Yao-Xiang Ding

Boyuan Xiao, Bohong Chen, Yumeng Li et al.

In embodied vision-language decision making tasks such as robotic manipulation and navigation, Vision-Language and Vision-Language-Action Models (VLMs & VLAs) are powerful tools with different benefits: VLMs are better at long-term planning, while VLAs are better at reactive control. However, their performance is limited by the same perceptual bottleneck: visual hallucinations arise due to the models' inability to distinguish task-relevant objects from distractors. In principle, accurate identification and focus on critical objects while filtering out irrelevant ones is the key to break this limitation. A straightforward solution is one-step focus: directly attending to essential objects. However, this approach proves ineffective because effective focus inherently requires deep scene understanding. To this end, we propose SceneDiver, a coarse-to-fine focus plan generation method for VLMs leveraging their long-term planning abilities, that first constructs a holistic scene graph to establish initial comprehension, then progressively decomposes the task into simpler sub-problems through an iterative cycle of recognition, understanding, and analysis. To enable reactive control, we also design a lightweight adapter for distilling the deliberate focus ability into VLAs. Evaluations on standard embodied AI benchmarks confirm that our method substantially reduces visual hallucinations for both VLMs and VLAs, while preserving computational efficiency in tasks requiring fast execution. Our code and data are released at: https://future-item.github.io/SceneDiver.

Pu Wang, Yao-Xiang Ding

We study $N$-armed stochastic dueling bandits under the Condorcet-winner assumption, where three widely adopted objectives are considered: best-arm identification (BAI), weak regret, and strong regret. We propose Tree-Guided Identify-Then-Exploit (TG-ITE), the first unified framework to tackle all these objectives to our knowledge. Without requiring stronger assumptions, we propose a shared tree-guided identification approach to find a high-confidence incumbent within $O(N)$ comparisons. We further propose varied exploitation strategies to utilize this warm-start stage to optimize the specific objectives at hand. This methodology enables our approach to (1) achieve $O(N)$ sample complexity in BAI without commonly adopted stronger assumptions; (2) build the first winner-stays-style algorithm to achieve $O(N)$ weak regret; (3) enjoy the same $O(N \log T)$ guarantee as specialized strong-regret approaches; (4) realize the joint optimization of BAI and weak regret with $O(N)$ guarantees for both, eliminating the sub-optimal gap of $O(\log N)$ in the existing approach. Our results provide evidence that the trade-off between BAI and regret minimization is relatively benign in dueling bandits.

Yi-Kai Zhang, Ting-Ji Huang, Yao-Xiang Ding et al.

Figuring out which Pre-Trained Model (PTM) from a model zoo fits the target task is essential to take advantage of plentiful model resources. With the availability of numerous heterogeneous PTMs from diverse fields, efficiently selecting the most suitable PTM is challenging due to the time-consuming costs of carrying out forward or backward passes over all PTMs. In this paper, we propose Model Spider, which tokenizes both PTMs and tasks by summarizing their characteristics into vectors to enable efficient PTM selection. By leveraging the approximated performance of PTMs on a separate set of training tasks, Model Spider learns to construct tokens and measure the fitness score between a model-task pair via their tokens. The ability to rank relevant PTMs higher than others generalizes to new tasks. With the top-ranked PTM candidates, we further learn to enrich task tokens with their PTM-specific semantics to re-rank the PTMs for better selection. Model Spider balances efficiency and selection ability, making PTM selection like a spider preying on a web. Model Spider demonstrates promising performance in various configurations of model zoos.

Yifei Peng, Zijie Zha, Yu Jin et al.

Making neural visual generative models controllable by logical reasoning systems is promising for improving faithfulness, transparency, and generalizability. We propose the Abductive visual Generation (AbdGen) approach to build such logic-integrated models. A vector-quantized symbol grounding mechanism and the corresponding disentanglement training method are introduced to enhance the controllability of logical symbols over generation. Furthermore, we propose two logical abduction methods to make our approach require few labeled training data and support the induction of latent logical generative rules from data. We experimentally show that our approach can be utilized to integrate various neural generative models with logical reasoning systems, by both learning from scratch or utilizing pre-trained models directly. The code is released at https://github.com/future-item/AbdGen.

Yichang Jian, Boyuan Xiao, Zhenyuan Huang et al.

Planning from raw visual input remains a significant challenge for current Vision-Language Models (VLMs), when the complexity of input is beyond their one-step perception capability. Motivated by recent advances in Thinking with Images (TWI), a reasonable solution is to decompose the perception process into simpler steps by iteratively acquiring and incorporating local visual evidence. However, even though current VLMs are well-trained in general TWI ability, their perceptual bottleneck in the planning domain remains. To tackle this challenge, we formulate TWI as a tool to gradually build and reflect an accurate internal world model. We find that the resulting training-free planning strategy enables VLMs to solve tasks that are far beyond their initial capabilities, at the cost that too many TWI operations would significantly increase the computational overhead. To further improve efficiency, we propose Pattern Inference, a novel TWI strategy enabling VLMs to actively recognize known visual patterns in the new tasks and directly infer local world model structures. To obtain these patterns, we propose Pattern Induction, an online inductive learning strategy treating visual patterns as composite and reusable experts, which are autonomously discovered and optimized from experience. Experimental evaluations in FrozenLake, Crafter and CubeBench domains show that our approaches achieve a desirable balance between accuracy and efficiency.

Jingming Liu, Yumeng Li, Boyuan Xiao et al.

Under pure textual modality, Large Language Models (LLMs) have demonstrated remarkable success in complex reasoning tasks by decomposing them into simpler sub-problems. However, Multimodal Large Language Models (MLLMs) still struggle with some seemingly straightforward visual tasks, such as counting and solving jigsaw puzzles. We argue that these tasks challenge the ability of visual-to-textual conversion, where MLLMs convert visual information perceived from the input scene, to textual information for further reasoning and generating the answer. If the complexity of the visual input is beyond the perceptual capability of the MLLMs, without decomposing this conversion process, simply scaling inference-time reasoning cannot solve the task because it repeatedly encounters the same perceptual bottleneck. We propose an approach, autonomous imagination, to enable MLLMs to iteratively modify visual inputs (e.g. isolating objects, rearranging puzzle pieces) into intermediate visual states, decomposing visual-to-textual conversion into closed-loop visual modification steps. We show that, without any retraining, MLLMs can now solve tasks initially beyond their perceptual capability, highlighting that closed-loop visual modification can be an effective way of decomposing the visual reasoning task into solvable substeps. Our code and data are released at https://future-item.github.io/autoimagine-site/.

Bohong Chen, Yumeng Li, Youyi Zheng et al.

The automatic generation of controllable co-speech gestures has recently gained growing attention. While existing systems typically achieve gesture control through predefined categorical labels or implicit pseudo-labels derived from motion examples, these approaches often compromise the rich details present in the original motion examples. We present MECo, a framework for motion-example-controlled co-speech gesture generation by leveraging large language models (LLMs). Our method capitalizes on LLMs' comprehension capabilities through fine-tuning to simultaneously interpret speech audio and motion examples, enabling the synthesis of gestures that preserve example-specific characteristics while maintaining speech congruence. Departing from conventional pseudo-labeling paradigms, we position motion examples as explicit query contexts within the prompt structure to guide gesture generation. Experimental results demonstrate state-of-the-art performance across three metrics: Fréchet Gesture Distance (FGD), motion diversity, and example-gesture similarity. Furthermore, our framework enables granular control of individual body parts and accommodates diverse input modalities including motion clips, static poses, human video sequences, and textual descriptions. Our code, pre-trained models, and videos are available at https://robinwitch.github.io/MECo-Page.

Yifei Peng, Yaoli Liu, Enbo Xia et al.

We propose ILP-CoT, a method that bridges Inductive Logic Programming (ILP) and Multimodal Large Language Models (MLLMs) for abductive logical rule induction. The task involves both discovering logical facts and inducing logical rules from a small number of unstructured textual or visual inputs, which still remain challenging when solely relying on ILP, due to the requirement of specified background knowledge and high computational cost, or MLLMs, due to the appearance of perceptual hallucinations. Based on the key observation that MLLMs could propose structure-correct rules even under hallucinations, our approach automatically builds ILP tasks with pruned search spaces based on the rule structure proposals from MLLMs, and utilizes ILP system to output rules built upon rectified logical facts and formal inductive reasoning. Its effectiveness is verified through challenging logical induction benchmarks, as well as a potential application of our approach, namely text-to-image customized generation with rule induction. Our code and data are released at https://github.com/future-item/ILP-CoT.

Yu Jin, Jingming Liu, Zhexu Luo et al.

Visual generative abductive learning studies jointly training symbol-grounded neural visual generator and inducing logic rules from data, such that after learning, the visual generation process is guided by the induced logic rules. A major challenge for this task is to reduce the time cost of logic abduction during learning, an essential step when the logic symbol set is large and the logic rule to induce is complicated. To address this challenge, we propose a pre-training method for obtaining meta-rule selection policy for the recently proposed visual generative learning approach AbdGen [Peng et al., 2023], aiming at significantly reducing the candidate meta-rule set and pruning the search space. The selection model is built based on the embedding representation of both symbol grounding of cases and meta-rules, which can be effectively integrated with both neural model and logic reasoning system. The pre-training process is done on pure symbol data, not involving symbol grounding learning of raw visual inputs, making the entire learning process low-cost. An additional interesting observation is that the selection policy can rectify symbol grounding errors unseen during pre-training, which is resulted from the memorization ability of attention mechanism and the relative stability of symbolic patterns. Experimental results show that our method is able to effectively address the meta-rule selection problem for visual abduction, boosting the efficiency of visual generative abductive learning. Code is available at https://github.com/future-item/metarule-select.

Naaisha Agarwal, Yihan Wu, Yichang Jian et al.

Building AI systems that can plan, act, and create in the physical world requires more than pattern recognition. Such systems must understand the causal mechanisms and constraints governing physical processes in order to guide sequential decisions. This capability relies on internal representations, analogous to an internal language model, that relate observations, actions, and resulting environmental changes. However, many existing benchmarks treat visual perception and programmatic reasoning as separate problems, focusing either on visual recognition or on symbolic tasks. The domain of origami provides a natural testbed that integrates these modalities. Constructing shapes through folding operations requires visual perception, reasoning about geometric and physical constraints, and sequential planning, while remaining sufficiently structured for systematic evaluation. We introduce OrigamiBench, an interactive benchmark in which models iteratively propose folds and receive feedback on physical validity and similarity to a target configuration. Experiments with modern vision-language models show that scaling model size alone does not reliably produce causal reasoning about physical transformations. Models fail to generate coherent multi-step folding strategies, suggesting that visual and language representations remain weakly integrated.

Yaoli Liu, Yao-Xiang Ding, Kun Zhou

This paper proposes FreeFuse, a novel training-free approach for multi-subject text-to-image generation through automatic fusion of multiple subject LoRAs. In contrast to existing methods that either focus on pre-inference LoRA weight merging or rely on segmentation models and complex techniques like noise blending to isolate LoRA outputs, our key insight is that context-aware dynamic subject masks can be automatically derived from cross-attention layer weights. Mathematical analysis shows that directly applying these masks to LoRA outputs during inference well approximates the case where the subject LoRA is integrated into the diffusion model and used individually for the masked region. FreeFuse demonstrates superior practicality and efficiency as it requires no additional training, no modification to LoRAs, no auxiliary models, and no user-defined prompt templates or region specifications. Alternatively, it only requires users to provide the LoRA activation words for seamless integration into standard workflows. Extensive experiments validate that FreeFuse outperforms existing approaches in both generation quality and usability under the multi-subject generation tasks. The project page is at https://future-item.github.io/FreeFuse/

Yuting Tang, Xin-Qiang Cai, Jing-Cheng Pang et al.

Reinforcement Learning (RL) empowers agents to acquire various skills by learning from reward signals. Unfortunately, designing high-quality instance-level rewards often demands significant effort. An emerging alternative, RL with delayed reward, focuses on learning from rewards presented periodically, which can be obtained from human evaluators assessing the agent's performance over sequences of behaviors. However, traditional methods in this domain assume the existence of underlying Markovian rewards and that the observed delayed reward is simply the sum of instance-level rewards, both of which often do not align well with real-world scenarios. In this paper, we introduce the problem of RL from Composite Delayed Reward (RLCoDe), which generalizes traditional RL from delayed rewards by eliminating the strong assumption. We suggest that the delayed reward may arise from a more complex structure reflecting the overall contribution of the sequence. To address this problem, we present a framework for modeling composite delayed rewards, using a weighted sum of non-Markovian components to capture the different contributions of individual steps. Building on this framework, we propose Composite Delayed Reward Transformer (CoDeTr), which incorporates a specialized in-sequence attention mechanism to effectively model these contributions. We conduct experiments on challenging locomotion tasks where the agent receives delayed rewards computed from composite functions of observable step rewards. The experimental results indicate that CoDeTr consistently outperforms baseline methods across evaluated metrics. Additionally, we demonstrate that it effectively identifies the most significant time steps within the sequence and accurately predicts rewards that closely reflect the environment feedback.

Yuting Tang, Xin-Qiang Cai, Yao-Xiang Ding et al.

In Reinforcement Learning (RL), it is commonly assumed that an immediate reward signal is generated for each action taken by the agent, helping the agent maximize cumulative rewards to obtain the optimal policy. However, in many real-world scenarios, designing immediate reward signals is difficult; instead, agents receive a single reward that is contingent upon a partial sequence or a complete trajectory. In this work, we define this challenging problem as RL from Bagged Reward (RLBR), where sequences of data are treated as bags with non-Markovian bagged rewards, leading to the formulation of Bagged Reward Markov Decision Processes (BRMDPs). Theoretically, we demonstrate that RLBR can be addressed by solving a standard MDP with properly redistributed bagged rewards allocated to each instance within a bag. Empirically, we find that reward redistribution becomes more challenging as the bag length increases, due to reduced informational granularity. Existing reward redistribution methods are insufficient to address these challenges. Therefore, we propose a novel reward redistribution method equipped with a bidirectional attention mechanism, enabling the accurate interpretation of contextual nuances and temporal dependencies within each bag. We experimentally demonstrate that our proposed method consistently outperforms existing approaches.

Xin-Qiang Cai, Yao-Xiang Ding, Zi-Xuan Chen et al.

In many real-world imitation learning tasks, the demonstrator and the learner have to act under different observation spaces. This situation brings significant obstacles to existing imitation learning approaches, since most of them learn policies under homogeneous observation spaces. On the other hand, previous studies under different observation spaces have strong assumptions that these two observation spaces coexist during the entire learning process. However, in reality, the observation coexistence will be limited due to the high cost of acquiring expert observations. In this work, we study this challenging problem with limited observation coexistence under heterogeneous observations: Heterogeneously Observable Imitation Learning (HOIL). We identify two underlying issues in HOIL: the dynamics mismatch and the support mismatch, and further propose the Importance Weighting with REjection (IWRE) algorithm based on importance weighting and learning with rejection to solve HOIL problems. Experimental results show that IWRE can solve various HOIL tasks, including the challenging tasks of transforming the vision-based demonstrations to random access memory (RAM)-based policies in the Atari domain, even with limited visual observations.

Xin-Qiang Cai, Yao-Xiang Ding, Yuan Jiang et al.

One of the key issues for imitation learning lies in making policy learned from limited samples to generalize well in the whole state-action space. This problem is much more severe in high-dimensional state environments, such as game playing with raw pixel inputs. Under this situation, even state-of-the-art adversary-based imitation learning algorithms fail. Through empirical studies, we find that the main cause lies in the failure of training a powerful discriminator to generate meaningful rewards in high-dimensional environments. Although it seems that dimensionality reduction can help, a straightforward application of off-the-shelf methods cannot achieve good performance. In this work, we show in theory that the balance between dimensionality reduction and discriminative training is essential for effective learning. To achieve this target, we propose HashReward, which utilizes the idea of supervised hashing to realize such an ideal balance. Experimental results show that HashReward could outperform state-of-the-art methods for a large gap under the challenging high-dimensional environments.

Yao-Xiang Ding, Zhi-Hua Zhou

One of the fundamental problems in crowdsourcing is the trade-off between the number of the workers needed for high-accuracy aggregation and the budget to pay. For saving budget, it is important to ensure high quality of the crowd-sourced labels, hence the total cost on label collection will be reduced. Since the self-confidence of the workers often has a close relationship with their abilities, a possible way for quality control is to request the workers to return the labels only when they feel confident, by means of providing unsure option to them. On the other hand, allowing workers to choose unsure option also leads to the potential danger of budget waste. In this work, we propose the analysis towards understanding when providing the unsure option indeed leads to significant cost reduction, as well as how the confidence threshold is set. We also propose an online mechanism, which is alternative for threshold selection when the estimation of the crowd ability distribution is difficult.