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Deep Learning · Robustness

Jens U. Brandt, Noah Christoph Pütz, Marcus Greiff, Thomas Lew, John Subosits, Marc Hilbert, Thomas Bartz-Beielstein

Machine learning models play a key role in safety-critical applications, such as autonomous vehicles and advanced driver assistance systems, where their robustness during inference is essential to ensure reliable operation. Sensor faults, however, can corrupt input signals, potentially leading to severe model failures that compromise reliability. In this context, pretraining emerges as a powerful approach for learning expressive representations applicable to various downstream tasks. Among existing techniques, masking represents a promising direction for learning representations that are robust to corrupted input data. In this work, we extend this concept by specifically targeting robustness to sensor outages during pretraining. We propose a self-supervised masking scheme that simulates common sensor failures and explicitly trains the model to recover the original signal. We demonstrate that the resulting representations significantly improve the robustness of predictions to seen and unseen sensor failures on a vehicle dynamics dataset, maintaining strong downstream performance under both nominal and various fault conditions. As a practical application, we deploy the method on a modified Lexus LC 500 and show that the pretrained model successfully operates as a substitute for a physical sensor in a closed-loop control system. In this autonomous racing application, a supervised baseline trained without sensor failures may cause the vehicle to leave the track. In contrast, a model trained using the proposed masking scheme enables reliable racing performance in the presence of sensor failures.

Deep Learning · Generative Models and Autoencoders

Xin Yu, Yujia Wang, Jinghui Chen, Lingzhou Xue

Low-Rank Adaptation (LoRA) has emerged as an effective technique for reducing memory overhead in fine-tuning large language models. However, it often suffers from sub-optimal performance compared with full fine-tuning since the update is constrained in the low-rank space. Recent variants such as LoRA-Pro attempt to mitigate this by adjusting the gradients of the low-rank matrices to approximate the full gradient. However, LoRA-Pro's solution is not unique, and different solutions can lead to significantly varying performance in ablation studies. Besides, to incorporate momentum or adaptive optimization design, approaches like LoRA-Pro must first compute the equivalent gradient, causing a higher memory cost close to full fine-tuning. A key challenge remains in integrating momentum properly into the low-rank space with lower memory cost. In this work, we propose AltLoRA, an alternating projection method that avoids the difficulties in gradient approximation brought by the joint update design, meanwhile integrating momentum without higher memory complexity. Our theoretical analysis provides convergence guarantees and further shows that AltLoRA enables stable feature learning and robustness to transformation invariance. Extensive experiments across multiple tasks demonstrate that AltLoRA outperforms LoRA and its variants, narrowing the gap toward full fine-tuning while preserving superior memory efficiency.

Computer Vision · Image and Video Generation

Ziqiao Peng, Jiwen Liu, Haoxian Zhang, Xiaoqiang Liu, Songlin Tang, Pengfei Wan, Di ZHANG, Hongyan Liu, Jun He

Lip synchronization is the task of aligning a speaker’s lip movements in video with corresponding speech audio, and it is essential for creating realistic, expressive video content. However, existing methods often rely on reference frames and masked-frame inpainting, which limit their robustness to identity consistency, pose variations, facial occlusions, and stylized content. In addition, since audio signals provide weaker conditioning than visual cues, lip shape leakage from the original video will affect lip sync quality. In this paper, we present OmniSync, a universal lip synchronization framework for diverse visual scenarios. Our approach introduces a mask-free training paradigm using Diffusion Transformer models for direct frame editing without explicit masks, enabling unlimited-duration inference while maintaining natural facial dynamics and preserving character identity. During inference, we propose a flow-matching-based progressive noise initialization to ensure pose and identity consistency, while allowing precise mouth-region editing. To address the weak conditioning signal of audio, we develop a Dynamic Spatiotemporal Classifier-Free Guidance (DS-CFG) mechanism that adaptively adjusts guidance strength over time and space. We also establish the AIGC-LipSync Benchmark, the first evaluation suite for lip synchronization in diverse AI-generated videos. Extensive experiments demonstrate that OmniSync significantly outperforms prior methods in both visual quality and lip sync accuracy, achieving superior results in both real-world and AI-generated videos.

Applications

Hao Gao, Shaoyu Chen, Bo Jiang, Bencheng Liao, Yiang Shi, Xiaoyang Guo, Yuechuan Pu, haoran yin, Xiangyu Li, xinbang zhang 等

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop Reinforcement Learning (RL) framework for end-to-end Autonomous Driving. By leveraging 3DGS techniques, we construct a photorealistic digital replica of the real physical world, enabling the AD policy to extensively explore the state space and learn to handle out-of-distribution scenarios through large-scale trial and error. To enhance safety, we design specialized rewards to guide the policy in effectively responding to safety-critical events and understanding real-world causal relationships. To better align with human driving behavior, we incorporate IL into RL training as a regularization term. We introduce a closed-loop evaluation benchmark consisting of diverse, previously unseen 3DGS environments. Compared to IL-based methods, RAD achieves stronger performance in most closed-loop metrics, particularly exhibiting a 3× lower collision rate. Abundant closed-loop results are presented in the supplementary material. Code is available at https://github.com/hustvl/RAD for facilitating future research.

Social Aspects · Everything Else

Quan Shi, Carlos Jimenez, Shunyu Yao, Nick Haber, Diyi Yang, Karthik Narasimhan

As large language models (LLMs) increasingly serve as close collaborators for humans, it is crucial that they express their reasoning in ways that humans can understand and learn from. However, this capability remains relatively less understood and under-evaluated. To address this, we introduce a conceptual framework for such Human-AI knowledge transfer capabilities and conduct the first large-scale user study (N=118) explicitly designed to measure it. In our two-phase setup, humans first ideate with an LLM on problem-solving strategies, then independently implement solutions, isolating the influence of model reasoning on human understanding. Our findings reveal that while model benchmark performance correlates with collaborative outcomes, this relationship is notably inconsistent with significant outliers, highlighting that knowledge transfer is a distinct capability requiring dedicated optimization. Our analysis uncovers behavioral and strategic factors that mediate successful knowledge transfer, and we release our code, dataset, and evaluation framework to support future work on communicatively aligned models.

Theory · Reinforcement Learning and Planning

Zijun Chen, Shengbo Wang, Nian Si

Motivated by practical applications where stable long-term performance is critical—such as robotics, operations research, and healthcare—we study the problem of distributionally robust (DR) average-reward reinforcement learning. We propose two algorithms that achieve near-optimal sample complexity. The first reduces the problem to a DR discounted Markov decision process (MDP), while the second, Anchored DR Average-Reward MDP, introduces an anchoring state to stabilize the controlled transition kernels within the uncertainty set. Assuming the nominal MDP is uniformly ergodic, we prove that both algorithms attain a sample complexity of $\widetilde{O}\left(|\mathbf{S}||\mathbf{A}| t_{\mathrm{mix}}^2\varepsilon^{-2}\right)$ for estimating the optimal policy as well as the robust average reward under KL and $f_k$-divergence-based uncertainty sets, provided the uncertainty radius is sufficiently small. Here, $\varepsilon$ is the target accuracy, $|\mathbf{S}|$ and $|\mathbf{A}|$ denote the sizes of the state and action spaces, and $t_{\mathrm{mix}}$ is the mixing time of the nominal MDP. This represents the first finite-sample convergence guarantee for DR average-reward reinforcement learning. We further validate the convergence rates of our algorithms through numerical experiments.

Social Aspects · Everything Else

Xiaoyang Zhang, He Fang, Yang Deng, Dan Wang

The rapid growth of large AI models has raised significant environmental concerns due to their substantial carbon footprint. Existing carbon accounting methods for AI models are fundamentally deterministic and fail to account for inherent uncertainties in embodied and operational carbon emissions. Our work aims to investigate the effect of these uncertainties on embodied and operational carbon footprint estimates for large AI models. We propose a Probabilistic Carbon Accounting Model (PCAM), which quantifies uncertainties in the carbon accounting of large AI models. We develop parameter models to quantify key components (processors, memory, storage) in the carbon footprint of AI models. To characterize the distribution of the parameters, we develop a carbon dataset by aggregating related data from various sources. Then, we generate the probabilistic distribution of the parameters from the collected dataset. We compare the performance of PCAM with LLMCarbon, the state-of-the-art carbon accounting method for large AI models. PCAM achieves $\leq7.44\%$ error compared to LLMCarbon’s $\leq108.51\%$.

Optimization · Large Scale, Parallel and Distributed

Gang Yan, Sikai Yang, Wan Du

Integrating large pre-trained models into federated learning (FL) can significantly improve generalization and convergence efficiency. A widely adopted strategy freezes the pre-trained backbone and fine-tunes a lightweight task head, thereby reducing computational and communication costs. However, this partial fine-tuning paradigm introduces new security risks, making the system vulnerable to poisoned updates and backdoor attacks. To address these challenges, we propose FedRACE, a unified framework for robust FL with partially frozen models. FedRACE comprises two core components: HStat-Net, a hierarchical network that refines frozen features into compact, linearly separable representations; and DevGuard, a server-side mechanism that detects malicious clients by evaluating statistical deviance in class-level predictions modeling generalized linear models (GLMs). DevGuard further incorporates adaptive thresholding based on theoretical misclassification bounds and employs randomized majority voting to enhance detection reliability. We implement FEDRACE on the FedScale platform and evaluate it on CIFAR-100, Food-101, and Tiny ImageNet under diverse attack scenarios. FedRACE achieves a true positive rate of up to 99.3% with a false positive rate below 1.2%, while preserving model accuracy and improving generalization.

Applications

Yuwei Du, Jie Feng, Jie Zhao, Yong Li

Trajectory modeling, which includes research on trajectory data pattern mining and future prediction, has widespread applications in areas such as life services, urban transportation, and public administration. Numerous methods have been proposed to address specific problems within trajectory modeling. However, the heterogeneity of data and the diversity of trajectory tasks make effective and reliable trajectory modeling an important yet highly challenging endeavor, even for domain experts. In this paper, we propose TrajAgent, a agent framework powered by large language models (LLMs), designed to facilitate robust and efficient trajectory modeling through automation modeling. This framework leverages and optimizes diverse specialized models to address various trajectory modeling tasks across different datasets effectively. In TrajAgent, we first develop UniEnv, an execution environment with a unified data and model interface, to support the execution and training of various models. Building on UniEnv, we introduce an agentic workflow designed for automatic trajectory modeling across various trajectory tasks and data. Furthermore, we introduce collaborative learning schema between LLM-based agents and small speciallized models, to enhance the performance of the whole framework effectively. Extensive experiments on four tasks using four real-world datasets demonstrate the effectiveness of TrajAgent in automated trajectory modeling, achieving a performance improvement of 2.38%-69.91% over baseline methods. The codes and data can be accessed via https://github.com/tsinghua-fib-lab/TrajAgent.

Theory · Learning Theory

Pramith Devulapalli, Changlong Wu, Ananth Grama, Wojciech Szpankowski

We study agnostic online learning from continuous-time data streams, a setting that naturally arises in applications such as environmental monitoring, personalized recommendation, and high-frequency trading. Unlike classical discrete-time models, learners in this setting must interact with a continually evolving data stream while making queries and updating models only at sparse, strategically selected times. We develop a general theoretical framework for learning from both *oblivious* and *adaptive* data streams, which may be noisy and non-stationary. For oblivious streams, we present a black-box reduction to classical online learning that yields a regret bound of $T \cdot R(S)/S$ for any class with discrete-time regret $R(S)$, where $T$ is the time horizon and $S$ is the *query budget*. For adaptive streams, which can evolve in response to learner actions, we design a dynamic query strategy in conjunction with a novel importance weighting scheme that enables unbiased loss estimation. In particular, for hypothesis class $\mathcal{H}$ with a finite Littlestone dimension, we establish a tight regret bound of $\tilde{\Theta}(T \cdot \sqrt{\mathsf{Ldim}(\mathcal{H})/S})$ that holds in both settings. Our results provide the first *quantitative* characterization of agnostic learning in continuous-time online environments with limited interaction.

Theory · Reinforcement Learning and Planning

Yang Xu, Swetha Ganesh, Washim Mondal, Qinbo Bai, Vaneet Aggarwal

This paper investigates infinite-horizon average reward Constrained Markov Decision Processes (CMDPs) under general parametrized policies with smooth and bounded policy gradients. We propose a Primal-Dual Natural Actor-Critic algorithm that adeptly manages constraints while ensuring a high convergence rate. In particular, our algorithm achieves global convergence and constraint violation rates of $\tilde{\mathcal{O}}(1/\sqrt{T})$ over a horizon of length $T$ when the mixing time, $\tau_{\mathrm{mix}}$, is known to the learner. In absence of knowledge of $\tau_{\mathrm{mix}}$, the achievable rates change to $\tilde{\mathcal{O}}(1/T^{0.5-\epsilon})$ provided that $T \geq \tilde{\mathcal{O}}\left(\tau_{\mathrm{mix}}^{2/\epsilon}\right)$. Our results match the theoretical lower bound for Markov Decision Processes and establish a new benchmark in the theoretical exploration of average reward CMDPs.

Reinforcement Learning · Deep RL

Preston Fu, Oleh Rybkin, Zhiyuan (Paul) Zhou, Michal Nauman, Pieter Abbeel, Sergey Levine, Aviral Kumar

As models grow larger and training them becomes expensive, it becomes increasingly important to scale training recipes not just to larger models and more data, but to do so in a compute-optimal manner that extracts maximal performance per unit of compute. While such scaling has been well studied for language modeling, reinforcement learning (RL) has received less attention in this regard. In this paper, we investigate compute scaling for online, value-based deep RL. These methods present two primary axes for compute allocation: model capacity and the update-to-data (UTD) ratio. Given a fixed compute budget, we ask: how should resources be partitioned across these axes to maximize data efficiency? Our analysis reveals a nuanced interplay between model size, batch size, and UTD. In particular, we identify a phenomenon we call TD-overfitting: increasing the batch quickly harms Q-function accuracy for small models, but this effect is absent in large models, enabling effective use of large batch size at scale. We provide a mental model for understanding this phenomenon and build guidelines for choosing batch size and UTD to optimize compute usage. Our findings provide a grounded starting point for compute-optimal scaling in deep RL, mirroring studies in supervised learning but adapted to TD learning. Project page: https://value-scaling.github.io/.

Social Aspects · Trustworthy Machine Learning

Felipe Maia Polo, Seamus Somerstep, Leshem Choshen, Yuekai Sun, Mikhail Yurochkin

Scaling laws for large language models (LLMs) predict model performance based on parameters like size and training data. However, differences in training configurations and data processing across model families lead to significant variations in benchmark performance, making it difficult for a single scaling law to generalize across all LLMs. On the other hand, training family-specific scaling laws requires training models of varying sizes for every family. In this work, we propose Skills Scaling Laws (SSLaws, pronounced as Sloth), a novel scaling law that leverages publicly available benchmark data and assumes LLM performance is driven by low-dimensional latent skills, such as reasoning and instruction following. These latent skills are influenced by computational resources like model size and training tokens, but with varying efficiencies across model families. Sloth exploits correlations across benchmarks to provide more accurate and interpretable predictions while alleviating the need to train multiple LLMs per family. We present both theoretical results on parameter identification and empirical evaluations on 12 prominent benchmarks, from Open LLM Leaderboard v1/v2, demonstrating that Sloth predicts LLM performance accurately and offers insights into scaling behaviors for complex downstream tasks, increased test-time compute, and compute-optimal scaling of skills.

Applications

Yinhan He, Wendy Zheng, Song Wang, Zaiyi Zheng, Yushun Dong, Yaochen Zhu, Jundong Li

In-Context Learning (ICL) is a technique where large language models (LLMs) leverage multiple demonstrations (i.e., examples) to perform tasks. With the recent expansion of LLM context windows, many-shot ICL (generally with more than 50 demonstrations) can lead to significant performance improvements on a variety of language tasks such as text classification and question answering. Nevertheless, ICL faces the issue of demonstration order instability (ICL-DOI), which means that performance varies significantly depending on the order of demonstrations. Moreover, ICL-DOI persists in many-shot ICL, validated by our thorough experimental investigation. Current strategies for handling ICL-DOI are not applicable to many-shot ICL due to two critical challenges: (1) Most existing methods assess demonstration order quality by first prompting the LLM, then using heuristic metrics based on the LLM's predictions. In the many-shot scenarios, these metrics without theoretical grounding become unreliable, where the LLMs struggle to effectively utilize information from long input contexts, making order distinctions less clear. The requirement to examine all orders for the large number of demonstrations is computationally infeasible due to the super-exponential complexity of the order space in many-shot ICL. To tackle the first challenge, we design a demonstration order evaluation metric based on information theory for measuring order quality, which effectively quantifies the usable information gain of a given demonstration order. To address the second challenge, we propose a hierarchical demonstration order optimization method named \texttt{HIDO} that enables a more refined exploration of the order space, achieving high ICL performance without the need to evaluate all possible orders. Extensive experiments on multiple LLMs and real-world datasets demonstrate that our \texttt{HIDO} method consistently and efficiently outperforms other baselines. Our code project can be found at https://github.com/YinhanHe123/HIDO/.

Reinforcement Learning · Multi-agent

Federico Berto, Chuanbo Hua, Laurin Luttmann, Jiwoo Son, Junyoung Park, Kyuree Ahn, Changhyun Kwon, Lin Xie, Jinkyoo Park

Combinatorial optimization problems involving multiple agents are notoriously challenging due to their NP-hard nature and the necessity for effective agent coordination. Despite advancements in learning-based methods, existing approaches often face critical limitations, including suboptimal agent coordination, poor generalization, and high computational latency. To address these issues, we propose PARCO (Parallel AutoRegressive Combinatorial Optimization), a general reinforcement learning framework designed to construct high-quality solutions for multi-agent combinatorial tasks efficiently. To this end, PARCO integrates three key novel components: (1) transformer-based communication layers to enable effective agent collaboration during parallel solution construction, (2) a multiple pointer mechanism for low-latency, parallel agent decision-making, and (3) priority-based conflict handlers to resolve decision conflicts via learned priorities. We evaluate PARCO in multi-agent vehicle routing and scheduling problems, where our approach outperforms state-of-the-art learning methods, demonstrating strong generalization ability and remarkable computational efficiency. We make our source code publicly available to foster future research: https://github.com/ai4co/parco.

Deep Learning · Robustness

Tim G. Zhou, Evan Shelhamer, Geoff Pleiss

The go-to strategy to apply deep networks in settings where uncertainty informs decisions—ensembling multiple training runs with random initializations—is ill-suited for the extremely large-scale models and practical fine-tuning workflows of today. We introduce a new cost-effective strategy for improving the uncertainty quantification and downstream decisions of a large model (e.g. a fine-tuned ViT-B): coupling it with a less accurate but much smaller "sidekick" (e.g. a fine-tuned ResNet-34) with a fraction of the computational cost. We propose aggregating the predictions of this *Asymmetric Duo* by simple learned weighted averaging. Surprisingly, despite their inherent asymmetry, the sidekick model almost never harms the performance of the larger model. In fact, across five image classification benchmarks, and a variety of model architectures and training schemes (including soups), Asymmetric Duos significantly improve accuracy, uncertainty quantification, and selective classification metrics with only ${\sim}10-20$% more computation.

Deep Learning · Generative Models and Autoencoders

Wanjia Zhao, Jiaqi Han, Siyi Gu, Mingjian Jiang, James Zou, Stefano Ermon

Geometric diffusion models have shown remarkable success in molecular dynamics and structure generation. However, efficiently fine-tuning them for downstream tasks with varying geometric controls remains underexplored. In this work, we propose an SE(3)-equivariant adapter framework (GeoAda) that enables flexible and parameter-efficient fine-tuning for controlled generative tasks without modifying the original model architecture. GeoAda introduces a structured adapter design: control signals are first encoded through coupling operators, then processed by a trainable copy of selected base model layers, and finally projected back via decoupling operators followed by an equivariant zero-initialized convolution. By fine-tuning only these lightweight adapter modules, GeoAda preserves the model’s geometric consistency while mitigating overfitting and catastrophic forgetting. We theoretically prove that the proposed adapters maintain SE(3)-equivariance, ensuring that the geometric inductive biases of the pretrained diffusion model remain intact during adaptation. We demonstrate the wide applicability of \method across diverse geometric control types, including frame control, global control, subgraph control, and a broad range of application domains such as particle dynamics, molecular dynamics, human motion prediction, and molecule generation. Empirical results show that GeoAda achieves state-of-the-art fine-tuning performance while preserving original task accuracy, whereas other baselines experience significant performance degradation due to overfitting and catastrophic forgetting.

Social Aspects · Accountability, Transparency and Interpretability

Madhur Panwar, Gail Weiss, Navin Goyal, Antoine Bosselut

Memorization in language models is a critical yet poorly understood phenomenon. In this work, we investigate memorization in transformer-based language models by analyzing their memorization dynamics during training over multiple epochs. We find that memorization is neither a constant accumulation of sequences nor simply dictated by the recency of exposure to these sequences. Instead, much like generalization, memorization appears to be driven by pattern recognition. Tracking memorization dynamics in mixed datasets, we observe that models memorize different sub-datasets in distinct bursts, suggesting that each subset is associated with unique underlying patterns, and that the model prefers to learn these patterns in a consistent order. We also find that easily learnable patterns tend to support generalization on unseen data, while more complex patterns do not. Furthermore, in datasets with weak or absent patterns, larger models may delay memorization relative to smaller ones, a behavior we term $\textit{overthinking}$. Our results show that the subset of sequences memorized by a model over time is not arbitrary, and give insights into the internal processes a model goes through during training. Our code is available at: https://github.com/mdrpanwar/memorization-patterns.

Reinforcement Learning · Deep RL

Ruilin Luo, Zhuofan Zheng, Lei Wang, Yifan Wang, Xinzhe Ni, Zicheng Lin, Songtao Jiang, Yiyao Yu, Chufan Shi, Ruihang Chu 等

Process Reward Models (PRMs) have shown promise in enhancing the mathematical reasoning capabilities of Large Language Models (LLMs) through Test-Time Scaling (TTS). However, their integration into multimodal reasoning remains largely unexplored. In this work, we take the first step toward unlocking the potential of PRMs in multimodal mathematical reasoning. We identify three key challenges: (i) the scarcity of high-quality reasoning data constrains the capabilities of foundation Multimodal Large Language Models (MLLMs), which imposes further limitations on the upper bounds of TTS and reinforcement learning (RL); (ii) a lack of automated methods for process labeling within multimodal contexts persists; (iii) the employment of process rewards in unimodal RL faces issues like reward hacking, which may extend to multimodal scenarios. To address these issues, we introduce URSA, a three-stage Unfolding multimodal pRocess-Supervision Aided training framework. We first construct MMathCoT-1M, a high-quality large-scale multimodal Chain-of-Thought (CoT) reasoning dataset, to build a stronger math reasoning foundation MLLM, URSA-8B. Subsequently, we go through an automatic process to synthesize process supervision data, which emphasizes both logical correctness and perceptual consistency. We introduce DualMath-1.1M to facilitate the training of URSA-8B-RM. Finally, we propose Process-Supervised Group-Relative-Policy-Optimization (PS-GRPO), pioneering a multimodal PRM-aided online RL method that outperforms vanilla GRPO. With PS-GRPO application, URSA-8B-PS-GRPO outperforms Gemma3-12B and GPT-4o by 8.4% and 2.7% on average across 6 benchmarks.

Reinforcement Learning · Everything Else

Yifan Zhou, Sachin Grover, Mohamed El Mistiri, Kamalesh Kalirathinam, Pratyush Kerhalkar, Swaroop Mishra, Neelesh Kumar, Sanket Gaurav, Oya Aran, Heni Ben Amor

Reinforcement Learning (RL) traditionally relies on scalar reward signals, limiting its ability to leverage the rich semantic knowledge often available in real-world tasks. In contrast, humans learn efficiently by combining numerical feedback with language, prior knowledge, and common sense. We introduce Prompted Policy Search (ProPS), a novel RL method that unifies numerical and linguistic reasoning within a single framework. Unlike prior work that augments existing RL components with language, ProPS places a large language model (LLM) at the center of the policy optimization loop—directly proposing policy updates based on both reward feedback and natural language input. We show that LLMs can perform numerical optimization in-context, and that incorporating semantic signals, such as goals, constraints, and strategy hints can lead to more informed exploration and sample-efficient learning. ProPS is evaluated across 15 Gymnasium tasks, spanning classic control, Atari games, and MuJoCo environments, and compared to seven widely-adopted RL algorithms (e.g., PPO, SAC, TRPO). It outperforms all baselines on 8 out of 15 tasks and demonstrates substantial gains when provided with domain knowledge. These results highlight the potential of unifying semantics and numerics for transparent, generalizable, and human-aligned reinforcement learning.