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Applications · Robotics

Suhwan Choi, Jaeyoon Jung, Haebin Seong, Minchan Kim, Minyeong Kim, Yongjun Cho, Yoonshik Kim, Yu Park, Youngjae Yu, Yunsung Lee

Large language models leverage internet-scale text data, yet embodied AI remains constrained by the prohibitive costs of physical trajectory collection. Desktop environments---particularly gaming---offer a compelling alternative: they provide rich sensorimotor interactions at scale while maintaining the structured observation-action coupling essential for embodied learning. We present D2E (Desktop to Embodied AI), a framework that demonstrates desktop interactions can serve as an effective pretraining substrate for robotics embodied AI tasks. Unlike prior work that remained domain-specific (e.g., VPT for Minecraft) or kept data proprietary (e.g., SIMA), D2E establishes a complete pipeline from scalable desktop data collection to verified transfer in embodied domains. Our framework comprises three components: (1) the OWA Toolkit that unifies diverse desktop interactions into a standardized format with 152× compression, (2) the Generalist-IDM that achieves strong zero-shot generalization across unseen games through timestamp-based event prediction, enabling internet-scale pseudo-labeling, and (3) VAPT that transfers desktop-pretrained representations to physical manipulation and navigation. Using 1.3K+ hours of data (259 hours of human demonstrations and 1K+ hours of pseudo-labeled gameplay), our 1B-parameter model achieves 96.6\% success on LIBERO manipulation and 83.3\% on CANVAS navigation, matching or surpassing models up to 7$\times$ larger, such as $\pi_0$ (3.3B) and OpenVLA (7B). These results demonstrate that sensorimotor primitives learned from digital interactions transfer effectively to real-world physical tasks, establishing desktop pretraining as a practical paradigm for embodied AI. All resources are publicly available at https://worv-ai.github.io/d2e.

Reinforcement Learning · Everything Else

Yimeng Zhang, Tian Wang, Jiri Gesi, Ziyi Wang, Yuxuan Lu, Jiacheng Lin, Simon Zhan, Vianne Gao, Ruochen Jiao, Junze Liu 等

Large Language Models (LLMs) have recently demonstrated strong potential in generating ‘believable human-like’ behavior in web environments. Prior work has explored augmenting training data with LLM-synthesized rationales and applying supervised fine-tuning (SFT) to enhance reasoning ability, which in turn can improve downstream action prediction. However, the performance of such approaches remains inherently bounded by the reasoning capabilities of the model used to generate the rationales. In this paper, we introduce Shop-R1, a novel reinforcement learning (RL) framework aimed at enhancing the reasoning ability of LLMs for simulation of real human behavior in online shopping environments. Specifically, Shop-R1 decomposes the human behavior simulation task into two stages: rationale generation and action prediction, each guided by distinct reward signals. For rationale generation, we leverage internal model signals (e.g., logit distributions) to guide the reasoning process in a self-supervised manner. For action prediction, we propose a hierarchical reward structure with difficulty-aware scaling to prevent reward hacking and enable fine-grained reward assignment. This design evaluates both high-level action types and the correctness of fine-grained sub-action details (attributes and values), rewarding outputs proportionally to their difficulty. Experimental results show that our method achieves a relative improvement of over 65% compared to the baseline. The project page is available at https://damon-demon.github.io/shop-r1.html.

Applications · Neuroscience, Cognitive Science

Cheng-Yeh Chen, Raghupathy Sivakumar

The alignment of Large Language Models (LLMs) and brain activity provides a powerful framework to advance our understanding of cognitive neuroscience and artificial intelligence. In this work, we zoom into one of the fundamental units of LLMs—the transformer block—to provide the first systematic computational neuroanatomy of its internal operations and human brain acitivity during language processing. Analyzing 21 state-of-the-art LLMs across five model families, we extract and evaluate 13 distinct intermediate states per transformer block—from initial layer normalization through attention mechanisms to feed-forward networks (FFNs). Our analysis reveals three key findings: (1) The commonly used hidden states in LLMs are surprisingly suboptimal, with over 90\% of brain voxels in sensory and language regions better explained by previously unexplored intermediate computations; (2) Different computational stages within a single transformer block map to anatomically distinct brain systems, revealing an intra-block hierarchy where early attention states align with sensory cortices while later FFN states correspond to association areas—mirroring the cortical processing hierarchy; (3) Rotary Positional Embeddings (RoPE) specifically enhance alignment along the brain's auditory processing streams. Per-head queries with RoPE best explain 74\% of auditory cortex activity compared to 8\% without RoPE, providing the first neurobiological validation of this architectural component in LLMs. Building on these insights, we propose MindTransformer, a feature selection framework that learns brain-aligned representations from all intermediate states. MindTransformer achieves significant brain alignment performance, with correlation improvements in primary auditory cortex exceeding gains from 456× model scaling. Our computational neuroanatomy approach opens new directions for understanding both biological intelligence through the lens of transformer computations and artificial intelligence through principles of brain organization.

Reinforcement Learning · Batch/Offline

Andrei Polubarov, Lyubaykin Nikita, Alexander Derevyagin, Artyom Grishin, Igor Saprygin, Aleksandr Serkov, Mark Averchenko, Daniil Tikhonov, Maksim Zhdanov, Alexander Nikulin 等

Recent progress in in-context reinforcement learning (ICRL) has demonstrated its potential for training generalist agents that can acquire new tasks directly at inference. Algorithm Distillation (AD) pioneered this paradigm and was subsequently scaled to multi-domain settings, although its ability to generalize to unseen tasks remained limited. The Decision Pre-Trained Transformer (DPT) was introduced as an alternative, showing stronger in-context reinforcement learning abilities in simplified domains, but its scalability had not been established. In this work, we extend DPT to diverse multi-domain environments, applying Flow Matching as a natural training choice that preserves its interpretation as Bayesian posterior sampling. As a result, we obtain an agent trained across hundreds of diverse tasks that achieves clear gains in generalization to the held-out test set. This agent improves upon prior AD scaling and demonstrates stronger performance in both online and offline inference, reinforcing ICRL as a viable alternative to expert distillation for training generalist agents.

Deep Learning · Graph Neural Networks

Winfried van den Dool, Maksim Zhdanov, Yuki Asano, Max Welling, Winfried van den Dool

Physical systems commonly exhibit spatially varying complexity, presenting a significant challenge for neural PDE solvers. While Graph Neural Networks can handle the irregular meshes required for complex geometries and boundary conditions, they still apply uniform computational effort across all nodes regardless of the underlying physics complexity. This leads to inefficient resource allocation where computationally simple regions receive the same treatment as complex phenomena. We address this challenge by introducing Adaptive Mesh Quantization: spatially adaptive quantization across mesh node, edge and cluster features, dynamically adjusting the bit-width used by a quantized model. We propose an adaptive bit-width allocation strategy driven by a lightweight auxiliary model that identifies high-loss regions in the input mesh. This enables dynamic resource distribution in the main model, where regions of higher difficulty are allocated increased bit-width, optimizing computational resource utilization. We demonstrate our framework's effectiveness by integrating it with two state-of-the-art models, MP-PDE and GraphViT, to evaluate performance across multiple tasks: 2D Darcy flow, large-scale unsteady fluid dynamics in 2D, steady-state Navier–Stokes simulations in 3D, and a 2D hyper-elasticity problem. Our framework demonstrates consistent Pareto improvements over uniformly quantized baselines, yielding up to 50\% improvements in performance at the same cost.

Computer Vision · Vision Models & Multimodal

Dezhao Luo, Bohan Tang, Kang Li, Georgios Papoudakis, Jifei Song, Shaogang Gong, Jianye Hao, Jun Wang, Kun Shao

App agents, which autonomously operate mobile Apps through GUIs, have gained significant interest in real-world applications. Yet, they often struggle with long-horizon planning, failing to find the optimal actions for complex tasks with longer steps. To address this, world models are used to predict the next GUI observation based on user actions, enabling more effective agent planning. However, existing world models primarily focus on generating only textual descriptions, lacking essential visual details. To fill this gap, we propose ViMo, the first Visual world Model designed to generate future App observations as images. For the challenge of generating text in image patches, where even minor pixel errors can distort readability, we decompose GUI generation into graphic and text content generation. We propose a novel data representation, the Symbolic Text Representation (STR), to overlay text content with symbolic placeholders while preserving graphics. With this design, ViMo employs a STR Predictor to predict future GUIs’ graphics and a GUI-text Predictor for generating the corresponding text. Moreover, we deploy ViMo to enhance agent-focused tasks by predicting the outcome of actions. Experiments show that ViMo establishes visual world models as a compelling alternative to language-based approaches, producing visually plausible and functionally effective GUIs that empower App agents with more informed decisions.

Deep Learning · Robustness

Andi Zhang, Xuan Ding, Steven McDonagh, Samuel Kaski

We propose a concept-based adversarial attack framework that extends beyond single-image perturbations by adopting a probabilistic perspective. Rather than modifying a single image, our method operates on an entire concept - represented by a distribution - to generate diverse adversarial examples. Preserving the concept is essential, as it ensures that the resulting adversarial images remain identifiable as instances of the original underlying category or identity. By sampling from this concept-based adversarial distribution, we generate images that maintain the original concept but vary in pose, viewpoint, or background, thereby misleading the classifier. Mathematically, this framework remains consistent with traditional adversarial attacks in a principled manner. Our theoretical and empirical results demonstrate that concept-based adversarial attacks yield more diverse adversarial examples and effectively preserve the underlying concept, while achieving higher attack efficiency.

Theory · Learning Theory

Chenyu Zhang, Navid Azizan

Multi-agent learning faces a fundamental tension: leveraging distributed collaboration without sacrificing the personalization needed for diverse agents. This tension intensifies when aiming for full personalization while adapting to unknown heterogeneity levels—gaining collaborative speedup when agents are similar, without performance degradation when they are different. Embracing the challenge, we propose personalized collaborative learning (PCL), a novel framework for heterogeneous agents to collaboratively learn personalized solutions with seamless adaptivity. Through carefully designed bias correction and importance correction mechanisms, our method AffPCL robustly handles both environment and objective heterogeneity. We prove that AffPCL reduces sample complexity over independent learning by a factor of $\max\\{n^{-1}, \delta\\}$, where $n$ is the number of agents and $\delta\in[0,1]$ measures their heterogeneity. This *affinity-based* acceleration automatically interpolates between the linear speedup of federated learning in homogeneous settings and the baseline of independent learning, without requiring prior knowledge of the system. Our analysis further reveals that an agent may obtain linear speedup even by collaborating with arbitrarily dissimilar agents, unveiling new insights into personalization and collaboration in the high heterogeneity regime.

Reinforcement Learning · Deep RL

Zilin Kang, Chonghua Liao, Tingqiang Xu, Huazhe Xu

We propose ERA, a new paradigm for entropy-constrained policy via output activation. It guarantees minimum sampling entropy by transforming the outputs of the last layer. Our approach demonstrates broad effectiveness across different domains: 1) for large language models(LLMs), boosting the average score across six benchmarks for Qwen2.5-Math-7B by 11.6%; 2) for continuous control reinforcement learning agents, improving performance by more than 30% over strong baselines such as SAC on the challenging HumanoidBench; 3) for image classification, enhancing ImageNet top-1 accuracy by 0.69% for ResNet-50. These gains are achieved with a computational overhead of less than 7%. Our work validates output activation as a powerful tool for entropy control, opening a new direction for designing simpler and more robust algorithms. Code available at: https://nothingbutbut.github.io/era

Deep Learning · Everything Else

Marlon Becker, Jonas Konrad, Luis Rodriguez, Benjamin Risse

We introduce a straightforward yet effective method to empirically study memorization in deep neural networks for classification tasks. Our approach augments each training sample with auxiliary random labels, which are then predicted by a random label prediction head (RLP-head). RLP-heads can be attached at arbitrary depths of a network, predicting random labels from the corresponding intermediate representation and thereby enabling analysis of how memorization capacity evolves across layers. By interpreting the RLP-head performance as an empirical estimate of Rademacher complexity, we obtain a direct measure of both sample-level memorization and model capacity. We leverage this random label accuracy metric to analyze generalization and overfitting in different models and datasets. Building on this approach, we further propose a novel regularization technique based on the output of the RLP-head, which demonstrably reduces memorization. Interestingly, our experiments reveal that reducing memorization can either improve or impair generalization, depending on the dataset and training setup. These findings challenge the traditional assumption that overfitting is equivalent to memorization and suggest new hypotheses to reconcile these seemingly contradictory results. The source code is available at https://github.com/MarlonBecker/RandomLabelHeads

Computer Vision · Vision Models & Multimodal

Xindi Wu, Hee Seung Hwang, Polina Kirichenko, Esin Tureci, Olga Russakovsky

Visual instruction tuning (VIT) datasets have grown rapidly in scale, yet the informativeness of individual training samples has largely been overlooked. Recent dataset selection methods have shown that a small fraction of such datasets enriched with informative samples can lead to efficient finetuning of Multimodal Large Language Models. In this work, we explore the impact of sample complexity on informative data curation and introduce COMPACT (COMPositional Atomic-to-complex Visual Compositional Tuning), a visual compositional tuning data recipe that scales training sample complexity by combining multiple atomic visual capabilities in a single training example. Concretely, we synthesize rich and informative text questions for each image, allowing us to significantly reduce the number of training examples required for effective visual instruction tuning. COMPACT demonstrates superior data efficiency compared to existing data reduction methods. When applied to the LLAVA-665K VIT dataset, COMPACT reduces the data budget by 90% while still achieving 100.2% of the full VIT performance (compared to only 97.5% by the state-of-the-art method) across eight multimodal benchmarks. Further, training on the COMPACT data outperforms training on the full-scale VIT data on particularly complex benchmarks such as MM-Vet (+8.6%) and MMStar (+2.9%). COMPACT offers a scalable and efficient synthetic data generation recipe to improve on vision-language tasks.

Applications · Neuroscience, Cognitive Science

Felipe Toro-Hernández, Jesuino Vieira Filho, Rodrigo Cabral-Carvalho

Semantic representations can be framed as a structured, dynamic knowledge space through which humans navigate to retrieve and manipulate meaning. To investigate how humans traverse this geometry, we introduce a framework that represents concept production as navigation through embedding space. Using different transformer text embedding models, we construct participant-specific semantic trajectories based on cumulative embeddings and extract geometric and dynamical metrics, including distance to next, distance to centroid, entropy, velocity, and acceleration. These measures capture both scalar and directional aspects of semantic navigation, providing a computationally grounded view of semantic representation search as movement in a geometric space. We evaluate the framework on four datasets across different languages, spanning different property generation tasks: Neurodegenerative, Swear verbal fluency, Property listing task in Italian, and in German. Across these contexts, our approach distinguishes between clinical groups and concept types, offering a mathematical framework that requires minimal human intervention compared to typical labor-intensive linguistic pre-processing methods. Comparison with a non-cumulative approach reveals that cumulative embeddings work best for longer trajectories, whereas shorter ones may provide too little context, favoring the non-cumulative alternative. Critically, different embedding models yielded similar results, highlighting similarities between different learned representations despite different training pipelines. By framing semantic navigation as a structured trajectory through embedding space, bridging cognitive modeling with learned representation, thereby establishing a pipeline for quantifying semantic representation dynamics with applications in clinical research, cross-linguistic analysis, and the assessment of artificial cognition. https://github.com/jesuinovieira/semtraj-iclr2026

Deep Learning · Everything Else

Saanjali S. Maharaj, Prasanth Nair

Modern neural architectures are fundamentally constrained by their reliance on fixed activation functions, limiting their ability to adapt representations to task-specific structure and efficiently capture high-order interactions. We introduce deep low-rank separated neural networks (LRNNs), a novel architecture generalizing MLPs that achieves enhanced expressivity by learning adaptive, factorized activation functions. LRNNs generalize the core principles underpinning continuous low-rank function decomposition to the setting of deep learning, constructing complex, high-dimensional neuron activations through a multiplicative composition of simpler, learnable univariate transformations. This product structure inherently captures multiplicative interactions and allows each LRNN neuron to learn highly flexible, data-dependent activation functions. We provide a detailed theoretical analysis that establishes the universal approximation property of LRNNs and reveals why they are capable of excellent empirical performance. Specifically, we show that LRNNs can mitigate the curse of dimensionality for functions with low-rank structure. Moreover, the learnable product-structured activations enable LRNNs to adaptively control their spectral bias, crucial for signal representation tasks. These theoretical insights are validated through extensive experiments where LRNNs achieve state-of-the-art performance across diverse domains including image and audio representation, numerical solution of PDEs, sparse-view CT reconstruction, and supervised learning tasks. Our results demonstrate that LRNNs provide a powerful and versatile building block with a distinct inductive bias for learning compact yet expressive representations.

Applications · Language, Speech and Dialog

Felix Draxler, Justus Will, Farrin Sofian, THEOFANIS KARALETSOS, Sameer Singh, Stephan Mandt

Autoregressive decoding in language models is inherently slow, generating only one token per forward pass. We propose Parallel Token Prediction (PTP), a general-purpose framework for predicting multiple tokens in a single model call. PTP moves the source of randomness from post-hoc sampling to random input variables, making future tokens deterministic functions of those inputs and thus jointly predictable in a single forward pass. We prove that a single PTP call can represent arbitrary dependencies between tokens. PTP is trained by distilling an existing model or through inverse autoregressive training without a teacher. Experimentally, PTP achieves a 2.4$\times$ speedup on a diverse-task speculative decoding benchmark. We provide code and checkpoints at https://github.com/mandt-lab/ptp.

Deep Learning · Algorithms

Nurbek Tastan, Stefanos Laskaridis, Martin Takáč, Karthik Nandakumar, Samuel Horváth

Large pre-trained models are commonly adapted to downstream tasks using parameter-efficient fine-tuning methods such as Low-Rank Adaptation (LoRA), which injects small trainable low-rank matrices instead of updating all weights. While LoRA dramatically reduces trainable parameters with little overhead, it can still underperform full fine-tuning in accuracy and often converges more slowly. We introduce LoFT, a novel low-rank adaptation method that behaves like full fine-tuning by aligning the optimizer's internal dynamics with those of updating all model weights. LoFT not only learns weight updates in a low-rank subspace (like LoRA) but also properly projects the optimizer's first and second moments (Adam's momentum and variance) into the same subspace, mirroring full-model updates. By aligning the low-rank update itself with the full update, LoFT eliminates the need for tuning extra hyperparameters, e.g., the LoRA scaling factor $\alpha$. Empirically, this approach substantially narrows the performance gap between adapter-based tuning and full fine-tuning and consistently outperforms standard LoRA-style methods, all without increasing inference cost. The code is available at https://github.com/tnurbek/loft.

Theory · Reinforcement Learning and Planning

Junwoo Chang, Minwoo Park, Joohwan Seo, Roberto Horowitz, Jongmin Lee, Jongeun Choi

Group symmetries provide a powerful inductive bias for reinforcement learning (RL), enabling efficient generalization across symmetric states and actions via group-invariant Markov Decision Processes (MDPs). However, real-world environments almost never realize fully group-invariant MDPs; dynamics, actuation limits, and reward design usually break symmetries, often only locally. Under group-invariant Bellman backups for such cases, local symmetry-breaking introduces errors that propagate across the entire state--action space, resulting in global value estimation errors. To address this, we introduce Partially Group-Invariant MDP (PI-MDP), which selectively applies group-invariant or standard Bellman backups depending on where symmetry holds. This framework mitigates error propagation from locally broken symmetries while maintaining the benefits of equivariance, thereby enhancing sample efficiency and generalizability. Building on this framework, we present practical RL algorithms -- Partially Equivariant (PE)-DQN for discrete control and PE-SAC for continuous control -- that combine the benefits of equivariance with robustness to symmetry-breaking. Experiments across Grid-World, locomotion, and manipulation benchmarks demonstrate that PE-DQN and PE-SAC significantly outperform baselines, highlighting the importance of selective symmetry exploitation for robust and sample-efficient RL. Project page: https://pranaboy72.github.io/perl_page/

Mikhail Goncharov, Eugenia Soboleva, Daniil Ignatyev, Mariia Donskova, Mikhail Belyaev, Ivan Oseledets, Marina Munkhoeva, Maxim Panov

Accurate detection of all pathological findings in 3D medical images remains a significant challenge, as supervised models are limited to detecting only the few pathology classes annotated in existing datasets. To address this, we frame pathology detection as an unsupervised visual anomaly segmentation (UVAS) problem, leveraging the inherent rarity of pathological patterns compared to healthy ones. We enhance the existing density-based UVAS framework with two key innovations: (1) dense self-supervised learning for feature extraction, eliminating the need for supervised pretraining, and (2) learned, masking-invariant dense features as conditioning variables, replacing hand-crafted positional encodings. Trained on over 30,000 unlabeled 3D CT volumes, our fully self-supervised model, Screener, outperforms existing UVAS methods on four large-scale test datasets comprising 1,820 scans with diverse pathologies. Furthermore, in a low-shot supervised fine-tuning setting, Screener surpasses existing self-supervised pretraining methods, establishing it as a state-of-the-art foundation for pathology segmentation. The code and pretrained models are available at https://github.com/mishgon/screener.

Theory · Learning Theory

Nicholas Barnfield, Hugo Cui, Yue Lu

When and how can an attention mechanism learn to selectively attend to informative tokens, thereby enabling detection of weak, rare, and sparsely located features? We address these questions theoretically in a sparse-token classification model in which positive samples embed a weak signal vector in a randomly chosen subset of tokens, whereas negative samples are pure noise. For a simple single-layer attention classifier, we show that in the long-sequence limit it can, in principle, achieve vanishing test error when the signal strength grows only logarithmically in the sequence length $L$, whereas linear classifiers require $\sqrt{L}$ scaling. Moving from representational power to learnability, we study training at finite $L$ in a high-dimensional regime, where sample size and embedding dimension grow proportionally. We prove that just two gradient updates suffice for the query weight vector of the attention classifier to acquire a nontrivial alignment with the hidden signal, inducing an attention map that selectively amplifies informative tokens. We further derive an exact asymptotic expression for the test error of the trained attention-based classifier, and quantify its capacity---the largest dataset size that is typically perfectly separable---thereby explaining the advantage of adaptive token selection over nonadaptive linear baselines.

Theory · Learning Theory

Shai Zucker, Xiong Wang, Fei Lu, Inbar Seroussi

We study the convergence rate of learning pairwise interactions in single-layer attention-style models, where tokens interact through a weight matrix and a nonlinear activation function. We prove that the minimax rate is $M^{-\frac{2\beta}{2\beta+1}}$, where $M$ is the sample size and $\beta$ is the H\"older smoothness of the activation function. Importantly, this rate is independent of the embedding dimension $d$, the number of tokens $N$, and the rank $r$ of the weight matrix, provided that $rd \le (M/\log M)^{\frac{1}{2\beta+1}}$. These results highlight a fundamental statistical efficiency of attention-style models, even when the weight matrix and activation are not separately identifiable, and provide a theoretical understanding of attention mechanisms and guidance on training.

Applications · Physics

Arthur G. Rattew, Po-Wei Huang, Naixu Guo, Lirandë Pira, Patrick Rebentrost

Fault-tolerant Quantum Processing Units (QPUs) promise to deliver exponential speed-ups in select computational tasks, yet their integration into modern deep learning pipelines remains unclear. In this work, we take a step towards bridging this gap by presenting the first fully-coherent quantum implementation of a multilayer neural network with non-linear activation functions. Our constructions mirror widely used deep learning architectures based on ResNet, and consist of residual blocks with multi-filter 2D convolutions, sigmoid activations, skip-connections, and layer normalizations. We analyse the complexity of inference for networks under three quantum data access regimes. Without any assumptions, we establish a quadratic speedup over classical methods for shallow bilinear-style networks. With efficient quantum access to the weights, we obtain a quartic speedup over classical methods. With efficient quantum access to both the inputs and the network weights, we prove that a network with an $N$-dimensional vectorized input, $k$ residual block layers, and a final residual-linear-pooling layer can be implemented with an error of $\epsilon$ with $O(\text{polylog}(N/\epsilon)^k)$ inference cost.