Daily Papers

Model merging is an efficient post-training strategy for integrating knowledge from multiple finetuned checkpoints of a shared foundation model. Existing methods operate in the parameter space, combining task vectors to mitigate conflicts, but remain constrained by parameter inconsistencies. We propose Functional Dual Anchors (FDAs), a framework that instead models the input-representation space. FDAs are synthetic inputs whose induced gradients align with task vectors, capturing task-specific functional shifts relative to the pretrained model. This perspective bridges joint multi-task training and post-hoc merging, offering both robustness and flexibility. We further introduce a principled initialization scheme and show that FDAs are complementary to parameter-space model merging. Comprehensive experiments demonstrate the effectiveness of FDAs in model merging.

Self-supervised learning on large-scale multi-modal datasets allows learning semantically meaningful embeddings in a joint multi-modal representation space without relying on human annotations. These joint embeddings enable zero-shot cross-modal tasks like retrieval and classification. However, these methods often struggle to generalize well on out-of-domain data as they ignore the semantic structure present in modality-specific embeddings. In this context, we propose a novel Semantic-Structure-Preserving Consistency approach to improve generalizability by preserving the modality-specific relationships in the joint embedding space. To capture modality-specific semantic relationships between samples, we propose to learn multiple anchors and represent the multifaceted relationship between samples with respect to their relationship with these anchors. To assign multiple anchors to each sample, we propose a novel Multi-Assignment Sinkhorn-Knopp algorithm. Our experimentation demonstrates that our proposed approach learns semantically meaningful anchors in a self-supervised manner. Furthermore, our evaluation on MSR-VTT and YouCook2 datasets demonstrates that our proposed multi-anchor assignment based solution achieves state-of-the-art performance and generalizes to both inand out-of-domain datasets. Code: https://github.com/Swetha5/Multi_Sinkhorn_Knopp

Automatic Differentiation (AD) has become a dominant technique in ML. AD frameworks have first been implemented for imperative languages using tapes. Meanwhile, functional implementations of AD have been developed, often based on dual numbers, which are close to the formal specification of differentiation and hence easier to prove correct. But these papers have focussed on correctness not efficiency. Recently, it was shown how an approach using dual numbers could be made efficient through the right optimizations. Optimizations are highly dependent on order, as one optimization can enable another. It can therefore be useful to have fine-grained control over the scheduling of optimizations. One method expresses compiler optimizations as rewrite rules, whose application can be combined and controlled using strategy languages. Previous work describes the use of term rewriting and strategies to generate high-performance code in a compiler for a functional language. In this work, we implement dual numbers AD in a functional array programming language using rewrite rules and strategy combinators for optimization. We aim to combine the elegance of differentiation using dual numbers with a succinct expression of the optimization schedule using a strategy language. We give preliminary evidence suggesting the viability of the approach on a micro-benchmark.

Active learning for imbalanced classification tasks is challenging as the minority classes naturally occur rarely. Gathering a large pool of unlabelled data is thus essential to capture minority instances. Standard pool-based active learning is computationally expensive on large pools and often reaches low accuracy by overfitting the initial decision boundary, thus failing to explore the input space and find minority instances. To address these issues we propose AnchorAL. At each iteration, AnchorAL chooses class-specific instances from the labelled set, or anchors, and retrieves the most similar unlabelled instances from the pool. This resulting subpool is then used for active learning. Using a small, fixed-sized subpool AnchorAL allows scaling any active learning strategy to large pools. By dynamically selecting different anchors at each iteration it promotes class balance and prevents overfitting the initial decision boundary, thus promoting the discovery of new clusters of minority instances. Experiments across different classification tasks, active learning strategies, and model architectures AnchorAL is (i) faster, often reducing runtime from hours to minutes, (ii) trains more performant models, (iii) and returns more balanced datasets than competing methods.

Semantic IDs are discrete identifiers generated by quantizing the Multi-modal Large Language Models (MLLMs) embeddings, enabling efficient multi-modal content integration in recommendation systems. However, their lack of collaborative signals results in a misalignment with downstream discriminative and generative recommendation objectives. Recent studies have introduced various alignment mechanisms to address this problem, but their two-stage framework design still leads to two main limitations: (1) inevitable information loss during alignment, and (2) inflexibility in applying adaptive alignment strategies, consequently constraining the mutual information maximization during the alignment process. To address these limitations, we propose a novel and flexible one-stage Dual-Aligned Semantic IDs (DAS) method that simultaneously optimizes quantization and alignment, preserving semantic integrity and alignment quality while avoiding the information loss typically associated with two-stage methods. Meanwhile, DAS achieves more efficient alignment between the semantic IDs and collaborative signals, with the following two innovative and effective approaches: (1) Multi-view Constrative Alignment: To maximize mutual information between semantic IDs and collaborative signals, we first incorporate an ID-based CF debias module, and then design three effective contrastive alignment methods: dual user-to-item (u2i), dual item-to-item/user-to-user (i2i/u2u), and dual co-occurrence item-to-item/user-to-user (i2i/u2u). (2) Dual Learning: By aligning the dual quantizations of users and ads, the constructed semantic IDs for users and ads achieve stronger alignment. Finally, we conduct extensive offline experiments and online A/B tests to evaluate DAS's effectiveness, which is now successfully deployed across various advertising scenarios at Kuaishou App, serving over 400 million users daily.

"Search for" or "Navigate to"? When finding an object, the two choices always come up in our subconscious mind. Before seeing the target, we search for the target based on experience. After seeing the target, we remember the target location and navigate to. However, recently methods in object navigation field almost only consider using object association to enhance "search for" phase while neglect the importance of "navigate to" phase. Therefore, this paper proposes the dual adaptive thinking (DAT) method to flexibly adjust the different thinking strategies at different navigation stages. Dual thinking includes search thinking with the object association ability and navigation thinking with the target location ability. To make the navigation thinking more effective, we design the target-oriented memory graph (TOMG) to store historical target information and the target-aware multi-scale aggregator (TAMSA) to encode the relative target position. We assess our methods on the AI2-Thor dataset. Compared with the state-of-the-art (SOTA) method, our method reports 10.8%, 21.5% and 15.7% increase in success rate (SR), success weighted by path length (SPL) and success weighted by navigation efficiency (SNE), respectively.

Multimodal large language models (MLLMs) have achieved remarkable success across diverse vision-language tasks, yet they remain highly susceptible to hallucinations, producing content that is fluent but inconsistent with visual evidence. Such hallucinations, spanning objects, attributes, and relations, persist even in larger models, while existing mitigation approaches often require additional finetuning, handcrafted priors, or trade-offs that compromise informativeness and scalability. To address this limitation, we propose a training-free, self-supervised method for hallucination mitigation. Our approach introduces a novel hallucination amplification mechanism: a caption is projected into the visual space via a text-to-image model to reveal implicit hallucination signals, serving as a negative anchor, while the original image provides a positive anchor. Leveraging these dual anchors, we edit decoder hidden states by pulling representations toward faithful semantics and pushing them away from hallucination directions. This correction requires no human priors or additional training costs, ensuring both effectiveness and efficiency. Extensive experiments across multiple benchmarks show that our method significantly reduces hallucinations at the object, attribute, and relation levels while largely preserving recall and caption richness, e.g., achieving a hallucination reduction by over 5% using LLaVA-v1.5-7B on CHAIR. Furthermore, results on diverse architectures, including LLaVA-NEXT-7B, Cambrian-8B, and InstructBLIP-7B, validate strong cross-architecture generalization. More importantly, when applied to hallucination-free captions, our method introduces almost no side effects, underscoring its robustness and practical plug-and-play applicability. The implementation will be publicly available.

Lung nodules can be an alarming precursor to potential lung cancer. Missed nodule detections during chest radiograph analysis remains a common challenge among thoracic radiologists. In this work, we present a multi-task lung nodule detection algorithm for chest radiograph analysis. Unlike past approaches, our algorithm predicts a global-level label indicating nodule presence along with local-level labels predicting nodule locations using a Dual Head Network (DHN). We demonstrate the favorable nodule detection performance that our multi-task formulation yields in comparison to conventional methods. In addition, we introduce a novel Dual Head Augmentation (DHA) strategy tailored for DHN, and we demonstrate its significance in further enhancing global and local nodule predictions.

This work puts forth a new optimal design formulation for planar elastic membranes. The goal is to minimize the membrane's compliance through choosing the material distribution described by a positive Radon measure. The deformation of the membrane itself is governed by the convexified F\"{o}ppl's model. The uniqueness of this model lies in the convexity of its variational formulation despite the inherent nonlinearity of the strain-displacement relation. It makes it possible to rewrite the optimization problem as a pair of mutually dual convex variational problems. In the primal problem a linear functional is maximized with respect to displacement functions while enforcing that point-wisely the strain lies in an unbounded closed convex set. The dual problem consists in finding equilibrated stresses that are to minimize a convex integral functional of linear growth defined on the space of Radon measures. The pair of problems is analysed: existence and regularity results are provided, together with the system of optimality criteria. To demonstrate the computational potential of the pair, a finite element scheme is developed around it. Upon reformulation to a conic-quadratic & semi-definite programming problem, the method is employed to produce numerical simulations for several load case scenarios.

Diffusion models have achieved remarkable success in image generation and editing tasks. Inversion within these models aims to recover the latent noise representation for a real or generated image, enabling reconstruction, editing, and other downstream tasks. However, to date, most inversion approaches suffer from an intrinsic trade-off between reconstruction accuracy and editing flexibility. This limitation arises from the difficulty of maintaining both semantic alignment and structural consistency during the inversion process. In this work, we introduce Dual-Conditional Inversion (DCI), a novel framework that jointly conditions on the source prompt and reference image to guide the inversion process. Specifically, DCI formulates the inversion process as a dual-condition fixed-point optimization problem, minimizing both the latent noise gap and the reconstruction error under the joint guidance. This design anchors the inversion trajectory in both semantic and visual space, leading to more accurate and editable latent representations. Our novel setup brings new understanding to the inversion process. Extensive experiments demonstrate that DCI achieves state-of-the-art performance across multiple editing tasks, significantly improving both reconstruction quality and editing precision. Furthermore, we also demonstrate that our method achieves strong results in reconstruction tasks, implying a degree of robustness and generalizability approaching the ultimate goal of the inversion process.

Predicting diverse human motions given a sequence of historical poses has received increasing attention. Despite rapid progress, existing work captures the multi-modal nature of human motions primarily through likelihood-based sampling, where the mode collapse has been widely observed. In this paper, we propose a simple yet effective approach that disentangles randomly sampled codes with a deterministic learnable component named anchors to promote sample precision and diversity. Anchors are further factorized into spatial anchors and temporal anchors, which provide attractively interpretable control over spatial-temporal disparity. In principle, our spatial-temporal anchor-based sampling (STARS) can be applied to different motion predictors. Here we propose an interaction-enhanced spatial-temporal graph convolutional network (IE-STGCN) that encodes prior knowledge of human motions (e.g., spatial locality), and incorporate the anchors into it. Extensive experiments demonstrate that our approach outperforms state of the art in both stochastic and deterministic prediction, suggesting it as a unified framework for modeling human motions. Our code and pretrained models are available at https://github.com/Sirui-Xu/STARS.

The quest for Continual Learning (CL) seeks to empower neural networks with the ability to learn and adapt incrementally. Central to this pursuit is addressing the stability-plasticity dilemma, which involves striking a balance between two conflicting objectives: preserving previously learned knowledge and acquiring new knowledge. While numerous CL methods aim to achieve this trade-off, they often overlook the impact of network architecture on stability and plasticity, restricting the trade-off to the parameter level. In this paper, we delve into the conflict between stability and plasticity at the architectural level. We reveal that under an equal parameter constraint, deeper networks exhibit better plasticity, while wider networks are characterized by superior stability. To address this architectural-level dilemma, we introduce a novel framework denoted Dual-Arch, which serves as a plug-in component for CL. This framework leverages the complementary strengths of two distinct and independent networks: one dedicated to plasticity and the other to stability. Each network is designed with a specialized and lightweight architecture, tailored to its respective objective. Extensive experiments demonstrate that Dual-Arch enhances the performance of existing CL methods while being up to 87% more compact in terms of parameters.

Prototype-based federated learning has emerged as a promising approach that shares lightweight prototypes to transfer knowledge among clients with data heterogeneity in a model-agnostic manner. However, existing methods often collect prototypes directly from local models, which inevitably introduce inconsistencies into representation learning due to the biased data distributions and differing model architectures among clients. In this paper, we identify that both statistical and model heterogeneity create a vicious cycle of representation inconsistency, classifier divergence, and skewed prototype alignment, which negatively impacts the performance of clients. To break the vicious cycle, we propose a novel framework named Federated Learning via Semantic Anchors (FedSA) to decouple the generation of prototypes from local representation learning. We introduce a novel perspective that uses simple yet effective semantic anchors serving as prototypes to guide local models in learning consistent representations. By incorporating semantic anchors, we further propose anchor-based regularization with margin-enhanced contrastive learning and anchor-based classifier calibration to correct feature extractors and calibrate classifiers across clients, achieving intra-class compactness and inter-class separability of prototypes while ensuring consistent decision boundaries. We then update the semantic anchors with these consistent and discriminative prototypes, which iteratively encourage clients to collaboratively learn a unified data representation with robust generalization. Extensive experiments under both statistical and model heterogeneity settings show that FedSA significantly outperforms existing prototype-based FL methods on various classification tasks.

The public model zoo containing enormous powerful pretrained model families (e.g., ResNet/DeiT) has reached an unprecedented scope than ever, which significantly contributes to the success of deep learning. As each model family consists of pretrained models with diverse scales (e.g., DeiT-Ti/S/B), it naturally arises a fundamental question of how to efficiently assemble these readily available models in a family for dynamic accuracy-efficiency trade-offs at runtime. To this end, we present Stitchable Neural Networks (SN-Net), a novel scalable and efficient framework for model deployment. It cheaply produces numerous networks with different complexity and performance trade-offs given a family of pretrained neural networks, which we call anchors. Specifically, SN-Net splits the anchors across the blocks/layers and then stitches them together with simple stitching layers to map the activations from one anchor to another. With only a few epochs of training, SN-Net effectively interpolates between the performance of anchors with varying scales. At runtime, SN-Net can instantly adapt to dynamic resource constraints by switching the stitching positions. Extensive experiments on ImageNet classification demonstrate that SN-Net can obtain on-par or even better performance than many individually trained networks while supporting diverse deployment scenarios. For example, by stitching Swin Transformers, we challenge hundreds of models in Timm model zoo with a single network. We believe this new elastic model framework can serve as a strong baseline for further research in wider communities.

There are five types of trajectory prediction tasks: deterministic, stochastic, domain adaptation, momentary observation, and few-shot. These associated tasks are defined by various factors, such as the length of input paths, data split and pre-processing methods. Interestingly, even though they commonly take sequential coordinates of observations as input and infer future paths in the same coordinates as output, designing specialized architectures for each task is still necessary. For the other task, generality issues can lead to sub-optimal performances. In this paper, we propose SingularTrajectory, a diffusion-based universal trajectory prediction framework to reduce the performance gap across the five tasks. The core of SingularTrajectory is to unify a variety of human dynamics representations on the associated tasks. To do this, we first build a Singular space to project all types of motion patterns from each task into one embedding space. We next propose an adaptive anchor working in the Singular space. Unlike traditional fixed anchor methods that sometimes yield unacceptable paths, our adaptive anchor enables correct anchors, which are put into a wrong location, based on a traversability map. Finally, we adopt a diffusion-based predictor to further enhance the prototype paths using a cascaded denoising process. Our unified framework ensures the generality across various benchmark settings such as input modality, and trajectory lengths. Extensive experiments on five public benchmarks demonstrate that SingularTrajectory substantially outperforms existing models, highlighting its effectiveness in estimating general dynamics of human movements. Code is publicly available at https://github.com/inhwanbae/SingularTrajectory .

Continual learning aims to enable a single model to learn a sequence of tasks without catastrophic forgetting. Top-performing methods usually require a rehearsal buffer to store past pristine examples for experience replay, which, however, limits their practical value due to privacy and memory constraints. In this work, we present a simple yet effective framework, DualPrompt, which learns a tiny set of parameters, called prompts, to properly instruct a pre-trained model to learn tasks arriving sequentially without buffering past examples. DualPrompt presents a novel approach to attach complementary prompts to the pre-trained backbone, and then formulates the objective as learning task-invariant and task-specific "instructions". With extensive experimental validation, DualPrompt consistently sets state-of-the-art performance under the challenging class-incremental setting. In particular, DualPrompt outperforms recent advanced continual learning methods with relatively large buffer sizes. We also introduce a more challenging benchmark, Split ImageNet-R, to help generalize rehearsal-free continual learning research. Source code is available at https://github.com/google-research/l2p.

The use of relative representations for latent embeddings has shown potential in enabling latent space communication and zero-shot model stitching across a wide range of applications. Nevertheless, relative representations rely on a certain amount of parallel anchors to be given as input, which can be impractical to obtain in certain scenarios. To overcome this limitation, we propose an optimization-based method to discover new parallel anchors from a limited known set (seed). Our approach can be used to find semantic correspondence between different domains, align their relative spaces, and achieve competitive results in several tasks.

We propose Dual PatchNorm: two Layer Normalization layers (LayerNorms), before and after the patch embedding layer in Vision Transformers. We demonstrate that Dual PatchNorm outperforms the result of exhaustive search for alternative LayerNorm placement strategies in the Transformer block itself. In our experiments, incorporating this trivial modification, often leads to improved accuracy over well-tuned Vision Transformers and never hurts.

Extending context window sizes allows large language models (LLMs) to process longer sequences and handle more complex tasks. Rotary Positional Embedding (RoPE) has become the de facto standard due to its relative positional encoding properties that benefit long-context training. However, we observe that using RoPE with BFloat16 format results in numerical issues, causing it to deviate from its intended relative positional encoding, especially in long-context scenarios. This issue arises from BFloat16's limited precision and accumulates as context length increases, with the first token contributing significantly to this problem. To address this, we develop AnchorAttention, a plug-and-play attention method that alleviates numerical issues caused by BFloat16, improves long-context capabilities, and speeds up training. AnchorAttention reduces unnecessary attention computations, maintains semantic coherence, and boosts computational efficiency by treating the first token as a shared anchor with a consistent position ID, making it visible to all documents within the training context. Experiments on three types of LLMs demonstrate that AnchorAttention significantly improves long-context performance and reduces training time by over 50\% compared to standard full attention mechanisms, while preserving the original LLM's capabilities on general tasks. Our code is available at https://github.com/haonan3/AnchorContext.

Unified visual grounding pursues a simple and generic technical route to leverage multi-task data with less task-specific design. The most advanced methods typically present boxes and masks as vertex sequences to model referring detection and segmentation as an autoregressive sequential vertex generation paradigm. However, generating high-dimensional vertex sequences sequentially is error-prone because the upstream of the sequence remains static and cannot be refined based on downstream vertex information, even if there is a significant location gap. Besides, with limited vertexes, the inferior fitting of objects with complex contours restricts the performance upper bound. To deal with this dilemma, we propose a parallel vertex generation paradigm for superior high-dimension scalability with a diffusion model by simply modifying the noise dimension. An intuitive materialization of our paradigm is Parallel Vertex Diffusion (PVD) to directly set vertex coordinates as the generation target and use a diffusion model to train and infer. We claim that it has two flaws: (1) unnormalized coordinate caused a high variance of loss value; (2) the original training objective of PVD only considers point consistency but ignores geometry consistency. To solve the first flaw, Center Anchor Mechanism (CAM) is designed to convert coordinates as normalized offset values to stabilize the training loss value. For the second flaw, Angle summation loss (ASL) is designed to constrain the geometry difference of prediction and ground truth vertexes for geometry-level consistency. Empirical results show that our PVD achieves state-of-the-art in both referring detection and segmentation, and our paradigm is more scalable and efficient than sequential vertex generation with high-dimension data.

Objects manipulated by the hand (i.e., manipulanda) are particularly challenging to reconstruct from in-the-wild RGB images or videos. Not only does the hand occlude much of the object, but also the object is often only visible in a small number of image pixels. At the same time, two strong anchors emerge in this setting: (1) estimated 3D hands help disambiguate the location and scale of the object, and (2) the set of manipulanda is small relative to all possible objects. With these insights in mind, we present a scalable paradigm for handheld object reconstruction that builds on recent breakthroughs in large language/vision models and 3D object datasets. Our model, MCC-Hand-Object (MCC-HO), jointly reconstructs hand and object geometry given a single RGB image and inferred 3D hand as inputs. Subsequently, we use GPT-4(V) to retrieve a 3D object model that matches the object in the image and rigidly align the model to the network-inferred geometry; we call this alignment Retrieval-Augmented Reconstruction (RAR). Experiments demonstrate that MCC-HO achieves state-of-the-art performance on lab and Internet datasets, and we show how RAR can be used to automatically obtain 3D labels for in-the-wild images of hand-object interactions.

Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping capabilities is crucial for their deployment to accomplish diverse real-world tasks. Recent research in dexterous grasping, however, often focuses on power grasps while overlooking task- and object-specific functional grasping poses. In this paper, we introduce FunGrasp, a system that enables functional dexterous grasping across various robot hands and performs one-shot transfer to unseen objects. Given a single RGBD image of functional human grasping, our system estimates the hand pose and transfers it to different robotic hands via a human-to-robot (H2R) grasp retargeting module. Guided by the retargeted grasping poses, a policy is trained through reinforcement learning in simulation for dynamic grasping control. To achieve robust sim-to-real transfer, we employ several techniques including privileged learning, system identification, domain randomization, and gravity compensation. In our experiments, we demonstrate that our system enables diverse functional grasping of unseen objects using single RGBD images, and can be successfully deployed across various dexterous robot hands. The significance of the components is validated through comprehensive ablation studies. Project page: https://hly-123.github.io/FunGrasp/ .

Object detection has been dominated by anchor-based detectors for several years. Recently, anchor-free detectors have become popular due to the proposal of FPN and Focal Loss. In this paper, we first point out that the essential difference between anchor-based and anchor-free detection is actually how to define positive and negative training samples, which leads to the performance gap between them. If they adopt the same definition of positive and negative samples during training, there is no obvious difference in the final performance, no matter regressing from a box or a point. This shows that how to select positive and negative training samples is important for current object detectors. Then, we propose an Adaptive Training Sample Selection (ATSS) to automatically select positive and negative samples according to statistical characteristics of object. It significantly improves the performance of anchor-based and anchor-free detectors and bridges the gap between them. Finally, we discuss the necessity of tiling multiple anchors per location on the image to detect objects. Extensive experiments conducted on MS COCO support our aforementioned analysis and conclusions. With the newly introduced ATSS, we improve state-of-the-art detectors by a large margin to 50.7% AP without introducing any overhead. The code is available at https://github.com/sfzhang15/ATSS

Object detection in poor-illumination environments is a challenging task as objects are usually not clearly visible in RGB images. As infrared images provide additional clear edge information that complements RGB images, fusing RGB and infrared images has potential to enhance the detection ability in poor-illumination environments. However, existing works involving both visible and infrared images only focus on image fusion, instead of object detection. Moreover, they directly fuse the two kinds of image modalities, which ignores the mutual interference between them. To fuse the two modalities to maximize the advantages of cross-modality, we design a dual-enhancement-based cross-modality object detection network DEYOLO, in which semantic-spatial cross modality and novel bi-directional decoupled focus modules are designed to achieve the detection-centered mutual enhancement of RGB-infrared (RGB-IR). Specifically, a dual semantic enhancing channel weight assignment module (DECA) and a dual spatial enhancing pixel weight assignment module (DEPA) are firstly proposed to aggregate cross-modality information in the feature space to improve the feature representation ability, such that feature fusion can aim at the object detection task. Meanwhile, a dual-enhancement mechanism, including enhancements for two-modality fusion and single modality, is designed in both DECAand DEPAto reduce interference between the two kinds of image modalities. Then, a novel bi-directional decoupled focus is developed to enlarge the receptive field of the backbone network in different directions, which improves the representation quality of DEYOLO. Extensive experiments on M3FD and LLVIP show that our approach outperforms SOTA object detection algorithms by a clear margin. Our code is available at https://github.com/chips96/DEYOLO.

Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when generating safe and feasible motions. Moreover, existing approaches often rely on simplified robot models or focus primarily on obstacle representation, which can lead to incomplete collision detection and degraded performance in cluttered scenes. To address these limitations, we propose spatial anchor-based motion policy (SAMP), a unified framework that simultaneously encodes the environment and the manipulator using signed distance field (SDF) anchored on a shared spatial grid. SAMP incorporates a dedicated robot SDF network that captures the manipulator's precise geometry, enabling collision-aware reasoning beyond coarse link approximations. These representations are fused on spatial anchors and used to train a neural motion policy that generates smooth, collision-free trajectories in the proposed efficient feature alignment strategy. Experiments conducted in both simulated and real-world environments consistently show that SAMP outperforms existing methods, delivering an 11% increase in success rate and a 7% reduction in collision rate. These results highlight the benefits of jointly modelling robot and environment geometry, demonstrating its practical value in challenging real-world environments.

Recent sparse detectors with multiple, e.g. six, decoder layers achieve promising performance but much inference time due to complex heads. Previous works have explored using dense priors as initialization and built one-decoder-layer detectors. Although they gain remarkable acceleration, their performance still lags behind their six-decoder-layer counterparts by a large margin. In this work, we aim to bridge this performance gap while retaining fast speed. We find that the architecture discrepancy between dense and sparse detectors leads to feature conflict, hampering the performance of one-decoder-layer detectors. Thus we propose Adaptive Sparse Anchor Generator (ASAG) which predicts dynamic anchors on patches rather than grids in a sparse way so that it alleviates the feature conflict problem. For each image, ASAG dynamically selects which feature maps and which locations to predict, forming a fully adaptive way to generate image-specific anchors. Further, a simple and effective Query Weighting method eases the training instability from adaptiveness. Extensive experiments show that our method outperforms dense-initialized ones and achieves a better speed-accuracy trade-off. The code is available at https://github.com/iSEE-Laboratory/ASAG.

We motivate and present feature selective anchor-free (FSAF) module, a simple and effective building block for single-shot object detectors. It can be plugged into single-shot detectors with feature pyramid structure. The FSAF module addresses two limitations brought up by the conventional anchor-based detection: 1) heuristic-guided feature selection; 2) overlap-based anchor sampling. The general concept of the FSAF module is online feature selection applied to the training of multi-level anchor-free branches. Specifically, an anchor-free branch is attached to each level of the feature pyramid, allowing box encoding and decoding in the anchor-free manner at an arbitrary level. During training, we dynamically assign each instance to the most suitable feature level. At the time of inference, the FSAF module can work jointly with anchor-based branches by outputting predictions in parallel. We instantiate this concept with simple implementations of anchor-free branches and online feature selection strategy. Experimental results on the COCO detection track show that our FSAF module performs better than anchor-based counterparts while being faster. When working jointly with anchor-based branches, the FSAF module robustly improves the baseline RetinaNet by a large margin under various settings, while introducing nearly free inference overhead. And the resulting best model can achieve a state-of-the-art 44.6% mAP, outperforming all existing single-shot detectors on COCO.

Large Language Models (LLMs) with extended context lengths face significant computational challenges during the pre-filling phase, primarily due to the quadratic complexity of self-attention. Existing methods typically employ dynamic pattern matching and block-sparse low-level implementations. However, their reliance on local information for pattern identification fails to capture global contexts, and the coarse granularity of blocks leads to persistent internal sparsity, resulting in suboptimal accuracy and efficiency. To address these limitations, we propose AnchorAttention, a difference-aware, dynamic sparse attention mechanism that efficiently identifies critical attention regions at a finer stripe granularity while adapting to global contextual information, achieving superior speed and accuracy. AnchorAttention comprises three key components: (1) Pattern-based Anchor Computation, leveraging the commonalities present across all inputs to rapidly compute a set of near-maximum scores as the anchor; (2) Difference-aware Stripe Sparsity Identification, performing difference-aware comparisons with the anchor to quickly obtain discrete coordinates of significant regions in a stripe-like sparsity pattern; (3) Fine-grained Sparse Computation, replacing the traditional contiguous KV block loading approach with simultaneous discrete KV position loading to maximize sparsity rates while preserving full hardware computational potential. With its finer-grained sparsity strategy, AnchorAttention achieves higher sparsity rates at the same recall level, significantly reducing computation time. Compared to previous state-of-the-art methods, at a text length of 128k, it achieves a speedup of 1.44times while maintaining higher recall rates.

With the widespread adoption of machine learning systems, the need to curtail their behavior has become increasingly apparent. This is evidenced by recent advancements towards developing models that satisfy robustness, safety, and fairness requirements. These requirements can be imposed (with generalization guarantees) by formulating constrained learning problems that can then be tackled by dual ascent algorithms. Yet, though these algorithms converge in objective value, even in non-convex settings, they cannot guarantee that their outcome is feasible. Doing so requires randomizing over all iterates, which is impractical in virtually any modern applications. Still, final iterates have been observed to perform well in practice. In this work, we address this gap between theory and practice by characterizing the constraint violation of Lagrangian minimizers associated with optimal dual variables, despite lack of convexity. To do this, we leverage the fact that non-convex, finite-dimensional constrained learning problems can be seen as parametrizations of convex, functional problems. Our results show that rich parametrizations effectively mitigate the issue of feasibility in dual methods, shedding light on prior empirical successes of dual learning. We illustrate our findings in fair learning tasks.

This paper studies implicit surface reconstruction leveraging differentiable ray casting. Previous works such as IDR and NeuS overlook the spatial context in 3D space when predicting and rendering the surface, thereby may fail to capture sharp local topologies such as small holes and structures. To mitigate the limitation, we propose a flexible neural implicit representation leveraging hierarchical voxel grids, namely Neural Deformable Anchor (NeuDA), for high-fidelity surface reconstruction. NeuDA maintains the hierarchical anchor grids where each vertex stores a 3D position (or anchor) instead of the direct embedding (or feature). We optimize the anchor grids such that different local geometry structures can be adaptively encoded. Besides, we dig into the frequency encoding strategies and introduce a simple hierarchical positional encoding method for the hierarchical anchor structure to flexibly exploit the properties of high-frequency and low-frequency geometry and appearance. Experiments on both the DTU and BlendedMVS datasets demonstrate that NeuDA can produce promising mesh surfaces.

We extend JAX with the capability to automatically differentiate higher-order functions (functionals and operators). By representing functions as a generalization of arrays, we seamlessly use JAX's existing primitive system to implement higher-order functions. We present a set of primitive operators that serve as foundational building blocks for constructing several key types of functionals. For every introduced primitive operator, we derive and implement both linearization and transposition rules, aligning with JAX's internal protocols for forward and reverse mode automatic differentiation. This enhancement allows for functional differentiation in the same syntax traditionally use for functions. The resulting functional gradients are themselves functions ready to be invoked in python. We showcase this tool's efficacy and simplicity through applications where functional derivatives are indispensable. The source code of this work is released at https://github.com/sail-sg/autofd .

Lane detection is a fundamental task in autonomous driving, and has achieved great progress as deep learning emerges. Previous anchor-based methods often design dense anchors, which highly depend on the training dataset and remain fixed during inference. We analyze that dense anchors are not necessary for lane detection, and propose a transformer-based lane detection framework based on a sparse anchor mechanism. To this end, we generate sparse anchors with position-aware lane queries and angle queries instead of traditional explicit anchors. We adopt Horizontal Perceptual Attention (HPA) to aggregate the lane features along the horizontal direction, and adopt Lane-Angle Cross Attention (LACA) to perform interactions between lane queries and angle queries. We also propose Lane Perceptual Attention (LPA) based on deformable cross attention to further refine the lane predictions. Our method, named Sparse Laneformer, is easy-to-implement and end-to-end trainable. Extensive experiments demonstrate that Sparse Laneformer performs favorably against the state-of-the-art methods, e.g., surpassing Laneformer by 3.0% F1 score and O2SFormer by 0.7% F1 score with fewer MACs on CULane with the same ResNet-34 backbone.

Editing long videos remains a challenging task due to the need for maintaining both global consistency and temporal coherence across thousands of frames. Existing methods often suffer from structural drift or temporal artifacts, particularly in minute-long sequences. We introduce AnchorSync, a novel diffusion-based framework that enables high-quality, long-term video editing by decoupling the task into sparse anchor frame editing and smooth intermediate frame interpolation. Our approach enforces structural consistency through a progressive denoising process and preserves temporal dynamics via multimodal guidance. Extensive experiments show that AnchorSync produces coherent, high-fidelity edits, surpassing prior methods in visual quality and temporal stability.

We propose a design pattern for tackling text ranking problems, dubbed "Expando-Mono-Duo", that has been empirically validated for a number of ad hoc retrieval tasks in different domains. At the core, our design relies on pretrained sequence-to-sequence models within a standard multi-stage ranking architecture. "Expando" refers to the use of document expansion techniques to enrich keyword representations of texts prior to inverted indexing. "Mono" and "Duo" refer to components in a reranking pipeline based on a pointwise model and a pairwise model that rerank initial candidates retrieved using keyword search. We present experimental results from the MS MARCO passage and document ranking tasks, the TREC 2020 Deep Learning Track, and the TREC-COVID challenge that validate our design. In all these tasks, we achieve effectiveness that is at or near the state of the art, in some cases using a zero-shot approach that does not exploit any training data from the target task. To support replicability, implementations of our design pattern are open-sourced in the Pyserini IR toolkit and PyGaggle neural reranking library.