NeurIPS 2025 Papers

Medical image reconstruction from measurement data is a vital but challenging inverse problem. Deep learning approaches have achieved promising results, but often requires paired measurement and high-quality images, which is typically simulated through a forward model, i.e., retrospective reconstruction. However, training on simulated pairs commonly leads to performance degradation on real prospective data due to the retrospective-to-prospective gap caused by incomplete imaging knowledge in simulation. To address this challenge, this paper introduces imaging Knowledge-Informed Dynamic Optimal Transport (KIDOT), a novel dynamic optimal transport framework with optimality in the sense of preserving consistency with imaging physics in transport, that conceptualizes reconstruction as finding a dynamic transport path. KIDOT learns from unpaired data by modeling reconstruction as a continuous evolution path from measurements to images, guided by an imaging knowledge-informed cost function and transport equation. This dynamic and knowledge-aware approach enhances robustness and better leverages unpaired data while respecting acquisition physics. Theoretically, we demonstrate that KIDOT naturally generalizes dynamic optimal transport, ensuring its mathematical rationale and solution existence. Extensive experiments on MRI and CT reconstruction demonstrate KIDOT's superior performance. Code is available at https://github.com/TaoranZheng717/KIDOT.

Dataset curation has become a basis for strong large language model (LLM) performance. While various rule-based filtering heuristics exist for English and multilingual datasets, model-based filtering techniques have primarily focused on English. To address the disparity stemming from limited research on non-English languages, we develop a model-based filtering framework for multilingual datasets that aims to identify a diverse set of structured and knowledge-rich samples. Our approach emphasizes transparency, simplicity, and efficiency, leveraging Transformer- and FastText-based classifiers to ensure the broad accessibility of our technique and data. We conduct comprehensive ablation studies on the FineWeb-2 web crawl dataset across diverse language families, scripts, and resource availability to demonstrate the effectiveness of our method. Training a 1B-parameter Llama model for 70B and 119B tokens, our approach can match the baseline MMLU score with as little as 15\% of the training tokens, while also improving across other benchmarks and mitigating the curse of multilinguality. These findings provide strong evidence for the generalizability of our approach to other languages. As a result, we extend our framework to 20 languages for which we release the refined pretraining datasets.

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation, transferring policies to the real world is hampered by various simulation and real domain gaps. In this work, we propose a unified sim-and-real co-training framework for learning generalizable manipulation policies that primarily leverages simulation and only requires a few real-world demonstrations. Central to our approach is learning a domain-invariant, task-relevant feature space. Our key insight is that aligning the joint distributions of observations and their corresponding actions across domains provides a richer signal than aligning observations (marginals) alone. We achieve this by embedding an Optimal Transport (OT)-inspired loss within the co-training framework, and extend this to an Unbalanced OT framework to handle the imbalance between abundant simulation data and limited real-world examples. We validate our method on challenging manipulation tasks, showing it can leverage abundant simulation data to achieve up to a 30\% improvement in the real-world success rate and even generalize to scenarios seen only in simulation.

Human-in-the-loop (HIL) imitation learning enables agents to learn complex behaviors safely through real-time human intervention. However, existing methods struggle to efficiently leverage agent-generated data due to dynamically evolving trajectory distributions and imperfections caused by human intervention delays, often failing to faithfully imitate the human expert policy. In this work, we propose Faithful Dynamic Imitation Learning (FaithDaIL) to address these challenges. We formulate HIL imitation learning as an online non-convex problem and employ dynamic regret minimization to adapt to the shifting data distribution and track high-quality policy trajectories. To ensure faithful imitation of the human expert despite training on mixed agent and human data, we introduce an unbiased imitation objective and achieve it by weighting the behavior distribution relative to the human expert's as a proxy reward. Extensive experiments on MetaDrive and CARLA driving benchmarks demonstrate that FaithDaIL achieves state-of-the-art performance in safety and task success with significantly reduced human intervention data compared to prior HIL baselines.

The phenomenon of benign overfitting, where a trained neural network perfectly fits noisy training data but still achieves near-optimal test performance, has been extensively studied in recent years for linear models and fully-connected/convolutional networks. In this work, we study benign overfitting in a single-head softmax attention model, which is the fundamental building block of Transformers. We prove that under appropriate conditions, the model exhibits benign overfitting in a classification setting already after two steps of gradient descent. Moreover, we show conditions where a minimum-norm/maximum-margin interpolator exhibits benign overfitting. We study how the overfitting behavior depends on the signal-to-noise ratio (SNR) of the data distribution, namely, the ratio between norms of signal and noise tokens, and prove that a sufficiently large SNR is both necessary and sufficient for benign overfitting.

Unmanned Aerial Vehicles (UAVs) or drones, are increasingly used in search and rescue missions to detect human presence. Existing systems primarily leverage vision-based methods which are prone to fail under low-visibility or occlusion. Drone-based audio perception offers promise but suffers from extreme ego-noise that masks sounds indicating human presence. Existing datasets are either limited in diversity or synthetic, lacking real acoustic interactions, and there are no standardized setups for drone audition. To this end, we present DroneAudioset (The dataset is publicly available at https://huggingface.co/datasets/ahlab-drone-project/DroneAudioSet/ under the MIT license), a comprehensive drone audition dataset featuring 23.5 hours of annotated recordings, covering a wide range of signal-to-noise ratios (SNRs) from -57.2 dB to -2.5 dB, across various drone types, throttles, microphone configurations as well as environments. The dataset enables development and systematic evaluation of noise suppression and classification methods for human-presence detection under challenging conditions, while also informing practical design considerations for drone audition systems, such as microphone placement trade-offs, and development of drone noise-aware audio processing. This dataset is an important step towards enabling design and deployment of drone-audition systems.

Learn to Optimize (L2O) trains deep neural network-based solvers for optimization, achieving success in accelerating convex problems and improving non-convex solutions. However, L2O lacks rigorous theoretical backing for its own training convergence, as existing analyses often use unrealistic assumptions-a gap this work highlights empirically. We bridge this gap by proving the training convergence of L2O models that learn Gradient Descent (GD) hyperparameters for quadratic programming, leveraging the Neural Tangent Kernel (NTK) theory. We propose a deterministic initialization strategy to support our theoretical results and promote stable training over extended optimization horizons by mitigating gradient explosion. Our L2O framework demonstrates over 50% better optimality than GD and superior robustness over state-of-the-art L2O methods on synthetic datasets. The code of our method can be found from https://github.com/NetX-lab/MathL2OProof-Official.

We analyze two widely used local attribution methods, Local Shapley Values and LIME, which aim to quantify the contribution of a feature value $x_i$ to a specific prediction $f(x_1, \dots, x_p)$. Despite their widespread use, we identify fundamental limitations in their ability to reliably detect locally important features, even under ideal conditions with exact computations and independent features. We argue that a sound local attribution method should not assign importance to features that neither influence the model output (e.g., features with zero coefficients in a linear model) nor exhibit statistical dependence with functionality-relevant features. We demonstrate that both Local SV and LIME violate this fundamental principle. To address this, we propose R-LOCO (Regional Leave Out COvariates), which bridges the gap between local and global explanations and provides more accurate attributions. R-LOCO segments the input space into regions with similar feature importance characteristics. It then applies global attribution methods within these regions, deriving an instance's feature contributions from its regional membership. This approach delivers more faithful local attributions while avoiding local explanation instability and preserving instance-specific detail often lost in global methods.

Few-Shot Class-Incremental Learning (FSCIL) challenges models to sequentially learn new classes from minimal examples without forgetting prior knowledge, a task complicated by the stability-plasticity dilemma and data scarcity. Current FSCIL methods often struggle with generalization due to their reliance on limited datasets. While diffusion models offer a path for data augmentation, their direct application can lead to semantic misalignment or ineffective guidance. This paper introduces Diffusion-Classifier Synergy (DCS), a novel framework that establishes a mutual boosting loop between diffusion model and FSCIL classifier. DCS utilizes a reward-aligned learning strategy, where a dynamic, multi-faceted reward function derived from the classifier's state directs the diffusion model. This reward system operates at two levels: the feature level ensures semantic coherence and diversity using prototype-anchored maximum mean discrepancy and dimension-wise variance matching, while the logits level promotes exploratory image generation and enhances inter-class discriminability through confidence recalibration and cross-session confusion-aware mechanisms. This co-evolutionary process, where generated images refine the classifier and an improved classifier state yields better reward signals, demonstrably achieves state-of-the-art performance on FSCIL benchmarks, significantly enhancing both knowledge retention and new class learning.

Electroencephalography (EEG) offers a non-invasive lens into human brain activity, but building large‐scale models is hampered by $\textit{topological heterogeneity}$: each public corpus defines its own electrode layout, limiting generalization. We introduce $\textbf{LUNA}$ ($\textbf{L}$atent $\textbf{U}$nified $\textbf{N}$etwork $\textbf{A}$rchitecture), a self-supervised foundation model that reconciles disparate electrode geometries while scaling linearly---not quadratically---with channel count. LUNA compresses multi-channel EEG into a fixed-size, topology-agnostic latent space via learned queries and cross-attention. Downstream transformer blocks then operate exclusively on this latent representation using patch-wise temporal self-attention, decoupling computation from electrode count. Pre-trained on TUEG and Siena ($\>$21,000 h raw EEG across diverse montages) using a masked-patch reconstruction objective, LUNA transfers effectively to four downstream tasks: abnormality detection, artifact rejection, slowing classification, and emotion recognition. It demonstrates highly competitive performance across several benchmarks, achieving state-of-the-art results on TUAR and TUSL, e.g., $\textbf{0.921 AUROC}$ on TUAR, while reducing FLOPs by $\textbf{300}$$\times$ and trimming GPU memory use by up to $\textbf{10}$$\times$. Critically, these gains are consistent across all evaluated electrode configurations. Code is available at https://github.com/pulp-bio/biofoundation

Text-to-image diffusion models, such as Stable Diffusion, have demonstrated remarkable capabilities in generating high-quality and diverse images from natural language prompts. However, recent studies reveal that these models often replicate and amplify societal biases, particularly along demographic attributes like gender and race. In this paper, we introduce FairImagen (https://github.com/fuzihaofzh/FairImagen), a post-hoc debiasing framework that operates on prompt embeddings to mitigate such biases without retraining or modifying the underlying diffusion model. Our method integrates Fair Principal Component Analysis to project CLIP-based input embeddings into a subspace that minimizes group-specific information while preserving semantic content. We further enhance debiasing effectiveness through empirical noise injection and propose a unified cross-demographic projection method that enables simultaneous debiasing across multiple demographic attributes. Extensive experiments across gender, race, and intersectional settings demonstrate that FairImagen significantly improves fairness with a moderate trade-off in image quality and prompt fidelity. Our framework outperforms existing post-hoc methods and offers a simple, scalable, and model-agnostic solution for equitable text-to-image generation.

Extant studies predominantly address catastrophic forgetting within a simplified continual learning paradigm, typically confined to a singular data domain. Conversely, real-world applications frequently encompass multiple, evolving data domains, wherein models often struggle to retain many critical past information, thereby leading to performance degradation. This paper addresses this complex scenario by introducing a novel dynamic expansion approach called Learning Expandable and Adaptable Representations (LEAR). This framework orchestrates a collaborative backbone structure, comprising global and local backbones, designed to capture both general and task-specific representations. Leveraging this collaborative backbone, the proposed framework dynamically create a lightweight expert to delineate decision boundaries for each novel task, thereby facilitating the prediction process. To enhance new task learning, we introduce a novel Mutual Information-Based Prediction Alignment approach, which incrementally optimizes the global backbone via a mutual information metric, ensuring consistency in the prediction patterns of historical experts throughout the optimization phase. To mitigate network forgetting, we propose a Kullback–Leibler (KL) Divergence-Based Feature Alignment approach, which employs a probabilistic distance measure to prevent significant shifts in critical local representations. Furthermore, we introduce a novel Hilbert-Schmidt Independence Criterion (HSIC)-Based Collaborative Optimization approach, which encourages the local and global backbones to capture distinct semantic information in a collaborative manner, thereby mitigating information redundancy and enhancing model performance. Moreover, to accelerate new task learning, we propose a novel Expert Selection Mechanism that automatically identifies the most relevant expert based on data characteristics. This selected expert is then utilized to initialize a new expert, thereby fostering positive knowledge transfer. This approach also enables expert selection during the testing phase without requring any task information. Empirical results demonstrate that the proposed framework achieves state-of-the-art performance.

The efficiency and quality of language model pretraining are largely determined by the way pretraining data are selected. In this paper, we introduce *Group-MATES*, an efficient group-level data selection approach to optimize the speed-quality frontier of language model pretraining. Specifically, Group-MATES parameterizes costly group-level selection with a relational data influence model. To train this model, we sample training trajectories of the language model and collect oracle data influences alongside. The relational data influence model approximates the oracle data influence by weighting individual influence with relationships among training data. To enable efficient selection with our relational data influence model, we partition the dataset into small clusters using relationship weights and select data within each cluster independently. Experiments on DCLM 400M-4x, 1B-1x, and 3B-1x show that Group-MATES achieves 3.5\%-9.4\% relative performance gains over random selection across 22 downstream tasks, nearly doubling the improvements achieved by state-of-the-art individual data selection baselines. Furthermore, Group-MATES reduces the number of tokens required to reach a certain downstream performance by up to 1.75x, substantially elevating the speed-quality frontier. Further analyses highlight the critical role of relationship weights in the relational data influence model and the effectiveness of our cluster-based inference. Our code is open-sourced at https://github.com/facebookresearch/Group-MATES.

Repeated multi-unit auctions, where a seller allocates multiple identical items over many rounds, are common mechanisms in electricity markets and treasury auctions. We compare the two predominant formats: uniform-price and discriminatory auctions, focusing on the perspective of a single bidder learning to bid against stochastic adversaries. We characterize the learning difficulty in each format, showing that the regret scales similarly for both auction formats under both full-information and bandit feedback, as $\tilde{\Theta} ( \sqrt{T} )$ and $\tilde{\Theta} ( T^{2/3} )$, respectively. However, analysis beyond worst-case regret reveals structural differences: uniform-price auctions may admit faster learning rates, with regret scaling as $\tilde{\Theta} ( \sqrt{T} )$ in settings where discriminatory auctions remain at $\tilde{\Theta} ( T^{2/3} )$. Finally, we provide a specific analysis for auctions in which the other participants are symmetric and have unit-demand, and show that in these instances a similar regret rate separation appears.

Multimodal symbolic logical reasoning, which aims to deduce new facts from multimodal input via formal logic, is critical in high-stakes applications such as autonomous driving and medical diagnosis, as its rigorous, deterministic reasoning helps prevent serious consequences. To evaluate such capabilities of current state-of-the-art vision language models (VLMs), we introduce the first benchmark MuSLR for multimodal symbolic logical reasoning grounded in formal logical rules. MuSLR comprises 1,093 instances across 7 domains, including 35 atomic symbolic logic and 976 logical combinations, with reasoning depths ranging from 2 to 9. We evaluate 7 state-of-the-art VLMs on MuSLR and find that they all struggle with multimodal symbolic reasoning, with the best model, GPT-4.1, achieving only 46.8%. Thus, we propose LogiCAM, a modular framework that applies formal logical rules to multimodal inputs, boosting GPT-4.1’s Chain-of-Thought performance by 14.13%, and delivering even larger gains on complex logics such as first-order logic. We also conduct a comprehensive error analysis, showing that around 70% of failures stem from logical misalignment between modalities, offering key insights to guide future improvements.

Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent reconstructions, due to an ill-conditioned photometric reconstruction objective. Surface reconstruction methods solve this issue but sacrifice visual quality. We propose a novel hybrid 2D/3D representation that jointly optimizes constrained planar (2D) Gaussians for modeling flat surfaces and freeform (3D) Gaussians for the rest of the scene. Our end-to-end approach dynamically detects and refines planar regions, improving both visual fidelity and geometric accuracy. It achieves state-of-the-art depth estimation on ScanNet++ and ScanNetv2, and excels at mesh extraction without overfitting to a specific camera model, showing its effectiveness in producing high-quality reconstruction of indoor scenes.

Multi-label complementary label learning (MLCLL) is a weakly supervised paradigm that addresses multi-label learning (MLL) tasks using complementary labels (i.e., irrelevant labels) instead of relevant labels. Existing methods typically adopt an unbiased risk estimator (URE) under the assumption that complementary labels follow a uniform distribution. However, this assumption fails in real-world scenarios due to instance-specific annotation biases, making URE-based methods ineffective under such conditions. Furthermore, existing methods underutilize label correlations inherent in MLL. To address these limitations, we propose ComRank, a ranking loss framework for MLCLL, which encourages complementary labels to be ranked lower than non-complementary ones, thereby modeling pairwise label relationships. Theoretically, our surrogate loss ensures Bayes consistency under both uniform and biased cases. Experiments demonstrate the effectiveness of our method in MLCLL tasks. The code is available at https://github.com/JellyJamZhu/ComRank.

Diffusion and flow models have emerged as powerful generative approaches capable of modeling diverse and multimodal behavior. However, applying these models to offline RL remains challenging due to the iterative nature of their noise sampling processes, making policy optimization difficult. In this paper, we introduce Scalable Offline Reinforcement Learning (SORL), a new offline RL algorithm that leverages shortcut models – a novel class of generative models – to scale both training and inference. SORL's policy can capture complex data distributions and can be trained simply and efficiently in a one-stage training procedure. At test time, SORL supports both sequential and parallel inference scaling by using the learned Q-function as a verifier. We demonstrate that SORL achieves strong performance across a range of offline RL tasks and exhibits positive scaling behavior with increased test-time compute.

Visual place recognition (VPR) is typically regarded as a specific image retrieval task, whose core lies in representing images as global descriptors. Over the past decade, dominant VPR methods (e.g., NetVLAD) have followed a paradigm that first extracts the patch features/tokens of the input image using a backbone, and then aggregates these patch features into a global descriptor via an aggregator. This backbone-plus-aggregator paradigm has achieved overwhelming dominance in the CNN era and remains widely used in transformer-based models. In this paper, however, we argue that a dedicated aggregator is not necessary in the transformer era, that is, we can obtain robust global descriptors only with the backbone. Specifically, we introduce some learnable aggregation tokens, which are prepended to the patch tokens before a particular transformer block. All these tokens will be jointly processed and interact globally via the intrinsic self-attention mechanism, implicitly aggregating useful information within the patch tokens to the aggregation tokens. Finally, we only take these aggregation tokens from the last output tokens and concatenate them as the global representation. Although implicit aggregation can provide robust global descriptors in an extremely simple manner, where and how to insert additional tokens, as well as the initialization of tokens, remains an open issue worthy of further exploration. To this end, we also propose the optimal token insertion strategy and token initialization method derived from empirical studies. Experimental results show that our method outperforms state-of-the-art methods on several VPR datasets with higher efficiency and ranks 1st on the MSLS challenge leaderboard. The code is available at https://github.com/lu-feng/image.