ICML 2026 Papers

Empirical successes show that regularization improves the stability and efficiency of reinforcement learning (RL), with applications in robotics and post-training of large language models. Yet, theoretical analyses of regularized Markov decision processes (MDPs) have mostly been confined to the standard RL setting. In this work, we investigate regularized MDPs through the lens of robust RL. We introduce a doubly regularized MDP framework that combines policy and dynamics regularizations, enabling robust policy learning while naturally accommodating continuous action spaces. Within this framework, we develop an optimism-based online algorithm and provide the first finite-sample regret guarantees in both tabular and linear settings. Our results show that algorithms for doubly regularized MDPs are as sample-efficient as well-studied robust MDP algorithms, while additionally benefiting from the flexibility of soft policies. We further design practical algorithmic variants for both settings and demonstrate empirically that our approach efficiently and effectively handles function approximation and exploration in large state-action spaces, achieving robust performances.

Tool-use agents that address day-to-day digital tasks such as ordering groceries must not only operate applications, but also interact with the user, e.g., to ask clarification questions, prompt for confirmation, and inform the user when the instruction is infeasible. However, current benchmarks for evaluating agent-user interactions do not capture the diversity of such interactions. Further, they operate in small environments with few, often non-state-changing, APIs. To address this gap, we introduce AppWorld-UL, a ``user-in-the-loop'' benchmark of 516 challenging tasks requiring diverse agent-user interactions. Building upon the AppWorld framework with 9 popular simulated apps like Amazon and Spotify, we systematically modify original tasks to introduce ambiguities and constraints that necessitate various types of agent-user interaction. User behavior is simulated by an LLM prompted to respond with carefully designed knowledge boundaries, offering more reliable simulation than the unconstrained or overly rigid alternatives used in prior work. Our evaluation reveals that a state-of-the-art LLM, Claude Opus 4.7, achieves only 48.6\% success on AppWorld-UL, and only 35.7\% on the harder, compositional subset. On the stricter, scenario-level metric, compositional task performance drops to only 21.3\%. Our analysis reveals that correct user-interaction is crucial for success. This demonstrates the benchmark's difficulty and its potential to advance research on user-in-the-loop tool-use agents.

We present HOI-PAGE, a new approach that prioritizes part-level affordance reasoning to generate high-fidelity 4D human-object interactions (HOIs) from text prompts in a zero-shot fashion. In contrast to prior works that focus on global, whole body-object motion synthesis, our approach explicitly reasons about the underlying part-level mechanics of interactions using large language models (LLMs). We capture this reasoning in a structured part affordance graph (PAG) representation, serving as a high-level interaction scaffolding to guide a three-stage synthesis: first, decomposing input 3D objects into semantic parts; then, generating reference HOI videos from text prompts to extract part-based motion constraints; and finally, optimizing for 4D HOI motion sequences that mimic the reference dynamics while satisfying part-level contact constraints. Extensive experiments show that our approach is flexible and capable of generating complex multi-object or multi-person interaction sequences, with significantly improved realism and text alignment for zero-shot 4D HOI generation.

DeepSeek-OCR leverages visual–text compression to reduce long-text processing costs and accelerate inference, yet visual tokens remain prone to redundant textual and structural information. Moreover, current token pruning methods for conventional vision–language models (VLMs) fail to preserve textual fidelity due to improper compression mechanisms. By analyzing the decoding process of DeepSeek-OCR, we find that a distinct two-stage reading trajectory: the model initially prioritizes the majority of high-norm tokens, then subsequently redistributes its attention to the remaining ones. Motivated by this insight, we propose *RTPrune*, a two-stage token pruning method tailored for DeepSeek-OCR. In the first stage, we prioritize high-norm visual tokens that capture salient textual and structural information. In the second stage, the remaining tokens are paired and merged based on optimal transport theory to achieve efficient feature aggregation. We further introduce a dynamic pruning ratio that adapts to token similarity and textual density for OCR tasks, enabling a better efficiency–accuracy trade-off. Extensive experiments demonstrate state-of-the-art performance, as evidenced by 99.47\% accuracy and 1.23× faster prefill on OmniDocBench, achieved with 84.25\% token retention when applied to DeepSeek-OCR-Large. Code is released.

Multivariate time series (MTS) forecasting critically depends on modeling inter-variable dependencies, yet existing paradigms face a trade-off: channel-isolation strategies can suffer from information fragmentation in strongly coupled systems, whereas channel-interaction methods often introduce spurious interactions among irrelevant variables. To address this challenge, we propose Coherent Resonance Interaction with Spectral Priors (Crisp). Crisp adopts the principle that effective information exchange should occur only between variables with compatible oscillatory patterns. Concretely, we derive spectral priors in the frequency domain to construct dynamic resonance topologies. With a differentiable, adaptive, and strictly sparse blocking mechanism, Crisp forces attention weights for spectrally inconsistent neighbors to be exactly zero. In addition, we introduce a spectral-gated feature filtering module to refine variable representations using intrinsic spectral characteristics. Extensive experiments demonstrate that Crisp significantly outperforms 20+ baselines. Our code is available at Anonymous GitHub.

Visual tracking aims to estimate target states in video sequences, with applications spanning diverse computational requirements. Recent methods optimize trackers using manually pruned image tokens with a fixed budget to reduce computational costs. However, these trackers, once trained, are constrained to perform tracking under a fixed computational budget, limiting their adaptability to real-world computational diversity. To address the above limitation, we provide the first exploration of the elastic token budget training framework (ETBTrack), enabling trackers to perform robust tracking under varying computational budgets. It enjoys several merits. First, we present a novel result-driven importance criteria, in which we optimize a policy network guided by the localization precision of the tracker to estimate token importance, thereby aligning the objectives of importance estimation and tracking precision. Second, we develop a new budget-collaborative optimization strategy, in which we collaboratively optimize the tracker across varying budgets, thereby enabling the tracker to be compatible with diverse budgets. Two optimization processes are performed alternately to enhance the capability of elastic inference. Extensive experiments on large-scale benchmarks demonstrate the effectiveness of our method.

All-in-one image restoration seeks a single model that can recover images degraded by diverse and spatially non-uniform corruptions. However, many unified Transformers rely on fixed patch partitioning: task/degradation condition is injected only into the backbone blocks after tokenization, leaving the embedding and reconstruction stages insensitive to local degradation variations. In contrast to previous approaches, we present \textbf{Flexible Image Transformer (FIT)} that explicitly models degradation awareness across the \emph{entire} pipeline, from patch sampling to pixel reconstruction. Specifically, FIT employs a lightweight Degradation Encoder to predict a global degradation vector $\mathbf{g}$ and a spatial degradation map $\mathbf{M}$ from local degradation severity, which jointly condition the patch embedding and unembedding through adaptive deformation. Moreover, to improve robustness across degradation types, we introduce a task-token dropout strategy that regularizes task conditioning during training. On five standard benchmarks (BSD68, Rain100L, SOTS, GoPro, and LOLv1), FIT achieves state-of-the-art performance with 30.72 dB average PSNR on the five-degradation setting and 32.83 dB on the three-degradation setting, outperforming recent unified restoration methods by +0.5$\sim$1.1 dB. Moreover, the learned offsets provide a direct handle for visualizing degradation-aware spatial adaptation.

Humans often specify tasks incompletely, so assistants must know when and how to ask clarifying questions. However, effective clarification remains challenging in software engineering tasks as not all missing information is equally valuable, and questions must target information users can realistically provide. We study clarification in real software engineering tasks by quantifying which types of information most affect task success and which questions elicit useful responses from simulated users. Using Shapley attribution and distributional comparisons, we identify two key properties of effective clarification: task relevance (which information predicts success) and user answerability (what users can realistically provide). We operationalize these properties as multi-stage reinforcement learning rewards to train CLARITI, an 8B-parameter clarification module, that matches GPT-5’s resolution rate on underspecified issues while generating 41% fewer questions. Our results suggest that grounding reward design in empirical analysis of information impact and user answerability improves clarification efficiency.

We investigate which architectural and input-pipeline choices make vision models more robust to additive Gaussian noise and convert these empirical insights into simple, actionable design rules. Specifically, we performed extensive evaluations on 1,174 pretrained vision models, empirically identifying four consistent factors for improved robustness against Gaussian noise: larger stem kernels, resolution-dependent downsampling under a pre-resize sensor-noise protocol, average pooling, and supervised vision transformers (ViTs) rather than CLIP ViTs, which yield up to 506 rank improvements and 21.6\%p accuracy gains. First, we prove that low-pass stem kernels attenuate noise with a gain that decreases quadratically with kernel size and that anti-aliased downsampling reduces noise energy roughly in proportion to the square of the downsampling factor. Second, we demonstrate that average pooling is unbiased and suppresses noise in proportion to the pooling window area, whereas max pooling incurs a positive bias that grows slowly with window size and yields a relatively higher mean-squared error and greater worst-case sensitivity. Third, we reveal and explain the vulnerability of CLIP ViTs via a pixel-space Lipschitz bound: The smaller normalization standard deviations used in CLIP preprocessing amplify worst-case sensitivity by up to 1.91 times relative to the Inception-style preprocessing common in supervised ViTs. Our results collectively disentangle robustness into interpretable modules, provide a theory that explains the observed trends, and build practical, plug-and-play guidelines for designing vision models more robust against Gaussian noise.

Lens flare removal is challenging due to the large spatial extent of flare artifacts and their entangle-ment with scene structures, while existing meth-ods heavily rely on large-scale paired data. We propose a semi-supervised flare removal frame-work that enables stable learning from unlabeled images by jointly addressing pseudo-label relia-bility and representation discrimination. We pro-pose an adaptive pseudo-label repository that pro-gressively refines pseudo supervision through no-reference quality assessment, momentum-based updates, and invalid label filtering, effectively mit-igating error accumulation. Moreover, we pro-pose a flare-aware contrastive loss that explic-itly treats flare-contaminated inputs as negatives and performs patch-level contrastive learning, en-couraging representations that are discriminative against flare patterns while remaining consistent with reliable pseudo targets. Extensive experi-ments on multiple flare benchmarks demonstrate that the proposed framework is model-agnostic and consistently improves performance and ro-bustness.

Inferring dynamics from population snapshots is a fundamental challenge in machine learning and biology. In scRNA-sequencing (scRNA-seq), destructive measurements preclude direct tracking of individual cells across time, making trajectory inference underdetermined. Optimal Transport (OT) provides a principled framework for snapshot alignment, but a long-standing modeling question is which cost functions yield biologically meaningful couplings. Standard OT approaches rely on gene-expression distances, implicitly treating cells as independent points and neglecting structured cell-cell communication mediated by ligand-receptor signaling. We introduce CellBRIDGE (Cell-Based Regularized Interaction-Driven Gene Expression), which augments feature-based OT with a directed, typed interaction cost derived from ligand-receptor activity. By explicitly modeling cell-cell communication, CellBRIDGE improves cross-snapshot couplings and downstream trajectory estimates across synthetic and real scRNA-seq datasets relative to feature-only baselines. Notably, CellBRIDGE enables mechanistically interpretable in silico perturbations: on lung cancer data, silencing specific ligand-receptor pairs induces trajectory shifts that recapitulate expected effects of targeted pathway inhibition.

Coreset Selection (CS) aims to extract a small yet representative subset from a large dataset, reducing the complexity of model training. Although CS has been primarily investigated for classification tasks, it is still underexplored for object Re-identification (ReID). In this paper, we first formulate Coreset Selection for Object Re-identification (CSOR) as a joint optimization problem to find both the optimal coreset and the optimal class subset. We identify intra-class diversity as a key factor for effective coreset construction for ReID. Based on this insight, we propose a novel two-stage framework, consisting of Diversity-driven Class Pruning (DCP) and Coverage-Prioritized Sampling (CPS), to address the unique challenges of ReID datasets. First, classes with low feature diversity are pruned to allocate the storage budget to the remaining informative classes. Then, samples are greedily selected in an easy-to-hard class order to maximize feature coverage within each class. Extensive experiments on three person ReID datasets and one vehicle ReID dataset demonstrate that our method consistently outperforms existing CS approaches, establishing a new state-of-the-art in CSOR.

Group Relative Policy Optimization has emerged as essential for aligning video diffusion models with human preferences, but faces a critical computational bottleneck: training a 14B parametered model typically demands hundreds of GPU days per experiment. Existing efficiency methods reduce costs through sliding window subsampling training timesteps, but fundamentally compromise optimization, exhibiting severe instability and failing to reach full trajectory performance. We present Flash-GRPO, a single-step training framework that outperforms full trajectory training in alignment quality under low computational budgets while substantially improving training efficiency. Flash-GRPO addresses two critical challenges: iso-temporal grouping eliminates timestep-confounded variance by enforcing prompt-wise temporal consistency, decoupling policy performance from timestep difficulty; temporal gradient rectification neutralizes the time-dependent scaling factor that causes vastly inconsistent gradient magnitudes across timesteps. Experiments on 1.3B to 14B parameter models validate Flash-GRPO's effectiveness, demonstrating substantial training acceleration with consistent stability and state-of-the-art alignment quality.

Physics-based motion imitation is central to humanoid control, yet current evaluation metrics(e.g., MPJPE) only quantify imitation outcomes, not their underlying causes. This conflation obscures a critical diagnostic question: when imitation error occurs, does it stem from policy limitations or the intrinsic learning difficulty of the target motion? To resolve this ambiguity, we propose the Torque Variation Score (TVS), a physics-grounded metric that quantifies the inherent learning difficulty of a motion independently of any policy's performance. TVS measures the magnitude of torque variation required to correct small pose perturbations, directly capturing how dynamical properties shape the reinforcement learning landscape. We establish that high-TV motions induce flat reward landscapes and vanishing policy gradients, explaining persistent imitation failures. Extensive experiments with state-of-the-art methods (UHC, PHC+) confirm TVS strongly correlates with imitation error and enables principled error attribution: high error on low-TV motions indicates policy deficiency, while high error on high-TV motions reflects fundamental learning constraints. Beyond error diagnosis, TVS facilitates three practical applications: Maximum Imitable Difficulty (MID) for policy capability assessment, Difficulty-Stratified Joint Error (DSJE) for granular performance profiling, and Flawed Motion Detection for identifying segments with abnormally high learning difficulty to support mocap data curation and quality control. TVS provides a rigorous lens to distinguish policy-induced errors from motion-inherent challenges and enhances motion dataset reliability.

Accurate prediction of nuclear magnetic resonance (NMR) chemical shifts is fundamental to spectral analysis and molecular structure elucidation, yet existing machine learning methods rely on limited, labor-intensive atom-assigned datasets. We propose a semi-supervised framework that learns NMR chemical shifts from millions of literature-extracted spectra without explicit atom-level assignments, integrating a small amount of labeled data with large-scale unassigned spectra. We formulate chemical shift prediction from literature spectra as a permutation-invariant set supervision problem, and show that under commonly satisfied conditions on the loss function, optimal bipartite matching reduces to a sorting-based loss, enabling stable large-scale semi-supervised training beyond traditional curated datasets. Our models achieve substantially improved accuracy and robustness over state-of-the-art methods and exhibit stronger generalization on significantly larger and more diverse molecular datasets. Moreover, by incorporating solvent information at scale, our approach captures systematic solvent effects across common NMR solvents for the first time. Overall, our results demonstrate that large-scale unlabeled spectra mined from the literature can serve as a practical and effective data source for training NMR shift models, suggesting a broader role of literature-derived, weakly structured data in data-centric AI for science.

Millimeter-wave (mmWave) enables privacy-preserving, illumination-robust human pose estimation (HPE), with each mmWave frame represented as a range--angle--Doppler tensor, providing spatial magnitude for localization and Doppler signatures for motion-related cues. However, existing mmWave-based HPE methods either underutilize or naïvely fuse Doppler signatures with spatial magnitude, disregarding their distinct physical semantics. As a result, non-human Doppler signatures can be misinterpreted as human motion cues, leading to jittery trajectories. We propose \textbf{PULSE}, which converts Doppler signatures into confidence-aware motion prompts and injects them into spatial magnitude reasoning through constrained interactions. By screening Doppler prompts before they influence prediction, PULSE first suppresses spurious spectral motion cues and then uses the screened prompts to stabilize prediction. Across three datasets spanning single- and multi-person settings, PULSE consistently improves pose accuracy and temporal stability, indicating that controlled Doppler prompting is a practical direction for stable mmWave HPE. Codes are available in supplementary materials.

Reconstructing accurate implicit surface representations from point clouds remains a challenging task, particularly when data is captured using low-quality scanning devices. These point clouds often contain substantial noise, leading to inaccurate surface reconstructions. Inspired by the Noise2Noise paradigm for 2D images, we introduce NoiseSDF2NoiseSDF, a novel method designed to extend this concept to 3D neural fields. Our approach enables learning clean neural SDFs from noisy point clouds through noisy supervision by minimizing the MSE loss between noisy SDF representations, allowing the network to implicitly denoise and refine surface estimations. We evaluate the effectiveness of NoiseSDF2NoiseSDF on benchmarks, including the ShapeNet, ABC, Famous, and Real datasets. Experimental results demonstrate that our framework significantly improves surface reconstruction quality from noisy inputs.

How can we train agents to navigate uncertainty over long horizons? In this work, we propose ∆Belief-RL, which leverages a language model's own intrinsic beliefs to reward intermediate progress. Our method utilizes the change in the probability an agent assigns to the target solution for credit assignment. By training on synthetic interaction data, ∆Belief-RL teaches information-seeking capabilities that consistently outperform purely outcome-based rewards for RL, with improvements generalizing to out-of-distribution applications ranging from customer service to personalization. Notably, the performance continues to improve as we scale test-time interactions beyond the training horizon, with interaction-efficiency increasing even on Pass@k metrics. Overall, our work introduces a scalable training strategy for navigating uncertainty over a long-horizon, by enabling credit assignment to intermediate actions via intrinsic ∆Belief rewards.

Personalizing AI decision support for heterogeneous human decision-makers remains a key challenge. We study a collaboration workflow where AI provides a reduced prediction set via conformal prediction and the human makes the final decision based on the set. We formulate this personalization problem as a contextual bandit, where individual and task features form the context, candidate significance levels $\alpha$ serve as arms, and the optimal prediction-set size varies across contexts. To address large arm spaces and high-dimensional contexts, we introduce the Adaptively Grouped Contextual Bandit (AGCB) framework, which avoids global function approximation by exploiting two Human-AI structural assumptions: continuity and monotonicity. Continuity enables information sharing across nearby contexts and decisions, and drives a data-driven Zooming Mechanism that balances intra-group estimation error against inter-group approximation bias. Monotonicity converts each observation into directional counterfactual information over the $K$ candidate $\alpha$ values, reducing the arm-dependence factor from polynomial to logarithmic in $K$. Together, these mechanisms yield minimax-optimal dependence on the learning horizon $T$ for both cumulative and simple regret objectives. Empirical results confirm that AGCB achieves the strongest overall performance across most heterogeneous, data-scarce settings.