ICML 2026 Papers

Test-time scaling (TTS) can boost LLM reasoning through long chain-of-thought (CoT), but the linear KV-cache growth amplifies the memory-bound bottleneck of LLM decoding. Query-aware sparse decoding methods can achieve state-of-the-art performance under constrained FLOP budget, but are mainly constrained by both sequential-dependent page filtering and coarse-grained token selection, hampering the serving efficiency and model performance on TTS tasks under high concurrency and long CoT scenarios, where token selection can even occupy higher runtime than the forward pipeline itself. In this paper, we first find that the query state of the current decoding token can be approximated in a unified manner from a short sliding window of recent queries, enabling training-free query-aware sparsity without sequential dependency in the decoding loop. Based on the findings, we propose $\texttt{\textbf{AsyncSpade}}$, an asynchronous framework for efficient TTS, built on two core components: $\textbf{(1) a novel light-weight temporal-regressive module}$ that predicts the next-token query state, and $\textbf{(2) an asynchronous disaggregated framework}$ that decouples the KV cache selection from the auto-regressive decoding loop, overlapping the token-level KV selection with the forward inference computation through asynchronism, thereby eliminating the sequential dependency without sacrificing model performance. We validate the effectiveness of $\texttt{AsyncSpade}$ on common LLM serving setups with an A100 node, where $\texttt{AsyncSpade}$ can fully overlap KV-cache operations with the inference pipeline within a certain workload range, $\textbf{achieving theoretical optimal time-per-output-token~(TPOT)}$. Specifically, $\texttt{AsyncSpade}$ delivers over 20% reduction on TPOT compared to SoTA baseline ($\textit{i.e.}$ Quest) and at least 50% TPOT reduction compared to full attention on Qwen3-8B and Qwen3-32B models, while matching or surpassing their accuracy on various TTS benchmarks (AIME-24/25, GPQA-Diamond, MATH-500). Our code is available through https://github.com/UNITES-Lab/AsyncSpade.

Graph Masked Auto-Encoder (GMAE) has emerged as a prevalent self-supervised paradigm, showing superior performance in graph learning. However, existing methods mainly emphasize reconstruction outcomes and give limited specification to how neighborhood context is used for reconstruction. Our experimental investigation shows that, even when reconstruction outcomes are similar, the ways of using neighborhood context differ substantially, resulting in performance shifts. To address this issue, we propose Consistency- and Coverage-aware Graph Masked Auto-Encoder (C2-GMAE), which encourages more consistent use of neighborhood context and promotes broader training coverage in the graph. Specifically, C2-GMAE leverages positional encoding as an observable structural reference, introduces density-partitioned masking to improve coverage across regions, and amplifies heterophilic edges to reduce the attenuation of discriminative relational information during reconstruction. Extensive experiments on multiple benchmarks demonstrate that C2-GMAE improves downstream performance against GMAE baselines.

Supervised fine-tuning (SFT) is computationally efficient but often yields inferior generalization compared to reinforcement learning (RL). This gap is primarily driven by RL’s use of on-policy data. We propose a framework to bridge this chasm by enabling On-Policy SFT. We first present ***Distribution Discriminant Theory (DDT)***, which explains and quantifies the alignment between data and the model-induced distribution. Leveraging DDT, we introduce two complementary techniques: (i) ***In-Distribution Finetuning (IDFT)***, a loss-level method to enhance generalization ability of SFT, and (ii) ***Hinted Decoding***, a data-level technique that can re-align the training corpus to the model’s distribution. Extensive experiments demonstrate that our framework achieves generalization performance on par with prominent offline RL algorithms, including DPO and SimPO, while maintaining the efficiency of an SFT pipeline. The proposed framework thus offers a practical alternative in domains where RL is infeasible. We will open-source the code and data on GitHub.

We introduce a new context-enriched, multimodal time series forecasting benchmark TimesX. TimesX contains a wide selection of high-quality real-world time series with diverse domains and textual contexts obtained from an automated data generation pipeline, which helps address three main issues of existing multimodal forecasting benchmarks: (1) poor generalization due to the small scale and synthetic nature of benchmark data, (2) very limited types of textual contexts in the benchmarks, and (3) an inability to mitigate data leakage in evaluation. We conduct a thorough empirical study of zero-shot multimodal forecasting approaches on TimesX. Our results suggest that many approaches that perform well on existing benchmarks may fail on TimesX. In contrast, simple ensemble methods that leverage rich textual context accompanying time-series can outperform strong baselines on the TimesX benchmark.

Foundation models often generate unreliable answers, while heuristic uncertainty estimators fail to fully distinguish correct from incorrect outputs, causing users to accept erroneous answers without any statistical guarantee. We address this problem through selection-conditioned risk control, aiming to ensure that an accepted prediction has an error probability no larger than a user-specified risk level. To this end, we propose LEC, a principled framework that reframes selective prediction as a decision problem governed by a *linear expectation constraint* over selection and error indicators. This formulation directly controls the ratio between the expected number of accepted errors and the expected number of accepted predictions, which corresponds to the marginal error probability conditioned on selection. Under exchangeability, we derive a *finite-sample sufficient condition* that relies only on a held-out calibration set, enabling the computation of a risk-constrained, retention-maximizing threshold. Furthermore, we extend LEC to two-model routing systems: if the primary model's uncertainty exceeds its calibrated threshold, the input is delegated to a subsequent model, while maintaining system-level selection-conditioned error control. Experiments on both closed-ended and open-ended question answering (QA) and vision question answering (VQA) demonstrate that LEC maintains the prescribed risk level in accepted predictions and substantially improves sample retention compared to baselines.

Speculative decoding has emerged as a widely adopted paradigm for accelerating large language model inference, where a lightweight draft model rapidly generates candidate tokens that are then verified in parallel by a larger target model. However, due to limited model capacity, drafts often struggle to approximate the target distribution, resulting in shorter acceptance lengths and diminished speedup. A key yet under-explored observation is that speculative decoding inherently provides *verification feedback* that quantifies the deviation between the draft and target models at no additional cost. This process naturally forms an iterative "draft commits--feedback provides--draft adapts" evolving loop, which precisely matches the *online learning* paradigm. Motivated by this connection, we propose OnlineSPEC, a unified framework that systematically leverages interactive feedback to continuously evolve draft models. Grounded in *dynamic regret minimization*, we establish a formal link between online learning performance and speculative system's acceleration rate, and develop novel algorithms via modern online learning techniques, including optimistic online learning that adaptively reuses historical gradients as predictive update hints, and online ensemble learning that dynamically maintains multiple draft models. Our algorithms are equipped with theoretical justifications and improved acceleration rates, achieving up to 24% speedup over seven benchmarks and five foundation models.

Multimodal large language models (MLLMs) struggle with numerical regression under longtailed target distributions. Token-level supervised fine-tuning (SFT) and point-wise regression rewards bias learning toward high-density regions, leading to regression-to-the-mean behavior and poor tail performance. We identify the lack of cross-sample relational supervision as a key limitation of existing MLLM training paradigms. To address it, we propose a distribution-aware reinforcement learning framework based on Group Relative Policy Optimization, which introduces batch-level comparison-based supervision via the Concordance Correlation Coefficient-based reward to align predicted and ground-truth distributions in terms of correlation, scale, and mean. The framework is plug-and-play, requiring no architectural modification. Experiments on a unified suite of long-tailed regression benchmarks show consistent improvements over SFT and existing MLLM regression methods, with particularly strong gains in medium- and few-shot regimes.

Higher-order structures are powerful relational modeling tools, yet existing spectral operators decompose topology into separate ranks, leaving practitioners to fuse information back to vertices through ad-hoc choices. We introduce _Collapsed Effective Operators_, which condense higher-order degrees of freedom into a single vertex-level operator via Schur complementation of a graded Laplacian. This yields a (generally dense) operator that encodes long-range interactions mediated by topology and is applicable to arbitrary higher-order constructs. We show it preserves positive semi-definiteness with a strict spectral upper bound relative to the rank-0 Hodge Laplacian, effectively lowering system energy under higher-order connectivity. Empirically, our operator improves spectral clustering, signal smoothing and enables the inclusion of topological features in neural network architectures via positional encoding.

The adversarial robustness of attributions is a fundamental requirement for reliable explainability in deep learning, yet existing approaches typically rely on computationally expensive explicit regularization. In this work, we show that attribution robustness can arise implicitly from the learning dynamics of standard stochastic gradient descent. We theoretically motivate this effect through connections between parameter-space and input-space curvature, and validate it across architectures, datasets, and attribution methods, with negligible computational overhead. In contrast, we prove that such robustness gains often does not transfer to attention-based attribution under softmax normalization, due to inherent entropy constraints, and we validate this limitation experimentally. Finally, we show that replacing softmax attention with kernel-based attention restores the robustness gains in transformer models. Our results highlight learning dynamics as a principled and practical mechanism for robust explainability, and reveal fundamental limitations of attention-based attribution under normalization.

Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action frequency is further increased (e.g., to 60~Hz). At such high frequencies, policies often fail to generate actions that are both temporally smooth and spatially consistent. We address this challenge by shifting high-frequency action learning from the action space to a latent space with variational autoencoder (VAE). This formulation significantly improves both temporal and spatial consistency of high-frequency control. To enable smooth real-time execution, we further introduce Reuse-then-Refine, a chunk-level refine strategy that improves continuity between adjacent action chunks under asynchronous inference. As a result, robots controlled by our policy can execute complex contact-rich tasks continuously, with less pauses and jerky motions. Experiments on three real-world contact-rich robotic tasks show that our approach consistently completes tasks with smooth motions. Our code and data are available at https://github.com/tars-robotics/RTR.

Autonomous image-editing agents powered by multimodal large language models (MLLMs) improve transparency and controllability by translating high-level instructions into tool-mediated edit sequences, but training such agents with reinforcement learning often relies on dense proxy rewards (e.g., incremental image-quality score gains) to compensate for sparse human feedback. When these proxies overvalue small local changes, the resulting optimization signal can be dominated by numerically measurable yet perceptually negligible edits, biasing policy gradients toward proxy artifacts rather than meaningful progress. We propose B-Spar, a reward-centric Reinforcement Learning framework for perceptually aligned image retouching under sparse feedback that combines prior-guided trajectory sampling to reduce inefficient exploration, Bayesian reward modeling to densify sparse binary feedback into a stable training signal, and anchor-regularized policy optimization to steer updates toward high-reward regions while preventing early mode collapse. Experiments on public benchmarks demonstrate that B-Spar improves perceptual quality and metric alignment with stable training and competitive inference efficiency over strong prompt-based and training-based baselines. Notably, it outperforms AIGC-based baselines by over 95\% in perceptual quality, achieving an improvement of approximately 33.5\% over the state-of-the-art.

MLLM-powered embodied agents deployed in real-world environments encounter physical hazards. However, existing approaches lack explicit mechanisms for identifying hazards and reasoning about action-conditioned risks, leading agents to either miss risky interactions or over-identify risks. To address this, we propose EMBGuard, the first MLLM-based safety guardrail for embodied agents designed to decouple physical risk reasoning from agent policy. By evaluating a (visual observation, action) pair, EMBGuard identifies hazardous configurations and provides natural language explanations of potential risks. Alongside EMBGuard, we contribute EMBHazard, a training dataset of 15.1K action-conditioned pairs, and EMBGuardTest, a benchmark of 329 manually curated real-world scenarios spanning seven physical risk categories. Through compositional variation of hazards and actions, we generate diverse risky and benign scenarios that agents may encounter during planning. Despite its compact size (2B, 4B), EMBGuard achieves performance competitive with proprietary MLLMs (e.g., GPT-5.1, Gemini-2.5-Pro) while significantly reducing the false-positive rates that hinder real-time deployment. We make the code, data, and models publicly available at https://github.com/dongwxxkchoi/EMBGuard.

While CLIP has achieved strong performance across vision–language tasks, fine-grained image–text alignment remains challenging. Recent efforts improve textual granularity by leveraging long, detailed descriptions and replacing CLIP’s text encoder with LLM, but often overlook the visual-side bottleneck: achieving finer alignment requires region- and pixel-level visual grounding. To address it, we propose PixCLIP, a framework that jointly enhances both sides by accommodating visual prompt regions and long-form text within a unified training objective. Firstly, to support training at this granularity, we develop an automated annotation pipeline that produces long-form descriptions with pixel-level localization, and use it to construct LongGRIT, a large-scale dataset with 1.5M samples. Furthermore, we introduce a three-branch pixel–text alignment framework that aligns image regions with corresponding textual descriptions across multiple granularities. Experiments show that PixCLIP achieves state-of-the-art performance on pixel- and region-level alignment tasks while preserving strong results on standard global image–text retrieval benchmarks, even with arbitrarily shaped region prompts and long texts. Our code is available at https://github.com/StuHude/PixCLIP.

Despite rapid progress in Grounded Visual Reasoning (GVR) with MLLMs and RL-style fine-tuning, existing approaches often lack effective learning signals for intermediate grounding decisions and are prone to shortcut solutions. In this work, we explicitly decompose GVR into Evidence Generation followed by Counterfactual Answer Reasoning, and formalize this structure as a Causal Grounding Graph (CGG) in which the generated evidence acts as a causal mediator. Building on this formulation, we propose CofactGVR, which estimates the mediator’s utility via a matched counterfactual intervention that perturbs the predicted region while keeping the original image–question context fixed. The factual–counterfactual reward gap yields a principled intermediate bonus, selectively assigned to high-quality factual rollouts to promote evidence-faithful reasoning. To further stabilize and efficiently exploit this causal training signal, we incorporate a Quantile-filtered Prioritized Advantage Sampling (Q-PAS) strategy that preferentially updates on trajectories with high-magnitude advantages while filtering low-signal samples. Extensive experiments across GVR benchmarks show consistent improvements, indicating that CofactGVR strengthens reliance on informative visual evidence under controlled interventions. Our source code will be released at https://github.com/zhangy0822/CofactGVR.

The development of high-quality text embeddings is increasingly drifting toward an exclusionary future, defined by three critical barriers: prohibitive computational costs, a narrow linguistic focus that neglects most of the world's languages, and a lack of transparency from closed-source or open-weight models that stifles research. To dismantle these barriers, we introduce ML-Embed, a suite of inclusive and efficient models built upon a new framework: 3-Dimensional Matryoshka Learning (3D-ML). Our framework addresses the computational challenge with comprehensive efficiency across the entire model lifecycle. Beyond the storage benefits of Matryoshka Representation Learning (MRL) and flexible inference-time depth provided by Matryoshka Layer Learning (MLL), we introduce Matryoshka Embedding Learning (MEL) for enhanced parameter efficiency. To address the linguistic challenge, we curate a massively multilingual dataset and train a suite of models ranging from 140M to 8B parameters. In a direct commitment to transparency, we release all models, data, and code. Extensive evaluation on 430 tasks demonstrates that our models set new records on 9 of 17 evaluated MTEB benchmarks, with particularly strong results in low-resource languages, providing a reproducible blueprint for building globally equitable and computationally efficient AI systems.

Point cloud data, with its inherent geometric and topological structures, plays a critical role in 3D vision tasks. However, existing parameter-efficient fine-tuning (PEFT) methods predominantly focus on input token prompting, overlooking the intrinsic geometric information. To address this limitation, we propose TopAdapter, a novel PEFT framework that enhances geometric perception by injecting local topological information into pre-trained 3D vision models. TopAdapter leverages 0D, 1D, and 2D simplices from algebraic topology as fundamental building blocks, introducing two core modules: the Topology Injection module (ToInjection) and the Topology Transfer module (ToTransfer). ToInjection constructs multi-scale topological features using a simplex generator and dynamically fuses them with semantic features via a geometric controller, thereby enhancing geometric adaptability. ToTransfer propagates these topological primitives across Transformer layers, ensuring efficient transmission of geometric information. Extensive experiments demonstrate that TopAdapter outperforms existing PEFT methods, achieving performance comparable to full fine-tuning across various benchmarks.

Neuromorphic event cameras possess superior temporal resolution, power efficiency, and dynamic range compared to traditional cameras. However, their asynchronous and sparse data format poses a significant challenge for conventional deep learning methods. Most existing methods either densify events into frames, sacrificing their sparse asynchronous nature, or use irregular models that are less compatible with GPU acceleration. Inspired by word-to-vector models, we propose event2vec, a novel representation that allows Transformers to process events directly. We demonstrate the effectiveness of event2vec on the DVS Gesture, ASL-DVS, and DVS-Lip benchmarks, showing that event2vec is remarkably parameter-efficient, features high throughput and low latency, and achieves high accuracy even with an extremely low number of events or low spatial resolutions. These results show that sparse asynchronous event data can be directly integrated into high-throughput Transformer architectures, offering an efficient paradigm for real-time neuromorphic vision. The code is provided at https://github.com/Intelligent-Computing-Lab-Panda/event2vec.

Current repository agents encounter a reasoning disconnect due to fragmented representations, as existing methods rely on isolated API documentation or dependency graphs that lack semantic depth. We consider repository comprehension and generation to be inverse processes within a unified cycle: generation expands intent into implementation, while comprehension compresses implementation back into intent. To address this, we propose RPG-Encoder, a framework that generalizes the Repository Planning Graph (RPG) from a static generative blueprint into a unified, high-fidelity representation. RPG-Encoder closes the reasoning loop through three mechanisms: (1) Encoding raw code into the RPG that combines lifted semantic features with code dependencies; (2) Evolving the topology incrementally to decouple maintenance costs from repository scale, reducing overhead by 95.7%; and (3) Operating as a unified interface for structure-aware navigation. In evaluations, RPG-Encoder establishes state-of-the-art repository understanding on SWE-bench Verified with 93.7% Acc@5 and exceeds the best baseline by over 10% on SWE-bench Live. These results highlight our superior fine-grained localization accuracy in complex codebases. Furthermore, it achieves 98.5% reconstruction coverage on RepoCraft, confirming RPG's high-fidelity capacity to mirror the original codebase and closing the loop between intent and implementation. Our code and data are available at https://github.com/microsoft/RPG-ZeroRepo.

We propose a novel benchmarking methodology for graph neural networks (GNNs) based on the graph alignment problem, a combinatorial optimization task that generalizes graph isomorphism by aligning two unlabeled graphs to maximize overlapping edges. We frame this problem as a self-supervised learning task and present several methods to generate graph alignment datasets using synthetic random graphs and real-world graph datasets from multiple domains. For a given graph dataset, we generate a family of graph alignment datasets with increasing difficulty, allowing us to rank the performance of various architectures. Our experiments prove that there is an optimal task difficulty for having a statistically relevant ranking of different models and that, even on a structure-only task, anisotropic models perform better compared to isotropic ones. To further prove that our synthetic task capture meaningful information, we show its effectiveness for self-supervised GNN pre-training: the learned node embeddings can be leveraged as positional encodings by transformers for graph regression or can be used to reconstruct the full structure of the graph with $98\%$ accuracy. To support reproducibility and further research, we provide an open-source Python package to generate graph alignment datasets and benchmark new GNN architectures. The source code is available at [graph-alignment-benchmark](https://github.com/adrien-lagesse/graph-alignment-benchmark).