NeurIPS 2025 Papers

Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with contact-rich tasks that require fine-grained control involving force, especially under visual occlusion or dynamic uncertainty. To address these limitations, we propose \textbf{ForceVLA}, a novel end-to-end manipulation framework that treats external force sensing as a first-class modality within VLA systems. ForceVLA introduces \textbf{FVLMoE}, a force-aware Mixture-of-Experts fusion module that dynamically integrates pretrained visual-language embeddings with real-time 6-axis force feedback during action decoding. This enables context-aware routing across modality-specific experts, enhancing the robot's ability to adapt to subtle contact dynamics. We also introduce \textbf{ForceVLA-Data}, a new dataset comprising synchronized vision, proprioception, and force-torque signals across five contact-rich manipulation tasks. ForceVLA improves average task success by 23.2\% over strong $\pi_0$-based baselines, achieving up to 80\% success in tasks such as plug insertion. Our approach highlights the importance of multimodal integration for dexterous manipulation and sets a new benchmark for physically intelligent robotic control. Code and data will be released at https://sites.google.com/view/forcevla2025/.

The increasing realism of generated images has raised significant concerns about their potential misuse, necessitating robust detection methods. Current approaches mainly rely on training binary classifiers, which depend heavily on the quantity and quality of available generated images. In this work, we propose a novel framework that exploits geometric differences between the data manifolds of natural and generated images. To exploit this difference, we employ a pair of functions engineered to yield consistent outputs for natural images but divergent outputs for generated ones, leveraging the property that their gradients reside in mutually orthogonal subspaces. This design enables a simple yet effective detection method: an image is identified as generated if a transformation along its data manifold induces a significant change in the loss value of a self-supervised model pre-trained on natural images. Further more, to address diminishing manifold disparities in advanced generative models, we leverage normalizing flows to amplify detectable differences by extruding generated images away from the natural image manifold. Extensive experiments demonstrate the efficacy of this method.

The performance of an algorithm often critically depends on its hyperparameter configuration. Dynamic algorithm configuration (DAC) is a recent trend in automated machine learning, which can dynamically adjust the algorithm’s configuration during the execution process and relieve users from tedious trial-and-error tuning tasks. Recently, multi-agent reinforcement learning (MARL) approaches have improved the configuration of multiple heterogeneous hyperparameters, making various parameter configurations for complex algorithms possible. However, many complex algorithms have inherent inter-dependencies among multiple parameters (e.g., determining the operator type first and then the operator's parameter), which are, however, not considered in previous approaches, thus leading to sub-optimal results. In this paper, we propose the sequential multi-agent DAC (Seq-MADAC) framework to address this issue by considering the inherent inter-dependencies of multiple parameters. Specifically, we propose a sequential advantage decomposition network, which can leverage action-order information through sequential advantage decomposition. Experiments from synthetic functions to the configuration of multi-objective optimization algorithms demonstrate Seq-MADAC's superior performance over state-of-the-art MARL methods and show strong generalization across problem classes. Seq-MADAC establishes a new paradigm for the widespread dependency-aware automated algorithm configuration. Our code is available at https://github.com/lamda-bbo/seq-madac.

Augmenting large language models (LLMs) with external retrieval has become a standard method to address their inherent knowledge cutoff limitations. However, traditional retrieval-augmented generation methods employ static, pre-inference retrieval strategies, making them inadequate for complex tasks involving ambiguous, multi-step, or evolving information needs. Recent advances in test-time scaling techniques have demonstrated significant potential in enabling LLMs to dynamically interact with external tools, motivating the shift toward adaptive inference-time retrieval. Inspired by Information Foraging Theory (IFT), we propose InForage, a reinforcement learning framework that formalizes retrieval-augmented reasoning as a dynamic information-seeking process. Unlike existing approaches, InForage explicitly rewards intermediate retrieval quality, encouraging LLMs to iteratively gather and integrate information through adaptive search behaviors. To facilitate training, we construct a human-guided dataset capturing iterative search and reasoning trajectories for complex, real-world web tasks. Extensive evaluations across general question answering, multi-hop reasoning tasks, and a newly developed real-time web QA dataset demonstrate InForage's superior performance over baseline methods. These results highlight InForage's effectiveness in building robust, adaptive, and efficient reasoning agents. We provide all codes and datasets in the supplementary materials.

Recent progress in speech processing has highlighted that high-quality performance across languages requires substantial training data for each individual language. While existing multilingual datasets cover many languages, they often contain insufficient data for each language, leading to models trained on these datasets to exhibit poor performance on most supported languages. Our work addresses this challenge by introducing a scalable pipeline for constructing speech datasets from parliamentary recordings. The proposed pipeline includes robust components for media retrieval and a two-stage alignment algorithm designed to handle non-verbatim transcripts and long-form audio. Applying this pipeline to recordings from 22 European parliaments, we extract over 61k hours of aligned speech segments, achieving substantial per-language coverage with 19 languages exceeding 1k hours and 22 languages exceeding 500 hours of high-quality speech data. We obtain an average 41.8\% reduction in word error rates over baselines when finetuning an existing ASR model on our dataset, demonstrating the usefulness of our approach.

Novel view synthesis (NVS) is crucial in computer vision and graphics, with wide applications in AR, VR, and autonomous driving. While 3D Gaussian Splatting (3DGS) enables real-time rendering with high appearance fidelity, it suffers from multi-view inconsistencies, limiting geometric accuracy. In contrast, 2D Gaussian Splatting (2DGS) enforces multi-view consistency but compromises texture details. To address these limitations, we propose Exchangeable Gaussian Splatting (EGGS), a hybrid representation that integrates 2D and 3D Gaussians to balance appearance and geometry. To achieve this, we introduce Hybrid Gaussian Rasterization for unified rendering, Adaptive Type Exchange for dynamic adaptation between 2D and 3D Gaussians, and Frequency-Decoupled Optimization that effectively exploits the strengths of each type of Gaussian representation. Our CUDA-accelerated implementation ensures efficient training and inference. Extensive experiments demonstrate that EGGS outperforms existing methods in rendering quality, geometric accuracy, and efficiency, providing a practical solution for high-quality NVS.

Scaling laws have shaped recent advances in machine learning by enabling predictable scaling of model performance based on model size, computation, and data volume. Concurrently, the rise in computational cost for AI has motivated model compression techniques, notably quantization and sparsification, which have emerged to mitigate the steep computational demands associated with large-scale training and inference. This paper investigates the interplay between scaling laws and compression strategies, exploring whether a unified scaling framework can accurately predict model performance when training occurs over various compressed representations, such as sparse, scalar-quantized, sparse-quantized or even vector-quantized formats. Our key contributions include proposing and validating a general scaling law formulation applicable both individually but also composably across compression types. We demonstrate both theoretically and empirically that a simple metric based on Gaussian mean squared error fitting can robustly predict parameter efficiency across compressed models. Additionally, we extend our formulation to directly compare the accuracy potential of different compressed formats, and to derive better algorithms for training over sparse-quantized formats. Finally, we identify conditions under which these unified scaling laws fail.

Plasticity and stability denote the ability to assimilate new tasks while preserving previously acquired knowledge, representing two important concepts in continual learning. Recent research addresses stability by leveraging pre-trained models to provide informative representations, yet the efficacy of these methods is highly reliant on the choice of the pre-trained backbone, which may not yield optimal plasticity. This paper addresses this limitation by introducing a streamlined and potent framework that orchestrates multiple different pre-trained backbones to derive semantically rich multi-source representations. We propose an innovative Multi-Scale Interaction and Dynamic Fusion (MSIDF) technique to process and selectively capture the most relevant parts of multi-source features through a series of learnable attention modules, thereby helping to learn better decision boundaries to boost performance. Furthermore, we introduce a novel Multi-Level Representation Optimization (MLRO) strategy to adaptively refine the representation networks, offering adaptive representations that enhance plasticity. To mitigate over-regularization issues, we propose a novel Adaptive Regularization Optimization (ARO) method to manage and optimize a switch vector that selectively governs the updating process of each representation layer, which promotes the new task learning. The proposed MLRO and ARO approaches are collectively optimized within a unified optimization framework to achieve an optimal trade-off between plasticity and stability. Our extensive experimental evaluations reveal that the proposed framework attains state-of-the-art performance. The source code of our algorithm is available at https://github.com/CL-Coder236/LMSRR.

Foundation Models (FMs) have demonstrated remarkable success in fields like computer vision and natural language processing, yet their application to combinatorial optimization remains underexplored. Optimization problems, often modeled as graphs, pose unique challenges due to their diverse structures, varying distributions, and NP-hard complexity. To address these challenges, we propose OPTFM, the first graph foundation model for general combinatorial optimization. OPTFM introduces a scalable multi-view graph transformer with hybrid self-attention and cross-attention to model large-scale heterogeneous graphs in $O(N)$ time complexity while maintaining semantic consistency throughout the attention computation. A Dual-level pre-training framework integrates node-level graph reconstruction and instance-level contrastive learning, enabling robust and adaptable representations at multiple levels. Experimental results across diverse optimization tasks show that models trained on OPTFM embeddings without fine-tuning consistently outperform task-specific approaches, establishing a new benchmark for solving combinatorial optimization problems.

Offline Reinforcement Learning (RL) provides a promising avenue for training policies from pre-collected datasets when gathering additional interaction data is infeasible. However, existing offline RL methods often assume stationarity or only consider synthetic perturbations at test time—assumptions that often fail in real-world scenarios characterized by abrupt, time-varying offsets. These offsets can lead to partial observability, causing agents to misperceive their true state and degrade performance. To overcome this challenge, we introduce Forecasting in Non-stationary Offline RL (FORL), a framework that unifies (i) conditional diffusion-based candidate state generation, trained without presupposing any specific form of future non-stationarity, and (ii) zero-shot time-series foundation models. FORL targets environments prone to unexpected, potentially non-Markovian offsets, requiring robust agent performance from the onset of each episode. Empirical evaluations on offline RL benchmarks, augmented with real-world time-series data to simulate realistic non-stationarity, demonstrate that FORL consistently improves performance compared to competitive baselines. By integrating zero-shot forecasting with the agent’s experience we aim to bridge the gap between offline RL and the complexity of real-world, non-stationary environments.

We introduce *Backward Conformal Prediction*, a method that guarantees conformal coverage while providing flexible control over the size of prediction sets. Unlike standard conformal prediction, which fixes the coverage level and allows the conformal set size to vary, our approach defines a rule that constrains how prediction set sizes behave based on the observed data, and adapts the coverage level accordingly. Our method builds on two key foundations: (i) recent results by Gauthier et al. [2025] on post-hoc validity using e-values, which ensure marginal coverage of the form $\mathbb{P}(Y_{\rm test} \in \hat C_n^{\tilde{\alpha}}(X_{\rm test})) \ge 1 - \mathbb{E}[\tilde{\alpha}]$ up to a first-order Taylor approximation for any data-dependent miscoverage $\tilde{\alpha}$, and (ii) a novel leave-one-out estimator $\hat{\alpha}^{\rm LOO}$ of the marginal miscoverage $\mathbb{E}[\tilde{\alpha}]$ based on the calibration set, ensuring that the theoretical guarantees remain computable in practice. This approach is particularly useful in applications where large prediction sets are impractical such as medical diagnosis. We provide theoretical results and empirical evidence supporting the validity of our method, demonstrating that it maintains computable coverage guarantees while ensuring interpretable, well-controlled prediction set sizes.

In multimodal learning, dominant modalities often overshadow others, limiting generalization. We propose Modality-Aware Sharpness-Aware Minimization (M-SAM), a model-agnostic framework that applies to many modalities and supports early and late fusion scenarios. In every iteration, M-SAM in three steps optimizes learning. \textbf{First, it identifies the dominant modality} based on modalities' contribution in the accuracy using Shapley. \textbf{Second, it decomposes the loss landscape}, or in another language, it modulates the loss to prioritize the robustness of the model in favor of the dominant modality, and \textbf{third, M-SAM updates the weights} by backpropagation of modulated gradients. This ensures robust learning for the dominant modality while enhancing contributions from others, allowing the model to explore and exploit complementary features that strengthen overall performance. Extensive experiments on four diverse datasets show that M-SAM outperforms the latest state-of-the-art optimization and gradient manipulation methods and significantly balances and improves multimodal learning. The code will be released.

Large language models (LLMs) excel at complex tasks thanks to advances in their reasoning abilities. However, existing methods overlook the trade-off between reasoning effectiveness and efficiency, often encouraging unnecessarily long reasoning chains and wasting tokens. To address this, we propose Learning to Think (L2T), an information-theoretic reinforcement fine-tuning framework for LLMs to make the models achieve optimal reasoning with fewer tokens. Specifically, L2T treats each query-response interaction as a hierarchical session of multiple episodes and proposes a universal dense process reward, i.e., quantifies the episode-wise information gain in parameters, requiring no extra annotations or task-specific evaluators. We propose a method to quickly estimate this reward based on PAC-Bayes bounds and the Fisher information matrix. Theoretical analyses show that it significantly reduces computational complexity with high estimation accuracy. By immediately rewarding each episode's contribution and penalizing excessive updates, L2T optimizes the model via reinforcement learning to maximize the use of each episode and achieve effective updates. Empirical results on various reasoning benchmarks and base models demonstrate the advantage of L2T across different tasks, boosting both reasoning effectiveness and efficiency.

Large Language Models (LLMs) require significant GPU memory when processing long texts, with the key value (KV) cache consuming up to 70\% of total memory during inference. Although existing compression methods reduce memory by evaluating the importance of individual tokens, they overlook critical semantic relationships between tokens, resulting in fragmented context and degraded performance. We introduce \method{}, which fundamentally reimagines KV cache compression by treating semantic chunks - rather than isolated tokens - as basic compression units. This approach preserves complete linguistic structures and contextual integrity, ensuring that essential meaning is retained even under aggressive compression. Our innovation includes a novel layer-wise index reuse technique that exploits the higher cross-layer similarity of preserved indices in \method{}, reducing computational overhead and improving throughput by 26.5\%. Comprehensive evaluations on challenging benchmarks: LongBench, Needle-In-A-HayStack, GSM8K, and JailbreakV demonstrate that \method{} outperforms state-of-the-art methods by up to 8.7\% in precision while maintaining the same compression ratio. These results confirm that semantic-aware compression significantly enhances both efficiency and performance for long-context LLM inference, providing a simple yet effective solution to the memory bottleneck problem. \emph{The code is available at \href{https://github.com/NVIDIA/kvpress}{link}.}

The rise of Large Language Models (LLMs) has driven progress in reasoning tasks, from program synthesis to scientific hypothesis generation, yet their ability to handle ranked preferences and structured algorithms in combinatorial domains remains underexplored. We study matching markets, a core framework behind applications like resource allocation and ride-sharing, which require reconciling individual ranked preferences to ensure stable outcomes. We evaluate seven state‐of‐the‐art models on a hierarchy of preference‐based reasoning tasks---ranging from stable‐matching generation to instability detection, instability resolution, and fine-grained preference queries---to systematically expose their logical and algorithmic limitations in handling ranked inputs. Surprisingly, even top-performing models with advanced reasoning struggle to resolve instability in large markets, often failing to identify blocking pairs or execute algorithms iteratively. We further show that parameter-efficient fine-tuning (LoRA) significantly improves performance in small markets, but fails to bring about a similar improvement on large instances, suggesting the need for more sophisticated strategies to improve LLMs' reasoning with larger-context inputs.

Recent work on large language models (LLMs) has increasingly focused on post-training and alignment with datasets curated to enhance instruction following, world knowledge, and specialized skills. However, most post-training datasets used in leading open- and closed-source LLMs remain inaccessible to the public, with limited information about their construction process. This lack of transparency has motivated the recent development of open-source post-training corpora. While training on these open alternatives can yield performance comparable to that of leading models, systematic comparisons remain challenging due to the significant computational cost of conducting them rigorously at scale, and are therefore largely absent. As a result, it remains unclear how specific samples, task types, or curation strategies influence downstream performance when assessing data quality. In this work, we conduct the first comprehensive side-by-side analysis of two prominent open post-training datasets: Tulu-3-SFT-Mix and SmolTalk. Using the Magpie framework, we annotate each sample with detailed quality metrics, including turn structure (single-turn vs. multi-turn), task category, input quality, and response quality, and we derive statistics that reveal structural and qualitative similarities and differences between the two datasets. Based on these insights, we design a principled curation recipe that produces a new data mixture, **TuluTalk**, which contains 14% fewer samples than either source dataset while matching or exceeding their performance on key benchmarks. Our findings offer actionable insights for constructing more effective post-training datasets that improve model performance within practical resource limits. To support future research, we publicly release both the annotated source datasets and our curated TuluTalk mixture.

Large Language Models have demonstrated impressive fluency across diverse tasks, yet their tendency to produce toxic content remains a critical challenge for AI safety and public trust. Existing toxicity mitigation approaches primarily manipulate individual neuron activations, but these methods suffer from instability, context dependence, and often compromise the model’s core language abilities. To address these shortcomings, we investigate three key questions: the stability of neuron-level toxicity indicators, the advantages of structural (layer-wise) representations, and the interpretability of mechanisms driving toxic generation. Through extensive experiments on Jigsaw and ToxiCN datasets, we show that aggregated layer-wise features provide more robust signals than single neurons. Moreover, we observe conceptual limitations in prior works that conflate toxicity detection experts and generation experts within neuron-based interventions. To mitigate this, we propose a novel principled intervention technique, EigenShift, based on eigen-decomposition of the language model’s final output layer. This method selectively targets generation-aligned components, enabling precise toxicity suppression without impairing linguistic competence. Our method requires no additional training or fine-tuning, incurs minimal computational cost, and is grounded in rigorous theoretical analysis.

Machine unlearning offers a practical alternative to avoid full model re-training by approximately removing the influence of specific user data. While existing methods certify unlearning via statistical indistinguishability from re-trained models, these guarantees do not naturally extend to model outputs when inputs are adversarially perturbed. In particular, slight perturbations of forget samples may still be correctly recognized by the unlearned model---even when a re-trained model fails to do so---revealing a novel privacy risk: information about the forget samples may persist in their local neighborhood. In this work, we formalize this vulnerability as residual knowledge and show that it is inevitable in high-dimensional settings. To mitigate this risk, we propose a fine-tuning strategy, named RURK, that penalizes the model’s ability to re-recognize perturbed forget samples. Experiments on vision benchmarks with deep neural networks demonstrate that residual knowledge is prevalent across existing unlearning methods and that our approach effectively prevents residual knowledge.

Information on trees at the individual level is crucial for monitoring forest ecosystems and planning forest management. Current monitoring methods involve ground measurements, requiring extensive cost, time and labour. Advances in drone remote sensing and computer vision offer great potential for mapping individual trees from aerial imagery at broad-scale. Large pre-trained vision models, such as the Segment Anything Model (SAM), represent a particularly compelling choice given limited labeled data. In this work, we compare methods leveraging SAM for the task of automatic tree crown instance segmentation in high resolution drone imagery in three use cases: 1) boreal plantations, 2) temperate forests, and 3) tropical forests. We also look into integrating elevation data into models, in the form of Digital Surface Model (DSM) information, which can readily be obtained at no additional cost from RGB drone imagery. We present BalSAM, a model leveraging SAM and DSM information, which shows potential over other methods, particularly in the context of plantations. We find that methods using SAM out-of-the-box do not outperform a custom Mask R-CNN, even with well-designed prompts. However, efficiently tuning SAM further and integrating DSM information are both promising avenues for tree crown instance segmentation models.