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新论文 · v1arXiv:2611.07069

Finite-Time Convergence and Regret Guarantees for Neural Reinforcement Learning in POMDPs

Jingjuan Huang, Zhiyao Zhang, Alvaro Velasquez, Nathaniel D. Bastian, Jia Liu

原文摘要

Reinforcement learning (RL) in Partially Observable Markov Decision Processes (POMDPs) is computationally challenging due to the curse of long-range dependence on history. Fortunately, recent studies have shown that a range of POMDPs that satisfy the filter stability assumption can be well approximated by a superstate Markov Decision Process (MDP) based on a truncated history in a finite-memory window, with a value gap that decays with the window length. However, existing finite-time convergence analyses on such superstate MDP surrogates are either limited to over-simplified linear function approximation or rely on an i.i.d. sampling oracle that is violated by POMDP trajectories, both of which severely limit the applicability of these theoretical results in practice. This motivates us to bridge the gap by investigating RL in POMDPs with nonlinear neural value function approximation. Our main contributions are threefold: i) We first establish a new finite-state MDP point-wise approximation error bound, which lays the foundation for our RL algorithm design and analysis in POMDPs; ii) By applying Temporal-Difference (TD) learning to POMDP-generated superstate transitions and targeting the Bellman fixed point of the superstate MDP, we prove a finite-time critic error bound with nonlinear neural value function approximation; and iii) By combining the neural critic function approximation error bound with the policy mirror descent framework, we obtain a finite-time sublinear regret against the optimal POMDP value. To the best of our knowledge, such a finite-time sublinear regret based on neural function approximation is the first in the literature for finite-memory POMDPs. Our numerical experiments also verify our theoretical results.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05361

面向植被丰富环境视觉三维重建基准的可见性感知参考生成

Visibility-Aware Reference Generation for Benchmarking Visual 3D Reconstruction in Vegetation-Rich Environments

Zhipeng Zhong, Matthew Coombes, Cunjia Liu

AI 速读 基于摘要

提出基于LiDAR的参考生成流程，用LDGVS可见性评分改进HPR滤波，为植被户外场景的视觉深度估计与三维重建提供评测基准。

cs.CV · cs.RO

arXiv ↗PDF ↗
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Reliable evaluation of visual 3D reconstruction and depth estimation in vegetation-rich outdoor environments is limited by the scarcity of geometric ground-truth data and the cost of complete scanner surveys. We present a LiDARbased reference-generation pipeline for evaluating the zero-shot performance of feed-forward visual-geometry models alongside conventional structure-from-motion (SfM) methods. The pipeline reuses camera images, LiDAR scans, and reference poses from existing multi-sensor localization datasets to generate per-view depth maps and visible reference point clouds. To address visibility errors in accumulated LiDAR scans, we introduce the LargeDepth-Gap Visibility Score (LDGVS) for point-wise visibility filtering and automatic scale selection in Hidden Point Removal(HPR). Experiments on TartanAirV2 and TartanGround show that, compared with Poisson surface reconstruction, which is an approach suited to completed scan surveys, the combined HPR and LDGVS filtering retains approximately three times the point density at comparable absolute relative error. We also apply the pipeline to the BotanicGarden dataset to systematically compare depth estimation and 3D reconstruction methods. Feedforward methods produce dense depth predictions efficiently, but their 3D reconstructions can contain duplicated structures. Conventional SfM generally produces more coherent geometry, but its reconstructions remain sparse and more prone to failure in challenging vegetated scenes. The benchmark toolkit and datasets will be released.

版本更新 · v2arXiv:2608.07786

Who Built This Model? Tracing LLM Lineage via Spectral Fingerprints in Weight Space

Yiwei Chen, Bingqi Shang, Sijia Liu

原文摘要

Open-weight large language models (LLMs) are increasingly developed through complex, multi-stage pipelines, leading to intricate lineage relationships that reflect model origin, ownership, and evolution. Understanding these relationships is important for model provenance, governance, and supply-chain integrity. In this work, we investigate the notion of LLM "biometrics" (analogous to human biometrics) to ask whether LLMs exhibit intrinsic fingerprints in weight space alone, without access to input data, that reveal their origin and lineage. We formulate this as a lineage discrimination problem, distinguishing among independent-origin, same-series, and shared-base models. To characterize these relationships, we propose a unified geometric fingerprinting framework that analyzes weight matrices from two complementary perspectives: (i) spectral energy, captured by singular value distributions to encode global magnitude patterns, and (ii) subspace alignment, quantified via subspace deviations to capture directional geometry. Our analysis uncovers a clear hierarchy of structural similarity in weight space: spectral energy reliably distinguishes independently trained models and different model families, while subspace alignment enables fine-grained discrimination among closely related models, including variations in dataset scale and post-training procedures. Extensive experiments on over 110 diverse open-weight LLM pairs demonstrate that weight-space geometry provides a robust and interpretable signal for model lineage, enabling coarse-grained regime separation and fine-grained discrimination within shared-base models.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2602.02220

LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigation

Bo Miao, Weijia Liu, Jun Luo, Lachlan Shinnick, Jian Liu, Thomas Hamilton-Smith, Yuhe Yang, Zijie Wu 等 11 位作者

原文摘要

Language-conditioned goal navigation requires embodied agents to locate user-specified targets without step-by-step guidance. However, existing benchmarks largely focus on category-level goals or rely on instance descriptions generated by vision-language models, which often contain ambiguities and semantic errors, limiting systematic and reliable evaluation. We introduce HieraNav, an open-vocabulary navigation task with goals at four hierarchical semantic levels: scene, room, region, and instance. We present Language as a Map (LangMap), the first goal navigation benchmark to enrich real-world indoor 3D scans with human-verified semantic annotations supporting tasks across all four goal levels. Built on HM3D using a contrastive annotation protocol that compares same-scene regions and instances, LangMap provides region labels and discriminative region and instance descriptions covering 414 object categories and contains over 18K tasks. Each target has concise and detailed descriptions, enabling evaluation across instruction styles. Automated and human evaluations validate our annotation quality: our descriptions improve text-to-view matching accuracy over GOAT-Bench's by 23 points on all shared annotated instances, and an independent human audit yields 92.5% unique-and-correct matches. We also propose PlaNaVid, an RGB-only baseline that combines Bounded Diverse Memory with high-level planning to prime a reactive policy for multi-goal navigation, achieving top-tier success rates without depth, 3D scene representations, or object masks. Further analyses reveal that exploration and hierarchical disambiguation failures become more prominent at finer goal levels, while long-tail categories, small objects, distant targets, timely stopping, and multi-goal completion remain challenging. Benchmark and code: https://bo-miao.github.io/LangMap

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01786

IncVNM: An Interactive Recommender System with Incremental von Neumann-Morgenstern Utility Learning

Jiaxin Wei, Jia Liu

原文摘要

In modern recommender systems, users are often presented with products whose outcomes are random. The values of such products depend on their entire outcome distributions and on users' attitudes toward risk, making them difficult to evaluate using traditional product-level recommendation methods. We propose \textsc{IncVNM}, an interactive recommender system that incrementally learns a user-specific von Neumann--Morgenstern (VNM) utility function from ordinal click feedback generated during ordinary webpage browsing. At each interaction, \textsc{IncVNM} converts the click order within a displayed product list into pairwise comparisons between outcome distributions and updates the nominal utility by minimizing its deviation from the previous estimate while incorporating the newly observed pairwise comparisons. To close the interaction loop, an entropy-regularized sampling policy balances exploitation of the learned utility against exploration for additional preference information. We evaluate \textsc{IncVNM} in a rolling-window experiment with different response-error probabilities and show that it substantially outperforms the expected-return, mean--variance, discounted-UCB, and distribution-aware BPR baselines.

cs.IR · math.OC

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2602.17155

Powering Up Zeroth-Order Training via Subspace Gradient Orthogonalization

Yicheng Lang, Changsheng Wang, Yihua Zhang, Mingyi Hong, Zheng Zhang, Wotao Yin, Sijia Liu

原文摘要

Zeroth-order (ZO) optimization provides a gradient-free alternative to first-order (FO) methods by estimating gradients via finite differences of function evaluations, and has recently emerged as a memory-efficient paradigm for fine-tuning large-scale models by avoiding backpropagation. However, ZO optimization has a fundamental tension between accuracy and query efficiency. In this work, we show that ZO optimization can be substantially improved by unifying two complementary principles: (i) a projection-based subspace view that reduces gradient estimation variance by exploiting the intrinsic low-rank structure of model updates, and (ii) Muon-style spectral optimization that applies gradient orthogonalization to extract informative spectral structure from noisy ZO gradients. These findings form a unified framework of subspace gradient orthogonalization, which we instantiate in a new method, ZO-Muon, admitting a natural interpretation as a low-rank Muon optimizer in the ZO setting. Extensive experiments on large language models (LLMs) and vision transformers (ViTs) demonstrate that ZO-Muon significantly accelerates convergence and achieves a win-win improvement in accuracy and query/runtime efficiency. Notably, compared to the popular MeZO baseline, ZO-Muon requires only 24.7% of the queries to reach the same SST-2 performance for LLM fine-tuning, and improves accuracy by 25.1% on ViT-L fine-tuning on CIFAR-100.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36858

Forget the Data, Keep the Capability: Switchable Unlearning for Retrieval

Jingong Chen, Kyle Gao, Guangyuan Li, Chulwoo Pack, Sijia Liu, Kwanghee Won

原文摘要

Privacy compliance requires re-identification models to selectively forget individuals while preserving their ability to recognize others. For this, we present MoME, a switchable framework that can adapt pre-trained backbones for privacy compliance, allowing the same model to switch between Full mode for standard inference and Core mode for unlearned inference. MoME splits one backbone into core parameters that preserve retrieval and zero-initialized parasitic parameters that carry the full-data knowledge, and training them under gradient isolation so the core never receives a forget-set gradient. Disabling the branch yields Core, which satisfies a request to delete a person's training data, and enabling it yields Full, which retains what the deleted data taught, so honoring the request is a flag flip rather than a retraining run. We prove Core independent of the forget set up to an audited set of coupling channels and introduce the rank-based Forgetting-Rank statistic to audit that independence in a trained model. On Market-1501, VeRi-776 and RegDB, Core reads at a retrained reference under three membership attacks while retrieving above it, and the retrieval advantage carries to ResNet and CLIP backbones. Code and weights are available at https://github.com/Jingong-Chen/MoME.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.09410

RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models

Weijia Liufu, Xiaoyu Guo, Ruiyi Chen, Jingzhi Liu, Kaidong Zhang, Xiwen Liang, Jianqi Lin, Dawei Sun 等 19 位作者

原文摘要

Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA, a recovery-driven policy optimization framework that assigns distinct roles to success, recovery, and failure trajectories. RePO-VLA first applies Recovery-Aware Initialization (RAI), slicing each corrective suffix into a new episode so corrective actions depend on the current adverse state rather than the preceding failure. It then learns a Progress-Aware Semantic Value Function (PAS-VF), aligning spatiotemporal trajectory features with instructions and successful references. The resulting labels salvage useful failure prefixes via reliability decay, while low-value labels mark drift and terminal breakdowns, teaching differences among nominal, failed, and corrective actions. The data engine turns adverse states into planner-generated or human-collected corrective rollouts, teaching recovery to the success manifold. Value-Conditioned Refinement (VCR) trains the policy to prefer high-progress actions. At deployment, a fixed high-value token biases actions toward the learned success manifold without online failure detectors or heuristic retries. We introduce the Failure-Recovery Benchmark (FRBench), with standardized error injection and recovery-focused evaluation. Across simulated and real-world bimanual tasks, RePO-VLA improves robustness, raising adversarial success from 20% to 75% on average and up to 80% in scaled real-world trials. Code and video results are available at https://1018weijia.github.io/RePO-VLA-Web/.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.17690

MedEvo: Medical Reasoning Evolution through Knowledge Navigation

Xiaoliang Wang, Zhuo Chen, Chuanyang Zheng, Quanbin Wang, Jiangwei Lao, Yingao Liu, Jiajia Liu, Jinming Cao 等 14 位作者

原文摘要

Medical multimodal reasoning models are typically trained on teacher-generated rationales, discarding the valid reasoning in students' own failed trajectories, while general-domain correction methods offer little guidance for errors in image reading, anatomical context, or differential diagnosis. We propose MedEvo, which uses medical knowledge, namely a tag taxonomy and error-type diagnosis, to navigate both trajectory repair and data selection. For each failed rollout, a gold-blind auditor locates the first consequential error and provides a minimal, answer-free hint; the same student retains the valid prefix and regenerates the erroneous suffix. After each round, MedEvo identifies capability gaps across medical tags on a held-out feedback set and prioritizes related questions for new rollouts and repairs. With supervised fine-tuning (SFT) alone, MedEvo raises Qwen3.5-9B mean accuracy across seven benchmarks from 65.57% to 69.12% (47.40% to 54.50% on the multimodal track of MedXpertQA (MedXpertQA-MM)), surpassing teacher-distillation SFT (66.93%). It also raises Qwen3.5-35B and Qwen3.5-397B mean accuracy from 67.91% to 73.04% and from 71.83% to 74.95%, respectively. Our analyses show that failed trajectories contain reasoning worth preserving, that repair success does not imply learning value, and that independent feedback is key to sustained improvement.

cs.AI · cs.CV · cs.LG · q-bio.QM

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.17718

ECG-RSI: Recursive Self-Improvement through Targeted Electrocardiogram Waveform Evolution

Xiaoliang Wang, Zhuo Chen, Chuanyang Zheng, Jiangwei Lao, Quanbin Wang, Honglin Lin, Jiajia Liu, Zhihong Lu 等 12 位作者

原文摘要

Electrocardiogram (ECG) models need supervision that targets evolving weaknesses and remains faithful to waveform evidence. We introduce ECG-RSI, a recursive self-improvement framework combining verified waveform synthesis with feedback-guided intervention search. Signal remeasurement verifies waveform edits; construction errors guide generator repair, while learner errors motivate interventions compared on a separate selection set. Across seven benchmarks, three rounds raise Qwen3.5-35B-A3B's mean question-answering accuracy from 34.57% to 56.04% and mean classification F1 from 24.27 to 34.03. Across the retained trajectory, the preferred supervision shifts from direct reinforcement to confusion-focused contrasts. Continued feedback correction yields diminishing external gains. These results motivate separating error diagnosis from intervention selection and checking whether gains on the feedback set transfer to independent benchmarks.

cs.AI · cs.LG · eess.SP · q-bio.QM

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29107

PhyMo: Learning Physical Dynamics with Accurate and Continuous Motion from Multi-View Videos

Shangjia Liu, Jinxi Li, Siyuan Zhou, Bo Yang, Bing Wang

原文摘要

Recovering dynamic 3D scene geometry, appearance, and the physical motion states that govern scene evolution from multi-view videos is important yet challenging. A key difficulty is that appearance can be deceptive. Under rendering supervision alone, a model may fit the observed images by changing color or opacity to compensate for inaccurate deformation, rather than recovering the true evolving geometry and motion. This issue is especially severe in scenes with fast or locally complex motion, where inaccurate trajectories can still produce plausible images over the observed frames, but lead to unreliable reconstruction and discontinuous future prediction. In this paper, we propose PhyMo, a framework for learning evolving dynamics from multi-view videos. We introduce a Motion-Aware Trajectory Representation that drives the model to recover accurate motion from deformation, rather than relying on appearance shortcuts to explain observed motion. On top of this, we propose a Continuous Motion Evolution module with bidirectional kinematic continuity constraint to promote temporally consistent evolution of displacement, velocity, and acceleration. Together, these designs yield geometrically faithful interpolation and continuous motion extrapolation. Experiments on four dynamic scene benchmarks demonstrate state-of-the-art performance.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.32215

Democratizing LLM Training with the Edge: Challenges, Systems, and the Road Ahead

Ziyue Luo, Jiaxuan Cai, Cedric LeDenmat, Srijith Nair, Fatemeh Nourzad, Rohith Krishnan, Qinhang Wu, Jifan Zhang 等 30 位作者

原文摘要

The growing computational power of modern GPU data centers has let a few industrial giants train and deploy large language models (LLMs) on massive amounts of data. Yet the sheer scale of these models and their training data makes centralized development increasingly hard to sustain, and at the same time shuts out smaller institutions that hold relevant private data but lack comparable infrastructure. In this paper, we organize our positions on distributed LLM training around the pretraining and fine-tuning paradigms, covering federated learning, split learning, and decentralized approaches, and we assess their readiness for geo-distributed settings with heterogeneous hardware and unreliable connectivity. We then present a {\em unified} system architecture built around a cloud-hosted parameter server that coordinates heterogeneous clients over outbound gRPC connections, reusing one communication, compression, and fault-tolerance stack for both pretraining and a family of fine-tuning methods. We validate the design with real geo-distributed experiments on GPT-2 Medium and Llama3-1B pretraining across multiple university sites, showing stable convergence under realistic conditions. Finally, we chart the road ahead, identifying open problems that span frontier model support, elastic fault tolerance, adaptive compression, federated alignment, privacy and trust, incentive design, and system--algorithm co-design, all of which must be addressed to make democratized LLM training a reality.

cs.DC · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-industry.98ACL Anthology · ACL 2026

Optimal Expert-Attention Allocation in Mixture-of-Experts: A Scalable Law for Dynamic Model Design

Junzhuo Li, Peijie Jiang, Changxin Tian, Jia Liu, Zhiqiang Zhang, Xuming Hu

原文摘要

This paper presents a novel extension of neural scaling laws to Mixture-of-Experts (MoE) models, focusing on the optimal allocation of compute between expert and attention sub-layers. As MoE architectures have emerged as an efficient method for scaling model capacity without proportionally increasing computation, determining the optimal expert-attention compute ratio becomes critical. We define the ratio r as the fraction of total FLOPs per token dedicated to the expert layers versus the attention layers, and explore how this ratio interacts with the overall compute budget and model sparsity. Through extensive experiments with GPT-style MoE Transformers, we empirically find that the optimal ratio r^\* follows a power-law relationship with total compute and varies with sparsity. Our analysis leads to an explicit formula for r^\*, enabling precise control over the expert-attention compute allocation. We generalize the Chinchilla scaling law by incorporating this architectural parameter, providing a new framework for tuning MoE models beyond size and data. Our findings offer practical guidelines for designing efficient MoE models, optimizing performance while respecting fixed compute budgets.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1754ACL Anthology · ACL 2026

Revealing Procedural Reasoning Structures in Chain-of-Thought Training via Span-Level Gradient Organization

Jia Liu South China University of Technology, Pazhou Laboratory and Huazhong University of Science and Technology, Jiaxin Luo, Weiwen Xu Alibaba Group, Jonathan M. Garibaldi The University of Nottingham Ningbo China and University of Nottingham, Xiao-Kun Wu Renmin University of China, Yixue Hao, Min Chen South China University of Technology and Pazhou Laboratory

原文摘要

Chain-of-Thought (CoT) prompting enables large language models to produce multi-step reasoning, yet how such reasoning-related structure is expressed during training remains poorly understood. We present Gradient-based Structural Developer (GSD), an unsupervised framework with a principled gradient aggregation view that tracks span-level gradient during fine-tuning on reasoning benchmarks to understand how models develop structured, step-by-step reasoning capabilities. Our analysis shows that while gradients at the level of individual tokens are often noisy, aggregating gradients over contiguous reasoning-related spans reveals stable and recurring directional alignment across samples. We refer to these directionally aligned patterns as aligned sequential stresses, reflecting consistent gradient organization associated with similar reasoning procedures. Beyond capturing semantically similar reasoning instances, such gradient alignment also reveals structurally similar but semantically diverse cases that share common procedural organization. These findings position GSD as a diagnostic framework for analyzing how procedural reasoning structures emerge during training, with downstream selection results serving as auxiliary evidence correlating gradient alignment with adaptation efficiency.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.548ACL Anthology · ACL 2026

Unlearners Can Lie: Evaluating and Improving Honesty in LLM Unlearning

Renjie Gu, Jiazhen Du, Yihua Zhang, Sijia Liu Michigan State University

原文摘要

Unlearning in large language models (LLMs) aims to remove harmful training data while preserving overall utility. However, we find that existing methods often hallucinate, generate abnormal token sequences, or behave inconsistently, raising safety and trust concerns. According to prior literature on LLM honesty, such behaviors are often associated with dishonesty. This motivates us to investigate the notion of honesty in the context of model unlearning. We propose a formal definition of unlearning honesty, which includes: (1) preserving both utility and honesty on retained knowledge, and (2) ensuring effective forgetting while encouraging the model to acknowledge its limitations and respond consistently to questions related to forgotten knowledge. To systematically evaluate the honesty of unlearning, we introduce a suite of metrics that cover utility, honesty on the retained set, effectiveness of forgetting, rejection rate and refusal stability in Q&A and MCQ settings. Evaluating 9 methods across 3 mainstream families shows that all current methods fail to meet these standards. After experimental and theoretical analyses, we present ReVa, a representation-alignment procedure that fine-tunes feature-randomized unlearned models to better acknowledge forgotten knowledge. On Q A tasks from the forget set, ReVa achieves the highest rejection rate after two rounds of interaction, nearly doubling the performance of the second-best method. Remarkably, It also improves honesty on the retained set.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表