arXiv:2609.12897v1 Announce Type: new Abstract: Multimodal model merging aims to consolidate task experts into a single model that retains their complementary capabilities. Most unimodal model merging methods combine expert updates within individual layers, and multimodal approaches largely follow this design. However, an expert update changes the representations passed to subsequent layers, allowing its influence to propagate across depth and affect how visual and textual information interact. When visual and language updates are combined, later updates act on inputs already modified by earlier ones, coupling their effects. This poses two challenges: (1) how to characterize the multimodal influence of individual expert updates across depth, and (2) how to jointly combine expert updates based on their multimodal influence. To address these challenges, we propose TAC-Merge for tracing and coordinating cross-layer influence in multimodal model merging. It contains two modules, i.e., multimodal influence mapping (MIM) and coupled merge control (CMC). MIM constructs graphs of update effects and uses Ricci curvature together with expert predictions to define a shared fusion objective. CMC models interactions among coefficient adjustments and jointly optimizes regional weights to synthesize one shared model. Experiments across diverse multimodal tasks demonstrate the effectiveness of TAC-Merge in consolidating complementary expert capabilities and supporting generalization to unseen tasks.

arXiv:2609.12712v1 Announce Type: cross Abstract: Relational table learning has recently emerged as an important research direction for modeling multiple tables connected through primary key-foreign key (PK-FK) relationships. Despite recent advances, a principled modeling framework tailored to this task remains underexplored. In this paper, we propose Intra-Inter Relational Table Learning (InRTL), a unified framework that explicitly models dependencies both within and across relational tables. Specifically, InRTL formalizes two complementary interaction patterns: intra-table interactions, describing associations among rows within the same table, and inter-table interactions, describing dependencies between rows across PK-FK-linked tables. To model these dependencies, we develop a column-aware table encoder to generate initial row representations, followed by Transformer-based self-attention and cross-attention modules for intra-table and inter-table learning, respectively. To further improve scalability, InRTL incorporates linearized attention and heterogeneous graph neural networks to simplify the self-attention and cross-attention operations. Extensive experiments on ten datasets covering 24 real-world tasks demonstrate the effectiveness of our approach. Code is available at https://github.com/W1nterFloW/InRTL.

arXiv:2609.12896v1 Announce Type: cross Abstract: LLM-based agents rely on heterogeneous interaction capabilities to accomplish complex tasks. Existing approaches often distribute these capabilities across multiple LoRA adapters, which increases adapter storage requirements and introduces routing overhead during inference. A single LoRA avoids this overhead, but learning from diverse agent trajectories under a fixed rank budget presents two challenges. First, trajectories with different interaction traces and parameter gradients can induce equivalent changes in decision distributions, causing repeated updates to overemphasize redundant behavioral changes. Second, an aggregated update may exceed the rank budget of the adapter, and approximating it in weight space can distort the decision changes that it is intended to produce. We propose BQ-LoRA, a low-rank adaptation framework that organizes trajectory updates through a local behavior quotient manifold. It contains two modules, i.e., behavior quotient balancing (BQB) and decision preserving compression (DPC). BQB constructs the quotient manifold from decision distributions and reweights trajectory update directions according to their local density in the quotient tangent space. DPC projects the balanced gradient onto the intrinsic fixed rank tangent space and refactorizes the resulting target by jointly controlling effective weight error and distortion of decision distributions. Experiments on AppWorld and BrowseComp-Plus compare BQ-LoRA with standard LoRA and recent low-rank adaptation methods, while separate ablations evaluate the complementary contributions of both components.

arXiv:2608.27406v2 Announce Type: replace-cross Abstract: State-of-the-art action-conditioned video models are typically restricted to a single robot embodiment, preventing them from leveraging the vast corpus of heterogeneous video data that contains rich signals for learning generalizable physics. To bridge this gap, we introduce CLAP, a framework for cross-embodiment action-conditioned video generation capable of being trained on diverse, internet-scale videos across human and robotic agents. CLAP is grounded in the insight that universal physical laws govern spatiotemporal dynamics regardless of the actor. However, cross-embodiment learning is non-trivial because action representations vary sharply across robot platforms and are typically absent in human videos. CLAP addresses this fundamental challenge through the following core contributions. First, CLAP reconciles disparate action spaces using end-effector poses, language instructions, and latent actions. Second, to resolve their individual limitations, CLAP introduces a curriculum-based cross-embodiment learning recipe that first learns foundational physical priors across unlabeled video data using latent actions and subsequently grounds them in end-effector action spaces for zero-shot deployment to real-world tasks. Crucially, CLAP approaches or surpasses state-of-the-art single-embodiment video models in challenging environments like DROID. These performance advantages compound via few-shot adaptation to establish a novel paradigm for training single-embodiment video world models. Ultimately, CLAP delivers the most comprehensive suite of action-conditioned video world models to date - spanning diverse action-conditioning spaces (end-effector, language, and latent) and robot morphologies (including cross-embodiment, DROID, Bridge, bimanual YAM robots, and G1 humanoids). We open-source all code and models. Project Website at https://omni-clap.github.io .