arXiv:2509.14980v2 Announce Type: replace-cross Abstract: Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. Existing single-view approaches often fail in unstructured environments due to limited fields of view, exploration, and generalization abilities. Moreover, classical controllers, although stable, struggle with efficiency and manipulability near singularities. To address these challenges, we propose M4Diffuser, a hybrid framework that integrates a Multi-View Diffusion Policy with a novel Reduced and Manipulability-aware QP (ReM-QP) controller for mobile manipulation. The diffusion policy leverages proprioceptive states and complementary camera perspectives with both close-range object details and global scene context to generate task-relevant end-effector goals in the world frame. These high-level goals are then executed by the ReM-QP controller, which eliminates slack variables for computational efficiency and incorporates manipulability-aware preferences for robustness near singularities. Comprehensive experiments in simulation and real-world environments show that M4Diffuser achieves 7 to 56 percent higher success rates and reduces collisions by 3 to 31 percent over baselines. Our approach demonstrates robust performance for smooth whole-body coordination, and strong generalization to unseen tasks, paving the way for reliable mobile manipulation in unstructured environments. Details of the demo and supplemental material are available on our project website https://sites.google.com/view/m4diffuser.

arXiv:2602.13498v2 Announce Type: replace-cross Abstract: Muon-style optimizers leverage Newton-Schulz (NS) iterations to orthogonalize updates, yielding update geometries that often outperform Adam-series methods. However, this orthogonalization discards magnitude information, rendering training sensitive to step-size hyperparameters and vulnerable to high-energy bursts. To mitigate this, we introduce TrasMuon (\textbf{T}rust \textbf{R}egion \textbf{A}daptive \textbf{S}caling \textbf{Muon}). TrasMuon preserves the near-isometric geometry of Muon while stabilizing magnitudes through (i) global RMS calibration and (ii) energy-based trust-region clipping. We demonstrate that while reintroducing adaptive scaling improves optimization efficiency, it typically exacerbates instability due to high-energy outliers. TrasMuon addresses this by defining a trust region based on relative energy ratios, confining updates to a stable zone. Empirical experiments on vision and language models demonstrate that TrasMuon converges faster than baselines. Furthermore, experiments without warmup stages confirm TrasMuon's superior stability and robustness.

arXiv:2603.05565v2 Announce Type: replace-cross Abstract: Generative AI compresses within-task skill differences while shifting economic value toward concentrated complementary assets, creating an apparent paradox: the technology that equalizes individual performance may widen aggregate inequality. We formalize this tension in a task-based model with endogenous education, employer screening, and heterogeneous firms. The model yields two regimes whose boundary depends on AI's technology structure (proprietary vs. commodity) and labor market institutions (rent-sharing elasticity, asset concentration). A scenario analysis via Method of Simulated Moments, matching six empirical targets, disciplines the model's quantitative magnitudes; a sensitivity decomposition reveals that the five non-$\Delta$Gini moments identify mechanism rates but not the aggregate sign, which at the calibrated parameters is pinned by $m_6$ and $\xi$, while AI's technology structure ($\eta_1$ vs. $\eta_0$) independently crosses the boundary. The contribution is the mechanism -- not a verdict on the sign. Occupation-level regressions using BLS OEWS data (2019--2023) illustrate why such data cannot test the model's task-level predictions. The predictions are testable with within-occupation, within-task panel data that do not yet exist at scale.