Daily Papers

3D Clothing modeling and datasets play crucial role in the entertainment, animation, and digital fashion industries. Existing work often lacks detailed semantic understanding or uses synthetic datasets, lacking realism and personalization. To address this, we first introduce CloSe-D: a novel large-scale dataset containing 3D clothing segmentation of 3167 scans, covering a range of 18 distinct clothing classes. Additionally, we propose CloSe-Net, the first learning-based 3D clothing segmentation model for fine-grained segmentation from colored point clouds. CloSe-Net uses local point features, body-clothing correlation, and a garment-class and point features-based attention module, improving performance over baselines and prior work. The proposed attention module enables our model to learn appearance and geometry-dependent clothing prior from data. We further validate the efficacy of our approach by successfully segmenting publicly available datasets of people in clothing. We also introduce CloSe-T, a 3D interactive tool for refining segmentation labels. Combining the tool with CloSe-T in a continual learning setup demonstrates improved generalization on real-world data. Dataset, model, and tool can be found at https://virtualhumans.mpi-inf.mpg.de/close3dv24/.

For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the target person must be close to the robot for physical interaction. This close distance leads to severe truncation and occlusions and thus results in poor accuracy of human pose estimation. For better accuracy in this challenging environment, we propose an active measurement and sensor fusion framework of the equipped cameras with touch and ranging sensors such as 2D LiDAR. Touch and ranging sensor measurements are sparse but reliable and informative cues for localizing human body parts. In our active measurement process, camera viewpoints and sensor placements are dynamically optimized to measure body parts with higher estimation uncertainty, which is closely related to truncation or occlusion. In our sensor fusion process, assuming that the measurements of touch and ranging sensors are more reliable than the camera-based estimations, we fuse the sensor measurements to the camera-based estimated pose by aligning the estimated pose towards the measured points. Our proposed method outperformed previous methods on the standard occlusion benchmark with simulated active measurement. Furthermore, our method reliably estimated human poses using a real robot, even with practical constraints such as occlusion by blankets.

We survey clinical document corpora, with focus on German textual data. Due to rigid data privacy legislation in Germany these resources, with only few exceptions, are stored in safe clinical data spaces and locked against clinic-external researchers. This situation stands in stark contrast with established workflows in the field of natural language processing where easy accessibility and reuse of data collections are common practice. Hence, alternative corpus designs have been examined to escape from this data poverty. Besides machine translation of English clinical datasets and the generation of synthetic corpora with fictitious clinical contents, several other types of domain proxies have come up as substitutes for authentic clinical documents. Common instances of close proxies are medical journal publications, clinical therapy guidelines, drug labels, etc., more distant proxies include online encyclopedic medical articles or medical contents from social media channels. After PRISM-conformant screening of 359 hits from four bibliographic systems, 75 relevant documents were finally selected for this review and 59 distinct corpora were determined. We identified 24 real clinical corpora (from 40 publications) out of which only 5 are publicly distributable. 2 translations of real corpora and 3 synthetic ones complement the set of clinical corpora. 14 corpora were categorized as close domain proxies, 16 as distant ones. There is a clear divide between the large number of non-accessible authentic clinical German-language corpora and their publicly accessible substitutes: translated or synthetic, close or more distant proxies. So on first sight, the data bottleneck seems broken. Intuitively yet, differences in genre-specific writing style, wording and medical domain expertise in this typological space are also obvious. This raises the question how valid alternative corpus designs really are.

Current self-supervised monocular depth estimation (MDE) approaches encounter performance limitations due to insufficient semantic-spatial knowledge extraction. To address this challenge, we propose Hybrid-depth, a novel framework that systematically integrates foundation models (e.g., CLIP and DINO) to extract visual priors and acquire sufficient contextual information for MDE. Our approach introduces a coarse-to-fine progressive learning framework: 1) Firstly, we aggregate multi-grained features from CLIP (global semantics) and DINO (local spatial details) under contrastive language guidance. A proxy task comparing close-distant image patches is designed to enforce depth-aware feature alignment using text prompts; 2) Next, building on the coarse features, we integrate camera pose information and pixel-wise language alignment to refine depth predictions. This module seamlessly integrates with existing self-supervised MDE pipelines (e.g., Monodepth2, ManyDepth) as a plug-and-play depth encoder, enhancing continuous depth estimation. By aggregating CLIP's semantic context and DINO's spatial details through language guidance, our method effectively addresses feature granularity mismatches. Extensive experiments on the KITTI benchmark demonstrate that our method significantly outperforms SOTA methods across all metrics, which also indeed benefits downstream tasks like BEV perception. Code is available at https://github.com/Zhangwenyao1/Hybrid-depth.

Human mind is the palace of curious questions that seek answers. Computational resolution of this challenge is possible through Natural Language Processing techniques. Statistical techniques like machine learning and deep learning require a lot of data to train and despite that they fail to tap into the nuances of language. Such systems usually perform best on close-domain datasets. We have proposed development of a rule-based open-domain question-answering system which is capable of answering questions of any domain from a corresponding context passage. We have used 1000 questions from SQuAD 2.0 dataset for testing the developed system and it gives satisfactory results. In this paper, we have described the structure of the developed system and have analyzed the performance.

The field of software security testing, more specifically penetration testing, is an activity that requires high levels of expertise and involves many manual testing and analysis steps. This paper explores the potential usage of large-language models, such as GPT3.5, to augment penetration testers with AI sparring partners. We explore the feasibility of supplementing penetration testers with AI models for two distinct use cases: high-level task planning for security testing assignments and low-level vulnerability hunting within a vulnerable virtual machine. For the latter, we implemented a closed-feedback loop between LLM-generated low-level actions with a vulnerable virtual machine (connected through SSH) and allowed the LLM to analyze the machine state for vulnerabilities and suggest concrete attack vectors which were automatically executed within the virtual machine. We discuss promising initial results, detail avenues for improvement, and close deliberating on the ethics of providing AI-based sparring partners.

The 2021 NeurIPS Machine Learning for Combinatorial Optimization (ML4CO) competition was designed with the goal of improving state-of-the-art combinatorial optimization solvers by replacing key heuristic components with machine learning models. The competition's main scientific question was the following: is machine learning a viable option for improving traditional combinatorial optimization solvers on specific problem distributions, when historical data is available? This was motivated by the fact that in many practical scenarios, the data changes only slightly between the repetitions of a combinatorial optimization problem, and this is an area where machine learning models are particularly powerful at. This paper summarizes the solution and lessons learned by the Huawei EI-OROAS team in the dual task of the competition. The submission of our team achieved the second place in the final ranking, with a very close distance to the first spot. In addition, our solution was ranked first consistently for several weekly leaderboard updates before the final evaluation. We provide insights gained from a large number of experiments, and argue that a simple Graph Convolutional Neural Network (GCNNs) can achieve state-of-the-art results if trained and tuned properly.

We present Ego-1K, a large-scale collection of time-synchronized egocentric multiview videos designed to advance neural 3D video synthesis and dynamic scene understanding. The dataset contains nearly 1,000 short egocentric videos captured with a custom rig with 12 synchronized cameras surrounding a 4-camera VR headset worn by the user. Scene content focuses on hand motions and hand-object interactions in different settings. We describe rig design, data processing, and calibration. Our dataset enables new ways to benchmark egocentric scene reconstruction methods, an important research area as smart glasses with multiple cameras become omnipresent. Our experiments demonstrate that our dataset presents unique challenges for existing 3D and 4D novel view synthesis methods due to large disparities and image motion caused by close dynamic objects and rig egomotion. Our dataset supports future research in this challenging domain. It is available at https://huggingface.co/datasets/facebook/ego-1k.

This paper addresses the problem of sentiment analysis for Jopara, a code-switching language between Guarani and Spanish. We first collect a corpus of Guarani-dominant tweets and discuss on the difficulties of finding quality data for even relatively easy-to-annotate tasks, such as sentiment analysis. Then, we train a set of neural models, including pre-trained language models, and explore whether they perform better than traditional machine learning ones in this low-resource setup. Transformer architectures obtain the best results, despite not considering Guarani during pre-training, but traditional machine learning models perform close due to the low-resource nature of the problem.

Hypothetical induction is recognized as the main reasoning type when scientists make observations about the world and try to propose hypotheses to explain those observations. Past research on hypothetical induction is under a constrained setting: (1) the observation annotations in the dataset are carefully manually handpicked sentences (resulting in a close-domain setting); and (2) the ground truth hypotheses are mostly commonsense knowledge, making the task less challenging. In this work, we tackle these problems by proposing the first dataset for social science academic hypotheses discovery, with the final goal to create systems that automatically generate valid, novel, and helpful scientific hypotheses, given only a pile of raw web corpus. Unlike previous settings, the new dataset requires (1) using open-domain data (raw web corpus) as observations; and (2) proposing hypotheses even new to humanity. A multi-module framework is developed for the task, including three different feedback mechanisms to boost performance, which exhibits superior performance in terms of both GPT-4 based and expert-based evaluation. To the best of our knowledge, this is the first work showing that LLMs are able to generate novel (''not existing in literature'') and valid (''reflecting reality'') scientific hypotheses.

Image-based or morphological profiling is a rapidly expanding field wherein cells are "profiled" by extracting hundreds to thousands of unbiased, quantitative features from images of cells that have been perturbed by genetic or chemical perturbations. The Cell Painting assay is the most popular imaged-based profiling assay wherein six small-molecule dyes label eight cellular compartments and thousands of measurements are made, describing quantitative traits such as size, shape, intensity, and texture within the nucleus, cytoplasm, and whole cell (Cimini et al., 2023). We have created the Cell Painting Gallery, a publicly available collection of Cell Painting datasets, with granular dataset descriptions and access instructions. It is hosted by AWS on the Registry of Open Data (RODA). As of January 2024, the Cell Painting Gallery holds 656 terabytes (TB) of image and associated numerical data. It includes the largest publicly available Cell Painting dataset, in terms of perturbations tested (Joint Undertaking for Morphological Profiling or JUMP (Chandrasekaran et al., 2023)), along with many other canonical datasets using Cell Painting, close derivatives of Cell Painting (such as LipocyteProfiler (Laber et al., 2023) and Pooled Cell Painting (Ramezani et al., 2023)).

We introduce neural lithography to address the 'design-to-manufacturing' gap in computational optics. Computational optics with large design degrees of freedom enable advanced functionalities and performance beyond traditional optics. However, the existing design approaches often overlook the numerical modeling of the manufacturing process, which can result in significant performance deviation between the design and the fabricated optics. To bridge this gap, we, for the first time, propose a fully differentiable design framework that integrates a pre-trained photolithography simulator into the model-based optical design loop. Leveraging a blend of physics-informed modeling and data-driven training using experimentally collected datasets, our photolithography simulator serves as a regularizer on fabrication feasibility during design, compensating for structure discrepancies introduced in the lithography process. We demonstrate the effectiveness of our approach through two typical tasks in computational optics, where we design and fabricate a holographic optical element (HOE) and a multi-level diffractive lens (MDL) using a two-photon lithography system, showcasing improved optical performance on the task-specific metrics.

The planned space-based gravitational wave detector, LISA, will provide a fundamentally new means of studying the orbital alignment of close white dwarf binaries. However, due to the inherent symmetry of their gravitational wave signals, a fourfold degeneracy arises in the transverse projections of their angular momentum vectors. In this paper, we demonstrate that by incorporating timing information from electromagnetic observations, such as radial velocity modulations and light curves, this degeneracy can be reduced to twofold.

The field of Fake Image Detection and Localization (FIDL) is highly fragmented, encompassing four domains: deepfake detection (Deepfake), image manipulation detection and localization (IMDL), artificial intelligence-generated image detection (AIGC), and document image manipulation localization (Doc). Although individual benchmarks exist in some domains, a unified benchmark for all domains in FIDL remains blank. The absence of a unified benchmark results in significant domain silos, where each domain independently constructs its datasets, models, and evaluation protocols without interoperability, preventing cross-domain comparisons and hindering the development of the entire FIDL field. To close the domain silo barrier, we propose ForensicHub, the first unified benchmark & codebase for all-domain fake image detection and localization. Considering drastic variations on dataset, model, and evaluation configurations across all domains, as well as the scarcity of open-sourced baseline models and the lack of individual benchmarks in some domains, ForensicHub: i) proposes a modular and configuration-driven architecture that decomposes forensic pipelines into interchangeable components across datasets, transforms, models, and evaluators, allowing flexible composition across all domains; ii) fully implements 10 baseline models, 6 backbones, 2 new benchmarks for AIGC and Doc, and integrates 2 existing benchmarks of DeepfakeBench and IMDLBenCo through an adapter-based design; iii) conducts indepth analysis based on the ForensicHub, offering 8 key actionable insights into FIDL model architecture, dataset characteristics, and evaluation standards. ForensicHub represents a significant leap forward in breaking the domain silos in the FIDL field and inspiring future breakthroughs.

While LLM agents can plan multi-step tasks, intervening at the planning stage-before any action is executed-is often the safest way to prevent harm, since certain risks can lead to severe consequences once carried out. However, existing guardrails mostly operate post-execution, which is difficult to scale and leaves little room for controllable supervision at the plan level. To address this challenge, we highlight three critical gaps in current research: data gap, model gap, and evaluation gap. To close the data gap, we introduce AuraGen, a controllable engine that (i) synthesizes benign trajectories, (ii) injects category-labeled risks with calibrated difficulty, and (iii) filters outputs via an automated reward model, producing large and reliable corpora for pre-execution safety. To close the guardian model gap, we propose a foundational guardrail Safiron, combining a cross-planner adapter with a compact guardian model. The adapter unifies different input formats, while Safiron flags risky cases, assigns risk types, and generates rationales; trained in two stages with a broadly explored data recipe, Safiron achieves robust transfer across settings. To close the evaluation gap, we release Pre-Exec Bench, a realistic benchmark covering diverse tools and branching trajectories, which measures detection, fine-grained categorization, explanation, and cross-planner generalization in human-verified scenarios. Extensive experiments demonstrate consistent gains of the proposed guardrail over strong baselines on Pre-Exec Bench, and ablations further distill actionable practices, providing a practical template for safer agentic systems.

We give an overview of recent exciting achievements of deep reinforcement learning (RL). We discuss six core elements, six important mechanisms, and twelve applications. We start with background of machine learning, deep learning and reinforcement learning. Next we discuss core RL elements, including value function, in particular, Deep Q-Network (DQN), policy, reward, model, planning, and exploration. After that, we discuss important mechanisms for RL, including attention and memory, unsupervised learning, transfer learning, multi-agent RL, hierarchical RL, and learning to learn. Then we discuss various applications of RL, including games, in particular, AlphaGo, robotics, natural language processing, including dialogue systems, machine translation, and text generation, computer vision, neural architecture design, business management, finance, healthcare, Industry 4.0, smart grid, intelligent transportation systems, and computer systems. We mention topics not reviewed yet, and list a collection of RL resources. After presenting a brief summary, we close with discussions. Please see Deep Reinforcement Learning, arXiv:1810.06339, for a significant update.

Volatiles like H_2O are present as ice in solids in the outer cold regions of protoplanetary disks and as vapor in the warm inner regions within the water snow line. Icy pebbles drifting inwards from the outer disk sublimate after crossing the snow line, enriching the inner disk with solid mass and water vapor. Meanwhile, proto-planets forming within the disk open gaps in the disk gas, creating traps against the inward drift of pebbles and in turn reducing water enrichment in the inner disk. Recent disk observations from millimeter interferometry and infrared spectroscopy have supported this broad picture by finding a correlation between the outer radial distribution of pebbles and the properties of inner water vapor spectra. In this work, we aim at further informing previous and future observations by building on previous models to explore pebble drift in disks with multiple gaps. We systematically explore multiple gap locations and their depths (equivalent to specific masses of planets forming within), and different particle sizes to study their impact on inner disk water enrichment. We find that the presence of close-in deep gaps carved by a Jupiter-mass planet is likely crucial for blocking icy pebble delivery into the inner disk, while planets with lower masses only provide leaky traps. We also find that disks with multiple gaps show lower vapor enrichment in the inner disk. Altogether, these model results support the idea that inner disk water delivery and planet formation are regulated by the mass and location of the most massive planets.

Reinforcement learning has achieved great success in many applications. However, sample efficiency remains a key challenge, with prominent methods requiring millions (or even billions) of environment steps to train. Recently, there has been significant progress in sample efficient image-based RL algorithms; however, consistent human-level performance on the Atari game benchmark remains an elusive goal. We propose a sample efficient model-based visual RL algorithm built on MuZero, which we name EfficientZero. Our method achieves 194.3% mean human performance and 109.0% median performance on the Atari 100k benchmark with only two hours of real-time game experience and outperforms the state SAC in some tasks on the DMControl 100k benchmark. This is the first time an algorithm achieves super-human performance on Atari games with such little data. EfficientZero's performance is also close to DQN's performance at 200 million frames while we consume 500 times less data. EfficientZero's low sample complexity and high performance can bring RL closer to real-world applicability. We implement our algorithm in an easy-to-understand manner and it is available at https://github.com/YeWR/EfficientZero. We hope it will accelerate the research of MCTS-based RL algorithms in the wider community.

Deep metric learning aims to learn an embedding function, modeled as deep neural network. This embedding function usually puts semantically similar images close while dissimilar images far from each other in the learned embedding space. Recently, ensemble has been applied to deep metric learning to yield state-of-the-art results. As one important aspect of ensemble, the learners should be diverse in their feature embeddings. To this end, we propose an attention-based ensemble, which uses multiple attention masks, so that each learner can attend to different parts of the object. We also propose a divergence loss, which encourages diversity among the learners. The proposed method is applied to the standard benchmarks of deep metric learning and experimental results show that it outperforms the state-of-the-art methods by a significant margin on image retrieval tasks.

This article introduces Regression Discontinuity Design (RDD) with Distribution-Valued Outcomes (R3D), extending the standard RDD framework to settings where the outcome is a distribution rather than a scalar. Such settings arise when treatment is assigned at a higher level of aggregation than the outcome-for example, when a subsidy is allocated based on a firm-level revenue cutoff while the outcome of interest is the distribution of employee wages within the firm. Since standard RDD methods cannot accommodate such two-level randomness, I propose a novel approach based on random distributions. The target estimand is a "local average quantile treatment effect", which averages across random quantiles. To estimate this target, I introduce two related approaches: one that extends local polynomial regression to random quantiles and another based on local Fr\'echet regression, a form of functional regression. For both estimators, I establish asymptotic normality and develop uniform, debiased confidence bands together with a data-driven bandwidth selection procedure. Simulations validate these theoretical properties and show existing methods to be biased and inconsistent in this setting. I then apply the proposed methods to study the effects of gubernatorial party control on within-state income distributions in the US, using a close-election design. The results suggest a classic equality-efficiency tradeoff under Democratic governorship, driven by reductions in income at the top of the distribution.

Attention based models such as Transformers involve pairwise interactions between data points, modeled with a learnable attention matrix. Importantly, this attention matrix is normalized with the SoftMax operator, which makes it row-wise stochastic. In this paper, we propose instead to use Sinkhorn's algorithm to make attention matrices doubly stochastic. We call the resulting model a Sinkformer. We show that the row-wise stochastic attention matrices in classical Transformers get close to doubly stochastic matrices as the number of epochs increases, justifying the use of Sinkhorn normalization as an informative prior. On the theoretical side, we show that, unlike the SoftMax operation, this normalization makes it possible to understand the iterations of self-attention modules as a discretized gradient-flow for the Wasserstein metric. We also show in the infinite number of samples limit that, when rescaling both attention matrices and depth, Sinkformers operate a heat diffusion. On the experimental side, we show that Sinkformers enhance model accuracy in vision and natural language processing tasks. In particular, on 3D shapes classification, Sinkformers lead to a significant improvement.

High-quality and open datasets remain a major bottleneck for text-to-image (T2I) fine-tuning. Despite rapid progress in model architectures and training pipelines, most publicly available fine-tuning datasets suffer from low resolution, poor text-image alignment, or limited diversity, resulting in a clear performance gap between open research models and enterprise-grade models. In this work, we present Fine-T2I, a large-scale, high-quality, and fully open dataset for T2I fine-tuning. Fine-T2I spans 10 task combinations, 32 prompt categories, 11 visual styles, and 5 prompt templates, and combines synthetic images generated by strong modern models with carefully curated real images from professional photographers. All samples are rigorously filtered for text-image alignment, visual fidelity, and prompt quality, with over 95% of initial candidates removed. The final dataset contains over 6 million text-image pairs, around 2 TB on disk, approaching the scale of pretraining datasets while maintaining fine-tuning-level quality. Across a diverse set of pretrained diffusion and autoregressive models, fine-tuning on Fine-T2I consistently improves both generation quality and instruction adherence, as validated by human evaluation, visual comparison, and automatic metrics. We release Fine-T2I under an open license to help close the data gap in T2I fine-tuning in the open community.

The BabyLM Challenge is a community effort to close the data-efficiency gap between human and computational language learners. Participants compete to optimize language model training on a fixed language data budget of 100 million words or less. This year, we released improved text corpora, as well as a vision-and-language corpus to facilitate research into cognitively plausible vision language models. Submissions were compared on evaluation tasks targeting grammatical ability, (visual) question answering, pragmatic abilities, and grounding, among other abilities. Participants could submit to a 10M-word text-only track, a 100M-word text-only track, and/or a 100M-word and image multimodal track. From 31 submissions employing diverse methods, a hybrid causal-masked language model architecture outperformed other approaches. No submissions outperformed the baselines in the multimodal track. In follow-up analyses, we found a strong relationship between training FLOPs and average performance across tasks, and that the best-performing submissions proposed changes to the training data, training objective, and model architecture. This year's BabyLM Challenge shows that there is still significant room for innovation in this setting, in particular for image-text modeling, but community-driven research can yield actionable insights about effective strategies for small-scale language modeling.

Text-to-image diffusion has attracted vast attention due to its impressive image-generation capabilities. However, when it comes to human-centric text-to-image generation, particularly in the context of faces and hands, the results often fall short of naturalness due to insufficient training priors. We alleviate the issue in this work from two perspectives. 1) From the data aspect, we carefully collect a human-centric dataset comprising over one million high-quality human-in-the-scene images and two specific sets of close-up images of faces and hands. These datasets collectively provide a rich prior knowledge base to enhance the human-centric image generation capabilities of the diffusion model. 2) On the methodological front, we propose a simple yet effective method called Mixture of Low-rank Experts (MoLE) by considering low-rank modules trained on close-up hand and face images respectively as experts. This concept draws inspiration from our observation of low-rank refinement, where a low-rank module trained by a customized close-up dataset has the potential to enhance the corresponding image part when applied at an appropriate scale. To validate the superiority of MoLE in the context of human-centric image generation compared to state-of-the-art, we construct two benchmarks and perform evaluations with diverse metrics and human studies. Datasets, model, and code are released at https://sites.google.com/view/mole4diffuser/.

False news that spreads on social media has proliferated over the past years and has led to multi-aspect threats in the real world. While there are studies of false news on specific domains (like politics or health care), little work is found comparing false news across domains. In this article, we investigate false news across nine domains on Weibo, the largest Twitter-like social media platform in China, from 2009 to 2019. The newly collected data comprise 44,728 posts in the nine domains, published by 40,215 users, and reposted over 3.4 million times. Based on the distributions and spreads of the multi-domain dataset, we observe that false news in domains that are close to daily life like health and medicine generated more posts but diffused less effectively than those in other domains like politics, and that political false news had the most effective capacity for diffusion. The widely diffused false news posts on Weibo were associated strongly with certain types of users -- by gender, age, etc. Further, these posts provoked strong emotions in the reposts and diffused further with the active engagement of false-news starters. Our findings have the potential to help design false news detection systems in suspicious news discovery, veracity prediction, and display and explanation. The comparison of the findings on Weibo with those of existing work demonstrates nuanced patterns, suggesting the need for more research on data from diverse platforms, countries, or languages to tackle the global issue of false news. The code and new anonymized dataset are available at https://github.com/ICTMCG/Characterizing-Weibo-Multi-Domain-False-News.

Large language models (LLMs) have opened up new possibilities for intelligent agents, endowing them with human-like thinking and cognitive abilities. In this work, we delve into the potential of large language models (LLMs) in autonomous driving (AD). We introduce DriveMLM, an LLM-based AD framework that can perform close-loop autonomous driving in realistic simulators. To this end, (1) we bridge the gap between the language decisions and the vehicle control commands by standardizing the decision states according to the off-the-shelf motion planning module. (2) We employ a multi-modal LLM (MLLM) to model the behavior planning module of a module AD system, which uses driving rules, user commands, and inputs from various sensors (e.g., camera, lidar) as input and makes driving decisions and provide explanations; This model can plug-and-play in existing AD systems such as Apollo for close-loop driving. (3) We design an effective data engine to collect a dataset that includes decision state and corresponding explanation annotation for model training and evaluation. We conduct extensive experiments and show that our model achieves 76.1 driving score on the CARLA Town05 Long, and surpasses the Apollo baseline by 4.7 points under the same settings, demonstrating the effectiveness of our model. We hope this work can serve as a baseline for autonomous driving with LLMs. Code and models shall be released at https://github.com/OpenGVLab/DriveMLM.

Large language models (LLMs) have revolutionized the landscape of Natural Language Processing systems, but are computationally expensive. To reduce the cost without sacrificing performance, previous studies have explored various approaches to harness the potential of Small Language Models (SLMs) as cost-effective alternatives to their larger counterparts. Driven by findings that SLMs and LLMs exhibit complementary strengths in a structured knowledge extraction task, this work presents a novel SLM/LLM routing framework designed to improve computational efficiency and enhance task performance. First, exemplar pools are created to represent the types of contexts where each LM provides a more reliable answer, leveraging a sentence embedding fine-tuned so that context similarity is close to dialogue state similarity. Then, during inference, the k-nearest exemplars to the testing instance are retrieved, and the instance is routed according to majority vote. In dialogue state tracking tasks, the proposed routing framework enhances performance substantially compared to relying solely on LLMs, while reducing the computational costs by over 50%.

Existing work on large language model (LLM) personalization assigned different responding roles to LLM, but overlooked the diversity of questioners. In this work, we propose a new form of questioner-aware LLM personalization, generating different responses even for the same query from different questioners. We design a dual-tower model architecture with a cross-questioner general encoder and a questioner-specific encoder. We further apply contrastive learning with multi-view augmentation, pulling close the dialogue representations of the same questioner, while pulling apart those of different questioners. To mitigate the impact of question diversity on questioner-contrastive learning, we cluster the dialogues based on question similarity and restrict the scope of contrastive learning within each cluster. We also build a multi-questioner dataset from English and Chinese scripts and WeChat records, called MQDialog, containing 173 questioners and 12 responders. Extensive evaluation with different metrics shows a significant improvement in the quality of personalized response generation.

In this paper, we contribute a new million-scale face benchmark containing noisy 4M identities/260M faces (WebFace260M) and cleaned 2M identities/42M faces (WebFace42M) training data, as well as an elaborately designed time-constrained evaluation protocol. Firstly, we collect 4M name list and download 260M faces from the Internet. Then, a Cleaning Automatically utilizing Self-Training (CAST) pipeline is devised to purify the tremendous WebFace260M, which is efficient and scalable. To the best of our knowledge, the cleaned WebFace42M is the largest public face recognition training set and we expect to close the data gap between academia and industry. Referring to practical scenarios, Face Recognition Under Inference Time conStraint (FRUITS) protocol and a test set are constructed to comprehensively evaluate face matchers. Equipped with this benchmark, we delve into million-scale face recognition problems. A distributed framework is developed to train face recognition models efficiently without tampering with the performance. Empowered by WebFace42M, we reduce relative 40% failure rate on the challenging IJB-C set, and ranks the 3rd among 430 entries on NIST-FRVT. Even 10% data (WebFace4M) shows superior performance compared with public training set. Furthermore, comprehensive baselines are established on our rich-attribute test set under FRUITS-100ms/500ms/1000ms protocol, including MobileNet, EfficientNet, AttentionNet, ResNet, SENet, ResNeXt and RegNet families. Benchmark website is https://www.face-benchmark.org.

This paper investigates how far a very deep neural network is from attaining close to saturating performance on existing 2D and 3D face alignment datasets. To this end, we make the following 5 contributions: (a) we construct, for the first time, a very strong baseline by combining a state-of-the-art architecture for landmark localization with a state-of-the-art residual block, train it on a very large yet synthetically expanded 2D facial landmark dataset and finally evaluate it on all other 2D facial landmark datasets. (b) We create a guided by 2D landmarks network which converts 2D landmark annotations to 3D and unifies all existing datasets, leading to the creation of LS3D-W, the largest and most challenging 3D facial landmark dataset to date ~230,000 images. (c) Following that, we train a neural network for 3D face alignment and evaluate it on the newly introduced LS3D-W. (d) We further look into the effect of all "traditional" factors affecting face alignment performance like large pose, initialization and resolution, and introduce a "new" one, namely the size of the network. (e) We show that both 2D and 3D face alignment networks achieve performance of remarkable accuracy which is probably close to saturating the datasets used. Training and testing code as well as the dataset can be downloaded from https://www.adrianbulat.com/face-alignment/

Automatic perception of human behaviors during social interactions is crucial for AR/VR applications, and an essential component is estimation of plausible 3D human pose and shape of our social partners from the egocentric view. One of the biggest challenges of this task is severe body truncation due to close social distances in egocentric scenarios, which brings large pose ambiguities for unseen body parts. To tackle this challenge, we propose a novel scene-conditioned diffusion method to model the body pose distribution. Conditioned on the 3D scene geometry, the diffusion model generates bodies in plausible human-scene interactions, with the sampling guided by a physics-based collision score to further resolve human-scene inter-penetrations. The classifier-free training enables flexible sampling with different conditions and enhanced diversity. A visibility-aware graph convolution model guided by per-joint visibility serves as the diffusion denoiser to incorporate inter-joint dependencies and per-body-part control. Extensive evaluations show that our method generates bodies in plausible interactions with 3D scenes, achieving both superior accuracy for visible joints and diversity for invisible body parts. The code will be available at https://sanweiliti.github.io/egohmr/egohmr.html.

The favorable performance of Vision Transformers (ViTs) is often attributed to the multi-head self-attention (MSA). The MSA enables global interactions at each layer of a ViT model, which is a contrasting feature against Convolutional Neural Networks (CNNs) that gradually increase the range of interaction across multiple layers. We study the role of the density of the attention. Our preliminary analyses suggest that the spatial interactions of attention maps are close to dense interactions rather than sparse ones. This is a curious phenomenon, as dense attention maps are harder for the model to learn due to steeper softmax gradients around them. We interpret this as a strong preference for ViT models to include dense interaction. We thus manually insert the uniform attention to each layer of ViT models to supply the much needed dense interactions. We call this method Context Broadcasting, CB. We observe that the inclusion of CB reduces the degree of density in the original attention maps and increases both the capacity and generalizability of the ViT models. CB incurs negligible costs: 1 line in your model code, no additional parameters, and minimal extra operations.

The X-rays and Extreme Ultraviolet (XUV) emission from M stars can drive the atmospheric escape on planets orbiting them. M stars are also known for their frequent emission of stellar flares, which will increase the high-energy flux received by their orbiting planets. To understand how stellar flares impact the primordial atmospheres of planets orbiting young M stars, we use UV spectroscopic data of flares from the Habitable Zones and M dwarf Activity across Time (HAZMAT) and Measurements of the Ultraviolet Spectral Characteristics of Low-mass Exoplanetary Systems (MUSCLES) programs as a proxy to the XUV flare emission. Using the software package VPLanet, we simulate the young AU Mic planetary system composed of two Neptune-sized and one Earth-sized planet orbiting a 23-Myr-old M1 star. Our findings show that the Earth-sized planet AU Mic d should be in the process of losing completely its atmosphere in the next couple million years, solely due to the quiescent emission, with flares not significantly contributing to its atmospheric escape due to the small size of AU mic d and its close-in distance from the star. However, our results indicate that flares would play a crucial role for such planets further away, in the habitable zone (i.e. 0.2935 AU) of AU Mic-like stars during the post-saturation phase, accelerating the total atmospheric loss process by a few billion years. For planets between 0.365 AU and the HZ outer edge, the additional XUV from flares is necessary to deplete primordial atmospheres fully since the quiescent emission alone is insufficient.

Reasoning large language models are rapidly evolving across various domains. However, their capabilities in handling complex financial tasks still require in-depth exploration. In this paper, we introduce Fin-R1, a reasoning large language model specifically designed for the financial sector. Fin-R1 is built using a two-stage architecture, leveraging a financial reasoning dataset distilled and processed based on DeepSeek-R1. Through supervised fine-tuning (SFT) and reinforcement learning (RL) training, it demonstrates performance close to DeepSeek-R1 with a parameter size of 7 billion across a range of financial reasoning tasks. It achieves the state-of-the-art (SOTA) in the FinQA and ConvFinQA tasks between those LLMs in our evaluation, surpassing larger models in other tasks as well. Fin-R1 showcases strong reasoning and decision-making capabilities, providing solutions to various problems encountered in the financial domain. Our code is available at https://github.com/SUFE-AIFLM-Lab/Fin-R1.

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus proposes the best point to interact with, has demonstrated excellent performance and generalization capabilities in articulated object manipulation. However, a significant challenge remains: while previous works use perfect point cloud generated in simulation, the models cannot directly apply to the noisy point cloud in the real-world. To tackle this challenge, we leverage the property of real-world scanned point cloud that, the point cloud becomes less noisy when the camera is closer to the object. Therefore, we propose a novel coarse-to-fine affordance learning pipeline to mitigate the effect of point cloud noise in two stages. In the first stage, we learn the affordance on the noisy far point cloud which includes the whole object to propose the approximated place to manipulate. Then, we move the camera in front of the approximated place, scan a less noisy point cloud containing precise local geometries for manipulation, and learn affordance on such point cloud to propose fine-grained final actions. The proposed method is thoroughly evaluated both using large-scale simulated noisy point clouds mimicking real-world scans, and in the real world scenarios, with superiority over existing methods, demonstrating the effectiveness in tackling the noisy real-world point cloud problem.

Artificial intelligence commonly refers to the science and engineering of artificial systems that can carry out tasks generally associated with requiring aspects of human intelligence, such as playing games, translating languages, and driving cars. In recent years, there have been exciting advances in learning-based, data-driven approaches towards AI, and machine learning and deep learning have enabled computer systems to perceive the world in unprecedented ways. Reinforcement learning has enabled breakthroughs in complex games such as Go and challenging robotics tasks such as quadrupedal locomotion. A key aspect of intelligence is to not only make predictions, but reason about the uncertainty in these predictions, and to consider this uncertainty when making decisions. This is what this manuscript on "Probabilistic Artificial Intelligence" is about. The first part covers probabilistic approaches to machine learning. We discuss the differentiation between "epistemic" uncertainty due to lack of data and "aleatoric" uncertainty, which is irreducible and stems, e.g., from noisy observations and outcomes. We discuss concrete approaches towards probabilistic inference and modern approaches to efficient approximate inference. The second part of the manuscript is about taking uncertainty into account in sequential decision tasks. We consider active learning and Bayesian optimization -- approaches that collect data by proposing experiments that are informative for reducing the epistemic uncertainty. We then consider reinforcement learning and modern deep RL approaches that use neural network function approximation. We close by discussing modern approaches in model-based RL, which harness epistemic and aleatoric uncertainty to guide exploration, while also reasoning about safety.

The paradigm of pretrained deep learning models has recently emerged in artificial intelligence practice, allowing deployment in numerous societal settings with limited computational resources, but also embedding biases and enabling unintended negative uses. In this paper, we treat pretrained models as objects of study and discuss the ethical impacts of their sociological position. We discuss how pretrained models are developed and compared under the common task framework, but that this may make self-regulation inadequate. Further how pretrained models may have a performative effect on society that exacerbates biases. We then discuss how pretrained models move through actor networks as a kind of computationally immutable mobile, but that users also act as agents of technological change by reinterpreting them via fine-tuning and transfer. We further discuss how users may use pretrained models in malicious ways, drawing a novel connection between the responsible innovation and user-centered innovation literatures. We close by discussing how this sociological understanding of pretrained models can inform AI governance frameworks for fairness, accountability, and transparency.

Generative AI has matured to a point where large-scale models can generate text that seems indistinguishable from human-written text and remarkably photorealistic images. Automatically measuring how close the distribution of generated data is to the target real data distribution is a key step in diagnosing existing models and developing better models. We present MAUVE, a family of comparison measures between pairs of distributions such as those encountered in the generative modeling of text or images. These scores are statistical summaries of divergence frontiers capturing two types of errors in generative modeling. We explore four approaches to statistically estimate these scores: vector quantization, non-parametric estimation, classifier-based estimation, and parametric Gaussian approximations. We provide statistical bounds for the vector quantization approach. Empirically, we find that the proposed scores paired with a range of f-divergences and statistical estimation methods can quantify the gaps between the distributions of human-written text and those of modern neural language models by correlating with human judgments and identifying known properties of the generated texts. We conclude the paper by demonstrating its applications to other AI domains and discussing practical recommendations.

Open-vocabulary segmentation of 3D scenes is a fundamental function of human perception and thus a crucial objective in computer vision research. However, this task is heavily impeded by the lack of large-scale and diverse 3D open-vocabulary segmentation datasets for training robust and generalizable models. Distilling knowledge from pre-trained 2D open-vocabulary segmentation models helps but it compromises the open-vocabulary feature as the 2D models are mostly finetuned with close-vocabulary datasets. We tackle the challenges in 3D open-vocabulary segmentation by exploiting pre-trained foundation models CLIP and DINO in a weakly supervised manner. Specifically, given only the open-vocabulary text descriptions of the objects in a scene, we distill the open-vocabulary multimodal knowledge and object reasoning capability of CLIP and DINO into a neural radiance field (NeRF), which effectively lifts 2D features into view-consistent 3D segmentation. A notable aspect of our approach is that it does not require any manual segmentation annotations for either the foundation models or the distillation process. Extensive experiments show that our method even outperforms fully supervised models trained with segmentation annotations in certain scenes, suggesting that 3D open-vocabulary segmentation can be effectively learned from 2D images and text-image pairs. Code is available at https://github.com/Kunhao-Liu/3D-OVS.

Noisy label problems are inevitably in existence within medical image segmentation causing severe performance degradation. Previous segmentation methods for noisy label problems only utilize a single image while the potential of leveraging the correlation between images has been overlooked. Especially for video segmentation, adjacent frames contain rich contextual information beneficial in cognizing noisy labels. Based on two insights, we propose a Multi-Scale Temporal Feature Affinity Learning (MS-TFAL) framework to resolve noisy-labeled medical video segmentation issues. First, we argue the sequential prior of videos is an effective reference, i.e., pixel-level features from adjacent frames are close in distance for the same class and far in distance otherwise. Therefore, Temporal Feature Affinity Learning (TFAL) is devised to indicate possible noisy labels by evaluating the affinity between pixels in two adjacent frames. We also notice that the noise distribution exhibits considerable variations across video, image, and pixel levels. In this way, we introduce Multi-Scale Supervision (MSS) to supervise the network from three different perspectives by re-weighting and refining the samples. This design enables the network to concentrate on clean samples in a coarse-to-fine manner. Experiments with both synthetic and real-world label noise demonstrate that our method outperforms recent state-of-the-art robust segmentation approaches. Code is available at https://github.com/BeileiCui/MS-TFAL.

Various XAI attribution methods have been recently proposed for the transformer architecture, allowing for insights into the decision-making process of large language models by assigning importance scores to input tokens and intermediate representations. One class of methods that seems very promising in this direction includes decomposition-based approaches, i.e., XAI-methods that redistribute the model's prediction logit through the network, as this value is directly related to the prediction. In the previous literature we note though that two prominent methods of this category, namely ALTI-Logit and LRP, have not yet been analyzed in juxtaposition and hence we propose to close this gap by conducting a careful quantitative evaluation w.r.t. ground truth annotations on a subject-verb agreement task, as well as various qualitative inspections, using BERT, GPT-2 and LLaMA-3 as a testbed. Along the way we compare and extend the ALTI-Logit and LRP methods, including the recently proposed AttnLRP variant, from an algorithmic and implementation perspective. We further incorporate in our benchmark two widely-used gradient-based attribution techniques. Finally, we make our carefullly constructed benchmark dataset for evaluating attributions on language models, as well as our code, publicly available in order to foster evaluation of XAI-methods on a well-defined common ground.

DeepSeek-OCR utilizes an optical 2D mapping approach to achieve high-ratio vision-text compression, claiming to decode text tokens exceeding ten times the input visual tokens. While this suggests a promising solution for the LLM long-context bottleneck, we investigate a critical question: "Visual merit or linguistic crutch - which drives DeepSeek-OCR's performance?" By employing sentence-level and word-level semantic corruption, we isolate the model's intrinsic OCR capabilities from its language priors. Results demonstrate that without linguistic support, DeepSeek-OCR's performance plummets from approximately 90% to 20%. Comparative benchmarking against 13 baseline models reveals that traditional pipeline OCR methods exhibit significantly higher robustness to such semantic perturbations than end-to-end methods. Furthermore, we find that lower visual token counts correlate with increased reliance on priors, exacerbating hallucination risks. Context stress testing also reveals a total model collapse around 10,000 text tokens, suggesting that current optical compression techniques may paradoxically aggravate the long-context bottleneck. This study empirically defines DeepSeek-OCR's capability boundaries and offers essential insights for future optimizations of the vision-text compression paradigm. We release all data, results and scripts used in this study at https://github.com/dududuck00/DeepSeekOCR.

Diffusion models are powerful generative models that simulate the reverse of diffusion processes using score functions to synthesize data from noise. The sampling process of diffusion models can be interpreted as solving the reverse stochastic differential equation (SDE) or the ordinary differential equation (ODE) of the diffusion process, which often requires up to thousands of discretization steps to generate a single image. This has sparked a great interest in developing efficient integration techniques for reverse-S/ODEs. Here, we propose an orthogonal approach to accelerating score-based sampling: Denoising MCMC (DMCMC). DMCMC first uses MCMC to produce samples in the product space of data and variance (or diffusion time). Then, a reverse-S/ODE integrator is used to denoise the MCMC samples. Since MCMC traverses close to the data manifold, the computation cost of producing a clean sample for DMCMC is much less than that of producing a clean sample from noise. To verify the proposed concept, we show that Denoising Langevin Gibbs (DLG), an instance of DMCMC, successfully accelerates all six reverse-S/ODE integrators considered in this work on the tasks of CIFAR10 and CelebA-HQ-256 image generation. Notably, combined with integrators of Karras et al. (2022) and pre-trained score models of Song et al. (2021b), DLG achieves SOTA results. In the limited number of score function evaluation (NFE) settings on CIFAR10, we have 3.86 FID with approx 10 NFE and 2.63 FID with approx 20 NFE. On CelebA-HQ-256, we have 6.99 FID with approx 160 NFE, which beats the current best record of Kim et al. (2022) among score-based models, 7.16 FID with 4000 NFE. Code: https://github.com/1202kbs/DMCMC

This paper introduces a new ontology for Materials Science Laboratory Equipment, termed MSLE. A fundamental issue with materials science laboratory (hereafter lab) equipment in the real world is that scientists work with various types of equipment with multiple specifications. For example, there are many electron microscopes with different parameters in chemical and physical labs. A critical development to unify the description is to build an equipment domain ontology as basic semantic knowledge and to guide the user to work with the equipment appropriately. Here, we propose to develop a consistent ontology for equipment, the MSLE ontology. In the MSLE, two main existing ontologies, the Semantic Sensor Network (SSN) and the Material Vocabulary (MatVoc), have been integrated into the MSLE core to build a coherent ontology. Since various acronyms and terms have been used for equipment, this paper proposes an approach to use a Simple Knowledge Organization System (SKOS) to represent the hierarchical structure of equipment terms. Equipment terms were collected in various languages and abbreviations and coded into the MSLE using the SKOS model. The ontology development was conducted in close collaboration with domain experts and focused on the large-scale devices for materials characterization available in our research group. Competency questions are expected to be addressed through the MSLE ontology. Constraints are modeled in the Shapes Query Language (SHACL); a prototype is shown and validated to show the value of the modeling constraints.

Diagrams matter. Unfortunately, the deep learning community has no standard method for diagramming architectures. The current combination of linear algebra notation and ad-hoc diagrams fails to offer the necessary precision to understand architectures in all their detail. However, this detail is critical for faithful implementation, mathematical analysis, further innovation, and ethical assurances. I present neural circuit diagrams, a graphical language tailored to the needs of communicating deep learning architectures. Neural circuit diagrams naturally keep track of the changing arrangement of data, precisely show how operations are broadcast over axes, and display the critical parallel behavior of linear operations. A lingering issue with existing diagramming methods is the inability to simultaneously express the detail of axes and the free arrangement of data, which neural circuit diagrams solve. Their compositional structure is analogous to code, creating a close correspondence between diagrams and implementation. In this work, I introduce neural circuit diagrams for an audience of machine learning researchers. After introducing neural circuit diagrams, I cover a host of architectures to show their utility and breed familiarity. This includes the transformer architecture, convolution (and its difficult-to-explain extensions), residual networks, the U-Net, and the vision transformer. I include a Jupyter notebook that provides evidence for the close correspondence between diagrams and code. Finally, I examine backpropagation using neural circuit diagrams. I show their utility in providing mathematical insight and analyzing algorithms' time and space complexities.

Matbench Discovery simulates the deployment of machine learning (ML) energy models in a high-throughput search for stable inorganic crystals. We address the disconnect between (i) thermodynamic stability and formation energy and (ii) in-domain vs out-of-distribution performance. Alongside this paper, we publish a Python package to aid with future model submissions and a growing online leaderboard with further insights into trade-offs between various performance metrics. To answer the question which ML methodology performs best at materials discovery, our initial release explores a variety of models including random forests, graph neural networks (GNN), one-shot predictors, iterative Bayesian optimizers and universal interatomic potentials (UIP). Ranked best-to-worst by their test set F1 score on thermodynamic stability prediction, we find CHGNet > M3GNet > MACE > ALIGNN > MEGNet > CGCNN > CGCNN+P > Wrenformer > BOWSR > Voronoi tessellation fingerprints with random forest. The top 3 models are UIPs, the winning methodology for ML-guided materials discovery, achieving F1 scores of ~0.6 for crystal stability classification and discovery acceleration factors (DAF) of up to 5x on the first 10k most stable predictions compared to dummy selection from our test set. We also highlight a sharp disconnect between commonly used global regression metrics and more task-relevant classification metrics. Accurate regressors are susceptible to unexpectedly high false-positive rates if those accurate predictions lie close to the decision boundary at 0 eV/atom above the convex hull where most materials are. Our results highlight the need to focus on classification metrics that actually correlate with improved stability hit rate.

The potential of using of millimeter wave (mmWave) frequency for future wireless cellular communication systems has motivated the study of large-scale antenna arrays for achieving highly directional beamforming. However, the conventional fully digital beamforming methods which require one radio frequency (RF) chain per antenna element is not viable for large-scale antenna arrays due to the high cost and high power consumption of RF chain components in high frequencies. To address the challenge of this hardware limitation, this paper considers a hybrid beamforming architecture in which the overall beamformer consists of a low-dimensional digital beamformer followed by an RF beamformer implemented using analog phase shifters. Our aim is to show that such an architecture can approach the performance of a fully digital scheme with much fewer number of RF chains. Specifically, this paper establishes that if the number of RF chains is twice the total number of data streams, the hybrid beamforming structure can realize any fully digital beamformer exactly, regardless of the number of antenna elements. For cases with fewer number of RF chains, this paper further considers the hybrid beamforming design problem for both the transmission scenario of a point-to-point multipleinput multiple-output (MIMO) system and a downlink multiuser multiple-input single-output (MU-MISO) system. For each scenario, we propose a heuristic hybrid beamforming design that achieves a performance close to the performance of the fully digital beamforming baseline. Finally, the proposed algorithms are modified for the more practical setting in which only finite resolution phase shifters are available. Numerical simulations show that the proposed schemes are effective even when phase shifters with very low resolution are used.

Anomaly detection aims at detecting unexpected behaviours in the data. Because anomaly detection is usually an unsupervised task, traditional anomaly detectors learn a decision boundary by employing heuristics based on intuitions, which are hard to verify in practice. This introduces some uncertainty, especially close to the decision boundary, that may reduce the user trust in the detector's predictions. A way to combat this is by allowing the detector to reject examples with high uncertainty (Learning to Reject). This requires employing a confidence metric that captures the distance to the decision boundary and setting a rejection threshold to reject low-confidence predictions. However, selecting a proper metric and setting the rejection threshold without labels are challenging tasks. In this paper, we solve these challenges by setting a constant rejection threshold on the stability metric computed by ExCeeD. Our insight relies on a theoretical analysis of such a metric. Moreover, setting a constant threshold results in strong guarantees: we estimate the test rejection rate, and derive a theoretical upper bound for both the rejection rate and the expected prediction cost. Experimentally, we show that our method outperforms some metric-based methods.

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the complexity of collecting and annotating 3D data is a bottleneck in this developments. To overcome that data annotation limitation, synthetic simulated data has been used to generate annotated data on demand. There is still however a domain gap between real and simulated data. More recently, diffusion models have been in the spotlight, enabling close-to-real data synthesis. Those generative models have been recently applied to the 3D data domain for generating scene-scale data with semantic annotations. Still, those methods either rely on image projection or decoupled models trained with different resolutions in a coarse-to-fine manner. Such intermediary representations impact the generated data quality due to errors added in those transformations. In this work, we propose a novel approach able to generate 3D semantic scene-scale data without relying on any projection or decoupled trained multi-resolution models, achieving more realistic semantic scene data generation compared to previous state-of-the-art methods. Besides improving 3D semantic scene-scale data synthesis, we thoroughly evaluate the use of the synthetic scene samples as labeled data to train a semantic segmentation network. In our experiments, we show that using the synthetic annotated data generated by our method as training data together with the real semantic segmentation labels, leads to an improvement in the semantic segmentation model performance. Our results show the potential of generated scene-scale point clouds to generate more training data to extend existing datasets, reducing the data annotation effort. Our code is available at https://github.com/PRBonn/3DiSS.

There has been much interest in accurate cryptocurrency price forecast models by investors and researchers. Deep Learning models are prominent machine learning techniques that have transformed various fields and have shown potential for finance and economics. Although various deep learning models have been explored for cryptocurrency price forecasting, it is not clear which models are suitable due to high market volatility. In this study, we review the literature about deep learning for cryptocurrency price forecasting and evaluate novel deep learning models for cryptocurrency stock price prediction. Our deep learning models include variants of long short-term memory (LSTM) recurrent neural networks, variants of convolutional neural networks (CNNs), and the Transformer model. We evaluate univariate and multivariate approaches for multi-step ahead predicting of cryptocurrencies close-price. We also carry out volatility analysis on the four cryptocurrencies which reveals significant fluctuations in their prices throughout the COVID-19 pandemic. Additionally, we investigate the prediction accuracy of two scenarios identified by different training sets for the models. First, we use the pre-COVID-19 datasets to model cryptocurrency close-price forecasting during the early period of COVID-19. Secondly, we utilise data from the COVID-19 period to predict prices for 2023 to 2024. Our results show that the convolutional LSTM with a multivariate approach provides the best prediction accuracy in two major experimental settings. Our results also indicate that the multivariate deep learning models exhibit better performance in forecasting four different cryptocurrencies when compared to the univariate models.

Data-driven and controllable human motion synthesis and prediction are active research areas with various applications in interactive media and social robotics. Challenges remain in these fields for generating diverse motions given past observations and dealing with imperfect poses. This paper introduces MoDiff, an autoregressive probabilistic diffusion model over motion sequences conditioned on control contexts of other modalities. Our model integrates a cross-modal Transformer encoder and a Transformer-based decoder, which are found effective in capturing temporal correlations in motion and control modalities. We also introduce a new data dropout method based on the diffusion forward process to provide richer data representations and robust generation. We demonstrate the superior performance of MoDiff in controllable motion synthesis for locomotion with respect to two baselines and show the benefits of diffusion data dropout for robust synthesis and reconstruction of high-fidelity motion close to recorded data.

Patent prior-art retrieval becomes especially challenging when relevant disclosures cross technological boundaries. Existing benchmarks lack explicit domain partitions, making it difficult to assess how retrieval systems cope with such shifts. We introduce DAPFAM, a family-level benchmark with explicit IN-domain and OUT-domain partitions defined by a new IPC3 overlap scheme. The dataset contains 1,247 query families and 45,336 target families aggregated at the family level to reduce international redundancy, with citation based relevance judgments. We conduct 249 controlled experiments spanning lexical (BM25) and dense (transformer) backends, document and passage level retrieval, multiple query and document representations, aggregation strategies, and hybrid fusion via Reciprocal Rank Fusion (RRF). Results reveal a pronounced domain gap: OUT-domain performance remains roughly five times lower than IN-domain across all configurations. Passage-level retrieval consistently outperforms document-level, and dense methods provide modest gains over BM25, but none close the OUT-domain gap. Document-level RRF yields strong effectiveness efficiency trade-offs with minimal overhead. By exposing the persistent challenge of cross-domain retrieval, DAPFAM provides a reproducible, compute-aware testbed for developing more robust patent IR systems. The dataset is publicly available on huggingface at https://huggingface.co/datasets/datalyes/DAPFAM_patent.

Text-to-image diffusion models often make implicit assumptions about the world when generating images. While some assumptions are useful (e.g., the sky is blue), they can also be outdated, incorrect, or reflective of social biases present in the training data. Thus, there is a need to control these assumptions without requiring explicit user input or costly re-training. In this work, we aim to edit a given implicit assumption in a pre-trained diffusion model. Our Text-to-Image Model Editing method, TIME for short, receives a pair of inputs: a "source" under-specified prompt for which the model makes an implicit assumption (e.g., "a pack of roses"), and a "destination" prompt that describes the same setting, but with a specified desired attribute (e.g., "a pack of blue roses"). TIME then updates the model's cross-attention layers, as these layers assign visual meaning to textual tokens. We edit the projection matrices in these layers such that the source prompt is projected close to the destination prompt. Our method is highly efficient, as it modifies a mere 2.2% of the model's parameters in under one second. To evaluate model editing approaches, we introduce TIMED (TIME Dataset), containing 147 source and destination prompt pairs from various domains. Our experiments (using Stable Diffusion) show that TIME is successful in model editing, generalizes well for related prompts unseen during editing, and imposes minimal effect on unrelated generations.

Diffusion models recently have been successfully applied for the visual synthesis of strikingly realistic appearing images. This raises strong concerns about their potential for malicious purposes. In this paper, we propose using the lightweight multi Local Intrinsic Dimensionality (multiLID), which has been originally developed in context of the detection of adversarial examples, for the automatic detection of synthetic images and the identification of the according generator networks. In contrast to many existing detection approaches, which often only work for GAN-generated images, the proposed method provides close to perfect detection results in many realistic use cases. Extensive experiments on known and newly created datasets demonstrate that the proposed multiLID approach exhibits superiority in diffusion detection and model identification. Since the empirical evaluations of recent publications on the detection of generated images are often mainly focused on the "LSUN-Bedroom" dataset, we further establish a comprehensive benchmark for the detection of diffusion-generated images, including samples from several diffusion models with different image sizes.

Feature attribution methods identify which features of an input most influence a model's output. Most widely-used feature attribution methods (such as SHAP, LIME, and Grad-CAM) are "class-dependent" methods in that they generate a feature attribution vector as a function of class. In this work, we demonstrate that class-dependent methods can "leak" information about the selected class, making that class appear more likely than it is. Thus, an end user runs the risk of drawing false conclusions when interpreting an explanation generated by a class-dependent method. In contrast, we introduce "distribution-aware" methods, which favor explanations that keep the label's distribution close to its distribution given all features of the input. We introduce SHAP-KL and FastSHAP-KL, two baseline distribution-aware methods that compute Shapley values. Finally, we perform a comprehensive evaluation of seven class-dependent and three distribution-aware methods on three clinical datasets of different high-dimensional data types: images, biosignals, and text.

Pre-trained vision-language models have exhibited remarkable abilities in detecting out-of-distribution (OOD) samples. However, some challenging OOD samples, which lie close to in-distribution (InD) data in image feature space, can still lead to misclassification. The emergence of foundation models like diffusion models and multimodal large language models (MLLMs) offers a potential solution to this issue. In this work, we propose SynOOD, a novel approach that harnesses foundation models to generate synthetic, challenging OOD data for fine-tuning CLIP models, thereby enhancing boundary-level discrimination between InD and OOD samples. Our method uses an iterative in-painting process guided by contextual prompts from MLLMs to produce nuanced, boundary-aligned OOD samples. These samples are refined through noise adjustments based on gradients from OOD scores like the energy score, effectively sampling from the InD/OOD boundary. With these carefully synthesized images, we fine-tune the CLIP image encoder and negative label features derived from the text encoder to strengthen connections between near-boundary OOD samples and a set of negative labels. Finally, SynOOD achieves state-of-the-art performance on the large-scale ImageNet benchmark, with minimal increases in parameters and runtime. Our approach significantly surpasses existing methods, and the code is available at https://github.com/Jarvisgivemeasuit/SynOOD.

As Large Language Models (LLMs) move from curated training sets into open-ended real-world environments, a fundamental limitation emerges: static training cannot keep pace with continual deployment environment change. Scaling training-time and inference-time compute improves static capability but does not close this train-deploy gap. We argue that addressing this limitation requires a new scaling axis-evolution. Existing deployment-time adaptation methods, whether parametric fine-tuning or heuristic memory accumulation, lack the strategic agency needed to diagnose failures and produce durable improvements. Our position is that agentic evolution represents the inevitable future of LLM adaptation, elevating evolution itself from a fixed pipeline to an autonomous evolver agent. We instantiate this vision in a general framework, A-Evolve, which treats deployment-time improvement as a deliberate, goal-directed optimization process over persistent system state. We further propose the evolution-scaling hypothesis: the capacity for adaptation scales with the compute allocated to evolution, positioning agentic evolution as a scalable path toward sustained, open-ended adaptation in the real world.

Learning-based outlier (mismatched correspondence) rejection for robust 3D registration generally formulates the outlier removal as an inlier/outlier classification problem. The core for this to be successful is to learn the discriminative inlier/outlier feature representations. In this paper, we develop a novel variational non-local network-based outlier rejection framework for robust alignment. By reformulating the non-local feature learning with variational Bayesian inference, the Bayesian-driven long-range dependencies can be modeled to aggregate discriminative geometric context information for inlier/outlier distinction. Specifically, to achieve such Bayesian-driven contextual dependencies, each query/key/value component in our non-local network predicts a prior feature distribution and a posterior one. Embedded with the inlier/outlier label, the posterior feature distribution is label-dependent and discriminative. Thus, pushing the prior to be close to the discriminative posterior in the training step enables the features sampled from this prior at test time to model high-quality long-range dependencies. Notably, to achieve effective posterior feature guidance, a specific probabilistic graphical model is designed over our non-local model, which lets us derive a variational low bound as our optimization objective for model training. Finally, we propose a voting-based inlier searching strategy to cluster the high-quality hypothetical inliers for transformation estimation. Extensive experiments on 3DMatch, 3DLoMatch, and KITTI datasets verify the effectiveness of our method.

State-of-the-art deep learning models have achieved significant performance levels on various benchmarks. However, the excellent performance comes at a cost of inefficient computational cost. Light-weight architectures, on the other hand, achieve moderate accuracies, but at a much more desirable latency. This paper presents a new method of jointly using the large accurate models together with the small fast ones. To this end, we propose an Energy-Based Joint Reasoning (EBJR) framework that adaptively distributes the samples between shallow and deep models to achieve an accuracy close to the deep model, but latency close to the shallow one. Our method is applicable to out-of-the-box pre-trained models as it does not require an architecture change nor re-training. Moreover, it is easy to use and deploy, especially for cloud services. Through a comprehensive set of experiments on different down-stream tasks, we show that our method outperforms strong state-of-the-art approaches with a considerable margin. In addition, we propose specialized EBJR, an extension of our method where we create a smaller specialized side model that performs the target task only partially, but yields an even higher accuracy and faster inference. We verify the strengths of our methods with both theoretical and experimental evaluations.

Identifying key patterns of tactics implemented by rival teams, and developing effective responses, lies at the heart of modern football. However, doing so algorithmically remains an open research challenge. To address this unmet need, we propose TacticAI, an AI football tactics assistant developed and evaluated in close collaboration with domain experts from Liverpool FC. We focus on analysing corner kicks, as they offer coaches the most direct opportunities for interventions and improvements. TacticAI incorporates both a predictive and a generative component, allowing the coaches to effectively sample and explore alternative player setups for each corner kick routine and to select those with the highest predicted likelihood of success. We validate TacticAI on a number of relevant benchmark tasks: predicting receivers and shot attempts and recommending player position adjustments. The utility of TacticAI is validated by a qualitative study conducted with football domain experts at Liverpool FC. We show that TacticAI's model suggestions are not only indistinguishable from real tactics, but also favoured over existing tactics 90% of the time, and that TacticAI offers an effective corner kick retrieval system. TacticAI achieves these results despite the limited availability of gold-standard data, achieving data efficiency through geometric deep learning.

Open-Vocabulary Video Instance Segmentation (VIS) is attracting increasing attention due to its ability to segment and track arbitrary objects. However, the recent Open-Vocabulary VIS attempts obtained unsatisfactory results, especially in terms of generalization ability of novel categories. We discover that the domain gap between the VLM features (e.g., CLIP) and the instance queries and the underutilization of temporal consistency are two central causes. To mitigate these issues, we design and train a novel Open-Vocabulary VIS baseline called OVFormer. OVFormer utilizes a lightweight module for unified embedding alignment between query embeddings and CLIP image embeddings to remedy the domain gap. Unlike previous image-based training methods, we conduct video-based model training and deploy a semi-online inference scheme to fully mine the temporal consistency in the video. Without bells and whistles, OVFormer achieves 21.9 mAP with a ResNet-50 backbone on LV-VIS, exceeding the previous state-of-the-art performance by 7.7. Extensive experiments on some Close-Vocabulary VIS datasets also demonstrate the strong zero-shot generalization ability of OVFormer (+ 7.6 mAP on YouTube-VIS 2019, + 3.9 mAP on OVIS). Code is available at https://github.com/fanghaook/OVFormer.

Understanding sentence meanings and updating information states appropriately across time -- what we call "situational understanding" (SU) -- is a critical ability for human-like AI agents. SU is essential in particular for chat models, such as ChatGPT, to enable consistent, coherent, and effective dialogue between humans and AI. Previous works have identified certain SU limitations in non-chatbot Large Language models (LLMs), but the extent and causes of these limitations are not well understood, and capabilities of current chat-based models in this domain have not been explored. In this work we tackle these questions, proposing a novel synthetic environment for SU testing which allows us to do controlled and systematic testing of SU in chat-oriented models, through assessment of models' ability to track and enumerate environment states. Our environment also allows for close analysis of dynamics of model performance, to better understand underlying causes for performance patterns. We apply our test to ChatGPT, the state-of-the-art chatbot, and find that despite the fundamental simplicity of the task, the model's performance reflects an inability to retain correct environment states across time. Our follow-up analyses suggest that performance degradation is largely because ChatGPT has non-persistent in-context memory (although it can access the full dialogue history) and it is susceptible to hallucinated updates -- including updates that artificially inflate accuracies. Our findings suggest overall that ChatGPT is not currently equipped for robust tracking of situation states, and that trust in the impressive dialogue performance of ChatGPT comes with risks. We release the codebase for reproducing our test environment, as well as all prompts and API responses from ChatGPT, at https://github.com/yangalan123/SituationalTesting.

Deep neural networks have been shown to suffer from a surprising weakness: their classification outputs can be changed by small, non-random perturbations of their inputs. This adversarial example phenomenon has been explained as originating from deep networks being "too linear" (Goodfellow et al., 2014). We show here that the linear explanation of adversarial examples presents a number of limitations: the formal argument is not convincing, linear classifiers do not always suffer from the phenomenon, and when they do their adversarial examples are different from the ones affecting deep networks. We propose a new perspective on the phenomenon. We argue that adversarial examples exist when the classification boundary lies close to the submanifold of sampled data, and present a mathematical analysis of this new perspective in the linear case. We define the notion of adversarial strength and show that it can be reduced to the deviation angle between the classifier considered and the nearest centroid classifier. Then, we show that the adversarial strength can be made arbitrarily high independently of the classification performance due to a mechanism that we call boundary tilting. This result leads us to defining a new taxonomy of adversarial examples. Finally, we show that the adversarial strength observed in practice is directly dependent on the level of regularisation used and the strongest adversarial examples, symptomatic of overfitting, can be avoided by using a proper level of regularisation.

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup which tends to capture the recorded behaviors in the dataset, leading to suboptimal and constrained performance, (2) Close-loop training relies heavily on high-fidelity sensor simulation, where domain gaps and computational inefficiencies pose significant barriers. In this paper, we introduce IRL-VLA, a novel close-loop Reinforcement Learning via Inverse Reinforcement Learning reward world model with a self-built VLA approach. Our framework proceeds in a three-stage paradigm: In the first stage, we propose a VLA architecture and pretrain the VLA policy via imitation learning. In the second stage, we construct a lightweight reward world model via inverse reinforcement learning to enable efficient close-loop reward computation. To further enhance planning performance, finally, we design specialized reward world model guidence reinforcement learning via PPO(Proximal Policy Optimization) to effectively balance the safety incidents, comfortable driving, and traffic efficiency. Our approach achieves state-of-the-art performance in NAVSIM v2 end-to-end driving benchmark, 1st runner up in CVPR2025 Autonomous Grand Challenge. We hope that our framework will accelerate VLA research in close-loop autonomous driving.

Achieving realistic animated human avatars requires accurate modeling of pose-dependent clothing deformations. Existing learning-based methods heavily rely on the Linear Blend Skinning (LBS) of minimally-clothed human models like SMPL to model deformation. However, these methods struggle to handle loose clothing, such as long dresses, where the canonicalization process becomes ill-defined when the clothing is far from the body, leading to disjointed and fragmented results. To overcome this limitation, we propose a novel hybrid framework to model challenging clothed humans. Our core idea is to use dedicated strategies to model different regions, depending on whether they are close to or distant from the body. Specifically, we segment the human body into three categories: unclothed, deformed, and generated. We simply replicate unclothed regions that require no deformation. For deformed regions close to the body, we leverage LBS to handle the deformation. As for the generated regions, which correspond to loose clothing areas, we introduce a novel free-form, part-aware generator to model them, as they are less affected by movements. This free-form generation paradigm brings enhanced flexibility and expressiveness to our hybrid framework, enabling it to capture the intricate geometric details of challenging loose clothing, such as skirts and dresses. Experimental results on the benchmark dataset featuring loose clothing demonstrate that our method achieves state-of-the-art performance with superior visual fidelity and realism, particularly in the most challenging cases.

Offline reinforcement learning often relies on behavior regularization that enforces policies to remain close to the dataset distribution. However, such approaches fail to distinguish between high-value and low-value actions in their regularization components. We introduce Guided Flow Policy (GFP), which couples a multi-step flow-matching policy with a distilled one-step actor. The actor directs the flow policy through weighted behavior cloning to focus on cloning high-value actions from the dataset rather than indiscriminately imitating all state-action pairs. In turn, the flow policy constrains the actor to remain aligned with the dataset's best transitions while maximizing the critic. This mutual guidance enables GFP to achieve state-of-the-art performance across 144 state and pixel-based tasks from the OGBench, Minari, and D4RL benchmarks, with substantial gains on suboptimal datasets and challenging tasks. Webpage: https://simple-robotics.github.io/publications/guided-flow-policy/

In-context prompting in large language models (LLMs) has become a prevalent approach to improve zero-shot capabilities, but this idea is less explored in the vision domain. Existing visual prompting methods focus on referring segmentation to segment the most relevant object, falling short of addressing many generic vision tasks like open-set segmentation and detection. In this paper, we introduce a universal visual in-context prompting framework for both tasks. In particular, we build on top of an encoder-decoder architecture, and develop a versatile prompt encoder to support a variety of prompts like strokes, boxes, and points. We further enhance it to take an arbitrary number of reference image segments as the context. Our extensive explorations show that the proposed visual in-context prompting elicits extraordinary referring and generic segmentation capabilities to refer and detect, yielding competitive performance to close-set in-domain datasets and showing promising results on many open-set segmentation datasets. By joint training on COCO and SA-1B, our model achieves 57.7 PQ on COCO and 23.2 PQ on ADE20K. Code will be available at https://github.com/UX-Decoder/DINOv.

Let p denote a generative language model. Let r denote a reward model that returns a scalar that captures the degree at which a draw from p is preferred. The goal of language model alignment is to alter p to a new distribution phi that results in a higher expected reward while keeping phi close to p. A popular alignment method is the KL-constrained reinforcement learning (RL), which chooses a distribution phi_Delta that maximizes E_{phi_{Delta}} r(y) subject to a relative entropy constraint KL(phi_Delta || p) leq Delta. Another simple alignment method is best-of-N, where N samples are drawn from p and one with highest reward is selected. In this paper, we offer a closed-form characterization of the optimal KL-constrained RL solution. We demonstrate that any alignment method that achieves a comparable trade-off between KL divergence and reward must approximate the optimal KL-constrained RL solution in terms of relative entropy. To further analyze the properties of alignment methods, we introduce two simplifying assumptions: we let the language model be memoryless, and the reward model be linear. Although these assumptions may not reflect complex real-world scenarios, they enable a precise characterization of the asymptotic behavior of both the best-of-N alignment, and the KL-constrained RL method, in terms of information-theoretic quantities. We prove that the reward of the optimal KL-constrained RL solution satisfies a large deviation principle, and we fully characterize its rate function. We also show that the rate of growth of the scaled cumulants of the reward is characterized by a proper Renyi cross entropy. Finally, we show that best-of-N is asymptotically equivalent to KL-constrained RL solution by proving that their expected rewards are asymptotically equal, and concluding that the two distributions must be close in KL divergence.

This is the compendium of the cluster algebra and quiver package for sage. The purpose of this package is to provide a platform to work with cluster algebras in graduate courses and to further develop the theory by working on examples, by gathering data, and by exhibiting and testing conjectures. In this compendium, we include the relevant theory to introduce the reader to cluster algebras assuming no prior background; this exposition has been written to be accessible to an interested undergraduate. Throughout this compendium, we include examples that the user can run in the sage notebook or command line, and then close with a detailed description of the data structures and methods in this package.

The introduction of ChatGPT has garnered widespread attention in both academic and industrial communities. ChatGPT is able to respond effectively to a wide range of human questions, providing fluent and comprehensive answers that significantly surpass previous public chatbots in terms of security and usefulness. On one hand, people are curious about how ChatGPT is able to achieve such strength and how far it is from human experts. On the other hand, people are starting to worry about the potential negative impacts that large language models (LLMs) like ChatGPT could have on society, such as fake news, plagiarism, and social security issues. In this work, we collected tens of thousands of comparison responses from both human experts and ChatGPT, with questions ranging from open-domain, financial, medical, legal, and psychological areas. We call the collected dataset the Human ChatGPT Comparison Corpus (HC3). Based on the HC3 dataset, we study the characteristics of ChatGPT's responses, the differences and gaps from human experts, and future directions for LLMs. We conducted comprehensive human evaluations and linguistic analyses of ChatGPT-generated content compared with that of humans, where many interesting results are revealed. After that, we conduct extensive experiments on how to effectively detect whether a certain text is generated by ChatGPT or humans. We build three different detection systems, explore several key factors that influence their effectiveness, and evaluate them in different scenarios. The dataset, code, and models are all publicly available at https://github.com/Hello-SimpleAI/chatgpt-comparison-detection.

Reconstructing 3D scenes and synthesizing novel views from sparse input views is a highly challenging task. Recent advances in video diffusion models have demonstrated strong temporal reasoning capabilities, making them a promising tool for enhancing reconstruction quality under sparse-view settings. However, existing approaches are primarily designed for modest viewpoint variations, which struggle in capturing fine-grained details in close-up scenarios since input information is severely limited. In this paper, we present a diffusion-based framework, called CloseUpShot, for close-up novel view synthesis from sparse inputs via point-conditioned video diffusion. Specifically, we observe that pixel-warping conditioning suffers from severe sparsity and background leakage in close-up settings. To address this, we propose hierarchical warping and occlusion-aware noise suppression, enhancing the quality and completeness of the conditioning images for the video diffusion model. Furthermore, we introduce global structure guidance, which leverages a dense fused point cloud to provide consistent geometric context to the diffusion process, to compensate for the lack of globally consistent 3D constraints in sparse conditioning inputs. Extensive experiments on multiple datasets demonstrate that our method outperforms existing approaches, especially in close-up novel view synthesis, clearly validating the effectiveness of our design.

Enabling Large Language Models (LLMs) to reliably invoke external tools remains a critical bottleneck for autonomous agents. Existing approaches suffer from three fundamental challenges: expensive human annotation for high-quality trajectories, poor generalization to unseen tools, and quality ceilings inherent in single-model synthesis that perpetuate biases and coverage gaps. We introduce InfTool, a fully autonomous framework that breaks these barriers through self-evolving multi-agent synthesis. Given only raw API specifications, InfTool orchestrates three collaborative agents (User Simulator, Tool-Calling Assistant, and MCP Server) to generate diverse, verified trajectories spanning single-turn calls to complex multi-step workflows. The framework establishes a closed loop: synthesized data trains the model via Group Relative Policy Optimization (GRPO) with gated rewards, the improved model generates higher-quality data targeting capability gaps, and this cycle iterates without human intervention. Experiments on the Berkeley Function-Calling Leaderboard (BFCL) demonstrate that InfTool transforms a base 32B model from 19.8% to 70.9% accuracy (+258%), surpassing models 10x larger and rivaling Claude-Opus, and entirely from synthetic data without human annotation.

Unmodeled aerodynamic disturbances pose a key challenge for multirotor flight when multiple vehicles are in close proximity to each other. However, certain missions require two multirotors to approach each other within 1-2 body-lengths of each other and hold formation -- we consider one such practical instance: vertically docking two multirotors in the air. In this leader-follower setting, the follower experiences significant downwash interference from the leader in its final docking stages. To compensate for this, we employ a learnt downwash model online within an optimal feedback controller to accurately track a docking maneuver and then hold formation. Through real-world flights with different maneuvers, we demonstrate that this compensation is crucial for reducing the large vertical separation otherwise required by conventional/naive approaches. Our evaluations show a tracking error of less than 0.06m for the follower (a 3-4x reduction) when approaching vertically within two body-lengths of the leader. Finally, we deploy the complete system to effect a successful physical docking between two airborne multirotors in a single smooth planned trajectory.

Scaling dense retrievers to larger large language model (LLM) backbones has been a dominant strategy for improving their retrieval effectiveness. However, this has substantial cost implications: larger backbones require more expensive hardware (e.g. GPUs with more memory) and lead to higher indexing and querying costs (latency, energy consumption). In this paper, we challenge this paradigm by introducing PromptPRF, a feature-based pseudo-relevance feedback (PRF) framework that enables small LLM-based dense retrievers to achieve effectiveness comparable to much larger models. PromptPRF uses LLMs to extract query-independent, structured and unstructured features (e.g., entities, summaries, chain-of-thought keywords, essay) from top-ranked documents. These features are generated offline and integrated into dense query representations via prompting, enabling efficient retrieval without additional training. Unlike prior methods such as GRF, which rely on online, query-specific generation and sparse retrieval, PromptPRF decouples feedback generation from query processing and supports dense retrievers in a fully zero-shot setting. Experiments on TREC DL and BEIR benchmarks demonstrate that PromptPRF consistently improves retrieval effectiveness and offers favourable cost-effectiveness trade-offs. We further present ablation studies to understand the role of positional feedback and analyse the interplay between feature extractor size, PRF depth, and model performance. Our findings demonstrate that with effective PRF design, scaling the retriever is not always necessary, narrowing the gap between small and large models while reducing inference cost.

In NLP, fine-tuning LLMs is effective for various applications but requires high-quality annotated data. However, manual annotation of data is labor-intensive, time-consuming, and costly. Therefore, LLMs are increasingly used to automate the process, often employing in-context learning (ICL) in which some examples related to the task are given in the prompt for better performance. However, manually selecting context examples can lead to inefficiencies and suboptimal model performance. This paper presents comprehensive experiments comparing several LLMs, considering different embedding models, across various datasets for the Named Entity Recognition (NER) task. The evaluation encompasses models with approximately 7B and 70B parameters, including both proprietary and non-proprietary models. Furthermore, leveraging the success of Retrieval-Augmented Generation (RAG), it also considers a method that addresses the limitations of ICL by automatically retrieving contextual examples, thereby enhancing performance. The results highlight the importance of selecting the appropriate LLM and embedding model, understanding the trade-offs between LLM sizes and desired performance, and the necessity to direct research efforts towards more challenging datasets.

Understanding how humans interact with each other is key to building realistic multi-human virtual reality systems. This area remains relatively unexplored due to the lack of large-scale datasets. Recent datasets focusing on this issue mainly consist of activities captured entirely in controlled indoor environments with choreographed actions, significantly affecting their diversity. To address this, we introduce Harmony4D, a multi-view video dataset for human-human interaction featuring in-the-wild activities such as wrestling, dancing, MMA, and more. We use a flexible multi-view capture system to record these dynamic activities and provide annotations for human detection, tracking, 2D/3D pose estimation, and mesh recovery for closely interacting subjects. We propose a novel markerless algorithm to track 3D human poses in severe occlusion and close interaction to obtain our annotations with minimal manual intervention. Harmony4D consists of 1.66 million images and 3.32 million human instances from more than 20 synchronized cameras with 208 video sequences spanning diverse environments and 24 unique subjects. We rigorously evaluate existing state-of-the-art methods for mesh recovery and highlight their significant limitations in modeling close interaction scenarios. Additionally, we fine-tune a pre-trained HMR2.0 model on Harmony4D and demonstrate an improved performance of 54.8% PVE in scenes with severe occlusion and contact. Code and data are available at https://jyuntins.github.io/harmony4d/.

This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations. Recently, prompting Large Language Models (LLMs) to generate actions iteratively has become a prevalent paradigm due to its superior performance and user-friendliness. However, this paradigm is plagued by two inefficiencies: high token consumption and redundant error correction, both of which hinder its scalability for large-scale testing and applications. To address these issues, we propose Tree-Planner, which reframes task planning with LLMs into three distinct phases: plan sampling, action tree construction, and grounded deciding. Tree-Planner starts by using an LLM to sample a set of potential plans before execution, followed by the aggregation of them to form an action tree. Finally, the LLM performs a top-down decision-making process on the tree, taking into account real-time environmental information. Experiments show that Tree-Planner achieves state-of-the-art performance while maintaining high efficiency. By decomposing LLM queries into a single plan-sampling call and multiple grounded-deciding calls, a considerable part of the prompt are less likely to be repeatedly consumed. As a result, token consumption is reduced by 92.2% compared to the previously best-performing model. Additionally, by enabling backtracking on the action tree as needed, the correction process becomes more flexible, leading to a 40.5% decrease in error corrections. Project page: https://tree-planner.github.io/

Video virtual try-on technology provides a cost-effective solution for creating marketing videos in fashion e-commerce. However, its practical adoption is hindered by two critical limitations. First, the reliance on a single garment image as input in current virtual try-on datasets limits the accurate capture of realistic texture details. Second, most existing methods focus solely on generating full-shot virtual try-on videos, neglecting the business's demand for videos that also provide detailed close-ups. To address these challenges, we introduce a high-resolution dataset for video-based virtual try-on. This dataset offers two key features. First, it provides more detailed information on the garments, which includes high-fidelity images with detailed close-ups and textual descriptions; Second, it uniquely includes full-shot and close-up try-on videos of real human models. Furthermore, accurately assessing consistency becomes significantly more critical for the close-up videos, which demand high-fidelity preservation of garment details. To facilitate such fine-grained evaluation, we propose a new garment consistency metric VGID (Video Garment Inception Distance) that quantifies the preservation of both texture and structure. Our experiments validate these contributions. We demonstrate that by utilizing the detailed images from our dataset, existing video generation models can extract and incorporate texture features, significantly enhancing the realism and detail fidelity of virtual try-on results. Furthermore, we conduct a comprehensive benchmark of recent models. The benchmark effectively identifies the texture and structural preservation problems among current methods.

Understanding the physics of planetary magma oceans has been the subject of growing efforts, in light of the increasing abundance of Solar system samples and extrasolar surveys. A rocky planet harboring such an ocean is likely to interact tidally with its host star, planetary companions, or satellites. To date, however, models of the tidal response and heat generation of magma oceans have been restricted to the framework of weakly viscous solids, ignoring the dynamical fluid behavior of the ocean beyond a critical melt fraction. Here we provide a handy analytical model that accommodates this phase transition, allowing for a physical estimation of the tidal response of lava worlds. We apply the model in two settings: The tidal history of the early Earth-Moon system in the aftermath of the giant impact; and the tidal interplay between short-period exoplanets and their host stars. For the former, we show that the fluid behavior of the Earth's molten surface drives efficient early Lunar recession to {sim} 25 Earth radii within 10^4{-} 10^5 years, in contrast with earlier predictions. For close-in exoplanets, we report on how their molten surfaces significantly change their spin-orbit dynamics, allowing them to evade spin-orbit resonances and accelerating their track towards tidal synchronization from a Gyr to Myr timescale. Moreover, we re-evaluate the energy budgets of detected close-in exoplanets, highlighting how the surface thermodynamics of these planets are likely controlled by enhanced, fluid-driven tidal heating, rather than vigorous insolation, and how this regime change substantially alters predictions for their surface temperatures.

Large-scale in-the-wild speech datasets have become more prevalent in recent years due to increased interest in models that can learn useful features from unlabelled data for tasks such as speech recognition or synthesis. These datasets often contain undesirable features, such as multiple speakers, non-target languages, and music, which may impact model learning. The Whilter model is proposed as a multitask solution to identify these undesirable samples. Whilter uses a Whisper encoder with an attention-based classifier to solve five diverse classification problems at once. In addition, an annotated dataset is published for a subset of two popular in-the-wild corpora. Whilter achieves F1 scores above 85% and equal error rates of 6.5% to 7.8% for three of five subtasks, outperforming a state-of-the-art BEATs classifier on speech-specific classes, with a notable decrease in processing time compared to a combination of single-task alternatives.

Batch Normalization is a key component in almost all state-of-the-art image classifiers, but it also introduces practical challenges: it breaks the independence between training examples within a batch, can incur compute and memory overhead, and often results in unexpected bugs. Building on recent theoretical analyses of deep ResNets at initialization, we propose a simple set of analysis tools to characterize signal propagation on the forward pass, and leverage these tools to design highly performant ResNets without activation normalization layers. Crucial to our success is an adapted version of the recently proposed Weight Standardization. Our analysis tools show how this technique preserves the signal in networks with ReLU or Swish activation functions by ensuring that the per-channel activation means do not grow with depth. Across a range of FLOP budgets, our networks attain performance competitive with the state-of-the-art EfficientNets on ImageNet.

Accurate 3D human keypoints localization is a critical technology enabling robots to achieve natural and safe physical interaction with users. Conventional 3D human keypoints estimation methods primarily focus on the whole-body reconstruction quality relative to the root joint. However, in practical human-robot interaction (HRI) scenarios, robots are more concerned with the precise metric-scale spatial localization of task-relevant body parts under the egocentric camera 3D coordinate. We propose TAIHRI, the first Vision-Language Model (VLM) tailored for close-range HRI perception, capable of understanding users' motion commands and directing the robot's attention to the most task-relevant keypoints. By quantizing 3D keypoints into a finite interaction space, TAIHRI precisely localize the 3D spatial coordinates of critical body parts by 2D keypoint reasoning via next token prediction, and seamlessly adapt to downstream tasks such as natural language control or global space human mesh recovery. Experiments on egocentric interaction benchmarks demonstrate that TAIHRI achieves superior estimation accuracy for task-critical body parts. We believe TAIHRI opens new research avenues in the field of embodied human-robot interaction. Code is available at: https://github.com/Tencent/TAIHRI.

Retrieval-Augmented Generation (RAG) improves the accuracy and relevance of large language model outputs by incorporating knowledge retrieval. However, implementing RAG in enterprises poses challenges around data security, accuracy, scalability, and integration. This paper explores the unique requirements for enterprise RAG, surveys current approaches and limitations, and discusses potential advances in semantic search, hybrid queries, and optimized retrieval. It proposes an evaluation framework to validate enterprise RAG solutions, including quantitative testing, qualitative analysis, ablation studies, and industry case studies. This framework aims to help demonstrate the ability of purpose-built RAG architectures to deliver accuracy and relevance improvements with enterprise-grade security, compliance and integration. The paper concludes with implications for enterprise deployments, limitations, and future research directions. Close collaboration between researchers and industry partners may accelerate progress in developing and deploying retrieval-augmented generation technology.

A key challenge for automatic hate-speech detection on social media is the separation of hate speech from other instances of offensive language. Lexical detection methods tend to have low precision because they classify all messages containing particular terms as hate speech and previous work using supervised learning has failed to distinguish between the two categories. We used a crowd-sourced hate speech lexicon to collect tweets containing hate speech keywords. We use crowd-sourcing to label a sample of these tweets into three categories: those containing hate speech, only offensive language, and those with neither. We train a multi-class classifier to distinguish between these different categories. Close analysis of the predictions and the errors shows when we can reliably separate hate speech from other offensive language and when this differentiation is more difficult. We find that racist and homophobic tweets are more likely to be classified as hate speech but that sexist tweets are generally classified as offensive. Tweets without explicit hate keywords are also more difficult to classify.

We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and only consider vertical lifts or short trajectories. This limited scope hampers their applicability for object manipulation required for animation and simulation. To close this gap, we learn a controller that can pick up a large number (>1200) of objects and carry them to follow randomly generated trajectories. Our key insight is to leverage a humanoid motion representation that provides human-like motor skills and significantly speeds up training. Using only simplistic reward, state, and object representations, our method shows favorable scalability on diverse object and trajectories. For training, we do not need dataset of paired full-body motion and object trajectories. At test time, we only require the object mesh and desired trajectories for grasping and transporting. To demonstrate the capabilities of our method, we show state-of-the-art success rates in following object trajectories and generalizing to unseen objects. Code and models will be released.

Cross-encoders distilled from large language models (LLMs) are often more effective re-rankers than cross-encoders fine-tuned on manually labeled data. However, distilled models do not match the effectiveness of their teacher LLMs. We hypothesize that this effectiveness gap is due to the fact that previous work has not applied the best-suited methods for fine-tuning cross-encoders on manually labeled data (e.g., hard-negative sampling, deep sampling, and listwise loss functions). To close this gap, we create a new dataset, Rank-DistiLLM. Cross-encoders trained on Rank-DistiLLM achieve the effectiveness of LLMs while being up to 173 times faster and 24 times more memory efficient. Our code and data is available at https://github.com/webis-de/ECIR-25.

Accelerating the inference of large language models (LLMs) is an important challenge in artificial intelligence. This paper introduces distributed speculative inference (DSI), a novel distributed inference algorithm that is provably faster than speculative inference (SI) [leviathan2023fast, chen2023accelerating, miao2023specinfer] and traditional autoregressive inference (non-SI). Like other SI algorithms, DSI works on frozen LLMs, requiring no training or architectural modifications, and it preserves the target distribution. Prior studies on SI have demonstrated empirical speedups (compared to non-SI) but require a fast and accurate drafter LLM. In practice, off-the-shelf LLMs often do not have matching drafters that are sufficiently fast and accurate. We show a gap: SI gets slower than non-SI when using slower or less accurate drafters. We close this gap by proving that DSI is faster than both SI and non-SI given any drafters. By orchestrating multiple instances of the target and drafters, DSI is not only faster than SI but also supports LLMs that cannot be accelerated with SI. Our simulations show speedups of off-the-shelf LLMs in realistic settings: DSI is 1.29-1.92x faster than SI.

Data contamination poses a significant threat to the reliable evaluation of Large Language Models (LLMs). This issue arises when benchmark samples may inadvertently appear in training sets, compromising the validity of reported performance. While detection methods have been developed for the pre-training and Supervised Fine-Tuning stages, a critical research gap exists for the increasingly significant phase of Reinforcement Learning (RL) post-training. As RL post-training becomes pivotal for advancing LLM reasoning, the absence of specialized contamination detection methods in this paradigm presents a critical vulnerability. To address this, we conduct the first systematic study of data detection within RL post-training scenario and propose Self-Critique. Our method is motivated by a key observation: after RL phase, the output entropy distribution of LLMs tends to collapse into highly specific and sparse modes. Self-Critique probes for the underlying policy collapse, i.e., the model's convergence to a narrow reasoning path, which causes this entropy reduction. To facilitate this research, we also introduce RL-MIA, a benchmark constructed to simulate this specific contamination scenario. Extensive experiments show that Self-Critique significantly outperforms baseline methods across multiple models and contamination tasks, achieving an AUC improvement of up to 30%. Whereas existing methods are close to a random guess for RL-phase contamination, our method makes detection possible.

Recent Multimodal Large Language Models (MLLMs) excel on benchmark vision-language tasks, yet little is known about how input visual quality shapes their responses. Does higher perceptual quality of images already translate to better MLLM understanding? We conduct the first systematic study spanning leading MLLMs and a suite of vision-language benchmarks, applying controlled degradations and stylistic shifts to each image. Surprisingly, we uncover a visual-quality paradox: model, task, and even individual-instance performance can improve when images deviate from human-perceived fidelity. Off-the-shelf restoration pipelines fail to reconcile these idiosyncratic preferences. To close the gap, we introduce Visual-Quality Test-Time Tuning (VQ-TTT)-a lightweight adaptation module that: (1) inserts a learnable, low-rank kernel before the frozen vision encoder to modulate frequency content; and (2) fine-tunes only shallow vision-encoder layers via LoRA. VQ-TTT dynamically adjusts each input image in a single forward pass, aligning it with task-specific model preferences. Across the evaluated MLLMs and all datasets, VQ-TTT lifts significant average accuracy, with no external models, cached features, or extra training data. These findings redefine ``better'' visual inputs for MLLMs and highlight the need for adaptive, rather than universally ``clean'', imagery, in the new era of AI being the main data customer.

Despite LiDAR (Light Detection and Ranging) being an effective privacy-preserving alternative to RGB cameras to perceive human activities, it remains largely underexplored in the context of multi-modal contrastive pre-training for human activity understanding (e.g., human activity recognition (HAR), retrieval, or person re-identification (RE-ID)). To close this gap, our work explores learning the correspondence between LiDAR point clouds, human skeleton poses, IMU data, and text in a joint embedding space. More specifically, we present DeSPITE, a Deep Skeleton-Pointcloud-IMU-Text Embedding model, which effectively learns a joint embedding space across these four modalities. At the heart of our empirical exploration, we have combined the existing LIPD and Babel datasets, which enabled us to synchronize data of all four modalities, allowing us to explore the learning of a new joint embedding space. Our experiments demonstrate novel human activity understanding tasks for point cloud sequences enabled through DeSPITE, including Skeleton<->Pointcloud<->IMU matching, retrieval, and temporal moment retrieval. Furthermore, we show that DeSPITE is an effective pre-training strategy for point cloud HAR through experiments in MSR-Action3D and HMPEAR.

Graph neural networks (GNNs) are machine learning models specialized for graph data and widely used in many applications. To train GNNs on large graphs that exceed CPU memory, several systems store data on disk and conduct out-of-core processing. However, these systems suffer from either read amplification when reading node features that are usually smaller than a disk page or degraded model accuracy by treating the graph as disconnected partitions. To close this gap, we build a system called DiskGNN, which achieves high I/O efficiency and thus fast training without hurting model accuracy. The key technique used by DiskGNN is offline sampling, which helps decouple graph sampling from model computation. In particular, by conducting graph sampling beforehand, DiskGNN acquires the node features that will be accessed by model computation, and such information is utilized to pack the target node features contiguously on disk to avoid read amplification. Besides, also adopts designs including four-level feature store to fully utilize the memory hierarchy to cache node features and reduce disk access, batched packing to accelerate the feature packing process, and pipelined training to overlap disk access with other operations. We compare DiskGNN with Ginex and MariusGNN, which are state-of-the-art systems for out-of-core GNN training. The results show that DiskGNN can speed up the baselines by over 8x while matching their best model accuracy.

LLMs and VLMs are increasingly deployed as embodied agents, yet existing benchmarks largely revolve around simple short-term tasks and struggle to capture rich realistic constraints that shape real-world decision making. To close this gap, we propose DeliveryBench, a city-scale embodied benchmark grounded in the real-world profession of food delivery. Food couriers naturally operate under long-horizon objectives (maximizing net profit over hours) while managing diverse constraints, e.g., delivery deadline, transportation expense, vehicle battery, and necessary interactions with other couriers and customers. DeliveryBench instantiates this setting in procedurally generated 3D cities with diverse road networks, buildings, functional locations, transportation modes, and realistic resource dynamics, enabling systematic evaluation of constraint-aware, long-horizon planning. We benchmark a range of VLM-based agents across nine cities and compare them with human players. Our results reveal a substantial performance gap to humans, and find that these agents are short-sighted and frequently break basic commonsense constraints. Additionally, we observe distinct personalities across models (e.g., adventurous GPT-5 vs. conservative Claude), highlighting both the brittleness and the diversity of current VLM-based embodied agents in realistic, constraint-dense environments. Our code, data, and benchmark are available at https://deliverybench.github.io.

Vision-language-action (VLA) models have significantly advanced robotic manipulation by integrating vision-language models (VLMs), and action decoders into a unified architecture. However, their deployment on resource-constrained edge devices, such as mobile robots or embedded systems (e.g., Jetson Orin Nano), remains challenging due to high computational demands, especially in real-world scenarios where power, latency, and computational resources are critical. To close this gap, we introduce Nano-scale Vision-Language Action (NanoVLA), a family of lightweight VLA architectures that achieve high performance with minimal resources. Our core innovations include: (1) vision-language decoupling that moves conventional early vision and language inputs fusion in VLM to late stage, achieving better performance while enabling caching and reduce inference overhead and latency; (2) long-short action chunking to ensure smooth, coherent multi-step planning without sacrificing real-time responsiveness; (3) dynamic routing that adaptively assigns lightweight or heavy backbones based on task complexity, further optimizing inference efficiency. Experimental results on several benchmarks, as well as real-world deployments, demonstrate that NanoVLA achieves up to 52x faster inference on edge devices compared to previous state-of-the-art VLA models, with 98% less parameters while maintaining or surpassing their task accuracy and generalization. Ablation studies confirm that our decoupling strategy preserves cross-task transferability, and the routing module enhances cost-performance trade-offs, enabling practical, high-precision robotic manipulation on resource-constrained hardware.

Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation, based on topological indices computed for segments on the edges of the cloth mesh border that are arranged on a circular grid. The heat-map of the dGLI disk uncovers patterns that correspond to features of the cloth state that are consistent for different shapes, sizes of positions of the cloth, like the corners and the fold locations. We then abstract these important features from the dGLI disk onto a circle, calling it the Cloth StatE representation (CloSE). This representation is compact, continuous, and general for different shapes. Finally, we show the strengths of this representation in two relevant applications: semantic labeling and high- and low-level planning. The code, the dataset and the video can be accessed from : https://jaykamat99.github.io/close-representation

The ever-increasing large language models (LLMs), though opening a potential path for the upcoming artificial general intelligence, sadly drops a daunting obstacle on the way towards their on-device deployment. As one of the most well-established pre-LLMs approaches in reducing model complexity, network pruning appears to lag behind in the era of LLMs, due mostly to its costly fine-tuning (or re-training) necessity under the massive volumes of model parameter and training data. To close this industry-academia gap, we introduce Dynamic Sparse No Training (DSnoT), a training-free fine-tuning approach that slightly updates sparse LLMs without the expensive backpropagation and any weight updates. Inspired by the Dynamic Sparse Training, DSnoT minimizes the reconstruction error between the dense and sparse LLMs, in the fashion of performing iterative weight pruning-and-growing on top of sparse LLMs. To accomplish this purpose, DSnoT particularly takes into account the anticipated reduction in reconstruction error for pruning and growing, as well as the variance w.r.t. different input data for growing each weight. This practice can be executed efficiently in linear time since its obviates the need of backpropagation for fine-tuning LLMs. Extensive experiments on LLaMA-V1/V2, Vicuna, and OPT across various benchmarks demonstrate the effectiveness of DSnoT in enhancing the performance of sparse LLMs, especially at high sparsity levels. For instance, DSnoT is able to outperform the state-of-the-art Wanda by 26.79 perplexity at 70% sparsity with LLaMA-7B. Our paper offers fresh insights into how to fine-tune sparse LLMs in an efficient training-free manner and open new venues to scale the great potential of sparsity to LLMs. Codes are available at https://github.com/zyxxmu/DSnoT.

Object detection is the key technique to a number of Computer Vision applications, but it often requires large amounts of annotated data to achieve decent results. Moreover, for pedestrian detection specifically, the collected data might contain some personally identifiable information (PII), which is highly restricted in many countries. This label intensive and privacy concerning task has recently led to an increasing interest in training the detection models using synthetically generated pedestrian datasets collected with a photo-realistic video game engine. The engine is able to generate unlimited amounts of data with precise and consistent annotations, which gives potential for significant gains in the real-world applications. However, the use of synthetic data for training introduces a synthetic-to-real domain shift aggravating the final performance. To close the gap between the real and synthetic data, we propose to use a Generative Adversarial Network (GAN), which performsparameterized unpaired image-to-image translation to generate more realistic images. The key benefit of using the GAN is its intrinsic preference of low-level changes to geometric ones, which means annotations of a given synthetic image remain accurate even after domain translation is performed thus eliminating the need for labeling real data. We extensively experimented with the proposed method using MOTSynth dataset to train and MOT17 and MOT20 detection datasets to test, with experimental results demonstrating the effectiveness of this method. Our approach not only produces visually plausible samples but also does not require any labels of the real domain thus making it applicable to the variety of downstream tasks.

We explore cross-lingual multi-speaker speech synthesis and cross-lingual voice conversion applied to data augmentation for automatic speech recognition (ASR) systems. Through extensive experiments, we show that our approach permits the application of speech synthesis and voice conversion to improve ASR systems on a target language using only one target-language speaker during model training. We managed to close the gap between ASR models trained with synthesized versus human speech compared to other works that use many speakers. Finally, we show that it is possible to obtain promising ASR training results with our data augmentation method using only a single real speaker in a target language.

When deploying machine learning models in high-stakes real-world environments such as health care, it is crucial to accurately assess the uncertainty concerning a model's prediction on abnormal inputs. However, there is a scarcity of literature analyzing this problem on medical data, especially on mixed-type tabular data such as Electronic Health Records. We close this gap by presenting a series of tests including a large variety of contemporary uncertainty estimation techniques, in order to determine whether they are able to identify out-of-distribution (OOD) patients. In contrast to previous work, we design tests on realistic and clinically relevant OOD groups, and run experiments on real-world medical data. We find that almost all techniques fail to achieve convincing results, partly disagreeing with earlier findings.

In reinforcement learning an agent interacts with the environment by taking actions and observing the next state and reward. When sampled probabilistically, these state transitions, rewards, and actions can all induce randomness in the observed long-term return. Traditionally, reinforcement learning algorithms average over this randomness to estimate the value function. In this paper, we build on recent work advocating a distributional approach to reinforcement learning in which the distribution over returns is modeled explicitly instead of only estimating the mean. That is, we examine methods of learning the value distribution instead of the value function. We give results that close a number of gaps between the theoretical and algorithmic results given by Bellemare, Dabney, and Munos (2017). First, we extend existing results to the approximate distribution setting. Second, we present a novel distributional reinforcement learning algorithm consistent with our theoretical formulation. Finally, we evaluate this new algorithm on the Atari 2600 games, observing that it significantly outperforms many of the recent improvements on DQN, including the related distributional algorithm C51.

We introduce Open Deep Search (ODS) to close the increasing gap between the proprietary search AI solutions, such as Perplexity's Sonar Reasoning Pro and OpenAI's GPT-4o Search Preview, and their open-source counterparts. The main innovation introduced in ODS is to augment the reasoning capabilities of the latest open-source LLMs with reasoning agents that can judiciously use web search tools to answer queries. Concretely, ODS consists of two components that work with a base LLM chosen by the user: Open Search Tool and Open Reasoning Agent. Open Reasoning Agent interprets the given task and completes it by orchestrating a sequence of actions that includes calling tools, one of which is the Open Search Tool. Open Search Tool is a novel web search tool that outperforms proprietary counterparts. Together with powerful open-source reasoning LLMs, such as DeepSeek-R1, ODS nearly matches and sometimes surpasses the existing state-of-the-art baselines on two benchmarks: SimpleQA and FRAMES. For example, on the FRAMES evaluation benchmark, ODS improves the best existing baseline of the recently released GPT-4o Search Preview by 9.7% in accuracy. ODS is a general framework for seamlessly augmenting any LLMs -- for example, DeepSeek-R1 that achieves 82.4% on SimpleQA and 30.1% on FRAMES -- with search and reasoning capabilities to achieve state-of-the-art performance: 88.3% on SimpleQA and 75.3% on FRAMES.

Language model (LLM) post-training, from DPO to distillation, can refine behaviors and unlock new skills, but the open science supporting these post-training techniques is still in its infancy. One limiting factor has been the difficulty of conducting large-scale comparative analyses of synthetic data generating models and LLM judges. To close this gap, we introduce WILDCHAT-50M, the largest public chat dataset to date. We extend the existing WildChat dataset to include responses not only from GPT, but from over 50 different open-weight models, ranging in size from 0.5B to 104B parameters. We conduct an extensive comparative analysis and demonstrate the potential of this dataset by creating RE-WILD, our own public SFT mix, which outperforms the recent Tulu-3 SFT mixture from Allen AI with only 40% as many samples. Our dataset, samples and code are available at https://github.com/penfever/wildchat-50m.

Multimodal reasoning, which integrates language and visual cues into problem solving and decision making, is a fundamental aspect of human intelligence and a crucial step toward artificial general intelligence. However, the evaluation of multimodal reasoning capabilities in Multimodal Large Language Models (MLLMs) remains inadequate. Most existing reasoning benchmarks are constrained by limited data size, narrow domain coverage, and unstructured knowledge distribution. To close these gaps, we introduce MDK12-Bench, a multi-disciplinary benchmark assessing the reasoning capabilities of MLLMs via real-world K-12 examinations. Spanning six disciplines (math, physics, chemistry, biology, geography, and information science), our benchmark comprises 140K reasoning instances across diverse difficulty levels from primary school to 12th grade. It features 6,827 instance-level knowledge point annotations based on a well-organized knowledge structure, detailed answer explanations, difficulty labels and cross-year partitions, providing a robust platform for comprehensive evaluation. Additionally, we present a novel dynamic evaluation framework to mitigate data contamination issues by bootstrapping question forms, question types, and image styles during evaluation. Extensive experiment on MDK12-Bench reveals the significant limitation of current MLLMs in multimodal reasoning. The findings on our benchmark provide insights into the development of the next-generation models. Our data and codes are available at https://github.com/LanceZPF/MDK12.

Large language models (LLMs) are increasingly envisioned as decision-support tools in clinical practice, yet safe clinical reasoning demands integrating heterogeneous knowledge bases -- trials, primary studies, regulatory documents, and cost data -- under strict accuracy constraints. Existing evaluations often rely on synthetic prompts, reduce the task to single-hop factoid queries, or conflate reasoning with open-ended generation, leaving their real-world utility unclear. To close this gap, we present MedBrowseComp, the first benchmark that systematically tests an agent's ability to reliably retrieve and synthesize multi-hop medical facts from live, domain-specific knowledge bases. MedBrowseComp contains more than 1,000 human-curated questions that mirror clinical scenarios where practitioners must reconcile fragmented or conflicting information to reach an up-to-date conclusion. Applying MedBrowseComp to frontier agentic systems reveals performance shortfalls as low as ten percent, exposing a critical gap between current LLM capabilities and the rigor demanded in clinical settings. MedBrowseComp therefore offers a clear testbed for reliable medical information seeking and sets concrete goals for future model and toolchain upgrades. You can visit our project page at: https://moreirap12.github.io/mbc-browse-app/

Although powerful graph neural networks (GNNs) have boosted numerous real-world applications, the potential privacy risk is still underexplored. To close this gap, we perform the first comprehensive study of graph reconstruction attack that aims to reconstruct the adjacency of nodes. We show that a range of factors in GNNs can lead to the surprising leakage of private links. Especially by taking GNNs as a Markov chain and attacking GNNs via a flexible chain approximation, we systematically explore the underneath principles of graph reconstruction attack, and propose two information theory-guided mechanisms: (1) the chain-based attack method with adaptive designs for extracting more private information; (2) the chain-based defense method that sharply reduces the attack fidelity with moderate accuracy loss. Such two objectives disclose a critical belief that to recover better in attack, you must extract more multi-aspect knowledge from the trained GNN; while to learn safer for defense, you must forget more link-sensitive information in training GNNs. Empirically, we achieve state-of-the-art results on six datasets and three common GNNs. The code is publicly available at: https://github.com/tmlr-group/MC-GRA.

Observing the close relationship among panoptic, semantic and instance segmentation tasks, we propose to train a universal multi-dataset multi-task segmentation model: DaTaSeg.We use a shared representation (mask proposals with class predictions) for all tasks. To tackle task discrepancy, we adopt different merge operations and post-processing for different tasks. We also leverage weak-supervision, allowing our segmentation model to benefit from cheaper bounding box annotations. To share knowledge across datasets, we use text embeddings from the same semantic embedding space as classifiers and share all network parameters among datasets. We train DaTaSeg on ADE semantic, COCO panoptic, and Objects365 detection datasets. DaTaSeg improves performance on all datasets, especially small-scale datasets, achieving 54.0 mIoU on ADE semantic and 53.5 PQ on COCO panoptic. DaTaSeg also enables weakly-supervised knowledge transfer on ADE panoptic and Objects365 instance segmentation. Experiments show DaTaSeg scales with the number of training datasets and enables open-vocabulary segmentation through direct transfer. In addition, we annotate an Objects365 instance segmentation set of 1,000 images and will release it as a public benchmark.

Transfer learning leverages feature representations of deep neural networks (DNNs) pretrained on source tasks with rich data to empower effective finetuning on downstream tasks. However, the pretrained models are often prohibitively large for delivering generalizable representations, which limits their deployment on edge devices with constrained resources. To close this gap, we propose a new transfer learning pipeline, which leverages our finding that robust tickets can transfer better, i.e., subnetworks drawn with properly induced adversarial robustness can win better transferability over vanilla lottery ticket subnetworks. Extensive experiments and ablation studies validate that our proposed transfer learning pipeline can achieve enhanced accuracy-sparsity trade-offs across both diverse downstream tasks and sparsity patterns, further enriching the lottery ticket hypothesis.

Music is essential when editing videos, but selecting music manually is difficult and time-consuming. Thus, we seek to automatically generate background music tracks given video input. This is a challenging task since it requires music-video datasets, efficient architectures for video-to-music generation, and reasonable metrics, none of which currently exist. To close this gap, we introduce a complete recipe including dataset, benchmark model, and evaluation metric for video background music generation. We present SymMV, a video and symbolic music dataset with various musical annotations. To the best of our knowledge, it is the first video-music dataset with rich musical annotations. We also propose a benchmark video background music generation framework named V-MusProd, which utilizes music priors of chords, melody, and accompaniment along with video-music relations of semantic, color, and motion features. To address the lack of objective metrics for video-music correspondence, we design a retrieval-based metric VMCP built upon a powerful video-music representation learning model. Experiments show that with our dataset, V-MusProd outperforms the state-of-the-art method in both music quality and correspondence with videos. We believe our dataset, benchmark model, and evaluation metric will boost the development of video background music generation. Our dataset and code are available at https://github.com/zhuole1025/SymMV.

Automated data visualization plays a crucial role in simplifying data interpretation, enhancing decision-making, and improving efficiency. While large language models (LLMs) have shown promise in generating visualizations from natural language, the absence of comprehensive benchmarks limits the rigorous evaluation of their capabilities. We introduce Text2Vis, a benchmark designed to assess text-to-visualization models, covering 20+ chart types and diverse data science queries, including trend analysis, correlation, outlier detection, and predictive analytics. It comprises 1,985 samples, each with a data table, natural language query, short answer, visualization code, and annotated charts. The queries involve complex reasoning, conversational turns, and dynamic data retrieval. We benchmark 11 open-source and closed-source models, revealing significant performance gaps, highlighting key challenges, and offering insights for future advancements. To close this gap, we propose the first cross-modal actor-critic agentic framework that jointly refines the textual answer and visualization code, increasing GPT-4o`s pass rate from 26% to 42% over the direct approach and improving chart quality. We also introduce an automated LLM-based evaluation framework that enables scalable assessment across thousands of samples without human annotation, measuring answer correctness, code execution success, visualization readability, and chart accuracy. We release Text2Vis at https://github.com/vis-nlp/Text2Vis.

Generative modeling of time series is a central challenge in time series analysis, particularly under data-scarce conditions. Despite recent advances in generative modeling, a comprehensive understanding of how state-of-the-art generative models perform under limited supervision remains lacking. In this work, we conduct the first large-scale study evaluating leading generative models in data-scarce settings, revealing a substantial performance gap between full-data and data-scarce regimes. To close this gap, we propose a unified diffusion-based generative framework that can synthesize high-fidelity time series across diverse domains using just a few examples. Our model is pre-trained on a large, heterogeneous collection of time series datasets, enabling it to learn generalizable temporal representations. It further incorporates architectural innovations such as dynamic convolutional layers for flexible channel adaptation and dataset token conditioning for domain-aware generation. Without requiring abundant supervision, our unified model achieves state-of-the-art performance in few-shot settings-outperforming domain-specific baselines across a wide range of subset sizes. Remarkably, it also surpasses all baselines even when tested on full datasets benchmarks, highlighting the strength of pre-training and cross-domain generalization. We hope this work encourages the community to revisit few-shot generative modeling as a key problem in time series research and pursue unified solutions that scale efficiently across domains. Code is available at https://github.com/azencot-group/ImagenFew.

The stellar initial mass function is of great significance for the study of star formation and galactic structure. Observations indicate that the IMF follows a power-law form. This work derived that when the expected number of stars formed from a spherical molecular cloud is much greater than 1, there is a relationship between the slope alpha of the IMF and r^n in the radius-density relation of spherically symmetric gas clouds, given by alpha = 3/(n+3) (Gamma_{IMF} = n/(n+3)). This conclusion is close to the results of numerical simulations and observations, but it is derived from a pure probabilistic model, which may have underlying reasons worth pondering.

High-quality benchmarks are crucial for driving progress in machine learning research. However, despite the growing interest in video generation, there is no comprehensive dataset to evaluate human generation. Humans can perform a wide variety of actions and interactions, but existing datasets, like TikTok and TED-Talks, lack the diversity and complexity to fully capture the capabilities of video generation models. We close this gap by introducing `What Are You Doing?' (WYD): a new benchmark for fine-grained evaluation of controllable image-to-video generation of humans. WYD consists of 1{,}544 captioned videos that have been meticulously collected and annotated with 56 fine-grained categories. These allow us to systematically measure performance across 9 aspects of human generation, including actions, interactions and motion. We also propose and validate automatic metrics that leverage our annotations and better capture human evaluations. Equipped with our dataset and metrics, we perform in-depth analyses of seven state-of-the-art models in controllable image-to-video generation, showing how WYD provides novel insights about the capabilities of these models. We release our data and code to drive forward progress in human video generation modeling at https://github.com/google-deepmind/wyd-benchmark.

Large language models (LLMs) are susceptible to hallucinations-outputs that are ungrounded, factually incorrect, or inconsistent with prior generations. We focus on close-book Question Answering (CBQA), where previous work has not fully addressed the distinction between two possible kinds of hallucinations, namely, whether the model (1) does not hold the correct answer in its parameters or (2) answers incorrectly despite having the required knowledge. We argue that distinguishing these cases is crucial for detecting and mitigating hallucinations. Specifically, case (2) may be mitigated by intervening in the model's internal computation, as the knowledge resides within the model's parameters. In contrast, in case (1) there is no parametric knowledge to leverage for mitigation, so it should be addressed by resorting to an external knowledge source or abstaining. To help distinguish between the two cases, we introduce Wrong Answer despite having Correct Knowledge (WACK), an approach for constructing model-specific datasets for the second hallucination type. Our probing experiments indicate that the two kinds of hallucinations are represented differently in the model's inner states. Next, we show that datasets constructed using WACK exhibit variations across models, demonstrating that even when models share knowledge of certain facts, they still vary in the specific examples that lead to hallucinations. Finally, we show that training a probe on our WACK datasets leads to better hallucination detection of case (2) hallucinations than using the common generic one-size-fits-all datasets. The code is available at https://github.com/technion-cs-nlp/hallucination-mitigation .

Extracting key information from scientific papers has the potential to help researchers work more efficiently and accelerate the pace of scientific progress. Over the last few years, research on Scientific Information Extraction (SciIE) witnessed the release of several new systems and benchmarks. However, existing paper-focused datasets mostly focus only on specific parts of a manuscript (e.g., abstracts) and are single-modality (i.e., text- or table-only), due to complex processing and expensive annotations. Moreover, core information can be present in either text or tables or across both. To close this gap in data availability and enable cross-modality IE, while alleviating labeling costs, we propose a semi-supervised pipeline for annotating entities in text, as well as entities and relations in tables, in an iterative procedure. Based on this pipeline, we release novel resources for the scientific community, including a high-quality benchmark, a large-scale corpus, and a semi-supervised annotation pipeline. We further report the performance of state-of-the-art IE models on the proposed benchmark dataset, as a baseline. Lastly, we explore the potential capability of large language models such as ChatGPT for the current task. Our new dataset, results, and analysis validate the effectiveness and efficiency of our semi-supervised pipeline, and we discuss its remaining limitations.

Implicit layer deep learning techniques, like Neural Differential Equations, have become an important modeling framework due to their ability to adapt to new problems automatically. Training a neural differential equation is effectively a search over a space of plausible dynamical systems. However, controlling the computational cost for these models is difficult since it relies on the number of steps the adaptive solver takes. Most prior works have used higher-order methods to reduce prediction timings while greatly increasing training time or reducing both training and prediction timings by relying on specific training algorithms, which are harder to use as a drop-in replacement due to strict requirements on automatic differentiation. In this manuscript, we use internal cost heuristics of adaptive differential equation solvers at stochastic time points to guide the training toward learning a dynamical system that is easier to integrate. We "close the black-box" and allow the use of our method with any adjoint technique for gradient calculations of the differential equation solution. We perform experimental studies to compare our method to global regularization to show that we attain similar performance numbers without compromising the flexibility of implementation on ordinary differential equations (ODEs) and stochastic differential equations (SDEs). We develop two sampling strategies to trade off between performance and training time. Our method reduces the number of function evaluations to 0.556-0.733x and accelerates predictions by 1.3-2x.

We study the problem of detecting the correlation between two Gaussian databases XinR^{ntimes d} and Y^{ntimes d}, each composed of n users with d features. This problem is relevant in the analysis of social media, computational biology, etc. We formulate this as a hypothesis testing problem: under the null hypothesis, these two databases are statistically independent. Under the alternative, however, there exists an unknown permutation sigma over the set of n users (or, row permutation), such that X is rho-correlated with Y^sigma, a permuted version of Y. We determine sharp thresholds at which optimal testing exhibits a phase transition, depending on the asymptotic regime of n and d. Specifically, we prove that if rho^2dto0, as dtoinfty, then weak detection (performing slightly better than random guessing) is statistically impossible, irrespectively of the value of n. This compliments the performance of a simple test that thresholds the sum all entries of X^TY. Furthermore, when d is fixed, we prove that strong detection (vanishing error probability) is impossible for any rho<rho^star, where rho^star is an explicit function of d, while weak detection is again impossible as long as rho^2dto0. These results close significant gaps in current recent related studies.

Domain shift across crowd data severely hinders crowd counting models to generalize to unseen scenarios. Although domain adaptive crowd counting approaches close this gap to a certain extent, they are still dependent on the target domain data to adapt (e.g. finetune) their models to the specific domain. In this paper, we aim to train a model based on a single source domain which can generalize well on any unseen domain. This falls into the realm of domain generalization that remains unexplored in crowd counting. We first introduce a dynamic sub-domain division scheme which divides the source domain into multiple sub-domains such that we can initiate a meta-learning framework for domain generalization. The sub-domain division is dynamically refined during the meta-learning. Next, in order to disentangle domain-invariant information from domain-specific information in image features, we design the domain-invariant and -specific crowd memory modules to re-encode image features. Two types of losses, i.e. feature reconstruction and orthogonal losses, are devised to enable this disentanglement. Extensive experiments on several standard crowd counting benchmarks i.e. SHA, SHB, QNRF, and NWPU, show the strong generalizability of our method.

Modeling and estimating mixed memberships for overlapping unipartite un-weighted networks has been well studied in recent years. However, to our knowledge, there is no model for a more general case, the overlapping bipartite weighted networks. To close this gap, we introduce a novel model, the Bipartite Mixed Membership Distribution-Free (BiMMDF) model. Our model allows an adjacency matrix to follow any distribution as long as its expectation has a block structure related to node membership. In particular, BiMMDF can model overlapping bipartite signed networks and it is an extension of many previous models, including the popular mixed membership stochastic blcokmodels. An efficient algorithm with a theoretical guarantee of consistent estimation is applied to fit BiMMDF. We then obtain the separation conditions of BiMMDF for different distributions. Furthermore, we also consider missing edges for sparse networks. The advantage of BiMMDF is demonstrated in extensive synthetic networks and eight real-world networks.

Recently, contrastive learning has been shown to be effective in improving pre-trained language models (PLM) to derive high-quality sentence representations. It aims to pull close positive examples to enhance the alignment while push apart irrelevant negatives for the uniformity of the whole representation space. However, previous works mostly adopt in-batch negatives or sample from training data at random. Such a way may cause the sampling bias that improper negatives (e.g. false negatives and anisotropy representations) are used to learn sentence representations, which will hurt the uniformity of the representation space. To address it, we present a new framework DCLR (Debiased Contrastive Learning of unsupervised sentence Representations) to alleviate the influence of these improper negatives. In DCLR, we design an instance weighting method to punish false negatives and generate noise-based negatives to guarantee the uniformity of the representation space. Experiments on seven semantic textual similarity tasks show that our approach is more effective than competitive baselines. Our code and data are publicly available at the link: blue{https://github.com/RUCAIBox/DCLR}.

Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and size of monocular cameras. However, state-of-the-art single-view depth estimation algorithms are based on fairly complex deep neural networks that are too slow for real-time inference on an embedded platform, for instance, mounted on a micro aerial vehicle. In this paper, we address the problem of fast depth estimation on embedded systems. We propose an efficient and lightweight encoder-decoder network architecture and apply network pruning to further reduce computational complexity and latency. In particular, we focus on the design of a low-latency decoder. Our methodology demonstrates that it is possible to achieve similar accuracy as prior work on depth estimation, but at inference speeds that are an order of magnitude faster. Our proposed network, FastDepth, runs at 178 fps on an NVIDIA Jetson TX2 GPU and at 27 fps when using only the TX2 CPU, with active power consumption under 10 W. FastDepth achieves close to state-of-the-art accuracy on the NYU Depth v2 dataset. To the best of the authors' knowledge, this paper demonstrates real-time monocular depth estimation using a deep neural network with the lowest latency and highest throughput on an embedded platform that can be carried by a micro aerial vehicle.

While multimodal conversation agents are gaining importance in several domains such as retail, travel etc., deep learning research in this area has been limited primarily due to the lack of availability of large-scale, open chatlogs. To overcome this bottleneck, in this paper we introduce the task of multimodal, domain-aware conversations, and propose the MMD benchmark dataset. This dataset was gathered by working in close coordination with large number of domain experts in the retail domain. These experts suggested various conversations flows and dialog states which are typically seen in multimodal conversations in the fashion domain. Keeping these flows and states in mind, we created a dataset consisting of over 150K conversation sessions between shoppers and sales agents, with the help of in-house annotators using a semi-automated manually intense iterative process. With this dataset, we propose 5 new sub-tasks for multimodal conversations along with their evaluation methodology. We also propose two multimodal neural models in the encode-attend-decode paradigm and demonstrate their performance on two of the sub-tasks, namely text response generation and best image response selection. These experiments serve to establish baseline performance and open new research directions for each of these sub-tasks. Further, for each of the sub-tasks, we present a `per-state evaluation' of 9 most significant dialog states, which would enable more focused research into understanding the challenges and complexities involved in each of these states.