Xinyi Chen

Vladimir Feinberg, Xinyi Chen, Y. Jennifer Sun et al. · deepmind, princeton

Adaptive regularization methods that exploit more than the diagonal entries exhibit state of the art performance for many tasks, but can be prohibitive in terms of memory and running time. We find the spectra of the Kronecker-factored gradient covariance matrix in deep learning (DL) training tasks are concentrated on a small leading eigenspace that changes throughout training, motivating a low-rank sketching approach. We describe a generic method for reducing memory and compute requirements of maintaining a matrix preconditioner using the Frequent Directions (FD) sketch. While previous approaches have explored applying FD for second-order optimization, we present a novel analysis which allows efficient interpolation between resource requirements and the degradation in regret guarantees with rank $k$: in the online convex optimization (OCO) setting over dimension $d$, we match full-matrix $d^2$ memory regret using only $dk$ memory up to additive error in the bottom $d-k$ eigenvalues of the gradient covariance. Further, we show extensions of our work to Shampoo, resulting in a method competitive in quality with Shampoo and Adam, yet requiring only sub-linear memory for tracking second moments.

Xinyi Chen, Elad Hazan, Tongyang Li et al. · princeton

The problem of efficient quantum state learning, also called shadow tomography, aims to comprehend an unknown $d$-dimensional quantum state through POVMs. Yet, these states are rarely static; they evolve due to factors such as measurements, environmental noise, or inherent Hamiltonian state transitions. This paper leverages techniques from adaptive online learning to keep pace with such state changes. The key metrics considered for learning in these mutable environments are enhanced notions of regret, specifically adaptive and dynamic regret. We present adaptive and dynamic regret bounds for online shadow tomography, which are polynomial in the number of qubits and sublinear in the number of measurements. To support our theoretical findings, we include numerical experiments that validate our proposed models.

Xinyi Chen, Elad Hazan · princeton

Selecting the best hyperparameters for a particular optimization instance, such as the learning rate and momentum, is an important but nonconvex problem. As a result, iterative optimization methods such as hypergradient descent lack global optimality guarantees in general. We propose an online nonstochastic control methodology for mathematical optimization. First, we formalize the setting of meta-optimization, an online learning formulation of learning the best optimization algorithm from a class of methods. The meta-optimization problem over gradient-based methods can be framed as a feedback control problem over the choice of hyperparameters, including the learning rate, momentum, and the preconditioner. Although the original optimal control problem is nonconvex, we show how recent methods from online nonstochastic control using convex relaxations can be used to overcome the challenge of nonconvexity, and obtain regret guarantees against the best offline solution. This guarantees that in meta-optimization, given a sequence of optimization problems, we can learn a method that attains convergence comparable to that of the best optimization method in hindsight from a class of methods.

Lukas Johanns, Marilin Moor, Davide Panzeri et al.

Biological image analysis increasingly demands integration across heterogeneous tools, programming environments, and domain knowledge that few researchers can command simultaneously. We present Agentic-J, a containerised, multi-agent AI assistant, primarily for ImageJ/Fiji that enables biologists to specify analysis tasks in natural language, from nuclei segmentation and cell tracking to multi-condition quantification. The agent generates executable scripts organised into a documented project structure, so every analysis decision is traceable and the workflow can be reproduced or shared. The specialised sub-agents handle plugin management, code generation, debugging, quality assurance, and statistical reporting. In this paper we introduce the system's design, demonstrate real biological microscopy image analysis workflows, and detailed the technical implementation.

Jinxia Zhang, Xinyi Chen, Haikun Wei et al.

Nowadays, the rapid development of photovoltaic(PV) power stations requires increasingly reliable maintenance and fault diagnosis of PV modules in the field. Due to the effectiveness, convolutional neural network (CNN) has been widely used in the existing automatic defect detection of PV cells. However, the parameters of these CNN-based models are very large, which require stringent hardware resources and it is difficult to be applied in actual industrial projects. To solve these problems, we propose a novel lightweight high-performance model for automatic defect detection of PV cells in electroluminescence(EL) images based on neural architecture search and knowledge distillation. To auto-design an effective lightweight model, we introduce neural architecture search to the field of PV cell defect classification for the first time. Since the defect can be any size, we design a proper search structure of network to better exploit the multi-scale characteristic. To improve the overall performance of the searched lightweight model, we further transfer the knowledge learned by the existing pre-trained large-scale model based on knowledge distillation. Different kinds of knowledge are exploited and transferred, including attention information, feature information, logit information and task-oriented information. Experiments have demonstrated that the proposed model achieves the state-of-the-art performance on the public PV cell dataset of EL images under online data augmentation with accuracy of 91.74% and the parameters of 1.85M. The proposed lightweight high-performance model can be easily deployed to the end devices of the actual industrial projects and retain the accuracy.

Liang Pan, Xinyi Chen, Zhongang Cai et al.

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine local details. Furthermore, they mostly learn a deterministic partial-to-complete mapping, but overlook structural relations in man-made objects. To tackle these challenges, this paper proposes a variational framework, Variational Relational point Completion Network (VRCNet) with two appealing properties: 1) Probabilistic Modeling. In particular, we propose a dual-path architecture to enable principled probabilistic modeling across partial and complete clouds. One path consumes complete point clouds for reconstruction by learning a point VAE. The other path generates complete shapes for partial point clouds, whose embedded distribution is guided by distribution obtained from the reconstruction path during training. 2) Relational Enhancement. Specifically, we carefully design point self-attention kernel and point selective kernel module to exploit relational point features, which refines local shape details conditioned on the coarse completion. In addition, we contribute multi-view partial point cloud datasets (MVP and MVP-40 dataset) containing over 200,000 high-quality scans, which render partial 3D shapes from 26 uniformly distributed camera poses for each 3D CAD model. Extensive experiments demonstrate that VRCNet outperforms state-of-the-art methods on all standard point cloud completion benchmarks. Notably, VRCNet shows great generalizability and robustness on real-world point cloud scans. Moreover, we can achieve robust 3D classification for partial point clouds with the help of VRCNet, which can highly increase classification accuracy.

Fuchen Zheng, Xinyi Chen, Xuhang Chen et al.

Medical image segmentation, a crucial task in computer vision, facilitates the automated delineation of anatomical structures and pathologies, supporting clinicians in diagnosis, treatment planning, and disease monitoring. Notably, transformers employing shifted window-based self-attention have demonstrated exceptional performance. However, their reliance on local window attention limits the fusion of local and global contextual information, crucial for segmenting microtumors and miniature organs. To address this limitation, we propose the Adaptive Semantic Segmentation Network (ASSNet), a transformer architecture that effectively integrates local and global features for precise medical image segmentation. ASSNet comprises a transformer-based U-shaped encoder-decoder network. The encoder utilizes shifted window self-attention across five resolutions to extract multi-scale features, which are then propagated to the decoder through skip connections. We introduce an augmented multi-layer perceptron within the encoder to explicitly model long-range dependencies during feature extraction. Recognizing the constraints of conventional symmetrical encoder-decoder designs, we propose an Adaptive Feature Fusion (AFF) decoder to complement our encoder. This decoder incorporates three key components: the Long Range Dependencies (LRD) block, the Multi-Scale Feature Fusion (MFF) block, and the Adaptive Semantic Center (ASC) block. These components synergistically facilitate the effective fusion of multi-scale features extracted by the decoder while capturing long-range dependencies and refining object boundaries. Comprehensive experiments on diverse medical image segmentation tasks, including multi-organ, liver tumor, and bladder tumor segmentation, demonstrate that ASSNet achieves state-of-the-art results. Code and models are available at: \url{https://github.com/lzeeorno/ASSNet}.

Haotian Liang, Xinyi Chen, Bin Wang et al.

A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA) model that integrates text, image, and action in shared token space and performs generation across all three modalities. MM-ACT adopts a re-mask parallel decoding strategy for text and image generation, and employs a one-step parallel decoding strategy for action generation to improve efficiency. We introduce Context-Shared Multimodal Learning, a unified training paradigm that supervises generation in all three modalities from a shared context, enhancing action generation through cross-modal learning. Experiments were conducted on the LIBERO simulation and Franka real-robot setups as well as RoboTwin2.0 to assess in-domain and out-of-domain performances respectively. Our approach achieves a success rate of 96.3% on LIBERO, 72.0% across three tasks of real Franka, and 52.38% across eight bimanual tasks of RoboTwin2.0 with an additional gain of 9.25% from cross-modal learning. We release our codes, models and data at https://github.com/HHYHRHY/MM-ACT.

Fuchen Zheng, Xinyi Chen, Weixuan Li et al.

Medical image segmentation is a cornerstone of modern clinical diagnostics. While Vision Transformers that leverage shifted window-based self-attention have established new benchmarks in this field, they are often hampered by a critical limitation: their localized attention mechanism struggles to effectively fuse local details with global context. This deficiency is particularly detrimental to challenging tasks such as the segmentation of microtumors and miniature organs, where both fine-grained boundary definition and broad contextual understanding are paramount. To address this gap, we propose HBFormer, a novel Hybrid-Bridge Transformer architecture. The 'Hybrid' design of HBFormer synergizes a classic U-shaped encoder-decoder framework with a powerful Swin Transformer backbone for robust hierarchical feature extraction. The core innovation lies in its 'Bridge' mechanism, a sophisticated nexus for multi-scale feature integration. This bridge is architecturally embodied by our novel Multi-Scale Feature Fusion (MFF) decoder. Departing from conventional symmetric designs, the MFF decoder is engineered to fuse multi-scale features from the encoder with global contextual information. It achieves this through a synergistic combination of channel and spatial attention modules, which are constructed from a series of dilated and depth-wise convolutions. These components work in concert to create a powerful feature bridge that explicitly captures long-range dependencies and refines object boundaries with exceptional precision. Comprehensive experiments on challenging medical image segmentation datasets, including multi-organ, liver tumor, and bladder tumor benchmarks, demonstrate that HBFormer achieves state-of-the-art results, showcasing its outstanding capabilities in microtumor and miniature organ segmentation. Code and models are available at: https://github.com/lzeeorno/HBFormer.

Xinyi Chen, Raquel Fernández, Sandro Pezzelle

Despite the impressive performance achieved by pre-trained language-and-vision models in downstream tasks, it remains an open question whether this reflects a proper understanding of image-text interaction. In this work, we explore to what extent they handle basic linguistic constructions -- active-passive voice, coordination, and relative clauses -- that even preschool children can typically master. We present BLA, a novel, automatically constructed benchmark to evaluate multimodal models on these Basic Language Abilities. We show that different types of Transformer-based systems, such as CLIP, ViLBERT, and BLIP2, generally struggle with BLA in a zero-shot setting, in line with previous findings. Our experiments, in particular, show that most of the tested models only marginally benefit when fine-tuned or prompted with construction-specific samples. Yet, the generative BLIP2 shows promising trends, especially in an in-context learning setting. This opens the door to using BLA not only as an evaluation benchmark but also to improve models' basic language abilities.

Agata Żywot, Xinyi Chen, Yifei Yuan et al.

Recent progress in language modeling has largely relied on scaling model size, yet larger models do not reliably improve performance on tasks requiring multi-step reasoning and tool use. Multi-agent collaboration offers a potential alternative, raising a key question: can well-organized systems built from smaller models outperform much larger language models? We address this question using a minimally designed multi-agent system with a single orchestrator and a small set of specialized sub-agents with restricted communication. On tool-intensive benchmarks spanning factual retrieval, multi-hop reasoning, scientific question answering, and mathematical problem solving, we conduct controlled comparisons between small multi-agent systems and large single-agent models. We find that small multi-agent systems can outperform substantially larger single-agent models, even when the latter have direct access to tools. Reasoning at the orchestrator yields the largest gains, while enabling reasoning in sub-agents provides limited or negative benefits. Overall system performance is driven primarily by orchestrator capacity rather than sub-agent capacity. These results suggest that improved agentic performance depends more on architectural orchestration than on raw model scaling.

Shiying Ding, Xinyi Chen, Yan Fang et al.

Generative AI faces many challenges when entering the product design workflow, such as interface usability and interaction patterns. Therefore, based on design thinking and design process, we developed the DesignGPT multi-agent collaboration framework, which uses artificial intelligence agents to simulate the roles of different positions in the design company and allows human designers to collaborate with them in natural language. Experimental results show that compared with separate AI tools, DesignGPT improves the performance of designers, highlighting the potential of applying multi-agent systems that integrate design domain knowledge to product scheme design.

Qiyao Wang, Xinyi Chen, Longze Chen et al.

Patent examination is a complex, multi-stage process requiring both technical expertise and legal reasoning, increasingly challenged by rising application volumes. Prior benchmarks predominantly view patent examination as discriminative classification or static extraction, failing to capture its inherently interactive and iterative nature, similar to the peer review and rebuttal process in academic publishing. In this paper, we introduce PatRe, the first benchmark that models the full patent examination lifecycle, including Office Action generation and applicant rebuttal. PatRe comprises 480 real-world cases and supports both oracle and retrieval-simulated evaluation settings. Our benchmark reframes patent examination as a dynamic, multi-turn process of justification and response. Extensive experiments across various LLMs reveal critical insights into model performance, including differences between proprietary and open-source models, as well as task asymmetries between examiner analysis and applicant-side rebuttal. These findings highlight both the potential and current limitations of LLMs in modeling complex, real-world legal reasoning and technical novelty judgment in patent examination. We release our code and dataset to facilitate future research on patent examination modeling.

Gheorghe Comanici, Eric Bieber, Mike Schaekermann et al. · amazon-science, baidu

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

Xinyi Chen, Yilun Chen, Yanwei Fu et al.

We introduce InternVLA-M1, a unified framework for spatial grounding and robot control that advances instruction-following robots toward scalable, general-purpose intelligence. Its core idea is spatially guided vision-language-action training, where spatial grounding serves as the critical link between instructions and robot actions. InternVLA-M1 employs a two-stage pipeline: (i) spatial grounding pre-training on over 2.3M spatial reasoning data to determine ``where to act'' by aligning instructions with visual, embodiment-agnostic positions, and (ii) spatially guided action post-training to decide ``how to act'' by generating embodiment-aware actions through plug-and-play spatial prompting. This spatially guided training recipe yields consistent gains: InternVLA-M1 outperforms its variant without spatial guidance by +14.6% on SimplerEnv Google Robot, +17% on WidowX, and +4.3% on LIBERO Franka, while demonstrating stronger spatial reasoning capability in box, point, and trace prediction. To further scale instruction following, we built a simulation engine to collect 244K generalizable pick-and-place episodes, enabling a 6.2% average improvement across 200 tasks and 3K+ objects. In real-world clustered pick-and-place, InternVLA-M1 improved by 7.3%, and with synthetic co-training, achieved +20.6% on unseen objects and novel configurations. Moreover, in long-horizon reasoning-intensive scenarios, it surpassed existing works by over 10%. These results highlight spatially guided training as a unifying principle for scalable and resilient generalist robots. Code and models are available at https://github.com/InternRobotics/InternVLA-M1.

Zihan Zhou, Chong Li, Xinyi Chen et al.

Enlarging the context window of large language models (LLMs) has become a crucial research area, particularly for applications involving extremely long texts. In this work, we propose a novel training-free framework for processing long texts, utilizing a divide-and-conquer strategy to achieve comprehensive document understanding. The proposed LLM$\times$MapReduce framework splits the entire document into several chunks for LLMs to read and then aggregates the intermediate answers to produce the final output. The main challenge for divide-and-conquer long text processing frameworks lies in the risk of losing essential long-range information when splitting the document, which can lead the model to produce incomplete or incorrect answers based on the segmented texts. Disrupted long-range information can be classified into two categories: inter-chunk dependency and inter-chunk conflict. We design a structured information protocol to better cope with inter-chunk dependency and an in-context confidence calibration mechanism to resolve inter-chunk conflicts. Experimental results demonstrate that LLM$\times$MapReduce can outperform representative open-source and commercial long-context LLMs, and is applicable to several different models.

Yihao Wang, Haoran Xu, Renjie Gu et al.

The large-scale deployment of personalized healthcare agents demands memory mechanisms that are exceptionally precise, safe, and capable of long-term clinical tracking. However, existing benchmarks primarily focus on daily open-domain conversations, failing to capture the high-stakes complexity of real-world medical applications. Motivated by the stringent production requirements of an industry-leading health management agent serving tens of millions of active users, we introduce MedMemoryBench. We develop a human-agent collaborative pipeline to synthesize highly realistic, long-horizon medical trajectories based on clinically grounded, synthetic patient archetypes. This process yields a massive, expertly validated dataset comprising approximately 2,000 sessions and 16,000 interaction turns. Crucially, MedMemoryBench departs from traditional static evaluations by pioneering an "evaluate-while-constructing" streaming assessment protocol, which precisely mirrors dynamic memory accumulation in production environments. Furthermore, we formalize and systematically investigate the critical phenomenon of memory saturation, where sustained information influx actively degrades retrieval and reasoning robustness. Comprehensive benchmarking reveals severe bottlenecks in mainstream architectures, particularly concerning complex medical reasoning and noise resilience. By exposing these fundamental flaws, MedMemoryBench establishes a vital foundation for developing robust, production-ready medical agents.

Wenxi Zhang, Zhe Li, Weixi Li et al.

This paper introduces a robust, learning-based method for diagnosing the state of distribution network switchgear, which is crucial for maintaining the power quality for end users. Traditional diagnostic models often rely heavily on expert knowledge and lack robustness. To address this, our method incorporates an expanded feature vector that includes environmental data, temperature readings, switch position, motor operation, insulation conditions, and local discharge information. We tackle the issue of high dimensionality through feature mapping. The method introduces a decision radius to categorize unlabeled samples and updates the model parameters using a combination of supervised and unsupervised loss, along with a consistency regularization function. This approach ensures robust learning even with a limited number of labeled samples. Comparative analysis demonstrates that this method significantly outperforms existing models in both accuracy and robustness.

Yujia Xiao, Liumeng Xue, Lei He et al.

Recently, an increasing number of multimodal (text and audio) benchmarks have emerged, primarily focusing on evaluating models' understanding capability. However, exploration into assessing generative capabilities remains limited, especially for open-ended long-form content generation. Significant challenges lie in no reference standard answer, no unified evaluation metrics and uncontrollable human judgments. In this work, we take podcast-like audio generation as a starting point and propose PodEval, a comprehensive and well-designed open-source evaluation framework. In this framework: 1) We construct a real-world podcast dataset spanning diverse topics, serving as a reference for human-level creative quality. 2) We introduce a multimodal evaluation strategy and decompose the complex task into three dimensions: text, speech and audio, with different evaluation emphasis on "Content" and "Format". 3) For each modality, we design corresponding evaluation methods, involving both objective metrics and subjective listening test. We leverage representative podcast generation systems (including open-source, close-source, and human-made) in our experiments. The results offer in-depth analysis and insights into podcast generation, demonstrating the effectiveness of PodEval in evaluating open-ended long-form audio. This project is open-source to facilitate public use: https://github.com/yujxx/PodEval.

Xinyi Chen, Baohao Liao, Jirui Qi et al.

Following multiple instructions is a crucial ability for large language models (LLMs). Evaluating this ability comes with significant challenges: (i) limited coherence between multiple instructions, (ii) positional bias where the order of instructions affects model performance, and (iii) a lack of objectively verifiable tasks. To address these issues, we introduce a benchmark designed to evaluate models' abilities to follow multiple instructions through sequential instruction following (SIFo) tasks. In SIFo, the successful completion of multiple instructions is verifiable by examining only the final instruction. Our benchmark evaluates instruction following using four tasks (text modification, question answering, mathematics, and security rules), each assessing different aspects of sequential instruction following. Our evaluation of popular LLMs, both closed-source and open-source, shows that more recent and larger models significantly outperform their older and smaller counterparts on the SIFo tasks, validating the benchmark's effectiveness. All models struggle with following sequences of instructions, hinting at an important lack of robustness of today's language models.

Boyu Zhou, Yichen Zhang, Xinyi Chen et al.

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative motion plans and low decision frequencies. In this paper, we propose FUEL, a hierarchical framework that can support Fast UAV Exploration in complex unknown environments. We maintain crucial information in the entire space required by exploration planning by a frontier information structure (FIS), which can be updated incrementally when the space is explored. Supported by the FIS, a hierarchical planner plans exploration motions in three steps, which find efficient global coverage paths, refine a local set of viewpoints and generate minimum-time trajectories in sequence. We present extensive benchmark and real-world tests, in which our method completes the exploration tasks with unprecedented efficiency (3-8 times faster) compared to state-of-the-art approaches. Our method will be made open source to benefit the community.

Linda Friso, Annie Marsden, Xinyi Chen et al.

Convolutional architectures have emerged as powerful alternatives to Transformers for sequence modeling. The primary advantage is that they offer improved theoretical sequence length complexity by leveraging the Fast Fourier Transform (FFT). However, this theoretical improvement does not always meaningfully land in practice. One critical obstacle is that applying standard FFTs is not amenable to the large-scale training pipeline wherein data is packed from different sources into a single sequence for hardware efficiency. Indeed, standard FFT algorithms are not easily amenable to document packing. Existing workarounds suffer from severe inefficiencies, crippling the practical performance of convolutional architectures. We close this gap with RubiConv, a novel algorithm for performing hardware-efficient, boundary-respecting convolutions on packed sequences. Extensive experiments show that RubiConv achieves significant speedups over both attention and standard FFT-based baselines. This work makes the theoretical efficiency of long convolutional models a practical reality for large-scale, real-world data packing.

Xiaoxu Xu, Hao Li, Jinhui Ye et al.

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing this tightly coupled visuomotor interplay. While recent vision-language-action models attempt to incorporate future guidance, they struggle with this joint modeling. Existing explicit methods divert capacity to task-irrelevant visual details, whereas implicit methods relying on sparse frame pairs disrupt temporal continuity. By heavily relying on visual reconstruction, these methods become visually dominated, entangling static scene context with dynamic action intent. We argue that effective joint visuomotor predictive modeling requires both temporal continuity and visually-conditioned supervision decoupling. To this end, we propose FutureVLA, featuring a novel Joint Visuomotor Predictive Architecture. FutureVLA is designed to extract joint visuomotor embeddings by first decoupling visual and motor information, and then jointly encoding generalized physical priors. Specifically, in the pretraining stage, we leverage heterogeneous manipulation datasets and introduce a Joint Visuomotor Gating mechanism to structurally separate visual state preservation from temporal action modeling. It allows the motor stream to focus on continuous physical dynamics while explicitly querying visual tokens for environmental constraints, yielding highly generalizable joint visuomotor embeddings. Subsequently, in the post-training stage, we employ a latent embeddings alignment strategy, enabling diverse downstream VLA models to internalize these temporal priors without modifying their inference architectures. Extensive experiments demonstrate that FutureVLA consistently improves VLA frameworks.

Naman Agarwal, Daniel Suo, Xinyi Chen et al. · deepmind, princeton

This paper studies sequence modeling for prediction tasks with long range dependencies. We propose a new formulation for state space models (SSMs) based on learning linear dynamical systems with the spectral filtering algorithm (Hazan et al. (2017)). This gives rise to a novel sequence prediction architecture we call a spectral state space model. Spectral state space models have two primary advantages. First, they have provable robustness properties as their performance depends on neither the spectrum of the underlying dynamics nor the dimensionality of the problem. Second, these models are constructed with fixed convolutional filters that do not require learning while still outperforming SSMs in both theory and practice. The resulting models are evaluated on synthetic dynamical systems and long-range prediction tasks of various modalities. These evaluations support the theoretical benefits of spectral filtering for tasks requiring very long range memory.

Bryan Chan, Xinyi Chen, András György et al.

It has recently been demonstrated empirically that in-context learning emerges in transformers when certain distributional properties are present in the training data, but this ability can also diminish upon further training. We provide a new theoretical understanding of these phenomena by identifying simplified distributional properties that give rise to the emergence and eventual disappearance of in-context learning. We do so by first analyzing a simplified model that uses a gating mechanism to choose between an in-weight and an in-context predictor. Through a combination of a generalization error and regret analysis we identify conditions where in-context and in-weight learning emerge. These theoretical findings are then corroborated experimentally by comparing the behaviour of a full transformer on the simplified distributions to that of the stylized model, demonstrating aligned results. We then extend the study to a full large language model, showing how fine-tuning on various collections of natural language prompts can elicit similar in-context and in-weight learning behaviour.

Haifeng Huang, Xinyi Chen, Yilun Chen et al.

Recent advancements in robotic manipulation have highlighted the potential of intermediate representations for improving policy generalization. In this work, we explore grounding masks as an effective intermediate representation, balancing two key advantages: (1) effective spatial guidance that specifies target objects and placement areas while also conveying information about object shape and size, and (2) broad generalization potential driven by large-scale vision-language models pretrained on diverse grounding datasets. We introduce RoboGround, a grounding-aware robotic manipulation system that leverages grounding masks as an intermediate representation to guide policy networks in object manipulation tasks. To further explore and enhance generalization, we propose an automated pipeline for generating large-scale, simulated data with a diverse set of objects and instructions. Extensive experiments show the value of our dataset and the effectiveness of grounding masks as intermediate guidance, significantly enhancing the generalization abilities of robot policies.

Hao Li, Shuai Yang, Yilun Chen et al.

Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong performance in robotic manipulation. However, these models remain constrained by the single-frame image paradigm and fail to fully leverage the temporal information offered by multi-frame histories, as directly feeding multiple frames into VLM backbones incurs substantial computational overhead and inference latency. We propose CronusVLA, a unified framework that extends single-frame VLA models to the multi-frame paradigm. CronusVLA follows a two-stage process: (1) Single-frame pretraining on large-scale embodied datasets with autoregressive prediction of action tokens, establishing an effective embodied vision-language foundation; (2) Multi-frame post-training, which adapts the prediction of the vision-language backbone from discrete tokens to learnable features, and aggregates historical information via feature chunking. CronusVLA effectively addresses the existing challenges of multi-frame modeling while enhancing performance and observational robustness. To evaluate the robustness under temporal and spatial disturbances, we introduce SimplerEnv-OR, a novel benchmark featuring 24 types of observational disturbances and 120 severity levels. Experiments across three embodiments in simulated and real-world environments demonstrate that CronusVLA achieves leading performance and superior robustness, with a 70.9% success rate on SimplerEnv, a 26.8% improvement over OpenVLA on LIBERO, and the highest robustness score on SimplerEnv-OR. These results highlight the potential of efficient multi-frame adaptation in VLA models for more powerful and robust real-world deployment.

Xinyi Chen, Angelica Chen, Dean Foster et al. · princeton

We consider regret minimization in repeated games with a very large number of actions. Such games are inherent in the setting of AI Safety via Debate \cite{irving2018ai}, and more generally games whose actions are language-based. Existing algorithms for online game playing require per-iteration computation polynomial in the number of actions, which can be prohibitive for large games. We thus consider oracle-based algorithms, as oracles naturally model access to AI agents. With oracle access, we characterize when internal and external regret can be minimized efficiently. We give a novel efficient algorithm for simultaneous external and internal regret minimization whose regret depends logarithmically on the number of actions. We conclude with experiments in the setting of AI Safety via Debate that shows the benefit of insights from our algorithmic analysis.

Xin Zhang, Yang Cao, Baoxing Wu et al.

Large Language Models (LLMs) have achieved strong performance across a wide range of natural language processing tasks in recent years, including machine translation, text generation, and question answering. As their applications extend to increasingly complex scenarios, however, LLMs continue to face challenges in tasks that require deep reasoning and logical inference. In particular, models trained on large scale textual corpora may incorporate noisy or irrelevant information during generation, which can lead to incorrect predictions or outputs that are inconsistent with factual knowledge. To address this limitation, we propose a stepwise reasoning enhancement framework for LLMs based on external subgraph generation, termed SGR. The proposed framework dynamically constructs query relevant subgraphs from external knowledge bases and leverages their semantic structure to guide the reasoning process. By performing reasoning in a step by step manner over structured subgraphs, SGR reduces the influence of noisy information and improves reasoning accuracy. Specifically, the framework first generates an external subgraph tailored to the input query, then guides the model to conduct multi step reasoning grounded in the subgraph, and finally integrates multiple reasoning paths to produce the final answer. Experimental results on multiple benchmark datasets demonstrate that SGR consistently outperforms strong baselines, indicating its effectiveness in enhancing the reasoning capabilities of LLMs.

Baohao Liao, Xinyi Chen, Sara Rajaee et al.

Recent advancements in large language models (LLMs) have significantly advanced complex reasoning capabilities, particularly through extended chain-of-thought (CoT) reasoning that incorporates mechanisms such as backtracking, self-reflection, and self-correction. Despite these developments, the self-correction abilities of LLMs during long CoT reasoning remain underexplored. And recent findings on overthinking suggest that such models often engage in unnecessarily redundant reasoning. In this work, we empirically show that the first reasoning step exerts a disproportionately large influence on the final prediction. I.e., errors introduced at this stage can substantially degrade subsequent reasoning quality. This phenomenon is consistently observed across various state-of-the-art open- and closed-source reasoning models. Leveraging this insight, we propose an efficient sampling strategy that leverages a reward model to identify and retain high-quality first reasoning steps while discarding suboptimal ones, achieving up to a 70% reduction in inference cost without sacrificing any accuracy. Our work highlights the central role of the first reasoning step in generating a high-quality reasoning trajectory, and thus enabling significantly efficient sampling.

Lisha Chen, Quan Xiao, Ellen Hidemi Fukuda et al.

Multi-objective learning under user-specified preference is common in real-world problems such as multi-lingual speech recognition under fairness. In this work, we frame such a problem as a semivectorial bilevel optimization problem, whose goal is to optimize a pre-defined preference function, subject to the constraint that the model parameters are weakly Pareto optimal. To solve this problem, we convert the multi-objective constraints to a single-objective constraint through a merit function with an easy-to-evaluate gradient, and then, we use a penalty-based reformulation of the bilevel optimization problem. We theoretically establish the properties of the merit function, and the relations of solutions for the penalty reformulation and the constrained formulation. Then we propose algorithms to solve the reformulated single-level problem, and establish its convergence guarantees. We test the method on various synthetic and real-world problems. The results demonstrate the effectiveness of the proposed method in finding preference-guided optimal solutions to the multi-objective problem.

Yunze Wei, Xiaohui Xie, Tianshuo Hu et al.

Translating configurations between different network devices is a common yet challenging task in modern network operations. This challenge arises in typical scenarios such as replacing obsolete hardware and adapting configurations to emerging paradigms like Software Defined Networking (SDN) and Network Function Virtualization (NFV). Engineers need to thoroughly understand both source and target configuration models, which requires considerable effort due to the complexity and evolving nature of these specifications. To promote automation in network configuration translation, we propose INTA, an intent-based translation framework that leverages Large Language Model (LLM) agents. The key idea of INTA is to use configuration intent as an intermediate representation for translation. It first employs LLMs to decompose configuration files and extract fine-grained intents for each configuration fragment. These intents are then used to retrieve relevant manuals of the target device. Guided by a syntax checker, INTA incrementally generates target configurations. The translated configurations are further verified and refined for semantic consistency. We implement INTA and evaluate it on real-world configuration datasets from the industry. Our approach outperforms state-of-the-art methods in translation accuracy and exhibits strong generalizability. INTA achieves an accuracy of 98.15% in terms of both syntactic and view correctness, and a command recall rate of 84.72% for the target configuration. The semantic consistency report of the translated configuration further demonstrates its practical value in real-world network operations.

Annie Marsden, Evan Dogariu, Naman Agarwal et al. · deepmind, princeton

We consider the problem of length generalization in sequence prediction. We define a new metric of performance in this setting -- the Asymmetric-Regret -- which measures regret against a benchmark predictor with longer context length than available to the learner. We continue by studying this concept through the lens of the spectral filtering algorithm. We present a gradient-based learning algorithm that provably achieves length generalization for linear dynamical systems. We conclude with proof-of-concept experiments which are consistent with our theory.

Yang Cao, Xinyi Chen, Xin Zhang et al.

In this paper, we present a novel method for automatically generating sports news, which employs a unique algorithm that extracts pivotal moments from live text broadcasts and uses them to create an initial draft of the news. This draft is further refined by incorporating key details and background information from a specially designed sports knowledge graph. This graph contains 5,893 entities, which are classified into three distinct conceptual categories, interconnected through four relationship types, and characterized by 27 unique attributes. In addition, we create a multi-stage learning model by combining convolutional neural networks and a transformer encoder. This model expresses entity-task interactions using convolutional neural networks and enriches entity representations in the query set with the transformer encoder. It also includes a processor to compute matching scores for incomplete triples, addressing few-shot knowledge graph completion problem. The efficiency of this approach has been confirmed through both subjective and objective evaluations of 50 selected test cases, demonstrating its capability in revolutionizing the creation of sports news.

Ying Cui, Dongzhe Zheng, Ke Yu et al.

Clear cell renal cell carcinoma (ccRCC) exhibits extensive intratumoral heterogeneity on multiple biological scales, contributing to variable clinical outcomes and limiting the effectiveness of conventional TNM staging, which highlights the urgent need for multiscale integrative analytic frameworks. The lipid-deficient de-clear cell differentiated (DCCD) ccRCC subtype, defined by multi-omics analyses, is associated with adverse outcomes even in early-stage disease. Here, we establish a hierarchical cross-scale framework for the preoperative identification of DCCD-ccRCC. At the highest layer, cross-modal mapping transferred molecular signatures to histological and CT phenotypes, establishing a molecular-to-pathology-to-radiology supervisory bridge. Within this framework, each modality-specific model is designed to mirror the inherent hierarchical structure of tumor biology. PathoDCCD captured multi-scale microscopic features, from cellular morphology and tissue architecture to meso-regional organization. RadioDCCD integrated complementary macroscopic information by combining whole-tumor and its habitat-subregions radiomics with a 2D maximal-section heterogeneity metric. These nested models enabled integrated molecular subtype prediction and clinical risk stratification. Across five cohorts totaling 1,659 patients, PathoDCCD reliably recapitulated molecular subtypes, while RadioDCCD provided reliable preoperative prediction. The consistent predictions identified patients with the poorest clinical outcomes. This cross-scale paradigm unifies molecular biology, computational pathology, and quantitative radiology into a biologically grounded strategy for preoperative noninvasive molecular phenotyping of ccRCC.

Yiting Lu, Wei Luo, Peiyan Tu et al.

World Generation Models are emerging as a cornerstone of next-generation multimodal intelligence systems. Unlike traditional 2D visual generation, World Models aim to construct realistic, dynamic, and physically consistent 3D/4D worlds from images, videos, or text. These models not only need to produce high-fidelity visual content but also maintain coherence across space, time, physics, and instruction control, enabling applications in virtual reality, autonomous driving, embodied intelligence, and content creation. However, prior benchmarks emphasize different evaluation dimensions and lack a unified assessment of world-realism capability. To systematically evaluate World Models, we introduce the 4DWorldBench, which measures models across four key dimensions: Perceptual Quality, Condition-4D Alignment, Physical Realism, and 4D Consistency. The benchmark covers tasks such as Image-to-3D/4D, Video-to-4D, Text-to-3D/4D. Beyond these, we innovatively introduce adaptive conditioning across multiple modalities, which not only integrates but also extends traditional evaluation paradigms. To accommodate different modality-conditioned inputs, we map all modality conditions into a unified textual space during evaluation, and further integrate LLM-as-judge, MLLM-as-judge, and traditional network-based methods. This unified and adaptive design enables more comprehensive and consistent evaluation of alignment, physical realism, and cross-modal coherence. Preliminary human studies further demonstrate that our adaptive tool selection achieves closer agreement with subjective human judgments. We hope this benchmark will serve as a foundation for objective comparisons and improvements, accelerating the transition from "visual generation" to "world generation." Our project can be found at https://yeppp27.github.io/4DWorldBench.github.io/.

Chenxiang Ma, Xinyi Chen, Yujie Wu et al.

Spiking neural networks (SNNs), recognized as an energy-efficient alternative to traditional artificial neural networks (ANNs), have advanced rapidly through the scaling of models and datasets. However, such scaling incurs considerable training overhead, posing challenges for researchers with limited computational resources and hindering the sustained development of SNNs. Data pruning is a promising strategy for accelerating training by retaining the most informative examples and discarding redundant ones, but it remains largely unexplored in SNNs. Directly applying ANN-based data pruning methods to SNNs fails to capture the intrinsic importance of examples and suffers from high gradient variance. To address these challenges, we propose a novel spike-aware data pruning (SADP) method. SADP reduces gradient variance by determining each example's selection probability to be proportional to its gradient norm, while avoiding the high cost of direct gradient computation through an efficient upper bound, termed spike-aware importance score. This score accounts for the influence of all-or-nothing spikes on the gradient norm and can be computed with negligible overhead. Extensive experiments across diverse datasets and architectures demonstrate that SADP consistently outperforms data pruning baselines and achieves training speedups close to the theoretical maxima at different pruning ratios. Notably, SADP reduces training time by 35% on ImageNet while maintaining accuracy comparable to that of full-data training. This work, therefore, establishes a data-centric paradigm for efficient SNN training and paves the way for scaling SNNs to larger models and datasets. The source code will be released publicly after the review process.

Gregory Hok Tjoan Go, Khang Ly, Anders Søgaard et al.

The rapid growth of scientific publications has made it increasingly difficult to keep literature reviews comprehensive and up-to-date. Though prior work has focused on automating retrieval and screening, the writing phase of systematic reviews remains largely under-explored, especially with regard to readability and factual accuracy. To address this, we present LiRA (Literature Review Agents), a multi-agent collaborative workflow which emulates the human literature review process. LiRA utilizes specialized agents for content outlining, subsection writing, editing, and reviewing, producing cohesive and comprehensive review articles. Evaluated on SciReviewGen and a proprietary ScienceDirect dataset, LiRA outperforms current baselines such as AutoSurvey and MASS-Survey in writing and citation quality, while maintaining competitive similarity to human-written reviews. We further evaluate LiRA in real-world scenarios using document retrieval and assess its robustness to reviewer model variation. Our findings highlight the potential of agentic LLM workflows, even without domain-specific tuning, to improve the reliability and usability of automated scientific writing.

Xinyi Chen, Yifei Yuan, Jiaang Li et al.

Language models are often said to face a symbol grounding problem. While some have argued the problem can be solved without resort to other modalities, many have speculated that grounded learning is more efficient. We explore this question in Othello, a simplified, rule-based world that offers a controlled and interpretable testbed for studying world understanding. Building on prior work, we introduce VISOTHELLO, a multi-modal model trained jointly on move sequences and board images. Using the Othello rule understanding task, we examine whether multi-modal learning provides advantages over text-only approaches. We further evaluate robustness under semantically irrelevant perturbations and analyze the consistency of cross-modal alignment. Our results suggest that multi-modal training not only improves performance and robustness but also promotes convergence toward shared internal representations across different model architectures.

Haifeng Jia, Xinyi Chen, Yichen Wei et al.

Ray tracing is widely employed to model the propagation of radio-frequency (RF) signal in complex environment. The modelling performance greatly depends on how accurately the target scene can be depicted, including the scene geometry and surface material properties. The advances in computer vision and LiDAR make scene geometry estimation increasingly accurate, but there still lacks scalable and efficient approaches to estimate the material reflectivity in real-world environment. In this work, we tackle this problem by learning the material reflectivity efficiently from the path loss of the RF signal from the transmitters to receivers. Specifically, we want the learned material reflection coefficients to minimize the gap between the predicted and measured powers of the receivers. We achieve this by translating the neural reflectance field from optics to RF domain by modelling both the amplitude and phase of RF signals to account for the multipath effects. We further propose a differentiable RF ray tracing framework that optimizes the neural reflectance field to match the signal strength measurements. We simulate a complex real-world environment for experiments and our simulation results show that the neural reflectance field can successfully learn the reflection coefficients for all incident angles. As a result, our approach achieves better accuracy in predicting the powers of receivers with significantly less training data compared to existing approaches.

Yuke Wu, Xiang Liu, Yunyu Shi et al.

The irregular and challenging characteristics of lung adenocarcinoma nodules in computed tomography (CT) images complicate staging diagnosis, making accurate segmentation critical for clinicians to extract detailed lesion information. In this study, we propose a segmentation model, S3TU-Net, which integrates multi-dimensional spatial connectors and a superpixel-based visual transformer. S3TU-Net is built on a multi-view CNN-Transformer hybrid architecture, incorporating superpixel algorithms, structured weighting, and spatial shifting techniques to achieve superior segmentation performance. The model leverages structured convolution blocks (DWF-Conv/D2BR-Conv) to extract multi-scale local features while mitigating overfitting. To enhance multi-scale feature fusion, we introduce the S2-MLP Link, integrating spatial shifting and attention mechanisms at the skip connections. Additionally, the residual-based superpixel visual transformer (RM-SViT) effectively merges global and local features by employing sparse correlation learning and multi-branch attention to capture long-range dependencies, with residual connections enhancing stability and computational efficiency. Experimental results on the LIDC-IDRI dataset demonstrate that S3TU-Net achieves a DSC, precision, and IoU of 89.04%, 90.73%, and 90.70%, respectively. Compared to recent methods, S3TU-Net improves DSC by 4.52% and sensitivity by 3.16%, with other metrics showing an approximate 2% increase. In addition to comparison and ablation studies, we validated the generalization ability of our model on the EPDB private dataset, achieving a DSC of 86.40%.

Yukun Jiang, Leo Guo, Xinyi Chen et al.

Session-based recommender systems typically focus on using only the triplet (user_id, timestamp, item_id) to make predictions of users' next actions. In this paper, we aim to utilize side information to help recommender systems catch patterns and signals otherwise undetectable. Specifically, we propose a general framework for incorporating item-specific side information into the recommender system to enhance its performance without much modification on the original model architecture. Experimental results on several models and datasets prove that with side information, our recommender system outperforms state-of-the-art models by a considerable margin and converges much faster. Additionally, we propose a new type of loss to regularize the attention mechanism used by recommender systems and evaluate its influence on model performance. Furthermore, through analysis, we put forward a few insights on potential further improvements.

Zhou Lu, Qiuyi Zhang, Xinyi Chen et al. · deepmind, princeton

Fast changing states or volatile environments pose a significant challenge to online optimization, which needs to perform rapid adaptation under limited observation. In this paper, we give query and regret optimal bandit algorithms under the strict notion of strongly adaptive regret, which measures the maximum regret over any contiguous interval $I$. Due to its worst-case nature, there is an almost-linear $Ω(|I|^{1-ε})$ regret lower bound, when only one query per round is allowed [Daniely el al, ICML 2015]. Surprisingly, with just two queries per round, we give Strongly Adaptive Bandit Learner (StABL) that achieves $\tilde{O}(\sqrt{n|I|})$ adaptive regret for multi-armed bandits with $n$ arms. The bound is tight and cannot be improved in general. Our algorithm leverages a multiplicative update scheme of varying stepsizes and a carefully chosen observation distribution to control the variance. Furthermore, we extend our results and provide optimal algorithms in the bandit convex optimization setting. Finally, we empirically demonstrate the superior performance of our algorithms under volatile environments and for downstream tasks, such as algorithm selection for hyperparameter optimization.

Zihao Wang, Le Ma, Chen Zhang et al.

Music as an emotional intervention medium has important applications in scenarios such as music therapy, games, and movies. However, music needs real-time arrangement according to changing emotions, bringing challenges to balance emotion real-time fit and soft emotion transition due to the fine-grained and mutable nature of the target emotion. Existing studies mainly focus on achieving emotion real-time fit, while the issue of smooth transition remains understudied, affecting the overall emotional coherence of the music. In this paper, we propose REMAST to address this trade-off. Specifically, we recognize the last timestep's music emotion and fuse it with the current timestep's input emotion. The fused emotion then guides REMAST to generate the music based on the input melody. To adjust music similarity and emotion real-time fit flexibly, we downsample the original melody and feed it into the generation model. Furthermore, we design four music theory features by domain knowledge to enhance emotion information and employ semi-supervised learning to mitigate the subjective bias introduced by manual dataset annotation. According to the evaluation results, REMAST surpasses the state-of-the-art methods in objective and subjective metrics. These results demonstrate that REMAST achieves real-time fit and smooth transition simultaneously, enhancing the coherence of the generated music.

Daniel Suo, Naman Agarwal, Wenhan Xia et al.

Mechanical ventilation is one of the most widely used therapies in the ICU. However, despite broad application from anaesthesia to COVID-related life support, many injurious challenges remain. We frame these as a control problem: ventilators must let air in and out of the patient's lungs according to a prescribed trajectory of airway pressure. Industry-standard controllers, based on the PID method, are neither optimal nor robust. Our data-driven approach learns to control an invasive ventilator by training on a simulator itself trained on data collected from the ventilator. This method outperforms popular reinforcement learning algorithms and even controls the physical ventilator more accurately and robustly than PID. These results underscore how effective data-driven methodologies can be for invasive ventilation and suggest that more general forms of ventilation (e.g., non-invasive, adaptive) may also be amenable.

Xinyi Chen, Edgar Minasyan, Jason D. Lee et al.

The theory of deep learning focuses almost exclusively on supervised learning, non-convex optimization using stochastic gradient descent, and overparametrized neural networks. It is common belief that the optimizer dynamics, network architecture, initialization procedure, and other factors tie together and are all components of its success. This presents theoretical challenges for analyzing state-based and/or online deep learning. Motivated by applications in control, we give a general black-box reduction from deep learning to online convex optimization. This allows us to decouple optimization, regret, expressiveness, and derive agnostic online learning guarantees for fully-connected deep neural networks with ReLU activations. We quantify convergence and regret guarantees for any range of parameters and allow any optimization procedure, such as adaptive gradient methods and second order methods. As an application, we derive provable algorithms for deep control in the online episodic setting.

Hongbo Zhang, Yunshuang Li, Yipin Guo et al.

Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to soft robots. The compliance and resilience of soft actuators allow soft robots to behave compliant when interacting with unstructured environments, while the utilization of soft actuators also introduces nonlinearity and uncertainty. Inspired by Cerebellum's vital functions in control of human's physical movement, a neural network model of Cerebellum based on spiking neuron networks (SNNs) is designed. This model is used as a feed-forward controller in controlling a 1-DOF robot arm driven by PAMs. The simulation results show that this Cerebellar-based system achieves good performance and increases the system's response.

Xinyi Chen, Udaya Ghai, Elad Hazan et al.

We study online control of an unknown nonlinear dynamical system that is approximated by a time-invariant linear system with model misspecification. Our study focuses on robustness, a measure of how much deviation from the assumed linear approximation can be tolerated by a controller while maintaining finite $\ell_2$-gain. A basic methodology to analyze robustness is via the small gain theorem. However, as an implication of recent lower bounds on adaptive control, this method can only yield robustness that is exponentially small in the dimension of the system and its parametric uncertainty. The work of Cusumano and Poolla shows that much better robustness can be obtained, but the control algorithm is inefficient, taking exponential time in the worst case. In this paper we investigate whether there exists an efficient algorithm with provable robustness beyond the small gain theorem. We demonstrate that for a fully actuated system, this is indeed attainable. We give an efficient controller that can tolerate robustness that is polynomial in the dimension and independent of the parametric uncertainty; furthermore, the controller obtains an $\ell_2$-gain whose dimension dependence is near optimal.

Yifei Bi, Xinyi Chen, Caihui Xiao

Adapting the idea of training CartPole with Deep Q-learning agent, we are able to find a promising result that prevent the pole from falling down. The capacity of reinforcement learning (RL) to learn from the interaction between the environment and agent provides an optimal control strategy. In this paper, we aim to solve the classic pendulum swing-up problem that making the learned pendulum to be in upright position and balanced. Deep Deterministic Policy Gradient algorithm is introduced to operate over continuous action domain in this problem. Salient results of optimal pendulum are proved with increasing average return, decreasing loss, and live video in the code part.

Junzhe Zhang, Xinyi Chen, Zhongang Cai et al.

Most 3D shape completion approaches rely heavily on partial-complete shape pairs and learn in a fully supervised manner. Despite their impressive performances on in-domain data, when generalizing to partial shapes in other forms or real-world partial scans, they often obtain unsatisfactory results due to domain gaps. In contrast to previous fully supervised approaches, in this paper we present ShapeInversion, which introduces Generative Adversarial Network (GAN) inversion to shape completion for the first time. ShapeInversion uses a GAN pre-trained on complete shapes by searching for a latent code that gives a complete shape that best reconstructs the given partial input. In this way, ShapeInversion no longer needs paired training data, and is capable of incorporating the rich prior captured in a well-trained generative model. On the ShapeNet benchmark, the proposed ShapeInversion outperforms the SOTA unsupervised method, and is comparable with supervised methods that are learned using paired data. It also demonstrates remarkable generalization ability, giving robust results for real-world scans and partial inputs of various forms and incompleteness levels. Importantly, ShapeInversion naturally enables a series of additional abilities thanks to the involvement of a pre-trained GAN, such as producing multiple valid complete shapes for an ambiguous partial input, as well as shape manipulation and interpolation.