Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation

Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference times hinder high-frequency control tasks requiring real-time feedback. While consistency distillation (CD) accelerates inference, it introduces errors that compromise action quality. To address these limitations, we propose the Score and Distribution Matching Policy (SDM Policy), which transforms diffusion-based policies into single-step generators through a two-stage optimization process: score matching ensures alignment with true action distributions, and distribution matching minimizes KL divergence for consistency. A dual-teacher mechanism integrates a frozen teacher for stability and an unfrozen teacher for adversarial training, enhancing robustness and alignment with target distributions. Evaluated on a 57-task simulation benchmark, SDM Policy achieves a 6x inference speedup while having state-of-the-art action quality, providing an efficient and reliable framework for high-frequency robotic tasks.

CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Prediction

In robotic visuomotor policy learning, diffusion-based models have achieved significant success in improving the accuracy of action trajectory generation compared to traditional autoregressive models. However, they suffer from inefficiency due to multiple denoising steps and limited flexibility from complex constraints. In this paper, we introduce Coarse-to-Fine AutoRegressive Policy (CARP), a novel paradigm for visuomotor policy learning that redefines the autoregressive action generation process as a coarse-to-fine, next-scale approach. CARP decouples action generation into two stages: first, an action autoencoder learns multi-scale representations of the entire action sequence; then, a GPT-style transformer refines the sequence prediction through a coarse-to-fine autoregressive process. This straightforward and intuitive approach produces highly accurate and smooth actions, matching or even surpassing the performance of diffusion-based policies while maintaining efficiency on par with autoregressive policies. We conduct extensive evaluations across diverse settings, including single-task and multi-task scenarios on state-based and image-based simulation benchmarks, as well as real-world tasks. CARP achieves competitive success rates, with up to a 10% improvement, and delivers 10x faster inference compared to state-of-the-art policies, establishing a high-performance, efficient, and flexible paradigm for action generation in robotic tasks.

Toward Robust Incomplete Multimodal Sentiment Analysis via Hierarchical Representation Learning

Multimodal Sentiment Analysis (MSA) is an important research area that aims to understand and recognize human sentiment through multiple modalities. The complementary information provided by multimodal fusion promotes better sentiment analysis compared to utilizing only a single modality. Nevertheless, in real-world applications, many unavoidable factors may lead to situations of uncertain modality missing, thus hindering the effectiveness of multimodal modeling and degrading the model's performance. To this end, we propose a Hierarchical Representation Learning Framework (HRLF) for the MSA task under uncertain missing modalities. Specifically, we propose a fine-grained representation factorization module that sufficiently extracts valuable sentiment information by factorizing modality into sentiment-relevant and modality-specific representations through crossmodal translation and sentiment semantic reconstruction. Moreover, a hierarchical mutual information maximization mechanism is introduced to incrementally maximize the mutual information between multi-scale representations to align and reconstruct the high-level semantics in the representations. Ultimately, we propose a hierarchical adversarial learning mechanism that further aligns and adapts the latent distribution of sentiment-relevant representations to produce robust joint multimodal representations. Comprehensive experiments on three datasets demonstrate that HRLF significantly improves MSA performance under uncertain modality missing cases.

SAMG: State-Action-Aware Offline-to-Online Reinforcement Learning with Offline Model Guidance

The offline-to-online (O2O) paradigm in reinforcement learning (RL) utilizes pre-trained models on offline datasets for subsequent online fine-tuning. However, conventional O2O RL algorithms typically require maintaining and retraining the large offline datasets to mitigate the effects of out-of-distribution (OOD) data, which limits their efficiency in exploiting online samples. To address this challenge, we introduce a new paradigm called SAMG: State-Action-Conditional Offline-to-Online Reinforcement Learning with Offline Model Guidance. In particular, rather than directly training on offline data, SAMG freezes the pre-trained offline critic to provide offline values for each state-action pair to deliver compact offline information. This framework eliminates the need for retraining with offline data by freezing and leveraging these values of the offline model. These are then incorporated with the online target critic using a Bellman equation weighted by a policy state-action-aware coefficient. This coefficient, derived from a conditional variational auto-encoder (C-VAE), aims to capture the reliability of the offline data on a state-action level. SAMG could be easily integrated with existing Q-function based O2O RL algorithms. Theoretical analysis shows good optimality and lower estimation error of SAMG. Empirical evaluations demonstrate that SAMG outperforms four state-of-the-art O2O RL algorithms in the D4RL benchmark.

HybridOcc: NeRF Enhanced Transformer-based Multi-Camera 3D Occupancy Prediction

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating refined 3D geometry. This paper proposes HybridOcc, a hybrid 3D volume query proposal method generated by Transformer framework and NeRF representation and refined in a coarse-to-fine SSC prediction framework. HybridOcc aggregates contextual features through the Transformer paradigm based on hybrid query proposals while combining it with NeRF representation to obtain depth supervision. The Transformer branch contains multiple scales and uses spatial cross-attention for 2D to 3D transformation. The newly designed NeRF branch implicitly infers scene occupancy through volume rendering, including visible and invisible voxels, and explicitly captures scene depth rather than generating RGB color. Furthermore, we present an innovative occupancy-aware ray sampling method to orient the SSC task instead of focusing on the scene surface, further improving the overall performance. Extensive experiments on nuScenes and SemanticKITTI datasets demonstrate the effectiveness of our HybridOcc on the SSC task.

MaskBEV: Towards A Unified Framework for BEV Detection and Map Segmentation

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack of complementary learning among tasks and decreased performance in multi-task learning (MTL) due to joint training. In this paper, we propose MaskBEV, a masked attention-based MTL paradigm that unifies 3D object detection and bird's eye view (BEV) map segmentation. MaskBEV introduces a task-agnostic Transformer decoder to process these diverse tasks, enabling MTL to be completed in a unified decoder without requiring additional design of specific task heads. To fully exploit the complementary information between BEV map segmentation and 3D object detection tasks in BEV space, we propose spatial modulation and scene-level context aggregation strategies. These strategies consider the inherent dependencies between BEV segmentation and 3D detection, naturally boosting MTL performance. Extensive experiments on nuScenes dataset show that compared with previous state-of-the-art MTL methods, MaskBEV achieves 1.3 NDS improvement in 3D object detection and 2.7 mIoU improvement in BEV map segmentation, while also demonstrating slightly leading inference speed.

Correlation-Decoupled Knowledge Distillation for Multimodal Sentiment Analysis with Incomplete Modalities

Multimodal sentiment analysis (MSA) aims to understand human sentiment through multimodal data. Most MSA efforts are based on the assumption of modality completeness. However, in real-world applications, some practical factors cause uncertain modality missingness, which drastically degrades the model's performance. To this end, we propose a Correlation-decoupled Knowledge Distillation (CorrKD) framework for the MSA task under uncertain missing modalities. Specifically, we present a sample-level contrastive distillation mechanism that transfers comprehensive knowledge containing cross-sample correlations to reconstruct missing semantics. Moreover, a category-guided prototype distillation mechanism is introduced to capture cross-category correlations using category prototypes to align feature distributions and generate favorable joint representations. Eventually, we design a response-disentangled consistency distillation strategy to optimize the sentiment decision boundaries of the student network through response disentanglement and mutual information maximization. Comprehensive experiments on three datasets indicate that our framework can achieve favorable improvements compared with several baselines.

CLAP: Learning Transferable Binary Code Representations with Natural Language Supervision

Binary code representation learning has shown significant performance in binary analysis tasks. But existing solutions often have poor transferability, particularly in few-shot and zero-shot scenarios where few or no training samples are available for the tasks. To address this problem, we present CLAP (Contrastive Language-Assembly Pre-training), which employs natural language supervision to learn better representations of binary code (i.e., assembly code) and get better transferability. At the core, our approach boosts superior transfer learning capabilities by effectively aligning binary code with their semantics explanations (in natural language), resulting a model able to generate better embeddings for binary code. To enable this alignment training, we then propose an efficient dataset engine that could automatically generate a large and diverse dataset comprising of binary code and corresponding natural language explanations. We have generated 195 million pairs of binary code and explanations and trained a prototype of CLAP. The evaluations of CLAP across various downstream tasks in binary analysis all demonstrate exceptional performance. Notably, without any task-specific training, CLAP is often competitive with a fully supervised baseline, showing excellent transferability. We release our pre-trained model and code at https://github.com/Hustcw/CLAP.

Multiform Evolution for High-Dimensional Problems with Low Effective Dimensionality

In this paper, we scale evolutionary algorithms to high-dimensional optimization problems that deceptively possess a low effective dimensionality (certain dimensions do not significantly affect the objective function). To this end, an instantiation of the multiform optimization paradigm is presented, where multiple low-dimensional counterparts of a target high-dimensional task are generated via random embeddings. Since the exact relationship between the auxiliary (low-dimensional) tasks and the target is a priori unknown, a multiform evolutionary algorithm is developed for unifying all formulations into a single multi-task setting. The resultant joint optimization enables the target task to efficiently reuse solutions evolved across various low-dimensional searches via cross-form genetic transfers, hence speeding up overall convergence characteristics. To validate the overall efficacy of our proposed algorithmic framework, comprehensive experimental studies are carried out on well-known continuous benchmark functions as well as a set of practical problems in the hyper-parameter tuning of machine learning models and deep learning models in classification tasks and Predator-Prey games, respectively.

ORL-AUDITOR: Dataset Auditing in Offline Deep Reinforcement Learning

Data is a critical asset in AI, as high-quality datasets can significantly improve the performance of machine learning models. In safety-critical domains such as autonomous vehicles, offline deep reinforcement learning (offline DRL) is frequently used to train models on pre-collected datasets, as opposed to training these models by interacting with the real-world environment as the online DRL. To support the development of these models, many institutions make datasets publicly available with opensource licenses, but these datasets are at risk of potential misuse or infringement. Injecting watermarks to the dataset may protect the intellectual property of the data, but it cannot handle datasets that have already been published and is infeasible to be altered afterward. Other existing solutions, such as dataset inference and membership inference, do not work well in the offline DRL scenario due to the diverse model behavior characteristics and offline setting constraints. In this paper, we advocate a new paradigm by leveraging the fact that cumulative rewards can act as a unique identifier that distinguishes DRL models trained on a specific dataset. To this end, we propose ORL-AUDITOR, which is the first trajectory-level dataset auditing mechanism for offline RL scenarios. Our experiments on multiple offline DRL models and tasks reveal the efficacy of ORL-AUDITOR, with auditing accuracy over 95% and false positive rates less than 2.88%. We also provide valuable insights into the practical implementation of ORL-AUDITOR by studying various parameter settings. Furthermore, we demonstrate the auditing capability of ORL-AUDITOR on open-source datasets from Google and DeepMind, highlighting its effectiveness in auditing published datasets. ORL-AUDITOR is open-sourced at https://github.com/link-zju/ORL-Auditor.