论文检索

Applications · Robotics

Vivek Myers, Bill Zheng, Anca Dragan, Kuan Fang, Sergey Levine

Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the constituent steps together. While this is conceptually simple and appealing, it is not clear how to automatically learn representations that enable this sort of compositionality. We show that learning to associate the representations of current and future states with a temporal alignment loss can improve compositional generalization, even in the absence of any explicit subtask planning or reinforcement learning. We evaluate our approach across diverse robotic manipulation tasks as well as in simulation, showing substantial improvements for tasks specified with either language or goal images.

Weixiang Yan, Haitian Liu, Tengxiao Wu, Qian Chen, Wen Wang, Haoyuan Chai, Jiayi Wang

Large language models (LLMs) have achieved significant performance progress in various natural language processing applications. However, LLMs still struggle to meet the strict requirements for accuracy and reliability in the medical field and face many challenges in clinical applications. Existing clinical diagnostic evaluation benchmarks for evaluating medical agents powered by LLMs have severe limitations. To address these limitations, we introduce ClinicalLab, a comprehensive clinical diagnosis agent alignment suite. ClinicalLab includes ClinicalBench, an end-to-end multi-departmental clinical diagnostic evaluation benchmark for evaluating medical agents and LLMs. ClinicalBench is based on real cases that cover 24 departments and 150 diseases. We ensure that ClinicalBench does not have data leakage. ClinicalLab also includes four novel metrics (ClinicalMetrics) for evaluating the effectiveness of LLMs in clinical diagnostic tasks. We evaluate 17 general and medical-domain LLMs and find that their performance varies significantly across different departments. Based on these findings, in ClinicalLab, we propose ClinicalAgent, an end-to-end clinical agent that aligns with real-world clinical diagnostic practices. We systematically investigate the performance and applicable scenarios of variants of ClinicalAgent on ClinicalBench. Our findings demonstrate the importance of aligning with modern medical practices in designing medical agents.

Probabilistic Methods

Brij Malhotra, Shivvrat Arya, Tahrima Rahman, Vibhav Gogate

We introduce learning to condition (L2C), a scalable, data-driven framework for accelerating Most Probable Explanation (MPE) inference in Probabilistic Graphical Models (PGMs)—a fundamentally intractable problem. L2C trains a neural network to score variable-value assignments based on their utility for conditioning, given observed evidence. To facilitate supervised learning, we develop a scalable data generation pipeline that extracts training signals from the search traces of existing MPE solvers. The trained network serves as a heuristic that integrates with search algorithms, acting as a conditioning strategy prior to exact inference or as a branching and node selection policy within branch-and-bound solvers. We evaluate L2C on challenging MPE queries involving high-treewidth PGMs. Experiments show that our learned heuristic significantly reduces the search space while maintaining or improving solution quality over state-of-the-art methods.

Deep Learning · Generative Models and Autoencoders

Zhangyin Feng, Qianglong Chen, Ning Lu, Yongqian Li, Siqi Cheng, Shuangmu Peng, Duyu Tang, Shengcai Liu, Zhirui Zhang

The development of reasoning capabilities represents a critical frontier in large language models (LLMs) research, where reinforcement learning (RL) and process reward models (PRMs) have emerged as predominant methodological frameworks. Contrary to conventional wisdom, empirical evidence from DeepSeek-R1 demonstrates that pure RL training focused on mathematical problem-solving can progressively enhance reasoning abilities without PRM integration, challenging the perceived necessity of process supervision. In this study, we conduct a systematic investigation of the relationship between RL training and PRM capabilities. Our findings demonstrate that problem-solving proficiency and process supervision capabilities represent complementary dimensions of reasoning that co-evolve synergistically during pure RL training. In particular, current PRMs underperform simple baselines like majority voting when applied to state-of-the-art models such as DeepSeek-R1 and QwQ-32B. To address this limitation, we propose Self-PRM, an introspective framework in which models autonomously evaluate and rerank their generated solutions through self-reward mechanisms. Although Self-PRM consistently improves the accuracy of the benchmark (particularly with larger sample sizes), analysis exposes persistent challenges: The approach exhibits low precision (<10\%) on difficult problems, frequently misclassifying flawed solutions as valid. These analyses underscore the need for combined training with process supervision and continued RL scaling to enhance reward alignment and introspective accuracy. We hope these findings provide actionable insights for building more reliable and self-aware complex reasoning models.

General Machine Learning · Everything Else

Ting Liang, Xiaoliang Wu, Junyu Huang, Jianxin Wang, Qilong Feng

Clustering is a fundamental problem that has been extensively studied over past few decades, with most research focusing on point-based clustering such as $k$-means, $k$-median, and $k$-center. However, numerous real-world applications, such as motion analysis, computer vision, and missing data analysis, require clustering over structured data, including lines, time series and affine subspaces (flats), where traditional point-based clustering algorithms often fall short. In this paper, we study the $k$-means of lines problem, where the input is a set $L$ of lines in $\mathbb{R}^d$, and the goal is to find $k$ centers $C$ in $\mathbb{R}^d$ such that the sum of squared distances from each line in $L$ to its nearest center in $C$ is minimized. The local search algorithm is a well-established strategy for point-based $k$-means clustering, known for its efficiency and provable approximation guarantees. However, extending local search algorithm to the $k$-means of lines problem is nontrivial, as the capture relation used in point-based clustering does not generalize to the line setting. This is because that the point-to-line distance function lack the triangle inequality property that supports geometric analysis in point-based clustering. Moreover, since lines extend infinitely in space, it is difficult to identify effective swap points that can significantly reduce the clustering cost. To overcome above obstacles, we introduce a *proportional capture relation* that links optimal and current centers based the assignment proportions of lines, enabling a refined analysis that bypasses the triangle inequality barrier. We also introduce a *CrossLine* structure, which provides a principled discretization of the geometric space around line pairs, and ensures coverage of high-quality swap points essential for local search, thereby enabling effective execution of the local search process. Consequently, based on the proposed components, we develop the first single-swap local search algorithm for the $k$-means of lines problem, achieving a $(500+\varepsilon)$-approximation in polynomial time for low-dimensional Euclidean space.

Computer Vision · Vision Models & Multimodal

Yang Shi, Huanqian Wang, Xie, Huanyao Zhang, Lijie Zhao, yifan zhang, Xinfeng Li, Chaoyou Fu, Zhuoer Wen, Wenting Liu 等

Multimodal Large Language Models (MLLMs) have achieved considerable accuracy in Optical Character Recognition (OCR) from static images. However, their efficacy in video OCR is significantly diminished due to factors such as motion blur, temporal variations, and visual effects inherent in video content. To provide clearer guidance for training practical MLLMs, we introduce MME-VideoOCR benchmark, which encompasses a comprehensive range of video OCR application scenarios. MME-VideoOCR features 10 task categories comprising 25 individual tasks and spans 44 diverse scenarios. These tasks extend beyond text recognition to incorporate deeper comprehension and reasoning of textual content within videos. The benchmark consists of 1,464 videos with varying resolutions, aspect ratios, and durations, along with 2,000 meticulously curated, manually annotated question-answer pairs. We evaluate 18 state-of-the-art MLLMs on MME-VideoOCR, revealing that even the best-performing model (Gemini-2.5 Pro) achieves only an accuracy of 73.7%. Fine-grained analysis indicates that while existing MLLMs demonstrate strong performance on tasks where relevant texts are contained within a single or few frames, they exhibit limited capability in effectively handling tasks that demand holistic video comprehension. These limitations are especially evident in scenarios that require spatio-temporal reasoning, cross-frame information integration, or resistance to language prior bias. Our findings also highlight the importance of high-resolution visual input and sufficient temporal coverage for reliable OCR in dynamic video scenarios.

Computer Vision · Vision Models & Multimodal

Xueyang Yu, Cheng Shi, Yang Wang, Sibei Yang

Envision an AI capable of functioning in human-like settings, moving beyond mere observation to actively understand, anticipate, and proactively respond to unfolding events. Towards this vision, we focus on the innovative task where, given ego-streaming video input, an assistant proactively answers diverse, evolving questions at the opportune moment, while maintaining synchronized perception and reasoning. This task embodies three key properties: (1) Proactive Coherence, (2) Just-in-Time Responsiveness, and (3) Synchronized Efficiency. To evaluate and address these properties, we first introduce ESTP-Bench (Ego Streaming Proactive Benchmark) alongside the ESTP-F1 metric—a novel framework designed for their rigorous assessment. Secondly, we propose a comprehensive technical pipeline to enable models to tackle this challenging task. This pipeline comprises: (1) a data engine, (2) a multi-stage training strategy, and (3) a proactive dynamic compression technique. Our proposed model effectively addresses these critical properties while achieving state-of-the-art (SOTA) performance on the standard COIN benchmark.

Computer Vision · Image and Video Generation

Jiaben Chen, Zixin Wang, AILING ZENG, Yang Fu, Xueyang Yu, Siyuan Cen, Julian Tanke, Yihang Chen, Koichi Saito, Yuki Mitsufuji 等

In this work, we present TalkCuts, a large-scale dataset designed to facilitate the study of multi-shot human speech video generation. Unlike existing datasets that focus on single-shot, static viewpoints, TalkCuts offers 164k clips totaling over 500 hours of high-quality 1080P human speech videos with diverse camera shots, including close-up, half-body, and full-body views. The dataset includes detailed textual descriptions, 2D keypoints and 3D SMPL-X motion annotations, covering over 10k identities, enabling multimodal learning and evaluation. As a first attempt to showcase the value of the dataset, we present Orator, an LLM-guided multi-modal generation framework as a simple baseline, where the language model functions as a multi-faceted director, orchestrating detailed specifications for camera transitions, speaker gesticulations, and vocal modulation. This architecture enables the synthesis of coherent long-form videos through our integrated multi-modal video generation module. Extensive experiments in both pose-guided and audio-driven settings show that training on TalkCuts significantly enhances the cinematographic coherence and visual appeal of generated multi-shot speech videos. We believe TalkCuts provides a strong foundation for future work in controllable, multi-shot speech video generation and broader multimodal learning.

Deep Learning · Everything Else

Inho Jeong, Sunghyeon Woo, Sol Namkung, Dongsuk Jeon

Large‑language‑model inference with long contexts often produces key–value (KV) caches whose footprint exceeds the capacity of high‑bandwidth memory on a GPU. Prior LLM inference frameworks such as vLLM mitigate this pressure by swapping KV cache pages to host DRAM. However, the high cost of large DRAM pools makes this solution economically unattractive. Although offloading to SSDs can be a cost-effective way to expand memory capacity relative to DRAM, conventional frameworks such as FlexGen experience a substantial throughput drop since the data path that routes SSD traffic through CPU to GPU is severely bandwidth-constrained. To overcome these limitations, we introduce HiFC, a novel DRAM‑free swapping scheme that enables direct access to SSD-resident memory with low latency and high effective bandwidth. HiFC stores KV pages in pseudo-SLC (pSLC) regions of commodity NVMe SSDs, sustaining high throughput under sequential I/O and improving write endurance by up to 8$\times$. Leveraging GPU Direct Storage, HiFC enables direct transfers between SSD and GPU, bypassing host DRAM and alleviating PCIe bottlenecks. HiFC employs fine-grained block mapping to confine writes to high-performance pSLC zones, stabilizing latency and throughput under load. HiFC achieves inference throughput comparable to DRAM-based swapping under diverse long-context workloads, such as NarrativeQA, while significantly lowering the memory expansion cost of a GPU server system by 4.5$\times$ over three years.

Optimization · Large Scale, Parallel and Distributed

Yunqi Gao, Bing Hu, Boloursaz Mashhadi, A-Long Jin, Yanfeng Zhang, Pei Xiao, Rahim Tafazolli, Merouane DEBBAH

The parameter size of modern large language models (LLMs) can be scaled up to the trillion-level via the sparsely-activated Mixture-of-Experts (MoE) technique to avoid excessive increase of the computational costs. To further improve training efficiency, pipelining computation and communication has become a promising solution for distributed MoE training. However, existing work primarily focuses on scheduling tasks within the MoE layer, such as expert computing and all-to-all (A2A) communication, while neglecting other key operations including multi-head attention (MHA) computing, gating, and all-reduce communication. In this paper, we propose FlowMoE, a scalable framework for scheduling multi-type task pipelines. First, FlowMoE constructs a unified pipeline to consistently scheduling MHA computing, gating, expert computing, and A2A communication. Second, FlowMoE introduces a tensor chunk-based priority scheduling mechanism to overlap the all-reduce communication with all computing tasks. We implement FlowMoE as an adaptive and generic framework atop PyTorch. Extensive experiments with 675 typical MoE layers and four real-world MoE models across two GPU clusters demonstrate that our proposed FlowMoE framework outperforms state-of-the-art MoE training frameworks, reducing training time by14%-57%, energy consumption by 10%-39%, and memory usage by 7%-32%. FlowMoE’s code is anonymously available at https://anonymous.4open.science/r/FlowMoE.

Applications · Language, Speech and Dialog

Yue Gong, Chuan Lei, Xiao Qin, Kapil Vaidya, Balakrishnan Narayanaswamy, Tim Kraska

Text-to-SQL systems translate natural language (NL) questions into SQL queries, enabling non-technical users to interact with structured data. While large language models (LLMs) have shown promising results on the text-to-SQL task, they often produce semantically incorrect yet syntactically valid queries, with limited insight into their reliability. We propose SQLens, an end-to-end framework for fine-grained detection and correction of semantic errors in LLM-generated SQL. SQLens integrates error signals from both the underlying database and the LLM to identify potential semantic errors within SQL clauses. It further leverages these signals to guide query correction. Empirical results on two public benchmarks show that SQLens outperforms the best LLM-based self-evaluation method by 25.78% in F1 for error detection, and improves execution accuracy of out-of-the-box text-to-SQL systems by up to 20%.

Social Aspects · Accountability, Transparency and Interpretability

Hubert Baniecki, Maximilian Muschalik, Fabian Fumagalli, Barbara Hammer, Eyke Hüllermeier, Przemyslaw Biecek

Language-image pre-training (LIP) enables the development of vision-language models capable of zero-shot classification, localization, multimodal retrieval, and semantic understanding. Various explanation methods have been proposed to visualize the importance of input image-text pairs on the model's similarity outputs. However, popular saliency maps are limited by capturing only first-order attributions, overlooking the complex cross-modal interactions intrinsic to such encoders. We introduce faithful interaction explanations of LIP models (FIxLIP) as a unified approach to decomposing the similarity in vision-language encoders. FIxLIP is rooted in game theory, where we analyze how using the weighted Banzhaf interaction index offers greater flexibility and improves computational efficiency over the Shapley interaction quantification framework. From a practical perspective, we propose how to naturally extend explanation evaluation metrics, such as the pointing game and area between the insertion/deletion curves, to second-order interaction explanations. Experiments on the MS COCO and ImageNet-1k benchmarks validate that second-order methods, such as FIxLIP, outperform first-order attribution methods. Beyond delivering high-quality explanations, we demonstrate the utility of FIxLIP in comparing different models, e.g. CLIP vs. SigLIP-2.

Deep Learning · Everything Else

Zichen Wang, Anjie Dong, Zaiwen Wen

Premise selection is a critical bottleneck in interactive theorem proving, particularly with large libraries. Existing methods, primarily relying on semantic embeddings, often fail to effectively leverage the rich structural information inherent in mathematical expressions. This paper proposes a novel framework for premise selection based on the structure of expression trees. The framework enhances premise selection ability by explicitly utilizing the structural information of Lean expressions and by means of the simplified tree representation obtained via common subexpression elimination. Our method employs a multi-stage filtering pipeline, incorporating structure-aware similarity measures including the Weisfeiler-Lehman kernel, tree edit distance, $\texttt{Const}$ node Jaccard similarity, and collapse-match similarity. An adaptive fusion strategy combines these metrics for refined ranking. To handle large-scale data efficiently, we incorporate cluster-based search space optimization and structural compatibility constraints. Comprehensive evaluation on a large theorem library extracted from Mathlib4 demonstrates that our method significantly outperforms existing premise retrieval tools across various metrics. Experimental analysis, including ablation studies and parameter sensitivity analysis, validates the contribution of individual components and highlights the efficacy of our structure-aware approach and multi-metric fusion.

Computer Vision · Vision Models & Multimodal

Ye Sun, Hao Zhang, Henghui Ding, Tiehua Zhang, Xingjun Ma, Yu-Gang Jiang

Achieving fine-grained spatio-temporal understanding in videos remains a major challenge for current Video Large Multimodal Models (Video LMMs). Addressing this challenge requires mastering two core capabilities: video referring understanding, which captures the semantics of video regions, and video grounding, which segments object regions based on natural language descriptions. However, most existing approaches tackle these tasks in isolation, limiting progress toward unified, referentially grounded video interaction. We identify a key bottleneck in the lack of high-quality, unified video instruction data and a comprehensive benchmark for evaluating referentially grounded video chat. To address these challenges, we contribute in three core aspects: dataset, model, and benchmark. First, we introduce SAMA-239K, a large-scale dataset comprising 15K videos specifically curated to enable joint learning of video referring understanding, grounding, and multi-turn video chat. Second, we propose the SAMA model, which incorporates a versatile spatio-temporal context aggregator and a Segment Anything Model to jointly enhance fine-grained video comprehension and precise grounding capabilities. Finally, we establish SAMA-Bench, a meticulously designed benchmark consisting of 5,067 questions from 522 videos, to comprehensively evaluate the integrated capabilities of Video LMMs in multi-turn, spatio-temporal referring understanding and grounded dialogue. Extensive experiments and benchmarking results show that SAMA not only achieves strong performance on SAMA-Bench but also sets a new state-of-the-art on general grounding benchmarks, while maintaining highly competitive performance on standard visual understanding benchmarks.

Deep Learning · Generative Models and Autoencoders

Jaesik Yoon, Hyeonseo Cho, Sungjin Ahn

Monte Carlo Tree Diffusion (MCTD) integrates diffusion models with structured tree search to enable effective trajectory exploration through stepwise reasoning. However, MCTD remains fundamentally limited by training trajectory lengths. While periodic replanning allows plan concatenation for longer plan generation, the planning process remains locally confined, as MCTD searches within individual trajectories without access to global context. We propose Compositional Monte Carlo Tree Diffusion (C-MCTD), a framework that elevates planning from individual trajectory optimization to reasoning over complete plan compositions. C-MCTD introduces three complementary components: (1) Online Composer, which performs globally-aware planning by searching across entire plan compositions; (2) Distributed Composer, which reduces search complexity through parallel exploration from multiple starting points; and (3) Preplan Composer, which accelerates inference by leveraging cached plan graphs.

Computer Vision · Everything Else

Omri Hirsch, Ron Shapira Weber, Shira Ifergane, Oren Freifeld

Joint Alignment (JA) of images aims to align a collection of images into a unified coordinate frame, such that semantically-similar features appear at corresponding spatial locations. Most existing approaches often require long training times, large-capacity models, and extensive hyperparameter tuning. We introduce FastJAM, a rapid, graph-based method that drastically reduces the computational complexity of joint alignment tasks. FastJAM leverages pairwise matches computed by an off-the-shelf image matcher, together with a rapid nonparametric clustering, to construct a graph representing intra- and inter-image keypoint relations. A graph neural network propagates and aggregates these correspondences, efficiently predicting per-image homography parameters via image-level pooling. Utilizing an inverse-compositional loss, that eliminates the need for a regularization term over the predicted transformations (and thus also obviates the hyperparameter tuning associated with such terms), FastJAM performs image JA quickly and effectively. Experimental results on several benchmarks demonstrate that FastJAM achieves results better than existing modern JA methods in terms of alignment quality, while reducing computation time from hours or minutes to mere seconds. Our code is available at our project webpage, https://bgu-cs-vil.github.io/FastJAM/.

Theory · Everything Else

Yiheng Lin, Christopher Yeh, Zaiwei Chen, Adam Wierman

We study the value of stochastic predictions in online optimal control with random disturbances. Prior work provides performance guarantees based on prediction error but ignores the stochastic dependence between predictions and disturbances. We introduce a general framework modeling their joint distribution and define "prediction power" as the control cost improvement from the optimal use of predictions compared to ignoring the predictions. In the time-varying Linear Quadratic Regulator (LQR) setting, we derive a closed-form expression for prediction power and discuss its mismatch with prediction accuracy and connection with online policy optimization. To extend beyond LQR, we study general dynamics and costs. We establish a lower bound on prediction power under two sufficient conditions that generalize the properties of the LQR setting, characterizing the fundamental benefit of incorporating stochastic predictions. We apply this lower bound to non-quadratic costs and show that even weakly dependent predictions yield significant performance gains.

Computer Vision · Image and Video Generation

Shreshth Saini, Shashank Gupta, Alan Bovik

Classifier‑free guidance (CFG) is the workhorse for steering large diffusion models toward text‑conditioned targets, yet its naïve application to rectified flow (RF) based models provokes severe off–manifold drift, yielding visual artifacts, text misalignment, and brittle behaviour. We present Rectified-CFG++, an adaptive predictor–corrector guidance that couples the deterministic efficiency of rectified flows with a geometry‑aware conditioning rule. Each inference step first executes a conditional RF update that anchors the sample near the learned transport path, then applies a weighted conditional correction that interpolates between conditional and unconditional velocity fields. We prove that the resulting velocity field is marginally consistent and that its trajectories remain within a bounded tubular neighbourhood of the data manifold, ensuring stability across a wide range of guidance strengths. Extensive experiments on large‑scale text‑to‑image models (Flux, Stable Diffusion 3/3.5, Lumina) show that Rectified-CFG++ consistently outperforms standard CFG on benchmark datasets such as MS‑COCO, LAION‑Aesthetic, and T2I‑CompBench. Project page: https://rectified-cfgpp.github.io/.

Theory · Learning Theory

Amit Daniely, Idan Mehalel, Elchanan Mossel

We study online learning of feedforward neural networks with the sign activation function that implement functions from the unit ball in $\mathbb{R}^d$ to a finite label set $\mathcal{Y} = \{1, \ldots, Y \}$. First, we characterize a margin condition that is sufficient and in some cases necessary for online learnability of a neural network: Every neuron in the first hidden layer classifies all instances with some margin $\gamma$ bounded away from zero. Quantitatively, we prove that for any net, the optimal mistake bound is at most approximately $\mathtt{TS}(d,\gamma)$, which is the $(d,\gamma)$-totally-separable-packing number, a more restricted variation of the standard $(d,\gamma)$-packing number. We complement this result by constructing a net on which any learner makes $\mathtt{TS}(d,\gamma)$ many mistakes. We also give a quantitative lower bound of approximately $\mathtt{TS}(d,\gamma) \geq \max\{1/(\gamma \sqrt{d})^d, d\}$ when $\gamma \geq 1/2$, implying that for some nets and input sequences every learner will err for $\exp(d)$ many times, and that a dimension-free mistake bound is almost always impossible. To remedy this inevitable dependence on $d$, it is natural to seek additional natural restrictions to be placed on the network, so that the dependence on $d$ is removed. We study two such restrictions. The first is the multi-index model, in which the function computed by the net depends only on $s \ll d$ orthonormal directions. We prove a mistake bound of approximately $(1.5/\gamma)^{s + 2}$ in this model. The second is the extended margin assumption. In this setting, we assume that all neurons (in all layers) in the network classify every ingoing input from previous layer with margin $\gamma$ bounded away from zero. In this model, we prove a mistake bound of approximately $(\log Y)/ \gamma^{O(L)}$, where L is the depth of the network.

Applications · Neuroscience, Cognitive Science

Zhining Zhang, Chuanyang Jin, Mung Yao Jia, Shunchi Zhang, Tianmin Shu

Theory of Mind (ToM), the ability to understand people's minds based on their behavior, is key to developing socially intelligent agents. Current approaches to ToM reasoning either rely on prompting Large Language Models (LLMs), which are prone to systematic errors, or use handcrafted, rigid agent models for model-based inference, which are more robust but fail to generalize across domains. In this work, we introduce *AutoToM*, an automated agent modeling method for scalable, robust, and interpretable mental inference. Given a ToM problem, *AutoToM* first proposes an initial agent model and then performs automated Bayesian inverse planning based on this model, leveraging an LLM backend. Guided by inference uncertainty, it iteratively refines the model by introducing additional mental variables and/or incorporating more timesteps in the context. Across five diverse benchmarks, *AutoToM* outperforms existing ToM methods and even large reasoning models. Additionally, we show that *AutoToM* can produce human‐like confidence estimates and enable online mental inference for embodied decision-making.