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版本更新 · v3arXiv:2606.12601

Dual-State Slot Attention: Decoupling Appearance and Identity for Video Object-Centric Learning

Sieu Tran, Duc Nguyen, Hao Vo, Khoa Vo, Ngan Le

原文摘要

Unsupervised video object-centric learning aims to decompose dynamic scenes into persistent, object-level representations without supervision. However, existing slot-based methods struggle to maintain stable object identity in challenging settings such as rapid motion and partial occlusion. First, they typically encode both the per-frame appearance of an object and its identity across frames in a single slot vector, creating an objective conflict that leads to slot swapping: reconstruction requires sensitivity to transient visual changes, whereas temporal consistency requires invariance to them. Second, the token renormalization used in Slot Attention can amplify weakly attending slots, allowing them to absorb tokens from other objects and destabilize slot-to-object correspondence. We propose Dual-State Slot Attention (DSSA), a fully self-supervised framework that addresses these limitations by separating appearance from identity and by reducing spurious updates from weakly matching slots. DSSA decomposes each slot into a local state for per-frame appearance and an identity state for temporally stable object information, thereby aligning reconstruction and temporal consistency with separate representations. The identity state is updated through a learned recurrent transition that acts as a temporal filter on the local state, while competition-modulated aggregation (CMA) down-weights updates from weakly matching slots and prevents them from absorbing tokens from other objects. Experiments on MOVi-C, MOVi-D, and YouTube-VIS demonstrate that DSSA consistently improves segmentation quality and temporal consistency over prior methods, while also yielding stronger downstream object recognition and video dynamics prediction. Code is available at https://uark-aicv.github.io/dssa/.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.12140

Visible Tails: Characterizing Adaptation to Unknown Moments in Heavy-Tailed Bandits

Tuan Ngoc Do, Hai Duc Nguyen

原文摘要

Heavy-tailed bandit learners without moment parameters face an obstruction: the rewards that carry an arm's mean can stay unseen. We address the remaining part of a COLT open problem by characterizing the optimal-arm laws that permit adaptation to unknown moments at constant-factor cost. The condition, variance-core visibility, is one-sided and translation-invariant: the mean hidden in any rare event is at most a constant multiple of the standard error of the rewards that remain. A quantile-trimmed UCB index that knows the visibility constants attains the central-moment benchmark on this class, and no single strategy adapts across all visibility levels. The same index achieves logarithmic expected regret on every instance with a visible optimal arm and finite-mean rewards. On an explicit family with no higher moment, gap $Δ$ and constant $A$, its logarithmic coefficient and the information lower bound are of order $Δ^{-1}e^{A/Δ}$, exponential in the inverse gap within one visibility class.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02521

On the Convergence of Alternating Regret Matching Algorithms

Anh Duc Nguyen, Ioannis Anagnostides, Brian Hu Zhang, Tuomas Sandholm

原文摘要

Alternating updates, that is, where each player is updated in turn, tend to typically perform better in regret matching algorithms than simultaneous updates. Alternation within the regret matching family has long been a central ingredient of practical solvers for zero-sum games. Yet our theoretical understanding is lagging behind. In this paper, we address this gap by developing a systematic way of analyzing such algorithms. Our framework centers on an alternating analog of the RVU property that we introduce, which we use to obtain the optimal $T^{-1}$ average-iterate convergence within this family. In particular, we establish this for two simple variants of predictive regret matching$^+$: i) increasing-regret predictive regret matching$^+$ and ii) half-prediction regret matching$^+$. Interestingly, we find that half prediction is the unique prediction multiplier that satisfies our alternating RVU property, giving it a strong theoretical justification. Going beyond average-iterate convergence, we refine our framework to obtain $T^{-1/2}$ best-iterate convergence and further establish convergence of their strategy profiles to a single Nash equilibrium, without assuming equilibrium uniqueness. We go on to establish separations between alternating and simultaneous updates, including a game in which half-prediction regret matching$^+$ converges under alternating updates but fails to converge in terms of the last iterate under simultaneous updates. This provides theoretical support for the empirical observation that alternation can stabilize learning dynamics. Finally, experiments on 15 game benchmarks demonstrate that the strong theoretical properties of the half-prediction mechanism translate to strong practical performance, being on par with state-of-the-art solvers.

cs.GT · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37215

Retrieve to Act: Motion Primitive Graph Retrieval for Robust VLA Execution

Pham Tri Quang, Bao-Ngoc Dao, Minh Duc Nguyen, Duc-Duy Nguyen, Hung T. Ho, Linh Dang Le, Trong-Bao Ho, Thien-Loc Ha 等 18 位作者

原文摘要

Vision-Language-Action (VLA) policies demonstrate remarkable semantic generalization, yet remain highly vulnerable to out-of-distribution (OOD) visual shifts during execution. While existing test-time methods attempt to suppress spurious visual cues, they fundamentally overlook the rich, uncorrupted kinematic priors embedded in the policy's own training experience. We introduce Retrieve to Act (R2A), a test-time scaling framework that formulates OOD robustness purely as a geometric motion primitive retrieval problem. R2A bypasses fragile visual features by structuring successful training demonstrations into an offline spatiotemporal motion primitive graph. During inference, a query-dependent Graph Neural Network dynamically localizes the robot's ongoing execution within this graph, retrieving structurally compatible future motion primitives. These retrieved geometric priors are then seamlessly harmonized with the frozen VLA's predicted actions via a learned, dimension-wise gating mechanism, adaptively rectifying erroneous spatial trajectories while preserving the policy's local reactivity. Extensive experiments across three state-of-the-art VLA architectures, GR00T N1.7, $π_{0.5}$, and StableVLA, demonstrate that R2A consistently and significantly enhances robustness against diverse contextual perturbations. R2A achieves absolute success rate improvements of up to +12% in simulation benchmarks (LIBERO-Plus, RoboTwin2.0-Plus) and +40% in real-world deployments, without requiring any finetuning of the base policies. Project page: https://retrieve2act.github.io/r2a/

cs.RO · cs.AI

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arXiv ↗PDF ↗