaling Up Reinforcement Learning for Traffic Smoothing: A 100-AV Highway Deployment
Berkeley AI Research (BAIR) deployed 100 RL-controlled autonomous vehicles into real rush-hour highway traffic on Interstate 24 near Nashville to dampen stop-and-go waves and reduce fuel consumption. The RL controllers were trained in data-driven simulations built from real highway trajectory data, using only local sensor inputs (speed, lead vehicle speed, gap) to enable decentralized deployment on standard vehicles. Reward design balanced wave smoothing, energy efficiency, safety, comfort, and adherence to human driving norms. The paper documents the sim-to-real transfer challenges encountered during this large-scale field experiment.
AgenticRL: Self-refining LLM-guided reward design and policy refinement for UAV navigation
AgenticRL is a framework that uses a multimodal GPT agent to automate reward function generation, policy training via PPO, and closed-loop self-refinement for UAV navigation tasks. The agent evaluates trained policies through diagnostic feedback, identifies failure modes, and iteratively refines rewards without human intervention. Evaluated across five navigation tasks, the closed-loop refinement improves policy behavior by 71% over initial rewards, with sim-to-real transfer achieving 91% real-world success rate and 94% sim-to-real accuracy.
IA-VQC-DPC: Intervention-aware quantum predictive control with safety attribution for learned policies
A new arXiv preprint introduces Intervention-Aware Variational Quantum Differentiable Predictive Control (IA-VQC-DPC), a framework that trains variational quantum circuit policies under a primal-dual intervention budget to penalize over-reliance on downstream safety filters (Control-Barrier-Function projections). The work also proposes a safety-attribution protocol that decomposes trajectory corrections into policy-level versus filter-level contributions, enabling measurement of whether a policy has genuinely learned safe behavior or is merely being silently repaired by its safety layer. Experiments on BOPTEST building-control emulators show the quantum policy achieves significantly lower pre-filter violations than a matched classical policy at equal parameter budget, with a notable negative result: a learned energy head is only safe when paired with a distribution-aware runtime guard.
VERITAS: Visual verification enables inference-time steering and autonomous improvement for robot policies
Researchers introduce VERITAS, a generator-verifier framework pairing a pre-trained generalist robot policy with a gradient-free visual verifier to steer actions at inference time without additional training. Verified rollouts are also used for offline self-improvement via fine-tuning, achieving performance gains comparable to expert demonstrations but without human intervention. The work demonstrates that inference-time verification is a scalable mechanism for autonomous policy improvement during deployment.
GaP: Graph-as-Policy multi-agent harness for reliable robot automation via self-learning computation graphs
Researchers introduce Graph-as-Policy (GaP), a multi-agent coding harness that generates directed computation graphs combining perception, planning, and control nodes for robotic 'Variational Automation' tasks — those with high variation in object geometry and pose. GaP uses an internal simulation environment to rehearse and iteratively refine graph structures in parallel, improving success rates without relying solely on model-free policies. Evaluation across 8 new benchmarks (4 simulated, 4 real-world) shows significant outperformance over baselines. The work bridges agentic coding systems with interpretable robot programming and Task and Motion Planning.