#01Nov 4, 2026
cs.LG
Reinforcement Learning Enables Scaling Generalist Robot Policy Improvement
Michal Korniak, Marco Bagatella, Ralf Römer and 21 more
The introduction of generalist robot policies has enabled a single, large model to learn to perform a variety of tasks from a vast pre-training corpus. While these models often exhibit powerful zero-shot generalization capabilities, they typically require an adaptation phase to achieve sufficient performance in deployment. Iterated self-improvement via reinforcement learning (RL) has demonstrated promise in enabling this adaptation, yet such approaches have been largely explored in single-task settings - where the goal is to simply improve on a narrow deployment task - which lies in stark contrast to the multi-task capabilities of the base policy. In this work we ask whether generalist robot policies are capable of multi-task, generalist improvement in deployment - targeting many diverse tasks simultaneously - and what algorithmic recipe enables this. To answer this question, we first develop a set of structured evaluations to test generalist improvement capabilities, and systematically evaluate algorithmic and practical design choices regarding value estimation, policy extraction and resource allocation. We show that not only can generalist policies be improved online across diverse tasks, but that the right recipe can enable generalization and increase performance on tasks not considered during online training. We characterize when this generalization occurs and show that both the training task distribution and the use of value-based RL are critical. To the best of our knowledge, this is among the first evidence for online generalist improvement for robot foundation models.
#02Nov 4, 2026
econ.EM
Regression with Many Generated Controls
Timothy Christensen, Daniel Vebman
We consider linear regression when some covariates are endogenous, a variable sufficient to control for endogeneity exists but is latent, and the practitioner can generate many proxies for the latent control. For instance, one could cheaply but imperfectly impute the latent control using different AI/ML methods, each generating a different proxy. There are several options the practitioner might consider in this scenario: including all proxies or factors computed from the proxies as controls, instrumental variables estimation, and some nonlinear variants thereof. We use a transparent model to derive the implicit estimand each approach targets, determine when these estimands recover the parameter of interest, and provide some practical recommendations. We show that with a sufficiently rich set of generated controls, practitioners can consistently estimate the parameter of interest without relying on validation data.
#03Nov 4, 2026
cs.LG
Continual Classification Beyond the Kernel Regime: Harnessing the Sparsity Bias of L2 Regularization in Diagonal Linear Networks
Gilad Karpel, Itay Evron, Ron Meir and 1 more
We study logistic regression for continual learning with linear predictors in a high-dimensional statistical setting. Existing theoretical work has largely focused on continual linear regression with variants of L2 regularization, motivated by their analytical simplicity and connection to the kernel regime of neural networks. We first derive the optimal L2 regularization strength for continual linear classification and characterize its generalization performance, recovering behavior analogous to prior results for continual linear regression. Next, we examine the effect of L2 regularization in deeper models using a minimal two-layer diagonal linear network. In the single-task setting, L2 regularization on the weights of such models is known to promote sparsity in the resulting predictor, yielding a rich, sparse feature-learning regime beyond the kernel regime (a similar effect arises in two-layer ReLU networks). However, in continual learning, where L2 regularization is typically centered on previous-task weights, this sparsity bias is no longer preserved. We therefore propose a weighted variant of L2 regularization that extends this beneficial sparsity bias to continual learning. We show theoretically and empirically that, for a sufficiently sparse teacher, our variant converges substantially faster than directly learning a linear predictor with conventional continual L2 or L1 regularization, trading some long-horizon bias for markedly improved performance over moderate task horizons.
#04Nov 4, 2026
cs.LG
Context--Answer Metamodels: Forecasting LLM Activations Before the First Answer Token
Tommy He, Thomas Jiralerspong
Under stochastic decoding, a single context can elicit many different answers from a language model. Characterizing this variation typically requires many expensive autoregressive rollouts, each revealing only one realization. We ask whether the activations produced while reading the context can directly forecast the model's rollout activations. We train context--answer metamodels that map a context activation sequence to point or distribution forecasts of mean-pooled answer activations. We find that (i) the four metamodel families we study forecast mean-pooled answer activations with high fidelity, and the distribution metamodels also capture rollout variability; (ii) performance improves as the training set grows to 500,000 prompts, and the metamodels generalize zero-shot to out-of-domain datasets; (iii) their forecasts retain behavior-predictive signal; and (iv) context activations from Qwen2.5 predict mean-pooled answer activations from Qwen3.5 and Gemma 4, suggesting that activation forecasts can transfer across models. Together, these results suggest that context activation traces can support scalable forecasts of behaviors in LLM answers before the first answer token is generated.
#05Nov 4, 2026
cs.LG
Message-passing graph persistence
Jorge Luiz Franco, Arthur Queiroz Moura, Moacir Ponti and 1 more
Message-passing graph neural networks (GNNs) are limited in expressive power by the one-dimensional Weisfeiler-Leman test. Persistent homology (PH) provides topological descriptors that can complement GNN representations, but existing approaches typically compute persistence separately from the representation learning process. In this paper, we introduce Message-Passing Graph Persistence (MGP), a family of topological descriptors that incorporates message passing into graph filtrations. At each filtration step, node embeddings are updated using the current subgraph and associated with persistence events. These embeddings also determine the representatives of connected components during persistence computation. We prove that MGP is invariant under graph isomorphism and that it is strictly more expressive than the PH-based descriptors it extends. We evaluate MGP on an expressivity benchmark and on several graph classification and regression datasets. Experiments show that MGP outperforms other PH-based descriptors on most of these datasets.