AAAI 2025 Papers

There is a growing consensus on the importance of AI ethics in K-12 education, yet effective teaching remains a challenge. AI ethics requires an interdisciplinary understanding of computer science, philosophy, and the humanities, alongside epistemic insights into how AI systems acquire, process, and apply knowledge differently from humans. To address this challenge, this study presents the design, development, and implementation of three theory-informed activities aimed at fostering epistemic insight and ethical understanding of AI among upper primary school students (ages 10-12). Grounded in constructionism, our pedagogical design leverages hands-on experimentation with guided reflection to concretize complex AI concepts. Students examine rule-based, data-driven, and generative AI systems, employing mathematical reasoning to represent AI decision-making processes and reflect on ethical issues such as fairness, bias, and transparency. The interdisciplinary, constructionist approach encourages learners to discern how AI knowledge construction differs from human cognition, thereby enhancing their ethical reasoning. The findings show that students not only developed a foundational understanding of ethical principles but also gained epistemic insight into AI’s relationship with human knowledge and values. This article provides a practical, theory-informed framework and interdisciplinary teaching resources to advance K-12 AI ethics education and support educators in fostering AI literacy.

Diffusion models have achieved remarkable success in sequential decision-making by leveraging the highly expressive model capabilities in policy learning. A central problem for learning diffusion policies is to align the policy output with human intents in various tasks. To achieve this, previous methods conduct return-conditioned policy generation or Reinforcement Learning (RL)-based policy optimization, while they both rely on pre-defined reward functions. In this work, we propose a novel framework, Forward KL regularized Preference optimization for aligning Diffusion policies, to align the diffusion policy with preferences directly. We first train a diffusion policy from the offline dataset without considering the preference, and then align the policy to the preference data via direct preference optimization. During the alignment phase, we formulate direct preference learning in a diffusion policy, where the forward KL regularization is employed in preference optimization to avoid generating out-of-distribution actions. We conduct extensive experiments for MetaWorld manipulation and D4RL tasks. The results show our method exhibits superior alignment with preferences and outperforms previous state-of-the-art algorithms.

We present a methodology based on interactive theorem proving that facilitates the development of verified implementations of algorithms for solving factored Markov Decision Processes. As a case study, we formally verify an algorithm for approximate policy iteration in the proof assistant Isabelle/HOL. We show how the verified algorithm can be refined to an executable, verified implementation. Our evaluation on benchmark problems shows that it is practical. As part of the development, we build verified software to certify linear programming solutions. We discuss the verification process and the modifications we made to the algorithm during formalization.

Barrier certificate generation is an efficient and powerful technique for formally verifying safety properties of cyber-physical systems. Feed-forward neural networks (FNNs) are commonly used to synthesize barrier certificates, but the fixed activation functions limit their efficiency and scalability. In this paper, we propose a novel method for generating barrier certificates using Fourier Kolmogorov-Arnold Networks (KANs). Specifically, it utilizes Fourier KANs to replace FNNs as the template of barrier certificates. Since Fourier KAN has learnable activation functions and uses trigonometric functions as its basis functions, it can efficiently improve the representation power and is easy to train for neural barrier certificates. Then, it formally verifies the validity of the candidate Fourier KAN barrier certificates using both the Lipschitz method and the Satisfiability Modulo Theories, improving the efficiency and success rate of verification. We implement the tool KAN4BC, and evaluate its performance over a set of benchmarks. The experimental results demonstrate the effectiveness and efficiency of our method.

In adaptive systems, predictors are used to anticipate changes in the system’s state or behavior that may require system adaption, e.g., changing its configuration or adjusting resource allocation. Therefore, the quality of predictors is crucial for the overall reliability and performance of the system under control. This paper studies predictors in systems exhibiting probabilistic and non-deterministic behavior modelled as Markov decision processes (MDPs). Main contributions are the introduction of quantitative notions that measure the effectiveness of predictors in terms of their average capability to predict the occurrence of failures or other undesired system behaviors. The average is taken over all memoryless policies. We study two classes of such notions. One class is inspired by concepts that have been introduced in statistical analysis to explain the impact of features on the decisions of binary classifiers (such as precision, recall, f-score). Second, we study a measure that borrows ideas from recent work on probability-raising causality in MDPs and determines the quality of a predictor by the fraction of memoryless policies under which (the set of states in) the predictor is a probability-raising cause for the considered failure scenario.

Fine-tuning large language models on private data for downstream applications poses significant privacy risks in potentially exposing sensitive information. Several popular community platforms now offer convenient distribution of a large variety of pre-trained models, allowing anyone to publish without rigorous verification. This scenario creates a privacy threat, as pre-trained models can be intentionally crafted to compromise the privacy of fine-tuning datasets. In this study, we introduce a novel poisoning technique that uses model-unlearning as an attack tool. This approach manipulates a pre-trained language model to increase the leakage of private data during the fine-tuning process. Our method enhances both membership inference and data extraction attacks while preserving model utility. Experimental results across different models, datasets, and fine-tuning setups demonstrate that our attacks significantly surpass baseline performance. This work serves as a cautionary note for users who download pretrained models from unverified sources, highlighting the potential risks involved.

We propose Foreground-Covering Prototype Generation and Matching to resolve Few-Shot Segmentation (FSS), which aims to segment target regions in unlabeled query images based on labeled support images. Unlike previous research, which typically estimates target regions in the query using support prototypes and query pixels, we utilize the relationship between support and query prototypes. To achieve this, we utilize two complementary features: SAM Image Encoder features for pixel aggregation and ResNet features for class consistency. Specifically, we construct support and query prototypes with SAM features and distinguish query prototypes of target regions based on ResNet features. For the query prototype construction, we begin by roughly guiding foreground regions within SAM features using the conventional pseudo-mask, then employ iterative cross-attention to aggregate foreground features into learnable tokens. Here, we discover that the cross-attention weights can effectively alternate the conventional pseudo-mask. Therefore, we use the attention-based pseudo-mask to guide ResNet features to focus on the foreground, then infuse the guided ResNet feature into the learnable tokens to generate class-consistent query prototypes. The generation of the support prototype is conducted symmetrically to that of the query one, with the pseudo-mask replaced by the ground-truth mask. Finally, we compare these query prototypes with support ones to generate prompts, which subsequently produce object masks through the SAM Mask Decoder. Our state-of-the-art performances on various datasets validate the effectiveness of the proposed method for FSS.

Beginning with Witkowski et al. (2023), recent work on forecasting competitions has addressed incentive problems with the common winner-take-all mechanism. Frongillo et al. (2021) propose a competition mechanism based on Multiplicative Weights, an online learning algorithm. They show that their mechanism selects an epsilon-optimal forecaster with high probability using only O(log(n)/epsilon^2) events. These works, together with all prior work on this problem thus far, assume that events are independent. We prove the first accuracy and approximate truthfulness guarantees for forecasting competitions with correlated events. To quantify correlation, we introduce a notion of block correlation, which allows each event to be strongly correlated with up to b others and weakly correlated with the rest. We show that under distributions with this correlation, the Multiplicative Weights mechanism retains its epsilon-optimal guarantee using O(b^2 log(n)/epsilon^2) events. Our proof involves a novel concentration bound for correlated random variables which may be of broader interest.

Despite recent advances in image-to-video generation, better controllability and local animation are less explored. Most existing image-to-video methods are not locally aware and tend to move the entire scene. However, human artists may need to control the movement of different objects or regions. Additionally, current I2V methods require users not only to describe the target motion but also to provide redundant detailed descriptions of frame contents.These two issues hinder the practical utilization of current I2V tools. In this paper, we propose a practical framework, named Follow-Your-Click, to achieve image animation with a simple user click (for specifying what to move) and a motion prompt (for specifying how to move). Technically, we propose the first-frame masking strategy, which significantly improves the video generation quality, and a motion-augmented module equipped with a motion prompt dataset to improve the motion prompt following abilities of our model. To further control the motion speed, we propose flow-based motion magnitude control to control the speed of target movement more precisely. Extensive experiments compared with 7 baselines, including both commercial tools and research methods on 8 metrics, suggest the superiority of our approach.

Is there a foreign language describing protein sequences and structures simultaneously? Protein structures, represented by continuous 3D points, have long posed a challenge due to the contrasting modeling paradigms of discrete sequences. We introduce FoldTokenizer to represent protein sequence-structure as discrete symbols. This approach involves projecting residue types and structures into a discrete space, guided by a reconstruction loss for information preservation. We name the learned discrete symbols as FoldToken, and the sequence of FoldTokens serves as a new protein language, transforming the protein sequence-structure into a unified modality. We apply the created protein language on general backbone inpainting task, building the first GPT-style model (FoldGPT) for sequence-structure co-generation with promising results. Key to our success is the substantial enhancement of the vector quantization module, Soft Conditional Vector Quantization (SoftCVQ).

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane background regions do not contribute or even cause perceptual aliasing because of easy overlap. However, existing methods lack precisely modeling and full exploitation of these discriminative regions. In addition, the lack of pixel-level correspondence supervision in the VPR dataset hinders further improvement of the local feature matching capability in the re-ranking stage. In this paper, we propose the Focus on Local (FoL) approach to stimulate the performance of image retrieval and re-ranking in VPR simultaneously by mining and exploiting reliable discriminative local regions in images and introducing pseudo-correlation supervision. First, we design two losses, Extraction-Aggregation Spatial Alignment Loss (SAL) and Foreground-Background Contrast Enhancement Loss (CEL), to explicitly model reliable discriminative local regions and use them to guide the generation of global representations and efficient re-ranking. Second, we introduce a weakly-supervised local feature training strategy based on pseudo-correspondences obtained from aggregating global features to alleviate the lack of local correspondences ground truth for the VPR task. Third, we suggest an efficient re-ranking pipeline that is efficiently and precisely based on discriminative region guidance. Finally, experimental results show that our FoL achieves the state-of-the-art on multiple VPR benchmarks in both image retrieval and re-ranking stages and also significantly outperforms existing two-stage VPR methods in terms of computational efficiency.

Forests are vital to ecosystems, supporting biodiversity and essential services, but are rapidly changing due to land use and climate change. Understanding and mitigating negative effects requires parsing data on forests at global scale from a broad array of sensory modalities, and using them in diverse forest monitoring applications. Such diversity in data and applications can be effectively addressed through the development of a large, pre-trained foundation model that serves as a versatile base for various downstream tasks. However, remote sensing modalities, which are an excellent fit for several forest management tasks, are particularly challenging considering the variation in environmental conditions, object scales, image acquisition modes and spatio-temporal resolutions, etc. With that in mind, we present the first unified Forest Monitoring Benchmark (FoMo-Bench), carefully constructed to evaluate foundation models with such flexibility. FoMo-Bench consists of 15 diverse datasets encompassing satellite, aerial, and inventory data, covering a variety of geographical regions, and including multispectral, red-green-blue, synthetic aperture radar and LiDAR data with various temporal, spatial and spectral resolutions. FoMo-Bench includes multiple types of forest-monitoring tasks, spanning classification, segmentation, and object detection. To enhance task and geographic diversity in FoMo-Bench, we introduce TalloS, a global dataset combining satellite imagery with ground-based annotations for tree species classification across 1,000+ categories and hierarchical taxonomic levels. Finally, we propose FoMo-Net, a pre-training framework to develop foundation models with the capacity to process any combination of commonly used modalities and spectral bands in remote sensing. This work aims to inspire research collaborations between machine learning and forest biology researchers in exploring scalable multi-modal and multi-task models for forest monitoring and beyond. All code, data and appendices are published in the repository and on ArXiv.

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be effective, particularly in robotic manipulation tasks. However, recursion-based approaches are inference inefficient in working from noise distributions to policy distributions, posing a challenging trade-off between efficiency and quality. This motivates us to propose FlowPolicy, a novel framework for fast policy generation based on consistency flow matching and 3D vision. Our approach refines the flow dynamics by normalizing the self-consistency of the velocity field, enabling the model to derive task execution policies in a single inference step. Specifically, FlowPolicy conditions on the observed 3D point cloud, where consistency flow matching directly defines straight-line flows from different time states to the same action space, while simultaneously constraining their velocity values, that is, we approximate the trajectories from noise to robot actions by normalizing the self-consistency of the velocity field within the action space, thus improving the inference efficiency. We validate the effectiveness of FlowPolicy in Adroit and Metaworld, demonstrating a 7× increase in inference speed while maintaining competitive average success rates compared to state-of-the-art methods.

Scene flow methods based on deep learning have achieved impressive performance. However, current top-performing methods still struggle with ill-posed regions, such as extensive flat regions or occlusions, due to insufficient local evidence. In this paper, we propose a novel global-aware scene flow estimation network with global motion propagation, named FlowMamba. The core idea of FlowMamba is a novel Iterative Unit based on the State Space Model (ISU), which first propagates global motion patterns and then adaptively integrates the global motion information with previously hidden states. As the irregular nature of point clouds limits the performance of ISU in global motion propagation, we propose a feature-induced ordering strategy (FIO). The FIO leverages semantic-related and motion-related features to order points into a sequence characterized by spatial continuity. Extensive experiments demonstrate the effectiveness of FlowMamba, with 21.9% and 20.5% EPE3D reduction from the best published results on FlyingThings3D and KITTI datasets. Specifically, our FlowMamba is the first method to achieve millimeter-level prediction accuracy in FlyingThings3D and KITTI. Furthermore, the proposed ISU can be seamlessly embedded into existing iterative networks as a plug-and-play module, improving their estimation accuracy significantly.

Generative Flow Networks (GFlowNets) is a new family of probabilistic samplers for generating objects under an unnormalized reward distribution. It has emerged as a promising framework for learning stochastic policies that generate high-quality and diverse discrete objects proportional to their rewards, surpassing traditional reward-maximizing reinforcement learning methods. However, existing GFlowNets often suffer with data efficiency due to the direct parameterization of edge flows or dependence on backward policies that are challenging to specify or optimize, especially in high-dimensional action spaces. While the recent development of GFlowNets has primarily focused on developing alternative loss functions, we introduce a novel approach by exploring enhanced flow representations from an architectural perspective. In this paper, we propose to factorize the conventional edge flows into separate state flow and edge-based allocation streams. By introducing an effective method to synergistically combine these two streams to estimate the flows, we develop Bifurcated Generative Flow Networks (BN), a practical implementation to improve learning efficiency. We conduct extensive experiments on various standard benchmarks, and results show that BN significantly improves learning efficiency and effectiveness compared to state-of-the-art baselines.

Humans naturally rely on floor plans to navigate in unfamiliar environments, as they are readily available, reliable, and provide rich geometrical guidance. However, existing visual navigation settings overlook this valuable prior knowledge, leading to limited efficiency and accuracy. To eliminate this gap, we introduce a novel navigation task: Floor Plan Visual Navigation (FloNa), the first attempt to incorporate floor plans into embodied visual navigation. While the floor plan offers significant advantages, two key challenges emerge: (1) handling the spatial inconsistency between the floor plan and the actual scene layout for collision-free navigation, and (2) aligning observed images with the floor plan sketch despite their distinct modalities. To address these challenges, we propose FloDiff, a novel diffusion policy framework incorporating a localization module to facilitate alignment between the current observation and the floor plan. We further collect 20k navigation episodes across 117 scenes in the iGibson simulator to support the training and evaluation. Extensive experiments demonstrate the effectiveness and efficiency of our framework in unfamiliar scenes using floor plan knowledge.

Personalized federated learning (PFL) is a new paradigm to address the statistical heterogeneity problem in federated learning. Most existing PFL methods focus on leveraging global and local information such as model interpolation or parameter decoupling. However, these methods often overlook the generalization potential during local client learning. From a local optimization perspective, we propose a simple and general PFL method, Federated learning with Flexible Sharpness-Aware Minimization (FedFSA). Specifically, we emphasize the importance of applying a larger perturbation to critical layers of the local model when using the Sharpness-Aware Minimization (SAM) optimizer. Then, we design a metric, perturbation sensitivity, to estimate the layer-wise sharpness of each local model. Based on this metric, FedFSA can flexibly select the layers with the highest sharpness to employ larger perturbation. Extensive experiments are conducted on four datasets with two types of statistical heterogeneity for image classification. The results show that FedFSA outperforms seven state-of-the-art baselines by up to 8.26% in test accuracy. Besides, FedFSA can be applied to different model architectures and easily integrated into other federated learning methods, achieving a 4.45% improvement.

Recent texture generation methods achieve impressive results due to the powerful generative prior they leverage from large-scale text-to-image diffusion models. However, abstract textual prompts are limited in providing global textural or shape information, which results in the texture generation methods producing blurry or inconsistent patterns. To tackle this, we present FlexiTex, embedding rich information via visual guidance to generate a high-quality texture. The core of FlexiTex is the Visual Guidance Enhancement module, which incorporates more specific information from visual guidance to reduce ambiguity in the text prompt and preserve high-frequency details. To further enhance the visual guidance, we introduce a Direction-Aware Adaptation module that automatically designs direction prompts based on different camera poses, avoiding the Janus problem and maintaining semantically global consistency. Benefiting from the visual guidance, FlexiTex produces quantitatively and qualitatively sound results, demonstrating its potential to advance texture generation for real-world applications.

Numerous well-annotated human key-point datasets are publicly available to date. However, annotating human poses for newly collected images is still a costly and time-consuming progress. Pose distributions from different datasets share similar pose hinge-structure priors with different geometric transformations, such as pivot orientation, joint rotation, and bone length ratio. The difference between Pose distributions is essentially the difference between the transformation distributions. Inspired by this fact, we propose a method to calibrate a pre-trained pose generator in which the pose prior has already been learned to an adapted one following a new pose distribution. We treat the representation of human pose joint coordinates as skeleton image and transfer a pre-trained pose annotation generator with only a few annotation guidance. By fine-tuning a limited number of linear layers that closely related to the pose transformation, the adapted generator is able to produce any number of pose annotations that are similar to the target poses. We evaluate our proposed method, FlexPose, on several cross-dataset settings both qualitatively and quantitatively, which demonstrates that our approach achieves state-of-the-art performance compared to the existing generative-model-based transfer learning methods when given limited annotation guidance.