#01Oct 23, 2026
cs.RO
DexPort: A Hand-Held Skill Interface for Dexterous Hand Data Collection
Amber Xie, Jiawei Fu, Xiaofeng Guo and 3 more
Collecting high-quality demonstrations remains a central bottleneck for learning dexterous manipulation. Teleoperation records executable robot actions, but it requires a complete robot setup and places the burden of coordinating many finger joints on the operator. Human demonstrations are easier to collect, but their motions must be estimated and retargeted to the robot, and they do not directly provide robot actions. In this paper, we introduce DexPort, a portable data-collection interface for high-DoF robot hands. It uses the same hand hardware for collection and deployment, avoiding a hand embodiment gap, and records both commanded joint targets and measured joint states. Our key observation is that a small set of skills can support a wide range of dexterous tasks. During collection, the operator moves the hand-held interface to specify the robot wrist motion and selects or adjusts skills that coordinate the finger motion. This removes the need to control each joint independently while retaining behaviors such as precise grasping and in-hand manipulation. We collect demonstrations across several real-world tasks and in unstructured environments without a robot arm. We then use behavior cloning to train visuomotor policies directly on the recorded wrist motions and hand commands, without skill labels. We evaluate across 4 tasks: pick-and-place with diverse objects, screwing with in-hand tool use, drawer stowage which requires simultaneous grasp and pulling, and a bimanual scanning task. We collect over 2,500 demonstrations with our portable device, in both laboratory and in-the-wild settings. Across our tasks, we see an improvement from 11% to 64% when using recorded robot commands instead of states, and an improvement from 36% to 78% for task success when using in-the-wild data.
#02Oct 23, 2026
cs.AI
SemantEq: Faithful Bidirectional Equivalence of Formal Statements
Xinrui Li, Pawan Sasanka Ammanamanchi, Siddharth Bhat and 3 more
Statement autoformalization translates mathematics from natural language into a proof assistant such as Lean 4, and models now do it at scale. As provers get stronger, the burden of correctness shifts from the proof to the statement, that is, to whether the formal statement faithfully translates its source. Given a trusted reference formalization, the natural test is logical equivalence, and it proves too much. $P \leftrightarrow Q$ holds trivially for any two statements $P$ and $Q$ that the library proves, because a prover can prove each separately and pass through $P \leftrightarrow \mathrm{True} \leftrightarrow Q$. The stronger the prover, the more unrelated pairs pass. Earlier methods restrict the prover and check that each proof names the other statement. We introduce SemantEq, a more principled relation that instead requires each statement to turn into the other only through a chain of allowed steps, such as logical rearrangement and rewriting with the library's own equations. Our programs judge a proof by the proof term Lean checks, not by its tactic script. SemantEq-Eval, a search without a model, reaches 100% precision and 65.6% recall on the ProofNetVerif test split under our adjudicated labels, against 95.8% and 61.8% for BEq+, and an 8.9-fold increase in its CPU time adds at most three pairs. A language model finds more proofs, but under two of four prompts it proves both directions of about two in five of the non-equivalent pairs. SemantEq-ProofAudit audits each model-written proof under a policy derived from the relation and accepts none of the 104 non-equivalent pairs, and it raises recall on 407 equivalent pairs from 65.4% to 81.1% under the best prompt. Separating the generation of equivalence proofs from their acceptance lets a stronger prover raise recall without changing what an acceptance means. We release code and data at: https://github.com/hlxr89/SemantEq
#03Oct 23, 2026
cs.CV
Flownomaly: Single-Step Conditional-Mean Recovery for Few-Shot Anomaly Detection
Bernardo Perrone Ribeiro, Erkut Akdag, Egor Bondarev
Few-shot industrial anomaly detection requires modeling category-specific normality from only a handful of defect-free images. Common approaches tie inference to stored exemplars, impose rigid linear structure, or risk reproducing anomalous content. Flownomaly instead casts the problem as normal-counterpart recovery in frozen DINOv2 feature space. Given normal supports, a velocity field is learned through conditional flow matching over frozen patch tokens to transport Gaussian noise toward normal features. Along straight paths, a single recovery step using one evaluation of the optimal field yields the posterior mean of the clean normal token without trajectory integration. The operating time governs how strongly recovery modifies a query token. With no anomalous validation samples available for tuning, a normal-only Jacobian gain-to-noise criterion selects this time from the supports alone. Squared residuals between query tokens and their recovered counterparts yield anomaly signals for both dense localization and image-level detection. Across 1-, 2-, and 4-shot benchmarks on MVTec-AD and VisA, together with sample-shot evaluations on Real-IAD, Flownomaly achieves state-of-the-art performance against recent category-specific methods. In the 1-shot setting, image- and pixel-level AUROC reach 97.8% and 98.0% on MVTec-AD and 95.3% and 98.7% on VisA, with a 2.1-point image-level AUROC improvement over the strongest baseline on VisA. Code is available at https://github.com/b-rbmp/Flownomaly.
#04Oct 23, 2026
cs.CL
Measure Before You Train: Typed Decision Models vs. a Classical Baseline vs. a Generative LLM for Routing a Personal Multilingual Inbox
Federico Lucca
Personal email agents decide, for every message, what it is, whether it is urgent, whether to draft a reply, create a task, or ignore it. Their error rate is rarely measured: the stored labels were written by the system itself. We present Foyer, a self-hosted personal inbox agent in daily use, and a measurement protocol (stratified sampling, frozen snapshots, thread-grouped splits, pre-registered hypotheses, human labels in the agent's review loop) that yields ground truth before any training. On 739 real Italian/English emails labelled by the owner (231 unbiased, 500 adversarially sampled), we compare nine systems under thread-grouped cross-validation: the production keyword rules, a TF-IDF + logistic-regression baseline, local typed decision models (Tev1, Nimble), a hosted decision model (Nimble v4-max), and hosted generative LLMs (Qwen2.5-7B, Gemma 4 26B/31B). Four results. The production rules score 28% on message type against a 58% majority class: the field shown most prominently carried no information. With ~200 labels, logistic regression has the highest accuracy on every field (type 0.79, urgency 0.74, needs-reply 0.83, is-noise 0.90), though it never predicts the two rarest classes and is statistically tied with Gemma 4 on type; few-shot prompting does not close the gap. The sender's relationship (client, supplier, service) is recovered from other emails of the same contact with 98.6% accuracy where the contact has been seen, and is not inferable from a single message by any model: it belongs in the contact graph, not the prompt. Finally, accuracy is not the product metric: composed into actions, the most accurate system most often ignores emails needing action (18% vs 4% for the best LLM); a cost-chosen threshold on its noise probability halves that rate and makes it the cheapest system.
#05Oct 23, 2026
econ.TH
Monetizing Intelligence: Advertising and Subscription Design on LLM Platforms
Yuhang Ji, Fasheng Xu, Tianjun Feng
Large language model (LLM) platforms introducing advertising must decide how much capability ad revenue should fund and what consumers should pay to avoid ads. We study a monopolistic platform that jointly chooses costly response quality, advertising intensity, and subscription prices when advertising reduces user value but better service raises advertising returns. Three findings follow. First, when partly ad-supported and ad-free plans coexist, advertising can finance useful service for consumers who receive none under pure subscription. Lower effective quality in middle plans weakens the alternatives available to premium users, allowing higher prices for unchanged ad-free service. Some fully ad-supported users gain utility, while partly ad-supported and ad-free users lose: broader access can coexist with utility polarization. Second, an intermediate advertising cap can maximize consumer surplus by preserving some revenue that finances service while limiting degradation. Third, cheaper compute can raise quality and reduce ad intensity, yet sufficiently large cost reductions can increase aggregate advertising revenue above its initial level because better service raises the value of the remaining advertised interactions. An extension shows how advertising-funded upgrades can bring plans to the same maximum capability and advertising exposure, eliminating the basis for different prices. These results make menu design central to evaluating LLM advertising: the consequences extend beyond users who see ads to the alternatives and prices faced by those who do not.