#01Jul 30, 2026
hep-th
Learning to Trace Seiberg Dualities
Jonathan J. Heckman, Shani Meynet, Alessandro Mininno and 1 more
Dualities play an important role in establishing both microscopic and emergent phenomena in a wide range of physical systems. In practice, though, it can often be computationally challenging to establish when two systems are dual, even when all of the "rules of the game" are well-known. Said differently, when confronted with two systems, how can one efficiently establish that they are in fact dual? In this paper we use machine learning methods to address this question for Seiberg dualities of supersymmetric quiver gauge theories. Mathematically, this involves establishing mutations of quivers, which is in turn a variation on the theme of "learning to unknot". On the one hand, this leads us to a practical tool for establishing the computational complexity of different dualities. On the other hand, it also allows us to study how different network architectures learn how to trace Seiberg dualities. We find that for quivers with a modest number of quiver nodes (of order $10$), different network architectures consisting of transformers and multi-layer perceptrons tend to outperform deterministic algorithms. Supplementing the network by well-established pathfinder algorithms (essentially "Google Maps for quivers") leads to an additional improvement in the efficiency and accuracy of the search strategy. We anticipate that this class of questions can serve as a useful benchmark for frontier AI models applied to theoretical physics.
#02Jul 30, 2026
cs.CV
ReToken: One Token to Improve Vision-Language Models for Visual Retrieval
Yao Xiao, Reuben Tan, Zhen Zhu and 3 more
Long visual context poses a challenge for vision-language models: performance degrades as the number of distractors grows, and processing all tokens at once is computationally infeasible under GPU memory constraints. We present ReToken, a single learnable embedding trained as an explicit retrieval target that selects a sparse set of query-relevant visual tokens from a pre-filled visual KV cache. Trained on only a small image-QA dataset, ReToken yields consistent gains across image and video benchmarks: on Visual Haystacks it improves Qwen3VL-8B by 13.4 points and InternVL3.5 by 12.4 points (>20% relative), and on LVBench it transfers zero-shot to long video for an 8.0-point gain with Qwen3VL-8B. Thanks to its lightweight design, both training and long-video inference fit on a single H100. Code is available at: https://github.com/avaxiao/ReToken
#03Jul 30, 2026
cs.CV
ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
Yukang Cao, Haozhe Xie, Beichen Wen and 13 more
Embodied intelligence faces a fundamental data bottleneck. Models must capture how first-person perception, whole-body motion, dexterous manipulation, object state, sound, and touch evolve together as humans pursue goals over time. Existing datasets fragment this experience across viewpoints, modalities, or spatial scales, leaving the full perception-action loop only partially observed. We introduce the Ambient Capture Engine (ACE), a human-centric data engine that transforms real home environments into spatially calibrated, temporally synchronized recording studios. ACE operates at two complementary scales: a table-scale configuration resolves hand-object manipulation, while a room-scale configuration captures whole-body motion, locomotion, and interactions across a furnished home. ACE records egocentric and multi-view exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals as a unified multisensory stream. Using ACE, we build ACE-Data-0, comprising 150 hours and 17M video frames across 200 task categories, performed by 50 participants in 2 environments, for a total of 75,000 interaction episodes. The dataset spans atomic manipulation, long-horizon chains of household activities, and human-scene interaction, while preserving natural behavioral variation through goal-level rather than step-by-step instructions. We further introduce a hierarchical benchmark that progresses from signals to scene components and then to interactions. Evaluations of state-of-the-art methods expose substantial gaps under contact, occlusion, egomotion, and long temporal horizons. ACE-Data-0 provides synchronized human demonstrations with aligned perceptual, kinematic, and contact supervision, offering a scalable foundation for imitation learning, world models, vision-language-action systems, and embodied AI.
#04Jul 30, 2026
cs.CV
PhiZero: A World Model Built Around Physical Language
Shuyao Shang, Yuqi Wang, Ruopeng Gao and 4 more
We introduce PhiZero, a physical world model built around physical language, a compact discrete representation of world-state transitions. Existing physical world models typically predict future videos directly in pixel space, leaving the underlying world dynamics implicit within high-dimensional visual predictors. Motivated by humans' ability to abstract predictive structure from visual experience and organize it in natural language for explicit reasoning, we learn physical language from in-the-wild videos through self-supervision and use it to explicitly reason about how the physical world evolves. Accordingly, PhiZero adopts a reason-then-render paradigm: it first infers future world evolution as a physical-language sequence and then renders the inferred transitions into videos. Extensive experiments across generation and understanding benchmarks validate the ability of PhiZero to model physically coherent world evolution. We further show its potential for realistic and interactive world modeling, fine-grained action-conditioned simulation, and zero-shot motion transfer.
#05Jul 30, 2026
cs.RO
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
Lizhi Yang, Junheng Li, Aaron D. Ames
We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, while training-time CBF guidance represents clearance to every body link, and an adversarial motion prior regularizes the resulting evasive reflexes. We evaluate on a controlled any-link contact benchmark with seeded throws in two regimes: single throws and a deployment loop in which the robot walks back to its station and recovers between throws. On this benchmark, the policy comes within a few points of a privileged state oracle: a fixed onboard camera alone is adequate for evasion. We find that usable barrier structure depends on perceptual observability: Joint-CBF gives the best performance with accurate ball states, degrades under fixed-camera observations when used only as training guidance, and recovers with a ball-tracking gimbal or privileged runtime filter. We therefore deploy a lightweight Link-CBF policy zero-shot on the Unitree G1 in the real world, where it tolerates imperfect perception, succeeds on 95% of throws, and uses semantic segmentation to dodge different balls.