Deep Generative Models: Complexity, Dimensionality, and Approximation

Generative networks have shown remarkable success in learning complex data distributions, particularly in generating high-dimensional data from lower-dimensional inputs. While this capability is well-documented empirically, its theoretical underpinning remains unclear. One common theoretical explanation appeals to the widely accepted manifold hypothesis, which suggests that many real-world datasets, such as images and signals, often possess intrinsic low-dimensional geometric structures. Under this manifold hypothesis, it is widely believed that to approximate a distribution on a $d$-dimensional Riemannian manifold, the latent dimension needs to be at least $d$ or $d+1$. In this work, we show that this requirement on the latent dimension is not necessary by demonstrating that generative networks can approximate distributions on $d$-dimensional Riemannian manifolds from inputs of any arbitrary dimension, even lower than $d$, taking inspiration from the concept of space-filling curves. This approach, in turn, leads to a super-exponential complexity bound of the deep neural networks through expanded neurons. Our findings thus challenge the conventional belief on the relationship between input dimensionality and the ability of generative networks to model data distributions. This novel insight not only corroborates the practical effectiveness of generative networks in handling complex data structures, but also underscores a critical trade-off between approximation error, dimensionality, and model complexity.

Can Test-Time Scaling Improve World Foundation Model?

World foundation models, which simulate the physical world by predicting future states from current observations and inputs, have become central to many applications in physical intelligence, including autonomous driving and robotics. However, these models require substantial computational resources for pretraining and are further constrained by available data during post-training. As such, scaling computation at test time emerges as both a critical and practical alternative to traditional model enlargement or re-training. In this work, we introduce SWIFT, a test-time scaling framework tailored for WFMs. SWIFT integrates our extensible WFM evaluation toolkit with process-level inference strategies, including fast tokenization, probability-based Top-K pruning, and efficient beam search. Empirical results on the COSMOS model demonstrate that test-time scaling exists even in a compute-optimal way. Our findings reveal that test-time scaling laws hold for WFMs and that SWIFT provides a scalable and effective pathway for improving WFM inference without retraining or increasing model size. The code is available at https://github.com/Mia-Cong/SWIFT.git.

1000 Layer Networks for Self-Supervised RL: Scaling Depth Can Enable New Goal-Reaching Capabilities

Scaling up self-supervised learning has driven breakthroughs in language and vision, yet comparable progress has remained elusive in reinforcement learning (RL). In this paper, we study building blocks for self-supervised RL that unlock substantial improvements in scalability, with network depth serving as a critical factor. Whereas most RL papers in recent years have relied on shallow architectures (around 2 - 5 layers), we demonstrate that increasing the depth up to 1024 layers can significantly boost performance. Our experiments are conducted in an unsupervised goal-conditioned setting, where no demonstrations or rewards are provided, so an agent must explore (from scratch) and learn how to maximize the likelihood of reaching commanded goals. Evaluated on simulated locomotion and manipulation tasks, our approach increases performance by $2\times$ - $50\times$. Increasing the model depth not only increases success rates but also qualitatively changes the behaviors learned.

SPIN-Bench: How Well Do LLMs Plan Strategically and Reason Socially?

Reasoning and strategic behavior in \emph{social interactions} is a hallmark of intelligence. This form of reasoning is significantly more sophisticated than isolated planning or reasoning tasks in static settings (e.g., math problem solving). In this paper, we present \textit{Strategic Planning, Interaction, and Negotiation} (\textbf{SPIN-Bench}), a new multi-domain evaluation designed to measure the intelligence of \emph{strategic planning} and \emph{social reasoning}. While many existing benchmarks focus on narrow planning or single-agent reasoning, SPIN-Bench combines classical PDDL tasks, competitive board games, cooperative card games, and multi-agent negotiation scenarios in one unified framework. The framework includes both a benchmark as well as an arena to simulate and evaluate the variety of social settings to test reasoning and strategic behavior of AI agents. We formulate the benchmark SPIN-Bench by systematically varying action spaces, state complexity, and the number of interacting agents to simulate a variety of social settings where success depends on not only methodical and step-wise decision making, but also \emph{conceptual inference} of other (adversarial or cooperative) participants. Our experiments reveal that while contemporary LLMs handle \emph{basic fact retrieval} and \emph{short-range planning} reasonably well, they encounter significant performance bottlenecks in tasks requiring \emph{deep multi-hop reasoning} over large state spaces and \emph{socially adept} coordination under uncertainty. We envision SPIN-Bench as a catalyst for future research on robust multi-agent planning, social reasoning, and human--AI teaming.

VideoLifter: Lifting Videos to 3D with Fast Hierarchical Stereo Alignment

Efficiently reconstructing accurate 3D models from monocular video is a key challenge in computer vision, critical for advancing applications in virtual reality, robotics, and scene understanding. Existing approaches typically require pre-computed camera parameters and frame-by-frame reconstruction pipelines, which are prone to error accumulation and entail significant computational overhead. To address these limitations, we introduce VideoLifter, a novel framework that leverages geometric priors from a learnable model to incrementally optimize a globally sparse to dense 3D representation directly from video sequences. VideoLifter segments the video sequence into local windows, where it matches and registers frames, constructs consistent fragments, and aligns them hierarchically to produce a unified 3D model. By tracking and propagating sparse point correspondences across frames and fragments, VideoLifter incrementally refines camera poses and 3D structure, minimizing reprojection error for improved accuracy and robustness. This approach significantly accelerates the reconstruction process, reducing training time by over 82% while surpassing current state-of-the-art methods in visual fidelity and computational efficiency.

CVCP-Fusion: On Implicit Depth Estimation for 3D Bounding Box Prediction

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this paper we propose Cross-View Center Point-Fusion, a state-of-the-art model to perform 3D object detection by combining camera and LiDAR-derived features in the BEV space to preserve semantic density from the camera stream while incorporating spacial data from the LiDAR stream. Our architecture utilizes aspects from previously established algorithms, Cross-View Transformers and CenterPoint, and runs their backbones in parallel, allowing efficient computation for real-time processing and application. In this paper we find that while an implicitly calculated depth-estimate may be sufficiently accurate in a 2D map-view representation, explicitly calculated geometric and spacial information is needed for precise bounding box prediction in the 3D world-view space.

On The Planning Abilities of OpenAI's o1 Models: Feasibility, Optimality, and Generalizability

Recent advancements in Large Language Models (LLMs) have showcased their ability to perform complex reasoning tasks, but their effectiveness in planning remains underexplored. In this study, we evaluate the planning capabilities of OpenAI's o1 models across a variety of benchmark tasks, focusing on three key aspects: feasibility, optimality, and generalizability. Through empirical evaluations on constraint-heavy tasks (e.g., $\textit{Barman}$, $\textit{Tyreworld}$) and spatially complex environments (e.g., $\textit{Termes}$, $\textit{Floortile}$), we highlight o1-preview's strengths in self-evaluation and constraint-following, while also identifying bottlenecks in decision-making and memory management, particularly in tasks requiring robust spatial reasoning. Our results reveal that o1-preview outperforms GPT-4 in adhering to task constraints and managing state transitions in structured environments. However, the model often generates suboptimal solutions with redundant actions and struggles to generalize effectively in spatially complex tasks. This pilot study provides foundational insights into the planning limitations of LLMs, offering key directions for future research on improving memory management, decision-making, and generalization in LLM-based planning.

InstantSplat: Unbounded Sparse-view Pose-free Gaussian Splatting in 40 Seconds

While novel view synthesis (NVS) has made substantial progress in 3D computer vision, it typically requires an initial estimation of camera intrinsics and extrinsics from dense viewpoints. This pre-processing is usually conducted via a Structure-from-Motion (SfM) pipeline, a procedure that can be slow and unreliable, particularly in sparse-view scenarios with insufficient matched features for accurate reconstruction. In this work, we integrate the strengths of point-based representations (e.g., 3D Gaussian Splatting, 3D-GS) with end-to-end dense stereo models (DUSt3R) to tackle the complex yet unresolved issues in NVS under unconstrained settings, which encompasses pose-free and sparse view challenges. Our framework, InstantSplat, unifies dense stereo priors with 3D-GS to build 3D Gaussians of large-scale scenes from sparseview & pose-free images in less than 1 minute. Specifically, InstantSplat comprises a Coarse Geometric Initialization (CGI) module that swiftly establishes a preliminary scene structure and camera parameters across all training views, utilizing globally-aligned 3D point maps derived from a pre-trained dense stereo pipeline. This is followed by the Fast 3D-Gaussian Optimization (F-3DGO) module, which jointly optimizes the 3D Gaussian attributes and the initialized poses with pose regularization. Experiments conducted on the large-scale outdoor Tanks & Temples datasets demonstrate that InstantSplat significantly improves SSIM (by 32%) while concurrently reducing Absolute Trajectory Error (ATE) by 80%. These establish InstantSplat as a viable solution for scenarios involving posefree and sparse-view conditions. Project page: instantsplat.github.io.

ChatEd: A Chatbot Leveraging ChatGPT for an Enhanced Learning Experience in Higher Education

With the rapid evolution of Natural Language Processing (NLP), Large Language Models (LLMs) like ChatGPT have emerged as powerful tools capable of transforming various sectors. Their vast knowledge base and dynamic interaction capabilities represent significant potential in improving education by operating as a personalized assistant. However, the possibility of generating incorrect, biased, or unhelpful answers are a key challenge to resolve when deploying LLMs in an education context. This work introduces an innovative architecture that combines the strengths of ChatGPT with a traditional information retrieval based chatbot framework to offer enhanced student support in higher education. Our empirical evaluations underscore the high promise of this approach.

Discovery of Small Ultra-short-period Planets Orbiting KG Dwarfs in Kepler Survey Using GPU Phase Folding and Deep Learning Detection System

Since the discovery of the first hot Jupiter orbiting a solar-type star, 51 Peg, in 1995, more than 4000 exoplanets have been identified using various observational techniques. The formation process of these sub-Earths remains elusive, and acquiring additional samples is essential for investigating this unique population. In our study, we employ a novel GPU Phase Folding algorithm combined with a Convolutional Neural Network, termed the GPFC method, on Kepler photometry data. This method enhances the transit search speed significantly over the traditional Box-fitting Least Squares method, allowing a complete search of the known KOI photometry data within hours using a commercial GPU card. To date, we have identified five promising sub-Earth short-period candidates: K00446.c, K01821.b, K01522.c, K03404.b, and K04978.b. A closer analysis reveals the following characteristics: K00446.c orbits a K dwarf on a 0.645091-day period. With a radius of $0.461R_\oplus$, it ranks as the second smallest USP discovered to date. K01821.b is a sub-Earth with a radius of $0.648R_\oplus$, orbiting a G dwarf over a 0.91978-day period. It is the second smallest USP among all confirmed USPs orbiting G dwarfs in the NASA Archive. K01522.c has a radius of $0.704 R_\oplus$ and completes an orbit around a Sun-like G dwarf in 0.64672 days; K03404.b, with a radius of $0.738 R_\oplus$, orbits a G dwarf on a 0.68074-day period; and K04978.b, with its planetary radius of $0.912 R_\oplus$, orbits a G dwarf, completing an orbit every 0.94197 days. Three of our finds, K01821.b, K01522.c and K03404.b, rank as the smallest planets among all confirmed USPs orbiting G dwarfs in the Kepler dataset. The discovery of these small exoplanets underscores the promising capability of the GPFC method for searching for small, new transiting exoplanets in photometry data from Kepler, TESS, and future space transit missions.