Daily Papers

There has been a recent surge of interest in developing generally-capable agents that can adapt to new tasks without additional training in the environment. Learning world models from reward-free exploration is a promising approach, and enables policies to be trained using imagined experience for new tasks. However, achieving a general agent requires robustness across different environments. In this work, we address the novel problem of generating curricula in the reward-free setting to train robust world models. We consider robustness in terms of minimax regret over all environment instantiations and show that the minimax regret can be connected to minimising the maximum error in the world model across environment instances. This result informs our algorithm, WAKER: Weighted Acquisition of Knowledge across Environments for Robustness. WAKER selects environments for data collection based on the estimated error of the world model for each environment. Our experiments demonstrate that WAKER outperforms several baselines, resulting in improved robustness, efficiency, and generalisation.

TD-MPC is a model-based reinforcement learning (RL) algorithm that performs local trajectory optimization in the latent space of a learned implicit (decoder-free) world model. In this work, we present TD-MPC2: a series of improvements upon the TD-MPC algorithm. We demonstrate that TD-MPC2 improves significantly over baselines across 104 online RL tasks spanning 4 diverse task domains, achieving consistently strong results with a single set of hyperparameters. We further show that agent capabilities increase with model and data size, and successfully train a single 317M parameter agent to perform 80 tasks across multiple task domains, embodiments, and action spaces. We conclude with an account of lessons, opportunities, and risks associated with large TD-MPC2 agents. Explore videos, models, data, code, and more at https://nicklashansen.github.io/td-mpc2

We present The Matrix, the first foundational realistic world simulator capable of generating continuous 720p high-fidelity real-scene video streams with real-time, responsive control in both first- and third-person perspectives, enabling immersive exploration of richly dynamic environments. Trained on limited supervised data from AAA games like Forza Horizon 5 and Cyberpunk 2077, complemented by large-scale unsupervised footage from real-world settings like Tokyo streets, The Matrix allows users to traverse diverse terrains -- deserts, grasslands, water bodies, and urban landscapes -- in continuous, uncut hour-long sequences. Operating at 16 FPS, the system supports real-time interactivity and demonstrates zero-shot generalization, translating virtual game environments to real-world contexts where collecting continuous movement data is often infeasible. For example, The Matrix can simulate a BMW X3 driving through an office setting--an environment present in neither gaming data nor real-world sources. This approach showcases the potential of AAA game data to advance robust world models, bridging the gap between simulations and real-world applications in scenarios with limited data.

Visual Model-Based Reinforcement Learning (MBRL) promises to encapsulate agent's knowledge about the underlying dynamics of the environment, enabling learning a world model as a useful planner. However, top MBRL agents such as Dreamer often struggle with visual pixel-based inputs in the presence of exogenous or irrelevant noise in the observation space, due to failure to capture task-specific features while filtering out irrelevant spatio-temporal details. To tackle this problem, we apply a spatio-temporal masking strategy, a bisimulation principle, combined with latent reconstruction, to capture endogenous task-specific aspects of the environment for world models, effectively eliminating non-essential information. Joint training of representations, dynamics, and policy often leads to instabilities. To further address this issue, we develop a Hybrid Recurrent State-Space Model (HRSSM) structure, enhancing state representation robustness for effective policy learning. Our empirical evaluation demonstrates significant performance improvements over existing methods in a range of visually complex control tasks such as Maniskill gu2023maniskill2 with exogenous distractors from the Matterport environment. Our code is avaliable at https://github.com/bit1029public/HRSSM.

It has long been hypothesised that causal reasoning plays a fundamental role in robust and general intelligence. However, it is not known if agents must learn causal models in order to generalise to new domains, or if other inductive biases are sufficient. We answer this question, showing that any agent capable of satisfying a regret bound under a large set of distributional shifts must have learned an approximate causal model of the data generating process, which converges to the true causal model for optimal agents. We discuss the implications of this result for several research areas including transfer learning and causal inference.

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations. Meanwhile, large amounts of video data depicting a wide range of environments and diverse behaviors are readily available. This data provides a rich source of information about real-world dynamics and agent-environment interactions. Leveraging this data directly for imitation learning, however, has proven difficult due to the lack of action annotation required for most contemporary methods. In this work, we present Unified World Models (UWM), a framework that allows for leveraging both video and action data for policy learning. Specifically, a UWM integrates an action diffusion process and a video diffusion process within a unified transformer architecture, where independent diffusion timesteps govern each modality. We show that by simply controlling each diffusion timestep, UWM can flexibly represent a policy, a forward dynamics, an inverse dynamics, and a video generator. Through simulated and real-world experiments, we show that: (1) UWM enables effective pretraining on large-scale multitask robot datasets with both dynamics and action predictions, resulting in more generalizable and robust policies than imitation learning, (2) UWM naturally facilitates learning from action-free video data through independent control of modality-specific diffusion timesteps, further improving the performance of finetuned policies. Our results suggest that UWM offers a promising step toward harnessing large, heterogeneous datasets for scalable robot learning, and provides a simple unification between the often disparate paradigms of imitation learning and world modeling. Videos and code are available at https://weirdlabuw.github.io/uwm/.

Large Language Models (LLMs) have recently shown great promise in planning and reasoning applications. These tasks demand robust systems, which arguably require a causal understanding of the environment. While LLMs can acquire and reflect common sense causal knowledge from their pretraining data, this information is often incomplete, incorrect, or inapplicable to a specific environment. In contrast, causal representation learning (CRL) focuses on identifying the underlying causal structure within a given environment. We propose a framework that integrates CRLs with LLMs to enable causally-aware reasoning and planning. This framework learns a causal world model, with causal variables linked to natural language expressions. This mapping provides LLMs with a flexible interface to process and generate descriptions of actions and states in text form. Effectively, the causal world model acts as a simulator that the LLM can query and interact with. We evaluate the framework on causal inference and planning tasks across temporal scales and environmental complexities. Our experiments demonstrate the effectiveness of the approach, with the causally-aware method outperforming LLM-based reasoners, especially for longer planning horizons.

How does language inform our downstream thinking? In particular, how do humans make meaning from language -- and how can we leverage a theory of linguistic meaning to build machines that think in more human-like ways? In this paper, we propose rational meaning construction, a computational framework for language-informed thinking that combines neural models of language with probabilistic models for rational inference. We frame linguistic meaning as a context-sensitive mapping from natural language into a probabilistic language of thought (PLoT) -- a general-purpose symbolic substrate for probabilistic, generative world modeling. Our architecture integrates two powerful computational tools that have not previously come together: we model thinking with probabilistic programs, an expressive representation for flexible commonsense reasoning; and we model meaning construction with large language models (LLMs), which support broad-coverage translation from natural language utterances to code expressions in a probabilistic programming language. We illustrate our framework in action through examples covering four core domains from cognitive science: probabilistic reasoning, logical and relational reasoning, visual and physical reasoning, and social reasoning about agents and their plans. In each, we show that LLMs can generate context-sensitive translations that capture pragmatically-appropriate linguistic meanings, while Bayesian inference with the generated programs supports coherent and robust commonsense reasoning. We extend our framework to integrate cognitively-motivated symbolic modules to provide a unified commonsense thinking interface from language. Finally, we explore how language can drive the construction of world models themselves.

The DreamerV3 agent recently demonstrated state-of-the-art performance in diverse domains, learning powerful world models in latent space using a pixel reconstruction loss. However, while the reconstruction loss is essential to Dreamer's performance, it also necessitates modeling unnecessary information. Consequently, Dreamer sometimes fails to perceive crucial elements which are necessary for task-solving when visual distractions are present in the observation, significantly limiting its potential. In this paper, we present MuDreamer, a robust reinforcement learning agent that builds upon the DreamerV3 algorithm by learning a predictive world model without the need for reconstructing input signals. Rather than relying on pixel reconstruction, hidden representations are instead learned by predicting the environment value function and previously selected actions. Similar to predictive self-supervised methods for images, we find that the use of batch normalization is crucial to prevent learning collapse. We also study the effect of KL balancing between model posterior and prior losses on convergence speed and learning stability. We evaluate MuDreamer on the commonly used DeepMind Visual Control Suite and demonstrate stronger robustness to visual distractions compared to DreamerV3 and other reconstruction-free approaches, replacing the environment background with task-irrelevant real-world videos. Our method also achieves comparable performance on the Atari100k benchmark while benefiting from faster training.

Spatial reasoning in 3D space is central to human cognition and indispensable for embodied tasks such as navigation and manipulation. However, state-of-the-art vision-language models (VLMs) struggle frequently with tasks as simple as anticipating how a scene will look after an egocentric motion: they perceive 2D images but lack an internal model of 3D dynamics. We therefore propose MindJourney, a test-time scaling framework that grants a VLM with this missing capability by coupling it to a controllable world model based on video diffusion. The VLM iteratively sketches a concise camera trajectory, while the world model synthesizes the corresponding view at each step. The VLM then reasons over this multi-view evidence gathered during the interactive exploration. Without any fine-tuning, our MindJourney achieves over an average 8% performance boost on the representative spatial reasoning benchmark SAT, showing that pairing VLMs with world models for test-time scaling offers a simple, plug-and-play route to robust 3D reasoning. Meanwhile, our method also improves upon the test-time inference VLMs trained through reinforcement learning, which demonstrates the potential of our method that utilizes world models for test-time scaling.

Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or learn them end-to-end. We investigate this dichotomy using embodied world models. We propose and compare two communication strategies for a cooperative task-allocation problem. The first, Learned Direct Communication (LDC), learns a protocol end-to-end, with agents generating messages and actions concurrently. The second, Intention Communication, uses an engineered inductive bias: a compact, learned world model, the Imagined Trajectory Generation Module (ITGM), to simulate future states. Agents then communicate a summary of this plan. We evaluate these approaches on goal-directed interaction in a grid world, a canonical abstraction for embodied AI problems. Our experiments reveal that while emergent communication is viable in simple settings, the engineered, world model-based approach shows superior performance, sample efficiency, and scalability as complexity increases. These findings advocate for integrating structured, predictive models into MARL agents to enable active, goal-driven coordination.

Despite their tremendous success in many applications, large language models often fall short of consistent reasoning and planning in various (language, embodied, and social) scenarios, due to inherent limitations in their inference, learning, and modeling capabilities. In this position paper, we present a new perspective of machine reasoning, LAW, that connects the concepts of Language models, Agent models, and World models, for more robust and versatile reasoning capabilities. In particular, we propose that world and agent models are a better abstraction of reasoning, that introduces the crucial elements of deliberate human-like reasoning, including beliefs about the world and other agents, anticipation of consequences, goals/rewards, and strategic planning. Crucially, language models in LAW serve as a backend to implement the system or its elements and hence provide the computational power and adaptability. We review the recent studies that have made relevant progress and discuss future research directions towards operationalizing the LAW framework.

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on robot arm state data and RGB images, leading to overfitting to specific object shapes or positions. To address these limitations, we propose RoboGrasp, a universal grasping policy framework that integrates pretrained grasp detection models with robotic learning. By leveraging robust visual guidance from object detection and segmentation tasks, RoboGrasp significantly enhances grasp precision, stability, and generalizability, achieving up to 34% higher success rates in few-shot learning and grasping box prompt tasks. Built on diffusion-based methods, RoboGrasp is adaptable to various robotic learning paradigms, enabling precise and reliable manipulation across diverse and complex scenarios. This framework represents a scalable and versatile solution for tackling real-world challenges in robotic grasping.

Recent advancements in world models have revolutionized dynamic environment simulation, allowing systems to foresee future states and assess potential actions. In autonomous driving, these capabilities help vehicles anticipate the behavior of other road users, perform risk-aware planning, accelerate training in simulation, and adapt to novel scenarios, thereby enhancing safety and reliability. Current approaches exhibit deficiencies in maintaining robust 3D geometric consistency or accumulating artifacts during occlusion handling, both critical for reliable safety assessment in autonomous navigation tasks. To address this, we introduce GeoDrive, which explicitly integrates robust 3D geometry conditions into driving world models to enhance spatial understanding and action controllability. Specifically, we first extract a 3D representation from the input frame and then obtain its 2D rendering based on the user-specified ego-car trajectory. To enable dynamic modeling, we propose a dynamic editing module during training to enhance the renderings by editing the positions of the vehicles. Extensive experiments demonstrate that our method significantly outperforms existing models in both action accuracy and 3D spatial awareness, leading to more realistic, adaptable, and reliable scene modeling for safer autonomous driving. Additionally, our model can generalize to novel trajectories and offers interactive scene editing capabilities, such as object editing and object trajectory control.

Bayesian inference usually requires running potentially costly inference procedures separately for every new observation. In contrast, the idea of amortized Bayesian inference is to initially invest computational cost in training an inference network on simulated data, which can subsequently be used to rapidly perform inference (i.e., to return estimates of posterior distributions) for new observations. This approach has been applied to many real-world models in the sciences and engineering, but it is unclear how robust the approach is to adversarial perturbations in the observed data. Here, we study the adversarial robustness of amortized Bayesian inference, focusing on simulation-based estimation of multi-dimensional posterior distributions. We show that almost unrecognizable, targeted perturbations of the observations can lead to drastic changes in the predicted posterior and highly unrealistic posterior predictive samples, across several benchmark tasks and a real-world example from neuroscience. We propose a computationally efficient regularization scheme based on penalizing the Fisher information of the conditional density estimator, and show how it improves the adversarial robustness of amortized Bayesian inference.

Most recent real-world image super-resolution (Real-ISR) methods employ pre-trained text-to-image (T2I) diffusion models to synthesize the high-quality image either from random Gaussian noise, which yields realistic results but is slow due to iterative denoising, or directly from the input low-quality image, which is efficient but at the price of lower output quality. These approaches train ControlNet or LoRA modules while keeping the pre-trained model fixed, which often introduces over-enhanced artifacts and hallucinations, suffering from the robustness to inputs of varying degradations. Recent visual autoregressive (AR) models, such as pre-trained Infinity, can provide strong T2I generation capabilities while offering superior efficiency by using the bitwise next-scale prediction strategy. Building upon next-scale prediction, we introduce a robust Real-ISR framework, namely Next-Scale Autoregressive Modeling (NSARM). Specifically, we train NSARM in two stages: a transformation network is first trained to map the input low-quality image to preliminary scales, followed by an end-to-end full-model fine-tuning. Such a comprehensive fine-tuning enhances the robustness of NSARM in Real-ISR tasks without compromising its generative capability. Extensive quantitative and qualitative evaluations demonstrate that as a pure AR model, NSARM achieves superior visual results over existing Real-ISR methods while maintaining a fast inference speed. Most importantly, it demonstrates much higher robustness to the quality of input images, showing stronger generalization performance. Project page: https://github.com/Xiangtaokong/NSARM

Vision-Language-Action (VLA) models have shown substantial potential in real-world robotic manipulation. However, fine-tuning these models through supervised learning struggles to achieve robust performance due to limited, inconsistent demonstrations, especially in contact-rich environments. In this paper, we propose a reinforced fine-tuning approach for VLA models, named ConRFT, which consists of offline and online fine-tuning with a unified consistency-based training objective, to address these challenges. In the offline stage, our method integrates behavior cloning and Q-learning to effectively extract policy from a small set of demonstrations and stabilize value estimating. In the online stage, the VLA model is further fine-tuned via consistency policy, with human interventions to ensure safe exploration and high sample efficiency. We evaluate our approach on eight diverse real-world manipulation tasks. It achieves an average success rate of 96.3% within 45-90 minutes of online fine-tuning, outperforming prior supervised methods with a 144% improvement in success rate and 1.9x shorter episode length. This work highlights the potential of integrating reinforcement learning to enhance the performance of VLA models for real-world robotic applications. Videos and code are available at our project website https://cccedric.github.io/conrft/.

Recent contrastive multimodal vision-language models like CLIP have demonstrated robust open-world semantic understanding, becoming the standard image backbones for vision-language applications due to their aligned latent space. However, this practice has left powerful unimodal encoders for both vision and language underutilized in multimodal applications which raises a key question: Is there a plausible way to connect unimodal backbones for zero-shot vision-language tasks? To this end, we propose a novel approach that aligns vision and language modalities using only projection layers on pretrained, frozen unimodal encoders. Our method exploits the high semantic similarity between embedding spaces of well-trained vision and language models. It involves selecting semantically similar encoders in the latent space, curating a concept-rich dataset of image-caption pairs, and training simple MLP projectors. We evaluated our approach on 12 zero-shot classification datasets and 2 image-text retrieval datasets. Our best model, utilizing DINOv2 and All-Roberta-Large text encoder, achieves 76\(\%\) accuracy on ImageNet with a 20-fold reduction in data and 65 fold reduction in compute requirements. The proposed framework enhances the accessibility of model development while enabling flexible adaptation across diverse scenarios, offering an efficient approach to building multimodal models by utilizing existing unimodal architectures. Code and datasets will be released soon.

The outstanding performance of Large Multimodal Models (LMMs) has made them widely applied in vision-related tasks. However, various corruptions in the real world mean that images will not be as ideal as in simulations, presenting significant challenges for the practical application of LMMs. To address this issue, we introduce R-Bench, a benchmark focused on the **Real-world Robustness of LMMs**. Specifically, we: (a) model the complete link from user capture to LMMs reception, comprising 33 corruption dimensions, including 7 steps according to the corruption sequence, and 7 groups based on low-level attributes; (b) collect reference/distorted image dataset before/after corruption, including 2,970 question-answer pairs with human labeling; (c) propose comprehensive evaluation for absolute/relative robustness and benchmark 20 mainstream LMMs. Results show that while LMMs can correctly handle the original reference images, their performance is not stable when faced with distorted images, and there is a significant gap in robustness compared to the human visual system. We hope that R-Bench will inspire improving the robustness of LMMs, **extending them from experimental simulations to the real-world application**. Check https://q-future.github.io/R-Bench for details.

Vision language models (VLMs) have shown remarkable capabilities in integrating linguistic and visual reasoning but remain fundamentally limited in understanding dynamic spatiotemporal interactions. Humans effortlessly track and reason about object movements, rotations, and perspective shifts-abilities essential for robust dynamic real-world understanding yet notably lacking in current VLMs. In this paper, we introduce VLM4D, the first benchmark specifically designed to evaluate the spatiotemporal reasoning capabilities of VLMs. Our benchmark comprises diverse real-world and synthetic videos accompanied by carefully curated question-answer pairs emphasizing translational and rotational motions, perspective awareness, and motion continuity. Through comprehensive evaluations of state-of-the-art open and closed-source VLMs, we identify significant performance gaps compared to human baselines, highlighting fundamental deficiencies in existing models. Extensive analysis reveals that VLMs struggle particularly with integrating multiple visual cues and maintaining temporal coherence. We further explore promising directions, such as leveraging 4D feature field reconstruction and targeted spatiotemporal supervised fine-tuning, demonstrating their effectiveness in enhancing spatiotemporal comprehension. Our work aims to encourage deeper exploration into improving VLMs' spatial and temporal grounding, paving the way towards more capable and reliable visual intelligence for dynamic environments.

This paper reformulates cross-dataset human pose estimation as a continual learning task, aiming to integrate new keypoints and pose variations into existing models without losing accuracy on previously learned datasets. We benchmark this formulation against established regularization-based methods for mitigating catastrophic forgetting, including EWC, LFL, and LwF. Moreover, we propose a novel regularization method called Importance-Weighted Distillation (IWD), which enhances conventional LwF by introducing a layer-wise distillation penalty and dynamic temperature adjustment based on layer importance for previously learned knowledge. This allows for a controlled adaptation to new tasks that respects the stability-plasticity balance critical in continual learning. Through extensive experiments across three datasets, we demonstrate that our approach outperforms existing regularization-based continual learning strategies. IWD shows an average improvement of 3.60\% over the state-of-the-art LwF method. The results highlight the potential of our method to serve as a robust framework for real-world applications where models must evolve with new data without forgetting past knowledge.

Accurate battery capacity estimation is key to alleviating consumer concerns about battery performance and reliability of electric vehicles (EVs). However, practical data limitations imposed by stringent privacy regulations and labeled data shortages hamper the development of generalizable capacity estimation models that remain robust to real-world data distribution shifts. While self-supervised learning can leverage unlabeled data, existing techniques are not particularly designed to learn effectively from challenging field data -- let alone from privacy-friendly data, which are often less feature-rich and noisier. In this work, we propose a first-of-its-kind capacity estimation model based on self-supervised pre-training, developed on a large-scale dataset of privacy-friendly charging data snippets from real-world EV operations. Our pre-training framework, snippet similarity-weighted masked input reconstruction, is designed to learn rich, generalizable representations even from less feature-rich and fragmented privacy-friendly data. Our key innovation lies in harnessing contrastive learning to first capture high-level similarities among fragmented snippets that otherwise lack meaningful context. With our snippet-wise contrastive learning and subsequent similarity-weighted masked reconstruction, we are able to learn rich representations of both granular charging patterns within individual snippets and high-level associative relationships across different snippets. Bolstered by this rich representation learning, our model consistently outperforms state-of-the-art baselines, achieving 31.9% lower test error than the best-performing benchmark, even under challenging domain-shifted settings affected by both manufacturer and age-induced distribution shifts. Source code is available at https://github.com/en-research/GenEVBattery.

Knowledge editing (KE) methods offer an efficient way to modify knowledge in large language models. Current KE evaluations typically assess editing success by considering only the edited knowledge without any preceding contexts. In real-world applications, however, preceding contexts often trigger the retrieval of the original knowledge and undermine the intended edit. To address this issue, we develop CHED -- a benchmark designed to evaluate the context robustness of KE methods. Evaluations on CHED show that they often fail when preceding contexts are present. To mitigate this shortcoming, we introduce CoRE, a KE method designed to strengthen context robustness by minimizing context-sensitive variance in hidden states of the model for edited knowledge. This method not only improves the editing success rate in situations where a preceding context is present but also preserves the overall capabilities of the model. We provide an in-depth analysis of the differing impacts of preceding contexts when introduced as user utterances versus assistant responses, and we dissect attention-score patterns to assess how specific tokens influence editing success.

Recently, we have witnessed the bloom of neural ranking models in the information retrieval (IR) field. So far, much effort has been devoted to developing effective neural ranking models that can generalize well on new data. There has been less attention paid to the robustness perspective. Unlike the effectiveness which is about the average performance of a system under normal purpose, robustness cares more about the system performance in the worst case or under malicious operations instead. When a new technique enters into the real-world application, it is critical to know not only how it works in average, but also how would it behave in abnormal situations. So we raise the question in this work: Are neural ranking models robust? To answer this question, firstly, we need to clarify what we refer to when we talk about the robustness of ranking models in IR. We show that robustness is actually a multi-dimensional concept and there are three ways to define it in IR: 1) The performance variance under the independent and identically distributed (I.I.D.) setting; 2) The out-of-distribution (OOD) generalizability; and 3) The defensive ability against adversarial operations. The latter two definitions can be further specified into two different perspectives respectively, leading to 5 robustness tasks in total. Based on this taxonomy, we build corresponding benchmark datasets, design empirical experiments, and systematically analyze the robustness of several representative neural ranking models against traditional probabilistic ranking models and learning-to-rank (LTR) models. The empirical results show that there is no simple answer to our question. While neural ranking models are less robust against other IR models in most cases, some of them can still win 1 out of 5 tasks. This is the first comprehensive study on the robustness of neural ranking models.

The continuous advancement of large language models (LLMs) has brought increasing attention to the critical issue of developing fair and reliable methods for evaluating their performance. Particularly, the emergence of subjective or non-subjective cheating phenomena, such as test set leakage and prompt format overfitting, poses significant challenges to the reliable evaluation of LLMs. Since evaluation frameworks often utilize Regular Expression (RegEx) for answer extraction, some models may adjust their responses to comply with specific formats that are easily extractable by RegEx. Nevertheless, the key answer extraction module based on RegEx frequently suffers from extraction errors. This paper conducts a comprehensive analysis of the entire LLM evaluation chain, demonstrating that optimizing the key answer extraction module can improve extraction accuracy, reduce LLMs' reliance on specific answer formats, and enhance the reliability of LLM evaluation. To address these issues, we propose xFinder, a model specifically designed for key answer extraction. As part of this process, we create a specialized dataset, the Key Answer Finder (KAF) dataset, to ensure effective model training and evaluation. Through generalization testing and evaluation in real-world scenarios, the results demonstrate that the smallest xFinder model with only 500 million parameters achieves an average answer extraction accuracy of 93.42%. In contrast, RegEx accuracy in the best evaluation framework is 74.38%. xFinder exhibits stronger robustness and higher accuracy compared to existing evaluation frameworks. All resources for xFinder are available at https://github.com/IAAR-Shanghai/xFinder.

Novel-view synthesis techniques achieve impressive results for static scenes but struggle when faced with the inconsistencies inherent to casual capture settings: varying illumination, scene motion, and other unintended effects that are difficult to model explicitly. We present an approach for leveraging generative video models to simulate the inconsistencies in the world that can occur during capture. We use this process, along with existing multi-view datasets, to create synthetic data for training a multi-view harmonization network that is able to reconcile inconsistent observations into a consistent 3D scene. We demonstrate that our world-simulation strategy significantly outperforms traditional augmentation methods in handling real-world scene variations, thereby enabling highly accurate static 3D reconstructions in the presence of a variety of challenging inconsistencies. Project page: https://alextrevithick.github.io/simvs

This work is concerned with devising a robust Parkinson's (PD) disease detector from speech in real-world operating conditions using (i) foundational models, and (ii) speech enhancement (SE) methods. To this end, we first fine-tune several foundational-based models on the standard PC-GITA (s-PC-GITA) clean data. Our results demonstrate superior performance to previously proposed models. Second, we assess the generalization capability of the PD models on the extended PC-GITA (e-PC-GITA) recordings, collected in real-world operative conditions, and observe a severe drop in performance moving from ideal to real-world conditions. Third, we align training and testing conditions applaying off-the-shelf SE techniques on e-PC-GITA, and a significant boost in performance is observed only for the foundational-based models. Finally, combining the two best foundational-based models trained on s-PC-GITA, namely WavLM Base and Hubert Base, yielded top performance on the enhanced e-PC-GITA.

Turn-taking is a crucial aspect of human-robot interaction, directly influencing conversational fluidity and user engagement. While previous research has explored turn-taking models in controlled environments, their robustness in real-world settings remains underexplored. In this study, we propose a noise-robust voice activity projection (VAP) model, based on a Transformer architecture, to enhance real-time turn-taking in dialogue robots. To evaluate the effectiveness of the proposed system, we conducted a field experiment in a shopping mall, comparing the VAP system with a conventional cloud-based speech recognition system. Our analysis covered both subjective user evaluations and objective behavioral analysis. The results showed that the proposed system significantly reduced response latency, leading to a more natural conversation where both the robot and users responded faster. The subjective evaluations suggested that faster responses contribute to a better interaction experience.

Multi-modal foundation models like OpenFlamingo, LLaVA, and GPT-4 are increasingly used for various real-world tasks. Prior work has shown that these models are highly vulnerable to adversarial attacks on the vision modality. These attacks can be leveraged to spread fake information or defraud users, and thus pose a significant risk, which makes the robustness of large multi-modal foundation models a pressing problem. The CLIP model, or one of its variants, is used as a frozen vision encoder in many vision-language models (VLMs), e.g. LLaVA and OpenFlamingo. We propose an unsupervised adversarial fine-tuning scheme to obtain a robust CLIP vision encoder, which yields robustness on all vision down-stream tasks (VLMs, zero-shot classification) that rely on CLIP. In particular, we show that stealth-attacks on users of VLMs by a malicious third party providing manipulated images are no longer possible once one replaces the original CLIP model with our robust one. No retraining or fine-tuning of the VLM is required. The code and robust models are available at https://github.com/chs20/RobustVLM

The realm of computer vision has witnessed a paradigm shift with the advent of foundational models, mirroring the transformative influence of large language models in the domain of natural language processing. This paper delves into the exploration of open-world segmentation, presenting a novel approach called Image Prompt Segmentation (IPSeg) that harnesses the power of vision foundational models. IPSeg lies the principle of a training-free paradigm, which capitalizes on image prompt techniques. Specifically, IPSeg utilizes a single image containing a subjective visual concept as a flexible prompt to query vision foundation models like DINOv2 and Stable Diffusion. Our approach extracts robust features for the prompt image and input image, then matches the input representations to the prompt representations via a novel feature interaction module to generate point prompts highlighting target objects in the input image. The generated point prompts are further utilized to guide the Segment Anything Model to segment the target object in the input image. The proposed method stands out by eliminating the need for exhaustive training sessions, thereby offering a more efficient and scalable solution. Experiments on COCO, PASCAL VOC, and other datasets demonstrate IPSeg's efficacy for flexible open-world segmentation using intuitive image prompts. This work pioneers tapping foundation models for open-world understanding through visual concepts conveyed in images.

Despite the success of convolutional neural networks (CNNs) in many academic benchmarks for computer vision tasks, their application in the real-world is still facing fundamental challenges. One of these open problems is the inherent lack of robustness, unveiled by the striking effectiveness of adversarial attacks. Current attack methods are able to manipulate the network's prediction by adding specific but small amounts of noise to the input. In turn, adversarial training (AT) aims to achieve robustness against such attacks and ideally a better model generalization ability by including adversarial samples in the trainingset. However, an in-depth analysis of the resulting robust models beyond adversarial robustness is still pending. In this paper, we empirically analyze a variety of adversarially trained models that achieve high robust accuracies when facing state-of-the-art attacks and we show that AT has an interesting side-effect: it leads to models that are significantly less overconfident with their decisions, even on clean data than non-robust models. Further, our analysis of robust models shows that not only AT but also the model's building blocks (like activation functions and pooling) have a strong influence on the models' prediction confidences. Data & Project website: https://github.com/GeJulia/robustness_confidences_evaluation

Despite the impressive capabilities of multimodal large language models (MLLMs) in vision-language tasks, they are prone to hallucinations in real-world scenarios. This paper investigates the hallucination phenomenon in MLLMs from the perspective of modality conflict. Unlike existing works focusing on the conflicts between model responses and inputs, we study the inherent conflicts in inputs from different modalities that place MLLMs in a dilemma and directly lead to hallucinations. We formally define the modality conflict and construct a dataset named Multimodal Modality Conflict (MMMC) to simulate this phenomenon in vision-language tasks. Three methods based on prompt engineering, supervised fine-tuning, and reinforcement learning are proposed to alleviate the hallucination caused by modality conflict. Extensive experiments are conducted on the MMMC dataset to analyze the merits and demerits of these methods. Our results show that the reinforcement learning method achieves the best performance in mitigating the hallucination under modality conflict, while the supervised fine-tuning method shows promising and stable performance. Our work sheds light on the unnoticed modality conflict that leads to hallucinations and provides more insights into the robustness of MLLMs.

The rapid advancement of large language models (LLMs) has drawn urgent attention to the task of machine-generated text detection (MGTD). However, existing approaches struggle in complex real-world scenarios: zero-shot detectors rely heavily on scoring model's output distribution while training-based detectors are often constrained by overfitting to the training data, limiting generalization. We found that the performance bottleneck of training-based detectors stems from the misalignment between training objective and task needs. To address this, we propose Direct Discrepancy Learning (DDL), a novel optimization strategy that directly optimizes the detector with task-oriented knowledge. DDL enables the detector to better capture the core semantics of the detection task, thereby enhancing both robustness and generalization. Built upon this, we introduce DetectAnyLLM, a unified detection framework that achieves state-of-the-art MGTD performance across diverse LLMs. To ensure a reliable evaluation, we construct MIRAGE, the most diverse multi-task MGTD benchmark. MIRAGE samples human-written texts from 10 corpora across 5 text-domains, which are then re-generated or revised using 17 cutting-edge LLMs, covering a wide spectrum of proprietary models and textual styles. Extensive experiments on MIRAGE reveal the limitations of existing methods in complex environment. In contrast, DetectAnyLLM consistently outperforms them, achieving over a 70% performance improvement under the same training data and base scoring model, underscoring the effectiveness of our DDL. Project page: {https://fjc2005.github.io/detectanyllm}.

Medical image classification is a critical problem for healthcare, with the potential to alleviate the workload of doctors and facilitate diagnoses of patients. However, two challenges arise when deploying deep learning models to real-world healthcare applications. First, neural models tend to learn spurious correlations instead of desired features, which could fall short when generalizing to new domains (e.g., patients with different ages). Second, these black-box models lack interpretability. When making diagnostic predictions, it is important to understand why a model makes a decision for trustworthy and safety considerations. In this paper, to address these two limitations, we propose a new paradigm to build robust and interpretable medical image classifiers with natural language concepts. Specifically, we first query clinical concepts from GPT-4, then transform latent image features into explicit concepts with a vision-language model. We systematically evaluate our method on eight medical image classification datasets to verify its effectiveness. On challenging datasets with strong confounding factors, our method can mitigate spurious correlations thus substantially outperform standard visual encoders and other baselines. Finally, we show how classification with a small number of concepts brings a level of interpretability for understanding model decisions through case studies in real medical data.

Large Language Model (LLM) has demonstrated significant ability in various Natural Language Processing tasks. However, their effectiveness is highly dependent on the phrasing of the task prompt, leading to research on automatic prompt optimization using labeled task data. We reveal that these prompt optimization techniques are vulnerable to distribution shifts such as subpopulation shifts, which are common for LLMs in real-world scenarios such as customer reviews analysis. In this light, we propose a new problem of robust prompt optimization for LLMs against distribution shifts, which requires the prompt optimized over the labeled source group can simultaneously generalize to an unlabeled target group. To solve this problem, we propose Generalized Prompt Optimization framework, which incorporates the unlabeled data from the target group into prompt optimization. Extensive experimental results demonstrate the effectiveness of the proposed framework with significant performance improvement on the target group and comparable performance on the source group.

Code generation models are not robust to small perturbations, which often lead to incorrect generations and significantly degrade the performance of these models. Although improving the robustness of code generation models is crucial to enhancing user experience in real-world applications, existing research efforts do not address this issue. To fill this gap, we propose CodeFort, a framework to improve the robustness of code generation models, generalizing a large variety of code perturbations to enrich the training data and enabling various robust training strategies, mixing data augmentation, batch augmentation, adversarial logits pairing, and contrastive learning, all carefully designed to support high-throughput training. Extensive evaluations show that we increase the average robust pass rates of baseline CodeGen models from 14.79 to 21.74. We notably decrease the robustness drop rate from 95.02% to 54.95% against code-syntax perturbations.

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we introduce Orient Anything, the first expert and foundational model designed to estimate object orientation in a single- and free-view image. Due to the scarcity of labeled data, we propose extracting knowledge from the 3D world. By developing a pipeline to annotate the front face of 3D objects and render images from random views, we collect 2M images with precise orientation annotations. To fully leverage the dataset, we design a robust training objective that models the 3D orientation as probability distributions of three angles and predicts the object orientation by fitting these distributions. Besides, we employ several strategies to improve synthetic-to-real transfer. Our model achieves state-of-the-art orientation estimation accuracy in both rendered and real images and exhibits impressive zero-shot ability in various scenarios. More importantly, our model enhances many applications, such as comprehension and generation of complex spatial concepts and 3D object pose adjustment.

The deployment of Large Language Models (LLMs) in embodied agents creates an urgent need to measure their privacy awareness in the physical world. Existing evaluation methods, however, are confined to natural language based scenarios. To bridge this gap, we introduce EAPrivacy, a comprehensive evaluation benchmark designed to quantify the physical-world privacy awareness of LLM-powered agents. EAPrivacy utilizes procedurally generated scenarios across four tiers to test an agent's ability to handle sensitive objects, adapt to changing environments, balance task execution with privacy constraints, and resolve conflicts with social norms. Our measurements reveal a critical deficit in current models. The top-performing model, Gemini 2.5 Pro, achieved only 59\% accuracy in scenarios involving changing physical environments. Furthermore, when a task was accompanied by a privacy request, models prioritized completion over the constraint in up to 86\% of cases. In high-stakes situations pitting privacy against critical social norms, leading models like GPT-4o and Claude-3.5-haiku disregarded the social norm over 15\% of the time. These findings, demonstrated by our benchmark, underscore a fundamental misalignment in LLMs regarding physically grounded privacy and establish the need for more robust, physically-aware alignment. Codes and datasets will be available at https://github.com/Graph-COM/EAPrivacy.

Text-to-image (T2I) diffusion models (DMs) have shown promise in generating high-quality images from textual descriptions. The real-world applications of these models require particular attention to their safety and fidelity, but this has not been sufficiently explored. One fundamental question is whether existing T2I DMs are robust against variations over input texts. To answer it, this work provides the first robustness evaluation of T2I DMs against real-world attacks. Unlike prior studies that focus on malicious attacks involving apocryphal alterations to the input texts, we consider an attack space spanned by realistic errors (e.g., typo, glyph, phonetic) that humans can make, to ensure semantic consistency. Given the inherent randomness of the generation process, we develop novel distribution-based attack objectives to mislead T2I DMs. We perform attacks in a black-box manner without any knowledge of the model. Extensive experiments demonstrate the effectiveness of our method for attacking popular T2I DMs and simultaneously reveal their non-trivial robustness issues. Moreover, we provide an in-depth analysis of our method to show that it is not designed to attack the text encoder in T2I DMs solely.

Diffusion models have demonstrated exceptional capabilities in image generation and restoration, yet their application to video super-resolution faces significant challenges in maintaining both high fidelity and temporal consistency. We present DiffVSR, a diffusion-based framework for real-world video super-resolution that effectively addresses these challenges through key innovations. For intra-sequence coherence, we develop a multi-scale temporal attention module and temporal-enhanced VAE decoder that capture fine-grained motion details. To ensure inter-sequence stability, we introduce a noise rescheduling mechanism with an interweaved latent transition approach, which enhances temporal consistency without additional training overhead. We propose a progressive learning strategy that transitions from simple to complex degradations, enabling robust optimization despite limited high-quality video data. Extensive experiments demonstrate that DiffVSR delivers superior results in both visual quality and temporal consistency, setting a new performance standard in real-world video super-resolution.

The ability to connect language units to their referents in the physical world, referred to as grounding, is crucial to learning and understanding grounded meanings of words. While humans demonstrate fast mapping in new word learning, it remains unclear whether modern vision-language models can truly represent language with their grounded meanings and how grounding may further bootstrap new word learning. To this end, we introduce Grounded Open Vocabulary Acquisition (GOVA) to examine grounding and bootstrapping in open-world language learning. As an initial attempt, we propose object-oriented BERT (OctoBERT), a novel visually-grounded language model by pre-training on image-text pairs highlighting grounding as an objective. Through extensive experiments and analysis, we demonstrate that OctoBERT is a more coherent and fast grounded word learner, and that the grounding ability acquired during pre-training helps the model to learn unseen words more rapidly and robustly. Our code is available at https://github.com/sled-group/world-to-words

Diffusion models have become central to various image editing tasks, yet they often fail to fully adhere to physical laws, particularly with effects like shadows, reflections, and occlusions. In this work, we address the challenge of generating photorealistic mirror reflections using diffusion-based generative models. Despite extensive training data, existing diffusion models frequently overlook the nuanced details crucial to authentic mirror reflections. Recent approaches have attempted to resolve this by creating synhetic datasets and framing reflection generation as an inpainting task; however, they struggle to generalize across different object orientations and positions relative to the mirror. Our method overcomes these limitations by introducing key augmentations into the synthetic data pipeline: (1) random object positioning, (2) randomized rotations, and (3) grounding of objects, significantly enhancing generalization across poses and placements. To further address spatial relationships and occlusions in scenes with multiple objects, we implement a strategy to pair objects during dataset generation, resulting in a dataset robust enough to handle these complex scenarios. Achieving generalization to real-world scenes remains a challenge, so we introduce a three-stage training curriculum to develop the MirrorFusion 2.0 model to improve real-world performance. We provide extensive qualitative and quantitative evaluations to support our approach. The project page is available at: https://mirror-verse.github.io/.

Typographic attacks exploit the interplay between text and visual content in multimodal foundation models, causing misclassifications when misleading text is embedded within images. However, existing datasets are limited in size and diversity, making it difficult to study such vulnerabilities. In this paper, we introduce SCAM, the largest and most diverse dataset of real-world typographic attack images to date, containing 1,162 images across hundreds of object categories and attack words. Through extensive benchmarking of Vision-Language Models (VLMs) on SCAM, we demonstrate that typographic attacks significantly degrade performance, and identify that training data and model architecture influence the susceptibility to these attacks. Our findings reveal that typographic attacks persist in state-of-the-art Large Vision-Language Models (LVLMs) due to the choice of their vision encoder, though larger Large Language Models (LLMs) backbones help mitigate their vulnerability. Additionally, we demonstrate that synthetic attacks closely resemble real-world (handwritten) attacks, validating their use in research. Our work provides a comprehensive resource and empirical insights to facilitate future research toward robust and trustworthy multimodal AI systems. We publicly release the datasets introduced in this paper under https://huggingface.co/datasets/BLISS-e-V/SCAM, along with the code for evaluations at https://github.com/Bliss-e-V/SCAM.

Machine learning has demonstrated remarkable performance over finite datasets, yet whether the scores over the fixed benchmarks can sufficiently indicate the model's performance in the real world is still in discussion. In reality, an ideal robust model will probably behave similarly to the oracle (e.g., the human users), thus a good evaluation protocol is probably to evaluate the models' behaviors in comparison to the oracle. In this paper, we introduce a new robustness measurement that directly measures the image classification model's performance compared with a surrogate oracle (i.e., a foundation model). Besides, we design a simple method that can accomplish the evaluation beyond the scope of the benchmarks. Our method extends the image datasets with new samples that are sufficiently perturbed to be distinct from the ones in the original sets, but are still bounded within the same image-label structure the original test image represents, constrained by a foundation model pretrained with a large amount of samples. As a result, our new method will offer us a new way to evaluate the models' robustness performance, free of limitations of fixed benchmarks or constrained perturbations, although scoped by the power of the oracle. In addition to the evaluation results, we also leverage our generated data to understand the behaviors of the model and our new evaluation strategies.

Graph Neural Networks (GNNs) with numerical node features and graph structure as inputs have demonstrated superior performance on various supervised learning tasks with graph data. However the numerical node features utilized by GNNs are commonly extracted from raw data which is of text or tabular (numeric/categorical) type in most real-world applications. The best models for such data types in most standard supervised learning settings with IID (non-graph) data are not simple neural network layers and thus are not easily incorporated into a GNN. Here we propose a robust stacking framework that fuses graph-aware propagation with arbitrary models intended for IID data, which are ensembled and stacked in multiple layers. Our layer-wise framework leverages bagging and stacking strategies to enjoy strong generalization, in a manner which effectively mitigates label leakage and overfitting. Across a variety of graph datasets with tabular/text node features, our method achieves comparable or superior performance relative to both tabular/text and graph neural network models, as well as existing state-of-the-art hybrid strategies that combine the two.

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on the explicit extraction of 3D features, while still facing challenges such as the lack of large-scale robotic 3D data and the potential loss of spatial geometry. To address these limitations, we propose the Lift3D framework, which progressively enhances 2D foundation models with implicit and explicit 3D robotic representations to construct a robust 3D manipulation policy. Specifically, we first design a task-aware masked autoencoder that masks task-relevant affordance patches and reconstructs depth information, enhancing the 2D foundation model's implicit 3D robotic representation. After self-supervised fine-tuning, we introduce a 2D model-lifting strategy that establishes a positional mapping between the input 3D points and the positional embeddings of the 2D model. Based on the mapping, Lift3D utilizes the 2D foundation model to directly encode point cloud data, leveraging large-scale pretrained knowledge to construct explicit 3D robotic representations while minimizing spatial information loss. In experiments, Lift3D consistently outperforms previous state-of-the-art methods across several simulation benchmarks and real-world scenarios.

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric topological memory of images. We use an information bottleneck to regularize the learned policy, giving us (i) a compact visual representation of goals, (ii) improved generalization capabilities, and (iii) a mechanism for sampling feasible goals for exploration. Trained on a large offline dataset of prior experience, the model acquires a representation of visual goals that is robust to task-irrelevant distractors. We demonstrate our method on a mobile ground robot in open-world exploration scenarios. Given an image of a goal that is up to 80 meters away, our method leverages its representation to explore and discover the goal in under 20 minutes, even amidst previously-unseen obstacles and weather conditions. Please check out the project website for videos of our experiments and information about the real-world dataset used at https://sites.google.com/view/recon-robot.

Recently, there has been growing interest in leveraging large language models (LLMs) to generate symbolic world models from textual descriptions. Although LLMs have been extensively explored in the context of world modeling, prior studies encountered several challenges, including evaluation randomness, dependence on indirect metrics, and a limited domain scope. To address these limitations, we introduce a novel benchmark, Text2World, based on planning domain definition language (PDDL), featuring hundreds of diverse domains and employing multi-criteria, execution-based metrics for a more robust evaluation. We benchmark current LLMs using Text2World and find that reasoning models trained with large-scale reinforcement learning outperform others. However, even the best-performing model still demonstrates limited capabilities in world modeling. Building on these insights, we examine several promising strategies to enhance the world modeling capabilities of LLMs, including test-time scaling, agent training, and more. We hope that Text2World can serve as a crucial resource, laying the groundwork for future research in leveraging LLMs as world models. The project page is available at https://text-to-world.github.io/.

Language models have demonstrated impressive capabilities across various natural language processing tasks, yet they struggle with planning tasks requiring multi-step simulations. Inspired by human cognitive processes, this paper investigates the optimal planning power of language models that can construct a cognitive map of a given environment. Our experiments demonstrate that cognitive map significantly enhances the performance of both optimal and reachable planning generation ability in the Gridworld path planning task. We observe that our method showcases two key characteristics similar to human cognition: generalization of its planning ability to extrapolated environments and rapid adaptation with limited training data. We hope our findings in the Gridworld task provide insights into modeling human cognitive processes in language models, potentially leading to the development of more advanced and robust systems that better resemble human cognition.

Image diffusion models have been adapted for real-world video super-resolution to tackle over-smoothing issues in GAN-based methods. However, these models struggle to maintain temporal consistency, as they are trained on static images, limiting their ability to capture temporal dynamics effectively. Integrating text-to-video (T2V) models into video super-resolution for improved temporal modeling is straightforward. However, two key challenges remain: artifacts introduced by complex degradations in real-world scenarios, and compromised fidelity due to the strong generative capacity of powerful T2V models (e.g., CogVideoX-5B). To enhance the spatio-temporal quality of restored videos, we introduce~\name (Spatial-Temporal Augmentation with T2V models for Real-world video super-resolution), a novel approach that leverages T2V models for real-world video super-resolution, achieving realistic spatial details and robust temporal consistency. Specifically, we introduce a Local Information Enhancement Module (LIEM) before the global attention block to enrich local details and mitigate degradation artifacts. Moreover, we propose a Dynamic Frequency (DF) Loss to reinforce fidelity, guiding the model to focus on different frequency components across diffusion steps. Extensive experiments demonstrate~\name~outperforms state-of-the-art methods on both synthetic and real-world datasets.

By leveraging the generative priors from pre-trained text-to-image diffusion models, significant progress has been made in real-world image super-resolution (Real-ISR). However, these methods tend to generate inaccurate and unnatural reconstructions in complex and/or heavily degraded scenes, primarily due to their limited perception and understanding capability of the input low-quality image. To address these limitations, we propose, for the first time to our knowledge, to adapt the pre-trained autoregressive multimodal model such as Lumina-mGPT into a robust Real-ISR model, namely PURE, which Perceives and Understands the input low-quality image, then REstores its high-quality counterpart. Specifically, we implement instruction tuning on Lumina-mGPT to perceive the image degradation level and the relationships between previously generated image tokens and the next token, understand the image content by generating image semantic descriptions, and consequently restore the image by generating high-quality image tokens autoregressively with the collected information. In addition, we reveal that the image token entropy reflects the image structure and present a entropy-based Top-k sampling strategy to optimize the local structure of the image during inference. Experimental results demonstrate that PURE preserves image content while generating realistic details, especially in complex scenes with multiple objects, showcasing the potential of autoregressive multimodal generative models for robust Real-ISR. The model and code will be available at https://github.com/nonwhy/PURE.

Deploying large language models (LLMs) in real-world applications requires robust safety guard models to detect and block harmful user prompts. While large safety guard models achieve strong performance, their computational cost is substantial. To mitigate this, smaller distilled models are used, but they often underperform on "hard" examples where the larger model provides accurate predictions. We observe that many inputs can be reliably handled by the smaller model, while only a small fraction require the larger model's capacity. Motivated by this, we propose SafeRoute, a binary router that distinguishes hard examples from easy ones. Our method selectively applies the larger safety guard model to the data that the router considers hard, improving efficiency while maintaining accuracy compared to solely using the larger safety guard model. Experimental results on multiple benchmark datasets demonstrate that our adaptive model selection significantly enhances the trade-off between computational cost and safety performance, outperforming relevant baselines.

Large language models (LLMs) excel at knowledge-intensive question answering and reasoning, yet their real-world deployment remains constrained by knowledge cutoff, hallucination, and limited interaction modalities. Augmenting LLMs with external search tools helps alleviate these issues, but it also exposes agents to a complex search environment in which small, plausible variations in query formulation can steer reasoning into unproductive trajectories and amplify errors. We present a systematic analysis that quantifies how environmental complexity induces fragile search behaviors and, in turn, degrades overall performance. To address this challenge, we propose a simple yet effective approach to instantiate a search agent, RE-Searcher. During search, RE-Searcher explicitly articulates a concrete search goal and subsequently reflects on whether the retrieved evidence satisfies that goal. This combination of goal-oriented planning and self-reflection enables RE-Searcher to resist spurious cues in complex search environments and perform robust search. Extensive experiments show that our method improves search accuracy and achieves state-of-the-art results. Perturbation studies further demonstrate substantial resilience to noisy or misleading external signals, mitigating the fragility of the search process. We believe these findings offer practical guidance for integrating LLM-powered agents into more complex interactive environments and enabling more autonomous decision-making.

Open-world object counting leverages the robust text-image alignment of pre-trained vision-language models (VLMs) to enable counting of arbitrary categories in images specified by textual queries. However, widely adopted naive fine-tuning strategies concentrate exclusively on text-image consistency for categories contained in training, which leads to limited generalizability for unseen categories. In this work, we propose a plug-and-play Semantic-Driven Visual Prompt Tuning framework (SDVPT) that transfers knowledge from the training set to unseen categories with minimal overhead in parameters and inference time. First, we introduce a two-stage visual prompt learning strategy composed of Category-Specific Prompt Initialization (CSPI) and Topology-Guided Prompt Refinement (TGPR). The CSPI generates category-specific visual prompts, and then TGPR distills latent structural patterns from the VLM's text encoder to refine these prompts. During inference, we dynamically synthesize the visual prompts for unseen categories based on the semantic correlation between unseen and training categories, facilitating robust text-image alignment for unseen categories. Extensive experiments integrating SDVPT with all available open-world object counting models demonstrate its effectiveness and adaptability across three widely used datasets: FSC-147, CARPK, and PUCPR+.

Stereotype biases in Large Multimodal Models (LMMs) perpetuate harmful societal prejudices, undermining the fairness and equity of AI applications. As LMMs grow increasingly influential, addressing and mitigating inherent biases related to stereotypes, harmful generations, and ambiguous assumptions in real-world scenarios has become essential. However, existing datasets evaluating stereotype biases in LMMs often lack diversity and rely on synthetic images, leaving a gap in bias evaluation for real-world visual contexts. To address this, we introduce the Stereotype Bias Benchmark (SB-bench), the most comprehensive framework to date for assessing stereotype biases across nine diverse categories with non-synthetic images. SB-bench rigorously evaluates LMMs through carefully curated, visually grounded scenarios, challenging them to reason accurately about visual stereotypes. It offers a robust evaluation framework featuring real-world visual samples, image variations, and multiple-choice question formats. By introducing visually grounded queries that isolate visual biases from textual ones, SB-bench enables a precise and nuanced assessment of a model's reasoning capabilities across varying levels of difficulty. Through rigorous testing of state-of-the-art open-source and closed-source LMMs, SB-bench provides a systematic approach to assessing stereotype biases in LMMs across key social dimensions. This benchmark represents a significant step toward fostering fairness in AI systems and reducing harmful biases, laying the groundwork for more equitable and socially responsible LMMs. Our code and dataset are publicly available.

Large Language Models (LLMs) are powerful zero-shot assessors and are increasingly used in real-world situations such as for written exams or benchmarking systems. Despite this, no existing work has analyzed the vulnerability of judge-LLMs against adversaries attempting to manipulate outputs. This work presents the first study on the adversarial robustness of assessment LLMs, where we search for short universal phrases that when appended to texts can deceive LLMs to provide high assessment scores. Experiments on SummEval and TopicalChat demonstrate that both LLM-scoring and pairwise LLM-comparative assessment are vulnerable to simple concatenation attacks, where in particular LLM-scoring is very susceptible and can yield maximum assessment scores irrespective of the input text quality. Interestingly, such attacks are transferable and phrases learned on smaller open-source LLMs can be applied to larger closed-source models, such as GPT3.5. This highlights the pervasive nature of the adversarial vulnerabilities across different judge-LLM sizes, families and methods. Our findings raise significant concerns on the reliability of LLMs-as-a-judge methods, and underscore the importance of addressing vulnerabilities in LLM assessment methods before deployment in high-stakes real-world scenarios.

While deep learning models have shown remarkable performance in various tasks, they are susceptible to learning non-generalizable spurious features rather than the core features that are genuinely correlated to the true label. In this paper, beyond existing analyses of linear models, we theoretically examine the learning process of a two-layer nonlinear convolutional neural network in the presence of spurious features. Our analysis suggests that imbalanced data groups and easily learnable spurious features can lead to the dominance of spurious features during the learning process. In light of this, we propose a new training algorithm called PDE that efficiently enhances the model's robustness for a better worst-group performance. PDE begins with a group-balanced subset of training data and progressively expands it to facilitate the learning of the core features. Experiments on synthetic and real-world benchmark datasets confirm the superior performance of our method on models such as ResNets and Transformers. On average, our method achieves a 2.8% improvement in worst-group accuracy compared with the state-of-the-art method, while enjoying up to 10x faster training efficiency.

Previous robustness approaches for deep learning models such as data augmentation techniques via data transformation or adversarial training cannot capture real-world variations that preserve the semantics of the input, such as a change in lighting conditions. To bridge this gap, we present NaTra, an adversarial training scheme that is designed to improve the robustness of image classification algorithms. We target attributes of the input images that are independent of the class identification, and manipulate those attributes to mimic real-world natural transformations (NaTra) of the inputs, which are then used to augment the training dataset of the image classifier. Specifically, we apply Batch Inverse Encoding and Shifting to map a batch of given images to corresponding disentangled latent codes of well-trained generative models. Latent Codes Expansion is used to boost image reconstruction quality through the incorporation of extended feature maps. Unsupervised Attribute Directing and Manipulation enables identification of the latent directions that correspond to specific attribute changes, and then produce interpretable manipulations of those attributes, thereby generating natural transformations to the input data. We demonstrate the efficacy of our scheme by utilizing the disentangled latent representations derived from well-trained GANs to mimic transformations of an image that are similar to real-world natural variations (such as lighting conditions or hairstyle), and train models to be invariant to these natural transformations. Extensive experiments show that our method improves generalization of classification models and increases its robustness to various real-world distortions

Self-supervised learning (SSL) has helped extend speech technologies to more languages by reducing the need for labeled data. However, models are still far from supporting the world's 7000+ languages. We propose XEUS, a Cross-lingual Encoder for Universal Speech, trained on over 1 million hours of data across 4057 languages, extending the language coverage of SSL models 4-fold. We combine 1 million hours of speech from existing publicly accessible corpora with a newly created corpus of 7400+ hours from 4057 languages, which will be publicly released. To handle the diverse conditions of multilingual speech data, we augment the typical SSL masked prediction approach with a novel dereverberation objective, increasing robustness. We evaluate XEUS on several benchmarks, and show that it consistently outperforms or achieves comparable results to state-of-the-art (SOTA) SSL models across a variety of tasks. XEUS sets a new SOTA on the ML-SUPERB benchmark: it outperforms MMS 1B and w2v-BERT 2.0 v2 by 0.8% and 4.4% respectively, despite having less parameters or pre-training data. Checkpoints, code, and data are found in https://www.wavlab.org/activities/2024/xeus/.

We propose a framework for robust evaluation of reasoning capabilities of language models, using functional variants of benchmarks. Models that solve a reasoning test should exhibit no difference in performance over the static version of a problem compared to a snapshot of the functional variant. We have rewritten the relevant fragment of the MATH benchmark into its functional variant MATH(), with functionalization of other benchmarks to follow. When evaluating current state-of-the-art models over snapshots of MATH(), we find a reasoning gap -- the percentage difference between the static and functional accuracies. We find reasoning gaps from 58.35% to 80.31% among the state-of-the-art closed and open weights models that perform well on static benchmarks, with the caveat that the gaps are likely to be smaller with more sophisticated prompting strategies. Here we show that models which anecdotally have good reasoning performance over real-world tasks, have quantifiable lower gaps, motivating the open problem of building "gap 0" models. Code for evaluation and new evaluation datasets, three MATH() snapshots, are publicly available at https://github.com/consequentai/fneval/.

Medical Visual Question Answering (MedVQA) is a promising field for developing clinical decision support systems, yet progress is often limited by the available datasets, which can lack clinical complexity and visual diversity. To address these gaps, we introduce Kvasir-VQA-x1, a new, large-scale dataset for gastrointestinal (GI) endoscopy. Our work significantly expands upon the original Kvasir-VQA by incorporating 159,549 new question-answer pairs that are designed to test deeper clinical reasoning. We developed a systematic method using large language models to generate these questions, which are stratified by complexity to better assess a model's inference capabilities. To ensure our dataset prepares models for real-world clinical scenarios, we have also introduced a variety of visual augmentations that mimic common imaging artifacts. The dataset is structured to support two main evaluation tracks: one for standard VQA performance and another to test model robustness against these visual perturbations. By providing a more challenging and clinically relevant benchmark, Kvasir-VQA-x1 aims to accelerate the development of more reliable and effective multimodal AI systems for use in clinical settings. The dataset is fully accessible and adheres to FAIR data principles, making it a valuable resource for the wider research community. Code and data: https://github.com/Simula/Kvasir-VQA-x1 and https://huggingface.co/datasets/SimulaMet/Kvasir-VQA-x1

Vision-language-action (VLA) models increasingly rely on diverse training data to achieve robust generalization. However, collecting large-scale real-world robot manipulation data across varied object appearances and environmental conditions remains prohibitively time-consuming and expensive. To overcome this bottleneck, we propose Embodied Manipulation Media Adaptation (EMMA), a VLA policy enhancement framework that integrates a generative data engine with an effective training pipeline. We introduce DreamTransfer, a diffusion Transformer-based framework for generating multi-view consistent, geometrically grounded embodied manipulation videos. DreamTransfer enables text-controlled visual editing of robot videos, transforming foreground, background, and lighting conditions without compromising 3D structure or geometrical plausibility. Furthermore, we explore hybrid training with real and generated data, and introduce AdaMix, a hard-sample-aware training strategy that dynamically reweights training batches to focus optimization on perceptually or kinematically challenging samples. Extensive experiments show that videos generated by DreamTransfer significantly outperform prior video generation methods in multi-view consistency, geometric fidelity, and text-conditioning accuracy. Crucially, VLAs trained with generated data enable robots to generalize to unseen object categories and novel visual domains using only demonstrations from a single appearance. In real-world robotic manipulation tasks with zero-shot visual domains, our approach achieves over a 200% relative performance gain compared to training on real data alone, and further improves by 13% with AdaMix, demonstrating its effectiveness in boosting policy generalization.

OWL (Web Ontology Language) ontologies which are able to formally represent complex knowledge and support semantic reasoning have been widely adopted across various domains such as healthcare and bioinformatics. Recently, ontology embeddings have gained wide attention due to its potential to infer plausible new knowledge and approximate complex reasoning. However, existing methods face notable limitations: geometric model-based embeddings typically overlook valuable textual information, resulting in suboptimal performance, while the approaches that incorporate text, which are often based on language models, fail to preserve the logical structure. In this work, we propose a new ontology embedding method OnT, which tunes a Pretrained Language Model (PLM) via geometric modeling in a hyperbolic space for effectively incorporating textual labels and simultaneously preserving class hierarchies and other logical relationships of Description Logic EL. Extensive experiments on four real-world ontologies show that OnT consistently outperforms the baselines including the state-of-the-art across both tasks of prediction and inference of axioms. OnT also demonstrates strong potential in real-world applications, indicated by its robust transfer learning abilities and effectiveness in real cases of constructing a new ontology from SNOMED CT. Data and code are available at https://github.com/HuiYang1997/OnT.

Existing agents based on large language models (LLMs) demonstrate robust problem-solving capabilities by integrating LLMs' inherent knowledge, strong in-context learning and zero-shot capabilities, and the use of tools combined with intricately designed LLM invocation workflows by humans. However, these agents still exhibit shortcomings in long-term reasoning and under-use the potential of existing tools, leading to noticeable deficiencies in complex real-world reasoning scenarios. To address these limitations, we introduce Sibyl, a simple yet powerful LLM-based agent framework designed to tackle complex reasoning tasks by efficiently leveraging a minimal set of tools. Drawing inspiration from Global Workspace Theory, Sibyl incorporates a global workspace to enhance the management and sharing of knowledge and conversation history throughout the system. Furthermore, guided by Society of Mind Theory, Sibyl implements a multi-agent debate-based jury to self-refine the final answers, ensuring a comprehensive and balanced approach. This approach aims to reduce system complexity while expanding the scope of problems solvable-from matters typically resolved by humans in minutes to those requiring hours or even days, thus facilitating a shift from System-1 to System-2 thinking. Sibyl has been designed with a focus on scalability and ease of debugging by incorporating the concept of reentrancy from functional programming from its inception, with the aim of seamless and low effort integration in other LLM applications to improve capabilities. Our experimental results on the GAIA benchmark test set reveal that the Sibyl agent instantiated with GPT-4 achieves state-of-the-art performance with an average score of 34.55%, compared to other agents based on GPT-4. We hope that Sibyl can inspire more reliable and reusable LLM-based agent solutions to address complex real-world reasoning tasks.

Machine learning models often struggle with distribution shifts in real-world scenarios, whereas humans exhibit robust adaptation. Models that better align with human perception may achieve higher out-of-distribution generalization. In this study, we investigate how various characteristics of large-scale computer vision models influence their alignment with human capabilities and robustness. Our findings indicate that increasing model and data size and incorporating rich semantic information and multiple modalities enhance models' alignment with human perception and their overall robustness. Our empirical analysis demonstrates a strong correlation between out-of-distribution accuracy and human alignment.

Knowledge distillation (KD) is a simple and successful method to transfer knowledge from a teacher to a student model solely based on functional activity. However, current KD has a few shortcomings: it has recently been shown that this method is unsuitable to transfer simple inductive biases like shift equivariance, struggles to transfer out of domain generalization, and optimization time is magnitudes longer compared to default non-KD model training. To improve these aspects of KD, we propose Hard Augmentations for Robust Distillation (HARD), a generally applicable data augmentation framework, that generates synthetic data points for which the teacher and the student disagree. We show in a simple toy example that our augmentation framework solves the problem of transferring simple equivariances with KD. We then apply our framework in real-world tasks for a variety of augmentation models, ranging from simple spatial transformations to unconstrained image manipulations with a pretrained variational autoencoder. We find that our learned augmentations significantly improve KD performance on in-domain and out-of-domain evaluation. Moreover, our method outperforms even state-of-the-art data augmentations and since the augmented training inputs can be visualized, they offer a qualitative insight into the properties that are transferred from the teacher to the student. Thus HARD represents a generally applicable, dynamically optimized data augmentation technique tailored to improve the generalization and convergence speed of models trained with KD.

Effective waste sorting is critical for sustainable recycling, yet AI research in this domain continues to lag behind commercial systems due to limited datasets and reliance on legacy object detectors. In this work, we advance AI-driven waste detection by establishing strong baselines and introducing an ensemble-based semi-supervised learning framework. We first benchmark state-of-the-art Open-Vocabulary Object Detection (OVOD) models on the real-world ZeroWaste dataset, demonstrating that while class-only prompts perform poorly, LLM-optimized prompts significantly enhance zero-shot accuracy. Next, to address domain-specific limitations, we fine-tune modern transformer-based detectors, achieving a new baseline of 51.6 mAP. We then propose a soft pseudo-labeling strategy that fuses ensemble predictions using spatial and consensus-aware weighting, enabling robust semi-supervised training. Applied to the unlabeled ZeroWaste-s subset, our pseudo-annotations achieve performance gains that surpass fully supervised training, underscoring the effectiveness of scalable annotation pipelines. Our work contributes to the research community by establishing rigorous baselines, introducing a robust ensemble-based pseudo-labeling pipeline, generating high-quality annotations for the unlabeled ZeroWaste-s subset, and systematically evaluating OVOD models under real-world waste sorting conditions. Our code is available at: https://github.com/h-abid97/robust-waste-detection.

Existing Video Temporal Grounding (VTG) models excel in accuracy but often overlook open-world challenges posed by open-vocabulary queries and untrimmed videos. This leads to unreliable predictions for noisy, corrupted, and out-of-distribution data. Adapting VTG models to dynamically estimate uncertainties based on user input can address this issue. To this end, we introduce SRAM, a robust network module that benefits from a two-stage cross-modal alignment task. More importantly, it integrates Deep Evidential Regression (DER) to explicitly and thoroughly quantify uncertainty during training, thus allowing the model to say "I do not know" in scenarios beyond its handling capacity. However, the direct application of traditional DER theory and its regularizer reveals structural flaws, leading to unintended constraints in VTG tasks. In response, we develop a simple yet effective Geom-regularizer that enhances the uncertainty learning framework from the ground up. To the best of our knowledge, this marks the first successful attempt of DER in VTG. Our extensive quantitative and qualitative results affirm the effectiveness, robustness, and interpretability of our modules and the uncertainty learning paradigm in VTG tasks. The code will be made available.

Large Language Models (LLMs) are increasingly applied in various real-world scenarios due to their excellent generalization capabilities and robust generative abilities. However, they exhibit position bias, also known as "lost in the middle", a phenomenon that is especially pronounced in long-context scenarios, which indicates the placement of the key information in different positions of a prompt can significantly affect accuracy. This paper first explores the micro-level manifestations of position bias, concluding that attention weights are a micro-level expression of position bias. It further identifies that, in addition to position embeddings, causal attention mask also contributes to position bias by creating position-specific hidden states. Based on these insights, we propose a method to mitigate position bias by scaling this positional hidden states. Experiments on the NaturalQuestions Multi-document QA, KV retrieval, LongBench and timeline reorder tasks, using various models including RoPE models, context windowextended models, and Alibi models, demonstrate the effectiveness and generalizability of our approach. Our method can improve performance by up to 15.2% by modifying just one dimension of hidden states. Our code is available at https://aka.ms/PositionalHidden.

Since real-world training datasets cannot properly sample the long tail of the underlying data distribution, corner cases and rare out-of-domain samples can severely hinder the performance of state-of-the-art models. This problem becomes even more severe for dense tasks, such as 3D semantic segmentation, where points of non-standard objects can be confidently associated to the wrong class. In this work, we focus on improving the generalization to out-of-domain data. We achieve this by augmenting the training set with adversarial examples. First, we learn a set of vectors that deform the objects in an adversarial fashion. To prevent the adversarial examples from being too far from the existing data distribution, we preserve their plausibility through a series of constraints, ensuring sensor-awareness and shapes smoothness. Then, we perform adversarial augmentation by applying the learned sample-independent vectors to the available objects when training a model. We conduct extensive experiments across a variety of scenarios on data from KITTI, Waymo, and CrashD for 3D object detection, and on data from SemanticKITTI, Waymo, and nuScenes for 3D semantic segmentation. Despite training on a standard single dataset, our approach substantially improves the robustness and generalization of both 3D object detection and 3D semantic segmentation methods to out-of-domain data.

Image restoration (IR) in real-world scenarios presents significant challenges due to the lack of high-capacity models and comprehensive datasets. To tackle these issues, we present a dual strategy: GenIR, an innovative data curation pipeline, and DreamClear, a cutting-edge Diffusion Transformer (DiT)-based image restoration model. GenIR, our pioneering contribution, is a dual-prompt learning pipeline that overcomes the limitations of existing datasets, which typically comprise only a few thousand images and thus offer limited generalizability for larger models. GenIR streamlines the process into three stages: image-text pair construction, dual-prompt based fine-tuning, and data generation & filtering. This approach circumvents the laborious data crawling process, ensuring copyright compliance and providing a cost-effective, privacy-safe solution for IR dataset construction. The result is a large-scale dataset of one million high-quality images. Our second contribution, DreamClear, is a DiT-based image restoration model. It utilizes the generative priors of text-to-image (T2I) diffusion models and the robust perceptual capabilities of multi-modal large language models (MLLMs) to achieve photorealistic restoration. To boost the model's adaptability to diverse real-world degradations, we introduce the Mixture of Adaptive Modulator (MoAM). It employs token-wise degradation priors to dynamically integrate various restoration experts, thereby expanding the range of degradations the model can address. Our exhaustive experiments confirm DreamClear's superior performance, underlining the efficacy of our dual strategy for real-world image restoration. Code and pre-trained models will be available at: https://github.com/shallowdream204/DreamClear.

Recent advancements in 3D Large Language Models (3DLLMs) have highlighted their potential in building general-purpose agents in the 3D real world, yet challenges remain due to the lack of high-quality robust instruction-following data, leading to limited discriminative power and generalization of 3DLLMs. In this paper, we introduce Robin3D, a powerful 3DLLM trained on large-scale instruction-following data generated by our novel data engine, Robust Instruction Generation (RIG) engine. RIG generates two key instruction data: 1) the Adversarial Instruction-following data, which features mixed negative and positive samples to enhance the model's discriminative understanding. 2) the Diverse Instruction-following data, which contains various instruction styles to enhance model's generalization. As a result, we construct 1 million instruction-following data, consisting of 344K Adversarial samples, 508K Diverse samples, and 165K benchmark training set samples. To better handle these complex instructions, Robin3D first incorporates Relation-Augmented Projector to enhance spatial understanding, and then strengthens the object referring and grounding ability through ID-Feature Bonding. Robin3D consistently outperforms previous methods across five widely-used 3D multimodal learning benchmarks, without the need for task-specific fine-tuning. Notably, we achieve a 7.8\% improvement in the grounding task (Multi3DRefer) and a 6.9\% improvement in the captioning task (Scan2Cap).

We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the scene, where objects can be rearranged virtually and an image of the resulting arrangement rendered. These renders are evaluated by a VLM, so that the arrangement which best satisfies the user instruction is selected and recreated in the real world with pick-and-place. This enables language-conditioned rearrangement to be performed zero-shot, without needing to collect a training dataset of example arrangements. Results on a series of real-world tasks show that this framework is robust to distractors, controllable by language, capable of understanding complex multi-object relations, and readily applicable to both tabletop and 6-DoF rearrangement tasks.

Multi-robot coordination has traditionally relied on a mission-specific and expert-driven pipeline, where natural language mission descriptions are manually translated by domain experts into mathematical formulation, algorithm design, and executable code. This conventional process is labor-intensive, inaccessible to non-experts, and inflexible to changes in mission requirements. Here, we propose LAN2CB (Language to Collective Behavior), a novel framework that leverages large language models (LLMs) to streamline and generalize the multi-robot coordination pipeline. LAN2CB transforms natural language (NL) mission descriptions into executable Python code for multi-robot systems through two core modules: (1) Mission Analysis, which parses mission descriptions into behavior trees, and (2) Code Generation, which leverages the behavior tree and a structured knowledge base to generate robot control code. We further introduce a dataset of natural language mission descriptions to support development and benchmarking. Experiments in both simulation and real-world environments demonstrate that LAN2CB enables robust and flexible multi-robot coordination from natural language, significantly reducing manual engineering effort and supporting broad generalization across diverse mission types. Website: https://sites.google.com/view/lan-cb

Robots deployed in dynamic environments must be able to not only follow diverse language instructions but flexibly adapt when user intent changes mid-execution. While recent Vision-Language-Action (VLA) models have advanced multi-task learning and instruction following, they typically assume static task intent, failing to respond when new instructions arrive during ongoing execution. This limitation hinders natural and robust interaction in dynamic settings, such as retail or household environments, where real-time intent changes are common. We propose SwitchVLA, a unified, execution-aware framework that enables smooth and reactive task switching without external planners or additional switch-specific data. We model task switching as a behavior modulation problem conditioned on execution state and instruction context. Expert demonstrations are segmented into temporally grounded contact phases, allowing the policy to infer task progress and adjust its behavior accordingly. A multi-behavior conditional policy is then trained to generate flexible action chunks under varying behavior modes through conditioned trajectory modeling. Experiments in both simulation and real-world robotic manipulation demonstrate that SwitchVLA enables robust instruction adherence, fluid task switching, and strong generalization-outperforming prior VLA baselines in both task success rate and interaction naturalness.

Logic synthesis, a critical stage in electronic design automation (EDA), optimizes gate-level circuits to minimize power consumption and area occupancy in integrated circuits (ICs). Traditional logic synthesis tools rely on human-designed heuristics, often yielding suboptimal results. Although differentiable architecture search (DAS) has shown promise in generating circuits from truth tables, it faces challenges such as high computational complexity, convergence to local optima, and extensive hyperparameter tuning. Consequently, we propose a novel approach integrating conditional generative models with DAS for circuit generation. Our approach first introduces CircuitVQ, a circuit tokenizer trained based on our Circuit AutoEncoder We then develop CircuitAR, a masked autoregressive model leveraging CircuitVQ as the tokenizer. CircuitAR can generate preliminary circuit structures from truth tables, which guide DAS in producing functionally equivalent circuits. Notably, we observe the scalability and emergent capability in generating complex circuit structures of our CircuitAR models. Extensive experiments also show the superior performance of our method. This research bridges the gap between probabilistic generative models and precise circuit generation, offering a robust solution for logic synthesis.

We present DeepSeek-VL, an open-source Vision-Language (VL) Model designed for real-world vision and language understanding applications. Our approach is structured around three key dimensions: We strive to ensure our data is diverse, scalable, and extensively covers real-world scenarios including web screenshots, PDFs, OCR, charts, and knowledge-based content, aiming for a comprehensive representation of practical contexts. Further, we create a use case taxonomy from real user scenarios and construct an instruction tuning dataset accordingly. The fine-tuning with this dataset substantially improves the model's user experience in practical applications. Considering efficiency and the demands of most real-world scenarios, DeepSeek-VL incorporates a hybrid vision encoder that efficiently processes high-resolution images (1024 x 1024), while maintaining a relatively low computational overhead. This design choice ensures the model's ability to capture critical semantic and detailed information across various visual tasks. We posit that a proficient Vision-Language Model should, foremost, possess strong language abilities. To ensure the preservation of LLM capabilities during pretraining, we investigate an effective VL pretraining strategy by integrating LLM training from the beginning and carefully managing the competitive dynamics observed between vision and language modalities. The DeepSeek-VL family (both 1.3B and 7B models) showcases superior user experiences as a vision-language chatbot in real-world applications, achieving state-of-the-art or competitive performance across a wide range of visual-language benchmarks at the same model size while maintaining robust performance on language-centric benchmarks. We have made both 1.3B and 7B models publicly accessible to foster innovations based on this foundation model.

The rapid advancement of large language models (LLMs) has empowered intelligent agents to leverage diverse external tools for solving complex real-world problems. However, as agents increasingly depend on multiple tools, they encounter new challenges: extended contexts from disparate sources and noisy or irrelevant tool outputs can undermine system reliability and accuracy. These challenges underscore the necessity for enhanced stability in agent-based systems. To address this, we introduce dynamic supervision and maneuvering mechanisms, constructing a robust and dynamic Multi-Agent System (MAS) architecture within the AWorld framework. In our approach, the Execution Agent invokes the Guard Agent at critical steps to verify and correct the reasoning process, effectively reducing errors arising from noise and bolstering problem-solving robustness. Extensive experiments on the GAIA test dataset reveal that our dynamic maneuvering mechanism significantly improves both the effectiveness and stability of solutions, outperforming single-agent system (SAS) and standard tool-augmented systems. As a result, our dynamic MAS system achieved first place among open-source projects on the prestigious GAIA leaderboard. These findings highlight the practical value of collaborative agent roles in developing more reliable and trustworthy intelligent systems.

Large language models (LLMs) have shown remarkable ability in code generation with more than 90 pass@1 in solving Python coding problems in HumanEval and MBPP. Such high accuracy leads to the question: can LLMs replace human programmers? Existing manual crafted, simple, or single-line code generation benchmarks cannot answer this question due to their gap with real-world software development. To answer this question, we propose REPOCOD, a code generation benchmark with 980 problems collected from 11 popular real-world projects, with more than 58% of them requiring file-level or repository-level context information. In addition, REPOCOD has the longest average canonical solution length (331.6 tokens) and the highest average cyclomatic complexity (9.00) compared to existing benchmarks. In our evaluations on ten LLMs, none of the models can achieve more than 30 pass@1 on REPOCOD, disclosing the necessity of building stronger LLMs that can help developers in real-world software development.

Vision foundation models like DINOv2 demonstrate remarkable potential in medical imaging despite their origin in natural image domains. However, their design inherently works best for uni-modal image analysis, limiting their effectiveness for multi-modal imaging tasks that are common in many medical fields, such as neurology and oncology. While supervised models perform well in this setting, they fail to leverage unlabeled datasets and struggle with missing modalities, a frequent challenge in clinical settings. To bridge these gaps, we introduce MM-DINOv2, a novel and efficient framework that adapts the pre-trained vision foundation model DINOv2 for multi-modal medical imaging. Our approach incorporates multi-modal patch embeddings, enabling vision foundation models to effectively process multi-modal imaging data. To address missing modalities, we employ full-modality masking, which encourages the model to learn robust cross-modality relationships. Furthermore, we leverage semi-supervised learning to harness large unlabeled datasets, enhancing both the accuracy and reliability of medical predictions. Applied to glioma subtype classification from multi-sequence brain MRI, our method achieves a Matthews Correlation Coefficient (MCC) of 0.6 on an external test set, surpassing state-of-the-art supervised approaches by +11.1%. Our work establishes a scalable and robust solution for multi-modal medical imaging tasks, leveraging powerful vision foundation models pre-trained on natural images while addressing real-world clinical challenges such as missing data and limited annotations.

Enhancing the robustness of deep learning models, particularly in the realm of vision transformers (ViTs), is crucial for their real-world deployment. In this work, we provide a finetuning approach to enhance the robustness of vision transformers inspired by the concept of nullspace from linear algebra. Our investigation centers on whether a vision transformer can exhibit resilience to input variations akin to the nullspace property in linear mappings, which would imply that perturbations sampled from this nullspace do not influence the model's output when added to the input. We start from the observation that many existing ViTs satisfy this property because their patch embedding layer has a non-trivial nullspace. Then, we extend the notion of nullspace to nonlinear settings and demonstrate that it is possible to synthesize approximate nullspace elements for ViT's encoder blocks through optimization. Finally, we propose a finetuning strategy for ViTs wherein we augment the training data with synthesized approximate nullspace noise. We find that our finetuning approach significantly improves the models' robustness to both adversarial and natural image perturbations.\footnote{Code is available at: https://github.com/Liu-Hy/ns-vit.

While table understanding increasingly relies on pixel-only settings where tables are processed as visual representations, current benchmarks predominantly use synthetic renderings that lack the complexity and visual diversity of real-world tables. Additionally, existing visual table understanding (VTU) datasets offer fixed examples with single visualizations and pre-defined instructions, providing no access to underlying serialized data for reformulation. We introduce TABLET, a large-scale VTU dataset with 4 million examples across 20 tasks, grounded in 2 million unique tables where 88% preserve original visualizations. Each example includes paired image-HTML representations, comprehensive metadata, and provenance information linking back to the source datasets. Fine-tuning vision-language models like Qwen2.5-VL-7B on TABLET improves performance on seen and unseen VTU tasks while increasing robustness on real-world table visualizations. By preserving original visualizations and maintaining example traceability in a unified large-scale collection, TABLET establishes a foundation for robust training and extensible evaluation of future VTU models.

Hallucinations pose a significant challenge to the reliability of large vision-language models, making their detection essential for ensuring accuracy in critical applications. Current detection methods often rely on computationally intensive models, leading to high latency and resource demands. Their definitive outcomes also fail to account for real-world scenarios where the line between hallucinated and truthful information is unclear. To address these issues, we propose HalLoc, a dataset designed for efficient, probabilistic hallucination detection. It features 150K token-level annotated samples, including hallucination types, across Visual Question Answering (VQA), instruction-following, and image captioning tasks. This dataset facilitates the development of models that detect hallucinations with graded confidence, enabling more informed user interactions. Additionally, we introduce a baseline model trained on HalLoc, offering low-overhead, concurrent hallucination detection during generation. The model can be seamlessly integrated into existing VLMs, improving reliability while preserving efficiency. The prospect of a robust plug-and-play hallucination detection module opens new avenues for enhancing the trustworthiness of vision-language models in real-world applications. The HalLoc dataset and code are publicly available at: https://github.com/dbsltm/cvpr25_halloc.

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities during fine-tuning as the model adapts to specific robotic tasks. We argue that a generalizable VLA model should retain and expand upon the VLM's core competencies: 1) Open-world embodied reasoning - the VLA should inherit the knowledge from VLM, i.e., recognize anything that the VLM can recognize, be capable of solving math problems, and possess visual-spatial intelligence, 2) Reasoning following - effectively translating the open-world reasoning into actionable steps for the robot. In this work, we introduce ChatVLA-2, a novel mixture-of-expert VLA model coupled with a specialized two-stage training pipeline designed to preserve the VLM's original strengths while enabling actionable reasoning. To validate our approach, we design a math-matching task wherein a robot interprets math problems written on a whiteboard and picks corresponding number cards from a table to solve equations. Remarkably, our method exhibits exceptional mathematical reasoning and OCR capabilities, despite these abilities not being explicitly trained within the VLA. Furthermore, we demonstrate that the VLA possesses strong spatial reasoning skills, enabling it to interpret novel directional instructions involving previously unseen objects. Overall, our method showcases reasoning and comprehension abilities that significantly surpass state-of-the-art imitation learning methods such as OpenVLA, DexVLA, and pi-zero. This work represents a substantial advancement toward developing truly generalizable robotic foundation models endowed with robust reasoning capacities.

The advancement of large language models (LLMs) has opened new frontiers in natural language processing, particularly in specialized domains like healthcare. In this paper, we propose the Incremental Curriculum-Based Fine-Tuning (ICFT) framework to enhance the generative capabilities of medical large language models (MLLMs). ICFT combines curriculum-based learning, dual-stage memory coordination, and parameter-efficient fine-tuning to enable a progressive transition from general linguistic knowledge to strong domain-specific expertise. Experimental results across diverse medical NLP tasks, including question answering, preference classification, and response generation, demonstrate that ICFT consistently outperforms state-of-the-art baselines, achieving improvements in both accuracy and efficiency. Further analysis reveals the framework's ability to generalize to unseen data, reduce errors, and deliver diverse, contextually relevant medical responses. These findings establish ICFT as a robust and scalable solution for adapting LLMs to the medical domain, offering practical benefits for real-world healthcare applications.

Generating high-quality 3D content requires models capable of learning robust distributions of complex scenes and the real-world objects within them. Recent Gaussian-based 3D reconstruction techniques have achieved impressive results in recovering high-fidelity 3D assets from sparse input images by predicting 3D Gaussians in a feed-forward manner. However, these techniques often lack the extensive priors and expressiveness offered by Diffusion Models. On the other hand, 2D Diffusion Models, which have been successfully applied to denoise multiview images, show potential for generating a wide range of photorealistic 3D outputs but still fall short on explicit 3D priors and consistency. In this work, we aim to bridge these two approaches by introducing DSplats, a novel method that directly denoises multiview images using Gaussian Splat-based Reconstructors to produce a diverse array of realistic 3D assets. To harness the extensive priors of 2D Diffusion Models, we incorporate a pretrained Latent Diffusion Model into the reconstructor backbone to predict a set of 3D Gaussians. Additionally, the explicit 3D representation embedded in the denoising network provides a strong inductive bias, ensuring geometrically consistent novel view generation. Our qualitative and quantitative experiments demonstrate that DSplats not only produces high-quality, spatially consistent outputs, but also sets a new standard in single-image to 3D reconstruction. When evaluated on the Google Scanned Objects dataset, DSplats achieves a PSNR of 20.38, an SSIM of 0.842, and an LPIPS of 0.109.

This research paper presents a comprehensive analysis of integrating advanced language models with search and retrieval systems in the fields of information retrieval and natural language processing. The objective is to evaluate and compare various state-of-the-art methods based on their performance in terms of accuracy and efficiency. The analysis explores different combinations of technologies, including Azure Cognitive Search Retriever with GPT-4, Pinecone's Canopy framework, Langchain with Pinecone and different language models (OpenAI, Cohere), LlamaIndex with Weaviate Vector Store's hybrid search, Google's RAG implementation on Cloud VertexAI-Search, Amazon SageMaker's RAG, and a novel approach called KG-FID Retrieval. The motivation for this analysis arises from the increasing demand for robust and responsive question-answering systems in various domains. The RobustQA metric is used to evaluate the performance of these systems under diverse paraphrasing of questions. The report aims to provide insights into the strengths and weaknesses of each method, facilitating informed decisions in the deployment and development of AI-driven search and retrieval systems.

Recently, webly supervised learning (WSL) has been studied to leverage numerous and accessible data from the Internet. Most existing methods focus on learning noise-robust models from web images while neglecting the performance drop caused by the differences between web domain and real-world domain. However, only by tackling the performance gap above can we fully exploit the practical value of web datasets. To this end, we propose a Few-shot guided Prototypical (FoPro) representation learning method, which only needs a few labeled examples from reality and can significantly improve the performance in the real-world domain. Specifically, we initialize each class center with few-shot real-world data as the ``realistic" prototype. Then, the intra-class distance between web instances and ``realistic" prototypes is narrowed by contrastive learning. Finally, we measure image-prototype distance with a learnable metric. Prototypes are polished by adjacent high-quality web images and involved in removing distant out-of-distribution samples. In experiments, FoPro is trained on web datasets with a few real-world examples guided and evaluated on real-world datasets. Our method achieves the state-of-the-art performance on three fine-grained datasets and two large-scale datasets. Compared with existing WSL methods under the same few-shot settings, FoPro still excels in real-world generalization. Code is available at https://github.com/yuleiqin/fopro.

Simulation-based data synthesis has emerged as a powerful paradigm for enhancing real-world robotic manipulation. However, existing synthetic datasets remain insufficient for robust bimanual manipulation due to two challenges: (1) the lack of an efficient, scalable data generation method for novel tasks, and (2) oversimplified simulation environments that fail to capture real-world complexity. We present RoboTwin 2.0, a scalable simulation framework that enables automated, large-scale generation of diverse and realistic data, along with unified evaluation protocols for dual-arm manipulation. We first construct RoboTwin-OD, a large-scale object library comprising 731 instances across 147 categories, each annotated with semantic and manipulation-relevant labels. Building on this foundation, we develop an expert data synthesis pipeline that combines multimodal large language models (MLLMs) with simulation-in-the-loop refinement to generate task-level execution code automatically. To improve sim-to-real transfer, RoboTwin 2.0 incorporates structured domain randomization along five axes: clutter, lighting, background, tabletop height and language instructions, thereby enhancing data diversity and policy robustness. We instantiate this framework across 50 dual-arm tasks spanning five robot embodiments, and pre-collect over 100,000 domain-randomized expert trajectories. Empirical results show a 10.9% gain in code generation success and improved generalization to novel real-world scenarios. A VLA model fine-tuned on our dataset achieves a 367% relative improvement (42.0% vs. 9.0%) on unseen scene real-world tasks, while zero-shot models trained solely on our synthetic data achieve a 228% relative gain, highlighting strong generalization without real-world supervision. We release the data generator, benchmark, dataset, and code to support scalable research in robust bimanual manipulation.

Earth observation foundation models have shown strong generalization across multiple Earth observation tasks, but their robustness under real-world perturbations remains underexplored. To bridge this gap, we introduce REOBench, the first comprehensive benchmark for evaluating the robustness of Earth observation foundation models across six tasks and twelve types of image corruptions, including both appearance-based and geometric perturbations. To ensure realistic and fine-grained evaluation, our benchmark focuses on high-resolution optical remote sensing images, which are widely used in critical applications such as urban planning and disaster response. We conduct a systematic evaluation of a broad range of models trained using masked image modeling, contrastive learning, and vision-language pre-training paradigms. Our results reveal that (1) existing Earth observation foundation models experience significant performance degradation when exposed to input corruptions. (2) The severity of degradation varies across tasks, model architectures, backbone sizes, and types of corruption, with performance drop varying from less than 1% to over 20%. (3) Vision-language models show enhanced robustness, particularly in multimodal tasks. REOBench underscores the vulnerability of current Earth observation foundation models to real-world corruptions and provides actionable insights for developing more robust and reliable models.

Phishing attacks pose a significant threat to Internet users, with cybercriminals elaborately replicating the visual appearance of legitimate websites to deceive victims. Visual similarity-based detection systems have emerged as an effective countermeasure, but their effectiveness and robustness in real-world scenarios have been underexplored. In this paper, we comprehensively scrutinize and evaluate the effectiveness and robustness of popular visual similarity-based anti-phishing models using a large-scale dataset of 451k real-world phishing websites. Our analyses of the effectiveness reveal that while certain visual similarity-based models achieve high accuracy on curated datasets in the experimental settings, they exhibit notably low performance on real-world datasets, highlighting the importance of real-world evaluation. Furthermore, we find that the attackers evade the detectors mainly in three ways: (1) directly attacking the model pipelines, (2) mimicking benign logos, and (3) employing relatively simple strategies such as eliminating logos from screenshots. To statistically assess the resilience and robustness of existing models against adversarial attacks, we categorize the strategies attackers employ into visible and perturbation-based manipulations and apply them to website logos. We then evaluate the models' robustness using these adversarial samples. Our findings reveal potential vulnerabilities in several models, emphasizing the need for more robust visual similarity techniques capable of withstanding sophisticated evasion attempts. We provide actionable insights for enhancing the security of phishing defense systems, encouraging proactive actions.

Code generation models have shown significant potential for programming tasks. However, existing training methods like supervised fine-tuning face key limitations: they do not effectively teach models to prioritize correct over incorrect solutions in ambiguous situations, nor do they effectively optimize the runtime efficiency of the generated code. To address these challenges, we propose CodeDPO, a framework that integrates preference learning into code generation to improve two key code preference factors: code correctness and efficiency. CodeDPO employs a novel dataset construction method, utilizing a self-generation-and-validation mechanism that simultaneously generates and evaluates code and test cases. The underlying assumption is that test cases executable by multiple code snippets provide more reliable validation, and code that passes more tests is more likely to be correct. Through this self-validation process, our PageRank-inspired algorithm iteratively updates the ranking score of each code snippet, ultimately creating a code preference optimization dataset based on correctness and efficiency. CodeDPO is flexible and scalable, generating diverse preference optimization data without depending on external resources. Through comprehensive evaluations of five widely used benchmarks, CodeDPO demonstrates significant improvements in correctness and efficiency compared to existing methods. Our experiments prove that CodeDPO enhances the capabilities of LLMs in code generation and provides a robust foundation for conducting code preference optimization in more complex and challenging real-world scenarios.

As NLP models achieved state-of-the-art performances over benchmarks and gained wide applications, it has been increasingly important to ensure the safe deployment of these models in the real world, e.g., making sure the models are robust against unseen or challenging scenarios. Despite robustness being an increasingly studied topic, it has been separately explored in applications like vision and NLP, with various definitions, evaluation and mitigation strategies in multiple lines of research. In this paper, we aim to provide a unifying survey of how to define, measure and improve robustness in NLP. We first connect multiple definitions of robustness, then unify various lines of work on identifying robustness failures and evaluating models' robustness. Correspondingly, we present mitigation strategies that are data-driven, model-driven, and inductive-prior-based, with a more systematic view of how to effectively improve robustness in NLP models. Finally, we conclude by outlining open challenges and future directions to motivate further research in this area.

This paper presents the LLM-ADE framework, a novel methodology for continued pre-training of large language models (LLMs) that addresses the challenges of catastrophic forgetting and double descent. LLM-ADE employs dynamic architectural adjustments, including selective block freezing and expansion, tailored to specific datasets. This strategy enhances model adaptability to new data while preserving previously acquired knowledge. We demonstrate LLM-ADE's effectiveness on the TinyLlama model across various general knowledge benchmarks, showing significant performance improvements without the drawbacks of traditional continuous training methods. This approach promises a more versatile and robust way to keep LLMs current and efficient in real-world applications.

Existing AIG (AI-generated) text detectors struggle in real-world settings despite succeeding in internal testing, suggesting that they may not be robust enough. We rigorously examine the machine-learning procedure to build these detectors to address this. Most current AIG text detection datasets focus on zero-shot generations, but little work has been done on few-shot or one-shot generations, where LLMs are given human texts as an example. In response, we introduce the Diverse Adversarial Corpus of Texts Yielded from Language models (DACTYL), a challenging AIG text detection dataset focusing on one-shot/few-shot generations. We also include texts from domain-specific continued-pre-trained (CPT) language models, where we fully train all parameters using a memory-efficient optimization approach. Many existing AIG text detectors struggle significantly on our dataset, indicating a potential vulnerability to one-shot/few-shot and CPT-generated texts. We also train our own classifiers using two approaches: standard binary cross-entropy (BCE) optimization and a more recent approach, deep X-risk optimization (DXO). While BCE-trained classifiers marginally outperform DXO classifiers on the DACTYL test set, the latter excels on out-of-distribution (OOD) texts. In our mock deployment scenario in student essay detection with an OOD student essay dataset, the best DXO classifier outscored the best BCE-trained classifier by 50.56 macro-F1 score points at the lowest false positive rates for both. Our results indicate that DXO classifiers generalize better without overfitting to the test set. Our experiments highlight several areas of improvement for AIG text detectors.

While diffusion-based methods have shown impressive capabilities in capturing diverse and complex hairstyles, their ability to generate consistent and high-quality multi-view outputs -- crucial for real-world applications such as digital humans and virtual avatars -- remains underexplored. In this paper, we propose Stable-Hair v2, a novel diffusion-based multi-view hair transfer framework. To the best of our knowledge, this is the first work to leverage multi-view diffusion models for robust, high-fidelity, and view-consistent hair transfer across multiple perspectives. We introduce a comprehensive multi-view training data generation pipeline comprising a diffusion-based Bald Converter, a data-augment inpainting model, and a face-finetuned multi-view diffusion model to generate high-quality triplet data, including bald images, reference hairstyles, and view-aligned source-bald pairs. Our multi-view hair transfer model integrates polar-azimuth embeddings for pose conditioning and temporal attention layers to ensure smooth transitions between views. To optimize this model, we design a novel multi-stage training strategy consisting of pose-controllable latent IdentityNet training, hair extractor training, and temporal attention training. Extensive experiments demonstrate that our method accurately transfers detailed and realistic hairstyles to source subjects while achieving seamless and consistent results across views, significantly outperforming existing methods and establishing a new benchmark in multi-view hair transfer. Code is publicly available at https://github.com/sunkymepro/StableHairV2.

This paper introduces DeeCLIP, a novel framework for detecting AI-generated images using CLIP-ViT and fusion learning. Despite significant advancements in generative models capable of creating highly photorealistic images, existing detection methods often struggle to generalize across different models and are highly sensitive to minor perturbations. To address these challenges, DeeCLIP incorporates DeeFuser, a fusion module that combines high-level and low-level features, improving robustness against degradations such as compression and blurring. Additionally, we apply triplet loss to refine the embedding space, enhancing the model's ability to distinguish between real and synthetic content. To further enable lightweight adaptation while preserving pre-trained knowledge, we adopt parameter-efficient fine-tuning using low-rank adaptation (LoRA) within the CLIP-ViT backbone. This approach supports effective zero-shot learning without sacrificing generalization. Trained exclusively on 4-class ProGAN data, DeeCLIP achieves an average accuracy of 89.00% on 19 test subsets composed of generative adversarial network (GAN) and diffusion models. Despite having fewer trainable parameters, DeeCLIP outperforms existing methods, demonstrating superior robustness against various generative models and real-world distortions. The code is publicly available at https://github.com/Mamadou-Keita/DeeCLIP for research purposes.

We propose HYBRIDDEPTH, a robust depth estimation pipeline that addresses the unique challenges of depth estimation for mobile AR, such as scale ambiguity, hardware heterogeneity, and generalizability. HYBRIDDEPTH leverages the camera features available on mobile devices. It effectively combines the scale accuracy inherent in Depth from Focus (DFF) methods with the generalization capabilities enabled by strong single-image depth priors. By utilizing the focal planes of a mobile camera, our approach accurately captures depth values from focused pixels and applies these values to compute scale and shift parameters for transforming relative depths into metric depths. We test our pipeline as an end-to-end system, with a newly developed mobile client to capture focal stacks, which are then sent to a GPU-powered server for depth estimation. Through comprehensive quantitative and qualitative analyses, we demonstrate that HYBRIDDEPTH not only outperforms state-of-the-art (SOTA) models in common datasets (DDFF12, NYU Depth v2) and a real-world AR dataset ARKitScenes but also demonstrates strong zero-shot generalization. For example, HYBRIDDEPTH trained on NYU Depth v2 achieves comparable performance on the DDFF12 to existing models trained on DDFF12. it also outperforms all the SOTA models in zero-shot performance on the ARKitScenes dataset. Additionally, we conduct a qualitative comparison between our model and the ARCore framework, demonstrating that our models output depth maps are significantly more accurate in terms of structural details and metric accuracy. The source code of this project is available at github.

Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited understanding of the user's physical context. We present SituationalLLM, a novel approach that integrates structured scene information into an LLM to deliver proactive, context-aware assistance. By encoding objects, attributes, and relationships in a custom Scene Graph Language, SituationalLLM actively identifies gaps in environmental context and seeks clarifications during user interactions. This behavior emerges from training on the Situational Awareness Database for Instruct-Tuning (SAD-Instruct), which combines diverse, scenario-specific scene graphs with iterative, dialogue-based refinements. Experimental results indicate that SituationalLLM outperforms generic LLM baselines in task specificity, reliability, and adaptability, paving the way for environment-aware AI assistants capable of delivering robust, user-centric guidance under real-world constraints.

Sequential recommender systems stand out for their ability to capture users' dynamic interests and the patterns of item-to-item transitions. However, the inherent openness of sequential recommender systems renders them vulnerable to poisoning attacks, where fraudulent users are injected into the training data to manipulate learned patterns. Traditional defense strategies predominantly depend on predefined assumptions or rules extracted from specific known attacks, limiting their generalizability to unknown attack types. To solve the above problems, considering the rich open-world knowledge encapsulated in Large Language Models (LLMs), our research initially focuses on the capabilities of LLMs in the detection of unknown fraudulent activities within recommender systems, a strategy we denote as LLM4Dec. Empirical evaluations demonstrate the substantial capability of LLMs in identifying unknown fraudsters, leveraging their expansive, open-world knowledge. Building upon this, we propose the integration of LLMs into defense strategies to extend their effectiveness beyond the confines of known attacks. We propose LoRec, an advanced framework that employs LLM-Enhanced Calibration to strengthen the robustness of sequential recommender systems against poisoning attacks. LoRec integrates an LLM-enhanced CalibraTor (LCT) that refines the training process of sequential recommender systems with knowledge derived from LLMs, applying a user-wise reweighting to diminish the impact of fraudsters injected by attacks. By incorporating LLMs' open-world knowledge, the LCT effectively converts the limited, specific priors or rules into a more general pattern of fraudsters, offering improved defenses against poisoning attacks. Our comprehensive experiments validate that LoRec, as a general framework, significantly strengthens the robustness of sequential recommender systems.

With the breakthrough of multi-modal large language models, answering complex visual questions that demand advanced reasoning abilities and world knowledge has become a much more important testbed for developing AI models than ever. However, equipping AI models with robust cross-modality reasoning ability remains challenging since the cognition scheme of humans has not been understood systematically. In this paper, we believe that if we can collect visual clues in the given image as much as possible, we will recognize the image more accurately, understand the question better, recall relevant knowledge more easily, and finally reason out the answer. We discover these rich visual clues by mining question-answer pairs in images and sending them into multi-modal large language models as prompts. We call the proposed method Q&A Prompts. Specifically, we first use the image-answer pairs and the corresponding questions in the training set as inputs and outputs to train a visual question generation model. Then, we use an image tagging model to identify various instances and send packaged image-tag pairs into the visual question generation model to generate relevant questions with the extracted image tags as answers. Finally, we encode these generated question-answer pairs as prompts with a visual-aware prompting module and send them into pre-trained multi-modal large language models to reason out the final answers. Experimental results show that, compared with state-of-the-art methods, our Q&A Prompts achieves substantial improvements on the challenging visual question answering datasets requiring reasoning over diverse world knowledge, such as OK-VQA and A-OKVQA.

Integrating physics models within machine learning models holds considerable promise toward learning robust models with improved interpretability and abilities to extrapolate. In this work, we focus on the integration of incomplete physics models into deep generative models. In particular, we introduce an architecture of variational autoencoders (VAEs) in which a part of the latent space is grounded by physics. A key technical challenge is to strike a balance between the incomplete physics and trainable components such as neural networks for ensuring that the physics part is used in a meaningful manner. To this end, we propose a regularized learning method that controls the effect of the trainable components and preserves the semantics of the physics-based latent variables as intended. We not only demonstrate generative performance improvements over a set of synthetic and real-world datasets, but we also show that we learn robust models that can consistently extrapolate beyond the training distribution in a meaningful manner. Moreover, we show that we can control the generative process in an interpretable manner.

The reliability of Multimodal Large Language Models (MLLMs) in real-world settings is often undermined by sensitivity to irrelevant or distracting visual context, an aspect not captured by existing evaluation metrics. We introduce the Patch Context Robustness Index (PCRI), the first systematic and interpretable score for quantifying MLLM robustness to variations in visual context granularity, measuring performance changes between localized image patches and full-image input. Applying PCRI to 19 state-of-the-art MLLMs across 15 vision-language benchmarks, we find that most leading models remain brittle to background noise, with only a few, such as InternVL2-26B and Qwen2VL-72B, demonstrating consistent robustness across tasks. PCRI analysis also highlights how different model architectures handle and integrate visual context, offering actionable diagnostic insight for both researchers and practitioners. PCRI enables rigorous comparison of context robustness, supporting principled model selection and guiding the development of future architectures and training strategies for robust, real-world deployment.

With powerful large language models (LLMs) demonstrating superhuman reasoning capabilities, a critical question arises: Do LLMs genuinely reason, or do they merely recall answers from their extensive, web-scraped training datasets? Publicly released benchmarks inevitably become contaminated once incorporated into subsequent LLM training sets, undermining their reliability as faithful assessments. To address this, we introduce KUMO, a generative evaluation framework designed specifically for assessing reasoning in LLMs. KUMO synergistically combines LLMs with symbolic engines to dynamically produce diverse, multi-turn reasoning tasks that are partially observable and adjustable in difficulty. Through an automated pipeline, KUMO continuously generates novel tasks across open-ended domains, compelling models to demonstrate genuine generalization rather than memorization. We evaluated 23 state-of-the-art LLMs on 5,000 tasks across 100 domains created by KUMO, benchmarking their reasoning abilities against university students. Our findings reveal that many LLMs have outperformed university-level performance on easy reasoning tasks, and reasoning-scaled LLMs reach university-level performance on complex reasoning challenges. Moreover, LLM performance on KUMO tasks correlates strongly with results on newly released real-world reasoning benchmarks, underscoring KUMO's value as a robust, enduring assessment tool for genuine LLM reasoning capabilities.

Recent advancements in Generative AI and Large Language Models (LLMs) have enabled the creation of highly realistic synthetic content, raising concerns about the potential for malicious use, such as misinformation and manipulation. Moreover, detecting Machine-Generated Text (MGT) remains challenging due to the lack of robust benchmarks that assess generalization to real-world scenarios. In this work, we present a pipeline to test the resilience of state-of-the-art MGT detectors (e.g., Mage, Radar, LLM-DetectAIve) to linguistically informed adversarial attacks. To challenge the detectors, we fine-tune language models using Direct Preference Optimization (DPO) to shift the MGT style toward human-written text (HWT). This exploits the detectors' reliance on stylistic clues, making new generations more challenging to detect. Additionally, we analyze the linguistic shifts induced by the alignment and which features are used by detectors to detect MGT texts. Our results show that detectors can be easily fooled with relatively few examples, resulting in a significant drop in detection performance. This highlights the importance of improving detection methods and making them robust to unseen in-domain texts.

Building general-purpose robots that can operate seamlessly, in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. Unfortunately, however, most existing robotic systems have been constrained - having been designed for specific tasks, trained on specific datasets, and deployed within specific environments. These systems usually require extensively-labeled data, rely on task-specific models, have numerous generalization issues when deployed in real-world scenarios, and struggle to remain robust to distribution shifts. Motivated by the impressive open-set performance and content generation capabilities of web-scale, large-capacity pre-trained models (i.e., foundation models) in research fields such as Natural Language Processing (NLP) and Computer Vision (CV), we devote this survey to exploring (i) how these existing foundation models from NLP and CV can be applied to the field of robotics, and also exploring (ii) what a robotics-specific foundation model would look like. We begin by providing an overview of what constitutes a conventional robotic system and the fundamental barriers to making it universally applicable. Next, we establish a taxonomy to discuss current work exploring ways to leverage existing foundation models for robotics and develop ones catered to robotics. Finally, we discuss key challenges and promising future directions in using foundation models for enabling general-purpose robotic systems. We encourage readers to view our ``living`` GitHub repository of resources, including papers reviewed in this survey as well as related projects and repositories for developing foundation models for robotics.

If generalist robots are to operate in truly unstructured environments, they need to be able to recognize and reason about novel objects and scenarios. Such objects and scenarios might not be present in the robot's own training data. We propose SuSIE, a method that leverages an image-editing diffusion model to act as a high-level planner by proposing intermediate subgoals that a low-level controller can accomplish. Specifically, we finetune InstructPix2Pix on video data, consisting of both human videos and robot rollouts, such that it outputs hypothetical future "subgoal" observations given the robot's current observation and a language command. We also use the robot data to train a low-level goal-conditioned policy to act as the aforementioned low-level controller. We find that the high-level subgoal predictions can utilize Internet-scale pretraining and visual understanding to guide the low-level goal-conditioned policy, achieving significantly better generalization and precision than conventional language-conditioned policies. We achieve state-of-the-art results on the CALVIN benchmark, and also demonstrate robust generalization on real-world manipulation tasks, beating strong baselines that have access to privileged information or that utilize orders of magnitude more compute and training data. The project website can be found at http://rail-berkeley.github.io/susie .

Vision Transformers (ViTs) are essential as foundation backbones in establishing the visual comprehension capabilities of Multimodal Large Language Models (MLLMs). Although most ViTs achieve impressive performance through image-text pair-based contrastive learning or self-supervised mechanisms, they struggle to engage in connector-based co-training directly with LLMs due to potential parameter initialization conflicts and modality semantic gaps. To address the above challenges, this paper proposes SAILViT, a gradual feature learning-enhanced ViT for facilitating MLLMs to break through performance bottlenecks in complex multimodal interactions. SAILViT achieves coarse-to-fine-grained feature alignment and world knowledge infusion with gradual feature refinement, which better serves target training demands. We perform thorough empirical analyses to confirm the powerful robustness and generalizability of SAILViT across different dimensions, including parameter sizes, model architectures, training strategies, and data scales. Equipped with SAILViT, existing MLLMs show significant and consistent performance improvements on the OpenCompass benchmark across extensive downstream tasks. SAILViT series models are released at https://huggingface.co/BytedanceDouyinContent.

Context-aware STR methods typically use internal autoregressive (AR) language models (LM). Inherent limitations of AR models motivated two-stage methods which employ an external LM. The conditional independence of the external LM on the input image may cause it to erroneously rectify correct predictions, leading to significant inefficiencies. Our method, PARSeq, learns an ensemble of internal AR LMs with shared weights using Permutation Language Modeling. It unifies context-free non-AR and context-aware AR inference, and iterative refinement using bidirectional context. Using synthetic training data, PARSeq achieves state-of-the-art (SOTA) results in STR benchmarks (91.9% accuracy) and more challenging datasets. It establishes new SOTA results (96.0% accuracy) when trained on real data. PARSeq is optimal on accuracy vs parameter count, FLOPS, and latency because of its simple, unified structure and parallel token processing. Due to its extensive use of attention, it is robust on arbitrarily-oriented text which is common in real-world images. Code, pretrained weights, and data are available at: https://github.com/baudm/parseq.

Episodic memory -- the ability to recall specific events grounded in time and space -- is a cornerstone of human cognition, enabling not only coherent storytelling, but also planning and decision-making. Despite their remarkable capabilities, Large Language Models (LLMs) lack a robust mechanism for episodic memory: we argue that integrating episodic memory capabilities into LLM is essential for advancing AI towards human-like cognition, increasing their potential to reason consistently and ground their output in real-world episodic events, hence avoiding confabulations. To address this challenge, we introduce a comprehensive framework to model and evaluate LLM episodic memory capabilities. Drawing inspiration from cognitive science, we develop a structured approach to represent episodic events, encapsulating temporal and spatial contexts, involved entities, and detailed descriptions. We synthesize a unique episodic memory benchmark, free from contamination, and release open source code and datasets to assess LLM performance across various recall and episodic reasoning tasks. Our evaluation of state-of-the-art models, including GPT-4 and Claude variants, Llama 3.1, and o1-mini, reveals that even the most advanced LLMs struggle with episodic memory tasks, particularly when dealing with multiple related events or complex spatio-temporal relationships -- even in contexts as short as 10k-100k tokens.

Human beings often experience stress, which can significantly influence their performance. This study explores whether Large Language Models (LLMs) exhibit stress responses similar to those of humans and whether their performance fluctuates under different stress-inducing prompts. To investigate this, we developed a novel set of prompts, termed StressPrompt, designed to induce varying levels of stress. These prompts were derived from established psychological frameworks and carefully calibrated based on ratings from human participants. We then applied these prompts to several LLMs to assess their responses across a range of tasks, including instruction-following, complex reasoning, and emotional intelligence. The findings suggest that LLMs, like humans, perform optimally under moderate stress, consistent with the Yerkes-Dodson law. Notably, their performance declines under both low and high-stress conditions. Our analysis further revealed that these StressPrompts significantly alter the internal states of LLMs, leading to changes in their neural representations that mirror human responses to stress. This research provides critical insights into the operational robustness and flexibility of LLMs, demonstrating the importance of designing AI systems capable of maintaining high performance in real-world scenarios where stress is prevalent, such as in customer service, healthcare, and emergency response contexts. Moreover, this study contributes to the broader AI research community by offering a new perspective on how LLMs handle different scenarios and their similarities to human cognition.

AI-generated synthetic media are increasingly used in real-world scenarios, often with the purpose of spreading misinformation and propaganda through social media platforms, where compression and other processing can degrade fake detection cues. Currently, many forensic tools fail to account for these in-the-wild challenges. In this work, we introduce TrueFake, a large-scale benchmarking dataset of 600,000 images including top notch generative techniques and sharing via three different social networks. This dataset allows for rigorous evaluation of state-of-the-art fake image detectors under very realistic and challenging conditions. Through extensive experimentation, we analyze how social media sharing impacts detection performance, and identify current most effective detection and training strategies. Our findings highlight the need for evaluating forensic models in conditions that mirror real-world use.

Evaluating the general abilities of foundation models to tackle human-level tasks is a vital aspect of their development and application in the pursuit of Artificial General Intelligence (AGI). Traditional benchmarks, which rely on artificial datasets, may not accurately represent human-level capabilities. In this paper, we introduce AGIEval, a novel benchmark specifically designed to assess foundation model in the context of human-centric standardized exams, such as college entrance exams, law school admission tests, math competitions, and lawyer qualification tests. We evaluate several state-of-the-art foundation models, including GPT-4, ChatGPT, and Text-Davinci-003, using this benchmark. Impressively, GPT-4 surpasses average human performance on SAT, LSAT, and math competitions, attaining a 95% accuracy rate on the SAT Math test and a 92.5% accuracy on the English test of the Chinese national college entrance exam. This demonstrates the extraordinary performance of contemporary foundation models. In contrast, we also find that GPT-4 is less proficient in tasks that require complex reasoning or specific domain knowledge. Our comprehensive analyses of model capabilities (understanding, knowledge, reasoning, and calculation) reveal these models' strengths and limitations, providing valuable insights into future directions for enhancing their general capabilities. By concentrating on tasks pertinent to human cognition and decision-making, our benchmark delivers a more meaningful and robust evaluation of foundation models' performance in real-world scenarios. The data, code, and all model outputs are released in https://github.com/microsoft/AGIEval.

Recent advances in deep learning have driven rapid progress in time series forecasting, yet many state-of-the-art models continue to struggle with robust performance in real-world applications, even when they achieve strong results on standard benchmark datasets. This persistent gap can be attributed to the black-box nature of deep learning architectures and the inherent limitations of current evaluation frameworks, which frequently lack the capacity to provide clear, quantitative insights into the specific strengths and weaknesses of different models, thereby complicating the selection of appropriate models for particular forecasting scenarios. To address these issues, we propose a synthetic data-driven evaluation paradigm, SynTSBench, that systematically assesses fundamental modeling capabilities of time series forecasting models through programmable feature configuration. Our framework isolates confounding factors and establishes an interpretable evaluation system with three core analytical dimensions: (1) temporal feature decomposition and capability mapping, which enables systematic evaluation of model capacities to learn specific pattern types; (2) robustness analysis under data irregularities, which quantifies noise tolerance thresholds and anomaly recovery capabilities; and (3) theoretical optimum benchmarking, which establishes performance boundaries for each pattern type-enabling direct comparison between model predictions and mathematical optima. Our experiments show that current deep learning models do not universally approach optimal baselines across all types of temporal features.The code is available at https://github.com/TanQitai/SynTSBench

Large Language Models (LLMs) have gained widespread use in various applications due to their powerful capability to generate human-like text. However, prompt injection attacks, which involve overwriting a model's original instructions with malicious prompts to manipulate the generated text, have raised significant concerns about the security and reliability of LLMs. Ensuring that LLMs are robust against such attacks is crucial for their deployment in real-world applications, particularly in critical tasks. In this paper, we propose PROMPTFUZZ, a novel testing framework that leverages fuzzing techniques to systematically assess the robustness of LLMs against prompt injection attacks. Inspired by software fuzzing, PROMPTFUZZ selects promising seed prompts and generates a diverse set of prompt injections to evaluate the target LLM's resilience. PROMPTFUZZ operates in two stages: the prepare phase, which involves selecting promising initial seeds and collecting few-shot examples, and the focus phase, which uses the collected examples to generate diverse, high-quality prompt injections. Using PROMPTFUZZ, we can uncover more vulnerabilities in LLMs, even those with strong defense prompts. By deploying the generated attack prompts from PROMPTFUZZ in a real-world competition, we achieved the 7th ranking out of over 4000 participants (top 0.14%) within 2 hours. Additionally, we construct a dataset to fine-tune LLMs for enhanced robustness against prompt injection attacks. While the fine-tuned model shows improved robustness, PROMPTFUZZ continues to identify vulnerabilities, highlighting the importance of robust testing for LLMs. Our work emphasizes the critical need for effective testing tools and provides a practical framework for evaluating and improving the robustness of LLMs against prompt injection attacks.

Accurate crop yield forecasting is essential for global food security. However, current AI models systematically underperform when yields deviate from historical trends. We attribute this to the lack of rich, physically grounded datasets directly linking atmospheric states to yields. To address this, we introduce VITA (Variational Inference Transformer for Asymmetric data), a variational pretraining framework that learns representations from large satellite-based weather datasets and transfers to the ground-based limited measurements available for yield prediction. VITA is trained using detailed meteorological variables as proxy targets during pretraining and learns to predict latent atmospheric states under a seasonality-aware sinusoidal prior. This allows the model to be fine-tuned using limited weather statistics during deployment. Applied to 763 counties in the U.S. Corn Belt, VITA achieves state-of-the-art performance in predicting corn and soybean yields across all evaluation scenarios, particularly during extreme years, with statistically significant improvements (paired t-test, p < 0.0001). Importantly, VITA outperforms prior frameworks like GNN-RNN without soil data, and bigger foundational models (e.g., Chronos-Bolt) with less compute, making it practical for real-world use--especially in data-scarce regions. This work highlights how domain-aware AI design can overcome data limitations and support resilient agricultural forecasting in a changing climate.

We present the Comprehensive Verilog Design Problems (CVDP) benchmark, a new dataset and infrastructure to advance LLM and agent research in hardware design and verification. CVDP includes 783 problems across 13 task categories, covering RTL generation, verification, debugging, specification alignment, and technical Q&A authored by experienced hardware engineers. Problems are offered in both non-agentic and agentic formats. The benchmark introduces more realistic and challenging contexts than prior work, with state-of-the-art models achieving no more than 34% pass@1 on code generation. Agentic tasksx2013especially those involving RTL reuse and verificationx2013are particularly difficult. Evaluation uses open-source tools and model scoring infrastructure, with comprehension tasks assessed via BLEU and LLM-based judging. CVDP reveals substantial gaps in current model capabilities, underscoring the need for continued research toward robust, real-world hardware design automation.

The rapid advancements in Multimodal Large Language Models (MLLMs) have significantly enhanced capabilities in Document Understanding. However, prevailing benchmarks like DocVQA and ChartQA predominantly comprise scanned or digital documents, inadequately reflecting the intricate challenges posed by diverse real-world scenarios, such as variable illumination and physical distortions. This paper introduces WildDoc, the inaugural benchmark designed specifically for assessing document understanding in natural environments. WildDoc incorporates a diverse set of manually captured document images reflecting real-world conditions and leverages document sources from established benchmarks to facilitate comprehensive comparisons with digital or scanned documents. Further, to rigorously evaluate model robustness, each document is captured four times under different conditions. Evaluations of state-of-the-art MLLMs on WildDoc expose substantial performance declines and underscore the models' inadequate robustness compared to traditional benchmarks, highlighting the unique challenges posed by real-world document understanding. Our project homepage is available at https://bytedance.github.io/WildDoc.

Automatic target recognition (ATR) plays a critical role in tasks such as navigation and surveillance, where safety and accuracy are paramount. In extreme use cases, such as military applications, these factors are often challenged due to the presence of unknown terrains, environmental conditions, and novel object categories. Current object detectors, including open-world detectors, lack the ability to confidently recognize novel objects or operate in unknown environments, as they have not been exposed to these new conditions. However, Large Vision-Language Models (LVLMs) exhibit emergent properties that enable them to recognize objects in varying conditions in a zero-shot manner. Despite this, LVLMs struggle to localize objects effectively within a scene. To address these limitations, we propose a novel pipeline that combines the detection capabilities of open-world detectors with the recognition confidence of LVLMs, creating a robust system for zero-shot ATR of novel classes and unknown domains. In this study, we compare the performance of various LVLMs for recognizing military vehicles, which are often underrepresented in training datasets. Additionally, we examine the impact of factors such as distance range, modality, and prompting methods on the recognition performance, providing insights into the development of more reliable ATR systems for novel conditions and classes.

Large vision language models, such as CLIPs, have revolutionized modern machine learning. CLIPs have demonstrated great generalizability under distribution shifts, supported by an increasing body of literature. However, the evaluation datasets for CLIPs are variations primarily designed for ImageNet benchmarks, which may not fully reflect the extent to which CLIPs, e.g., pre-trained on LAION, robust to spurious correlations. To bridge the gap, we collect a real-world dataset called CounterAnimal that contains realistic spurious features found in animal photos. CounterAnimal consists of a) the common group: comprising animals on common backgrounds, and b) the counter group: including animals on unusual backgrounds. The performance drops from the common to counter groups quantify the reliance of models on spurious features (i.e., backgrounds) to predict the animals. We find that CLIPs trained on either LAION or the OpenAI data exhibit notable performance drops on the counter group. Surprisingly, we observe that single-modal models trained on ImageNet are more robust than CLIPs. We provide both theoretical and empirical explanations for why CLIPs still learn spurious features. Our findings suggest that distribution shifts remain an open problem for CLIPs, and one needs to be cautious about test setups when evaluating foundation models pre-trained on a significantly different scale and distribution.

Source-Free Video Unsupervised Domain Adaptation (SFVUDA) methods consists in the task of adapting an action recognition model, trained on a labelled source dataset, to an unlabelled target dataset, without accessing the actual source data. Previous approaches have attempted to address SFVUDA by leveraging self-supervision (e.g., enforcing temporal consistency) derived from the target data itself. In this work we take an orthogonal approach by exploiting "web-supervision" from Large Language-Vision Models (LLVMs), driven by the rationale that LLVMs contain rich world prior, which is surprisingly robust to domain-shift. We showcase the unreasonable effectiveness of integrating LLVMs for SFVUDA by devising an intuitive and parameter efficient method, which we name as Domain Adaptation with Large Language-Vision models (DALL-V), that distills the world prior and complementary source model information into a student network tailored for the target. Despite the simplicity, DALL-V achieves significant improvement over state-of-the-art SFVUDA methods.

Discriminative models for object classification typically learn image-based representations that do not capture the compositional and 3D nature of objects. In this work, we show that explicitly integrating 3D compositional object representations into deep networks for image classification leads to a largely enhanced generalization in out-of-distribution scenarios. In particular, we introduce a novel architecture, referred to as NOVUM, that consists of a feature extractor and a neural object volume for every target object class. Each neural object volume is a composition of 3D Gaussians that emit feature vectors. This compositional object representation allows for a highly robust and fast estimation of the object class by independently matching the features of the 3D Gaussians of each category to features extracted from an input image. Additionally, the object pose can be estimated via inverse rendering of the corresponding neural object volume. To enable the classification of objects, the neural features at each 3D Gaussian are trained discriminatively to be distinct from (i) the features of 3D Gaussians in other categories, (ii) features of other 3D Gaussians of the same object, and (iii) the background features. Our experiments show that NOVUM offers intriguing advantages over standard architectures due to the 3D compositional structure of the object representation, namely: (1) An exceptional robustness across a spectrum of real-world and synthetic out-of-distribution shifts and (2) an enhanced human interpretability compared to standard models, all while maintaining real-time inference and a competitive accuracy on in-distribution data.

Stereo-matching is a fundamental problem in computer vision. Despite recent progress by deep learning, improving the robustness is ineluctable when deploying stereo-matching models to real-world applications. Different from the common practices, i.e., developing an elaborate model to achieve robustness, we argue that collecting multiple available datasets for training is a cheaper way to increase generalization ability. Specifically, this report presents an improved RaftStereo trained with a mixed dataset of seven public datasets for the robust vision challenge (denoted as iRaftStereo_RVC). When evaluated on the training sets of Middlebury, KITTI-2015, and ETH3D, the model outperforms its counterparts trained with only one dataset, such as the popular Sceneflow. After fine-tuning the pre-trained model on the three datasets of the challenge, it ranks at 2nd place on the stereo leaderboard, demonstrating the benefits of mixed dataset pre-training.

Transformers have achieved great success in numerous NLP tasks but continue to exhibit notable gaps in multi-step factual reasoning, especially when real-world knowledge is sparse. Recent advances in grokking have demonstrated that neural networks can transition from memorizing to perfectly generalizing once they detect underlying logical patterns - yet these studies have primarily used small, synthetic tasks. In this paper, for the first time, we extend grokking to real-world factual data and address the challenge of dataset sparsity by augmenting existing knowledge graphs with carefully designed synthetic data to raise the ratio phi_r of inferred facts to atomic facts above the threshold required for grokking. Surprisingly, we find that even factually incorrect synthetic data can strengthen emergent reasoning circuits rather than degrade accuracy, as it forces the model to rely on relational structure rather than memorization. When evaluated on multi-hop reasoning benchmarks, our approach achieves up to 95-100% accuracy on 2WikiMultiHopQA - substantially improving over strong baselines and matching or exceeding current state-of-the-art results. We further provide an in-depth analysis of how increasing phi_r drives the formation of generalizing circuits inside Transformers. Our findings suggest that grokking-based data augmentation can unlock implicit multi-hop reasoning capabilities, opening the door to more robust and interpretable factual reasoning in large-scale language models.

While many have shown how Large Language Models (LLMs) can be applied to a diverse set of tasks, the critical issues of data contamination and memorization are often glossed over. In this work, we address this concern for tabular data. Specifically, we introduce a variety of different techniques to assess whether a language model has seen a tabular dataset during training. This investigation reveals that LLMs have memorized many popular tabular datasets verbatim. We then compare the few-shot learning performance of LLMs on datasets that were seen during training to the performance on datasets released after training. We find that LLMs perform better on datasets seen during training, indicating that memorization leads to overfitting. At the same time, LLMs show non-trivial performance on novel datasets and are surprisingly robust to data transformations. We then investigate the in-context statistical learning abilities of LLMs. Without fine-tuning, we find them to be limited. This suggests that much of the few-shot performance on novel datasets is due to the LLM's world knowledge. Overall, our results highlight the importance of testing whether an LLM has seen an evaluation dataset during pre-training. We make the exposure tests we developed available as the tabmemcheck Python package at https://github.com/interpretml/LLM-Tabular-Memorization-Checker

Adversarial camouflage has garnered attention for its ability to attack object detectors from any viewpoint by covering the entire object's surface. However, universality and robustness in existing methods often fall short as the transferability aspect is often overlooked, thus restricting their application only to a specific target with limited performance. To address these challenges, we present Adversarial Camouflage for Transferable and Intensive Vehicle Evasion (ACTIVE), a state-of-the-art physical camouflage attack framework designed to generate universal and robust adversarial camouflage capable of concealing any 3D vehicle from detectors. Our framework incorporates innovative techniques to enhance universality and robustness, including a refined texture rendering that enables common texture application to different vehicles without being constrained to a specific texture map, a novel stealth loss that renders the vehicle undetectable, and a smooth and camouflage loss to enhance the naturalness of the adversarial camouflage. Our extensive experiments on 15 different models show that ACTIVE consistently outperforms existing works on various public detectors, including the latest YOLOv7. Notably, our universality evaluations reveal promising transferability to other vehicle classes, tasks (segmentation models), and the real world, not just other vehicles.

The advent of large language models (LLMs) has enabled significant performance gains in the field of natural language processing. However, recent studies have found that LLMs often resort to shortcuts when performing tasks, creating an illusion of enhanced performance while lacking generalizability in their decision rules. This phenomenon introduces challenges in accurately assessing natural language understanding in LLMs. Our paper provides a concise survey of relevant research in this area and puts forth a perspective on the implications of shortcut learning in the evaluation of language models, specifically for NLU tasks. This paper urges more research efforts to be put towards deepening our comprehension of shortcut learning, contributing to the development of more robust language models, and raising the standards of NLU evaluation in real-world scenarios.

Large Language Models (LLMs) are increasingly being integrated into various applications. The functionalities of recent LLMs can be flexibly modulated via natural language prompts. This renders them susceptible to targeted adversarial prompting, e.g., Prompt Injection (PI) attacks enable attackers to override original instructions and employed controls. So far, it was assumed that the user is directly prompting the LLM. But, what if it is not the user prompting? We argue that LLM-Integrated Applications blur the line between data and instructions. We reveal new attack vectors, using Indirect Prompt Injection, that enable adversaries to remotely (without a direct interface) exploit LLM-integrated applications by strategically injecting prompts into data likely to be retrieved. We derive a comprehensive taxonomy from a computer security perspective to systematically investigate impacts and vulnerabilities, including data theft, worming, information ecosystem contamination, and other novel security risks. We demonstrate our attacks' practical viability against both real-world systems, such as Bing's GPT-4 powered Chat and code-completion engines, and synthetic applications built on GPT-4. We show how processing retrieved prompts can act as arbitrary code execution, manipulate the application's functionality, and control how and if other APIs are called. Despite the increasing integration and reliance on LLMs, effective mitigations of these emerging threats are currently lacking. By raising awareness of these vulnerabilities and providing key insights into their implications, we aim to promote the safe and responsible deployment of these powerful models and the development of robust defenses that protect users and systems from potential attacks.

The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet. However, reinforcement learning often requires significant human effort in the form of manual reward specification or environment resets, even if the policy is pre-trained. We introduce RoboFuME, a reset-free fine-tuning system that pre-trains a multi-task manipulation policy from diverse datasets of prior experiences and self-improves online to learn a target task with minimal human intervention. Our insights are to utilize calibrated offline reinforcement learning techniques to ensure efficient online fine-tuning of a pre-trained policy in the presence of distribution shifts and leverage pre-trained vision language models (VLMs) to build a robust reward classifier for autonomously providing reward signals during the online fine-tuning process. In a diverse set of five real robot manipulation tasks, we show that our method can incorporate data from an existing robot dataset collected at a different institution and improve on a target task within as little as 3 hours of autonomous real-world experience. We also demonstrate in simulation experiments that our method outperforms prior works that use different RL algorithms or different approaches for predicting rewards. Project website: https://robofume.github.io

Regardless of the selected asset class and the level of model complexity (Transformer versus LSTM versus Perceptron/RNN), the GMADL loss function produces superior results than standard MSE-type loss functions and has better numerical properties in the context of optimization than MADL. Better results mean the possibility of achieving a higher risk-weighted return based on buy and sell signals built on forecasts generated by a given theoretical model estimated using the GMADL versus MSE or MADL function. In practice, GMADL solves the problem of selecting the most preferable feature in both classification and regression problems, improving the performance of each estimation. What is important is that, through additional parameterization, GMADL also solves the problem of optimizing investment systems on high-frequency data in such a way that they focus on strategy variants that contain fewer transactions so that transaction costs do not reduce the effectiveness of a given strategy to zero. Moreover, the implementation leverages state-of-the-art machine learning tools, including frameworks for hyperparameter tuning, architecture testing, and walk-forward optimization, ensuring robust and scalable solutions for real-world algorithmic trading.

The emergence of multimodal large language models (MLLMs) has driven breakthroughs in egocentric vision applications. These applications necessitate persistent, context-aware understanding of objects, as users interact with tools in dynamic and cluttered environments. However, existing embodied benchmarks primarily focus on static scene exploration, emphasizing object's appearance and spatial attributes while neglecting the assessment of dynamic changes arising from users' interactions. To address this gap, we introduce EOC-Bench, an innovative benchmark designed to systematically evaluate object-centric embodied cognition in dynamic egocentric scenarios. Specially, EOC-Bench features 3,277 meticulously annotated QA pairs categorized into three temporal categories: Past, Present, and Future, covering 11 fine-grained evaluation dimensions and 3 visual object referencing types. To ensure thorough assessment, we develop a mixed-format human-in-the-loop annotation framework with four types of questions and design a novel multi-scale temporal accuracy metric for open-ended temporal evaluation. Based on EOC-Bench, we conduct comprehensive evaluations of various proprietary, open-source, and object-level MLLMs. EOC-Bench serves as a crucial tool for advancing the embodied object cognitive capabilities of MLLMs, establishing a robust foundation for developing reliable core models for embodied systems.

Robust deployment of large multimodal models (LMMs) in real-world scenarios requires access to external knowledge sources, given the complexity and dynamic nature of real-world information. Existing approaches such as retrieval-augmented generation (RAG) and prompt engineered search agents rely on rigid pipelines, often leading to inefficient or excessive search behaviors. We present MMSearch-R1, the first end-to-end reinforcement learning framework that enables LMMs to perform on-demand, multi-turn search in real-world Internet environments. Our framework integrates both image and text search tools, allowing the model to reason about when and how to invoke them guided by an outcome-based reward with a search penalty. To support training, We collect a multimodal search VQA dataset through a semi-automated pipeline that covers diverse visual and textual knowledge needs and curate a search-balanced subset with both search-required and search-free samples, which proves essential for shaping efficient and on-demand search behavior. Extensive experiments on knowledge-intensive and info-seeking VQA tasks show that our model not only outperforms RAG-based baselines of the same model size, but also matches the performance of a larger RAG-based model while reducing search calls by over 30%. We further analyze key empirical findings to offer actionable insights for advancing research in multimodal search.

Owing to the robust priors of diffusion models, recent approaches have shown promise in addressing real-world super-resolution (Real-SR). However, achieving semantic consistency and perceptual naturalness to meet human perception demands remains difficult, especially under conditions of heavy degradation and varied input complexities. To tackle this, we propose Hero-SR, a one-step diffusion-based SR framework explicitly designed with human perception priors. Hero-SR consists of two novel modules: the Dynamic Time-Step Module (DTSM), which adaptively selects optimal diffusion steps for flexibly meeting human perceptual standards, and the Open-World Multi-modality Supervision (OWMS), which integrates guidance from both image and text domains through CLIP to improve semantic consistency and perceptual naturalness. Through these modules, Hero-SR generates high-resolution images that not only preserve intricate details but also reflect human perceptual preferences. Extensive experiments validate that Hero-SR achieves state-of-the-art performance in Real-SR. The code will be publicly available upon paper acceptance.

Large text corpora are increasingly important for a wide variety of Natural Language Processing (NLP) tasks, and automatic language identification (LangID) is a core technology needed to collect such datasets in a multilingual context. LangID is largely treated as solved in the literature, with models reported that achieve over 90% average F1 on as many as 1,366 languages. We train LangID models on up to 1,629 languages with comparable quality on held-out test sets, but find that human-judged LangID accuracy for web-crawl text corpora created using these models is only around 5% for many lower-resource languages, suggesting a need for more robust evaluation. Further analysis revealed a variety of error modes, arising from domain mismatch, class imbalance, language similarity, and insufficiently expressive models. We propose two classes of techniques to mitigate these errors: wordlist-based tunable-precision filters (for which we release curated lists in about 500 languages) and transformer-based semi-supervised LangID models, which increase median dataset precision from 5.5% to 71.2%. These techniques enable us to create an initial data set covering 100K or more relatively clean sentences in each of 500+ languages, paving the way towards a 1,000-language web text corpus.

The rapid advancement of large language models (LLMs) has led to increasingly human-like AI-generated text, raising concerns about content authenticity, misinformation, and trustworthiness. Addressing the challenge of reliably detecting AI-generated text and attributing it to specific models requires large-scale, diverse, and well-annotated datasets. In this work, we present a comprehensive dataset comprising over 58,000 text samples that combine authentic New York Times articles with synthetic versions generated by multiple state-of-the-art LLMs including Gemma-2-9b, Mistral-7B, Qwen-2-72B, LLaMA-8B, Yi-Large, and GPT-4-o. The dataset provides original article abstracts as prompts, full human-authored narratives. We establish baseline results for two key tasks: distinguishing human-written from AI-generated text, achieving an accuracy of 58.35\%, and attributing AI texts to their generating models with an accuracy of 8.92\%. By bridging real-world journalistic content with modern generative models, the dataset aims to catalyze the development of robust detection and attribution methods, fostering trust and transparency in the era of generative AI. Our dataset is available at: https://huggingface.co/datasets/gsingh1-py/train.

Vision-centric perception systems struggle with unpredictable and coupled weather degradations in the wild. Current solutions are often limited, as they either depend on specific degradation priors or suffer from significant domain gaps. To enable robust and autonomous operation in real-world conditions, we propose JarvisIR, a VLM-powered agent that leverages the VLM as a controller to manage multiple expert restoration models. To further enhance system robustness, reduce hallucinations, and improve generalizability in real-world adverse weather, JarvisIR employs a novel two-stage framework consisting of supervised fine-tuning and human feedback alignment. Specifically, to address the lack of paired data in real-world scenarios, the human feedback alignment enables the VLM to be fine-tuned effectively on large-scale real-world data in an unsupervised manner. To support the training and evaluation of JarvisIR, we introduce CleanBench, a comprehensive dataset consisting of high-quality and large-scale instruction-responses pairs, including 150K synthetic entries and 80K real entries. Extensive experiments demonstrate that JarvisIR exhibits superior decision-making and restoration capabilities. Compared with existing methods, it achieves a 50% improvement in the average of all perception metrics on CleanBench-Real. Project page: https://cvpr2025-jarvisir.github.io/.

The development of Large Language Models (LLMs) requires robust benchmarks that encompass not only academic domains but also industrial fields to effectively evaluate their applicability in real-world scenarios. In this paper, we introduce two Korean expert-level benchmarks. KMMLU-Redux, reconstructed from the existing KMMLU, consists of questions from the Korean National Technical Qualification exams, with critical errors removed to enhance reliability. KMMLU-Pro is based on Korean National Professional Licensure exams to reflect professional knowledge in Korea. Our experiments demonstrate that these benchmarks comprehensively represent industrial knowledge in Korea. We release our dataset publicly available.

Function calling capabilities are crucial for deploying Large Language Models in real-world applications, yet current training approaches fail to develop robust reasoning strategies. Supervised fine-tuning produces models that rely on superficial pattern matching, while standard reinforcement learning methods struggle with the complex action space of structured function calls. We present a novel reinforcement learning framework designed to enhance group relative policy optimization through strategic entropy based exploration specifically tailored for function calling tasks. Our approach addresses three critical challenges in function calling: insufficient exploration during policy learning, lack of structured reasoning in chain-of-thought generation, and inadequate verification of parameter extraction. Our two-stage data preparation pipeline ensures high-quality training samples through iterative LLM evaluation and abstract syntax tree validation. Extensive experiments on the Berkeley Function Calling Leaderboard demonstrate that this framework achieves state-of-the-art performance among open-source models with 86.02\% overall accuracy, outperforming standard GRPO by up to 6\% on complex multi-function scenarios. Notably, our method shows particularly strong improvements on code-pretrained models, suggesting that structured language generation capabilities provide an advantageous starting point for reinforcement learning in function calling tasks. We will release all the code, models and dataset to benefit the community.

Synthetic medical data offers a scalable solution for training robust models, but significant domain gaps limit its generalizability to real-world clinical settings. This paper addresses the challenge of cross-domain translation between synthetic and real X-ray images of the head, focusing on bridging discrepancies in attenuation behavior, noise characteristics, and soft tissue representation. We propose MedShift, a unified class-conditional generative model based on Flow Matching and Schrodinger Bridges, which enables high-fidelity, unpaired image translation across multiple domains. Unlike prior approaches that require domain-specific training or rely on paired data, MedShift learns a shared domain-agnostic latent space and supports seamless translation between any pair of domains seen during training. We introduce X-DigiSkull, a new dataset comprising aligned synthetic and real skull X-rays under varying radiation doses, to benchmark domain translation models. Experimental results demonstrate that, despite its smaller model size compared to diffusion-based approaches, MedShift offers strong performance and remains flexible at inference time, as it can be tuned to prioritize either perceptual fidelity or structural consistency, making it a scalable and generalizable solution for domain adaptation in medical imaging. The code and dataset are available at https://caetas.github.io/medshift.html

Artificial intelligence is poised to augment dermatological care by enabling scalable image-based diagnostics. Yet, the development of robust and equitable models remains hindered by datasets that fail to capture the clinical and demographic complexity of real-world practice. This complexity stems from region-specific disease distributions, wide variation in skin tones, and the underrepresentation of outpatient scenarios from non-Western populations. We introduce DermaCon-IN, a prospectively curated dermatology dataset comprising over 5,450 clinical images from approximately 3,000 patients across outpatient clinics in South India. Each image is annotated by board-certified dermatologists with over 240 distinct diagnoses, structured under a hierarchical, etiology-based taxonomy adapted from Rook's classification. The dataset captures a wide spectrum of dermatologic conditions and tonal variation commonly seen in Indian outpatient care. We benchmark a range of architectures including convolutional models (ResNet, DenseNet, EfficientNet), transformer-based models (ViT, MaxViT, Swin), and Concept Bottleneck Models to establish baseline performance and explore how anatomical and concept-level cues may be integrated. These results are intended to guide future efforts toward interpretable and clinically realistic models. DermaCon-IN provides a scalable and representative foundation for advancing dermatology AI in real-world settings.

We present an expanded version of our previously released Kazakh text-to-speech (KazakhTTS) synthesis corpus. In the new KazakhTTS2 corpus, the overall size has increased from 93 hours to 271 hours, the number of speakers has risen from two to five (three females and two males), and the topic coverage has been diversified with the help of new sources, including a book and Wikipedia articles. This corpus is necessary for building high-quality TTS systems for Kazakh, a Central Asian agglutinative language from the Turkic family, which presents several linguistic challenges. We describe the corpus construction process and provide the details of the training and evaluation procedures for the TTS system. Our experimental results indicate that the constructed corpus is sufficient to build robust TTS models for real-world applications, with a subjective mean opinion score ranging from 3.6 to 4.2 for all the five speakers. We believe that our corpus will facilitate speech and language research for Kazakh and other Turkic languages, which are widely considered to be low-resource due to the limited availability of free linguistic data. The constructed corpus, code, and pretrained models are publicly available in our GitHub repository.

An essential and challenging problem in causal inference is causal effect estimation from observational data. The problem becomes more difficult with the presence of unobserved confounding variables. The front-door adjustment is a practical approach for dealing with unobserved confounding variables. However, the restriction for the standard front-door adjustment is difficult to satisfy in practice. In this paper, we relax some of the restrictions by proposing the concept of conditional front-door (CFD) adjustment and develop the theorem that guarantees the causal effect identifiability of CFD adjustment. Furthermore, as it is often impossible for a CFD variable to be given in practice, it is desirable to learn it from data. By leveraging the ability of deep generative models, we propose CFDiVAE to learn the representation of the CFD adjustment variable directly from data with the identifiable Variational AutoEncoder and formally prove the model identifiability. Extensive experiments on synthetic datasets validate the effectiveness of CFDiVAE and its superiority over existing methods. The experiments also show that the performance of CFDiVAE is less sensitive to the causal strength of unobserved confounding variables. We further apply CFDiVAE to a real-world dataset to demonstrate its potential application.

Available training data for named entity recognition (NER) often contains a significant percentage of incorrect labels for entity types and entity boundaries. Such label noise poses challenges for supervised learning and may significantly deteriorate model quality. To address this, prior work proposed various noise-robust learning approaches capable of learning from data with partially incorrect labels. These approaches are typically evaluated using simulated noise where the labels in a clean dataset are automatically corrupted. However, as we show in this paper, this leads to unrealistic noise that is far easier to handle than real noise caused by human error or semi-automatic annotation. To enable the study of the impact of various types of real noise, we introduce NoiseBench, an NER benchmark consisting of clean training data corrupted with 6 types of real noise, including expert errors, crowdsourcing errors, automatic annotation errors and LLM errors. We present an analysis that shows that real noise is significantly more challenging than simulated noise, and show that current state-of-the-art models for noise-robust learning fall far short of their theoretically achievable upper bound. We release NoiseBench to the research community.

Rapid advances in multimodal models demand benchmarks that rigorously evaluate understanding and reasoning in safety-critical, dynamic real-world settings. We present AccidentBench, a large-scale benchmark that combines vehicle accident scenarios with Beyond domains, safety-critical settings in air and water that emphasize spatial and temporal reasoning (e.g., navigation, orientation, multi-vehicle motion). The benchmark contains approximately 2000 videos and over 19000 human-annotated question--answer pairs spanning multiple video lengths (short/medium/long) and difficulty levels (easy/medium/hard). Tasks systematically probe core capabilities: temporal, spatial, and intent understanding and reasoning. By unifying accident-centric traffic scenes with broader safety-critical scenarios in air and water, AccidentBench offers a comprehensive, physically grounded testbed for evaluating models under real-world variability. Evaluations of state-of-the-art models (e.g., Gemini-2.5 Pro and GPT-5) show that even the strongest models achieve only about 18% accuracy on the hardest tasks and longest videos, revealing substantial gaps in real-world temporal, spatial, and intent reasoning. AccidentBench is designed to expose these critical gaps and drive the development of multimodal models that are safer, more robust, and better aligned with real-world safety-critical challenges. The code and dataset are available at: https://github.com/SafeRL-Lab/AccidentBench

We introduce Gaga, a framework that reconstructs and segments open-world 3D scenes by leveraging inconsistent 2D masks predicted by zero-shot segmentation models. Contrasted to prior 3D scene segmentation approaches that heavily rely on video object tracking, Gaga utilizes spatial information and effectively associates object masks across diverse camera poses. By eliminating the assumption of continuous view changes in training images, Gaga demonstrates robustness to variations in camera poses, particularly beneficial for sparsely sampled images, ensuring precise mask label consistency. Furthermore, Gaga accommodates 2D segmentation masks from diverse sources and demonstrates robust performance with different open-world zero-shot segmentation models, enhancing its versatility. Extensive qualitative and quantitative evaluations demonstrate that Gaga performs favorably against state-of-the-art methods, emphasizing its potential for real-world applications such as scene understanding and manipulation.

The problem of automatically generating a computer program from some specification has been studied since the early days of AI. Recently, two competing approaches for automatic program learning have received significant attention: (1) neural program synthesis, where a neural network is conditioned on input/output (I/O) examples and learns to generate a program, and (2) neural program induction, where a neural network generates new outputs directly using a latent program representation. Here, for the first time, we directly compare both approaches on a large-scale, real-world learning task. We additionally contrast to rule-based program synthesis, which uses hand-crafted semantics to guide the program generation. Our neural models use a modified attention RNN to allow encoding of variable-sized sets of I/O pairs. Our best synthesis model achieves 92% accuracy on a real-world test set, compared to the 34% accuracy of the previous best neural synthesis approach. The synthesis model also outperforms a comparable induction model on this task, but we more importantly demonstrate that the strength of each approach is highly dependent on the evaluation metric and end-user application. Finally, we show that we can train our neural models to remain very robust to the type of noise expected in real-world data (e.g., typos), while a highly-engineered rule-based system fails entirely.

The BrowserGym ecosystem addresses the growing need for efficient evaluation and benchmarking of web agents, particularly those leveraging automation and Large Language Models (LLMs) for web interaction tasks. Many existing benchmarks suffer from fragmentation and inconsistent evaluation methodologies, making it challenging to achieve reliable comparisons and reproducible results. BrowserGym aims to solve this by providing a unified, gym-like environment with well-defined observation and action spaces, facilitating standardized evaluation across diverse benchmarks. Combined with AgentLab, a complementary framework that aids in agent creation, testing, and analysis, BrowserGym offers flexibility for integrating new benchmarks while ensuring consistent evaluation and comprehensive experiment management. This standardized approach seeks to reduce the time and complexity of developing web agents, supporting more reliable comparisons and facilitating in-depth analysis of agent behaviors, and could result in more adaptable, capable agents, ultimately accelerating innovation in LLM-driven automation. As a supporting evidence, we conduct the first large-scale, multi-benchmark web agent experiment and compare the performance of 6 state-of-the-art LLMs across all benchmarks currently available in BrowserGym. Among other findings, our results highlight a large discrepancy between OpenAI and Anthropic's latests models, with Claude-3.5-Sonnet leading the way on almost all benchmarks, except on vision-related tasks where GPT-4o is superior. Despite these advancements, our results emphasize that building robust and efficient web agents remains a significant challenge, due to the inherent complexity of real-world web environments and the limitations of current models.

Accurate depth and semantic segmentation are crucial for various computer vision tasks. However, the scarcity of annotated real-world aerial datasets poses a significant challenge for training and evaluating robust models. Additionally, the detection and segmentation of thin objects, such as wires, cables, and fences, present a critical concern for ensuring the safe operation of drones. To address these limitations, we present a novel synthetic dataset specifically designed for depth and semantic segmentation tasks in aerial views. Leveraging photo-realistic rendering techniques, our dataset provides a valuable resource for training models using a synthetic-supervision training scheme while introducing new drone-specific metrics for depth accuracy.

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system for synthetic data generation for scalable, high-quality, and customizable 3D indoor scenes. By integrating and adapting text-to-image and multi-view diffusion models with Neural Radiance Field-based meshing, this system generates highfidelity 3D object assets from text prompts and incorporates them into pre-defined floor plans using a rendering tool. By introducing novel loss functions and training strategies into existing methods, the system supports on-demand scene generation, aiming to alleviate the scarcity of current available data, generally manually crafted by artists. This system advances the role of synthetic data in addressing machine learning training limitations, enabling more robust and generalizable models for real-world applications.

We present a comprehensive study of chart visual question-answering(QA) task, to address the challenges faced in comprehending and extracting data from chart visualizations within documents. Despite efforts to tackle this problem using synthetic charts, solutions are limited by the shortage of annotated real-world data. To fill this gap, we introduce a benchmark and dataset for chart visual QA on real-world charts, offering a systematic analysis of the task and a novel taxonomy for template-based chart question creation. Our contribution includes the introduction of a new answer type, 'list', with both ranked and unranked variations. Our study is conducted on a real-world chart dataset from scientific literature, showcasing higher visual complexity compared to other works. Our focus is on template-based QA and how it can serve as a standard for evaluating the first-order logic capabilities of models. The results of our experiments, conducted on a real-world out-of-distribution dataset, provide a robust evaluation of large-scale pre-trained models and advance the field of chart visual QA and formal logic verification for neural networks in general.

Denoising diffusion models have emerged as the go-to framework for solving inverse problems in imaging. A critical concern regarding these models is their performance on out-of-distribution (OOD) tasks, which remains an under-explored challenge. Realistic reconstructions inconsistent with the measured data can be generated, hallucinating image features that are uniquely present in the training dataset. To simultaneously enforce data-consistency and leverage data-driven priors, we introduce a novel sampling framework called Steerable Conditional Diffusion. This framework adapts the denoising network specifically to the available measured data. Utilising our proposed method, we achieve substantial enhancements in OOD performance across diverse imaging modalities, advancing the robust deployment of denoising diffusion models in real-world applications.

Code-switching (CS), the alternation between two or more languages within a single conversation, presents significant challenges for automatic speech recognition (ASR) systems. Existing Mandarin-English code-switching datasets often suffer from limitations in size, spontaneity, and the lack of full-length dialogue recordings with transcriptions, hindering the development of robust ASR models for real-world conversational scenarios. This paper introduces CS-Dialogue, a novel large-scale Mandarin-English code-switching speech dataset comprising 104 hours of spontaneous conversations from 200 speakers. Unlike previous datasets, CS-Dialogue provides full-length dialogue recordings with complete transcriptions, capturing naturalistic code-switching patterns in continuous speech. We describe the data collection and annotation processes, present detailed statistics of the dataset, and establish benchmark ASR performance using state-of-the-art models. Our experiments, using Transformer, Conformer, and Branchformer, demonstrate the challenges of code-switching ASR, and show that existing pre-trained models such as Whisper still have the space to improve. The CS-Dialogue dataset will be made freely available for all academic purposes.

Anxiety is a common mental health condition characterised by excessive worry, fear and apprehension about everyday situations. Even with significant progress over the past few years, predicting anxiety from electroencephalographic (EEG) signals, specifically using error-related negativity (ERN), still remains challenging. Following the PRISMA protocol, this paper systematically reviews 54 research papers on using EEG and ERN markers for anxiety detection published in the last 10 years (2013 -- 2023). Our analysis highlights the wide usage of traditional machine learning, such as support vector machines and random forests, as well as deep learning models, such as convolutional neural networks and recurrent neural networks across different data types. Our analysis reveals that the development of a robust and generic anxiety prediction method still needs to address real-world challenges, such as task-specific setup, feature selection and computational modelling. We conclude this review by offering potential future direction for non-invasive, objective anxiety diagnostics, deployed across diverse populations and anxiety sub-types.

Model-based reinforcement learning (RL) offers a solution to the data inefficiency that plagues most model-free RL algorithms. However, learning a robust world model often requires complex and deep architectures, which are computationally expensive and challenging to train. Within the world model, sequence models play a critical role in accurate predictions, and various architectures have been explored, each with its own challenges. Currently, recurrent neural network (RNN)-based world models struggle with vanishing gradients and capturing long-term dependencies. Transformers, on the other hand, suffer from the quadratic memory and computational complexity of self-attention mechanisms, scaling as O(n^2), where n is the sequence length. To address these challenges, we propose a state space model (SSM)-based world model, Drama, specifically leveraging Mamba, that achieves O(n) memory and computational complexity while effectively capturing long-term dependencies and enabling efficient training with longer sequences. We also introduce a novel sampling method to mitigate the suboptimality caused by an incorrect world model in the early training stages. Combining these techniques, Drama achieves a normalised score on the Atari100k benchmark that is competitive with other state-of-the-art (SOTA) model-based RL algorithms, using only a 7 million-parameter world model. Drama is accessible and trainable on off-the-shelf hardware, such as a standard laptop. Our code is available at https://github.com/realwenlongwang/Drama.git.

Learning efficient representations for decision-making policies is a challenge in imitation learning (IL). Current IL methods require expert demonstrations, which are expensive to collect. Consequently, they often have underdeveloped world models. Self-supervised learning (SSL) offers an alternative by allowing models to learn from diverse, unlabeled data, including failures. However, SSL methods often operate in raw input space, making them inefficient. In this work, we propose ACT-JEPA, a novel architecture that integrates IL and SSL to enhance policy representations. We train a policy to predict (1) action sequences and (2) abstract observation sequences. The first objective uses action chunking to improve action prediction and reduce compounding errors. The second objective extends this idea of chunking by predicting abstract observation sequences. We utilize Joint-Embedding Predictive Architecture to predict in abstract representation space, allowing the model to filter out irrelevant details, improve efficiency, and develop a robust world model. Our experiments show that ACT-JEPA improves the quality of representations by learning temporal environment dynamics. Additionally, the model's ability to predict abstract observation sequences results in representations that effectively generalize to action sequence prediction. ACT-JEPA performs on par with established baselines across a range of decision-making tasks.

Natural Language Understanding has seen an increasing number of publications in the last few years, especially after robust word embeddings models became prominent, when they proved themselves able to capture and represent semantic relationships from massive amounts of data. Nevertheless, traditional models often fall short in intrinsic issues of linguistics, such as polysemy and homonymy. Any expert system that makes use of natural language in its core, can be affected by a weak semantic representation of text, resulting in inaccurate outcomes based on poor decisions. To mitigate such issues, we propose a novel approach called Most Suitable Sense Annotation (MSSA), that disambiguates and annotates each word by its specific sense, considering the semantic effects of its context. Our approach brings three main contributions to the semantic representation scenario: (i) an unsupervised technique that disambiguates and annotates words by their senses, (ii) a multi-sense embeddings model that can be extended to any traditional word embeddings algorithm, and (iii) a recurrent methodology that allows our models to be re-used and their representations refined. We test our approach on six different benchmarks for the word similarity task, showing that our approach can produce state-of-the-art results and outperforms several more complex state-of-the-art systems.

Infants explore their complex physical and social environment in an organized way. To gain insight into what intrinsic motivations may help structure this exploration, we create a virtual infant agent and place it in a developmentally-inspired 3D environment with no external rewards. The environment has a virtual caregiver agent with the capability to interact contingently with the infant agent in ways that resemble play. We test intrinsic reward functions that are similar to motivations that have been proposed to drive exploration in humans: surprise, uncertainty, novelty, and learning progress. These generic reward functions lead the infant agent to explore its environment and discover the contingencies that are embedded into the caregiver agent. The reward functions that are proxies for novelty and uncertainty are the most successful in generating diverse experiences and activating the environment contingencies. We also find that learning a world model in the presence of an attentive caregiver helps the infant agent learn how to predict scenarios with challenging social and physical dynamics. Taken together, our findings provide insight into how curiosity-like intrinsic rewards and contingent social interaction lead to dynamic social behavior and the creation of a robust predictive world model.

OpenAI's Sora highlights the potential of video generation for developing world models that adhere to fundamental physical laws. However, the ability of video generation models to discover such laws purely from visual data without human priors can be questioned. A world model learning the true law should give predictions robust to nuances and correctly extrapolate on unseen scenarios. In this work, we evaluate across three key scenarios: in-distribution, out-of-distribution, and combinatorial generalization. We developed a 2D simulation testbed for object movement and collisions to generate videos deterministically governed by one or more classical mechanics laws. This provides an unlimited supply of data for large-scale experimentation and enables quantitative evaluation of whether the generated videos adhere to physical laws. We trained diffusion-based video generation models to predict object movements based on initial frames. Our scaling experiments show perfect generalization within the distribution, measurable scaling behavior for combinatorial generalization, but failure in out-of-distribution scenarios. Further experiments reveal two key insights about the generalization mechanisms of these models: (1) the models fail to abstract general physical rules and instead exhibit "case-based" generalization behavior, i.e., mimicking the closest training example; (2) when generalizing to new cases, models are observed to prioritize different factors when referencing training data: color > size > velocity > shape. Our study suggests that scaling alone is insufficient for video generation models to uncover fundamental physical laws, despite its role in Sora's broader success. See our project page at https://phyworld.github.io

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching robots manipulation skills. Current robot datasets often record robot action in different action spaces within a simple scene. This hinders the robot to learn a unified and robust action representation for different robots within diverse scenes. Observing how humans understand a manipulation task, we find that understanding how the objects should move in the 3D space is a critical clue for guiding actions. This clue is embodiment-agnostic and suitable for both humans and different robots. Motivated by this, we aim to learn a 3D flow world model from both human and robot manipulation data. This model predicts the future movement of the interacting objects in 3D space, guiding action planning for manipulation. Specifically, we synthesize a large-scale 3D optical flow dataset, named ManiFlow-110k, through a moving object auto-detect pipeline. A video diffusion-based world model then learns manipulation physics from these data, generating 3D optical flow trajectories conditioned on language instructions. With the generated 3D object optical flow, we propose a flow-guided rendering mechanism, which renders the predicted final state and leverages GPT-4o to assess whether the predicted flow aligns with the task description. This equips the robot with a closed-loop planning ability. Finally, we consider the predicted 3D optical flow as constraints for an optimization policy to determine a chunk of robot actions for manipulation. Extensive experiments demonstrate strong generalization across diverse robotic manipulation tasks and reliable cross-embodiment adaptation without hardware-specific training.

Model-based Reinforcement Learning (MBRL) has emerged as a promising paradigm for autonomous driving, where data efficiency and robustness are critical. Yet, existing solutions often rely on carefully crafted, task specific extrinsic rewards, limiting generalization to new tasks or environments. In this paper, we propose InDRiVE (Intrinsic Disagreement based Reinforcement for Vehicle Exploration), a method that leverages purely intrinsic, disagreement based rewards within a Dreamer based MBRL framework. By training an ensemble of world models, the agent actively explores high uncertainty regions of environments without any task specific feedback. This approach yields a task agnostic latent representation, allowing for rapid zero shot or few shot fine tuning on downstream driving tasks such as lane following and collision avoidance. Experimental results in both seen and unseen environments demonstrate that InDRiVE achieves higher success rates and fewer infractions compared to DreamerV2 and DreamerV3 baselines despite using significantly fewer training steps. Our findings highlight the effectiveness of purely intrinsic exploration for learning robust vehicle control behaviors, paving the way for more scalable and adaptable autonomous driving systems.

With the rapid advancement of autonomous driving technology, a lack of data has become a major obstacle to enhancing perception model accuracy. Researchers are now exploring controllable data generation using world models to diversify datasets. However, previous work has been limited to studying image generation quality on specific public datasets. There is still relatively little research on how to build data generation engines for real-world application scenes to achieve large-scale data generation for challenging scenes. In this paper, a simulator-conditioned scene generation engine based on world model is proposed. By constructing a simulation system consistent with real-world scenes, simulation data and labels, which serve as the conditions for data generation in the world model, for any scenes can be collected. It is a novel data generation pipeline by combining the powerful scene simulation capabilities of the simulation engine with the robust data generation capabilities of the world model. In addition, a benchmark with proportionally constructed virtual and real data, is provided for exploring the capabilities of world models in real-world scenes. Quantitative results show that these generated images significantly improve downstream perception models performance. Finally, we explored the generative performance of the world model in urban autonomous driving scenarios. All the data and code will be available at https://github.com/Li-Zn-H/SimWorld.

A longstanding goal of artificial general intelligence is highly capable generalists that can learn from diverse experiences and generalize to unseen tasks. The language and vision communities have seen remarkable progress toward this trend by scaling up transformer-based models trained on massive datasets, while reinforcement learning (RL) agents still suffer from poor generalization capacity under such paradigms. To tackle this challenge, we propose Meta Decision Transformer (Meta-DT), which leverages the sequential modeling ability of the transformer architecture and robust task representation learning via world model disentanglement to achieve efficient generalization in offline meta-RL. We pretrain a context-aware world model to learn a compact task representation, and inject it as a contextual condition to the causal transformer to guide task-oriented sequence generation. Then, we subtly utilize history trajectories generated by the meta-policy as a self-guided prompt to exploit the architectural inductive bias. We select the trajectory segment that yields the largest prediction error on the pretrained world model to construct the prompt, aiming to encode task-specific information complementary to the world model maximally. Notably, the proposed framework eliminates the requirement of any expert demonstration or domain knowledge at test time. Experimental results on MuJoCo and Meta-World benchmarks across various dataset types show that Meta-DT exhibits superior few and zero-shot generalization capacity compared to strong baselines while being more practical with fewer prerequisites. Our code is available at https://github.com/NJU-RL/Meta-DT.

Reinforcement learning (RL) agents typically learn tabula rasa, without prior knowledge of the world. However, if initialized with knowledge of high-level subgoals and transitions between subgoals, RL agents could utilize this Abstract World Model (AWM) for planning and exploration. We propose using few-shot large language models (LLMs) to hypothesize an AWM, that will be verified through world experience, to improve sample efficiency of RL agents. Our DECKARD agent applies LLM-guided exploration to item crafting in Minecraft in two phases: (1) the Dream phase where the agent uses an LLM to decompose a task into a sequence of subgoals, the hypothesized AWM; and (2) the Wake phase where the agent learns a modular policy for each subgoal and verifies or corrects the hypothesized AWM. Our method of hypothesizing an AWM with LLMs and then verifying the AWM based on agent experience not only increases sample efficiency over contemporary methods by an order of magnitude but is also robust to and corrects errors in the LLM, successfully blending noisy internet-scale information from LLMs with knowledge grounded in environment dynamics.

The fundamental limitation of the behavioral cloning (BC) approach to imitation learning is that it only teaches an agent what the expert did at states the expert visited. This means that when a BC agent makes a mistake which takes them out of the support of the demonstrations, they often don't know how to recover from it. In this sense, BC is akin to giving the agent the fish -- giving them dense supervision across a narrow set of states -- rather than teaching them to fish: to be able to reason independently about achieving the expert's outcome even when faced with unseen situations at test-time. In response, we explore learning to search (L2S) from expert demonstrations, i.e. learning the components required to, at test time, plan to match expert outcomes, even after making a mistake. These include (1) a world model and (2) a reward model. We carefully ablate the set of algorithmic and design decisions required to combine these and other components for stable and sample/interaction-efficient learning of recovery behavior without additional human corrections. Across a dozen visual manipulation tasks from three benchmarks, our approach SAILOR consistently out-performs state-of-the-art Diffusion Policies trained via BC on the same data. Furthermore, scaling up the amount of demonstrations used for BC by 5-10times still leaves a performance gap. We find that SAILOR can identify nuanced failures and is robust to reward hacking. Our code is available at https://github.com/arnavkj1995/SAILOR .

World models aim to simulate environments and enable effective agent behavior. However, modeling real-world environments presents unique challenges as they dynamically change across both space and, crucially, time. To capture these composed dynamics, we introduce a Spatio-Temporal Road Image Dataset for Exploration (STRIDE) permuting 360-degree panoramic imagery into rich interconnected observation, state and action nodes. Leveraging this structure, we can simultaneously model the relationship between egocentric views, positional coordinates, and movement commands across both space and time. We benchmark this dataset via TARDIS, a transformer-based generative world model that integrates spatial and temporal dynamics through a unified autoregressive framework trained on STRIDE. We demonstrate robust performance across a range of agentic tasks such as controllable photorealistic image synthesis, instruction following, autonomous self-control, and state-of-the-art georeferencing. These results suggest a promising direction towards sophisticated generalist agents--capable of understanding and manipulating the spatial and temporal aspects of their material environments--with enhanced embodied reasoning capabilities. Training code, datasets, and model checkpoints are made available at https://huggingface.co/datasets/Tera-AI/STRIDE.

We introduce the Probabilistic Worldbuilding Model (PWM), a new fully-symbolic Bayesian model of semantic parsing and reasoning, as a first step in a research program toward more domain- and task-general NLU and AI. Humans create internal mental models of their observations which greatly aid in their ability to understand and reason about a large variety of problems. In PWM, the meanings of sentences, acquired facts about the world, and intermediate steps in reasoning are all expressed in a human-readable formal language, with the design goal of interpretability. PWM is Bayesian, designed specifically to be able to generalize to new domains and new tasks. We derive and implement an inference algorithm that reads sentences by parsing and abducing updates to its latent world model that capture the semantics of those sentences, and evaluate it on two out-of-domain question-answering datasets: (1) ProofWriter and (2) a new dataset we call FictionalGeoQA, designed to be more representative of real language but still simple enough to focus on evaluating reasoning ability, while being robust against heuristics. Our method outperforms baselines on both, thereby demonstrating its value as a proof-of-concept.

World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit. While prior work largely emphasizes generative methods for 2D image and video data, they overlook the rapidly growing body of work that leverages native 3D and 4D representations such as RGB-D imagery, occupancy grids, and LiDAR point clouds for large-scale scene modeling. At the same time, the absence of a standardized definition and taxonomy for ``world models'' has led to fragmented and sometimes inconsistent claims in the literature. This survey addresses these gaps by presenting the first comprehensive review explicitly dedicated to 3D and 4D world modeling and generation. We establish precise definitions, introduce a structured taxonomy spanning video-based (VideoGen), occupancy-based (OccGen), and LiDAR-based (LiDARGen) approaches, and systematically summarize datasets and evaluation metrics tailored to 3D/4D settings. We further discuss practical applications, identify open challenges, and highlight promising research directions, aiming to provide a coherent and foundational reference for advancing the field. A systematic summary of existing literature is available at https://github.com/worldbench/survey

Learning how the world works is central to building AI agents that can adapt to complex environments. Traditional world models based on deep learning demand vast amounts of training data, and do not flexibly update their knowledge from sparse observations. Recent advances in program synthesis using Large Language Models (LLMs) give an alternate approach which learns world models represented as source code, supporting strong generalization from little data. To date, application of program-structured world models remains limited to natural language and grid-world domains. We introduce a novel program synthesis method for effectively modeling complex, non-gridworld domains by representing a world model as an exponentially-weighted product of programmatic experts (PoE-World) synthesized by LLMs. We show that this approach can learn complex, stochastic world models from just a few observations. We evaluate the learned world models by embedding them in a model-based planning agent, demonstrating efficient performance and generalization to unseen levels on Atari's Pong and Montezuma's Revenge. We release our code and display the learned world models and videos of the agent's gameplay at https://topwasu.github.io/poe-world.

In recent years there have been remarkable advancements in autonomous driving. While autonomous vehicles demonstrate high performance in closed-set conditions, they encounter difficulties when confronted with unexpected situations. At the same time, world models emerged in the field of model-based reinforcement learning as a way to enable agents to predict the future depending on potential actions. This led to outstanding results in sparse reward and complex control tasks. This work provides an overview of how world models can be leveraged to perform anomaly detection in the domain of autonomous driving. We provide a characterization of world models and relate individual components to previous works in anomaly detection to facilitate further research in the field.

A World Model is a generative model used to simulate an environment. World Models have proven capable of learning spatial and temporal representations of Reinforcement Learning environments. In some cases, a World Model offers an agent the opportunity to learn entirely inside of its own dream environment. In this work we explore improving the generalization capabilities from dream environments to real environments (Dream2Real). We present a general approach to improve a controller's ability to transfer from a neural network dream environment to reality at little additional cost. These improvements are gained by drawing on inspiration from Domain Randomization, where the basic idea is to randomize as much of a simulator as possible without fundamentally changing the task at hand. Generally, Domain Randomization assumes access to a pre-built simulator with configurable parameters but oftentimes this is not available. By training the World Model using dropout, the dream environment is capable of creating a nearly infinite number of different dream environments. Previous use cases of dropout either do not use dropout at inference time or averages the predictions generated by multiple sampled masks (Monte-Carlo Dropout). Dropout's Dream Land leverages each unique mask to create a diverse set of dream environments. Our experimental results show that Dropout's Dream Land is an effective technique to bridge the reality gap between dream environments and reality. Furthermore, we additionally perform an extensive set of ablation studies.

World models are a fundamental component in model-based reinforcement learning (MBRL). To perform temporally extended and consistent simulations of the future in partially observable environments, world models need to possess long-term memory. However, state-of-the-art MBRL agents, such as Dreamer, predominantly employ recurrent neural networks (RNNs) as their world model backbone, which have limited memory capacity. In this paper, we seek to explore alternative world model backbones for improving long-term memory. In particular, we investigate the effectiveness of Transformers and Structured State Space Sequence (S4) models, motivated by their remarkable ability to capture long-range dependencies in low-dimensional sequences and their complementary strengths. We propose S4WM, the first world model compatible with parallelizable SSMs including S4 and its variants. By incorporating latent variable modeling, S4WM can efficiently generate high-dimensional image sequences through latent imagination. Furthermore, we extensively compare RNN-, Transformer-, and S4-based world models across four sets of environments, which we have tailored to assess crucial memory capabilities of world models, including long-term imagination, context-dependent recall, reward prediction, and memory-based reasoning. Our findings demonstrate that S4WM outperforms Transformer-based world models in terms of long-term memory, while exhibiting greater efficiency during training and imagination. These results pave the way for the development of stronger MBRL agents.

Large language model (LLM) routing has emerged as a crucial strategy for balancing computational costs with performance by dynamically assigning queries to the most appropriate model based on query complexity. Despite recent advances showing that preference-data-based routers can outperform traditional methods, current evaluation benchmarks remain limited. They largely focus on general model capabilities while overlooking task-specific behaviors and critical concerns such as privacy, safety, and potential backdoor vulnerabilities introduced through preference data. In response, we propose the DSC benchmark: Diverse, Simple, and Categorized, an evaluation framework that categorizes router performance across a broad spectrum of query types, including coding, translation, mathematics, human instructions, general knowledge, and LLM jailbreaking. Additionally, it integrates privacy and safety assessments to reveal hidden risks. Our experiments on three preference-based routers and two commercial counterparts demonstrate that while these systems improve efficiency, they often make suboptimal, category-driven decisions. For instance, a BERT-based router directs all coding and mathematics queries to the most powerful LLM even when simpler models would suffice, while routing jailbreaking attempts to weaker models, thereby elevating safety risks.

Recent open-world 3D representation learning methods using Vision-Language Models (VLMs) to align 3D data with image-text information have shown superior 3D zero-shot performance. However, CAD-rendered images for this alignment often lack realism and texture variation, compromising alignment robustness. Moreover, the volume discrepancy between 3D and 2D pretraining datasets highlights the need for effective strategies to transfer the representational abilities of VLMs to 3D learning. In this paper, we present OpenDlign, a novel open-world 3D model using depth-aligned images generated from a diffusion model for robust multimodal alignment. These images exhibit greater texture diversity than CAD renderings due to the stochastic nature of the diffusion model. By refining the depth map projection pipeline and designing depth-specific prompts, OpenDlign leverages rich knowledge in pre-trained VLM for 3D representation learning with streamlined fine-tuning. Our experiments show that OpenDlign achieves high zero-shot and few-shot performance on diverse 3D tasks, despite only fine-tuning 6 million parameters on a limited ShapeNet dataset. In zero-shot classification, OpenDlign surpasses previous models by 8.0% on ModelNet40 and 16.4% on OmniObject3D. Additionally, using depth-aligned images for multimodal alignment consistently enhances the performance of other state-of-the-art models.

World models -- generative models that simulate environment dynamics conditioned on past observations and actions -- are gaining prominence in planning, simulation, and embodied AI. However, evaluating their rollouts remains a fundamental challenge, requiring fine-grained, temporally grounded assessment of action alignment and semantic consistency -- capabilities not captured by existing metrics. Vision-Language Models (VLMs) have shown promise as automatic evaluators of generative content due to their strong multimodal reasoning abilities. Yet, their use in fine-grained, temporally sensitive evaluation tasks remains limited and requires targeted adaptation. We introduce a evaluation protocol targeting two recognition tasks -- action recognition and character recognition -- each assessed across binary, multiple-choice, and open-ended formats. To support this, we present UNIVERSE (UNIfied Vision-language Evaluator for Rollouts in Simulated Environments), a method for adapting VLMs to rollout evaluation under data and compute constraints. We conduct a large-scale study comparing full, partial, and parameter-efficient finetuning across task formats, context lengths, sampling strategies, and data compositions. The resulting unified evaluator matches the performance of task-specific baselines using a single checkpoint. Human studies confirm strong alignment with human judgments, establishing UNIVERSE as a scalable, semantics-aware evaluator for world models.

World models constitute a promising approach for training reinforcement learning agents in a safe and sample-efficient manner. Recent world models predominantly operate on sequences of discrete latent variables to model environment dynamics. However, this compression into a compact discrete representation may ignore visual details that are important for reinforcement learning. Concurrently, diffusion models have become a dominant approach for image generation, challenging well-established methods modeling discrete latents. Motivated by this paradigm shift, we introduce DIAMOND (DIffusion As a Model Of eNvironment Dreams), a reinforcement learning agent trained in a diffusion world model. We analyze the key design choices that are required to make diffusion suitable for world modeling, and demonstrate how improved visual details can lead to improved agent performance. DIAMOND achieves a mean human normalized score of 1.46 on the competitive Atari 100k benchmark; a new best for agents trained entirely within a world model. To foster future research on diffusion for world modeling, we release our code, agents and playable world models at https://github.com/eloialonso/diamond.

Robust reinforcement learning is essential for deploying reinforcement learning algorithms in real-world scenarios where environmental uncertainty predominates. Traditional robust reinforcement learning often depends on rectangularity assumptions, where adverse probability measures of outcome states are assumed to be independent across different states and actions. This assumption, rarely fulfilled in practice, leads to overly conservative policies. To address this problem, we introduce a new time-constrained robust MDP (TC-RMDP) formulation that considers multifactorial, correlated, and time-dependent disturbances, thus more accurately reflecting real-world dynamics. This formulation goes beyond the conventional rectangularity paradigm, offering new perspectives and expanding the analytical framework for robust RL. We propose three distinct algorithms, each using varying levels of environmental information, and evaluate them extensively on continuous control benchmarks. Our results demonstrate that these algorithms yield an efficient tradeoff between performance and robustness, outperforming traditional deep robust RL methods in time-constrained environments while preserving robustness in classical benchmarks. This study revisits the prevailing assumptions in robust RL and opens new avenues for developing more practical and realistic RL applications.

We propose to study and promote the robustness of a model as per its performance through the interpolation of training data distributions. Specifically, (1) we augment the data by finding the worst-case Wasserstein barycenter on the geodesic connecting subpopulation distributions of different categories. (2) We regularize the model for smoother performance on the continuous geodesic path connecting subpopulation distributions. (3) Additionally, we provide a theoretical guarantee of robustness improvement and investigate how the geodesic location and the sample size contribute, respectively. Experimental validations of the proposed strategy on four datasets, including CIFAR-100 and ImageNet, establish the efficacy of our method, e.g., our method improves the baselines' certifiable robustness on CIFAR10 up to 7.7%, with 16.8% on empirical robustness on CIFAR-100. Our work provides a new perspective of model robustness through the lens of Wasserstein geodesic-based interpolation with a practical off-the-shelf strategy that can be combined with existing robust training methods.

Building world models that accurately and comprehensively represent the real world is the utmost aspiration for conditional image generative models as it would enable their use as world simulators. For these models to be successful world models, they should not only excel at image quality and prompt-image consistency but also ensure high representation diversity. However, current research in generative models mostly focuses on creative applications that are predominantly concerned with human preferences of image quality and aesthetics. We note that generative models have inference time mechanisms - or knobs - that allow the control of generation consistency, quality, and diversity. In this paper, we use state-of-the-art text-to-image and image-and-text-to-image models and their knobs to draw consistency-diversity-realism Pareto fronts that provide a holistic view on consistency-diversity-realism multi-objective. Our experiments suggest that realism and consistency can both be improved simultaneously; however there exists a clear tradeoff between realism/consistency and diversity. By looking at Pareto optimal points, we note that earlier models are better at representation diversity and worse in consistency/realism, and more recent models excel in consistency/realism while decreasing significantly the representation diversity. By computing Pareto fronts on a geodiverse dataset, we find that the first version of latent diffusion models tends to perform better than more recent models in all axes of evaluation, and there exist pronounced consistency-diversity-realism disparities between geographical regions. Overall, our analysis clearly shows that there is no best model and the choice of model should be determined by the downstream application. With this analysis, we invite the research community to consider Pareto fronts as an analytical tool to measure progress towards world models.

Standard benchmarks for optical flow, scene flow, and stereo vision algorithms generally focus on model accuracy rather than robustness to image corruptions like noise or rain. Hence, the resilience of models to such real-world perturbations is largely unquantified. To address this, we present RobustSpring, a comprehensive dataset and benchmark for evaluating robustness to image corruptions for optical flow, scene flow, and stereo models. RobustSpring applies 20 different image corruptions, including noise, blur, color changes, quality degradations, and weather distortions, in a time-, stereo-, and depth-consistent manner to the high-resolution Spring dataset, creating a suite of 20,000 corrupted images that reflect challenging conditions. RobustSpring enables comparisons of model robustness via a new corruption robustness metric. Integration with the Spring benchmark enables public two-axis evaluations of both accuracy and robustness. We benchmark a curated selection of initial models, observing that accurate models are not necessarily robust and that robustness varies widely by corruption type. RobustSpring is a new computer vision benchmark that treats robustness as a first-class citizen to foster models that combine accuracy with resilience. It will be available at https://spring-benchmark.org.

Given a robust model trained to be resilient to one or multiple types of distribution shifts (e.g., natural image corruptions), how is that "robustness" encoded in the model weights, and how easily can it be disentangled and/or "zero-shot" transferred to some other models? This paper empirically suggests a surprisingly simple answer: linearly - by straightforward model weight arithmetic! We start by drawing several key observations: (1)assuming that we train the same model architecture on both a clean dataset and its corrupted version, resultant weights mostly differ in shallow layers; (2)the weight difference after projection, which we call "Robust Weight Signature" (RWS), appears to be discriminative and indicative of different corruption types; (3)for the same corruption type, the RWSs obtained by one model architecture are highly consistent and transferable across different datasets. We propose a minimalistic model robustness "patching" framework that carries a model trained on clean data together with its pre-extracted RWSs. In this way, injecting certain robustness to the model is reduced to directly adding the corresponding RWS to its weight. We verify our proposed framework to be remarkably (1)lightweight. since RWSs concentrate on the shallowest few layers and we further show they can be painlessly quantized, storing an RWS is up to 13 x more compact than storing the full weight copy; (2)in-situ adjustable. RWSs can be appended as needed and later taken off to restore the intact clean model. We further demonstrate one can linearly re-scale the RWS to control the patched robustness strength; (3)composable. Multiple RWSs can be added simultaneously to patch more comprehensive robustness at once; and (4)transferable. Even when the clean model backbone is continually adapted or updated, RWSs remain as effective patches due to their outstanding cross-dataset transferability.

3D surface reconstruction from point clouds is a key step in areas such as content creation, archaeology, digital cultural heritage, and engineering. Current approaches either try to optimize a non-data-driven surface representation to fit the points, or learn a data-driven prior over the distribution of commonly occurring surfaces and how they correlate with potentially noisy point clouds. Data-driven methods enable robust handling of noise and typically either focus on a global or a local prior, which trade-off between robustness to noise on the global end and surface detail preservation on the local end. We propose PPSurf as a method that combines a global prior based on point convolutions and a local prior based on processing local point cloud patches. We show that this approach is robust to noise while recovering surface details more accurately than the current state-of-the-art. Our source code, pre-trained model and dataset are available at: https://github.com/cg-tuwien/ppsurf

Robust reinforcement learning is the problem of learning control policies that provide optimal worst-case performance against a span of adversarial environments. It is a crucial ingredient for deploying algorithms in real-world scenarios with prevalent environmental uncertainties and has been a long-standing object of attention in the community, without a standardized set of benchmarks. This contribution endeavors to fill this gap. We introduce the Robust Reinforcement Learning Suite (RRLS), a benchmark suite based on Mujoco environments. RRLS provides six continuous control tasks with two types of uncertainty sets for training and evaluation. Our benchmark aims to standardize robust reinforcement learning tasks, facilitating reproducible and comparable experiments, in particular those from recent state-of-the-art contributions, for which we demonstrate the use of RRLS. It is also designed to be easily expandable to new environments. The source code is available at https://github.com/SuReLI/RRLS{https://github.com/SuReLI/RRLS}.

World models have become increasingly popular in acting as learned traffic simulators. Recent work has explored replacing traditional traffic simulators with world models for policy training. In this work, we explore the robustness of existing metrics to evaluate world models as traffic simulators to see if the same metrics are suitable for evaluating a world model as a pseudo-environment for policy training. Specifically, we analyze the metametric employed by the Waymo Open Sim-Agents Challenge (WOSAC) and compare world model predictions on standard scenarios where the agents are fully or partially controlled by the world model (partial replay). Furthermore, since we are interested in evaluating the ego action-conditioned world model, we extend the standard WOSAC evaluation domain to include agents that are causal to the ego vehicle. Our evaluations reveal a significant number of scenarios where top-ranking models perform well under no perturbation but fail when the ego agent is forced to replay the original trajectory. To address these cases, we propose new metrics to highlight the sensitivity of world models to uncontrollable objects and evaluate the performance of world models as pseudo-environments for policy training and analyze some state-of-the-art world models under these new metrics.

Robustness to natural distribution shifts has seen remarkable progress thanks to recent pre-training strategies combined with better fine-tuning methods. However, such fine-tuning assumes access to large amounts of labelled data, and the extent to which the observations hold when the amount of training data is not as high remains unknown. We address this gap by performing the first in-depth study of robustness to various natural distribution shifts in different low-shot regimes: spanning datasets, architectures, pre-trained initializations, and state-of-the-art robustness interventions. Most importantly, we find that there is no single model of choice that is often more robust than others, and existing interventions can fail to improve robustness on some datasets even if they do so in the full-shot regime. We hope that our work will motivate the community to focus on this problem of practical importance.

World models represent a promising approach for training reinforcement learning agents with significantly improved sample efficiency. While most world model methods primarily rely on sequences of discrete latent variables to model environment dynamics, this compression often neglects critical visual details essential for reinforcement learning. Recent diffusion-based world models condition generation on a fixed context length of frames to predict the next observation, using separate recurrent neural networks to model rewards and termination signals. Although this architecture effectively enhances visual fidelity, the fixed context length approach inherently limits memory capacity. In this paper, we introduce EDELINE, a unified world model architecture that integrates state space models with diffusion models. Our approach outperforms existing baselines across visually challenging Atari 100k tasks, memory-demanding Crafter benchmark, and 3D first-person ViZDoom environments, demonstrating superior performance in all these diverse challenges.

Acquiring an accurate world model online for model-based reinforcement learning (MBRL) is challenging due to data nonstationarity, which typically causes catastrophic forgetting for neural networks (NNs). From the online learning perspective, a Follow-The-Leader (FTL) world model is desirable, which optimally fits all previous experiences at each round. Unfortunately, NN-based models need re-training on all accumulated data at every interaction step to achieve FTL, which is computationally expensive for lifelong agents. In this paper, we revisit models that can achieve FTL with incremental updates. Specifically, our world model is a linear regression model supported by nonlinear random features. The linear part ensures efficient FTL update while the nonlinear random feature empowers the fitting of complex environments. To best trade off model capacity and computation efficiency, we introduce a locality sensitive sparse encoding, which allows us to conduct efficient sparse updates even with very high dimensional nonlinear features. We validate the representation power of our encoding and verify that it allows efficient online learning under data covariate shift. We also show, in the Dyna MBRL setting, that our world models learned online using a single pass of trajectory data either surpass or match the performance of deep world models trained with replay and other continual learning methods.

World models play a crucial role in understanding and predicting the dynamics of the world, which is essential for video generation. However, existing world models are confined to specific scenarios such as gaming or driving, limiting their ability to capture the complexity of general world dynamic environments. Therefore, we introduce WorldDreamer, a pioneering world model to foster a comprehensive comprehension of general world physics and motions, which significantly enhances the capabilities of video generation. Drawing inspiration from the success of large language models, WorldDreamer frames world modeling as an unsupervised visual sequence modeling challenge. This is achieved by mapping visual inputs to discrete tokens and predicting the masked ones. During this process, we incorporate multi-modal prompts to facilitate interaction within the world model. Our experiments show that WorldDreamer excels in generating videos across different scenarios, including natural scenes and driving environments. WorldDreamer showcases versatility in executing tasks such as text-to-video conversion, image-tovideo synthesis, and video editing. These results underscore WorldDreamer's effectiveness in capturing dynamic elements within diverse general world environments.

General world models represent a crucial pathway toward achieving Artificial General Intelligence (AGI), serving as the cornerstone for various applications ranging from virtual environments to decision-making systems. Recently, the emergence of the Sora model has attained significant attention due to its remarkable simulation capabilities, which exhibits an incipient comprehension of physical laws. In this survey, we embark on a comprehensive exploration of the latest advancements in world models. Our analysis navigates through the forefront of generative methodologies in video generation, where world models stand as pivotal constructs facilitating the synthesis of highly realistic visual content. Additionally, we scrutinize the burgeoning field of autonomous-driving world models, meticulously delineating their indispensable role in reshaping transportation and urban mobility. Furthermore, we delve into the intricacies inherent in world models deployed within autonomous agents, shedding light on their profound significance in enabling intelligent interactions within dynamic environmental contexts. At last, we examine challenges and limitations of world models, and discuss their potential future directions. We hope this survey can serve as a foundational reference for the research community and inspire continued innovation. This survey will be regularly updated at: https://github.com/GigaAI-research/General-World-Models-Survey.

Embodied AI requires agents that perceive, act, and anticipate how actions reshape future world states. World models serve as internal simulators that capture environment dynamics, enabling forward and counterfactual rollouts to support perception, prediction, and decision making. This survey presents a unified framework for world models in embodied AI. Specifically, we formalize the problem setting and learning objectives, and propose a three-axis taxonomy encompassing: (1) Functionality, Decision-Coupled vs. General-Purpose; (2) Temporal Modeling, Sequential Simulation and Inference vs. Global Difference Prediction; (3) Spatial Representation, Global Latent Vector, Token Feature Sequence, Spatial Latent Grid, and Decomposed Rendering Representation. We systematize data resources and metrics across robotics, autonomous driving, and general video settings, covering pixel prediction quality, state-level understanding, and task performance. Furthermore, we offer a quantitative comparison of state-of-the-art models and distill key open challenges, including the scarcity of unified datasets and the need for evaluation metrics that assess physical consistency over pixel fidelity, the trade-off between model performance and the computational efficiency required for real-time control, and the core modeling difficulty of achieving long-horizon temporal consistency while mitigating error accumulation. Finally, we maintain a curated bibliography at https://github.com/Li-Zn-H/AwesomeWorldModels.

World models aim to learn action-controlled prediction models and have proven essential for the development of intelligent agents. However, most existing world models rely heavily on substantial action-labeled data and costly training, making it challenging to adapt to novel environments with heterogeneous actions through limited interactions. This limitation can hinder their applicability across broader domains. To overcome this challenge, we propose AdaWorld, an innovative world model learning approach that enables efficient adaptation. The key idea is to incorporate action information during the pretraining of world models. This is achieved by extracting latent actions from videos in a self-supervised manner, capturing the most critical transitions between frames. We then develop an autoregressive world model that conditions on these latent actions. This learning paradigm enables highly adaptable world models, facilitating efficient transfer and learning of new actions even with limited interactions and finetuning. Our comprehensive experiments across multiple environments demonstrate that AdaWorld achieves superior performance in both simulation quality and visual planning.

This is not a typical survey of world models; it is a guide for those who want to build worlds. We do not aim to catalog every paper that has ever mentioned a ``world model". Instead, we follow one clear road: from early masked models that unified representation learning across modalities, to unified architectures that share a single paradigm, then to interactive generative models that close the action-perception loop, and finally to memory-augmented systems that sustain consistent worlds over time. We bypass loosely related branches to focus on the core: the generative heart, the interactive loop, and the memory system. We show that this is the most promising path towards true world models.

The ability to build and leverage world models is essential for a general-purpose AI agent. Testing such capabilities is hard, in part because the building blocks of world models are ill-defined. We present Elements of World Knowledge (EWOK), a framework for evaluating world modeling in language models by testing their ability to use knowledge of a concept to match a target text with a plausible/implausible context. EWOK targets specific concepts from multiple knowledge domains known to be vital for world modeling in humans. Domains range from social interactions (help/hinder) to spatial relations (left/right). Both, contexts and targets are minimal pairs. Objects, agents, and locations in the items can be flexibly filled in enabling easy generation of multiple controlled datasets. We then introduce EWOK-CORE-1.0, a dataset of 4,374 items covering 11 world knowledge domains. We evaluate 20 openweights large language models (1.3B--70B parameters) across a battery of evaluation paradigms along with a human norming study comprising 12,480 measurements. The overall performance of all tested models is worse than human performance, with results varying drastically across domains. These data highlight simple cases where even large models fail and present rich avenues for targeted research on LLM world modeling capabilities.

Robust pedestrian trajectory forecasting is crucial to developing safe autonomous vehicles. Although previous works have studied adversarial robustness in the context of trajectory forecasting, some significant issues remain unaddressed. In this work, we try to tackle these crucial problems. Firstly, the previous definitions of robustness in trajectory prediction are ambiguous. We thus provide formal definitions for two kinds of robustness, namely label robustness and pure robustness. Secondly, as previous works fail to consider robustness about all points in a disturbance interval, we utilise a probably approximately correct (PAC) framework for robustness verification. Additionally, this framework can not only identify potential counterexamples, but also provides interpretable analyses of the original methods. Our approach is applied using a prototype tool named TrajPAC. With TrajPAC, we evaluate the robustness of four state-of-the-art trajectory prediction models -- Trajectron++, MemoNet, AgentFormer, and MID -- on trajectories from five scenes of the ETH/UCY dataset and scenes of the Stanford Drone Dataset. Using our framework, we also experimentally study various factors that could influence robustness performance.

Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions, which can then be used for planning. However, the objective of predicting future pixels is often at odds with the actual planning objective; strong pixel reconstruction does not always correlate with good planning decisions. This paper posits that instead of reconstructing future frames as pixels, world models only need to predict task-relevant semantic information about the future. For such prediction the paper poses world modeling as a visual question answering problem about semantic information in future frames. This perspective allows world modeling to be approached with the same tools underlying vision language models. Thus vision language models can be trained as "semantic" world models through a supervised finetuning process on image-action-text data, enabling planning for decision-making while inheriting many of the generalization and robustness properties from the pretrained vision-language models. The paper demonstrates how such a semantic world model can be used for policy improvement on open-ended robotics tasks, leading to significant generalization improvements over typical paradigms of reconstruction-based action-conditional world modeling. Website available at https://weirdlabuw.github.io/swm.

In recent years, several efforts have been aimed at improving the robustness of vision models to domains and environments unseen during training. An important practical problem pertains to models deployed in a new geography that is under-represented in the training dataset, posing a direct challenge to fair and inclusive computer vision. In this paper, we study the problem of geographic robustness and make three main contributions. First, we introduce a large-scale dataset GeoNet for geographic adaptation containing benchmarks across diverse tasks like scene recognition (GeoPlaces), image classification (GeoImNet) and universal adaptation (GeoUniDA). Second, we investigate the nature of distribution shifts typical to the problem of geographic adaptation and hypothesize that the major source of domain shifts arise from significant variations in scene context (context shift), object design (design shift) and label distribution (prior shift) across geographies. Third, we conduct an extensive evaluation of several state-of-the-art unsupervised domain adaptation algorithms and architectures on GeoNet, showing that they do not suffice for geographical adaptation, and that large-scale pre-training using large vision models also does not lead to geographic robustness. Our dataset is publicly available at https://tarun005.github.io/GeoNet.

Amid mounting concern about the reliability and credibility of machine learning research, we present a principled framework for making robust and generalizable claims: the multiverse analysis. Our framework builds upon the multiverse analysis (Steegen et al., 2016) introduced in response to psychology's own reproducibility crisis. To efficiently explore high-dimensional and often continuous ML search spaces, we model the multiverse with a Gaussian Process surrogate and apply Bayesian experimental design. Our framework is designed to facilitate drawing robust scientific conclusions about model performance, and thus our approach focuses on exploration rather than conventional optimization. In the first of two case studies, we investigate disputed claims about the relative merit of adaptive optimizers. Second, we synthesize conflicting research on the effect of learning rate on the large batch training generalization gap. For the machine learning community, the multiverse analysis is a simple and effective technique for identifying robust claims, for increasing transparency, and a step toward improved reproducibility.

We introduce Diffusion World Model (DWM), a conditional diffusion model capable of predicting multistep future states and rewards concurrently. As opposed to traditional one-step dynamics models, DWM offers long-horizon predictions in a single forward pass, eliminating the need for recursive quires. We integrate DWM into model-based value estimation, where the short-term return is simulated by future trajectories sampled from DWM. In the context of offline reinforcement learning, DWM can be viewed as a conservative value regularization through generative modeling. Alternatively, it can be seen as a data source that enables offline Q-learning with synthetic data. Our experiments on the D4RL dataset confirm the robustness of DWM to long-horizon simulation. In terms of absolute performance, DWM significantly surpasses one-step dynamics models with a 44% performance gain, and achieves state-of-the-art performance.

Designing control policies whose performance level is guaranteed to remain above a given threshold in a span of environments is a critical feature for the adoption of reinforcement learning (RL) in real-world applications. The search for such robust policies is a notoriously difficult problem, related to the so-called dynamic model of transition function uncertainty, where the environment dynamics are allowed to change at each time step. But in practical cases, one is rather interested in robustness to a span of static transition models throughout interaction episodes. The static model is known to be harder to solve than the dynamic one, and seminal algorithms, such as robust value iteration, as well as most recent works on deep robust RL, build upon the dynamic model. In this work, we propose to revisit the static model. We suggest an analysis of why solving the static model under some mild hypotheses is a reasonable endeavor, based on an equivalence with the dynamic model, and formalize the general intuition that robust MDPs can be solved by tackling a series of static problems. We introduce a generic meta-algorithm called IWOCS, which incrementally identifies worst-case transition models so as to guide the search for a robust policy. Discussion on IWOCS sheds light on new ways to decouple policy optimization and adversarial transition functions and opens new perspectives for analysis. We derive a deep RL version of IWOCS and demonstrate it is competitive with state-of-the-art algorithms on classical benchmarks.

World models empower model-based agents to interactively explore, reason, and plan within imagined environments for real-world decision-making. However, the high demand for interactivity poses challenges in harnessing recent advancements in video generative models for developing world models at scale. This work introduces Interactive VideoGPT (iVideoGPT), a scalable autoregressive transformer framework that integrates multimodal signals--visual observations, actions, and rewards--into a sequence of tokens, facilitating an interactive experience of agents via next-token prediction. iVideoGPT features a novel compressive tokenization technique that efficiently discretizes high-dimensional visual observations. Leveraging its scalable architecture, we are able to pre-train iVideoGPT on millions of human and robotic manipulation trajectories, establishing a versatile foundation that is adaptable to serve as interactive world models for a wide range of downstream tasks. These include action-conditioned video prediction, visual planning, and model-based reinforcement learning, where iVideoGPT achieves competitive performance compared with state-of-the-art methods. Our work advances the development of interactive general world models, bridging the gap between generative video models and practical model-based reinforcement learning applications.

Many NLP tasks require to automatically identify the most significant words in a text. In this work, we derive word significance from models trained to solve semantic task: Natural Language Inference and Paraphrase Identification. Using an attribution method aimed to explain the predictions of these models, we derive importance scores for each input token. We evaluate their relevance using a so-called cross-task evaluation: Analyzing the performance of one model on an input masked according to the other model's weight, we show that our method is robust with respect to the choice of the initial task. Additionally, we investigate the scores from the syntax point of view and observe interesting patterns, e.g. words closer to the root of a syntactic tree receive higher importance scores. Altogether, these observations suggest that our method can be used to identify important words in sentences without any explicit word importance labeling in training.

The capability of video super-resolution (VSR) to synthesize high-resolution (HR) video from ideal datasets has been demonstrated in many works. However, applying the VSR model to real-world video with unknown and complex degradation remains a challenging task. First, existing degradation metrics in most VSR methods are not able to effectively simulate real-world noise and blur. On the contrary, simple combinations of classical degradation are used for real-world noise modeling, which led to the VSR model often being violated by out-of-distribution noise. Second, many SR models focus on noise simulation and transfer. Nevertheless, the sampled noise is monotonous and limited. To address the aforementioned problems, we propose a Negatives augmentation strategy for generalized noise modeling in Video Super-Resolution (NegVSR) task. Specifically, we first propose sequential noise generation toward real-world data to extract practical noise sequences. Then, the degeneration domain is widely expanded by negative augmentation to build up various yet challenging real-world noise sets. We further propose the augmented negative guidance loss to learn robust features among augmented negatives effectively. Extensive experiments on real-world datasets (e.g., VideoLQ and FLIR) show that our method outperforms state-of-the-art methods with clear margins, especially in visual quality.

World models simulate future states of the world in response to different actions. They facilitate interactive content creation and provides a foundation for grounded, long-horizon reasoning. Current foundation models do not fully meet the capabilities of general world models: large language models (LLMs) are constrained by their reliance on language modality and their limited understanding of the physical world, while video models lack interactive action control over the world simulations. This paper makes a step towards building a general world model by introducing Pandora, a hybrid autoregressive-diffusion model that simulates world states by generating videos and allows real-time control with free-text actions. Pandora achieves domain generality, video consistency, and controllability through large-scale pretraining and instruction tuning. Crucially, Pandora bypasses the cost of training-from-scratch by integrating a pretrained LLM (7B) and a pretrained video model, requiring only additional lightweight finetuning. We illustrate extensive outputs by Pandora across diverse domains (indoor/outdoor, natural/urban, human/robot, 2D/3D, etc.). The results indicate great potential of building stronger general world models with larger-scale training.

This paper claims that machine learning (ML) largely overlooks an important facet of general intelligence: robustness to a qualitatively unknown future in an open world. Such robustness relates to Knightian uncertainty (KU) in economics, i.e. uncertainty that cannot be quantified, which is excluded from consideration in ML's key formalisms. This paper aims to identify this blind spot, argue its importance, and catalyze research into addressing it, which we believe is necessary to create truly robust open-world AI. To help illuminate the blind spot, we contrast one area of ML, reinforcement learning (RL), with the process of biological evolution. Despite staggering ongoing progress, RL still struggles in open-world situations, often failing under unforeseen situations. For example, the idea of zero-shot transferring a self-driving car policy trained only in the US to the UK currently seems exceedingly ambitious. In dramatic contrast, biological evolution routinely produces agents that thrive within an open world, sometimes even to situations that are remarkably out-of-distribution (e.g. invasive species; or humans, who do undertake such zero-shot international driving). Interestingly, evolution achieves such robustness without explicit theory, formalisms, or mathematical gradients. We explore the assumptions underlying RL's typical formalisms, showing how they limit RL's engagement with the unknown unknowns characteristic of an ever-changing complex world. Further, we identify mechanisms through which evolutionary processes foster robustness to novel and unpredictable challenges, and discuss potential pathways to algorithmically embody them. The conclusion is that the intriguing remaining fragility of ML may result from blind spots in its formalisms, and that significant gains may result from direct confrontation with the challenge of KU.

A major challenge in deploying world models is the trade-off between size and performance. Large world models can capture rich physical dynamics but require massive computing resources, making them impractical for edge devices. Small world models are easier to deploy but often struggle to learn accurate physics, leading to poor predictions. We propose the Physics-Informed BEV World Model (PIWM), a compact model designed to efficiently capture physical interactions in bird's-eye-view (BEV) representations. PIWM uses Soft Mask during training to improve dynamic object modeling and future prediction. We also introduce a simple yet effective technique, Warm Start, for inference to enhance prediction quality with a zero-shot model. Experiments show that at the same parameter scale (400M), PIWM surpasses the baseline by 60.6% in weighted overall score. Moreover, even when compared with the largest baseline model (400M), the smallest PIWM (130M Soft Mask) achieves a 7.4% higher weighted overall score with a 28% faster inference speed.

We present WorldMirror, an all-in-one, feed-forward model for versatile 3D geometric prediction tasks. Unlike existing methods constrained to image-only inputs or customized for a specific task, our framework flexibly integrates diverse geometric priors, including camera poses, intrinsics, and depth maps, while simultaneously generating multiple 3D representations: dense point clouds, multi-view depth maps, camera parameters, surface normals, and 3D Gaussians. This elegant and unified architecture leverages available prior information to resolve structural ambiguities and delivers geometrically consistent 3D outputs in a single forward pass. WorldMirror achieves state-of-the-art performance across diverse benchmarks from camera, point map, depth, and surface normal estimation to novel view synthesis, while maintaining the efficiency of feed-forward inference. Code and models will be publicly available soon.

The robustness of 3D perception systems under natural corruptions from environments and sensors is pivotal for safety-critical applications. Existing large-scale 3D perception datasets often contain data that are meticulously cleaned. Such configurations, however, cannot reflect the reliability of perception models during the deployment stage. In this work, we present Robo3D, the first comprehensive benchmark heading toward probing the robustness of 3D detectors and segmentors under out-of-distribution scenarios against natural corruptions that occur in real-world environments. Specifically, we consider eight corruption types stemming from adversarial weather conditions, external disturbances, and internal sensor failure. We uncover that, although promising results have been progressively achieved on standard benchmarks, state-of-the-art 3D perception models are at risk of being vulnerable to corruptions. We draw key observations on the use of data representations, augmentation schemes, and training strategies, that could severely affect the model's performance. To pursue better robustness, we propose a density-insensitive training framework along with a simple flexible voxelization strategy to enhance the model resiliency. We hope our benchmark and approach could inspire future research in designing more robust and reliable 3D perception models. Our robustness benchmark suite is publicly available.

Time series forecasting is an important and forefront task in many real-world applications. However, most of time series forecasting techniques assume that the training data is clean without anomalies. This assumption is unrealistic since the collected time series data can be contaminated in practice. The forecasting model will be inferior if it is directly trained by time series with anomalies. Thus it is essential to develop methods to automatically learn a robust forecasting model from the contaminated data. In this paper, we first statistically define three types of anomalies, then theoretically and experimentally analyze the loss robustness and sample robustness when these anomalies exist. Based on our analyses, we propose a simple and efficient algorithm to learn a robust forecasting model. Extensive experiments show that our method is highly robust and outperforms all existing approaches. The code is available at https://github.com/haochenglouis/RobustTSF.

We explore building generative neural network models of popular reinforcement learning environments. Our world model can be trained quickly in an unsupervised manner to learn a compressed spatial and temporal representation of the environment. By using features extracted from the world model as inputs to an agent, we can train a very compact and simple policy that can solve the required task. We can even train our agent entirely inside of its own hallucinated dream generated by its world model, and transfer this policy back into the actual environment. An interactive version of this paper is available at https://worldmodels.github.io/

Heterogeneity in sensors and actuators across environments poses a significant challenge to building large-scale pre-trained world models on top of this low-dimensional sensor information. In this work, we explore pre-training world models for heterogeneous environments by addressing key transfer barriers in both data diversity and model flexibility. We introduce UniTraj, a unified dataset comprising over one million trajectories from 80 environments, designed to scale data while preserving critical diversity. Additionally, we propose TrajWorld, a novel architecture capable of flexibly handling varying sensor and actuator information and capturing environment dynamics in-context. Pre-training TrajWorld on UniTraj demonstrates significant improvements in transition prediction and achieves a new state-of-the-art for off-policy evaluation. To the best of our knowledge, this work, for the first time, demonstrates the transfer benefits of world models across heterogeneous and complex control environments.

Diffusion models have become the go-to method for large-scale generative models in real-world applications. These applications often involve data distributions confined within bounded domains, typically requiring ad-hoc thresholding techniques for boundary enforcement. Reflected diffusion models (Lou23) aim to enhance generalizability by generating the data distribution through a backward process governed by reflected Brownian motion. However, reflected diffusion models may not easily adapt to diverse domains without the derivation of proper diffeomorphic mappings and do not guarantee optimal transport properties. To overcome these limitations, we introduce the Reflected Schrodinger Bridge algorithm: an entropy-regularized optimal transport approach tailored for generating data within diverse bounded domains. We derive elegant reflected forward-backward stochastic differential equations with Neumann and Robin boundary conditions, extend divergence-based likelihood training to bounded domains, and explore natural connections to entropic optimal transport for the study of approximate linear convergence - a valuable insight for practical training. Our algorithm yields robust generative modeling in diverse domains, and its scalability is demonstrated in real-world constrained generative modeling through standard image benchmarks.

Developing autonomous agents that can interact with changing environments is an open challenge in machine learning. Robustness is particularly important in these settings as agents are often fit offline on expert demonstrations but deployed online where they must generalize to the closed feedback loop within the environment. In this work, we explore the application of recurrent neural networks to tasks of this nature and understand how a parameterization of their recurrent connectivity influences robustness in closed-loop settings. Specifically, we represent the recurrent connectivity as a function of rank and sparsity and show both theoretically and empirically that modulating these two variables has desirable effects on network dynamics. The proposed low-rank, sparse connectivity induces an interpretable prior on the network that proves to be most amenable for a class of models known as closed-form continuous-time neural networks (CfCs). We find that CfCs with fewer parameters can outperform their full-rank, fully-connected counterparts in the online setting under distribution shift. This yields memory-efficient and robust agents while opening a new perspective on how we can modulate network dynamics through connectivity.

Internal world models (WMs) enable agents to understand the world's state and predict transitions, serving as the basis for advanced deliberative reasoning. Recent large Vision-Language Models (VLMs), such as OpenAI o3, GPT-4o and Gemini, exhibit potential as general-purpose WMs. While the latest studies have evaluated and shown limitations in specific capabilities such as visual understanding, a systematic evaluation of VLMs' fundamental WM abilities remains absent. Drawing on comparative psychology and cognitive science, we propose a two-stage framework that assesses Perception (visual, spatial, temporal, quantitative, and motion) and Prediction (mechanistic simulation, transitive inference, compositional inference) to provide an atomic evaluation of VLMs as WMs. Guided by this framework, we introduce WM-ABench, a large-scale benchmark comprising 23 fine-grained evaluation dimensions across 6 diverse simulated environments with controlled counterfactual simulations. Through 660 experiments on 15 latest commercial and open-source VLMs, we find that these models exhibit striking limitations in basic world modeling abilities. For instance, almost all models perform at near-random accuracy when distinguishing motion trajectories. Additionally, they lack disentangled understanding -- e.g., some models tend to believe blue objects move faster than green ones. More rich results and analyses reveal significant gaps between VLMs and human-level world modeling.

Trained on internet-scale video data, generative world models are increasingly recognized as powerful world simulators that can generate consistent and plausible dynamics over structure, motion, and physics. This raises a natural question: with the advent of strong video foundational models, might they supplant conventional vision encoder paradigms for general-purpose multimodal understanding? While recent studies have begun to explore the potential of world models on common vision tasks, these explorations typically lack a systematic investigation of generic, multimodal tasks. In this work, we strive to investigate the capabilities when world model priors are transferred into Vision-Language Models: we re-purpose a video diffusion model as a generative encoder to perform a single denoising step and treat the resulting latents as a set of visual embedding. We empirically investigate this class of models, which we refer to as World-Language Models (WorldLMs), and we find that generative encoders can capture latents useful for downstream understanding that show distinctions from conventional encoders. Naming our best-performing variant Dynamic Vision Aligner (DyVA), we further discover that this method significantly enhances spatial reasoning abilities and enables single-image models to perform multi-frame reasoning. Through the curation of a suite of visual reasoning tasks, we find DyVA to surpass both open-source and proprietary baselines, achieving state-of-the-art or comparable performance. We attribute these gains to WorldLM's inherited motion-consistency internalization from video pre-training. Finally, we systematically explore extensive model designs to highlight promising directions for future work. We hope our study can pave the way for a new family of VLMs that leverage priors from world models and are on a promising path towards generalist vision learners.

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models exhibit limited physical awareness, particularly in modeling 3D geometry and motion dynamics, resulting in unrealistic video generation for contact-rich robotic scenarios. In this paper, we present RoboScape, a unified physics-informed world model that jointly learns RGB video generation and physics knowledge within an integrated framework. We introduce two key physics-informed joint training tasks: temporal depth prediction that enhances 3D geometric consistency in video rendering, and keypoint dynamics learning that implicitly encodes physical properties (e.g., object shape and material characteristics) while improving complex motion modeling. Extensive experiments demonstrate that RoboScape generates videos with superior visual fidelity and physical plausibility across diverse robotic scenarios. We further validate its practical utility through downstream applications including robotic policy training with generated data and policy evaluation. Our work provides new insights for building efficient physics-informed world models to advance embodied intelligence research. The code is available at: https://github.com/tsinghua-fib-lab/RoboScape.

The ability to predict future outcomes given control actions is fundamental for physical reasoning. However, such predictive models, often called world models, have proven challenging to learn and are typically developed for task-specific solutions with online policy learning. We argue that the true potential of world models lies in their ability to reason and plan across diverse problems using only passive data. Concretely, we require world models to have the following three properties: 1) be trainable on offline, pre-collected trajectories, 2) support test-time behavior optimization, and 3) facilitate task-agnostic reasoning. To realize this, we present DINO World Model (DINO-WM), a new method to model visual dynamics without reconstructing the visual world. DINO-WM leverages spatial patch features pre-trained with DINOv2, enabling it to learn from offline behavioral trajectories by predicting future patch features. This design allows DINO-WM to achieve observational goals through action sequence optimization, facilitating task-agnostic behavior planning by treating desired goal patch features as prediction targets. We evaluate DINO-WM across various domains, including maze navigation, tabletop pushing, and particle manipulation. Our experiments demonstrate that DINO-WM can generate zero-shot behavioral solutions at test time without relying on expert demonstrations, reward modeling, or pre-learned inverse models. Notably, DINO-WM exhibits strong generalization capabilities compared to prior state-of-the-art work, adapting to diverse task families such as arbitrarily configured mazes, push manipulation with varied object shapes, and multi-particle scenarios.

Closed-source Large Language Models (LLMs) have become increasingly popular, with impressive performance across a wide range of natural language tasks. These models can be fine-tuned to further improve performance, but this often results in the models learning from dataset-specific heuristics that reduce their robustness on out-of-distribution (OOD) data. Existing methods to improve robustness either perform poorly, or are non-applicable to closed-source models because they assume access to model internals, or the ability to change the model's training procedure. In this work, we investigate strategies to improve the robustness of closed-source LLMs through data-centric methods that do not require access to model internals. We find that the optimal strategy depends on the complexity of the OOD data. For highly complex OOD datasets, upsampling more challenging training examples can improve robustness by up to 1.5%. For less complex OOD datasets, replacing a portion of the training set with LLM-generated examples can improve robustness by 3.7%. More broadly, we find that large-scale closed-source autoregressive LLMs are substantially more robust than commonly used encoder models, and are a more appropriate choice of baseline going forward.

Recent research has been increasingly focusing on developing 3D world models that simulate complex real-world scenarios. World models have found broad applications across various domains, including embodied AI, autonomous driving, entertainment, etc. A more realistic simulation with accurate physics will effectively narrow the sim-to-real gap and allow us to gather rich information about the real world conveniently. While traditional manual modeling has enabled the creation of virtual 3D scenes, modern approaches have leveraged advanced machine learning algorithms for 3D world generation, with most recent advances focusing on generative methods that can create virtual worlds based on user instructions. This work explores such a research direction by proposing LatticeWorld, a simple yet effective 3D world generation framework that streamlines the industrial production pipeline of 3D environments. LatticeWorld leverages lightweight LLMs (LLaMA-2-7B) alongside the industry-grade rendering engine (e.g., Unreal Engine 5) to generate a dynamic environment. Our proposed framework accepts textual descriptions and visual instructions as multimodal inputs and creates large-scale 3D interactive worlds with dynamic agents, featuring competitive multi-agent interaction, high-fidelity physics simulation, and real-time rendering. We conduct comprehensive experiments to evaluate LatticeWorld, showing that it achieves superior accuracy in scene layout generation and visual fidelity. Moreover, LatticeWorld achieves over a 90times increase in industrial production efficiency while maintaining high creative quality compared with traditional manual production methods. Our demo video is available at https://youtu.be/8VWZXpERR18

Due to the disparity between real-world degradations in user-generated content(UGC) images and synthetic degradations, traditional super-resolution methods struggle to generalize effectively, necessitating a more robust approach to model real-world distortions. In this paper, we propose a novel approach to UGC image super-resolution by integrating semantic guidance into a diffusion framework. Our method addresses the inconsistency between degradations in wild and synthetic datasets by separately simulating the degradation processes on the LSDIR dataset and combining them with the official paired training set. Furthermore, we enhance degradation removal and detail generation by incorporating a pretrained semantic extraction model (SAM2) and fine-tuning key hyperparameters for improved perceptual fidelity. Extensive experiments demonstrate the superiority of our approach against state-of-the-art methods. Additionally, the proposed model won second place in the CVPR NTIRE 2025 Short-form UGC Image Super-Resolution Challenge, further validating its effectiveness. The code is available at https://github.c10pom/Moonsofang/NTIRE-2025-SRlab.

Spoken Question Answering (SQA) is to find the answer from a spoken document given a question, which is crucial for personal assistants when replying to the queries from the users. Existing SQA methods all rely on Automatic Speech Recognition (ASR) transcripts. Not only does ASR need to be trained with massive annotated data that are time and cost-prohibitive to collect for low-resourced languages, but more importantly, very often the answers to the questions include name entities or out-of-vocabulary words that cannot be recognized correctly. Also, ASR aims to minimize recognition errors equally over all words, including many function words irrelevant to the SQA task. Therefore, SQA without ASR transcripts (textless) is always highly desired, although known to be very difficult. This work proposes Discrete Spoken Unit Adaptive Learning (DUAL), leveraging unlabeled data for pre-training and fine-tuned by the SQA downstream task. The time intervals of spoken answers can be directly predicted from spoken documents. We also release a new SQA benchmark corpus, NMSQA, for data with more realistic scenarios. We empirically showed that DUAL yields results comparable to those obtained by cascading ASR and text QA model and robust to real-world data. Our code and model will be open-sourced.

World models predict state transitions in response to actions and are increasingly developed across diverse modalities. However, standard training objectives such as maximum likelihood estimation (MLE) often misalign with task-specific goals of world models, i.e., transition prediction metrics like accuracy or perceptual quality. In this paper, we present RLVR-World, a unified framework that leverages reinforcement learning with verifiable rewards (RLVR) to directly optimize world models for such metrics. Despite formulating world modeling as autoregressive prediction of tokenized sequences, RLVR-World evaluates metrics of decoded predictions as verifiable rewards. We demonstrate substantial performance gains on both language- and video-based world models across domains, including text games, web navigation, and robot manipulation. Our work indicates that, beyond recent advances in reasoning language models, RLVR offers a promising post-training paradigm for enhancing the utility of generative models more broadly.

Creating immersive and playable 3D worlds from texts or images remains a fundamental challenge in computer vision and graphics. Existing world generation approaches typically fall into two categories: video-based methods that offer rich diversity but lack 3D consistency and rendering efficiency, and 3D-based methods that provide geometric consistency but struggle with limited training data and memory-inefficient representations. To address these limitations, we present HunyuanWorld 1.0, a novel framework that combines the best of both worlds for generating immersive, explorable, and interactive 3D scenes from text and image conditions. Our approach features three key advantages: 1) 360{\deg} immersive experiences via panoramic world proxies; 2) mesh export capabilities for seamless compatibility with existing computer graphics pipelines; 3) disentangled object representations for augmented interactivity. The core of our framework is a semantically layered 3D mesh representation that leverages panoramic images as 360{\deg} world proxies for semantic-aware world decomposition and reconstruction, enabling the generation of diverse 3D worlds. Extensive experiments demonstrate that our method achieves state-of-the-art performance in generating coherent, explorable, and interactive 3D worlds while enabling versatile applications in virtual reality, physical simulation, game development, and interactive content creation.

3D spatial reasoning is the ability to analyze and interpret the positions, orientations, and spatial relationships of objects within the 3D space. This allows models to develop a comprehensive understanding of the 3D scene, enabling their applicability to a broader range of areas, such as autonomous navigation, robotics, and AR/VR. While large multi-modal models (LMMs) have achieved remarkable progress in a wide range of image and video understanding tasks, their capabilities to perform 3D spatial reasoning on diverse natural images are less studied. In this work we present the first comprehensive 3D spatial reasoning benchmark, 3DSRBench, with 2,772 manually annotated visual question-answer pairs across 12 question types. We conduct robust and thorough evaluation of 3D spatial reasoning capabilities by balancing the data distribution and adopting a novel FlipEval strategy. To further study the robustness of 3D spatial reasoning w.r.t. camera 3D viewpoints, our 3DSRBench includes two subsets with 3D spatial reasoning questions on paired images with common and uncommon viewpoints. We benchmark a wide range of open-sourced and proprietary LMMs, uncovering their limitations in various aspects of 3D awareness, such as height, orientation, location, and multi-object reasoning, as well as their degraded performance on images with uncommon camera viewpoints. Our 3DSRBench provide valuable findings and insights about the future development of LMMs with strong 3D reasoning capabilities. Our project page and dataset is available https://3dsrbench.github.io.

Reinforcement learning (RL) techniques have achieved impressive performance on simulated benchmarks such as Atari100k, yet recent advances remain largely confined to simulation and show limited transfer to real-world domains. A central obstacle is environmental stochasticity, as real systems involve noisy observations, unpredictable dynamics, and non-stationary conditions that undermine the stability of current methods. Existing benchmarks rarely capture these uncertainties and favor simplified settings where algorithms can be tuned to succeed. The absence of a well-defined taxonomy of stochasticity further complicates evaluation, as robustness to one type of stochastic perturbation, such as sticky actions, does not guarantee robustness to other forms of uncertainty. To address this critical gap, we introduce STORI (STOchastic-ataRI), a benchmark that systematically incorporates diverse stochastic effects and enables rigorous evaluation of RL techniques under different forms of uncertainty. We propose a comprehensive five-type taxonomy of environmental stochasticity and demonstrate systematic vulnerabilities in state-of-the-art model-based RL algorithms through targeted evaluation of DreamerV3 and STORM. Our findings reveal that world models dramatically underestimate environmental variance, struggle with action corruption, and exhibit unreliable dynamics under partial observability. We release the code and benchmark publicly at https://github.com/ARY2260/stori, providing a unified framework for developing more robust RL systems.

As an attempt towards assessing the robustness of embodied navigation agents, we propose RobustNav, a framework to quantify the performance of embodied navigation agents when exposed to a wide variety of visual - affecting RGB inputs - and dynamics - affecting transition dynamics - corruptions. Most recent efforts in visual navigation have typically focused on generalizing to novel target environments with similar appearance and dynamics characteristics. With RobustNav, we find that some standard embodied navigation agents significantly underperform (or fail) in the presence of visual or dynamics corruptions. We systematically analyze the kind of idiosyncrasies that emerge in the behavior of such agents when operating under corruptions. Finally, for visual corruptions in RobustNav, we show that while standard techniques to improve robustness such as data-augmentation and self-supervised adaptation offer some zero-shot resistance and improvements in navigation performance, there is still a long way to go in terms of recovering lost performance relative to clean "non-corrupt" settings, warranting more research in this direction. Our code is available at https://github.com/allenai/robustnav

World modeling is a crucial task for enabling intelligent agents to effectively interact with humans and operate in dynamic environments. In this work, we propose MineWorld, a real-time interactive world model on Minecraft, an open-ended sandbox game which has been utilized as a common testbed for world modeling. MineWorld is driven by a visual-action autoregressive Transformer, which takes paired game scenes and corresponding actions as input, and generates consequent new scenes following the actions. Specifically, by transforming visual game scenes and actions into discrete token ids with an image tokenizer and an action tokenizer correspondingly, we consist the model input with the concatenation of the two kinds of ids interleaved. The model is then trained with next token prediction to learn rich representations of game states as well as the conditions between states and actions simultaneously. In inference, we develop a novel parallel decoding algorithm that predicts the spatial redundant tokens in each frame at the same time, letting models in different scales generate 4 to 7 frames per second and enabling real-time interactions with game players. In evaluation, we propose new metrics to assess not only visual quality but also the action following capacity when generating new scenes, which is crucial for a world model. Our comprehensive evaluation shows the efficacy of MineWorld, outperforming SoTA open-sourced diffusion based world models significantly. The code and model have been released.

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has been limited by fragmented evaluation: most existing benchmarks adopt open-loop protocols that emphasize visual quality in isolation, leaving the core issue of embodied utility unresolved, i.e., do WMs actually help agents succeed at embodied tasks? To address this gap, we introduce World-in-World, the first open platform that benchmarks WMs in a closed-loop world that mirrors real agent-environment interactions. World-in-World provides a unified online planning strategy and a standardized action API, enabling heterogeneous WMs for decision making. We curate four closed-loop environments that rigorously evaluate diverse WMs, prioritize task success as the primary metric, and move beyond the common focus on visual quality; we also present the first data scaling law for world models in embodied settings. Our study uncovers three surprises: (1) visual quality alone does not guarantee task success, controllability matters more; (2) scaling post-training with action-observation data is more effective than upgrading the pretrained video generators; and (3) allocating more inference-time compute allows WMs to substantially improve closed-loop performance.

Point-based representations have recently gained popularity in novel view synthesis, for their unique advantages, e.g., intuitive geometric representation, simple manipulation, and faster convergence. However, based on our observation, these point-based neural re-rendering methods are only expected to perform well under ideal conditions and suffer from noisy, patchy points and unbounded scenes, which are challenging to handle but defacto common in real applications. To this end, we revisit one such influential method, known as Neural Point-based Graphics (NPBG), as our baseline, and propose Robust Point-based Graphics (RPBG). We in-depth analyze the factors that prevent NPBG from achieving satisfactory renderings on generic datasets, and accordingly reform the pipeline to make it more robust to varying datasets in-the-wild. Inspired by the practices in image restoration, we greatly enhance the neural renderer to enable the attention-based correction of point visibility and the inpainting of incomplete rasterization, with only acceptable overheads. We also seek for a simple and lightweight alternative for environment modeling and an iterative method to alleviate the problem of poor geometry. By thorough evaluation on a wide range of datasets with different shooting conditions and camera trajectories, RPBG stably outperforms the baseline by a large margin, and exhibits its great robustness over state-of-the-art NeRF-based variants. Code available at https://github.com/QT-Zhu/RPBG.

Robust planning in interactive scenarios requires predicting the uncertain future to make risk-aware decisions. Unfortunately, due to long-tail safety-critical events, the risk is often under-estimated by finite-sampling approximations of probabilistic motion forecasts. This can lead to overconfident and unsafe robot behavior, even with robust planners. Instead of assuming full prediction coverage that robust planners require, we propose to make prediction itself risk-aware. We introduce a new prediction objective to learn a risk-biased distribution over trajectories, so that risk evaluation simplifies to an expected cost estimation under this biased distribution. This reduces the sample complexity of the risk estimation during online planning, which is needed for safe real-time performance. Evaluation results in a didactic simulation environment and on a real-world dataset demonstrate the effectiveness of our approach. The code and a demo are available.

Are world models a necessary ingredient for flexible, goal-directed behaviour, or is model-free learning sufficient? We provide a formal answer to this question, showing that any agent capable of generalizing to multi-step goal-directed tasks must have learned a predictive model of its environment. We show that this model can be extracted from the agent's policy, and that increasing the agents performance or the complexity of the goals it can achieve requires learning increasingly accurate world models. This has a number of consequences: from developing safe and general agents, to bounding agent capabilities in complex environments, and providing new algorithms for eliciting world models from agents.

We introduce a set of image transformations that can be used as corruptions to evaluate the robustness of models as well as data augmentation mechanisms for training neural networks. The primary distinction of the proposed transformations is that, unlike existing approaches such as Common Corruptions, the geometry of the scene is incorporated in the transformations -- thus leading to corruptions that are more likely to occur in the real world. We also introduce a set of semantic corruptions (e.g. natural object occlusions). We show these transformations are `efficient' (can be computed on-the-fly), `extendable' (can be applied on most image datasets), expose vulnerability of existing models, and can effectively make models more robust when employed as `3D data augmentation' mechanisms. The evaluations on several tasks and datasets suggest incorporating 3D information into benchmarking and training opens up a promising direction for robustness research.

Polygon meshes are an efficient representation of 3D geometry, and are of central importance in computer graphics, robotics and games development. Existing learning-based approaches have avoided the challenges of working with 3D meshes, instead using alternative object representations that are more compatible with neural architectures and training approaches. We present an approach which models the mesh directly, predicting mesh vertices and faces sequentially using a Transformer-based architecture. Our model can condition on a range of inputs, including object classes, voxels, and images, and because the model is probabilistic it can produce samples that capture uncertainty in ambiguous scenarios. We show that the model is capable of producing high-quality, usable meshes, and establish log-likelihood benchmarks for the mesh-modelling task. We also evaluate the conditional models on surface reconstruction metrics against alternative methods, and demonstrate competitive performance despite not training directly on this task.

World models, which predict transitions based on history observation and action sequences, have shown great promise in improving data efficiency for sequential decision making. However, existing world models often require extensive domain-specific training and still produce low-fidelity, coarse predictions, limiting their applicability in complex environments. In contrast, video diffusion models trained on large, internet-scale datasets have demonstrated impressive capabilities in generating high-quality videos that capture diverse real-world dynamics. In this work, we present Vid2World, a general approach for leveraging and transferring pre-trained video diffusion models into interactive world models. To bridge the gap, Vid2World performs casualization of a pre-trained video diffusion model by crafting its architecture and training objective to enable autoregressive generation. Furthermore, it introduces a causal action guidance mechanism to enhance action controllability in the resulting interactive world model. Extensive experiments in robot manipulation and game simulation domains show that our method offers a scalable and effective approach for repurposing highly capable video diffusion models to interactive world models.

World models learn general knowledge from videos and simulate experience for training behaviors in imagination, offering a path towards intelligent agents. However, previous world models have been unable to accurately predict object interactions in complex environments. We introduce Dreamer 4, a scalable agent that learns to solve control tasks by reinforcement learning inside of a fast and accurate world model. In the complex video game Minecraft, the world model accurately predicts object interactions and game mechanics, outperforming previous world models by a large margin. The world model achieves real-time interactive inference on a single GPU through a shortcut forcing objective and an efficient transformer architecture. Moreover, the world model learns general action conditioning from only a small amount of data, allowing it to extract the majority of its knowledge from diverse unlabeled videos. We propose the challenge of obtaining diamonds in Minecraft from only offline data, aligning with practical applications such as robotics where learning from environment interaction can be unsafe and slow. This task requires choosing sequences of over 20,000 mouse and keyboard actions from raw pixels. By learning behaviors in imagination, Dreamer 4 is the first agent to obtain diamonds in Minecraft purely from offline data, without environment interaction. Our work provides a scalable recipe for imagination training, marking a step towards intelligent agents.

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of interaction to learn skills. Recently, offline RL has been proposed as a framework for training RL policies on pre-existing datasets without any online interaction. However, constraining an algorithm to a fixed dataset induces a state-action distribution shift between training and inference, and limits its applicability to new tasks. In this work, we seek to get the best of both worlds: we consider the problem of pretraining a world model with offline data collected on a real robot, and then finetuning the model on online data collected by planning with the learned model. To mitigate extrapolation errors during online interaction, we propose to regularize the planner at test-time by balancing estimated returns and (epistemic) model uncertainty. We evaluate our method on a variety of visuo-motor control tasks in simulation and on a real robot, and find that our method enables few-shot finetuning to seen and unseen tasks even when offline data is limited. Videos, code, and data are available at https://yunhaifeng.com/FOWM .

Model uncertainty and limited data are fundamental challenges to robust management of human intervention in a natural system. These challenges are acutely highlighted by concerns that many ecological systems may contain tipping points, such as Allee population sizes. Before a collapse, we do not know where the tipping points lie, if they exist at all. Hence, we know neither a complete model of the system dynamics nor do we have access to data in some large region of state-space where such a tipping point might exist. We illustrate how a Bayesian Non-Parametric (BNP) approach using a Gaussian Process (GP) prior provides a flexible representation of this inherent uncertainty. We embed GPs in a Stochastic Dynamic Programming (SDP) framework in order to make robust management predictions with both model uncertainty and limited data. We use simulations to evaluate this approach as compared with the standard approach of using model selection to choose from a set of candidate models. We find that model selection erroneously favors models without tipping points -- leading to harvest policies that guarantee extinction. The GPDP performs nearly as well as the true model and significantly outperforms standard approaches. We illustrate this using examples of simulated single-species dynamics, where the standard model selection approach should be most effective, and find that it still fails to account for uncertainty appropriately and leads to population crashes, while management based on the GPDP does not, since it does not underestimate the uncertainty outside of the observed data.

Robust reinforcement learning (RL) seeks to train policies that can perform well under environment perturbations or adversarial attacks. Existing approaches typically assume that the space of possible perturbations remains the same across timesteps. However, in many settings, the space of possible perturbations at a given timestep depends on past perturbations. We formally introduce temporally-coupled perturbations, presenting a novel challenge for existing robust RL methods. To tackle this challenge, we propose GRAD, a novel game-theoretic approach that treats the temporally-coupled robust RL problem as a partially-observable two-player zero-sum game. By finding an approximate equilibrium in this game, GRAD ensures the agent's robustness against temporally-coupled perturbations. Empirical experiments on a variety of continuous control tasks demonstrate that our proposed approach exhibits significant robustness advantages compared to baselines against both standard and temporally-coupled attacks, in both state and action spaces.

The field of 4D world modeling - aiming to jointly capture spatial geometry and temporal dynamics - has witnessed remarkable progress in recent years, driven by advances in large-scale generative models and multimodal learning. However, the development of truly general 4D world models remains fundamentally constrained by the availability of high-quality data. Existing datasets and benchmarks often lack the dynamic complexity, multi-domain diversity, and spatial-temporal annotations required to support key tasks such as 4D geometric reconstruction, future prediction, and camera-control video generation. To address this gap, we introduce OmniWorld, a large-scale, multi-domain, multi-modal dataset specifically designed for 4D world modeling. OmniWorld consists of a newly collected OmniWorld-Game dataset and several curated public datasets spanning diverse domains. Compared with existing synthetic datasets, OmniWorld-Game provides richer modality coverage, larger scale, and more realistic dynamic interactions. Based on this dataset, we establish a challenging benchmark that exposes the limitations of current state-of-the-art (SOTA) approaches in modeling complex 4D environments. Moreover, fine-tuning existing SOTA methods on OmniWorld leads to significant performance gains across 4D reconstruction and video generation tasks, strongly validating OmniWorld as a powerful resource for training and evaluation. We envision OmniWorld as a catalyst for accelerating the development of general-purpose 4D world models, ultimately advancing machines' holistic understanding of the physical world.

Deep neural networks coupled with fast simulation and improved computation have led to recent successes in the field of reinforcement learning (RL). However, most current RL-based approaches fail to generalize since: (a) the gap between simulation and real world is so large that policy-learning approaches fail to transfer; (b) even if policy learning is done in real world, the data scarcity leads to failed generalization from training to test scenarios (e.g., due to different friction or object masses). Inspired from H-infinity control methods, we note that both modeling errors and differences in training and test scenarios can be viewed as extra forces/disturbances in the system. This paper proposes the idea of robust adversarial reinforcement learning (RARL), where we train an agent to operate in the presence of a destabilizing adversary that applies disturbance forces to the system. The jointly trained adversary is reinforced -- that is, it learns an optimal destabilization policy. We formulate the policy learning as a zero-sum, minimax objective function. Extensive experiments in multiple environments (InvertedPendulum, HalfCheetah, Swimmer, Hopper and Walker2d) conclusively demonstrate that our method (a) improves training stability; (b) is robust to differences in training/test conditions; and c) outperform the baseline even in the absence of the adversary.

One of the predominant methods for training world models is autoregressive prediction in the output space of the next element of a sequence. In Natural Language Processing (NLP), this takes the form of Large Language Models (LLMs) predicting the next token; in Computer Vision (CV), this takes the form of autoregressive models predicting the next frame/token/pixel. However, this approach differs from human cognition in several respects. First, human predictions about the future actively influence internal cognitive processes. Second, humans naturally evaluate the plausibility of predictions regarding future states. Based on this capability, and third, by assessing when predictions are sufficient, humans allocate a dynamic amount of time to make a prediction. This adaptive process is analogous to System 2 thinking in psychology. All these capabilities are fundamental to the success of humans at high-level reasoning and planning. Therefore, to address the limitations of traditional autoregressive models lacking these human-like capabilities, we introduce Energy-Based World Models (EBWM). EBWM involves training an Energy-Based Model (EBM) to predict the compatibility of a given context and a predicted future state. In doing so, EBWM enables models to achieve all three facets of human cognition described. Moreover, we developed a variant of the traditional autoregressive transformer tailored for Energy-Based models, termed the Energy-Based Transformer (EBT). Our results demonstrate that EBWM scales better with data and GPU Hours than traditional autoregressive transformers in CV, and that EBWM offers promising early scaling in NLP. Consequently, this approach offers an exciting path toward training future models capable of System 2 thinking and intelligently searching across state spaces.

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number of real-world rollouts, while systematic improvement demands additional corrective data with expert labels. Both of these processes are slow, costly, and difficult to scale. World models offer a promising, scalable alternative by enabling policies to rollout within imagination space. However, a key challenge is building a controllable world model that can handle multi-step interactions with generalist robot policies. This requires a world model compatible with modern generalist policies by supporting multi-view prediction, fine-grained action control, and consistent long-horizon interactions, which is not achieved by previous works. In this paper, we make a step forward by introducing a controllable multi-view world model that can be used to evaluate and improve the instruction-following ability of generalist robot policies. Our model maintains long-horizon consistency with a pose-conditioned memory retrieval mechanism and achieves precise action control through frame-level action conditioning. Trained on the DROID dataset (95k trajectories, 564 scenes), our model generates spatially and temporally consistent trajectories under novel scenarios and new camera placements for over 20 seconds. We show that our method can accurately rank policy performance without real-world robot rollouts. Moreover, by synthesizing successful trajectories in imagination and using them for supervised fine-tuning, our approach can improve policy success by 44.7\%.

Tokenization is a fundamental step in natural language processing, breaking text into units that computational models can process. While learned subword tokenizers have become the de-facto standard, they present challenges such as large vocabularies, limited adaptability to new domains or languages, and sensitivity to spelling errors and variations. To overcome these limitations, we investigate a hierarchical architecture for autoregressive language modelling that combines character-level and word-level processing. It employs a lightweight character-level encoder to convert character sequences into word embeddings, which are then processed by a word-level backbone model and decoded back into characters via a compact character-level decoder. This method retains the sequence compression benefits of word-level tokenization without relying on a rigid, predefined vocabulary. We demonstrate, at scales up to 7 billion parameters, that hierarchical transformers match the downstream task performance of subword-tokenizer-based models while exhibiting significantly greater robustness to input perturbations. Additionally, during continued pretraining on an out-of-domain language, our model trains almost twice as fast, achieves superior performance on the target language, and retains more of its previously learned knowledge. Hierarchical transformers pave the way for NLP systems that are more robust, flexible, and generalizable across languages and domains.

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous driving has been somewhat less rapid than scaling language models with Generative Pre-trained Transformers (GPT). We identify two reasons as major bottlenecks: dealing with complex and unstructured observation space, and having a scalable generative model. Consequently, we propose a novel world modeling approach that first tokenizes sensor observations with VQVAE, then predicts the future via discrete diffusion. To efficiently decode and denoise tokens in parallel, we recast Masked Generative Image Transformer into the discrete diffusion framework with a few simple changes, resulting in notable improvement. When applied to learning world models on point cloud observations, our model reduces prior SOTA Chamfer distance by more than 65% for 1s prediction, and more than 50% for 3s prediction, across NuScenes, KITTI Odometry, and Argoverse2 datasets. Our results demonstrate that discrete diffusion on tokenized agent experience can unlock the power of GPT-like unsupervised learning for robotic agents.

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and image modeling, we investigate the potential of autoregressive models for a new modality: structured 3D scenes. To this end, we propose a unified LLM framework that aligns language, images, and 3D scenes and provide a detailed ''cookbook'' outlining critical design choices for achieving optimal training and performance addressing key questions related to data representation, modality-specific objectives, and more. We evaluate performance across four core 3D tasks -- rendering, recognition, instruction-following, and question-answering -- and four 3D datasets, synthetic and real-world. We extend our approach to reconstruct complex 3D object shapes by enriching our 3D modality with quantized shape encodings, and show our model's effectiveness on real-world 3D object recognition tasks. Project webpage: https://glab-caltech.github.io/kyvo/

World models have emerged as promising neural simulators for autonomous driving, with the potential to supplement scarce real-world data and enable closed-loop evaluations. However, current research primarily evaluates these models based on visual realism or downstream task performance, with limited focus on fidelity to specific action instructions - a crucial property for generating targeted simulation scenes. Although some studies address action fidelity, their evaluations rely on closed-source mechanisms, limiting reproducibility. To address this gap, we develop an open-access evaluation framework, ACT-Bench, for quantifying action fidelity, along with a baseline world model, Terra. Our benchmarking framework includes a large-scale dataset pairing short context videos from nuScenes with corresponding future trajectory data, which provides conditional input for generating future video frames and enables evaluation of action fidelity for executed motions. Furthermore, Terra is trained on multiple large-scale trajectory-annotated datasets to enhance action fidelity. Leveraging this framework, we demonstrate that the state-of-the-art model does not fully adhere to given instructions, while Terra achieves improved action fidelity. All components of our benchmark framework will be made publicly available to support future research.

Recent advances in data-driven geometric multi-view 3D reconstruction foundation models (e.g., DUSt3R) have shown remarkable performance across various 3D vision tasks, facilitated by the release of large-scale, high-quality 3D datasets. However, as we observed, constrained by their matching-based principles, the reconstruction quality of existing models suffers significant degradation in challenging regions with limited matching cues, particularly in weakly textured areas and low-light conditions. To mitigate these limitations, we propose to harness the inherent robustness of monocular geometry estimation to compensate for the inherent shortcomings of matching-based methods. Specifically, we introduce a monocular-guided refinement module that integrates monocular geometric priors into multi-view reconstruction frameworks. This integration substantially enhances the robustness of multi-view reconstruction systems, leading to high-quality feed-forward reconstructions. Comprehensive experiments across multiple benchmarks demonstrate that our method achieves substantial improvements in both mutli-view camera pose estimation and point cloud accuracy.

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better represent autonomous vehicle sensor setups. In addition, raw sensor predictions are less actionable than 3D occupancy predictions, but there are no works examining the effects of combining both multimodal sensor data and 3D occupancy prediction. In this work, we perform a set of experiments with a MUltimodal World Model with Geometric VOxel representations (MUVO) to evaluate different sensor fusion strategies to better understand the effects on sensor data prediction. We also analyze potential weaknesses of current sensor fusion approaches and examine the benefits of additionally predicting 3D occupancy.

3D perception, especially point cloud classification, has achieved substantial progress. However, in real-world deployment, point cloud corruptions are inevitable due to the scene complexity, sensor inaccuracy, and processing imprecision. In this work, we aim to rigorously benchmark and analyze point cloud classification under corruptions. To conduct a systematic investigation, we first provide a taxonomy of common 3D corruptions and identify the atomic corruptions. Then, we perform a comprehensive evaluation on a wide range of representative point cloud models to understand their robustness and generalizability. Our benchmark results show that although point cloud classification performance improves over time, the state-of-the-art methods are on the verge of being less robust. Based on the obtained observations, we propose several effective techniques to enhance point cloud classifier robustness. We hope our comprehensive benchmark, in-depth analysis, and proposed techniques could spark future research in robust 3D perception.