Daily Papers

This paper studies generalization capabilities of neural networks (NNs) using new and improved PyTorch library Loss Landscape Analysis (LLA). LLA facilitates visualization and analysis of loss landscapes along with the properties of NN Hessian. Different approaches to NN loss landscape plotting are discussed with particular focus on normalization techniques showing that conventional methods cannot always ensure correct visualization when batch normalization layers are present in NN architecture. The use of Hessian axes is shown to be able to mitigate this effect, and methods for choosing Hessian axes are proposed. In addition, spectra of Hessian eigendecomposition are studied and it is shown that typical spectra exist for a wide range of NNs. This allows to propose quantitative criteria for Hessian analysis that can be applied to evaluate NN performance and assess its generalization capabilities. Generalization experiments are conducted using ImageNet-1K pre-trained models along with several models trained as part of this study. The experiment include training models on one dataset and testing on another one to maximize experiment similarity to model performance in the Wild. It is shown that when datasets change, the changes in criteria correlate with the changes in accuracy, making the proposed criteria a computationally efficient estimate of generalization ability, which is especially useful for extremely large datasets.

Large Language Model (LLM) agents have demonstrated impressive capabilities for social interaction and are increasingly being deployed in situations where they might engage with both human and artificial agents. These interactions represent a critical frontier for LLM-based agents, yet existing evaluation methods fail to measure how well these capabilities generalize to novel social situations. In this paper, we introduce a method for evaluating the ability of LLM-based agents to cooperate in zero-shot, mixed-motive environments using Concordia, a natural language multi-agent simulation environment. Our method measures general cooperative intelligence by testing an agent's ability to identify and exploit opportunities for mutual gain across diverse partners and contexts. We present empirical results from the NeurIPS 2024 Concordia Contest, where agents were evaluated on their ability to achieve mutual gains across a suite of diverse scenarios ranging from negotiation to collective action problems. Our findings reveal significant gaps between current agent capabilities and the robust generalization required for reliable cooperation, particularly in scenarios demanding persuasion and norm enforcement.

In continual learning (CL), an AI agent (e.g., autonomous vehicles or robotics) learns from non-stationary data streams under dynamic environments. For the practical deployment of such applications, it is important to guarantee robustness to unseen environments while maintaining past experiences. In this paper, a novel CL framework is proposed to achieve robust generalization to dynamic environments while retaining past knowledge. The considered CL agent uses a capacity-limited memory to save previously observed environmental information to mitigate forgetting issues. Then, data points are sampled from the memory to estimate the distribution of risks over environmental change so as to obtain predictors that are robust with unseen changes. The generalization and memorization performance of the proposed framework are theoretically analyzed. This analysis showcases the tradeoff between memorization and generalization with the memory size. Experiments show that the proposed algorithm outperforms memory-based CL baselines across all environments while significantly improving the generalization performance on unseen target environments.

We investigate the generalization capabilities of small language models under two popular adaptation paradigms: few-shot prompting and supervised fine-tuning. While prompting is often favored for its parameter efficiency and flexibility, it remains unclear how robust this approach is in low-resource settings and under distributional shifts. This paper presents a comparative study of prompting and fine-tuning across task formats, prompt styles, and model scales, with a focus on their behavior in both in-distribution and out-of-distribution (OOD) settings. Beyond accuracy, we analyze the internal representations learned by each approach to assess the stability and abstraction of task-specific features. Our findings highlight critical differences in how small models internalize and generalize knowledge under different adaptation strategies. This work offers practical guidance for model selection in low-data regimes and contributes empirical insight into the ongoing debate over prompting versus fine-tuning. Code for the experiments is available at the following

This paper presents Okapi, a new dataset for Natural Language to executable web Application Programming Interfaces (NL2API). This dataset is in English and contains 22,508 questions and 9,019 unique API calls, covering three domains. We define new compositional generalization tasks for NL2API which explore the models' ability to extrapolate from simple API calls in the training set to new and more complex API calls in the inference phase. Also, the models are required to generate API calls that execute correctly as opposed to the existing approaches which evaluate queries with placeholder values. Our dataset is different than most of the existing compositional semantic parsing datasets because it is a non-synthetic dataset studying the compositional generalization in a low-resource setting. Okapi is a step towards creating realistic datasets and benchmarks for studying compositional generalization alongside the existing datasets and tasks. We report the generalization capabilities of sequence-to-sequence baseline models trained on a variety of the SCAN and Okapi datasets tasks. The best model achieves 15\% exact match accuracy when generalizing from simple API calls to more complex API calls. This highlights some challenges for future research. Okapi dataset and tasks are publicly available at https://aka.ms/nl2api/data.

Humans can understand and produce new utterances effortlessly, thanks to their compositional skills. Once a person learns the meaning of a new verb "dax," he or she can immediately understand the meaning of "dax twice" or "sing and dax." In this paper, we introduce the SCAN domain, consisting of a set of simple compositional navigation commands paired with the corresponding action sequences. We then test the zero-shot generalization capabilities of a variety of recurrent neural networks (RNNs) trained on SCAN with sequence-to-sequence methods. We find that RNNs can make successful zero-shot generalizations when the differences between training and test commands are small, so that they can apply "mix-and-match" strategies to solve the task. However, when generalization requires systematic compositional skills (as in the "dax" example above), RNNs fail spectacularly. We conclude with a proof-of-concept experiment in neural machine translation, suggesting that lack of systematicity might be partially responsible for neural networks' notorious training data thirst.

Transformers have impressive generalization capabilities on tasks with a fixed context length. However, they fail to generalize to sequences of arbitrary length, even for seemingly simple tasks such as duplicating a string. Moreover, simply training on longer sequences is inefficient due to the quadratic computation complexity of the global attention mechanism. In this work, we demonstrate that this failure mode is linked to positional encodings being out-of-distribution for longer sequences (even for relative encodings) and introduce a novel family of positional encodings that can overcome this problem. Concretely, our randomized positional encoding scheme simulates the positions of longer sequences and randomly selects an ordered subset to fit the sequence's length. Our large-scale empirical evaluation of 6000 models across 15 algorithmic reasoning tasks shows that our method allows Transformers to generalize to sequences of unseen length (increasing test accuracy by 12.0% on average).

The rise of large language models (LLMs) has raised concerns about machine-generated text (MGT), including ethical and practical issues like plagiarism and misinformation. Building a robust and highly generalizable MGT detection system has become increasingly important. This work investigates the generalization capabilities of MGT detectors in three aspects: First, we construct MGTAcademic, a large-scale dataset focused on academic writing, featuring human-written texts (HWTs) and MGTs across STEM, Humanities, and Social Sciences, paired with an extensible code framework for efficient benchmarking. Second, we investigate the transferability of detectors across domains and LLMs, leveraging fine-grained datasets to reveal insights into domain transferring and implementing few-shot techniques to improve the performance by roughly 13.2%. Third, we introduce a novel attribution task where models must adapt to new classes over time without (or with very limited) access to prior training data and benchmark detectors. We implement several adapting techniques to improve the performance by roughly 10% and highlight the inherent complexity of the task. Our findings provide insights into the generalization ability of MGT detectors across diverse scenarios and lay the foundation for building robust, adaptive detection systems.

Federated Learning (FL) on graphs enables collaborative model training to enhance performance without compromising the privacy of each client. However, existing methods often overlook the mutable nature of graph data, which frequently introduces new nodes and leads to shifts in label distribution. Since they focus solely on performing well on each client's local data, they are prone to overfitting to their local distributions (i.e., local overfitting), which hinders their ability to generalize to unseen data with diverse label distributions. In contrast, our proposed method, FedLoG, effectively tackles this issue by mitigating local overfitting. Our model generates global synthetic data by condensing the reliable information from each class representation and its structural information across clients. Using these synthetic data as a training set, we alleviate the local overfitting problem by adaptively generalizing the absent knowledge within each local dataset. This enhances the generalization capabilities of local models, enabling them to handle unseen data effectively. Our model outperforms baselines in our proposed experimental settings, which are designed to measure generalization power to unseen data in practical scenarios. Our code is available at https://github.com/sung-won-kim/FedLoG

Precision livestock farming (PLF) increasingly relies on advanced object localization techniques to monitor livestock health and optimize resource management. This study investigates the generalization capabilities of YOLOv8 and YOLOv9 models for cow detection in indoor free-stall barn settings, focusing on varying training data characteristics such as view angles and lighting, and model complexities. Leveraging the newly released public dataset, COws LOcalization (COLO) dataset, we explore three key hypotheses: (1) Model generalization is equally influenced by changes in lighting conditions and camera angles; (2) Higher model complexity guarantees better generalization performance; (3) Fine-tuning with custom initial weights trained on relevant tasks always brings advantages to detection tasks. Our findings reveal considerable challenges in detecting cows in images taken from side views and underscore the importance of including diverse camera angles in building a detection model. Furthermore, our results emphasize that higher model complexity does not necessarily lead to better performance. The optimal model configuration heavily depends on the specific task and dataset. Lastly, while fine-tuning with custom initial weights trained on relevant tasks offers advantages to detection tasks, simpler models do not benefit similarly from this approach. It is more efficient to train a simple model with pre-trained weights without relying on prior relevant information, which can require intensive labor efforts. Future work should focus on adaptive methods and advanced data augmentation to improve generalization and robustness. This study provides practical guidelines for PLF researchers on deploying computer vision models from existing studies, highlights generalization issues, and contributes the COLO dataset containing 1254 images and 11818 cow instances for further research.

Language models can serve as a valuable tool for software developers to increase productivity. Large generative models can be used for code generation and code completion, while smaller encoder-only models are capable of performing code search tasks using natural language queries.These capabilities are heavily influenced by the quality and diversity of the available training data. Source code datasets used for training usually focus on the most popular languages and testing is mostly conducted on the same distributions, often overlooking low-resource programming languages. Motivated by the NLP generalization taxonomy proposed by Hupkes et.\,al., we propose a new benchmark dataset called GenCodeSearchNet (GeCS) which builds upon existing natural language code search datasets to systemically evaluate the programming language understanding generalization capabilities of language models. As part of the full dataset, we introduce a new, manually curated subset StatCodeSearch that focuses on R, a popular but so far underrepresented programming language that is often used by researchers outside the field of computer science. For evaluation and comparison, we collect several baseline results using fine-tuned BERT-style models and GPT-style large language models in a zero-shot setting.

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.

Despite significant advancements in multi-label text classification, the ability of existing models to generalize to novel and seldom-encountered complex concepts, which are compositions of elementary ones, remains underexplored. This research addresses this gap. By creating unique data splits across three benchmarks, we assess the compositional generalization ability of existing multi-label text classification models. Our results show that these models often fail to generalize to compositional concepts encountered infrequently during training, leading to inferior performance on tests with these new combinations. To address this, we introduce a data augmentation method that leverages two innovative text generation models designed to enhance the classification models' capacity for compositional generalization. Our experiments show that this data augmentation approach significantly improves the compositional generalization capabilities of classification models on our benchmarks, with both generation models surpassing other text generation baselines.

Fine-tuning Large Language Models (LLMs) on specific datasets is a common practice to improve performance on target tasks. However, this performance gain often leads to overfitting, where the model becomes too specialized in either the task or the characteristics of the training data, resulting in a loss of generalization. This paper introduces Selective Self-to-Supervised Fine-Tuning (S3FT), a fine-tuning approach that achieves better performance than the standard supervised fine-tuning (SFT) while improving generalization. S3FT leverages the existence of multiple valid responses to a query. By utilizing the model's correct responses, S3FT reduces model specialization during the fine-tuning stage. S3FT first identifies the correct model responses from the training set by deploying an appropriate judge. Then, it fine-tunes the model using the correct model responses and the gold response (or its paraphrase) for the remaining samples. The effectiveness of S3FT is demonstrated through experiments on mathematical reasoning, Python programming and reading comprehension tasks. The results show that standard SFT can lead to an average performance drop of up to 4.4 on multiple benchmarks, such as MMLU and TruthfulQA. In contrast, S3FT reduces this drop by half, i.e. 2.5, indicating better generalization capabilities than SFT while performing significantly better on the fine-tuning tasks.

Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant scene information, limiting robustness under distribution shifts. In this work, we investigate object-centric representations (OCR) as a structured alternative that segments visual input into a finished set of entities, introducing inductive biases that align more naturally with manipulation tasks. We benchmark a range of visual encoders-object-centric, global and dense methods-across a suite of simulated and real-world manipulation tasks ranging from simple to complex, and evaluate their generalization under diverse visual conditions including changes in lighting, texture, and the presence of distractors. Our findings reveal that OCR-based policies outperform dense and global representations in generalization settings, even without task-specific pretraining. These insights suggest that OCR is a promising direction for designing visual systems that generalize effectively in dynamic, real-world robotic environments.

State-space models (SSMs) are a new class of foundation models that have emerged as a compelling alternative to Transformers and their attention mechanisms for sequence processing tasks. This paper provides a detailed theoretical analysis of selective SSMs, the core components of the Mamba and Mamba-2 architectures. We leverage the connection between selective SSMs and the self-attention mechanism to highlight the fundamental similarities between these models. Building on this connection, we establish a length independent covering number-based generalization bound for selective SSMs, providing a deeper understanding of their theoretical performance guarantees. We analyze the effects of state matrix stability and input-dependent discretization, shedding light on the critical role played by these factors in the generalization capabilities of selective SSMs. Finally, we empirically demonstrate the sequence length independence of the derived bounds on two tasks.

Contrastive Language-Image Pretraining (CLIP) model has exhibited remarkable efficacy in establishing cross-modal connections between texts and images, yielding impressive performance across a broad spectrum of downstream applications through fine-tuning. However, for generalization tasks, the current fine-tuning methods for CLIP, such as CoOp and CoCoOp, demonstrate relatively low performance on some fine-grained datasets. We recognize the underlying reason is that these previous methods only projected global features into the prompt, neglecting the various visual concepts, such as colors, shapes, and sizes, which are naturally transferable across domains and play a crucial role in generalization tasks. To address this issue, in this work, we propose Concept-Guided Prompt Learning (CPL) for vision-language models. Specifically, we leverage the well-learned knowledge of CLIP to create a visual concept cache to enable concept-guided prompting. In order to refine the text features, we further develop a projector that transforms multi-level visual features into text features. We observe that this concept-guided prompt learning approach is able to achieve enhanced consistency between visual and linguistic modalities. Extensive experimental results demonstrate that our CPL method significantly improves generalization capabilities compared to the current state-of-the-art methods.

Most studies on surgical activity recognition utilizing Artificial intelligence (AI) have focused mainly on recognizing one type of activity from small and mono-centric surgical video datasets. It remains speculative whether those models would generalize to other centers. In this work, we introduce a large multi-centric multi-activity dataset consisting of 140 videos (MultiBypass140) of laparoscopic Roux-en-Y gastric bypass (LRYGB) surgeries performed at two medical centers: the University Hospital of Strasbourg (StrasBypass70) and Inselspital, Bern University Hospital (BernBypass70). The dataset has been fully annotated with phases and steps. Furthermore, we assess the generalizability and benchmark different deep learning models in 7 experimental studies: 1) Training and evaluation on BernBypass70; 2) Training and evaluation on StrasBypass70; 3) Training and evaluation on the MultiBypass140; 4) Training on BernBypass70, evaluation on StrasBypass70; 5) Training on StrasBypass70, evaluation on BernBypass70; Training on MultiBypass140, evaluation 6) on BernBypass70 and 7) on StrasBypass70. The model's performance is markedly influenced by the training data. The worst results were obtained in experiments 4) and 5) confirming the limited generalization capabilities of models trained on mono-centric data. The use of multi-centric training data, experiments 6) and 7), improves the generalization capabilities of the models, bringing them beyond the level of independent mono-centric training and validation (experiments 1) and 2)). MultiBypass140 shows considerable variation in surgical technique and workflow of LRYGB procedures between centers. Therefore, generalization experiments demonstrate a remarkable difference in model performance. These results highlight the importance of multi-centric datasets for AI model generalization to account for variance in surgical technique and workflows.

An important problem in machine auditory perception is to recognize and detect sound events. In this paper, we propose a sequential self-teaching approach to learning sounds. Our main proposition is that it is harder to learn sounds in adverse situations such as from weakly labeled and/or noisy labeled data, and in these situations a single stage of learning is not sufficient. Our proposal is a sequential stage-wise learning process that improves generalization capabilities of a given modeling system. We justify this method via technical results and on Audioset, the largest sound events dataset, our sequential learning approach can lead to up to 9% improvement in performance. A comprehensive evaluation also shows that the method leads to improved transferability of knowledge from previously trained models, thereby leading to improved generalization capabilities on transfer learning tasks.

Multimodal Large Language Models (MLLMs) have gained significant traction for their ability to process diverse input data types and generate coherent, contextually relevant outputs across various applications. While supervised fine-tuning (SFT) has been the predominant approach to enhance MLLM capabilities in task-specific optimization, it often falls short in fostering crucial generalized reasoning abilities. Although reinforcement learning (RL) holds great promise in overcoming these limitations, it encounters two significant challenges: (1) its generalized capacities in multimodal tasks remain largely unexplored, and (2) its training constraints, including the constant Kullback-Leibler divergence or the clamp strategy, often result in suboptimal bottlenecks. To address these challenges, we propose OThink-MR1, an advanced MLLM equipped with profound comprehension and reasoning capabilities across multimodal tasks. Specifically, we introduce Group Relative Policy Optimization with a dynamic Kullback-Leibler strategy (GRPO-D), which markedly enhances reinforcement learning (RL) performance. For Qwen2-VL-2B-Instruct, GRPO-D achieves a relative improvement of more than 5.72% over SFT and more than 13.59% over GRPO in same-task evaluation on two adapted datasets. Furthermore, GRPO-D demonstrates remarkable cross-task generalization capabilities, with an average relative improvement of more than 61.63% over SFT in cross-task evaluation. These results highlight that the MLLM trained with GRPO-D on one multimodal task can be effectively transferred to another task, underscoring the superior generalized reasoning capabilities of our proposed OThink-MR1 model.

The ability to extrapolate from short problem instances to longer ones is an important form of out-of-distribution generalization in reasoning tasks, and is crucial when learning from datasets where longer problem instances are rare. These include theorem proving, solving quantitative mathematics problems, and reading/summarizing novels. In this paper, we run careful empirical studies exploring the length generalization capabilities of transformer-based language models. We first establish that naively finetuning transformers on length generalization tasks shows significant generalization deficiencies independent of model scale. We then show that combining pretrained large language models' in-context learning abilities with scratchpad prompting (asking the model to output solution steps before producing an answer) results in a dramatic improvement in length generalization. We run careful failure analyses on each of the learning modalities and identify common sources of mistakes that highlight opportunities in equipping language models with the ability to generalize to longer problems.

Large Language Model (LLM) based agents have proved their ability to perform complex tasks like humans. However, there is still a large gap between open-sourced LLMs and commercial models like the GPT series. In this paper, we focus on improving the agent generalization capabilities of LLMs via instruction tuning. We first observe that the existing agent training corpus exhibits satisfactory results on held-in evaluation sets but fails to generalize to held-out sets. These agent-tuning works face severe formatting errors and are frequently stuck in the same mistake for a long while. We analyze that the poor generalization ability comes from overfitting to several manual agent environments and a lack of adaptation to new situations. They struggle with the wrong action steps and can not learn from the experience but just memorize existing observation-action relations. Inspired by the insight, we propose a novel AgentRefine framework for agent-tuning. The core idea is to enable the model to learn to correct its mistakes via observation in the trajectory. Specifically, we propose an agent synthesis framework to encompass a diverse array of environments and tasks and prompt a strong LLM to refine its error action according to the environment feedback. AgentRefine significantly outperforms state-of-the-art agent-tuning work in terms of generalization ability on diverse agent tasks. It also has better robustness facing perturbation and can generate diversified thought in inference. Our findings establish the correlation between agent generalization and self-refinement and provide a new paradigm for future research.

While large language models (LLMs) have shown exceptional capabilities in understanding complex queries and performing sophisticated tasks, their generalization abilities are often deeply entangled with memorization, necessitating more precise evaluation. To address this challenge, we introduce Scylla, a dynamic evaluation framework that quantitatively measures the generalization abilities of LLMs. Scylla disentangles generalization from memorization via assessing model performance on both in-distribution (ID) and out-of-distribution (OOD) data through 20 tasks across 5 levels of complexity. Through extensive experiments, we uncover a non-monotonic relationship between task complexity and the performance gap between ID and OOD data, which we term the generalization valley. Specifically, this phenomenon reveals a critical threshold - referred to as critical complexity - where reliance on non-generalizable behavior peaks, indicating the upper bound of LLMs' generalization capabilities. As model size increases, the critical complexity shifts toward higher levels of task complexity, suggesting that larger models can handle more complex reasoning tasks before over-relying on memorization. Leveraging Scylla and the concept of critical complexity, we benchmark 28LLMs including both open-sourced models such as LLaMA and Qwen families, and close-sourced models like Claude and GPT, providing a more robust evaluation and establishing a clearer understanding of LLMs' generalization capabilities.

Systematic, compositional generalization beyond the training distribution remains a core challenge in machine learning -- and a critical bottleneck for the emergent reasoning abilities of modern language models. This work investigates out-of-distribution (OOD) generalization in Transformer networks using a GSM8K-style modular arithmetic on computational graphs task as a testbed. We introduce and explore a set of four architectural mechanisms aimed at enhancing OOD generalization: (i) input-adaptive recurrence; (ii) algorithmic supervision; (iii) anchored latent representations via a discrete bottleneck; and (iv) an explicit error-correction mechanism. Collectively, these mechanisms yield an architectural approach for native and scalable latent space reasoning in Transformer networks with robust algorithmic generalization capabilities. We complement these empirical results with a detailed mechanistic interpretability analysis that reveals how these mechanisms give rise to robust OOD generalization abilities.

We present a simple yet theoretically motivated improvement to Supervised Fine-Tuning (SFT) for the Large Language Model (LLM), addressing its limited generalization compared to reinforcement learning (RL). Through mathematical analysis, we reveal that standard SFT gradients implicitly encode a problematic reward structure that may severely restrict the generalization capabilities of model. To rectify this, we propose Dynamic Fine-Tuning (DFT), stabilizing gradient updates for each token by dynamically rescaling the objective function with the probability of this token. Remarkably, this single-line code change significantly outperforms standard SFT across multiple challenging benchmarks and base models, demonstrating greatly improved generalization. Additionally, our approach shows competitive results in offline RL settings, offering an effective yet simpler alternative. This work bridges theoretical insight and practical solutions, substantially advancing SFT performance. The code will be available at https://github.com/yongliang-wu/DFT.

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot policies. However, current evaluations of VLAs remain insufficient. Traditional imitation learning benchmarks are unsuitable due to the lack of language instructions. Emerging benchmarks for VLAs that incorporate language often come with limited evaluation tasks and do not intend to investigate how much VLM pretraining truly contributes to the generalization capabilities of the downstream robotic policy. Meanwhile, much research relies on real-world robot setups designed in isolation by different institutions, which creates a barrier for reproducibility and accessibility. To address this gap, we introduce a unified probing suite of 50 simulation-based tasks across 10 subcategories spanning language instruction, vision, and objects. We systematically evaluate several state-of-the-art VLA architectures on this suite to understand their generalization capability. Our results show that while VLM backbones endow VLAs with robust perceptual understanding and high level planning, which we refer to as good intentions, this does not reliably translate into precise motor execution: when faced with out-of-distribution observations, policies often exhibit coherent intentions, but falter in action execution. Moreover, finetuning on action data can erode the original VLM's generalist reasoning abilities. We release our task suite and evaluation code to serve as a standardized benchmark for future VLAs and to drive research on closing the perception-to-action gap. More information, including the source code, can be found at https://ai4ce.github.io/INT-ACT/

Large language models excel at pattern matching, yet often fall short in systematic compositional generalization. We propose the coverage principle: a data-centric framework showing that models relying primarily on pattern matching for compositional tasks cannot reliably generalize beyond substituting fragments that yield identical results when used in the same contexts. We demonstrate that this framework has a strong predictive power for the generalization capabilities of Transformers. First, we derive and empirically confirm that the training data required for two-hop generalization grows at least quadratically with the token set size, and the training data efficiency does not improve with 20x parameter scaling. Second, for compositional tasks with path ambiguity where one variable affects the output through multiple computational paths, we show that Transformers learn context-dependent state representations that undermine both performance and interoperability. Third, Chain-of-Thought supervision improves training data efficiency for multi-hop tasks but still struggles with path ambiguity. Finally, we outline a mechanism-based taxonomy that distinguishes three ways neural networks can generalize: structure-based (bounded by coverage), property-based (leveraging algebraic invariances), and shared-operator (through function reuse). This conceptual lens contextualizes our results and highlights where new architectural ideas are needed to achieve systematic compositionally. Overall, the coverage principle provides a unified lens for understanding compositional reasoning, and underscores the need for fundamental architectural or training innovations to achieve truly systematic compositionality.

We investigate the impact of channel-wise mixing via multi-layer perceptrons (MLPs) on the generalization capabilities of recurrent convolutional networks. Specifically, we compare two architectures: DARC (Depth Aware Recurrent Convolution), which employs a simple recurrent convolutional structure, and DAMP (Depth Aware Multi-layer Perceptron), which extends DARC with a gated MLP for channel mixing. Using the Re-ARC benchmark, we find that DAMP significantly outperforms DARC in both in-distribution and out-of-distribution generalization under exact-match grading criteria. These results suggest that explicit channel mixing through MLPs enables recurrent convolutional networks to learn more robust and generalizable computational patterns. Our findings have implications for neural program synthesis and highlight the potential of DAMP as a target architecture for hypernetwork approaches.

Recent advancements in language models (LMs) have demonstrated strong capabilities in semantic understanding and contextual modeling, which have flourished in generative speech enhancement (SE). However, many LM-based SE approaches primarily focus on semantic information, often neglecting the critical role of acoustic information, which leads to acoustic inconsistency after enhancement and limited generalization across diverse SE tasks. In this paper, we introduce LLaSE-G1, a LLaMA-based language model that incentivizes generalization capabilities for speech enhancement. LLaSE-G1 offers the following key contributions: First, to mitigate acoustic inconsistency, LLaSE-G1 employs continuous representations from WavLM as input and predicts speech tokens from X-Codec2, maximizing acoustic preservation. Second, to promote generalization capability, LLaSE-G1 introduces dual-channel inputs and outputs, unifying multiple SE tasks without requiring task-specific IDs. Third, LLaSE-G1 outperforms prior task-specific discriminative and generative SE models, demonstrating scaling effects at test time and emerging capabilities for unseen SE tasks. Additionally, we release our code and models to support further research in this area.

Reinforcement learning research obtained significant success and attention with the utilization of deep neural networks to solve problems in high dimensional state or action spaces. While deep reinforcement learning policies are currently being deployed in many different fields from medical applications to self driving vehicles, there are still ongoing questions the field is trying to answer on the generalization capabilities of deep reinforcement learning policies. In this paper, we will outline the fundamental reasons why deep reinforcement learning policies encounter overfitting problems that limit their robustness and generalization capabilities. Furthermore, we will formalize and unify the diverse solution approaches to increase generalization, and overcome overfitting in state-action value functions. We believe our study can provide a compact systematic unified analysis for the current advancements in deep reinforcement learning, and help to construct robust deep neural policies with improved generalization abilities.

The proliferation of pretrained models, as a result of advancements in pretraining techniques, has led to the emergence of a vast zoo of publicly available models. Effectively utilizing these resources to obtain models with robust out-of-distribution generalization capabilities for downstream tasks has become a crucial area of research. Previous research has primarily focused on identifying the most powerful models within the model zoo, neglecting to fully leverage the diverse inductive biases contained within. This paper argues that the knowledge contained in weaker models is valuable and presents a method for leveraging the diversity within the model zoo to improve out-of-distribution generalization capabilities. Specifically, we investigate the behaviors of various pretrained models across different domains of downstream tasks by characterizing the variations in their encoded representations in terms of two dimensions: diversity shift and correlation shift. This characterization enables us to propose a new algorithm for integrating diverse pretrained models, not limited to the strongest models, in order to achieve enhanced out-of-distribution generalization performance. Our proposed method demonstrates state-of-the-art empirical results on a variety of datasets, thus validating the benefits of utilizing diverse knowledge.

Super-resolution (SR) techniques designed for real-world applications commonly encounter two primary challenges: generalization performance and restoration accuracy. We demonstrate that when methods are trained using complex, large-range degradations to enhance generalization, a decline in accuracy is inevitable. However, since the degradation in a certain real-world applications typically exhibits a limited variation range, it becomes feasible to strike a trade-off between generalization performance and testing accuracy within this scope. In this work, we introduce a novel approach to craft training degradation distributions using a small set of reference images. Our strategy is founded upon the binned representation of the degradation space and the Fr\'echet distance between degradation distributions. Our results indicate that the proposed technique significantly improves the performance of test images while preserving generalization capabilities in real-world applications.

We present the results of the Machine Reading for Question Answering (MRQA) 2019 shared task on evaluating the generalization capabilities of reading comprehension systems. In this task, we adapted and unified 18 distinct question answering datasets into the same format. Among them, six datasets were made available for training, six datasets were made available for development, and the final six were hidden for final evaluation. Ten teams submitted systems, which explored various ideas including data sampling, multi-task learning, adversarial training and ensembling. The best system achieved an average F1 score of 72.5 on the 12 held-out datasets, 10.7 absolute points higher than our initial baseline based on BERT.

The measure of a machine learning algorithm is the difficulty of the tasks it can perform, and sufficiently difficult tasks are critical drivers of strong machine learning models. However, quantifying the generalization difficulty of machine learning benchmarks has remained challenging. We propose what is to our knowledge the first model-agnostic measure of the inherent generalization difficulty of tasks. Our inductive bias complexity measure quantifies the total information required to generalize well on a task minus the information provided by the data. It does so by measuring the fractional volume occupied by hypotheses that generalize on a task given that they fit the training data. It scales exponentially with the intrinsic dimensionality of the space over which the model must generalize but only polynomially in resolution per dimension, showing that tasks which require generalizing over many dimensions are drastically more difficult than tasks involving more detail in fewer dimensions. Our measure can be applied to compute and compare supervised learning, reinforcement learning and meta-learning generalization difficulties against each other. We show that applied empirically, it formally quantifies intuitively expected trends, e.g. that in terms of required inductive bias, MNIST < CIFAR10 < Imagenet and fully observable Markov decision processes (MDPs) < partially observable MDPs. Further, we show that classification of complex images < few-shot meta-learning with simple images. Our measure provides a quantitative metric to guide the construction of more complex tasks requiring greater inductive bias, and thereby encourages the development of more sophisticated architectures and learning algorithms with more powerful generalization capabilities.

Transformer models, notably large language models (LLMs), have the remarkable ability to perform in-context learning (ICL) -- to perform new tasks when prompted with unseen input-output examples without any explicit model training. In this work, we study how effectively transformers can bridge between their pretraining data mixture, comprised of multiple distinct task families, to identify and learn new tasks in-context which are both inside and outside the pretraining distribution. Building on previous work, we investigate this question in a controlled setting, where we study transformer models trained on sequences of (x, f(x)) pairs rather than natural language. Our empirical results show transformers demonstrate near-optimal unsupervised model selection capabilities, in their ability to first in-context identify different task families and in-context learn within them when the task families are well-represented in their pretraining data. However when presented with tasks or functions which are out-of-domain of their pretraining data, we demonstrate various failure modes of transformers and degradation of their generalization for even simple extrapolation tasks. Together our results highlight that the impressive ICL abilities of high-capacity sequence models may be more closely tied to the coverage of their pretraining data mixtures than inductive biases that create fundamental generalization capabilities.

In this work, we empirically show that updating pretrained LMs (350M, 1.3B, 2.7B) with just a few steps of Gradient Ascent Post-training (GAP) on random, unlabeled text corpora enhances its zero-shot generalization capabilities across diverse NLP tasks. Specifically, we show that GAP can allow LMs to become comparable to 2-3x times larger LMs across 12 different NLP tasks. We also show that applying GAP on out-of-distribution corpora leads to the most reliable performance improvements. Our findings indicate that GAP can be a promising method for improving the generalization capability of LMs without any task-specific fine-tuning.

Fine-tuning Large Language Models (LLMs) on specific datasets is a common practice to improve performance on target tasks. However, this performance gain often leads to overfitting, where the model becomes too specialized in either the task or the characteristics of the training data, resulting in a loss of generalization. This paper introduces Selective Self-Rehearsal (SSR), a fine-tuning approach that achieves performance comparable to the standard supervised fine-tuning (SFT) while improving generalization. SSR leverages the fact that there can be multiple valid responses to a query. By utilizing the model's correct responses, SSR reduces model specialization during the fine-tuning stage. SSR first identifies the correct model responses from the training set by deploying an appropriate LLM as a judge. Then, it fine-tunes the model using the correct model responses and the gold response for the remaining samples. The effectiveness of SSR is demonstrated through experiments on the task of identifying unanswerable queries across various datasets. The results show that standard SFT can lead to an average performance drop of up to 16.7% on multiple benchmarks, such as MMLU and TruthfulQA. In contrast, SSR results in close to 2% drop on average, indicating better generalization capabilities compared to standard SFT.

While generalization over tasks from easy to hard is crucial to profile language models (LLMs), the datasets with fine-grained difficulty annotations for each problem across a broad range of complexity are still blank. Aiming to address this limitation, we present Easy2Hard-Bench, a consistently formatted collection of 6 benchmark datasets spanning various domains, such as mathematics and programming problems, chess puzzles, and reasoning questions. Each problem within these datasets is annotated with numerical difficulty scores. To systematically estimate problem difficulties, we collect abundant performance data on attempts to each problem by humans in the real world or LLMs on the prominent leaderboard. Leveraging the rich performance data, we apply well-established difficulty ranking systems, such as Item Response Theory (IRT) and Glicko-2 models, to uniformly assign numerical difficulty scores to problems. Moreover, datasets in Easy2Hard-Bench distinguish themselves from previous collections by a higher proportion of challenging problems. Through extensive experiments with six state-of-the-art LLMs, we provide a comprehensive analysis of their performance and generalization capabilities across varying levels of difficulty, with the aim of inspiring future research in LLM generalization. The datasets are available at https://huggingface.co/datasets/furonghuang-lab/Easy2Hard-Bench.

Much recent progress in applications of machine learning models to NLP has been driven by benchmarks that evaluate models across a wide variety of tasks. However, these broad-coverage benchmarks have been mostly limited to English, and despite an increasing interest in multilingual models, a benchmark that enables the comprehensive evaluation of such methods on a diverse range of languages and tasks is still missing. To this end, we introduce the Cross-lingual TRansfer Evaluation of Multilingual Encoders XTREME benchmark, a multi-task benchmark for evaluating the cross-lingual generalization capabilities of multilingual representations across 40 languages and 9 tasks. We demonstrate that while models tested on English reach human performance on many tasks, there is still a sizable gap in the performance of cross-lingually transferred models, particularly on syntactic and sentence retrieval tasks. There is also a wide spread of results across languages. We release the benchmark to encourage research on cross-lingual learning methods that transfer linguistic knowledge across a diverse and representative set of languages and tasks.

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better results but are affected by high computational complexity. Moreover, highly complex deep learning models are often not suited to efficiently learn from small datasets. Their generalization capabilities can easily be driven by the abundance of data rather than the architecture design. In this paper, we harness the information from the three-dimensional representation to proficiently capture local features, while introducing the range image representation to incorporate additional information and facilitate fast computation. A GPU-based KDTree allows for rapid building, querying, and enhancing projection with straightforward operations. Extensive experiments on SemanticKITTI and nuScenes datasets demonstrate the benefits of our modification in a ``small data'' setup, in which only one sequence of the dataset is used to train the models, but also in the conventional setup, where all sequences except one are used for training. We show that a reduced version of our model not only demonstrates strong competitiveness against full-scale state-of-the-art models but also operates in real-time, making it a viable choice for real-world case applications. The code of our method is available at https://github.com/Bender97/WaffleAndRange.

We offer a novel perspective on reward modeling by formulating it as a policy discriminator, which quantifies the difference between two policies to generate a reward signal, guiding the training policy towards a target policy with desired behaviors. Based on this conceptual insight, we propose a scalable pre-training method named Policy Discriminative Learning (POLAR), which trains a reward model (RM) to discern identical policies and discriminate different ones. Unlike traditional reward modeling methods relying on absolute preferences, POLAR captures the relative difference between one policy and an arbitrary target policy, which is a scalable, high-level optimization objective suitable for modeling generic ranking relationships. Leveraging the POLAR pre-training paradigm, we present a series of RMs with parameter scales from 1.8B to 7B. Empirical results show that POLAR substantially outperforms traditional non-pre-trained methods, significantly enhancing RM performance. For instance, POLAR-7B could improve preference accuracy from 54.8% to 81.0% on STEM tasks and from 57.9% to 85.5% on creative writing tasks compared to SOTA baselines. POLAR also shows robust generalization capabilities in RLHF using Reinforcement Fine-tuning (RFT), providing reliable reward signals and markedly enhancing policy performance--improving LLaMa3.1-8B from an average of 47.36% to 56.33% and Qwen2.5-32B from 64.49% to 70.47% on 20 benchmarks. Moreover, scaling experiments reveal a clear power-law relationship between computation and performance, supported by linear correlation coefficients approaching 0.99. The impressive performance, strong generalization, and scaling properties suggest that POLAR is a promising direction for developing general and strong reward models.

Recently, large language models (LLMs) have demonstrated remarkable problem-solving capabilities by autonomously integrating with external tools for collaborative reasoning. However, due to the inherently complex and diverse nature of multimodal information, enabling multimodal large language models (MLLMs) to flexibly and efficiently utilize external tools during reasoning remains an underexplored challenge. In this work, we introduce ToolScope, an agentic framework designed to unify global planning with local multimodal perception, adopting a specialized Perceive tool to mitigates visual context degradation in long-horizon VQA task. ToolScope comprises three primary components: the Global Navigator, the Agentic Executor, and the Response Synthesizer. The Global Navigator functions as a "telescope", offering high-level strategic guidance. The Agentic Executor operates iteratively to augment MLLM with local perception through the integration of external tools-Search, Code, and Perceive. Finally, the Response Synthesizer consolidates and organizes the reasoning process into a coherent, user-friendly output. We evaluate ToolScope on four VQA benchmarks across diverse domains, including VQA 2.0, ScienceQA, MAT-Search and MathVista. It demonstrates strong generalization capabilities, achieving an average performance improvement of up to +6.69% across all datasets.

4D video control is essential in video generation as it enables the use of sophisticated lens techniques, such as multi-camera shooting and dolly zoom, which are currently unsupported by existing methods. Training a video Diffusion Transformer (DiT) directly to control 4D content requires expensive multi-view videos. Inspired by Monocular Dynamic novel View Synthesis (MDVS) that optimizes a 4D representation and renders videos according to different 4D elements, such as camera pose and object motion editing, we bring pseudo 4D Gaussian fields to video generation. Specifically, we propose a novel framework that constructs a pseudo 4D Gaussian field with dense 3D point tracking and renders the Gaussian field for all video frames. Then we finetune a pretrained DiT to generate videos following the guidance of the rendered video, dubbed as GS-DiT. To boost the training of the GS-DiT, we also propose an efficient Dense 3D Point Tracking (D3D-PT) method for the pseudo 4D Gaussian field construction. Our D3D-PT outperforms SpatialTracker, the state-of-the-art sparse 3D point tracking method, in accuracy and accelerates the inference speed by two orders of magnitude. During the inference stage, GS-DiT can generate videos with the same dynamic content while adhering to different camera parameters, addressing a significant limitation of current video generation models. GS-DiT demonstrates strong generalization capabilities and extends the 4D controllability of Gaussian splatting to video generation beyond just camera poses. It supports advanced cinematic effects through the manipulation of the Gaussian field and camera intrinsics, making it a powerful tool for creative video production. Demos are available at https://wkbian.github.io/Projects/GS-DiT/.

Prevalent reinforcement learning~(RL) methods for fine-tuning LLM reasoners, such as GRPO or Leave-one-out PPO, abandon the learned value function in favor of empirically estimated returns. This hinders test-time compute scaling that relies on using the value-function for verification. In this work, we propose RL^V that augments any ``value-free'' RL method by jointly training the LLM as both a reasoner and a generative verifier using RL-generated data, adding verification capabilities without significant overhead. Empirically, RL^V boosts MATH accuracy by over 20\% with parallel sampling and enables 8-32times efficient test-time compute scaling compared to the base RL method. RL^V also exhibits strong generalization capabilities for both easy-to-hard and out-of-domain tasks. Furthermore, RL^V achieves 1.2-1.6times higher performance when jointly scaling parallel and sequential test-time compute with a long reasoning R1 model.

Recently, 3D Gaussian Splatting (3DGS) has revolutionized radiance field reconstruction, manifesting efficient and high-fidelity novel view synthesis. However, accurately representing surfaces, especially in large and complex scenarios, remains a significant challenge due to the unstructured nature of 3DGS. In this paper, we present CityGaussianV2, a novel approach for large-scale scene reconstruction that addresses critical challenges related to geometric accuracy and efficiency. Building on the favorable generalization capabilities of 2D Gaussian Splatting (2DGS), we address its convergence and scalability issues. Specifically, we implement a decomposed-gradient-based densification and depth regression technique to eliminate blurry artifacts and accelerate convergence. To scale up, we introduce an elongation filter that mitigates Gaussian count explosion caused by 2DGS degeneration. Furthermore, we optimize the CityGaussian pipeline for parallel training, achieving up to 10times compression, at least 25% savings in training time, and a 50% decrease in memory usage. We also established standard geometry benchmarks under large-scale scenes. Experimental results demonstrate that our method strikes a promising balance between visual quality, geometric accuracy, as well as storage and training costs. The project page is available at https://dekuliutesla.github.io/CityGaussianV2/.

Task-generic promptable image segmentation aims to achieve segmentation of diverse samples under a single task description by utilizing only one task-generic prompt. Current methods leverage the generalization capabilities of Vision-Language Models (VLMs) to infer instance-specific prompts from these task-generic prompts in order to guide the segmentation process. However, when VLMs struggle to generalise to some image instances, predicting instance-specific prompts becomes poor. To solve this problem, we introduce Instance-specific Negative Mining for Task-Generic Promptable Segmentation (INT). The key idea of INT is to adaptively reduce the influence of irrelevant (negative) prior knowledge whilst to increase the use the most plausible prior knowledge, selected by negative mining with higher contrast, in order to optimise instance-specific prompts generation. Specifically, INT consists of two components: (1) instance-specific prompt generation, which progressively fliters out incorrect information in prompt generation; (2) semantic mask generation, which ensures each image instance segmentation matches correctly the semantics of the instance-specific prompts. INT is validated on six datasets, including camouflaged objects and medical images, demonstrating its effectiveness, robustness and scalability.

In the realm of high-resolution (HR), fine-grained image segmentation, the primary challenge is balancing broad contextual awareness with the precision required for detailed object delineation, capturing intricate details and the finest edges of objects. Diffusion models, trained on vast datasets comprising billions of image-text pairs, such as SD V2.1, have revolutionized text-to-image synthesis by delivering exceptional quality, fine detail resolution, and strong contextual awareness, making them an attractive solution for high-resolution image segmentation. To this end, we propose DiffDIS, a diffusion-driven segmentation model that taps into the potential of the pre-trained U-Net within diffusion models, specifically designed for high-resolution, fine-grained object segmentation. By leveraging the robust generalization capabilities and rich, versatile image representation prior of the SD models, coupled with a task-specific stable one-step denoising approach, we significantly reduce the inference time while preserving high-fidelity, detailed generation. Additionally, we introduce an auxiliary edge generation task to not only enhance the preservation of fine details of the object boundaries, but reconcile the probabilistic nature of diffusion with the deterministic demands of segmentation. With these refined strategies in place, DiffDIS serves as a rapid object mask generation model, specifically optimized for generating detailed binary maps at high resolutions, while demonstrating impressive accuracy and swift processing. Experiments on the DIS5K dataset demonstrate the superiority of DiffDIS, achieving state-of-the-art results through a streamlined inference process. The source code will be publicly available at https://github.com/qianyu-dlut/DiffDIS.

We propose a novel approach for learning interchangeable tokens in language models to obtain an extendable vocabulary that can generalize to new tokens. Our method is designed to address alpha-equivalence, the principle that renaming bound variables in a syntactic expression preserves semantics. This property arises in many formal languages such as temporal logics, in which all proposition symbols represent the same concept but are distinguishable from each other. To handle such tokens, we develop a dual-part embedding approach. The first part is shared across all interchangeable tokens, thereby enforcing that they represent the same core concept. The second part is randomly generated for each token, which enables distinguishability. We evaluate our method in a Transformer encoder-decoder model on two tasks: solving linear temporal logic formulae and copying with extendable vocabulary. Our method demonstrates promising generalization capabilities in addition to introducing a favorable inductive bias for alpha-equivalence.

Prior studies on Remote Sensing Foundation Model (RSFM) reveal immense potential towards a generic model for Earth Observation. Nevertheless, these works primarily focus on a single modality without temporal and geo-context modeling, hampering their capabilities for diverse tasks. In this study, we present SkySense, a generic billion-scale model, pre-trained on a curated multi-modal Remote Sensing Imagery (RSI) dataset with 21.5 million temporal sequences. SkySense incorporates a factorized multi-modal spatiotemporal encoder taking temporal sequences of optical and Synthetic Aperture Radar (SAR) data as input. This encoder is pre-trained by our proposed Multi-Granularity Contrastive Learning to learn representations across different modal and spatial granularities. To further enhance the RSI representations by the geo-context clue, we introduce Geo-Context Prototype Learning to learn region-aware prototypes upon RSI's multi-modal spatiotemporal features. To our best knowledge, SkySense is the largest Multi-Modal RSFM to date, whose modules can be flexibly combined or used individually to accommodate various tasks. It demonstrates remarkable generalization capabilities on a thorough evaluation encompassing 16 datasets over 7 tasks, from single- to multi-modal, static to temporal, and classification to localization. SkySense surpasses 18 recent RSFMs in all test scenarios. Specifically, it outperforms the latest models such as GFM, SatLas and Scale-MAE by a large margin, i.e., 2.76%, 3.67% and 3.61% on average respectively. We will release the pre-trained weights to facilitate future research and Earth Observation applications.

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In contrast, existing methods typically pre-train on large-scale, task-specific datasets in order to generalize to new objects and to bridge the image-to-model domain gap. We demonstrate that such generalization capabilities can be observed in a recent vision foundation model trained in a self-supervised manner. Specifically, our method estimates the object pose from image-to-model 2D-3D correspondences, which are established by matching patch descriptors from the recent DINOv2 model between the image and pre-rendered object templates. We find that reliable correspondences can be established by kNN matching of patch descriptors from an intermediate DINOv2 layer. Such descriptors carry stronger positional information than descriptors from the last layer, and we show their importance when semantic information is ambiguous due to object symmetries or a lack of texture. To avoid establishing correspondences against all object templates, we develop an efficient template retrieval approach that integrates the patch descriptors into the bag-of-words representation and can promptly propose a handful of similarly looking templates. Additionally, we apply featuremetric alignment to compensate for discrepancies in the 2D-3D correspondences caused by coarse patch sampling. The resulting method noticeably outperforms existing RGB methods for refinement-free pose estimation on the standard BOP benchmark with seven diverse datasets and can be seamlessly combined with an existing render-and-compare refinement method to achieve RGB-only state-of-the-art results. Project page: evinpinar.github.io/foundpose.

In this study, we evaluate the performance of the Segment Anything Model (SAM) in clinical radiotherapy. Our results indicate that SAM's 'segment anything' mode can achieve clinically acceptable segmentation results in most organs-at-risk (OARs) with Dice scores higher than 0.7. SAM's 'box prompt' mode further improves the Dice scores by 0.1 to 0.5. Considering the size of the organ and the clarity of its boundary, SAM displays better performance for large organs with clear boundaries but performs worse for smaller organs with unclear boundaries. Given that SAM, a model pre-trained purely on natural images, can handle the delineation of OARs from medical images with clinically acceptable accuracy, these results highlight SAM's robust generalization capabilities with consistent accuracy in automatic segmentation for radiotherapy. In other words, SAM can achieve delineation of different OARs at different sites using a generic automatic segmentation model. SAM's generalization capabilities across different disease sites suggest that it is technically feasible to develop a generic model for automatic segmentation in radiotherapy.

Objective: To allow efficient learning using the Recurrent Inference Machine (RIM) for image reconstruction whereas not being strictly dependent on the training data distribution so that unseen modalities and pathologies are still accurately recovered. Methods: Theoretically, the RIM learns to solve the inverse problem of accelerated-MRI reconstruction whereas being robust to variable imaging conditions. The efficiency and generalization capabilities with different training datasets were studied, as well as recurrent network units with decreasing complexity: the Gated Recurrent Unit (GRU), the Minimal Gated Unit (MGU), and the Independently Recurrent Neural Network (IndRNN), to reduce inference times. Validation was performed against Compressed Sensing (CS) and further assessed based on data unseen during training. A pathology study was conducted by reconstructing simulated white matter lesions and prospectively undersampled data of a Multiple Sclerosis patient. Results: Training on a single modality of 3T T_1-weighted brain data appeared sufficient to also reconstruct 7T T_{2}^*-weighted brain and 3T T_2-weighted knee data. The IndRNN is an efficient recurrent unit, reducing inference time by 68\% compared to CS, whereas maintaining performance. The RIM was able to reconstruct lesions unseen during training more accurately than CS when trained on T_2-weighted knee data. Training on T_1-weighted brain data and on combined data slightly enhanced the signal compared to CS. Conclusion: The RIM is efficient when decreasing its complexity, which reduces the inference time, whereas still being able to reconstruct data and pathology that was unseen during training.

Large Language Models (LLMs) and Vision-Language Large Models (LVLMs) have achieved remarkable progress in natural language processing and multimodal understanding. Despite their impressive generalization capabilities, current LVLMs often exhibit insufficient robustness, proneness to hallucination, and reasoning errors in complex real-world scenarios, particularly when precise image region localization and fine-grained visual reasoning are required. To address these limitations, we propose the Hierarchical Contextual Grounding LVLM (HCG-LVLM), a novel architecture that mimics human coarse-to-fine cognitive processing. HCG-LVLM employs a two-layered approach: a Global Contextual Perception layer for initial broad understanding and a Fine-grained Local Grounding layer. The latter incorporates a Local Detail Enhancement Module to extract high-resolution features and a Semantic Consistency Validator to ensure accurate, hallucination-free visual-language alignment. Through an adaptive fusion mechanism, information from both layers is integrated for robust and precise outputs. Extensive experiments on challenging datasets, including GQA, A-OKVQA for fine-grained VQA, and RefCOCO/+/g for Referring Expression Comprehension, demonstrate that HCG-LVLM consistently outperforms state-of-the-art models such as Flamingo, BLIP-2, and MiniGPT-4. Our model achieves superior accuracy and significantly reduces hallucination, validating the effectiveness of its hierarchical design in enhancing fine-grained visual-language understanding and precise grounding capabilities.

The rapid advancement of transformer-based language models has catalyzed breakthroughs in biomedical and clinical natural language processing; however, plant science remains markedly underserved by such domain-adapted tools. In this work, we present PlantBert, a high-performance, open-source language model specifically tailored for extracting structured knowledge from plant stress-response literature. Built upon the DeBERTa architecture-known for its disentangled attention and robust contextual encoding-PlantBert is fine-tuned on a meticulously curated corpus of expert-annotated abstracts, with a primary focus on lentil (Lens culinaris) responses to diverse abiotic and biotic stressors. Our methodology combines transformer-based modeling with rule-enhanced linguistic post-processing and ontology-grounded entity normalization, enabling PlantBert to capture biologically meaningful relationships with precision and semantic fidelity. The underlying corpus is annotated using a hierarchical schema aligned with the Crop Ontology, encompassing molecular, physiological, biochemical, and agronomic dimensions of plant adaptation. PlantBert exhibits strong generalization capabilities across entity types and demonstrates the feasibility of robust domain adaptation in low-resource scientific fields. By providing a scalable and reproducible framework for high-resolution entity recognition, PlantBert bridges a critical gap in agricultural NLP and paves the way for intelligent, data-driven systems in plant genomics, phenomics, and agronomic knowledge discovery. Our model is publicly released to promote transparency and accelerate cross-disciplinary innovation in computational plant science.

Change detection is a crucial and widely applied task in remote sensing, aimed at identifying and analyzing changes occurring in the same geographical area over time. Due to variability in acquisition conditions, bi-temporal remote sensing images often exhibit significant differences in image style. Even with the powerful generalization capabilities of DNNs, these unpredictable style variations between bi-temporal images inevitably affect model's ability to accurately detect changed areas. To address issue above, we propose the Content Focuser Network (CFNet), which takes content-aware strategy as a key insight. CFNet employs EfficientNet-B5 as the backbone for feature extraction. To enhance the model's focus on the content features of images while mitigating the misleading effects of style features, we develop a constraint strategy that prioritizes the content features of bi-temporal images, termed Content-Aware. Furthermore, to enable the model to flexibly focus on changed and unchanged areas according to the requirements of different stages, we design a reweighting module based on the cosine distance between bi-temporal image features, termed Focuser. CFNet achieve outstanding performance across three well-known change detection datasets: CLCD (F1: 81.41%, IoU: 68.65%), LEVIR-CD (F1: 92.18%, IoU: 85.49%), and SYSU-CD (F1: 82.89%, IoU: 70.78%). The code and pretrained models of CFNet are publicly released at https://github.com/wifiBlack/CFNet.

Enabling models to recognize vast open-world categories has been a longstanding pursuit in object detection. By leveraging the generalization capabilities of vision-language models, current open-world detectors can recognize a broader range of vocabularies, despite being trained on limited categories. However, when the scale of the category vocabularies during training expands to a real-world level, previous classifiers aligned with coarse class names significantly reduce the recognition performance of these detectors. In this paper, we introduce Prova, a multi-modal prototype classifier for vast-vocabulary object detection. Prova extracts comprehensive multi-modal prototypes as initialization of alignment classifiers to tackle the vast-vocabulary object recognition failure problem. On V3Det, this simple method greatly enhances the performance among one-stage, two-stage, and DETR-based detectors with only additional projection layers in both supervised and open-vocabulary settings. In particular, Prova improves Faster R-CNN, FCOS, and DINO by 3.3, 6.2, and 2.9 AP respectively in the supervised setting of V3Det. For the open-vocabulary setting, Prova achieves a new state-of-the-art performance with 32.8 base AP and 11.0 novel AP, which is of 2.6 and 4.3 gain over the previous methods.

Synthesizing a novel view from a single input image is a challenging task. Traditionally, this task was approached by estimating scene depth, warping, and inpainting, with machine learning models enabling parts of the pipeline. More recently, generative models are being increasingly employed in novel view synthesis (NVS), often encompassing the entire end-to-end system. In this work, we adapt a modern diffusion model architecture for end-to-end NVS in the pixel space, substantially outperforming previous state-of-the-art (SOTA) techniques. We explore different ways to encode geometric information into the network. Our experiments show that while these methods may enhance performance, their impact is minor compared to utilizing improved generative models. Moreover, we introduce a novel NVS training scheme that utilizes single-view datasets, capitalizing on their relative abundance compared to their multi-view counterparts. This leads to improved generalization capabilities to scenes with out-of-domain content.

Human image animation involves generating a video from a static image by following a specified pose sequence. Current approaches typically adopt a multi-stage pipeline that separately learns appearance and motion, which often leads to appearance degradation and temporal inconsistencies. To address these issues, we propose VividPose, an innovative end-to-end pipeline based on Stable Video Diffusion (SVD) that ensures superior temporal stability. To enhance the retention of human identity, we propose an identity-aware appearance controller that integrates additional facial information without compromising other appearance details such as clothing texture and background. This approach ensures that the generated videos maintain high fidelity to the identity of human subject, preserving key facial features across various poses. To accommodate diverse human body shapes and hand movements, we introduce a geometry-aware pose controller that utilizes both dense rendering maps from SMPL-X and sparse skeleton maps. This enables accurate alignment of pose and shape in the generated videos, providing a robust framework capable of handling a wide range of body shapes and dynamic hand movements. Extensive qualitative and quantitative experiments on the UBCFashion and TikTok benchmarks demonstrate that our method achieves state-of-the-art performance. Furthermore, VividPose exhibits superior generalization capabilities on our proposed in-the-wild dataset. Codes and models will be available.

Our understanding of the generalization capabilities of neural networks (NNs) is still incomplete. Prevailing explanations are based on implicit biases of gradient descent (GD) but they cannot account for the capabilities of models from gradient-free methods nor the simplicity bias recently observed in untrained networks. This paper seeks other sources of generalization in NNs. Findings. To understand the inductive biases provided by architectures independently from GD, we examine untrained, random-weight networks. Even simple MLPs show strong inductive biases: uniform sampling in weight space yields a very biased distribution of functions in terms of complexity. But unlike common wisdom, NNs do not have an inherent "simplicity bias". This property depends on components such as ReLUs, residual connections, and layer normalizations. Alternative architectures can be built with a bias for any level of complexity. Transformers also inherit all these properties from their building blocks. Implications. We provide a fresh explanation for the success of deep learning independent from gradient-based training. It points at promising avenues for controlling the solutions implemented by trained models.

Traffic Signal Control (TSC) is a crucial component in urban traffic management, aiming to optimize road network efficiency and reduce congestion. Traditional methods in TSC, primarily based on transportation engineering and reinforcement learning (RL), often exhibit limitations in generalization across varied traffic scenarios and lack interpretability. This paper presents LLMLight, a novel framework employing Large Language Models (LLMs) as decision-making agents for TSC. Specifically, the framework begins by instructing the LLM with a knowledgeable prompt detailing real-time traffic conditions. Leveraging the advanced generalization capabilities of LLMs, LLMLight engages a reasoning and decision-making process akin to human intuition for effective traffic control. Moreover, we build LightGPT, a specialized backbone LLM tailored for TSC tasks. By learning nuanced traffic patterns and control strategies, LightGPT enhances the LLMLight framework cost-effectively. Extensive experiments on nine real-world and synthetic datasets showcase the remarkable effectiveness, generalization ability, and interpretability of LLMLight against nine transportation-based and RL-based baselines.

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer their semantic categories. A key factor for the recent progress in 2D open-world perception is the availability of large-scale image-text pairs from the Internet, which cover a wide range of vocabulary concepts. However, this success is hard to replicate in 3D scenarios due to the scarcity of 3D-text pairs. To address this challenge, we propose to harness pre-trained vision-language (VL) foundation models that encode extensive knowledge from image-text pairs to generate captions for multi-view images of 3D scenes. This allows us to establish explicit associations between 3D shapes and semantic-rich captions. Moreover, to enhance the fine-grained visual-semantic representation learning from captions for object-level categorization, we design hierarchical point-caption association methods to learn semantic-aware embeddings that exploit the 3D geometry between 3D points and multi-view images. In addition, to tackle the localization challenge for novel classes in the open-world setting, we develop debiased instance localization, which involves training object grouping modules on unlabeled data using instance-level pseudo supervision. This significantly improves the generalization capabilities of instance grouping and thus the ability to accurately locate novel objects. We conduct extensive experiments on 3D semantic, instance, and panoptic segmentation tasks, covering indoor and outdoor scenes across three datasets. Our method outperforms baseline methods by a significant margin in semantic segmentation (e.g. 34.5%sim65.3%), instance segmentation (e.g. 21.8%sim54.0%) and panoptic segmentation (e.g. 14.7%sim43.3%). Code will be available.

Despite the impressive generalization capabilities of deep neural networks, they have been repeatedly shown to be overconfident when they are wrong. Fixing this issue is known as model calibration, and has consequently received much attention in the form of modified training schemes and post-training calibration procedures such as temperature scaling. While temperature scaling is frequently used because of its simplicity, it is often outperformed by modified training schemes. In this work, we identify a specific bottleneck for the performance of temperature scaling. We show that for empirical risk minimizers for a general set of distributions in which the supports of classes have overlaps, the performance of temperature scaling degrades with the amount of overlap between classes, and asymptotically becomes no better than random when there are a large number of classes. On the other hand, we prove that optimizing a modified form of the empirical risk induced by the Mixup data augmentation technique can in fact lead to reasonably good calibration performance, showing that training-time calibration may be necessary in some situations. We also verify that our theoretical results reflect practice by showing that Mixup significantly outperforms empirical risk minimization (with respect to multiple calibration metrics) on image classification benchmarks with class overlaps introduced in the form of label noise.

We present a novel method for reconstructing a 3D implicit surface from a large-scale, sparse, and noisy point cloud. Our approach builds upon the recently introduced Neural Kernel Fields (NKF) representation. It enjoys similar generalization capabilities to NKF, while simultaneously addressing its main limitations: (a) We can scale to large scenes through compactly supported kernel functions, which enable the use of memory-efficient sparse linear solvers. (b) We are robust to noise, through a gradient fitting solve. (c) We minimize training requirements, enabling us to learn from any dataset of dense oriented points, and even mix training data consisting of objects and scenes at different scales. Our method is capable of reconstructing millions of points in a few seconds, and handling very large scenes in an out-of-core fashion. We achieve state-of-the-art results on reconstruction benchmarks consisting of single objects, indoor scenes, and outdoor scenes.

In this work, we propose a joint system combining a talking face generation system with a text-to-speech system that can generate multilingual talking face videos from only the text input. Our system can synthesize natural multilingual speeches while maintaining the vocal identity of the speaker, as well as lip movements synchronized to the synthesized speech. We demonstrate the generalization capabilities of our system by selecting four languages (Korean, English, Japanese, and Chinese) each from a different language family. We also compare the outputs of our talking face generation model to outputs of a prior work that claims multilingual support. For our demo, we add a translation API to the preprocessing stage and present it in the form of a neural dubber so that users can utilize the multilingual property of our system more easily.

Despite the recent success of video self-supervised learning models, there is much still to be understood about their generalization capability. In this paper, we investigate how sensitive video self-supervised learning is to the current conventional benchmark and whether methods generalize beyond the canonical evaluation setting. We do this across four different factors of sensitivity: domain, samples, actions and task. Our study which encompasses over 500 experiments on 7 video datasets, 9 self-supervised methods and 6 video understanding tasks, reveals that current benchmarks in video self-supervised learning are not good indicators of generalization along these sensitivity factors. Further, we find that self-supervised methods considerably lag behind vanilla supervised pre-training, especially when domain shift is large and the amount of available downstream samples are low. From our analysis, we distill the SEVERE-benchmark, a subset of our experiments, and discuss its implication for evaluating the generalizability of representations obtained by existing and future self-supervised video learning methods.

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city. Our contributions are threefold. First, we propose a novel method for cross-modal unsupervised learning of semantic image segmentation by leveraging synchronized LiDAR and image data. The key ingredient of our method is the use of an object proposal module that analyzes the LiDAR point cloud to obtain proposals for spatially consistent objects. Second, we show that these 3D object proposals can be aligned with the input images and reliably clustered into semantically meaningful pseudo-classes. Finally, we develop a cross-modal distillation approach that leverages image data partially annotated with the resulting pseudo-classes to train a transformer-based model for image semantic segmentation. We show the generalization capabilities of our method by testing on four different testing datasets (Cityscapes, Dark Zurich, Nighttime Driving and ACDC) without any finetuning, and demonstrate significant improvements compared to the current state of the art on this problem. See project webpage https://vobecant.github.io/DriveAndSegment/ for the code and more.

Model merging aims to combine multiple expert models into a more capable single model, offering benefits such as reduced storage and serving costs, improved generalization, and support for decentralized model development. Despite its promise, previous studies have primarily focused on merging a few small models. This leaves many unanswered questions about the effect of scaling model size and how it interplays with other key factors -- like the base model quality and number of expert models -- , to affect the merged model's performance. This work systematically evaluates the utility of model merging at scale, examining the impact of these different factors. We experiment with merging fully fine-tuned models using 4 popular merging methods -- Averaging, Task~Arithmetic, Dare, and TIES -- across model sizes ranging from 1B-64B parameters and merging up to 8 different expert models. We evaluate the merged models on both held-in tasks, i.e., the expert's training tasks, and zero-shot generalization to unseen held-out tasks. Our experiments provide several new insights about model merging at scale and the interplay between different factors. First, we find that merging is more effective when experts are created from strong base models, i.e., models with good zero-shot performance. Second, larger models facilitate easier merging. Third merging consistently improves generalization capabilities. Notably, when merging 8 large expert models, the merged models often generalize better compared to the multitask trained models. Fourth, we can better merge more expert models when working with larger models. Fifth, different merging methods behave very similarly at larger scales. Overall, our findings shed light on some interesting properties of model merging while also highlighting some limitations. We hope that this study will serve as a reference point on large-scale merging for upcoming research.

This paper introduces TempSamp-R1, a new reinforcement fine-tuning framework designed to improve the effectiveness of adapting multimodal large language models (MLLMs) to video temporal grounding tasks. We reveal that existing reinforcement learning methods, such as Group Relative Policy Optimization (GRPO), rely on on-policy sampling for policy updates. However, in tasks with large temporal search spaces, this strategy becomes both inefficient and limited in performance, as it often fails to identify temporally accurate solutions. To address this limitation, TempSamp-R1 leverages ground-truth annotations as off-policy supervision to provide temporally precise guidance, effectively compensating for the sparsity and misalignment in on-policy solutions. To further stabilize training and reduce variance in reward-based updates, TempSamp-R1 provides a non-linear soft advantage computation method that dynamically reshapes the reward feedback via an asymmetric transformation. By employing a hybrid Chain-of-Thought (CoT) training paradigm, TempSamp-R1 optimizes a single unified model to support both CoT and non-CoT inference modes, enabling efficient handling of queries with varying reasoning complexity. Experimental results demonstrate that TempSamp-R1 outperforms GRPO-based baselines, establishing new state-of-the-art performance on benchmark datasets: Charades-STA ([email protected]: 52.9%, +2.7%), ActivityNet Captions ([email protected]: 56.0%, +5.3%), and QVHighlights (mAP: 30.0%, +3.0%). Moreover, TempSamp-R1 shows robust few-shot generalization capabilities under limited data. Code: https://github.com/HVision-NKU/TempSamp-R1

We consider the problem of eliciting compositional generalization capabilities in large language models (LLMs) with a novel type of prompting strategy. Compositional generalization empowers the LLMs to solve problems that are harder than the ones they have seen (i.e., easy-to-hard generalization), which is a critical reasoning capability of human-like intelligence. However, even the current state-of-the-art LLMs still struggle with this form of reasoning. To bridge this gap, we propose skills-in-context (SKiC) prompting, which instructs LLMs how to compose basic skills to resolve more complex problems. We find that it is crucial to demonstrate both the skills and the compositional examples within the same prompting context. With as few as two examplars, our SKiC prompting initiates strong synergies between skills and their composition capabilities. Notably, it empowers LLMs to solve unseen problems that require innovative skill compositions, achieving near-perfect generalization on a broad range of challenging compositionality tasks. Intriguingly, SKiC prompting unlocks the latent potential of LLMs, enabling them to leverage pre-existing internal skills acquired during earlier pre-training stages, even when these skills are not explicitly presented in the prompting context. This results in the capability of LLMs to solve unseen complex problems by activating and composing internal competencies. With such prominent features, SKiC prompting is able to achieve state-of-the-art performance on challenging mathematical reasoning benchmarks (e.g., MATH).

Large Language Models (LLMs) have demonstrated remarkable generalization capabilities across tasks and languages, revolutionizing natural language processing. This paper investigates the naturally emerging representation alignment in LLMs, particularly in the middle layers, and its implications for disentangling language-specific and language-agnostic information. We empirically confirm the existence of this alignment, analyze its behavior in comparison to explicitly designed alignment models, and demonstrate its potential for language-specific manipulation without semantic degradation. Building on these findings, we propose Inference-Time Language Control (ITLC), a novel method that leverages latent injection to enable precise cross-lingual language control and mitigate language confusion in LLMs. Our experiments highlight ITLC's strong cross-lingual control capabilities while preserving semantic integrity in target languages. Furthermore, we demonstrate its effectiveness in alleviating the cross-lingual language confusion problem, which persists even in current large-scale LLMs, leading to inconsistent language generation. This work advances our understanding of representation alignment in LLMs and introduces a practical solution for enhancing their cross-lingual performance.

Large language models (LLMs) with chain-of-thought reasoning have demonstrated remarkable problem-solving capabilities, but controlling their computational effort remains a significant challenge for practical deployment. Recent proprietary systems like OpenAI's gpt-oss series have introduced discrete operational modes for intuitive reasoning control, but the open-source community has largely failed to achieve such capabilities. In this paper, we introduce ThinkDial, the first open-recipe end-to-end framework that successfully implements gpt-oss-style controllable reasoning through discrete operational modes. Our system enables seamless switching between three distinct reasoning regimes: High mode (full reasoning capability), Medium mode (50 percent token reduction with <10 percent performance degradation), and Low mode (75 percent token reduction with <15 percent performance degradation). We achieve this through an end-to-end training paradigm that integrates budget-mode control throughout the entire pipeline: budget-mode supervised fine-tuning that embeds controllable reasoning capabilities directly into the learning process, and two-phase budget-aware reinforcement learning with adaptive reward shaping. Extensive experiments demonstrate that ThinkDial achieves target compression-performance trade-offs with clear response length reductions while maintaining performance thresholds. The framework also exhibits strong generalization capabilities on out-of-distribution tasks.

Large language models exhibit exceptional generalization capabilities, primarily attributed to the utilization of diversely sourced data. However, conventional practices in integrating this diverse data heavily rely on heuristic schemes, lacking theoretical guidance. This research tackles these limitations by investigating strategies based on low-cost proxies for data mixtures, with the aim of streamlining data curation to enhance training efficiency. Specifically, we propose a unified scaling law, termed BiMix, which accurately models the bivariate scaling behaviors of both data quantity and mixing proportions. We conduct systematic experiments and provide empirical evidence for the predictive power and fundamental principles of BiMix. Notably, our findings reveal that entropy-driven training-free data mixtures can achieve comparable or even better performance than more resource-intensive methods. We hope that our quantitative insights can shed light on further judicious research and development in cost-effective language modeling.

Can we endow visuomotor robots with generalization capabilities to operate in diverse open-world scenarios? In this paper, we propose Maniwhere, a generalizable framework tailored for visual reinforcement learning, enabling the trained robot policies to generalize across a combination of multiple visual disturbance types. Specifically, we introduce a multi-view representation learning approach fused with Spatial Transformer Network (STN) module to capture shared semantic information and correspondences among different viewpoints. In addition, we employ a curriculum-based randomization and augmentation approach to stabilize the RL training process and strengthen the visual generalization ability. To exhibit the effectiveness of Maniwhere, we meticulously design 8 tasks encompassing articulate objects, bi-manual, and dexterous hand manipulation tasks, demonstrating Maniwhere's strong visual generalization and sim2real transfer abilities across 3 hardware platforms. Our experiments show that Maniwhere significantly outperforms existing state-of-the-art methods. Videos are provided at https://gemcollector.github.io/maniwhere/.

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.

Vision-Language Models (VLMs) have demonstrated remarkable generalization capabilities across a wide range of tasks. However, their performance often remains suboptimal when directly applied to specific downstream scenarios without task-specific adaptation. To enhance their utility while preserving data efficiency, recent research has increasingly focused on unsupervised adaptation methods that do not rely on labeled data. Despite the growing interest in this area, there remains a lack of a unified, task-oriented survey dedicated to unsupervised VLM adaptation. To bridge this gap, we present a comprehensive and structured overview of the field. We propose a taxonomy based on the availability and nature of unlabeled visual data, categorizing existing approaches into four key paradigms: Data-Free Transfer (no data), Unsupervised Domain Transfer (abundant data), Episodic Test-Time Adaptation (batch data), and Online Test-Time Adaptation (streaming data). Within this framework, we analyze core methodologies and adaptation strategies associated with each paradigm, aiming to establish a systematic understanding of the field. Additionally, we review representative benchmarks across diverse applications and highlight open challenges and promising directions for future research. An actively maintained repository of relevant literature is available at https://github.com/tim-learn/Awesome-LabelFree-VLMs.

Large pre-trained time series foundation models (TSFMs) have demonstrated promising zero-shot performance across a wide range of domains. However, a question remains: Do TSFMs succeed solely by memorizing training patterns, or do they possess the ability to reason? While reasoning is a topic of great interest in the study of Large Language Models (LLMs), it is undefined and largely unexplored in the context of TSFMs. In this work, inspired by language modeling literature, we formally define compositional reasoning in forecasting and distinguish it from in-distribution generalization. We evaluate the reasoning and generalization capabilities of 23 popular deep learning forecasting models on multiple synthetic and real-world datasets. Additionally, through controlled studies, we systematically examine which design choices in TSFMs contribute to improved reasoning abilities. Our study yields key insights into the impact of TSFM architecture design on compositional reasoning and generalization. We find that patch-based Transformers have the best reasoning performance, closely followed by residualized MLP-based architectures, which are 97\% less computationally complex in terms of FLOPs and 86\% smaller in terms of the number of trainable parameters. Interestingly, in some zero-shot out-of-distribution scenarios, these models can outperform moving average and exponential smoothing statistical baselines trained on in-distribution data. Only a few design choices, such as the tokenization method, had a significant (negative) impact on Transformer model performance.

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from challenges such as limited mutual understanding of capabilities between systems and latency issues. This paper introduces OneTwoVLA, a single unified vision-language-action model that can perform both acting (System One) and reasoning (System Two). Crucially, OneTwoVLA adaptively switches between two modes: explicitly reasoning at critical moments during task execution, and generating actions based on the most recent reasoning at other times. To further unlock OneTwoVLA's reasoning and generalization capabilities, we design a scalable pipeline for synthesizing embodied reasoning-centric vision-language data, used for co-training with robot data. We validate OneTwoVLA's effectiveness through extensive experiments, highlighting its superior performance across four key capabilities: long-horizon task planning, error detection and recovery, natural human-robot interaction, and generalizable visual grounding, enabling the model to perform long-horizon, highly dexterous manipulation tasks such as making hotpot or mixing cocktails.

We present LOCATE 3D, a model for localizing objects in 3D scenes from referring expressions like "the small coffee table between the sofa and the lamp." LOCATE 3D sets a new state-of-the-art on standard referential grounding benchmarks and showcases robust generalization capabilities. Notably, LOCATE 3D operates directly on sensor observation streams (posed RGB-D frames), enabling real-world deployment on robots and AR devices. Key to our approach is 3D-JEPA, a novel self-supervised learning (SSL) algorithm applicable to sensor point clouds. It takes as input a 3D pointcloud featurized using 2D foundation models (CLIP, DINO). Subsequently, masked prediction in latent space is employed as a pretext task to aid the self-supervised learning of contextualized pointcloud features. Once trained, the 3D-JEPA encoder is finetuned alongside a language-conditioned decoder to jointly predict 3D masks and bounding boxes. Additionally, we introduce LOCATE 3D DATASET, a new dataset for 3D referential grounding, spanning multiple capture setups with over 130K annotations. This enables a systematic study of generalization capabilities as well as a stronger model.

With the rapid advancement of vision generation models, the potential security risks stemming from synthetic visual content have garnered increasing attention, posing significant challenges for AI-generated image detection. Existing methods suffer from inadequate generalization capabilities, resulting in unsatisfactory performance on emerging generative models. To address this issue, this paper presents a novel framework that leverages noise-based model-specific imprint for the detection task. Specifically, we propose a novel noise-based imprint simulator to capture intrinsic patterns imprinted in images generated by different models. By aggregating imprints from various generative models, imprints of future models can be extrapolated to expand training data, thereby enhancing generalization and robustness. Furthermore, we design a new pipeline that pioneers the use of noise patterns, derived from a noise-based imprint extractor, alongside other visual features for AI-generated image detection, resulting in a significant improvement in performance. Our approach achieves state-of-the-art performance across three public benchmarks including GenImage, Synthbuster and Chameleon.

Large language models (LLMs) have demonstrated exceptional performance in text generation within current NLP research. However, the lack of factual accuracy is still a dark cloud hanging over the LLM skyscraper. Structural knowledge prompting (SKP) is a prominent paradigm to integrate external knowledge into LLMs by incorporating structural representations, achieving state-of-the-art results in many knowledge-intensive tasks. However, existing methods often focus on specific problems, lacking a comprehensive exploration of the generalization and capability boundaries of SKP. This paper aims to evaluate and rethink the generalization capability of the SKP paradigm from four perspectives including Granularity, Transferability, Scalability, and Universality. To provide a thorough evaluation, we introduce a novel multi-granular, multi-level benchmark called SUBARU, consisting of 9 different tasks with varying levels of granularity and difficulty.

Recent advancements in large language models (LLMs) have driven a revolutionary paradigm shift in process automation from Robotic Process Automation to Agentic Process Automation by automating the workflow orchestration procedure based on LLMs. However, existing LLMs (even the advanced OpenAI GPT-4o) are confined to achieving satisfactory capability in workflow orchestration. To address this limitation, we present WorkflowLLM, a data-centric framework elaborately designed to enhance the capability of LLMs in workflow orchestration. It first constructs a large-scale fine-tuning dataset WorkflowBench with 106,763 samples, covering 1,503 APIs from 83 applications across 28 categories. Specifically, the construction process can be divided into three phases: (1) Data Collection: we collect real-world workflow data from Apple Shortcuts and RoutineHub, transcribing them into Python-style code. We further equip them with generated hierarchical thought via ChatGPT. (2) Query Expansion: we prompt ChatGPT to generate more task queries to enrich the diversity and complexity of workflows. (3) Workflow Generation: we leverage an annotator model trained on collected data to generate workflows for synthesized queries. Finally, we merge the synthetic samples that pass quality confirmation with the collected samples to obtain the WorkflowBench. Based on WorkflowBench, we fine-tune Llama-3.1-8B to obtain WorkflowLlama. Our experiments show that WorkflowLlama demonstrates a strong capacity to orchestrate complex workflows, while also achieving notable generalization performance on previously unseen APIs. Additionally, WorkflowBench exhibits robust zero-shot generalization capabilities on an out-of-distribution task planning dataset, T-Eval. Our data and code are available at https://github.com/OpenBMB/WorkflowLLM.

Large Language Models (LLMs) exhibit strong generalization capabilities to novel tasks when prompted with language instructions and in-context demos. Since this ability sensitively depends on the quality of prompts, various methods have been explored to automate the instruction design. While these methods demonstrated promising results, they also restricted the searched prompt to one instruction. Such simplification significantly limits their capacity, as a single demo-free instruction might not be able to cover the entire complex problem space of the targeted task. To alleviate this issue, we adopt the Mixture-of-Expert paradigm and divide the problem space into a set of sub-regions; Each sub-region is governed by a specialized expert, equipped with both an instruction and a set of demos. A two-phase process is developed to construct the specialized expert for each region: (1) demo assignment: Inspired by the theoretical connection between in-context learning and kernel regression, we group demos into experts based on their semantic similarity; (2) instruction assignment: A region-based joint search of an instruction per expert complements the demos assigned to it, yielding a synergistic effect. The resulting method, codenamed Mixture-of-Prompts (MoP), achieves an average win rate of 81% against prior arts across several major benchmarks.

We introduce SPAFormer, an innovative model designed to overcome the combinatorial explosion challenge in the 3D Part Assembly (3D-PA) task. This task requires accurate prediction of each part's poses in sequential steps. As the number of parts increases, the possible assembly combinations increase exponentially, leading to a combinatorial explosion that severely hinders the efficacy of 3D-PA. SPAFormer addresses this problem by leveraging weak constraints from assembly sequences, effectively reducing the solution space's complexity. Since the sequence of parts conveys construction rules similar to sentences structured through words, our model explores both parallel and autoregressive generation. We further strengthen SPAFormer through knowledge enhancement strategies that utilize the attributes of parts and their sequence information, enabling it to capture the inherent assembly pattern and relationships among sequentially ordered parts. We also construct a more challenging benchmark named PartNet-Assembly covering 21 varied categories to more comprehensively validate the effectiveness of SPAFormer. Extensive experiments demonstrate the superior generalization capabilities of SPAFormer, particularly with multi-tasking and in scenarios requiring long-horizon assembly. Code is available at https://github.com/xuboshen/SPAFormer.

Deep neural networks drive the success of natural language processing. A fundamental property of language is its compositional structure, allowing humans to systematically produce forms for new meanings. For humans, languages with more compositional and transparent structures are typically easier to learn than those with opaque and irregular structures. However, this learnability advantage has not yet been shown for deep neural networks, limiting their use as models for human language learning. Here, we directly test how neural networks compare to humans in learning and generalizing different languages that vary in their degree of compositional structure. We evaluate the memorization and generalization capabilities of a large language model and recurrent neural networks, and show that both deep neural networks exhibit a learnability advantage for more structured linguistic input: neural networks exposed to more compositional languages show more systematic generalization, greater agreement between different agents, and greater similarity to human learners.

Machine Learning methods can learn how to reconstruct Magnetic Resonance Images and thereby accelerate acquisition, which is of paramount importance to the clinical workflow. Physics-informed networks incorporate the forward model of accelerated MRI reconstruction in the learning process. With increasing network complexity, robustness is not ensured when reconstructing data unseen during training. We aim to embed data consistency (DC) in deep networks while balancing the degree of network complexity. While doing so, we will assess whether either explicit or implicit enforcement of DC in varying network architectures is preferred to optimize performance. We propose a scheme called Cascades of Independently Recurrent Inference Machines (CIRIM) to assess DC through unrolled optimization. Herein we assess DC both implicitly by gradient descent and explicitly by a designed term. Extensive comparison of the CIRIM to CS as well as to other methods is performed: the E2EVN, CascadeNet, KIKINet, LPDNet, RIM, IRIM, and UNet. Models were trained and evaluated on T1-weighted and FLAIR contrast brain data, and T2-weighted knee data. Both 1D and 2D undersampling patterns were evaluated. Robustness was tested by reconstructing 7.5x prospectively undersampled 3D FLAIR MRI data of Multiple Sclerosis (MS) patients with white matter lesions. The CIRIM performed best when implicitly enforcing DC, while the E2EVN required an explicit DC formulation. In reconstructing MS patient data, prospectively acquired with a sampling pattern unseen during model training, the CIRIM maintained lesion contrast while efficiently denoising the images. The CIRIM showed highly promising generalization capabilities maintaining a very fair trade-off between reconstructed image quality and fast reconstruction times, which is crucial in the clinical workflow.

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and language to generate actions, whereas robots must perceive and interact within the spatial-physical world. This gap highlights the need for a comprehensive understanding of robotic-specific multisensory information, which is crucial for achieving complex and contact-rich control. To this end, we introduce a multisensory language-action (MLA) model that collaboratively perceives heterogeneous sensory modalities and predicts future multisensory objectives to facilitate physical world modeling. Specifically, to enhance perceptual representations, we propose an encoder-free multimodal alignment scheme that innovatively repurposes the large language model itself as a perception module, directly interpreting multimodal cues by aligning 2D images, 3D point clouds, and tactile tokens through positional correspondence. To further enhance MLA's understanding of physical dynamics, we design a future multisensory generation post-training strategy that enables MLA to reason about semantic, geometric, and interaction information, providing more robust conditions for action generation. For evaluation, the MLA model outperforms the previous state-of-the-art 2D and 3D VLA methods by 12% and 24% in complex, contact-rich real-world tasks, respectively, while also demonstrating improved generalization to unseen configurations. Project website: https://sites.google.com/view/open-mla

Low-Rank Adaptation (LoRA) has demonstrated strong generalization capabilities across a variety of tasks for efficiently fine-tuning AI models, especially on resource-constrained edges. However, in real-world applications, edge users often exhibit task-specific preferences that are difficult to handle with a unified model trained under a closed-world assumption, and the challenge may further increase when there are significant domain shifts between training and deployment. Meanwhile, retraining/fine-tuning models for each user is also impractical due to its cost-intensive nature and privacy concerns over raw data utilization from edges. To address these challenges, we propose Semantic-guided LoRA Parameter Generation (SG-LoRA), the first of its kind framework to efficiently produce user-specific LoRA parameters without any additional training on user tasks or access to user-specific data. Concretely, SG-LoRA uses task descriptions as the semantic bridge, measuring their proximity to a set of known expert tasks in a shared embedding space. Based on this semantic guidance, it models the target task's LoRA parameter distribution to generate high-performing parameters for novel tasks. SG-LoRA enables the real-time construction of LoRA models aligned with individual intents by distilling knowledge from prominent LoRA experts and, meanwhile, offering a privacy-preserving solution for personalized model adaptation in a novel zero-shot open-world setting proposed in this work. Extensive experiments on multiple challenging tasks confirm the superior performance and remarkable adaptability of SG-LoRA. Code is available at https://github.com/keepgoingjkg/SG-LoRA.

Automated polyp segmentation is essential for early diagnosis of colorectal cancer, yet developing robust models remains challenging due to limited annotated data and significant performance degradation under domain shift. Although semi-supervised learning (SSL) reduces annotation requirements, existing methods rely on generic augmentations that ignore polyp-specific structural properties, resulting in poor generalization to new imaging centers and devices. To address this, we introduce Frequency Prior Guided Matching (FPGM), a novel augmentation framework built on a key discovery: polyp edges exhibit a remarkably consistent frequency signature across diverse datasets. FPGM leverages this intrinsic regularity in a two-stage process. It first learns a domain-invariant frequency prior from the edge regions of labeled polyps. Then, it performs principled spectral perturbations on unlabeled images, aligning their amplitude spectra with this learned prior while preserving phase information to maintain structural integrity. This targeted alignment normalizes domain-specific textural variations, thereby compelling the model to learn the underlying, generalizable anatomical structure. Validated on six public datasets, FPGM establishes a new state-of-the-art against ten competing methods. It demonstrates exceptional zero-shot generalization capabilities, achieving over 10% absolute gain in Dice score in data-scarce scenarios. By significantly enhancing cross-domain robustness, FPGM presents a powerful solution for clinically deployable polyp segmentation under limited supervision.

Large language models (LLMs) are rapidly approaching the level of proficiency in university-level symbolic mathematics required for applications in advanced science and technology. However, existing benchmarks fall short in assessing the core skills of LLMs in symbolic mathematics-such as integration, differential equations, and algebraic simplification. To address this gap, we introduce ASyMOB, a novel assessment framework focused exclusively on symbolic manipulation, featuring 17,092 unique math challenges, organized by similarity and complexity. ASyMOB enables analysis of LLM generalization capabilities by comparing performance in problems that differ by simple numerical or symbolic `perturbations'. Evaluated LLMs exhibit substantial degradation in performance for all perturbation types (up to -70.3%), suggesting reliance on memorized patterns rather than deeper understanding of symbolic math, even among models achieving high baseline accuracy. Comparing LLM performance to computer algebra systems, we identify examples where they fail while LLMs succeed, as well as problems solved only by combining both approaches. Models capable of integrated code execution yielded higher accuracy compared to their performance without code, particularly stabilizing weaker models (up to +33.1% for certain perturbation types). Notably, the most advanced models (o4-mini, Gemini 2.5 Flash) demonstrate not only high symbolic math proficiency (scoring 96.8% and 97.6% on the unperturbed set), but also remarkable robustness against perturbations, (-21.7% and -21.2% vs. average -50.4% for the other models). This may indicate a recent "phase transition" in the generalization capabilities of frontier LLMs. It remains to be seen whether the path forward lies in deeper integration with sophisticated external tools, or in developing models so capable that symbolic math systems like CAS become unnecessary.

By learning the gradient of smoothed data distributions, diffusion models can iteratively generate samples from complex distributions. The learned score function enables their generalization capabilities, but how the learned score relates to the score of the underlying data manifold remains largely unclear. Here, we aim to elucidate this relationship by comparing learned neural scores to the scores of two kinds of analytically tractable distributions: Gaussians and Gaussian mixtures. The simplicity of the Gaussian model makes it theoretically attractive, and we show that it admits a closed-form solution and predicts many qualitative aspects of sample generation dynamics. We claim that the learned neural score is dominated by its linear (Gaussian) approximation for moderate to high noise scales, and supply both theoretical and empirical arguments to support this claim. Moreover, the Gaussian approximation empirically works for a larger range of noise scales than naive theory suggests it should, and is preferentially learned early in training. At smaller noise scales, we observe that learned scores are better described by a coarse-grained (Gaussian mixture) approximation of training data than by the score of the training distribution, a finding consistent with generalization. Our findings enable us to precisely predict the initial phase of trained models' sampling trajectories through their Gaussian approximations. We show that this allows the skipping of the first 15-30% of sampling steps while maintaining high sample quality (with a near state-of-the-art FID score of 1.93 on CIFAR-10 unconditional generation). This forms the foundation of a novel hybrid sampling method, termed analytical teleportation, which can seamlessly integrate with and accelerate existing samplers, including DPM-Solver-v3 and UniPC. Our findings suggest ways to improve the design and training of diffusion models.

Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent, recent research on monocular depth estimation has leveraged the information richness, yet low cost and simplicity of monocular cameras. These works have shown significant generalization capabilities, mainly in automotive and indoor settings. However, robots often operate in environments with limited scale cues, self-similar appearances, and low texture. In this work, we encode measurements from a low-cost mmWave radar into the input space of a state-of-the-art monocular depth estimation model. Despite the radar's extreme point cloud sparsity, our method demonstrates generalization and robustness across industrial and outdoor experiments. Our approach reduces the absolute relative error of depth predictions by 9-64% across a range of unseen, real-world validation datasets. Importantly, we maintain consistency of all performance metrics across all experiments and scene depths where current vision-only approaches fail. We further address the present deficit of training data in mobile robotics environments by introducing a novel methodology for synthesizing rendered, realistic learning datasets based on photogrammetric data that simulate the radar sensor observations for training. Our code, datasets, and pre-trained networks are made available at https://github.com/ethz-asl/radarmeetsvision.

We present a novel method for scene change detection that leverages the robust feature extraction capabilities of a visual foundational model, DINOv2, and integrates full-image cross-attention to address key challenges such as varying lighting, seasonal variations, and viewpoint differences. In order to effectively learn correspondences and mis-correspondences between an image pair for the change detection task, we propose to a) ``freeze'' the backbone in order to retain the generality of dense foundation features, and b) employ ``full-image'' cross-attention to better tackle the viewpoint variations between the image pair. We evaluate our approach on two benchmark datasets, VL-CMU-CD and PSCD, along with their viewpoint-varied versions. Our experiments demonstrate significant improvements in F1-score, particularly in scenarios involving geometric changes between image pairs. The results indicate our method's superior generalization capabilities over existing state-of-the-art approaches, showing robustness against photometric and geometric variations as well as better overall generalization when fine-tuned to adapt to new environments. Detailed ablation studies further validate the contributions of each component in our architecture. Our source code is available at: https://github.com/ChadLin9596/Robust-Scene-Change-Detection.

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we explore the feasibility of deriving decisions from an autoregressive world model by addressing these challenges through the formulation of multiple probabilistic hypotheses. We propose LatentDriver, a framework models the environment's next states and the ego vehicle's possible actions as a mixture distribution, from which a deterministic control signal is then derived. By incorporating mixture modeling, the stochastic nature of decisionmaking is captured. Additionally, the self-delusion problem is mitigated by providing intermediate actions sampled from a distribution to the world model. Experimental results on the recently released close-loop benchmark Waymax demonstrate that LatentDriver surpasses state-of-the-art reinforcement learning and imitation learning methods, achieving expert-level performance. The code and models will be made available at https://github.com/Sephirex-X/LatentDriver.

The recent emergence of Large Language Models (LLMs) has heralded a new era of human-AI interaction. These sophisticated models, exemplified by Chat-GPT and its successors, have exhibited remarkable capabilities in language understanding. However, as these LLMs have undergone exponential growth, a crucial dimension that remains understudied is the personalization of these models. Large foundation models such as GPT-3 etc. focus on creating a universal model that serves a broad range of tasks and users. This approach emphasizes the model's generalization capabilities, treating users as a collective rather than as distinct individuals. While practical for many common applications, this one-size-fits-all approach often fails to address the rich tapestry of human diversity and individual needs. To explore this issue we introduce the PEFT-U Benchmark: a new dataset for building and evaluating NLP models for user personalization. consists of a series of user-centered tasks containing diverse and individualized expressions where the preferences of users can potentially differ for the same input. Using PEFT-U, we explore the challenge of efficiently personalizing LLMs to accommodate user-specific preferences in the context of diverse user-centered tasks.

Long-range sequence processing poses a significant challenge for Transformers due to their quadratic complexity in input length. A promising alternative is Mamba, which demonstrates high performance and achieves Transformer-level capabilities while requiring substantially fewer computational resources. In this paper we explore the length-generalization capabilities of Mamba, which we find to be relatively limited. Through a series of visualizations and analyses we identify that the limitations arise from a restricted effective receptive field, dictated by the sequence length used during training. To address this constraint, we introduce DeciMamba, a context-extension method specifically designed for Mamba. This mechanism, built on top of a hidden filtering mechanism embedded within the S6 layer, enables the trained model to extrapolate well even without additional training. Empirical experiments over real-world long-range NLP tasks show that DeciMamba can extrapolate to context lengths that are 25x times longer than the ones seen during training, and does so without utilizing additional computational resources. We will release our code and models.

Audio-driven talking face generation has garnered significant interest within the domain of digital human research. Existing methods are encumbered by intricate model architectures that are intricately dependent on each other, complicating the process of re-editing image or video inputs. In this work, we present ControlTalk, a talking face generation method to control face expression deformation based on driven audio, which can construct the head pose and facial expression including lip motion for both single image or sequential video inputs in a unified manner. By utilizing a pre-trained video synthesis renderer and proposing the lightweight adaptation, ControlTalk achieves precise and naturalistic lip synchronization while enabling quantitative control over mouth opening shape. Our experiments show that our method is superior to state-of-the-art performance on widely used benchmarks, including HDTF and MEAD. The parameterized adaptation demonstrates remarkable generalization capabilities, effectively handling expression deformation across same-ID and cross-ID scenarios, and extending its utility to out-of-domain portraits, regardless of languages.

Vision Language Models (VLMs) have demonstrated remarkable performance in 2D vision and language tasks. However, their ability to reason about spatial arrangements remains limited. In this work, we introduce Spatial Region GPT (SpatialRGPT) to enhance VLMs' spatial perception and reasoning capabilities. SpatialRGPT advances VLMs' spatial understanding through two key innovations: (1) a data curation pipeline that enables effective learning of regional representation from 3D scene graphs, and (2) a flexible plugin module for integrating depth information into the visual encoder of existing VLMs. During inference, when provided with user-specified region proposals, SpatialRGPT can accurately perceive their relative directions and distances. Additionally, we propose SpatialRGBT-Bench, a benchmark with ground-truth 3D annotations encompassing indoor, outdoor, and simulated environments, for evaluating 3D spatial cognition in VLMs. Our results demonstrate that SpatialRGPT significantly enhances performance in spatial reasoning tasks, both with and without local region prompts. The model also exhibits strong generalization capabilities, effectively reasoning about complex spatial relations and functioning as a region-aware dense reward annotator for robotic tasks. Code, dataset, and benchmark are released at https://www.anjiecheng.me/SpatialRGPT

Zero-shot anomaly detection (ZSAD) methods entail detecting anomalies directly without access to any known normal or abnormal samples within the target item categories. Existing approaches typically rely on the robust generalization capabilities of multimodal pretrained models, computing similarities between manually crafted textual features representing "normal" or "abnormal" semantics and image features to detect anomalies and localize anomalous patches. However, the generic descriptions of "abnormal" often fail to precisely match diverse types of anomalies across different object categories. Additionally, computing feature similarities for single patches struggles to pinpoint specific locations of anomalies with various sizes and scales. To address these issues, we propose a novel ZSAD method called FiLo, comprising two components: adaptively learned Fine-Grained Description (FG-Des) and position-enhanced High-Quality Localization (HQ-Loc). FG-Des introduces fine-grained anomaly descriptions for each category using Large Language Models (LLMs) and employs adaptively learned textual templates to enhance the accuracy and interpretability of anomaly detection. HQ-Loc, utilizing Grounding DINO for preliminary localization, position-enhanced text prompts, and Multi-scale Multi-shape Cross-modal Interaction (MMCI) module, facilitates more accurate localization of anomalies of different sizes and shapes. Experimental results on datasets like MVTec and VisA demonstrate that FiLo significantly improves the performance of ZSAD in both detection and localization, achieving state-of-the-art performance with an image-level AUC of 83.9% and a pixel-level AUC of 95.9% on the VisA dataset. Code is available at https://github.com/CASIA-IVA-Lab/FiLo.

Ribonucleic acid (RNA) plays a variety of crucial roles in fundamental biological processes. Recently, RNA has become an interesting drug target, emphasizing the need to improve our understanding of its structures and functions. Over the years, sequencing technologies have produced an enormous amount of unlabeled RNA data, which hides important knowledge and potential. Motivated by the successes of protein language models, we introduce RiboNucleic Acid Language Model (RiNALMo) to help unveil the hidden code of RNA. RiNALMo is the largest RNA language model to date with 650 million parameters pre-trained on 36 million non-coding RNA sequences from several available databases. RiNALMo is able to extract hidden knowledge and capture the underlying structure information implicitly embedded within the RNA sequences. RiNALMo achieves state-of-the-art results on several downstream tasks. Notably, we show that its generalization capabilities can overcome the inability of other deep learning methods for secondary structure prediction to generalize on unseen RNA families. The code has been made publicly available on https://github.com/lbcb-sci/RiNALMo.

Using large training datasets enhances the generalization capabilities of neural networks. Semi-supervised learning (SSL) is useful when there are few labeled data and a lot of unlabeled data. SSL methods that use data augmentation are most successful for image datasets. In contrast, texts do not have consistent augmentation methods as images. Consequently, methods that use augmentation are not as effective in text data as they are in image data. In this study, we compared SSL algorithms that do not require augmentation; these are self-training, co-training, tri-training, and tri-training with disagreement. In the experiments, we used 4 different text datasets for different tasks. We examined the algorithms from a variety of perspectives by asking experiment questions and suggested several improvements. Among the algorithms, tri-training with disagreement showed the closest performance to the Oracle; however, performance gap shows that new semi-supervised algorithms or improvements in existing methods are needed.

Domain generalization (DG) remains a significant challenge for perception based on deep neural networks (DNN), where domain shifts occur due to lighting, weather, or geolocation changes. In this work, we propose VLTSeg to enhance domain generalization in semantic segmentation, where the network is solely trained on the source domain and evaluated on unseen target domains. Our method leverages the inherent semantic robustness of vision-language models. First, by substituting traditional vision-only backbones with pre-trained encoders from CLIP and EVA-CLIP as transfer learning setting we find that in the field of DG, vision-language pre-training significantly outperforms supervised and self-supervised vision pre-training. We thus propose a new vision-language approach for domain generalized segmentation, which improves the domain generalization SOTA by 7.6% mIoU when training on the synthetic GTA5 dataset. We further show the superior generalization capabilities of vision-language segmentation models by reaching 76.48% mIoU on the popular Cityscapes-to-ACDC benchmark, outperforming the previous SOTA approach by 6.9% mIoU on the test set at the time of writing. Additionally, our approach shows strong in-domain generalization capabilities indicated by 86.1% mIoU on the Cityscapes test set, resulting in a shared first place with the previous SOTA on the current leaderboard at the time of submission.

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate for mix-dataset training, enhancing generalization across diverse scenes. However, such mixed dataset training yields depth predictions only up to an unknown scale and shift, hindering accurate 3D reconstructions. Existing solutions necessitate extra 3D datasets or geometry-complete depth annotations, constraints that limit their versatility. In this paper, we propose a learning framework that trains models to predict geometry-preserving depth without requiring extra data or annotations. To produce realistic 3D structures, we render novel views of the reconstructed scenes and design loss functions to promote depth estimation consistency across different views. Comprehensive experiments underscore our framework's superior generalization capabilities, surpassing existing state-of-the-art methods on several benchmark datasets without leveraging extra training information. Moreover, our innovative loss functions empower the model to autonomously recover domain-specific scale-and-shift coefficients using solely unlabeled images.

Attention layers -- which map a sequence of inputs to a sequence of outputs -- are core building blocks of the Transformer architecture which has achieved significant breakthroughs in modern artificial intelligence. This paper presents a rigorous theoretical study on the learning and generalization of a single multi-head attention layer, with a sequence of key vectors and a separate query vector as input. We consider the random feature setting where the attention layer has a large number of heads, with randomly sampled frozen query and key matrices, and trainable value matrices. We show that such a random-feature attention layer can express a broad class of target functions that are permutation invariant to the key vectors. We further provide quantitative excess risk bounds for learning these target functions from finite samples, using random feature attention with finitely many heads. Our results feature several implications unique to the attention structure compared with existing random features theory for neural networks, such as (1) Advantages in the sample complexity over standard two-layer random-feature networks; (2) Concrete and natural classes of functions that can be learned efficiently by a random-feature attention layer; and (3) The effect of the sampling distribution of the query-key weight matrix (the product of the query and key matrix), where Gaussian random weights with a non-zero mean result in better sample complexities over the zero-mean counterpart for learning certain natural target functions. Experiments on simulated data corroborate our theoretical findings and further illustrate the interplay between the sample size and the complexity of the target function.

Most Neural Radiance Fields (NeRFs) exhibit limited generalization capabilities, which restrict their applicability in representing multiple scenes using a single model. To address this problem, existing generalizable NeRF methods simply condition the model on image features. These methods still struggle to learn precise global representations over diverse scenes since they lack an effective mechanism for interacting among different points and views. In this work, we unveil that 3D implicit representation learning can be significantly improved by mask-based modeling. Specifically, we propose masked ray and view modeling for generalizable NeRF (MRVM-NeRF), which is a self-supervised pretraining target to predict complete scene representations from partially masked features along each ray. With this pretraining target, MRVM-NeRF enables better use of correlations across different points and views as the geometry priors, which thereby strengthens the capability of capturing intricate details within the scenes and boosts the generalization capability across different scenes. Extensive experiments demonstrate the effectiveness of our proposed MRVM-NeRF on both synthetic and real-world datasets, qualitatively and quantitatively. Besides, we also conduct experiments to show the compatibility of our proposed method with various backbones and its superiority under few-shot cases.

Web-crawled datasets have enabled remarkable generalization capabilities in recent image-text models such as CLIP (Contrastive Language-Image pre-training) or Flamingo, but little is known about the dataset creation processes. In this work, we introduce a testbed of six publicly available data sources - YFCC, LAION, Conceptual Captions, WIT, RedCaps, Shutterstock - to investigate how pre-training distributions induce robustness in CLIP. We find that the performance of the pre-training data varies substantially across distribution shifts, with no single data source dominating. Moreover, we systematically study the interactions between these data sources and find that combining multiple sources does not necessarily yield better models, but rather dilutes the robustness of the best individual data source. We complement our empirical findings with theoretical insights from a simple setting, where combining the training data also results in diluted robustness. In addition, our theoretical model provides a candidate explanation for the success of the CLIP-based data filtering technique recently employed in the LAION dataset. Overall our results demonstrate that simply gathering a large amount of data from the web is not the most effective way to build a pre-training dataset for robust generalization, necessitating further study into dataset design. Code is available at https://github.com/mlfoundations/clip_quality_not_quantity.

Deep learning algorithms have shown promising results in visual question answering (VQA) tasks, but a more careful look reveals that they often do not understand the rich signal they are being fed with. To understand and better measure the generalization capabilities of VQA systems, we look at their robustness to counterfactually augmented data. Our proposed augmentations are designed to make a focused intervention on a specific property of the question such that the answer changes. Using these augmentations, we propose a new robustness measure, Robustness to Augmented Data (RAD), which measures the consistency of model predictions between original and augmented examples. Through extensive experimentation, we show that RAD, unlike classical accuracy measures, can quantify when state-of-the-art systems are not robust to counterfactuals. We find substantial failure cases which reveal that current VQA systems are still brittle. Finally, we connect between robustness and generalization, demonstrating the predictive power of RAD for performance on unseen augmentations.

Language models (LMs) exhibit impressive performance and generalization capabilities. However, LMs struggle with the persistent challenge of catastrophic forgetting, which undermines their long-term sustainability in continual learning (CL). Existing approaches usually address the issue by incorporating old task data or task-wise inductive bias into LMs. However, old data and accurate task information are often unavailable or costly to collect, hindering the availability of current CL approaches for LMs. To address this limitation, we introduce MIGU (MagnItude-based Gradient Updating for continual learning), a rehearsal-free and task-label-free method that only updates the model parameters with large magnitudes of output in LMs' linear layers. MIGU is based on our observation that the L1-normalized magnitude distribution of the output in LMs' linear layers is different when the LM models deal with different task data. By imposing this simple constraint on the gradient update process, we can leverage the inherent behaviors of LMs, thereby unlocking their innate CL abilities. Our experiments demonstrate that MIGU is universally applicable to all three LM architectures (T5, RoBERTa, and Llama2), delivering state-of-the-art or on-par performance across continual finetuning and continual pre-training settings on four CL benchmarks. For example, MIGU brings a 15.2% average accuracy improvement over conventional parameter-efficient finetuning baselines in a 15-task CL benchmark. MIGU can also seamlessly integrate with all three existing CL types to further enhance performance. Code is available at https://github.com/wenyudu/MIGU{this https URL}.

Shannon, in his seminal paper introducing information theory, divided the communication into three levels: technical, semantic, and effectivenss. While the technical level is concerned with accurate reconstruction of transmitted symbols, the semantic and effectiveness levels deal with the inferred meaning and its effect on the receiver. Thanks to telecommunications, the first level problem has produced great advances like the internet. Large Language Models (LLMs) make some progress towards the second goal, but the third level still remains largely untouched. The third problem deals with predicting and optimizing communication for desired receiver behavior. LLMs, while showing wide generalization capabilities across a wide range of tasks, are unable to solve for this. One reason for the underperformance could be a lack of "behavior tokens" in LLMs' training corpora. Behavior tokens define receiver behavior over a communication, such as shares, likes, clicks, purchases, retweets, etc. While preprocessing data for LLM training, behavior tokens are often removed from the corpora as noise. Therefore, in this paper, we make some initial progress towards reintroducing behavior tokens in LLM training. The trained models, other than showing similar performance to LLMs on content understanding tasks, show generalization capabilities on behavior simulation, content simulation, behavior understanding, and behavior domain adaptation. Using a wide range of tasks on two corpora, we show results on all these capabilities. We call these models Large Content and Behavior Models (LCBMs). Further, to spur more research on LCBMs, we release our new Content Behavior Corpus (CBC), a repository containing communicator, message, and corresponding receiver behavior.

Instruction tuning of the Large Vision-language Models (LVLMs) has revolutionized the development of versatile models with zero-shot generalization across a wide range of downstream vision-language tasks. However, diversity of training tasks of different sources and formats would lead to inevitable task conflicts, where different tasks conflicts for the same set of model parameters, resulting in sub-optimal instruction-following abilities. To address that, we propose the Mixture of Cluster-conditional LoRA Experts (MoCLE), a novel Mixture of Experts (MoE) architecture designed to activate the task-customized model parameters based on the instruction clusters. A separate universal expert is further incorporated to improve the generalization capabilities of MoCLE for novel instructions. Extensive experiments on 10 zero-shot tasks demonstrate the effectiveness of MoCLE.

The unprecedented advancements in Large Language Models (LLMs) have created a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding. This paper introduces PointLLM, a preliminary effort to fill this gap, thereby enabling LLMs to understand point clouds and offering a new avenue beyond 2D visual data. PointLLM processes colored object point clouds with human instructions and generates contextually appropriate responses, illustrating its grasp of point clouds and common sense. Specifically, it leverages a point cloud encoder with a powerful LLM to effectively fuse geometric, appearance, and linguistic information. We collect a novel dataset comprising 660K simple and 70K complex point-text instruction pairs to enable a two-stage training strategy: initially aligning latent spaces and subsequently instruction-tuning the unified model. To rigorously evaluate our model's perceptual abilities and its generalization capabilities, we establish two benchmarks: Generative 3D Object Classification and 3D Object Captioning, assessed through three different methods, including human evaluation, GPT-4/ChatGPT evaluation, and traditional metrics. Experiment results show that PointLLM demonstrates superior performance over existing 2D baselines. Remarkably, in human-evaluated object captioning tasks, PointLLM outperforms human annotators in over 50% of the samples. Codes, datasets, and benchmarks are available at https://github.com/OpenRobotLab/PointLLM .

Recent advances in generative diffusion models have enabled text-controlled synthesis of realistic and diverse images with impressive quality. Despite these remarkable advances, the application of text-to-image generative models in computer vision for standard visual recognition tasks remains limited. The current de facto approach for these tasks is to design model architectures and loss functions that are tailored to the task at hand. In this paper, we develop a unified language interface for computer vision tasks that abstracts away task-specific design choices and enables task execution by following natural language instructions. Our approach involves casting multiple computer vision tasks as text-to-image generation problems. Here, the text represents an instruction describing the task, and the resulting image is a visually-encoded task output. To train our model, we pool commonly-used computer vision datasets covering a range of tasks, including segmentation, object detection, depth estimation, and classification. We then use a large language model to paraphrase prompt templates that convey the specific tasks to be conducted on each image, and through this process, we create a multi-modal and multi-task training dataset comprising input and output images along with annotated instructions. Following the InstructPix2Pix architecture, we apply instruction-tuning to a text-to-image diffusion model using our constructed dataset, steering its functionality from a generative model to an instruction-guided multi-task vision learner. Experiments demonstrate that our model, dubbed InstructCV, performs competitively compared to other generalist and task-specific vision models. Moreover, it exhibits compelling generalization capabilities to unseen data, categories, and user instructions.

We propose DocFormerv2, a multi-modal transformer for Visual Document Understanding (VDU). The VDU domain entails understanding documents (beyond mere OCR predictions) e.g., extracting information from a form, VQA for documents and other tasks. VDU is challenging as it needs a model to make sense of multiple modalities (visual, language and spatial) to make a prediction. Our approach, termed DocFormerv2 is an encoder-decoder transformer which takes as input - vision, language and spatial features. DocFormerv2 is pre-trained with unsupervised tasks employed asymmetrically i.e., two novel document tasks on encoder and one on the auto-regressive decoder. The unsupervised tasks have been carefully designed to ensure that the pre-training encourages local-feature alignment between multiple modalities. DocFormerv2 when evaluated on nine datasets shows state-of-the-art performance over strong baselines e.g. TabFact (4.3%), InfoVQA (1.4%), FUNSD (1%). Furthermore, to show generalization capabilities, on three VQA tasks involving scene-text, Doc- Formerv2 outperforms previous comparably-sized models and even does better than much larger models (such as GIT2, PaLi and Flamingo) on some tasks. Extensive ablations show that due to its pre-training, DocFormerv2 understands multiple modalities better than prior-art in VDU.

We investigate the use of transformer sequence models as dynamics models (TDMs) for control. In a number of experiments in the DeepMind control suite, we find that first, TDMs perform well in a single-environment learning setting when compared to baseline models. Second, TDMs exhibit strong generalization capabilities to unseen environments, both in a few-shot setting, where a generalist model is fine-tuned with small amounts of data from the target environment, and in a zero-shot setting, where a generalist model is applied to an unseen environment without any further training. We further demonstrate that generalizing system dynamics can work much better than generalizing optimal behavior directly as a policy. This makes TDMs a promising ingredient for a foundation model of control.

To enable automatic disassembly of different product types with uncertain conditions and degrees of wear in remanufacturing, agile production systems that can adapt dynamically to changing requirements are needed. Machine learning algorithms can be employed due to their generalization capabilities of learning from various types and variants of products. However, in reality, datasets with a diversity of samples that can be used to train models are difficult to obtain in the initial period. This may cause bad performances when the system tries to adapt to new unseen input data in the future. In order to generate large datasets for different learning purposes, in our project, we present a Blender add-on named MotorFactory to generate customized mesh models of various motor instances. MotorFactory allows to create mesh models which, complemented with additional add-ons, can be further used to create synthetic RGB images, depth images, normal images, segmentation ground truth masks, and 3D point cloud datasets with point-wise semantic labels. The created synthetic datasets may be used for various tasks including motor type classification, object detection for decentralized material transfer tasks, part segmentation for disassembly and handling tasks, or even reinforcement learning-based robotics control or view-planning.

Acquiring training data to improve the robustness of dialog systems can be a painstakingly long process. In this work, we propose a method to reduce the cost and effort of creating new conversational agents by artificially generating more data from existing examples, using paraphrase generation. Our proposed approach can kick-start a dialog system with little human effort, and brings its performance to a level satisfactory enough for allowing actual interactions with real end-users. We experimented with two neural paraphrasing approaches, namely Neural Machine Translation and a Transformer-based seq2seq model. We present the results obtained with two datasets in English and in French:~a crowd-sourced public intent classification dataset and our own corporate dialog system dataset. We show that our proposed approach increased the generalization capabilities of the intent classification model on both datasets, reducing the effort required to initialize a new dialog system and helping to deploy this technology at scale within an organization.

Climate models have been key for assessing the impact of climate change and simulating future climate scenarios. The machine learning (ML) community has taken an increased interest in supporting climate scientists' efforts on various tasks such as climate model emulation, downscaling, and prediction tasks. Many of those tasks have been addressed on datasets created with single climate models. However, both the climate science and ML communities have suggested that to address those tasks at scale, we need large, consistent, and ML-ready climate model datasets. Here, we introduce ClimateSet, a dataset containing the inputs and outputs of 36 climate models from the Input4MIPs and CMIP6 archives. In addition, we provide a modular dataset pipeline for retrieving and preprocessing additional climate models and scenarios. We showcase the potential of our dataset by using it as a benchmark for ML-based climate model emulation. We gain new insights about the performance and generalization capabilities of the different ML models by analyzing their performance across different climate models. Furthermore, the dataset can be used to train an ML emulator on several climate models instead of just one. Such a "super emulator" can quickly project new climate change scenarios, complementing existing scenarios already provided to policymakers. We believe ClimateSet will create the basis needed for the ML community to tackle climate-related tasks at scale.

We present Dolphin, a novel benchmark that addresses the need for a natural language generation (NLG) evaluation framework dedicated to the wide collection of Arabic languages and varieties. The proposed benchmark encompasses a broad range of 13 different NLG tasks, including dialogue generation, question answering, machine translation, summarization, among others. Dolphin comprises a substantial corpus of 40 diverse and representative public datasets across 50 test splits, carefully curated to reflect real-world scenarios and the linguistic richness of Arabic. It sets a new standard for evaluating the performance and generalization capabilities of Arabic and multilingual models, promising to enable researchers to push the boundaries of current methodologies. We provide an extensive analysis of Dolphin, highlighting its diversity and identifying gaps in current Arabic NLG research. We also offer a public leaderboard that is both interactive and modular and evaluate several models on our benchmark, allowing us to set strong baselines against which researchers can compare.

Auxiliary learning is an effective method for enhancing the generalization capabilities of trained models, particularly when dealing with small datasets. However, this approach may present several difficulties: (i) optimizing multiple objectives can be more challenging, and (ii) how to balance the auxiliary tasks to best assist the main task is unclear. In this work, we propose a novel approach, named AuxiNash, for balancing tasks in auxiliary learning by formalizing the problem as generalized bargaining game with asymmetric task bargaining power. Furthermore, we describe an efficient procedure for learning the bargaining power of tasks based on their contribution to the performance of the main task and derive theoretical guarantees for its convergence. Finally, we evaluate AuxiNash on multiple multi-task benchmarks and find that it consistently outperforms competing methods.

Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of robots, we could train more powerful navigation models. In this paper, we study how a general goal-conditioned model for vision-based navigation can be trained on data obtained from many distinct but structurally similar robots, and enable broad generalization across environments and embodiments. We analyze the necessary design decisions for effective data sharing across robots, including the use of temporal context and standardized action spaces, and demonstrate that an omnipolicy trained from heterogeneous datasets outperforms policies trained on any single dataset. We curate 60 hours of navigation trajectories from 6 distinct robots, and deploy the trained GNM on a range of new robots, including an underactuated quadrotor. We find that training on diverse data leads to robustness against degradation in sensing and actuation. Using a pre-trained navigation model with broad generalization capabilities can bootstrap applications on novel robots going forward, and we hope that the GNM represents a step in that direction. For more information on the datasets, code, and videos, please check out our project page https://sites.google.com/view/drive-any-robot.

In this paper, we demonstrate that information retrieval can be accomplished with a single Transformer, in which all information about the corpus is encoded in the parameters of the model. To this end, we introduce the Differentiable Search Index (DSI), a new paradigm that learns a text-to-text model that maps string queries directly to relevant docids; in other words, a DSI model answers queries directly using only its parameters, dramatically simplifying the whole retrieval process. We study variations in how documents and their identifiers are represented, variations in training procedures, and the interplay between models and corpus sizes. Experiments demonstrate that given appropriate design choices, DSI significantly outperforms strong baselines such as dual encoder models. Moreover, DSI demonstrates strong generalization capabilities, outperforming a BM25 baseline in a zero-shot setup.