Daily Papers

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with compute and data. In this work, we propose an end-to-end training architecture that uses real driving data to train a driving policy in an on-policy simulator. We show two different methods of simulation, one with reprojective simulation and one with a learned world model. We show that both methods can be used to train a policy that learns driving behavior without any hand-coded driving rules. We evaluate the performance of these policies in a closed-loop simulation and when deployed in a real-world advanced driver-assistance system.

Focusing on simulated dilute polymer solutions, this letter investigates the interactions between flow structures and organized polymer stress sheets for the steady arrowhead coherent structure in a two-dimensional periodic channel flow. Formulating the problem in a frame of reference moving with the arrowhead velocity, streamlines, which are also pathlines in this frame, enables the identification of two distinct topological regions linked to two stagnation points. The streamlines help connecting the spatial distribution of polymer stress within the sheets and the dynamics of polymers transported by the flow. Using stresslines, lines parallel to the eigenvectors of polymer stress, a novel formulation of the viscoelastic stress term in the momentum transport equation proposes a more intuitive interpretation of the relation between the curvature of the stresslines, and the variation of stress along these lines, with the local flow topology. An approximation of this formulation is shown to explain the pressure jump observed in the arrowhead structure as a function of the local curvature of the polymer stress sheet.

Contrastive learning has become a cornerstone of modern representation learning, allowing training with massive unlabeled data for both task-specific and general (foundation) models. A prototypical loss in contrastive training is InfoNCE and its variants. In this work, we show that the InfoNCE objective induces Gaussian structure in representations that emerge from contrastive training. We establish this result in two complementary regimes. First, we show that under certain alignment and concentration assumptions, projections of the high-dimensional representation asymptotically approach a multivariate Gaussian distribution. Next, under less strict assumptions, we show that adding a small asymptotically vanishing regularization term that promotes low feature norm and high feature entropy leads to similar asymptotic results. We support our analysis with experiments on synthetic and CIFAR-10 datasets across multiple encoder architectures and sizes, demonstrating consistent Gaussian behavior. This perspective provides a principled explanation for commonly observed Gaussianity in contrastive representations. The resulting Gaussian model enables principled analytical treatment of learned representations and is expected to support a wide range of applications in contrastive learning.

Generative models and vision encoders have largely advanced on separate tracks, optimized for different goals and grounded in different mathematical principles. Yet, they share a fundamental property: latent space Gaussianity. Generative models map Gaussian noise to images, while encoders map images to semantic embeddings whose coordinates empirically behave as Gaussian. We hypothesize that both are views of a shared latent source, the Universal Normal Embedding (UNE): an approximately Gaussian latent space from which encoder embeddings and DDIM-inverted noise arise as noisy linear projections. To test our hypothesis, we introduce NoiseZoo, a dataset of per-image latents comprising DDIM-inverted diffusion noise and matching encoder representations (CLIP, DINO). On CelebA, linear probes in both spaces yield strong, aligned attribute predictions, indicating that generative noise encodes meaningful semantics along linear directions. These directions further enable faithful, controllable edits (e.g., smile, gender, age) without architectural changes, where simple orthogonalization mitigates spurious entanglements. Taken together, our results provide empirical support for the UNE hypothesis and reveal a shared Gaussian-like latent geometry that concretely links encoding and generation. Code and data are available https://rbetser.github.io/UNE/

Reinforcement learning with verifiable rewards (RLVR) improves language-model reasoning, but GRPO-style optimization remains prone to collapse. We analyse this instability through token-level gradient dynamics, deriving a taxonomy that predicts how updates affect next-token probabilities and entropy. The taxonomy shows that stability depends jointly on the advantage sign and token distribution under the current policy. Motivated by this finding, we propose Winner Advantage Policy Optimization (WAPO), a simple online clipped policy-gradient objective that updates only on positive-advantage completions. Across mathematical reasoning and multi-hop QA benchmarks, WAPO improves training stability and matches or outperforms baselines across multiple model families. Full code can be found at https://github.com/layer6ai-labs/wapo.

Jais 2 is a family of Arabic-centric large language models developed jointly by MBZUAI, Cerebras, and Inception, designed to advance Arabic-centric language modeling, with strong performance across the Arabic and culturally grounded benchmarks evaluated in this report. The family includes, to our knowledge, the largest open Arabic-centric LLM trained from scratch at 70B parameters, and a competitive 8B-parameter variant among the evaluated open models. A custom Arabic-centric vocabulary enables efficient training and inference. In addition, an optimized architecture and training recipe yield highly compute-efficient training. With a substantially smaller token budget than comparable models, Jais 2 achieves strong Arabic performance on the benchmarks considered in this report and competitive English results. The models obtain leading results among the evaluated open models on OALL2 and AraGen. They also perform strongly on several culturally grounded Arabic benchmarks, including poetry, religion, cuisine, and dream interpretation, as well as in general tasks such as translation and summarization. We release the models in HuggingFace under a commercially permissive license. Jais 2 70B is also released as a chat app on the Web, iOS, and Android; it runs on Cerebras hardware, delivering up to 2,000 tokens per second, and enabling high-throughput Arabic-centric chat serving in our deployment setting. By uniting scale, linguistic diversity, cultural fidelity, openness, and speed, Jais 2 provides an open-weight foundation intended to support further research and development in Arabic-centric LLMs.

We introduce Voxtral TTS, an expressive multilingual text-to-speech model that generates natural speech from as little as 3 seconds of reference audio. Voxtral TTS adopts a hybrid architecture that combines auto-regressive generation of semantic speech tokens with flow-matching for acoustic tokens. These tokens are encoded and decoded with Voxtral Codec, a speech tokenizer trained from scratch with a hybrid VQ-FSQ quantization scheme. In human evaluations conducted by native speakers, Voxtral TTS is preferred for multilingual voice cloning due to its naturalness and expressivity, achieving a 68.4\% win rate over ElevenLabs Flash v2.5. We release the model weights under a CC BY-NC license.

TOI-396 is an F6V star (Vapprox6.4) orbited by three transiting planets. The orbital periods of the two innermost planets are close to the 5:3 commensurability (P_b sim3.6 d and P_c sim6.0 d). To measure the masses of the three planets, refine their radii, and investigate whether planets b and c are in MMR, we carried out HARPS RV observations and retrieved photometric data from TESS. We extracted the RVs via a skew-normal fit onto the HARPS CCFs and performed an MCMC joint analysis of the Doppler measurements and transit photometry, while employing the breakpoint method to remove stellar activity from the RV time series. We also performed a thorough TTV dynamical analysis of the system. Our analysis confirms that the three planets have similar sizes: R_b=2.004_{-0.047}^{+0.045}R_{oplus}; R_c=1.979_{-0.051}^{+0.054}R_{oplus}; R_d=2.001_{-0.064}^{+0.063}R_{oplus}. For the first time, we have determined the RV masses for TOI-396b and d: M_b=3.55_{-0.96}^{+0.94}M_{oplus} (rho_b=2.44_{-0.68}^{+0.69} g cm^{-3}) and M_d=7.1pm1.6M_{oplus} (rho_d=4.9_{-1.1}^{+1.2} g cm^{-3}). Our results suggest a quite unusual system architecture, with the outermost planet being the densest. The Doppler reflex motion induced by TOI-396c remains undetected in our RV time series, likely due to the proximity of P_c to the star's rotation period (P_{rot}=6.7pm1.3 d). We also discovered that TOI-396b and c display significant TTVs. While the TTV dynamical analysis returns a formally precise mass for TOI-396c (M_{c,dyn}=2.24^{+0.13}_{-0.67}M_{oplus}), the result might not be accurate owing to the poor sampling of the TTV phase. We also conclude that TOI-396b and c are close to but out of the 5:3 MMR. Our numerical simulation suggests TTV semi-amplitudes of up to 5 hours over a temporal baseline of sim5.2 years.

We present baryon acoustic oscillation (BAO) measurements from more than 14 million galaxies and quasars drawn from the Dark Energy Spectroscopic Instrument (DESI) Data Release 2 (DR2), based on three years of operation. For cosmology inference, these galaxy measurements are combined with DESI Lyman-α forest BAO results presented in a companion paper. The DR2 BAO results are consistent with DESI DR1 and SDSS, and their distance-redshift relationship matches those from recent compilations of supernovae (SNe) over the same redshift range. The results are well described by a flat ΛCDM model, but the parameters preferred by BAO are in mild, 2.3σ tension with those determined from the cosmic microwave background (CMB), although the DESI results are consistent with the acoustic angular scale θ_* that is well-measured by Planck. This tension is alleviated by dark energy with a time-evolving equation of state parametrized by w_0 and w_a, which provides a better fit to the data, with a favored solution in the quadrant with w_0>-1 and w_a<0. This solution is preferred over ΛCDM at 3.1σ for the combination of DESI BAO and CMB data. When also including SNe, the preference for a dynamical dark energy model over ΛCDM ranges from 2.8-4.2σ depending on which SNe sample is used. We present evidence from other data combinations which also favor the same behavior at high significance. From the combination of DESI and CMB we derive 95% upper limits on the sum of neutrino masses, finding sum m_ν<0.064 eV assuming ΛCDM and sum m_ν<0.16 eV in the w_0w_a model. Unless there is an unknown systematic error associated with one or more datasets, it is clear that ΛCDM is being challenged by the combination of DESI BAO with other measurements and that dynamical dark energy offers a possible solution.

In 2021 May the Dark Energy Spectroscopic Instrument (DESI) collaboration began a 5-year spectroscopic redshift survey to produce a detailed map of the evolving three-dimensional structure of the universe between z=0 and zapprox4. DESI's principle scientific objectives are to place precise constraints on the equation of state of dark energy, the gravitationally driven growth of large-scale structure, and the sum of the neutrino masses, and to explore the observational signatures of primordial inflation. We present DESI Data Release 1 (DR1), which consists of all data acquired during the first 13 months of the DESI main survey, as well as a uniform reprocessing of the DESI Survey Validation data which was previously made public in the DESI Early Data Release. The DR1 main survey includes high-confidence redshifts for 18.7M objects, of which 13.1M are spectroscopically classified as galaxies, 1.6M as quasars, and 4M as stars, making DR1 the largest sample of extragalactic redshifts ever assembled. We summarize the DR1 observations, the spectroscopic data-reduction pipeline and data products, large-scale structure catalogs, value-added catalogs, and describe how to access and interact with the data. In addition to fulfilling its core cosmological objectives with unprecedented precision, we expect DR1 to enable a wide range of transformational astrophysical studies and discoveries.

We present the measurements and cosmological implications of the galaxy two-point clustering using over 4.7 million unique galaxy and quasar redshifts in the range 0.1<z<2.1 divided into six redshift bins over a sim 7,500 square degree footprint, from the first year of observations with the Dark Energy Spectroscopic Instrument (DESI Data Release 1). By fitting the full power spectrum, we extend previous DESI DR1 baryon acoustic oscillation (BAO) measurements to include redshift-space distortions and signals from the matter-radiation equality scale. For the first time, this Full-Shape analysis is blinded at the catalogue-level to avoid confirmation bias and the systematic errors are accounted for at the two-point clustering level, which automatically propagates them into any cosmological parameter. When analysing the data in terms of compressed model-agnostic variables, we obtain a combined precision of 4.7\% on the amplitude of the redshift space distortion signal reaching similar precision with just one year of DESI data than with 20 years of observation from previous generation surveys. We analyse the data to directly constrain the cosmological parameters within the LambdaCDM model using perturbation theory and combine this information with the reconstructed DESI DR1 galaxy BAO. Using a Big Bang Nucleosynthesis Gaussian prior on the baryon density parameter, and a Gaussian prior on the spectral index, we constrain the matter density is Omega_m=0.296pm 0.010 and the Hubble constant H_0=(68.63 pm 0.79)[{rm km, s^{-1}Mpc^{-1}}]. Additionally, we measure the amplitude of clustering sigma_8=0.841 pm 0.034. The DESI DR1 results are in agreement with the LambdaCDM model based on general relativity with parameters consistent with those from Planck. The cosmological interpretation of these results in combination with external datasets are presented in a companion paper.

We present cosmological results from the measurement of baryon acoustic oscillations (BAO) in galaxy, quasar and Lyman-α forest tracers from the first year of observations from the Dark Energy Spectroscopic Instrument (DESI), to be released in the DESI Data Release 1. DESI BAO provide robust measurements of the transverse comoving distance and Hubble rate, or their combination, relative to the sound horizon, in seven redshift bins from over 6 million extragalactic objects in the redshift range 0.1<z<4.2. DESI BAO data alone are consistent with the standard flat ΛCDM cosmological model with a matter density Ω_m=0.295pm 0.015. Paired with a BBN prior and the robustly measured acoustic angular scale from the CMB, DESI requires H_0=(68.52pm0.62) km/s/Mpc. In conjunction with CMB anisotropies from Planck and CMB lensing data from Planck and ACT, we find Ω_m=0.307pm 0.005 and H_0=(67.97pm0.38) km/s/Mpc. Extending the baseline model with a constant dark energy equation of state parameter w, DESI BAO alone require w=-0.99^{+0.15}_{-0.13}. In models with a time-varying dark energy equation of state parametrized by w_0 and w_a, combinations of DESI with CMB or with SN~Ia individually prefer w_0>-1 and w_a<0. This preference is 2.6σ for the DESI+CMB combination, and persists or grows when SN~Ia are added in, giving results discrepant with the ΛCDM model at the 2.5σ, 3.5σ or 3.9σ levels for the addition of Pantheon+, Union3, or DES-SN5YR datasets respectively. For the flat ΛCDM model with the sum of neutrino mass sum m_ν free, combining the DESI and CMB data yields an upper limit sum m_ν< 0.072 (0.113) eV at 95% confidence for a sum m_ν>0 (sum m_ν>0.059) eV prior. These neutrino-mass constraints are substantially relaxed in models beyond ΛCDM. [Abridged.]

We describe the Sloan Digital Sky Survey IV (SDSS-IV), a project encompassing three major spectroscopic programs. The Apache Point Observatory Galactic Evolution Experiment 2 (APOGEE-2) is observing hundreds of thousands of Milky Way stars at high resolution and high signal-to-noise ratio in the near-infrared. The Mapping Nearby Galaxies at Apache Point Observatory (MaNGA) survey is obtaining spatially-resolved spectroscopy for thousands of nearby galaxies (median redshift of z = 0.03). The extended Baryon Oscillation Spectroscopic Survey (eBOSS) is mapping the galaxy, quasar, and neutral gas distributions between redshifts z = 0.6 and 3.5 to constrain cosmology using baryon acoustic oscillations, redshift space distortions, and the shape of the power spectrum. Within eBOSS, we are conducting two major subprograms: the SPectroscopic IDentification of eROSITA Sources (SPIDERS), investigating X-ray AGN and galaxies in X-ray clusters, and the Time Domain Spectroscopic Survey (TDSS), obtaining spectra of variable sources. All programs use the 2.5-meter Sloan Foundation Telescope at Apache Point Observatory; observations there began in Summer 2014. APOGEE-2 also operates a second near-infrared spectrograph at the 2.5-meter du Pont Telescope at Las Campanas Observatory, with observations beginning in early 2017. Observations at both facilities are scheduled to continue through 2020. In keeping with previous SDSS policy, SDSS-IV provides regularly scheduled public data releases; the first one, Data Release 13, was made available in July 2016.