Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering consistent conditioning across frames and modalities; however, their performance heavily depends on annotated occupancy data, which still remains scarce. To overcome this limitation, we curate Nuplan-Occ, the largest semantic occupancy dataset to date, constructed from the widely used Nuplan benchmark. Its scale and diversity facilitate not only large-scale generative modeling but also autonomous driving downstream applications. Based on this dataset, we develop a unified framework that jointly synthesizes high-quality semantic occupancy, multi-view videos, and LiDAR point clouds. Our approach incorporates a spatio-temporal disentangled architecture to support high-fidelity spatial expansion and temporal forecasting of 4D dynamic occupancy. To bridge modal gaps, we further propose two novel techniques: a Gaussian splatting-based sparse point map rendering strategy that enhances multi-view video generation, and a sensor-aware embedding strategy that explicitly models LiDAR sensor properties for realistic multi-LiDAR simulation. Extensive experiments demonstrate that our method achieves superior generation fidelity and scalability compared to existing approaches, and validates its practical value in downstream tasks. Repo: https://github.com/Arlo0o/UniScene-Unified-Occupancy-centric-Driving-Scene-Generation/tree/v2

Safe decision-making algorithms for control of mobile robots often require the existence of feedback to verify the safety of proposed actions. This feedback is assumed to be directly available during the development or deployment of the control system. It can take the form of either an explicit constraint formulation or a set of hand-labeled safety data, both of which can be inaccurate or time consuming to produce. Many recently developed simulators can handle complex interactions and varied environments. These environments have implicit safety constraints that may be hard to model. By leveraging one of these simulators, we can construct a proxy for a safety function that bypasses the need for hand designed feedback in capturing these constraints. We present an algorithm that approximates safety by using reversibility and a positive-invariance assumption on the unsafe state space. This method employs the Model-Predictive Path Integral algorithm (MPPI) to establish this reversibility and verify a proposed action. First the action is projected via the simulator to a future state. Then if MPPI can find a path back to a previous state in the trajectory, that state is guaranteed to be outside the unsafe (positive invariant) set. Experimental results demonstrate that the proposed algorithm can approximate the performance of a safety oracle while avoiding classification of unsafe states as safe.

Exploiting unlabeled data through semi-supervised learning (SSL) or leveraging pre-trained models via fine-tuning are two prevailing paradigms for addressing label-scarce scenarios. Recently, growing attention has been given to combining fine-tuning of pre-trained vision-language models (VLMs) with SSL, forming the emerging paradigm of semi-supervised fine-tuning. However, existing methods often suffer from model bias and hyperparameter sensitivity, due to reliance on prediction consistency or pre-defined confidence thresholds. To address these limitations, we propose a simple yet effective plug-and-play methodology named $\underline{\textbf{Bi-Co}}$nsistency-$\underline{\textbf{G}}$uided Self-Training (Bi-CoG), which assigns high-quality and low-bias pseudo-labels, by simultaneously exploiting inter-model and intra-model consistency, along with an error-aware dynamic pseudo-label assignment strategy. Both theoretical analysis and extensive experiments over 14 datasets demonstrate the effectiveness of Bi-CoG, which consistently and significantly improves the performance of existing methods.

With the growing use of large language models and conversational interfaces in human-robot interaction, robots' ability to answer user questions is more important than ever. We therefore introduce a dataset of 1,893 user questions for household robots, collected from 100 participants and organized into 12 categories and 70 subcategories. Most work in explainable robotics focuses on why-questions. In contrast, our dataset provides a wide variety of questions, from questions about simple execution details to questions about how the robot would act in hypothetical scenarios -- thus giving roboticists valuable insights into what questions their robot needs to be able to answer. To collect the dataset, we created 15 video stimuli and 7 text stimuli, depicting robots performing varied household tasks. We then asked participants on Prolific what questions they would want to ask the robot in each portrayed situation. In the final dataset, the most frequent categories are questions about task execution details (21.4%), the robot's capabilities (12.6%), and performance assessments (10.7%). Although questions about how robots would handle potentially difficult scenarios and ensure correct behavior are less frequent, users rank them as the most important for robots to be able to answer. Moreover, we find that users who identify as novices in robotics ask different questions than more experienced users. Novices are more likely to inquire about simple facts, such as what the robot did or the current state of the environment. As robots enter environments shared with humans and language becomes central to giving instructions and interaction, this dataset provides a valuable foundation for (i) identifying the information robots need to log and expose to conversational interfaces, (ii) benchmarking question-answering modules, and (iii) designing explanation strategies that align with user expectations.

Offline goal-conditioned reinforcement learning (GCRL) often struggles with long-horizon tasks, where errors in value estimation accumulate and produce unreliable policies. It is typically assumed that effective long-term planning is infeasible without specialized training. In contrast, our work demonstrates that existing GCRL policies can complete long-horizon tasks when combined with a lightweight, training-free planning wrapper. We find that standard goal-conditioned value functions encode locally consistent geometric structure sufficient for planning. Our approach, Test-Time Graph Search (TTGS), constructs a graph over the offline dataset and employs an adaptive subgoal selection strategy. To address unreliable value estimates during shortest-path search, we propose a novel mechanism that softly penalizes long-distance transitions. Our method incurs negligible computational overhead and requires no additional supervision or parameter updates. On the OGBench benchmark, TTGS significantly boosts success rates across multiple base learners and tasks, with primary gains on challenging long-horizon locomotion tasks where some success rates are improved from near-zero to over 90\%, often matching or outperforming methods that require complex auxiliary training. Code and videos can be found at https://ktolnos.github.io/ttgs.

A natural desideratum for generative models is self-correction--detecting and revising low-quality tokens at inference. While Masked Diffusion Models (MDMs) have emerged as a promising approach for generative modeling in discrete spaces, their capacity for self-correction remains poorly understood. Prior attempts to incorporate self-correction into MDMs either require overhauling MDM architectures/training or rely on imprecise proxies for token quality, limiting their applicability. Motivated by this, we introduce PRISM--Plug-in Remasking for Inference-time Self-correction of Masked Diffusions--a lightweight, model-agnostic approach that applies to any pretrained MDM. Theoretically, PRISM defines a self-correction loss that provably learns per-token quality scores, without RL or a verifier. These quality scores are computed in the same forward pass with MDM and used to detect low-quality tokens. Empirically, PRISM advances MDM inference across domains and scales: Sudoku; unconditional text (170M); and code with LLaDA (8B).

We present a mechanism to steer the sampling diversity of denoising diffusion and flow matching models, allowing users to sample from a sharper or broader distribution than the training distribution. We build on the observation that these models leverage (learned) score functions of noisy data distributions for sampling and show that rescaling these allows one to effectively control a 'local' sampling temperature. Notably, this approach does not require any finetuning or alterations to training strategy, and can be applied to any off-the-shelf model and is compatible with both deterministic and stochastic samplers. We first validate our framework on toy 2D data, and then demonstrate its application for diffusion models trained across five disparate tasks -- image generation, pose estimation, depth prediction, robot manipulation, and protein design. We find that across these tasks, our approach allows sampling from sharper (or flatter) distributions, yielding performance gains e.g., depth prediction models benefit from sampling more likely depth estimates, whereas image generation models perform better when sampling a slightly flatter distribution.

This study uses controlled simulations with known ground-truth parameters to evaluate how Distributional Latent Variable Models (DLVM) and Bayesian Distributional Active LEarning (DALE) perform in comparison to conventional Independent Maximum Likelihood Estimation (IMLE). DLVM integrates observations across multiple executive function tasks and individuals, allowing parameter estimation even under sparse or incomplete data conditions. To establish known-ground truth, we uniformly sample individual sessions from a neural network learned latent space and map them to distributional cognitive performance across different tasks. The individual test-items are then sampled from these distributions using either DALE, random procedure or a standard fixed battery approach. When given the same set of observations, DLVM consistently outperformed IMLE, especially under smaller amounts of data, and converges faster to highly accurate estimates of the true distributions. In a second set of analyses, DALE adaptively guided sampling to maximize information gain, outperforming random sampling and fixed test batteries, particularly within the first 80 trials. These findings establish the advantages of combining DLVM's cross-task inference with DALE's optimal adaptive sampling, providing a principled basis for more efficient cognitive assessments.

As Large Multimodal Models (LMMs) become integral to daily digital life, understanding their safety architectures is a critical problem for AI Alignment. This paper presents a systematic analysis of OpenAI's GPT-4o mini, a globally deployed model, on the difficult task of multimodal hate speech detection. Using the Hateful Memes Challenge dataset, we conduct a multi-phase investigation on 500 samples to probe the model's reasoning and failure modes. Our central finding is the experimental identification of a "Unimodal Bottleneck," an architectural flaw where the model's advanced multimodal reasoning is systematically preempted by context-blind safety filters. A quantitative validation of 144 content policy refusals reveals that these overrides are triggered in equal measure by unimodal visual 50% and textual 50% content. We further demonstrate that this safety system is brittle, blocking not only high-risk imagery but also benign, common meme formats, leading to predictable false positives. These findings expose a fundamental tension between capability and safety in state-of-the-art LMMs, highlighting the need for more integrated, context-aware alignment strategies to ensure AI systems can be deployed both safely and effectively.

The volume of machine-generated content online has grown dramatically due to the widespread use of Large Language Models (LLMs), leading to new challenges for content moderation systems. Conventional content moderation classifiers, which are usually trained on text produced by humans, suffer from misclassifications due to LLM-generated text deviating from their training data and adversarial attacks that aim to avoid detection. Present-day defence tactics are reactive rather than proactive, since they rely on adversarial training or external detection models to identify attacks. In this work, we aim to identify the vulnerable components of toxicity classifiers that contribute to misclassification, proposing a novel strategy based on mechanistic interpretability techniques. Our study focuses on fine-tuned BERT and RoBERTa classifiers, testing on diverse datasets spanning a variety of minority groups. We use adversarial attacking techniques to identify vulnerable circuits. Finally, we suppress these vulnerable circuits, improving performance against adversarial attacks. We also provide demographic-level insights into these vulnerable circuits, exposing fairness and robustness gaps in model training. We find that models have distinct heads that are either crucial for performance or vulnerable to attack and suppressing the vulnerable heads improves performance on adversarial input. We also find that different heads are responsible for vulnerability across different demographic groups, which can inform more inclusive development of toxicity detection models.

Reasoning is a fundamentally algorithmic task. Yet current work on LLM-based reasoning relies on free-form generation whose theoretical guarantees (soundness, completeness, complexity, optimality) remain poorly understood. We argue that we should not treat them as general-purpose reasoners, and as an alternative, we propose a paradigm we call \emph{verbalized algorithms} (VAs), which combines LLMs and various algorithms with established guarantees. Instead of betting on LLM's ability to solve a reasoning task, VAs limit their scope by decomposing the task down to simple elementary operations on strings that they can answer reliably. For example, sorting a list of natural language strings could be done by using an LLM as a binary comparison oracle in a parallel or approximate sorting algorithm. We push the accuracy-runtime Pareto front with \emph{verbalized maximum}, \emph{sorting}, \emph{clustering}, and \emph{submodular maximization}, for numerical reasoning, topic clustering, Wi-Fi access point optimization, and multi-hop Q\&A RAG task. These results suggest improving LLM-based reasoning through standard algorithmic analysis is a feasible and better grounded research direction.

We develop new experimental paradigms for measuring welfare in language models. We compare verbal reports of models about their preferences with preferences expressed through behavior when navigating a virtual environment and selecting conversation topics. We also test how costs and rewards affect behavior and whether responses to an eudaimonic welfare scale - measuring states such as autonomy and purpose in life - are stable across semantically equivalent prompts. Overall, we observed a notable degree of mutual support between our measures. The reliable correlations observed between stated preferences and behavior across conditions suggest that preference satisfaction can, in principle, serve as an empirically measurable welfare proxy in some of today's AI systems. Furthermore, our design offered an illuminating setting for qualitative observation of model behavior. Yet, the consistency between measures was more pronounced in some models and conditions than others and responses were changed by perturbations. Due to this, and the background uncertainty about the nature of welfare and the cognitive states (and welfare subjecthood) of language models, we are currently uncertain whether our methods successfully measure the welfare state of language models. Nevertheless, these findings highlight the feasibility of welfare measurement in language models, inviting further exploration.

Tool calling has emerged as a critical capability for AI agents. In contrast to conventional tool calling frameworks that rely on static, provider-specific tool definitions, the Model Context Protocol (MCP) offers a unified interface to discover and invoke tools dynamically. However, there is a significant gap in benchmarking multi-step tasks using diverse MCP tools in realistic, dynamic scenarios. In this work, we present LiveMCP-101, a benchmark of 101 real-world queries that require coordinated use of multiple MCP tools. To address temporal variability in real-world tool responses, we introduce a parallel evaluation framework where a reference agent executes a validated plan simultaneously to produce real-time reference outputs. Experiments show that even frontier LLMs achieve a success rate below 60\%, highlighting challenges in multi-step tool use. Comprehensive error analysis identifies seven failure modes spanning tool planning, parameterization, and output handling, pointing to concrete directions for improving current models. LiveMCP-101 sets a rigorous standard for evaluating real-world agent capabilities, advancing toward autonomous agent systems that reliably execute complex tasks through MCP tool orchestration.

Bird's-Eye-View (BEV) map segmentation is one of the most important and challenging tasks in autonomous driving. Camera-only approaches have drawn attention as cost-effective alternatives to LiDAR, but they still fall behind LiDAR-Camera (LC) fusion-based methods. Knowledge Distillation (KD) has been explored to narrow this gap, but existing methods mainly enlarge the student model by mimicking the teacher's architecture, leading to higher inference cost. To address this issue, we introduce BridgeTA, a cost-effective distillation framework to bridge the representation gap between LC fusion and Camera-only models through a Teacher Assistant (TA) network while keeping the student's architecture and inference cost unchanged. A lightweight TA network combines the BEV representations of the teacher and student, creating a shared latent space that serves as an intermediate representation. To ground the framework theoretically, we derive a distillation loss using Young's Inequality, which decomposes the direct teacher-student distillation path into teacher-TA and TA-student dual paths, stabilizing optimization and strengthening knowledge transfer. Extensive experiments on the challenging nuScenes dataset demonstrate the effectiveness of our method, achieving an improvement of 4.2% mIoU over the Camera-only baseline, up to 45% higher than the improvement of other state-of-the-art KD methods.

Direct Preference Optimization (DPO) has emerged as a cornerstone of reinforcement learning from human feedback (RLHF) due to its simplicity and efficiency. However, existing DPO-based methods typically treat all preference pairs equally, overlooking substantial variations in data quality and learning difficulty, which leads to inefficient data utilization and suboptimal performance. To address this limitation, we propose Uni-DPO, a unified dynamic preference optimization framework that jointly considers (a) the inherent quality of preference pairs and (b) the model's evolving performance during training. By adaptively reweighting samples based on both factors, Uni-DPO enables more effective use of preference data and achieves superior performance. Extensive experiments across models and benchmarks demonstrate the effectiveness and generalization of Uni-DPO. On textual tasks, Gemma-2-9B-IT fine-tuned with Uni-DPO surpasses the leading LLM, Claude 3 Opus, by 6.7 points on Arena-Hard. On mathematical and multimodal tasks, Uni-DPO consistently outperforms baseline methods across all benchmarks, providing strong empirical evidence of its effectiveness and robustness.

Integrating Low-Rank Adaptation (LoRA) into federated learning offers a promising solution for parameter-efficient fine-tuning of Large Language Models (LLMs) without sharing local data. However, several methods designed for federated LoRA present significant challenges in balancing communication efficiency, model accuracy, and computational cost, particularly among heterogeneous clients. These methods either rely on simplistic averaging of local adapters, which introduces aggregation noise, require transmitting large stacked local adapters, leading to poor communication efficiency, or necessitate reconstructing memory-dense global weight-update matrix and performing computationally expensive decomposition to design client-specific low-rank adapters. In this work, we propose FLoRIST, a federated fine-tuning framework that achieves mathematically accurate aggregation without incurring high communication or computational overhead. Instead of constructing the full global weight-update matrix at the server, FLoRIST employs an efficient decomposition pipeline by performing singular value decomposition on stacked local adapters separately. This approach operates within a compact intermediate space to represent the accumulated information from local LoRAs. We introduce tunable singular value thresholding for server-side optimal rank selection to construct a pair of global low-rank adapters shared by all clients. Extensive empirical evaluations across multiple datasets and LLMs demonstrate that FLoRIST consistently strikes the best balance between superior communication efficiency and competitive performance in both homogeneous and heterogeneous setups.

Whole-page optimization (WPO) decides how search and recommendation results are surfaced to users, and large language models (LLMs) open a new route to it by treating page generation as sequence generation. Adapting LLMs to web-scale WPO, however, remains bottlenecked by the need for costly human annotations and by the mismatched granularity between page-level coherence and item-level placement. In this work we show that these two challenges are coupled: implicit user feedback alone suffices for alignment, provided the reward signal is decoupled into two complementary granularities. We propose PageLLM, a reward-based fine-tuning framework that (i) turns implicit feedback into four contrastive preference-pair families covering relevance, ranking, diversity, and redundancy, (ii) learns a coarse page-level reward and a fine item-level reward that captures engagement-sensitive position swaps, and (iii) combines both rewards in PPO-based RLHF over a pre-trained LLM. Extensive experiments on seven Amazon categories against eleven baselines show that neither reward alone is sufficient -- dropping the page-level or item-level signal reduces NDCG@100 by 17.8% and 15.2% respectively, whereas the joint reward improves NDCG@100 by up to 46.8%. Deployed in a 10M-user online A/B test, PageLLM raises GMV by 0.44% and click-through rate by 0.14%, confirming that multi-grained rewards from implicit feedback scale to production WPO. Code and data are available at an anonymized repository.

Distributed stochastic optimization intertwines (i) stochastic gradient noise, (ii) communication compression, and (iii) adaptive/normalized updates. While each factor has been studied in isolation, their joint effect under realistic assumptions remains poorly understood. In this work, we develop a unified theoretical framework for Distributed Compressed SGD (DCSGD) and its sign variant Distributed SignSGD (DSignSGD) under the recently introduced $(L_0, L_1)$-smoothness condition. From a conceptual perspective, we show that the first- and second-order modified equations from the literature do not accurately model the discrete-time step-size/stability restrictions, especially under $(L_0,L_1)$-smoothness. From a technical perspective, we propose new first-order SDEs by carefully incorporating curvature-dependent terms into their drift: This helps capture the fine-grained relationship between learning rate restrictions, gradient noise, compression, and the geometry of the loss landscape. Importantly, we do so under general gradient noise assumptions, including heavy-tailed and affine-variance regimes, which extend beyond the classical bounded-variance setting. Our results suggest that normalizing the updates of DCSGD emerges as a natural condition for stability, with the degree of normalization precisely determined by the gradient noise structure, the landscape's regularity, and the compression rate. In contrast, DSignSGD converges even under heavy-tailed noise with standard learning rate schedules. Together, these findings offer both new theoretical insights and perspectives, and practical guidance.

Spatial intelligence is essential for multimodal large language models (MLLMs) operating in the complex physical world. Existing benchmarks, however, probe only single-image relations and thus fail to assess the multi-image spatial reasoning that real-world deployments demand. We introduce MMSI-Bench, a VQA benchmark dedicated to multi-image spatial intelligence. Six 3D-vision researchers spent more than 300 hours meticulously crafting 1,000 challenging, unambiguous multiple-choice questions from over 120,000 images, each paired with carefully designed distractors and a stepwise reasoning process. We conduct extensive experiments and evaluate 37 open-source and proprietary MLLMs, observing a wide gap: the strongest open-source model attains roughly 30% accuracy and OpenAI's GPT-5 reasoning model reaches 40%, while humans score 97%. These results underscore the challenging nature of MMSI-Bench and the substantial headroom for future research. Leveraging the annotated reasoning processes, we also provide an automated error analysis pipeline that diagnoses four dominant failure modes, including (1) grounding errors, (2) overlap-matching and scene-reconstruction errors, (3) situation-transformation reasoning errors, and (4) spatial-logic errors, offering insights for advancing spatial intelligence. Project page: https://runsenxu.com/projects/MMSI_Bench .

Text-to-image (T2I) models can generate not-safe-for-work (NSFW) content, motivating multi-stage safety pipelines with both text and image filters. Newer LLM-based filters detect latent intent beyond keywords, making token-level perturbation attacks unreliable. Our evaluation further shows that existing jailbreak methods exhibit a sharp trade-off between filter evasion and semantic fidelity, while also requiring excessive queries to succeed. We introduce \textbf{OptJail}, an automated jailbreak framework that combines dynamic prompt optimization with multimodal feedback. It consists of two key components: (i) \textit{Dynamic Optimization}, an iterative process that leverages text-filter feedback and semantic consistency to rewrite prompts into adversarial variants; and (ii) \textit{Adaptive Safety Indicator Injection}, which formulates the injection of benign visual cues as a reinforcement learning problem to bypass image-level filters. OptJail achieves state-of-the-art performance, increasing the ShieldLM-7B bypass rate from 8.9\% (Sneakyprompt) to 99.0\%, improving CLIP score from 0.2637 to 0.2762. Moreover, it generalizes to unseen filters and successfully jailbreaks DALL E 3 in our evaluation. Mechanistic analysis reveals why these defenses fail: optimized prompts are projected into the ``safe'' region of the filter's representation space yet remain nearly stationary in the generative model's semantic space, and injected safety indicators redirect image detectors' attention away from NSFW content toward benign visual cues. This study reveals systemic vulnerabilities in current multimodal defenses and motivates stronger adaptive defenses.

Model fusion combines multiple Large Language Models (LLMs) with different strengths into a more powerful, integrated model through lightweight training methods. Existing works on model fusion focus primarily on supervised fine-tuning (SFT), leaving preference alignment (PA) --a critical phase for enhancing LLM performance--largely unexplored. The current few fusion methods on PA phase, like WRPO, simplify the process by utilizing only response outputs from source models while discarding their probability information. To address this limitation, we propose InfiFPO, a preference optimization method for implicit model fusion. InfiFPO replaces the reference model in Direct Preference Optimization (DPO) with a fused source model that synthesizes multi-source probabilities at the sequence level, circumventing complex vocabulary alignment challenges in previous works and meanwhile maintaining the probability information. By introducing probability clipping and max-margin fusion strategies, InfiFPO enables the pivot model to align with human preferences while effectively distilling knowledge from source models. Comprehensive experiments on 11 widely-used benchmarks demonstrate that InfiFPO consistently outperforms existing model fusion and preference optimization methods. When using Phi-4 as the pivot model, InfiFPO improve its average performance from 79.95 to 83.33 on 11 benchmarks, significantly improving its capabilities in mathematics, coding, and reasoning tasks.

Learning maps between function spaces with a strong inductive bias is a central challenge in soft computing, especially when training data are scarce and standard deep architectures overfit. We introduce a \emph{neural integral operator} (NIO) framework based on integral equations of the first kind, in which the Urysohn kernel of the operator is parameterized by a feed-forward network~$G_{θ_G}$ and the latent function is produced by a convolutional encoder~$E_{ϕ_E}$, both trained jointly end-to-end via cross-entropy loss. The integral defining the learned operator is approximated by Monte Carlo sampling, which we argue acts as an implicit stochastic regularizer operating at the level of the integrand and complementing parameter-level regularizers such as weight decay and dropout. We benchmark the framework on three real-world spectroscopic classification tasks (FT-IR fruit purees, NIR meat, NIR textiles) of varying size and complexity, against traditional machine learning (decision tree, support vector machine, with and without UMAP) and modern deep learning baselines (FFNN, CNN+FFNN, shallow CNN, transformer). The proposed NIO is consistently among the top two performing models across all datasets and metrics, achieves the best results on the most challenging small-and-complex dataset (Textile), and yields lower performance variance than competing deep models in the small-data regime. The results suggest that operator-learning architectures with stochastic numerical integration are a viable soft-computing strategy for inverse problems in spectroscopy when conventional deep learning approaches are limited by data scarcity.

Large language models have demonstrated remarkable capabilities in natural language processing tasks requiring multi-step logical reasoning capabilities, such as automated theorem proving. However, challenges persist within theorem proving, such as the identification of key mathematical concepts, understanding their interrelationships, and formalizing proofs correctly within natural language. We present KG-prover, a novel framework that leverages knowledge graphs mined from reputable mathematical texts to augment general-purpose LLMs to construct and formalize mathematical proofs. We also study the effects of scaling graph-based, test-time compute using KG-Prover, demonstrating significant performance improvements over baselines across multiple datasets. General-purpose LLMs improve up to 21\% on miniF2F-test when combined with KG-Prover, with consistent improvements ranging from 2-11\% on the ProofNet, miniF2F-test, and MUSTARD datasets. Furthermore, KG-Prover with o4-mini achieves 50\% on pass miniF2F-test. This work provides a promising approach for augmenting natural language proof reasoning with knowledge graphs without the need for additional finetuning.

We present ATOP (Articulate That Object Part), a novel few-shot method based on motion personalization to articulate a static 3D object with respect to a part and its motion as prescribed in a text prompt. Given the scarcity of available datasets with motion attribute annotations, existing methods struggle to generalize well in this task. In our work, the text input allows us to tap into the power of modern-day diffusion models to generate plausible motion samples for the right object category and part. In turn, the input 3D object provides ``image prompting'' to personalize the generated motion to the very input object. Our method starts with a few-shot finetuning to inject articulation awareness to current diffusion models to learn a unique motion identifier associated with the target object part. Our finetuning is applied to a pre-trained diffusion model for controllable multi-view motion generation, trained with a small collection of reference motion frames demonstrating appropriate part motion. The resulting motion model can then be employed to realize plausible motion of the input 3D object from multiple views. At last, we transfer the personalized motion to the 3D space of the object via differentiable rendering to optimize part articulation parameters by a score distillation sampling loss. Experiments on PartNet-Mobility and ACD datasets demonstrate that our method can generate realistic motion samples with higher accuracy, leading to more generalizable 3D motion predictions compared to prior approaches in the few-shot setting.

The thematic fit estimation task measures semantic arguments' compatibility with a given semantic role for a given predicate. We investigate if autoregressive LLMs have consistent, expressible knowledge of event arguments' thematic fit by experimenting with various prompt designs, manipulating input context, reasoning, and output forms. We set a new state-of-the-art on thematic fit benchmarks, but show that closed and open weight LLMs respond differently to our prompting strategies: Closed models achieve better scores overall and benefit from multi-step reasoning, but they perform worse at filtering out generated sentences incompatible with the given predicate, role, and argument. Our analysis shows that lemma tuple input and sentence input result in surprisingly different thematic fit score distributions.

Deep convolutional neural networks (CNNs) have achieved impressive performance in many computer vision tasks. However, their large model sizes require heavy computational resources, making pruning redundant filters from existing pre-trained CNNs an essential task in developing efficient models for resource-constrained devices. Whole-network filter pruning algorithms prune varying fractions of filters from each layer, hence providing greater flexibility. Current whole-network pruning methods are either computationally expensive due to the need to calculate the loss for each pruned filter using a training dataset, or use various heuristic / learned criteria for determining the pruning fractions for each layer. This paper proposes a two-level hierarchical approach for whole-network filter pruning which is efficient and uses the classification loss as the final criterion. The lower-level algorithm (called filter-pruning) uses a sparse-approximation formulation based on linear approximation of filter weights. We explore two algorithms: orthogonal matching pursuit-based greedy selection and a greedy backward pruning approach. The backward pruning algorithm uses a novel closed-form error criterion for efficiently selecting the optimal filter at each stage, thus making the whole algorithm much faster. The higher-level algorithm (called layer-selection) greedily selects the best-pruned layer (pruning using the filter-selection algorithm) using a global pruning criterion. We propose algorithms for two different global-pruning criteria: (1) layer-wise relative error (HBGS), and (2) final classification error (HBGTS). Our suite of algorithms outperforms state-of-the-art pruning methods on ResNet18, ResNet32, ResNet56, VGG16, and ResNext101. Our method reduces the RAM requirement for ResNext101 from 7.6 GB to 1.5 GB and achieves a 94% reduction in FLOPS without losing accuracy on CIFAR-10.

In-context learning (ICL) has been instrumental in adapting Large Language Models (LLMs) to downstream tasks using correct input-output examples. Recent advances have attempted to improve model performance through principles derived from mistakes, yet these approaches suffer from lack of customization and inadequate error coverage. To address these limitations, we propose Retrieved In-Context Principles (RICP), a novel teacher-student framework. In RICP, the teacher model analyzes mistakes from the student model to generate reasons and insights for preventing similar mistakes. These mistakes are clustered based on their underlying reasons for developing task-level principles, enhancing the error coverage of principles. During inference, the most relevant mistakes for each question are retrieved to create question-level principles, improving the customization of the provided guidance. RICP is orthogonal to existing prompting methods and does not require intervention from the teacher model during inference. Experimental results across seven reasoning benchmarks reveal that RICP effectively enhances performance when applied to various prompting strategies.

Semantic segmentation, as a crucial component of complex visual interpretation, plays a fundamental role in autonomous vehicle vision systems. Recent studies have significantly improved the accuracy of semantic segmentation by exploiting complementary information and developing multimodal methods. Despite the gains in accuracy, multimodal semantic segmentation methods suffer from high computational complexity and low inference speed. Therefore, it is a challenging task to implement multimodal methods in driving applications. To address this problem, we propose the Cosine Similarity Fusion Network (CSFNet) as a real-time RGB-X semantic segmentation model. Specifically, we design a Cosine Similarity Attention Fusion Module (CS-AFM) that effectively rectifies and fuses features of two modalities. The CS-AFM module leverages cross-modal similarity to achieve high generalization ability. By enhancing the fusion of cross-modal features at lower levels, CS-AFM paves the way for the use of a single-branch network at higher levels. Therefore, we use dual and single-branch architectures in an encoder, along with an efficient context module and a lightweight decoder for fast and accurate predictions. To verify the effectiveness of CSFNet, we use the Cityscapes, MFNet, and ZJU datasets for the RGB-D/T/P semantic segmentation. According to the results, CSFNet has competitive accuracy with state-of-the-art methods while being state-of-the-art in terms of speed among multimodal semantic segmentation models. It also achieves high efficiency due to its low parameter count and computational complexity. The source code for CSFNet will be available at https://github.com/Danial-Qashqai/CSFNet.

Lexical Semantic Change Detection (LSCD) is a complex, lemma-level task, which is usually operationalized based on two subsequently applied usage-level tasks: First, Word-in-Context (WiC) labels are derived for pairs of usages. Then, these labels are represented in a graph on which Word Sense Induction (WSI) is applied to derive sense clusters. Finally, LSCD labels are derived by comparing sense clusters over time. This modularity is reflected in most LSCD datasets and models. It also leads to a large heterogeneity in modeling options and task definitions, which is exacerbated by a variety of dataset versions, preprocessing options and evaluation metrics. This heterogeneity makes it difficult to evaluate models under comparable conditions, to choose optimal model combinations or to reproduce results. Hence, we provide a benchmark repository standardizing LSCD evaluation. Through transparent implementation results become easily reproducible and by standardization different components can be freely combined. The repository reflects the task's modularity by allowing model evaluation for WiC, WSI and LSCD. This allows for careful evaluation of increasingly complex model components providing new ways of model optimization.

Graphs with abundant attributes are essential in modeling interconnected entities and enhancing predictions across various real-world applications. Traditional Graph Neural Networks (GNNs) often require re-training for different graph tasks and datasets. Although the emergence of Large Language Models (LLMs) has introduced new paradigms in natural language processing, their potential for generic graph mining, training a single model to simultaneously handle diverse tasks and datasets, remains under-explored. To this end, our novel framework MuseGraph, seamlessly integrates the strengths of GNNs and LLMs into one foundation model for graph mining across tasks and datasets. This framework first features a compact graph description to encapsulate key graph information within language token limitations. Then, we propose a diverse instruction generation mechanism with Chain-of-Thought (CoT)-based instruction packages to distill the reasoning capabilities from advanced LLMs like GPT-4. Finally, we design a graph-aware instruction tuning strategy to facilitate mutual enhancement across multiple tasks and datasets while preventing catastrophic forgetting of LLMs' generative abilities. Our experimental results demonstrate significant improvements in five graph tasks and ten datasets, showcasing the potential of our MuseGraph in enhancing the accuracy of graph-oriented downstream tasks while improving the generation abilities of LLMs.