Yihan Zhou

Yunpeng Mei, Jiakai He, Hongjie Cao et al.

Large vision-language-action (VLA) policies are increasingly trained as conditional generative models over action chunks. Yet deployment produces mixed-quality experience-successful demonstrations, partial completions, recoverable mistakes, and failures-that is difficult to use with standard imitation. Full behavior cloning (BC) imitates failures, filtered BC discards useful sub-trajectories, and offline reinforcement learning adds a large critic. We introduce ForesightFlow, a self-guided flow-matching policy that augments each generated action chunk with a learned success-potential trajectory. The same flow proposes and scores candidate actions, enabling best-of-$K$ inference without an external critic. The key issue is that policy improvement and value calibration require different supervision: advantage weighting should emphasize high-quality actions, but applying the same weights to potential coordinates suppresses failure gradients and creates overconfident scores. We address this with decoupled advantage-weighted flow matching, applying exponentiated advantage weights only to action velocities while training potential velocities uniformly. We further derive a one-step boundary estimator for conditional flow matching, allowing advantage computation with a single stop-gradient forward pass. Across five BEHAVIOR-1K simulation tasks and five real-world bimanual tasks, ForesightFlow improves over imitation baselines, matches the strongest separate-critic baseline in simulation success, improves real-world success, and reduces training compute by $38\%$. Ablations show that decoupling prevents value hallucination, the one-step estimator preserves candidate-ranking fidelity, and self-guided sampling improves long-horizon execution.

Amrutha Varshini Ramesh, Aaron Mishkin, Mark Schmidt et al. · stanford

We consider minimizing a smooth function subject to a summation constraint over its variables. By exploiting a connection between the greedy 2-coordinate update for this problem and equality-constrained steepest descent in the 1-norm, we give a convergence rate for greedy selection under a proximal Polyak-Lojasiewicz assumption that is faster than random selection and independent of the problem dimension $n$. We then consider minimizing with both a summation constraint and bound constraints, as arises in the support vector machine dual problem. Existing greedy rules for this setting either guarantee trivial progress only or require $O(n^2)$ time to compute. We show that bound- and summation-constrained steepest descent in the L1-norm guarantees more progress per iteration than previous rules and can be computed in only $O(n \log n)$ time.

Fan-Yun Sun, S. I. Harini, Angela Yi et al.

Generating simulations to train intelligent agents in game-playing and robotics from natural language input, from user input or task documentation, remains an open-ended challenge. Existing approaches focus on parts of this challenge, such as generating reward functions or task hyperparameters. Unlike previous work, we introduce FACTORSIM that generates full simulations in code from language input that can be used to train agents. Exploiting the structural modularity specific to coded simulations, we propose to use a factored partially observable Markov decision process representation that allows us to reduce context dependence during each step of the generation. For evaluation, we introduce a generative simulation benchmark that assesses the generated simulation code's accuracy and effectiveness in facilitating zero-shot transfers in reinforcement learning settings. We show that FACTORSIM outperforms existing methods in generating simulations regarding prompt alignment (e.g., accuracy), zero-shot transfer abilities, and human evaluation. We also demonstrate its effectiveness in generating robotic tasks.

Bowen Fan, Zhilin Guo, Xunkai Li et al.

Graph Neural Networks (GNNs) have become a pivotal framework for modeling graph-structured data, enabling a wide range of applications from social network analysis to molecular chemistry. By integrating large language models (LLMs), text-attributed graphs (TAGs) enhance node representations with rich textual semantics, significantly boosting the expressive power of graph-based learning. However, this sophisticated synergy introduces critical vulnerabilities, as Graph-LLMs are susceptible to adversarial attacks on both their structural topology and textual attributes. Although specialized attack methods have been designed for each of these aspects, no work has yet unified them into a comprehensive approach. In this work, we propose the Interpretable Multi-Dimensional Graph Attack (IMDGA), a novel human-centric adversarial attack framework designed to orchestrate multi-level perturbations across both graph structure and textual features. IMDGA utilizes three tightly integrated modules to craft attacks that balance interpretability and impact, enabling a deeper understanding of Graph-LLM vulnerabilities. Through rigorous theoretical analysis and comprehensive empirical evaluations on diverse datasets and architectures, IMDGA demonstrates superior interpretability, attack effectiveness, stealthiness, and robustness compared to existing methods. By exposing critical weaknesses in TAG representation learning, this work uncovers a previously underexplored semantic dimension of vulnerability in Graph-LLMs, offering valuable insights for improving their resilience. Our code and resources are publicly available at https://anonymous.4open.science/r/IMDGA-7289.

Eric Price, Yihan Zhou

For some hypothesis classes and input distributions, active agnostic learning needs exponentially fewer samples than passive learning; for other classes and distributions, it offers little to no improvement. The most popular algorithms for agnostic active learning express their performance in terms of a parameter called the disagreement coefficient, but it is known that these algorithms are inefficient on some inputs. We take a different approach to agnostic active learning, getting an algorithm that is competitive with the optimal algorithm for any binary hypothesis class $H$ and distribution $D_X$ over $X$. In particular, if any algorithm can use $m^*$ queries to get $O(η)$ error, then our algorithm uses $O(m^* \log |H|)$ queries to get $O(η)$ error. Our algorithm lies in the vein of the splitting-based approach of Dasgupta [2004], which gets a similar result for the realizable ($η= 0$) setting. We also show that it is NP-hard to do better than our algorithm's $O(\log |H|)$ overhead in general.

Yiwen Lu, Zishuo Li, Yihan Zhou et al.

In this paper, we introduce a new class of parameterized controllers, drawing inspiration from Model Predictive Control (MPC). The controller resembles a Quadratic Programming (QP) solver of a linear MPC problem, with the parameters of the controller being trained via Deep Reinforcement Learning (DRL) rather than derived from system models. This approach addresses the limitations of common controllers with Multi-Layer Perceptron (MLP) or other general neural network architecture used in DRL, in terms of verifiability and performance guarantees, and the learned controllers possess verifiable properties like persistent feasibility and asymptotic stability akin to MPC. On the other hand, numerical examples illustrate that the proposed controller empirically matches MPC and MLP controllers in terms of control performance and has superior robustness against modeling uncertainty and noises. Furthermore, the proposed controller is significantly more computationally efficient compared to MPC and requires fewer parameters to learn than MLP controllers. Real-world experiments on vehicle drift maneuvering task demonstrate the potential of these controllers for robotics and other demanding control tasks.

Zikai Huang, Yihan Zhou, Xuemiao Xu et al.

Singing-driven 3D head animation is a challenging yet promising task with applications in virtual avatars, entertainment, and education. Unlike speech, singing involves richer emotional nuance, dynamic prosody, and lyric-based semantics, requiring the synthesis of fine-grained, temporally coherent facial motion. Existing speech-driven approaches often produce oversimplified, emotionally flat, and semantically inconsistent results, which are insufficient for singing animation. To address this, we propose Think2Sing, a diffusion-based framework that leverages pretrained large language models to generate semantically coherent and temporally consistent 3D head animations, conditioned on both lyrics and acoustics. A key innovation is the introduction of motion subtitles, an auxiliary semantic representation derived through a novel Singing Chain-of-Thought reasoning process combined with acoustic-guided retrieval. These subtitles contain precise timestamps and region-specific motion descriptions, serving as interpretable motion priors. We frame the task as a motion intensity prediction problem, enabling finer control over facial regions and improving the modeling of expressive motion. To support this, we create a multimodal singing dataset with synchronized video, acoustic descriptors, and motion subtitles, enabling diverse and expressive motion learning. Extensive experiments show that Think2Sing outperforms state-of-the-art methods in realism, expressiveness, and emotional fidelity, while also offering flexible, user-controllable animation editing.

Yihan Zhou, Haocheng Huang, Yue Yu et al.

Early detection of lung cancer is crucial for effective treatment and relies on accurate volumetric assessment of pulmonary nodules in CT scans. Traditional methods, such as consolidation-to-tumor ratio (CTR) and spherical approximation, are limited by inconsistent estimates due to variability in nodule shape and density. We propose an advanced framework that combines a multi-scale 3D convolutional neural network (CNN) with subtype-specific bias correction for precise volume estimation. The model was trained and evaluated on a dataset of 364 cases from Shanghai Chest Hospital. Our approach achieved a mean absolute deviation of 8.0 percent compared to manual nonlinear regression, with inference times under 20 seconds per scan. This method outperforms existing deep learning and semi-automated pipelines, which typically have errors of 25 to 30 percent and require over 60 seconds for processing. Our results show a reduction in error by over 17 percentage points and a threefold acceleration in processing speed. These advancements offer a highly accurate, efficient, and scalable tool for clinical lung nodule screening and monitoring, with promising potential for improving early lung cancer detection.

Chicheng Zhang, Yihan Zhou

Multi-distribution learning extends agnostic Probably Approximately Correct (PAC) learning to the setting in which a family of $k$ distributions, $\{D_i\}_{i\in[k]}$, is considered and a classifier's performance is measured by its error under the worst distribution. This problem has attracted a lot of recent interests due to its applications in collaborative learning, fairness, and robustness. Despite a rather complete picture of sample complexity of passive multi-distribution learning, research on active multi-distribution learning remains scarce, with algorithms whose optimality remaining unknown. In this paper, we develop new algorithms for active multi-distribution learning and establish improved label complexity upper and lower bounds, in distribution-dependent and distribution-free settings. Specifically, in the near-realizable setting we prove an upper bound of $\widetilde{O}\Bigl(θ_{\max}(d+k)\ln\frac{1}{\varepsilon}\Bigr)$ and $\widetilde{O}\Bigl(θ_{\max}(d+k)\Bigl(\ln\frac{1}{\varepsilon}+\frac{ν^2}{\varepsilon^2}\Bigr)+\frac{kν}{\varepsilon^2}\Bigr)$ in the realizable and agnostic settings respectively, where $θ_{\max}$ is the maximum disagreement coefficient among the $k$ distributions, $d$ is the VC dimension of the hypothesis class, $ν$ is the multi-distribution error of the best hypothesis, and $\varepsilon$ is the target excess error. Moreover, we show that the bound in the realizable setting is information-theoretically optimal and that the $kν/\varepsilon^2$ term in the agnostic setting is fundamental for proper learners. We also establish instance-dependent sample complexity bound for passive multidistribution learning that smoothly interpolates between realizable and agnostic regimes~\citep{blum2017collaborative,zhang2024optimal}, which may be of independent interest.

Yihan Zhou, Eric Price, Trung Nguyen

We address the problem of active logistic regression in the realizable setting. It is well known that active learning can require exponentially fewer label queries compared to passive learning, in some cases using $\log \frac{1}{\eps}$ rather than $\poly(1/\eps)$ labels to get error $\eps$ larger than the optimum. We present the first algorithm that is polynomially competitive with the optimal algorithm on every input instance, up to factors polylogarithmic in the error and domain size. In particular, if any algorithm achieves label complexity polylogarithmic in $\eps$, so does ours. Our algorithm is based on efficient sampling and can be extended to learn more general class of functions. We further support our theoretical results with experiments demonstrating performance gains for logistic regression compared to existing active learning algorithms.

Yihan Zhou, Victor S. Portella, Mark Schmidt et al.

In online convex optimization (OCO), Lipschitz continuity of the functions is commonly assumed in order to obtain sublinear regret. Moreover, many algorithms have only logarithmic regret when these functions are also strongly convex. Recently, researchers from convex optimization proposed the notions of "relative Lipschitz continuity" and "relative strong convexity". Both of the notions are generalizations of their classical counterparts. It has been shown that subgradient methods in the relative setting have performance analogous to their performance in the classical setting. In this work, we consider OCO for relative Lipschitz and relative strongly convex functions. We extend the known regret bounds for classical OCO algorithms to the relative setting. Specifically, we show regret bounds for the follow the regularized leader algorithms and a variant of online mirror descent. Due to the generality of these methods, these results yield regret bounds for a wide variety of OCO algorithms. Furthermore, we further extend the results to algorithms with extra regularization such as regularized dual averaging.