Miguel Saavedra-Ruiz, Charlie Gauthier, Kumaraditya Gupta, Shima Shahfar, Kirsty Ellis, Steven Parkison, Liam Paull
We have seen tremendous recent progress in our ability to build "spatio-semantic" representations that enable robots to perform complex reasoning across geometry and semantics. However, the vast majority of these methods lack any ability to perform reasoning across time. This is a desirable property in situations where a robot repeatedly observes an environment where instances may change in between observations, but in a structured way. Consider as an example a home environment where the location of a mug typically moves from the cupboard to a countertop to the sink and then back to the cupboard on a daily basis. We should be able to learn this cyclic behavior and use it to predict the state of the mug in the future. In this work, we propose a method that is able to perform this type of tempo-spatio-semantic reasoning. Underpinning the method is a filter, Perpetua*, that performs Bayesian reasoning on the states of the environment that are observed over time. This filter is integrated within a 3D scene graph structure that we call PredictiveGraphs, where nodes represent objects and edges function as Perpetua* filters encoding spatio-semantic relationships. We validate the method in both simulation and real-world dynamic navigation tasks, where our real-world experiments consist of an environment that is undergoing semi-static changes at a bi-hourly frequency over a period of three weeks. In both settings, we demonstrate that our method outperforms baselines in predicting future environment states, even in the presence of distributional shifts.
Aditya Gupta, Jean Sebastien Dandurand, Kai Qiu, Rohan Choudhury, Laszlo A. Jeni
Vision Transformers (ViTs) are bottlenecked by the length of their input token sequence. Standard patchification fixes this length with a single patch size applied across the image, regardless of regional content. Prior work on adaptive patch sizing reduces token count by assigning coarser patches to visually simple regions, but relies on noisy pixel-level heuristics such as local entropy to make patchification decisions. We argue that this compute allocation should be grounded in the model's interpretation of task relevant information, not in raw pixel statistics. We introduce Split Policy Learned Image Tokenization which learns to allocate token resolution based on what the model finds meaningful, producing shorter token sequences that are better matched to task-relevant content. SPLIT matches the accuracy of full-resolution ViT classification baselines while using 30% fewer tokens. The same gains hold on dense prediction: SPLIT achieves competitive accuracy on COCO and ADE20K, demonstrating that semantically aligned patchification generalises well beyond classification.
Adam Štorek Columbia University, Mukur Gupta, Noopur Bhatt University of Pennsylvania, University of Pennsylvania and Leidos Inc., Aditya Gupta, Janie Kim Google, Prashast Srivastava Amazon, Suman Jana , Columbia University
AI coding assistants automatically gather context from potentially untrusted sources to generate code recommendations. We introduce Cross-Origin Context Poisoning (XOXO), a novel attack that exploits this automatic context inclusion by subtly manipulating code without changing its semantics. Attackers introduce semantics-preserving transformations (e.g., renamed variables) to shared code, causing AI assistants to unknowingly recommend vulnerable code patterns to victims. To systematically identify effective transformations, we present Greedy Cayley Graph Search (GCGS), a black-box algorithm that efficiently composes transformations to identify adversarial inputs. Our evaluation demonstrates XOXO’s effectiveness at making LLMs generate buggy and vulnerable code, achieving average attack success rates of 73.20% against eight state-of-the-art models including GPT 4.1 and Claude 3.5 Sonnet v2, with vulnerability injection rates up to 66.67%. We also demonstrate a real-world attack against GitHub Copilot, highlighting critical security gaps in current AI coding tools.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表