Large Language Models (LLMs) are increasingly deployed in multi-agent systems, where effective inter-model communication is crucial. Existing communication protocols either rely on natural language, incurring high inference costs and information loss, or on hidden states, which suffer from information concentration bias and inefficiency. To address these limitations, we propose KVComm, a novel communication framework that enables efficient communication between LLMs through selective sharing of KV pairs. KVComm leverages the rich information encoded in the KV pairs while avoiding the pitfalls of hidden states. We introduce a KV layer-wise selection strategy based on attention importance scores with a Gaussian prior to identify the most informative KV pairs for communication. Extensive experiments across diverse tasks and model pairs demonstrate that KVComm achieves comparable performance to the upper-bound method, which directly merges inputs to one model without any communication, while transmitting as few as 30\% of layers' KV pairs. Our study highlights the potential of KV pairs as an effective medium for inter-LLM communication, paving the way for scalable and efficient multi-agent systems.
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Applications · Everything Else
Inferring ground truth from noisy, crowdsourced labels is a fundamental challenge in machine learning. For decades, the dominant paradigm has relied on dataset-specific parameter estimation, a non-scalable method that fails to transfer knowledge. Recent efforts toward universal aggregation models do not account for the structural and behavioral complexities of human-annotated crowdsourcing, resulting in poor real-world performance. To address this gap, we introduce CrowdFM, a foundation model for crowdsourced label aggregation. At its core, CrowdFM is a bipartite graph neural network that is pre-trained on a vast, domain-randomized synthetic dataset to learn diverse behavioral patterns. By leveraging a size-invariant initialization and attention-based message passing, it learns universal principles of collective intelligence and generalizes to new, unseen datasets. Extensive experiments on 22 real-world benchmarks show that our single, fixed model consistently matches or surpasses bespoke, per-dataset methods in both accuracy and efficiency. Furthermore, the representations learned by CrowdFM readily support diverse downstream applications, such as worker assessment and task assignment. Codes are available at https://github.com/liiuhaao/CrowdFM.
Practical guidance on training Large Language Models (LLMs) to leverage Code Interpreter across diverse tasks remains lacking. We present R1-Code-Interpreter, an extension of a text-only LLM trained via multi-turn supervised fine-tuning (SFT) and reinforcement learning (RL) to autonomously generate multiple code queries during step-by-step reasoning. Unlike prior RL + tool-use efforts focused on narrow domains such as math or retrieval, we curate 144 diverse reasoning and planning tasks and show that training a general-purpose Code Interpreter across them presents significant challenges due to task heterogeneity and scarcity of effective samples. To address this, we introduce a multi-stage curriculum learning approach that partitions training samples by measured improvement potential. The RL training prioritizes samples with higher potential and gradually shifts to lower-potential ones, increasing the average RL gains from merely +3.4\% to +9.3\% across Qwen-2.5 models (3/7/14B). Our final model, R1-CI-14B, improves average accuracy on the 37 test tasks from 44.1\% to 72.4\%, outperforming text-only GPT-4o (58.6\%) and GPT-4o with Code Interpreter (70.9\%). Notably, R1-CI-14B also exhibits emergent self-checking behavior through code generation. Datasets, Codes, and Models are available at https://github.com/yongchao98/R1-Code-Interpreter and https://huggingface.co/yongchao98.
Applications · Robotics
Imitation learning for manipulation has a well-known data scarcity problem. Unlike natural language and 2D computer vision, there is no Internet-scale corpus of data for dexterous manipulation. One appealing option is egocentric human video, a passively scalable data source. However, existing large-scale datasets such as Ego4D do not have native hand pose annotations and do not focus on object manipulation. To this end, we use Apple Vision Pro to collect EgoDex: the largest and most diverse dataset of dexterous human manipulation to date. EgoDex has 829 hours of egocentric video with paired 3D hand and finger tracking data collected at the time of recording, where multiple calibrated cameras and on-device SLAM can be used to precisely track the pose of every joint of each hand. The dataset covers a wide range of diverse manipulation behaviors with everyday household objects in 194 different tabletop tasks ranging from tying shoelaces to folding laundry. Furthermore, we train and systematically evaluate imitation learning policies for hand trajectory prediction on the dataset, introducing metrics and benchmarks for measuring progress in this increasingly important area. By releasing this large-scale dataset, we hope to push the frontier of robotics, computer vision, and foundation models. EgoDex is publicly available for download at https://github.com/apple/ml-egodex.
Reinforcement Learning · Batch/Offline
Offline reinforcement learning (RL) has achieved notable progress in recent years. However, most existing offline RL methods require a large amount of training data to achieve reasonable performance and offer limited out-of-distribution (OOD) generalization capability due to conservative data-related regularizations. This seriously hinders the usability of offline RL in solving many real-world applications, where the available data are often limited. In this study, we introduce TELS, a highly sample-efficient offline RL algorithm that enables state-stitching in a compact latent space regulated by the fundamental time-reversal symmetry (T-symmetry) of dynamical systems. Specifically, we introduce a T-symmetry enforced inverse dynamics model (TS-IDM) to derive well-regulated latent state representations that greatly facilitate OOD generalization. A guide-policy can then be learned entirely in the latent space to optimize for the reward-maximizing next state, bypassing the conservative action-level behavioral regularization adopted in most offline RL methods. Finally, the optimized action can be extracted using the learned TS-IDM, together with the optimized latent next state from the guide-policy. We conducted comprehensive experiments on both the D4RL benchmark tasks and a real-world industrial control test environment, TELS achieves superior sample efficiency and OOD generalization performance, significantly outperforming existing offline RL methods in a wide range of challenging small-sample tasks.
Deep Learning · Generative Models and Autoencoders
Generative models have demonstrated significant results in ultra-low bitrate image compression, owing to their powerful capabilities for content generation and texture completion. Existing works primarily based on diffusion models still face challenges such as limited bitrate adaptability and high computational complexity for encoding and decoding. Inspired by the success of Visual AutoRegressive model (VAR), we introduce AutoRegressive-based Progressive Coding (ARPC) for ultra-low bitrate image compression, a progressive image compression framework based on next-scale prediction visual autoregressive model. Based on multi-scale residual vector quantizer, ARPC efficiently encodes the image into multi-scale discrete token maps and controls the bitrates by selecting different scales for transmission. For decompression, ARPC leverages the prior knowledge inherent in the visual autoregressive model to predict the unreceived scales, which is naturally the autoregressive generation process. To further increase the compression ratio, we target the VAR as a probability estimator for lossless entropy coding and propose group-masked bitwise multi-scale residual quantizer to adaptively allocate bits for different scales. Extensive experiments show that ARPC achieves state-of-the-art perceptual fidelity at ultra-low bitrates and high decompression efficiency compared with existing diffusion-based methods.
Computer Vision · Vision Models & Multimodal
Vision-language models have achieved remarkable success in cross-modal understanding. Yet, these models remain limited to object-level or region-level grounding, lacking the capability for pixel-precise keypoint comprehension through natural language. We introduce a novel framework for pixel level grounding. The framework consists of two complementary components: a Point Descriptor that generates rich, contextual descriptions of individual keypoints, and a Point Localizer that regresses precise pixel coordinates from these descriptions. Unlike prior work that relies on templated prompts or keypoint names, our approach produces free-form, coarse-to-fine descriptions that situate keypoints within their visual context. Since there is no available dataset to train such a system, we introduce LlamaPointInPart, a carefully curated dataset of 20K+ image-keypoint-description triplets synthesized from multiple vision-language models, capturing multi-scale information from scene-level context to visual features around the keypoint. For cross-category generalization, we optimize the Point Descriptor on AP-10K via GRPO, using the frozen Point Localizer as a reward model to produce descriptions that maximize localization accuracy. To evaluate our results we establish a new evaluation protocol. Instead of comparing the text description produced by our method to the ground truth, we use the localizer to determine how close is the predicted point generated to the ground truth point. Experiments demonstrate superior performance compared to baseline models on LlamaPointInPart. The bidirectional nature of our framework enables applications in both keypoint-guided image understanding and language-guided precise localization. Our code and dataset are publicly available at https://matanr.github.io/Talking_Points .
Social Aspects · Fairness, Equity, Justice and Safety
Large language models (LLMs) generate increasingly human-like text, raising concerns about misinformation and authenticity. Detecting AI-generated text remains challenging: existing methods often underperform, especially on short texts, require probability access unavailable in real-world black-box settings, incur high costs from multiple calls, or fail to generalize across models. We propose Disrupt-and-Recover (D\&R), a recovery-based detection framework grounded in posterior concentration. D\&R disrupts text via model-free Within-Chunk Shuffling, performs a single black-box LLM recovery, and measures semantic–structural recovery similarity as a proxy for concentration. This design ensures efficiency, black-box practicality, and is theoretically supported under the concentration assumption. Extensive experiments across four datasets and six source models show that D\&R achieves state-of-the-art performance, with AUROC 0.96 on long texts and 0.87 on short texts, surpassing the strongest baseline by +0.08 and +0.14. D\&R further remains robust under source–recovery mismatch and model variation. Our code and data is available at https://github.com/Yuxia-Sun/D-R.
Reinforcement Learning · Batch/Offline
While goal-conditioned behavior cloning (GCBC) methods can perform well on in-distribution training tasks, they do not necessarily generalize zero-shot to tasks that require conditioning on novel state-goal pairs, i.e. combinatorial generalization. In part, this limitation can be attributed to a lack of temporal consistency in the state representation learned by BC; if temporally correlated states are properly encoded to similar latent representations, then the out-of-distribution gap for novel state-goal pairs would be reduced. We formalize this notion by demonstrating how encouraging long-range temporal consistency via successor representations (SR) can facilitate generalization. We then propose a simple yet effective representation learning objective, $\text{BYOL-}\gamma$ for GCBC, which theoretically approximates the successor representation in the finite MDP case through self-predictive representations, and achieves competitive empirical performance across a suite of challenging tasks requiring combinatorial generalization.
General Machine Learning · Representation Learning
Separable neural networks (SepNNs) are emerging neural architectures that significantly reduce computational costs by factorizing a multivariate function into linear combinations of univariate functions, benefiting downstream applications such as implicit neural representations (INRs) and physics-informed neural networks (PINNs). However, fundamental theoretical analysis for SepNN, including detailed representation capacity and spectral bias characterization \& alleviation, remains unexplored. This work makes three key contributions to theoretically understanding and improving SepNN. First, using Weierstrass-based approximation and universal approximation theory, we prove that SepNN can approximate any multivariate function with arbitrary precision, confirming its representation completeness. Second, we derive the neural tangent kernel (NTK) regimes for SepNN, showing that the NTK of infinite-width SepNN converges to a deterministic (or random) kernel under infinite (or fixed) decomposition rank, with corresponding convergence and spectral bias characterization. Third, we propose an efficient separable preconditioned gradient descent (SepPGD) for optimizing SepNN, which alleviates the spectral bias of SepNN by provably adjusting its NTK spectrum. The SepPGD enjoys an efficient $\mathcal{O}(nD)$ complexity for $n^D$ training samples, which is much more efficient than previous neural network PGD methods. Extensive experiments for kernel ridge regression, image and surface representation using INRs, and numerical PDEs using PINNs validate the efficiency of SepNN and the effectiveness of SepPGD for alleviating spectral bias.
Computer Vision · Vision Models & Multimodal
Pretrained multi-modal large language models (MLLMs) demonstrate strong performance on diverse multimodal tasks, but remain limited in reasoning capabilities for domains where annotations are difficult to collect. In this work, we focus on artificial image domains such as charts, rendered documents, and webpages, which are abundant in practice yet lack large-scale human annotated reasoning datasets. We introduce COGS (COmposition-Grounded data Synthesis), a data-efficient framework for equipping MLLMs with advanced reasoning abilities from a small set of seed questions. The key idea is to decompose each seed question into primitive perception and reasoning *factors*, which can then be systematically recomposed with new images to generate large collections of synthetic question-answer pairs. Each generated question is paired with subquestions and intermediate answers, enabling reinforcement learning with factor-level process rewards. Experiments on chart reasoning show that COGS substantially improves performance on unseen questions, with the largest gains on reasoning-heavy and compositional questions. Moreover, training with a factor-level mixture of different seed data yields better transfer across multiple datasets, suggesting that COGS induces generalizable capabilities rather than dataset-specific overfitting. We further demonstrate that the framework extends beyond charts to other domains such as webpages. We release the code and data at https://cogsynthesis.github.io.
Optimization · Large Scale, Parallel and Distributed
Different federated optimization algorithms typically employ distinct client-selection strategies: some methods communicate only with a randomly sampled subset of clients at each round, while others need to periodically communicate with all clients or use a hybrid scheme that combines both strategies. However, existing metrics for comparing optimization methods typically do not distinguish between these strategies, which often incur different communication costs in practice. To address this disparity, we introduce a simple and natural model of federated optimization that quantifies communication and local computation complexities. This new model allows for several commonly used client-selection strategies and explicitly associates each with a distinct cost. Within this setting, we propose a new algorithm that achieves the best-known communication and local complexities among existing federated optimization methods for non-convex optimization. This algorithm is based on the inexact composite gradient method with a carefully constructed gradient estimator and a special procedure for solving the auxiliary subproblem at each iteration. The gradient estimator is based on SAGA, a popular variance-reduced gradient estimator. We first derive a new variance bound for it, showing that SAGA can exploit functional similarity. We then introduce the Recursive-Gradient technique as a general way to potentially improve the error bound of a given conditionally unbiased gradient estimator, including both SAGA and SVRG. By applying this technique to SAGA, we obtain a new estimator, RG-SAGA, which has an improved error bound compared to the original one.
Applications · Robotics
The ability to conduct and learn from interaction and experience is a central challenge in robotics, offering a scalable alternative to labor-intensive human demonstrations. However, realizing such "play" requires (1) a policy robust to diverse, potentially out-of-distribution environment states, and (2) a procedure that continuously produces useful robot experience. To address these challenges, we introduce Tether, a method for autonomous functional play involving structured, task-directed interactions. First, we design a novel open-loop policy that warps actions from a small set of source demonstrations (≤10) by anchoring them to semantic keypoint correspondences in the target scene. We show that this design is extremely data-efficient and robust even under significant spatial and semantic variations. Second, we deploy this policy for autonomous functional play in the real world via a continuous cycle of task selection, execution, evaluation, and improvement, guided by the visual understanding capabilities of vision-language models. This procedure generates diverse, high-quality datasets with minimal human intervention. In a household-like multi-object setup, our method is the first to perform many hours of autonomous multi-task play in the real world starting from only a handful of demonstrations. This produces a stream of data that consistently improves the performance of closed-loop imitation policies over time, ultimately yielding over 1000 expert-level trajectories and training policies competitive with those learned from human-collected demonstrations.
Applications · Language, Speech and Dialog
Instructed code editing, where LLMs directly modify a developer's existing code based on a user instruction, is becoming a widely used interaction mode in AI coding assistants. However, few benchmarks directly evaluate this capability and current datasets often rely on artificial sources. We introduce EditBench, a benchmark for evaluating LLM code editing capabilities grounded in real-world usage, i.e.,~user instructions and code contexts collected in the wild. EditBench comprises of 545 problems, multiple natural and programming languages, and a diverse set of real-world use cases, ranging from resolving errors to adding features. EditBench introduces context-dependent problems that require the model to understand code context, highlighted code, and cursor position in addition to the user instruction. We evaluate 40 diverse LLMs and observe that EditBench is a challenging set of problems where only 3 models score over 60\%. We find that model performance varies across different categories of user instructions. Further, we find that varying levels of contextual information greatly affect task success rate, with performance varying up to 11\%, indicating the importance of evaluating with realistic context.
Computer Vision · Vision Models & Multimodal
Reactive dance generation (RDG), the task of generating a dance conditioned on a lead dancer's motion, holds significant promise for enhancing human-robot interaction and immersive digital entertainment. Despite progress in duet synchronization and motion-music alignment, two key challenges remain: generating fine-grained spatial interactions and ensuring long-term temporal coherence. In this work, we introduce $\textbf{ReactDance}$, a diffusion framework that operates on a novel hierarchical latent space to address these spatiotemporal challenges in RDG. First, for fine-grained spatial control and artistic expression, we propose Hierarchical Finite Scalar Quantization ($\textbf{HFSQ}$). This multi-scale motion representation effectively disentangles coarse body posture from high-frequency dynamics, enabling independent and detailed control over both aspects through a layered guidance mechanism. Second, to efficiently generate long sequences with high temporal coherence, we propose Blockwise Local Context ($\textbf{BLC}$), a non-autoregressive sampling strategy. Departing from slow, frame-by-frame generation, BLC partitions the sequence into blocks and synthesizes them in parallel via periodic causal masking and positional encodings. Coherence across these blocks is ensured by a dense sliding-window training approach that enriches the representation with local temporal context. Extensive experiments show that ReactDance substantially outperforms state-of-the-art methods in motion quality, long-term coherence, and sampling efficiency.
Theory · Interpretability and Visualization
Quantifying feature importance with valid statistical uncertainty is central to interpretable machine learning, yet classical model-agnostic methods often fail under feature correlation, producing unreliable attributions and compromising inference. Statistical approaches that address correlation through feature decorrelation have shown promise but remain restricted to $\ell_2$ loss, limiting their applicability across diverse machine learning tasks. We introduce Flow-Disentangled Feature Importance (FDFI), a model-agnostic framework that resolves these limitations by combining principled statistical inference with computational flexibility. FDFI leverages flow matching to learn flexible disentanglement maps that not only handle arbitrary feature distributions but also provide an interpretable pathway for understanding how importance is attributed through the data's correlation structure. The framework generalizes the decorrelation-based attribution to general differentiable loss functions, enabling statistically valid importance assessment for black-box predictors across regression and classification. We establish statistical inference theory, deriving semiparametric efficiency of FDFI estimators, which enables valid confidence intervals and hypothesis testing with Type I error control. Experiments demonstrate that FDFI achieves substantially higher statistical power than removal-based and conditional permutation approaches, while maintaining robust and interpretable attributions even under severe interdependence. These findings hold across synthetic benchmarks and a broad collection of real datasets spanning diverse domains.
Social Aspects · Fairness, Equity, Justice and Safety
Geo-distributed training and Federated Learning (FL) provide viable solutions to address the substantial data and computational resource needs associated with training large language models (LLMs). However, we empirically demonstrate that a single adversarial participant can significantly compromise the safety alignment of LLMs through malicious training, exposing serious security risks. We identify two existing server-side defense strategies that effectively counter naive jailbreak attacks—Task Performance Check (TPC), which filters out model updates with low downstream performance, and Malicious Output Scrutiny (MOS), which detects harmful outputs by prompting uploaded models with malicious queries. To evade both defenses, we design a trigger-based jailbreak variant that preserves downstream performance using a novel regularization method to limit the excessive model updates on jailbreak datasets. We further conceal malicious triggers by mixing the malicious dataset with pseudo-contrastive safety-aligned answers to maintain the original safety alignment. Experiments on three widely-used safety-aligned LLMs show that a single adversarial participant can implant triggers into the global model without degrading downstream performance, achieving an 80\% attack success rate (ASR) with a 7\% low detection true rate (DTR).
Deep Learning · Generative Models and Autoencoders
Generating tabular data under conditions is critical to applications requiring precise control over the generative process. Existing methods rely on training-time strategies that do not generalise to unseen constraints during inference, and struggle to handle conditional tasks beyond tabular imputation. While manifold theory offers a principled way to guide generation, current formulations are tied to specific inference-time objectives and are limited to continuous domains. We extend manifold theory to tabular data and expand its scope to handle diverse inference-time objectives. On this foundation, we introduce Harpoon, a tabular diffusion method that guides unconstrained samples along the manifold geometry to satisfy diverse tabular conditions at inference. We validate our theoretical contributions empirically on tasks such as imputation and enforcing inequality constraints, demonstrating Harpoon's strong performance across diverse datasets and the practical benefits of manifold-aware guidance for tabular data. Code URL: https://github.com/adis98/Harpoon
Computer Vision · Vision Models & Multimodal
Hard negative generation (HNG) provides valuable signals for deep learning, but existing methods mostly rely on local correlations while neglecting the global geometry of the embedding space. This limitation often leads to weak discrimination, particularly in cross-modal hashing, which obtains compact binary codes. We propose Deep Global-sense Hard-negative Discriminative Generation Hashing (DGHDGH), a framework that constructs a structured graph with dual-iterative message propagation to capture global correlations, and then performs difficulty-adaptive, channel-wise interpolation to synthesize semantically consistent hard negatives aligned with global Hamming geometry. Our approach yields more informative negatives, sharpens semantic boundaries in the Hamming co-space, and substantially enhances cross-modal retrieval. Experiments on multiple benchmarks consistently demonstrate improvements in retrieval accuracy, verifying the discriminative advantages brought by global-sense HNG in cross-modal hashing.
Optimization · Optimization and Learning under Uncertainty
We present a general strategy for turning generative models into candidate solution samplers for batch Bayesian optimization (BO). The use of generative models for BO enables large batch scaling as generative sampling, optimization of non-continuous design spaces, and high-dimensional and combinatorial design. Inspired by the success of direct preference optimization (DPO), we show that one can train a generative model with noisy, simple utility values directly computed from observations to then form proposal distributions whose densities are proportional to the expected utility, i.e., BO's acquisition function values. Furthermore, this approach is generalizable beyond preference-based feedback to general types of reward signals and loss functions. This perspective avoids the construction of surrogate (regression or classification) models, common in previous methods that have used generative models for black-box optimization. Theoretically, we show that the generative models within the BO process follow a sequence of distributions which asymptotically approximate an optimal target under certain conditions. We also evaluate the performance through experiments on challenging optimization problems involving large batches in high dimensions.