#01Nov 10, 2026
cs.CV
UGG: Unified Generative Geometry Model
Amani Kiruga, Zhiyi Li, Ruojin Cai and 4 more
Understanding 4D scenes is a core challenge in visual intelligence, requiring models to jointly capture scene geometry, appearance, and dynamics from partial observations. However, existing approaches are subdivided into feedforward models for direct geometric prediction, and generative models for visual synthesis. We introduce UGG, a unified framework for 4D scene understanding that jointly models RGB video and geometric representations such as depth and camera pose. By assigning different noise levels across modalities and time, UGG formulates visual generation and geometric prediction as conditional completion within a single generative model. This flexible formulation enables the model to learn from diverse, heterogeneous datasets with different subsets of geometric and visual annotations. Furthermore, our generative formulation enables inference-time search over multiple plausible scene hypotheses, using geometric evidence extracted from observed RGB frames to improve geometric prediction without ground truth geometry. We demonstrate UGG's effectiveness over non-unified baselines across camera-controlled video generation, depth estimation, and camera pose prediction, including in challenging sparse observation settings. Code and visualizations are available at https://ugg-model.github.io/
#02Nov 10, 2026
stat.ME
One Curve, Different Weights: AUC, the Brier Score, Decision-Weighted AUC, and the Policy Youden Index
Yegor Baranovski
AUC and the Brier score are standard summaries of a binary risk score, yet they can rank models differently. We introduce a weighted AUC, AUC$_π$, which weights each pair of observations by how differently a decision maker with probability of acting $π$ treats them. We show that all three are built on weighted averages of one curve, the Youden index $J(t) = \mathrm{TPR}(t) - \mathrm{FPR}(t)$ across cutoffs $t$, and that the averages differ in the weights they put on the cutoffs. Each weights a cutoff by how much something rises across it: for AUC, the distribution of all scores; for the Brier score, the true probability $\mathbb{E}[Y \mid S]$; for AUC$_π$, the decision maker's probability of acting. Up to normalization, AUC$_π$ is the Brier skill score of the ideal forecast with its weight moved to the cutoffs the decision maker cares about. We also show that weighting pairs by $|π(s) - π(s')|$ is, up to scale, the only pair weight fixed in advance that makes a pair-weighted AUC an average of the Youden curve for every score distribution. As a ranking measure, AUC weights every model the same way. Hand (2009) shows that it can also be read as an average over cost thresholds, and in that reading each model weights the thresholds differently. The numerator of AUC$_π$, which we call the policy Youden index, is the expected share of class 1 a fixed policy acts on minus the expected share of class 0. It judges every model by the same policy and so avoids this; the full ratio AUC$_π$ does not.
#03Nov 10, 2026
cs.RO
TanCRAFT: Context-Reasoned Anticipatory Feedback for Assembly Tasks
Sassan Mokhtar, Lars Doorenbos, Marius Bock and 4 more
Preventing human error in physical assembly tasks requires assistance systems that can intervene before mistakes are made. This is especially challenging in settings where users are free to choose the construction order and correctness depends on the evolving assembly rather than a fixed next step. We present TanCRAFT, a four-stage real-time predictive assistance system that tracks the scene state, reasons about the current partial assembly, forecasts the near-future motion of manipulated pieces, and intervenes when the predicted placement is incompatible with the target. We instantiate our framework and confirm its effectiveness in a controlled tangram assembly task through offline benchmarks and a within-subject user study. Our findings show that the predictive feedback significantly reduces mistakes relative to unguided and reactive sessions, while yielding the lowest mean perceived workload and shortest mean completion time. Overall, these results demonstrate the value of predictive feedback for error prevention and provide a step toward cost-aware assistance for automation and human-robot workcells.
#04Nov 10, 2026
cs.LG
Pyrite: Building and Benchmarking Protein-Ligand Pose Ranking Agents
Megha Srivastava, Michael H. Lim, Allison M. Keys and 2 more
Predicting how a ligand binds to its target is central to small-molecule drug discovery. Modern cofolding models can generate diverse candidate poses, but reliably ranking these candidates remains challenging. We introduce Pyrite, a pairwise pose-ranking benchmark comprising 1,500 pose pairs across diverse protein-ligand complexes. Expert chemists equipped with 3D visualization tools and physics-based scores perform near chance, highlighting the difficulty of interpreting available chemical signals. To investigate automated ranking, we introduce PyriteRep, a structured representation of molecular geometry, protein-ligand interactions, and physicochemical scores, and develop two LLM-based agents: PyriteReasoner, which directly compares poses through text-based reasoning, and PyriteFeaturizer, which generates executable code to construct features for logistic regression, optionally incorporating features derived from LLM subcalls. These agents achieve up to 67% and 74% accuracy, respectively, exceeding observed expert performance. LLM-guided feature discovery generally outperforms direct reasoning, while Group Relative Policy Optimization (GRPO) improves open-weight models, enabling them to match or surpass closed-source frontier models in our evaluations. These results establish Pyrite as a challenging test of pose-ranking ability and highlight LLM-guided feature discovery as a promising approach to interpret and combine the outputs of computational chemistry tools.
#05Nov 10, 2026
cs.CL
When does text encoding matter for language modeling?
Eugene Jang, Catherine Arnett, Terra Blevins
UTF-8's role as the de facto encoding standard in language models introduces cross-lingual inequities due to its variable-length design. However, the effect that this encoding choice has on model performance remains largely unexamined. In this work, we investigate how text encoding impacts the performance of byte-level language models, comparing UTF-8 with a wide range of other encoding strategies, including other Unicode-based approaches, language-specific encodings, and our own customized encodings. To facilitate our analysis, we propose Aether: a hybrid encoding scheme that uses script-specific encodings for our target setting while maintaining full Unicode coverage through UTF-8 fallbacks, using this framework to model four orthographically diverse languages. Surprisingly, we find that while languages with information-dense characters (Chinese, Korean) significantly benefit from compressive encodings, languages whose characters carry less information individually (Georgian, Tamil) are largely insensitive to encoding choice. In light of these findings, we argue that text encoding should be a language-specific design decision, rather than a universal default.