ICLR 2026 论文列表

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms, perfect synchrony is rarely guaranteed: Sensors may operate at different frequencies, and real-world factors such as network latency, hardware failures, or processing bottlenecks often introduce time offsets between sensors. Such asynchrony degrades perception performance, especially for dynamic objects. To address this challenge, we propose AsyncBEV, a trainable lightweight and generic module to improve the robustness of 3D Birds' Eye View (BEV) object detection models against sensor asynchrony. Inspired by scene flow estimation, AsyncBEV first estimates the 2D flow from the BEV features of two different sensor modalities, taking into account the known time offset between these sensor measurements. The predicted feature flow is then used to warp and spatially align the feature maps, which we show can easily be integrated into different current BEV detector architectures (e.g., BEV grid-based and token-based). Extensive experiments demonstrate AsyncBEV improves robustness against both small and large asynchrony between LiDAR or camera sensors in both the token-based CMT and grid-based UniBEV, especially for dynamic objects. We significantly outperform the ego motion compensated CMT and UniBEV baselines, notably by $16.6$ % and $11.9$ % NDS on dynamic objects in the worst-case scenario of a $0.5 s$ time offset. Code will be released upon acceptance.

Time series anomaly detection (TSAD) faces critical challenges from intrinsic data noisiness and temporal heterogeneity, which undermine the reconstruction fidelity of prevailing generative approaches. While diffusion models offer theoretical advantages in capturing complex temporal dynamics, their inherent stochasticity introduces irreducible variance in reconstructions. We present the ICDiffAD, a novel method that synergizes adaptive noise scheduling with semi-deterministic generation to address these limitations. ICDiffAD introduces two key innovations: (1) an *SNR Scheduler* that governs training through quantifiable noise scales, enabling robust learning of normative patterns across non-stationary regimes; and (2) an *SNR Implicit Conditioning Mechanism* that initializes reverse diffusion from partially corrupted inputs, preserving signal coherence while attenuating anomalous components. This dual strategy ensures high-fidelity reconstructions aligned with the input’s manifold, reconciling generative flexibility with detection accuracy. Across five multivariate benchmarks, ICDiffAD improves the F1 score by 20.2\% and reduces false positives by 60.23\% compared to existing diffusion model-based TSAD methods.

Recent efforts have extended the foundation model paradigm from natural language to time series, raising expectations that pre-trained time-series foundation models generalize well across downstream tasks. In this work, we focus on time-series anomaly detection, in which time-series foundation models detect anomalies based on the reconstruction or forecasting error. Specifically, we critically examine the performance of five popular families of time-series foundation models: MOMENT, Chronos, TimesFM, Time-MoE, and TSPulse. We find that for each model family using varying model sizes and context window lengths, anomaly detection performance does not significantly differ to simple one-liner baselines: moving-window variance and squared-difference. These findings suggest that the key assumptions underlying reconstruction-based and forecasting-based methodologies for time-series anomaly detection are not satisfied for time-series foundation models: anomalies are not consistently harder to reconstruct or forecast. The results suggest that current approaches for leveraging foundation models in anomaly detection are insufficient. Building upon our insights, we propose alternative directions to effectively detect anomalies using foundation models, thereby unlocking their full potential for time-series anomaly detection.

Unknown unknowns (U2s) are deployment-time scenarios absent from development/testing. Unlike conventional anomalies, U2s are not out-of-distribution (OOD); they stem from changes in underlying system dynamics without a distribution shift from normal data. Thus, existing multi-variate time series anomaly detection (MTAD) methods—which rely on distribution-shift cues—are ill-suited for U2 detection. Specifically: (i) we show most anomaly datasets exhibit distribution shift between normal and anomalous data and therefore are not representative of U2s; (ii) we introduce eight U2 benchmarks where training data contain OOD anomalies but no U2s, while test sets contain both OOD anomalies and U2s; (iii) we demonstrate that state-of-the-art (SOTA) MTAD results often depend on impractical enhancements: point adjustment (PA) (uses ground truth to flip false negatives to true positives, inflating precision) and threshold learning with data leakage (TL) (tuning thresholds on test data and labels); (iv) with PA+TL, even untrained deterministic methods can match or surpass MTAD baselines; (v) without PA/TL, existing MTAD methods degrade sharply on U2 benchmarks. Finally, we present sparse model identification–enhanced anomaly detection (SPIE-AD), a model-recovery-and-conformance, zero-shot MTAD approach that outperforms baselines on all eight U2 benchmarks and on six additional real-world MTAD datasets—without PA or TL.

Reward hacking, where a reasoning model exploits loopholes in a reward function to achieve high rewards without solving the intended task, poses a significant threat. This behavior may be explicit, i.e. verbalized in the model's chain-of-thought (CoT), or implicit, where the CoT appears benign thus bypasses CoT monitors. To detect implicit reward hacking, we propose TRACE (Truncated Reasoning AUC Evaluation). Our key observation is that hacking occurs when exploiting the loophole is easier than solving the actual task. This means that the model is using less `effort' than required to achieve high reward. TRACE quantifies effort by measuring how early a model's reasoning becomes sufficient to pass a verifier. We progressively truncate a model's CoT at various lengths and measure the verifier-passing rate at each cutoff. A hacking model, which takes a reasoning shortcut, will achieve a high passing rate with only a small fraction of its CoT, yielding a large area under the accuracy-vs-length curve. TRACE achieves over 65% gains over our strongest 72B CoT monitoring baseline in math, and over 30% gains over a 32B monitoring baseline in code. We further show that TRACE can discover unknown loopholes in the training environment. Overall, TRACE offers a scalable unsupervised approach for oversight where current monitoring methods prove ineffective.

Neural synchrony is hypothesized to help the brain organize visual scenes into structured multi-object representations. In machine learning, synchrony-based models analogously learn object-centric representations by storing binding in the phase of complex-valued features. Rotating Features (RF) instantiate this idea with vector-valued activations, encoding object presence in magnitudes and affiliation in orientations. We propose Orthogonal Rotating Features (OrthoRF), which enforces orthogonality in RF’s orientation space via an inner-product loss and architectural modifications. This yields sharper phase alignment and more reliable grouping. In evaluations of unsupervised object discovery, including settings with overlapping objects, noise, and out-of-distribution tests, OrthoRF matches or outperforms current models while producing more interpretable representations, and it eliminates the post-hoc clustering required by many synchrony-based approaches. Unlike current models, OrthoRF also recovers occluded object parts, indicating stronger grouping under occlusion. Overall, orthogonality emerges as a simple, effective inductive bias for synchrony-based object-centric learning.

Object detection is pivotal in robotics, but its immense computational demands make the models slow and power-hungry, underscoring the need for quantization. However, when the quantization is applied in practice, cluttered backgrounds and irregular object morphologies cause redundant activations (or anomalies) that inflate precision requirements and waste bit capacity, hindering the preservation of informative features. Moreover, without a clear criterion for defining such anomalies, attempts to exclude or mitigate them often distort useful features. To address this problem, we present InlierQ, an inlier-centric post-training quantization approach that establishes a general criterion to differentiate anomalies from informative inliers. Specifically, InlierQ computes gradient-aware volume saliency scores, classifies each volume as an inlier or outlier, and fits a posterior distribution over these scores using the Expectation–Maximization (EM) algorithm. This design effectively suppresses the influence of outliers while preserving informative inlier features. InlierQ is a label-free, drop-in method and uses only 64 samples for calibration. Experiments on the COCO and nuScenes benchmarks demonstrate consistent reductions in quantization errors across camera-based (2D and 3D) and LiDAR-based (3D) object detection.

Detecting individual tree crowns in tropical forests is essential to study these complex and crucial ecosystems impacted by human interventions and climate change. However, tropical crowns vary widely in size, structure, and pattern and are largely overlapping and intertwined, requiring advanced remote sensing methods applied to high-resolution imagery. Despite growing interest in tropical tree crown detection, annotated datasets remain scarce, hindering robust model development. We introduce SelvaBox, the largest open‑access dataset for tropical tree crown detection in high-resolution drone imagery. It spans three countries and contains more than $83\,000$ manually labeled crowns -- an order of magnitude larger than all previous tropical forest datasets combined. Extensive benchmarks on SelvaBox reveal two key findings: 1) higher-resolution inputs consistently boost detection accuracy; and 2) models trained exclusively on SelvaBox achieve competitive zero-shot detection performance on unseen tropical tree crown datasets, matching or exceeding competing methods. Furthermore, jointly training on SelvaBox and three other datasets at resolutions from 3 to 10 cm per pixel within a unified multi-resolution pipeline yields a detector ranking first or second across all evaluated datasets. Our dataset, code, and pre-trained weights are made public.

Deep neural networks often remain overconfident on Out-of-Distribution (OoD) inputs. We revisit this problem through Riemannian information geometry. We model the network's predictions as a statistical manifold and find that OoD inputs exhibit higher local Fisher-Rao sensitivity. By quantifying this sensitivity with the trace of the Fisher Information Matrix (FIM), we derive a unifying geometric connection between two common OoD signals: feature magnitude and output uncertainty. Analyzing the limitations of this multiplicative form, we extend our analysis using a product manifold construction. This provides a theoretical framework for the robust additive scores used in state-of-the-art (SOTA) detectors and motivates our final, competitive method.

Quantifying uncertainty in neural network predictions is essential for deploying models in high-stakes domains such as autonomous driving, healthcare, and manufacturing. While conventional approaches often depend on costly sampling or parametric distributional assumptions, we propose Hyperspherical Confidence Mapping (HCM), a simple yet principled framework for uncertainty estimation that is both sampling-free and distribution-free. HCM decomposes model outputs into a magnitude and a normalized direction vector constrained to lie on a unit hypersphere, enabling a novel interpretation of uncertainty as the degree of violation of a geometric constraint. Grounded in this geometric constraint formulation, our method provides deterministic and interpretable uncertainty estimates applicable to both regression and classification. We validate the effectiveness of HCM across diverse benchmarks and real-world industrial tasks, demonstrating competitive or superior performance to ensemble and evidential approaches, while significantly reducing inference cost and ensuring strong confidence–error alignment. Our results highlight the value of geometric structure in uncertainty estimation and position HCM as a versatile alternative to conventional techniques.

Large language models (LLMs) generate increasingly human-like text, raising concerns about misinformation and authenticity. Detecting AI-generated text remains challenging: existing methods often underperform, especially on short texts, require probability access unavailable in real-world black-box settings, incur high costs from multiple calls, or fail to generalize across models. We propose Disrupt-and-Recover (D\&R), a recovery-based detection framework grounded in posterior concentration. D\&R disrupts text via model-free Within-Chunk Shuffling, performs a single black-box LLM recovery, and measures semantic–structural recovery similarity as a proxy for concentration. This design ensures efficiency, black-box practicality, and is theoretically supported under the concentration assumption. Extensive experiments across four datasets and six source models show that D\&R achieves state-of-the-art performance, with AUROC 0.96 on long texts and 0.87 on short texts, surpassing the strongest baseline by +0.08 and +0.14. D\&R further remains robust under source–recovery mismatch and model variation. Our code and data is available at https://github.com/Yuxia-Sun/D-R.

Outlier detection (OD), distinguishing inliers and outliers in completely unlabeled datasets, plays a vital role in science and engineering. Although there have been many insightful OD methods, most of them require troublesome hyperparameter tuning (a challenge in unsupervised learning) and costly model training for every task or dataset. In this work, we propose UniOD, a universal OD framework that leverages labeled datasets to train a single model capable of detecting outliers of datasets with different feature dimensions and heterogeneous feature spaces from diverse domains. Specifically, UniOD extracts uniform and comparable features across different datasets by constructing and factorizing multi-scale point-wise similarity matrices. It then employs graph neural networks to capture comprehensive within-dataset and between-dataset information simultaneously, and formulates outlier detection tasks as node classification tasks. As a result, once the training is complete, UniOD can identify outliers in datasets from diverse domains without any further model/hyperparameter selection and parameter optimization, which greatly improves convenience and accuracy in real applications. More importantly, we provide theoretical guarantees for the effectiveness of UniOD, consistent with our numerical results. We evaluate UniOD on 30 benchmark OD datasets against 17 baselines, demonstrating its effectiveness and superiority.

Data contamination poses a significant threat to the reliable evaluation of Large Language Models (LLMs). This issue arises when benchmark samples may inadvertently appear in training sets, compromising the validity of reported performance. While detection methods have been developed for the pre-training and Supervised Fine-Tuning stages, a critical research gap exists for the increasingly significant phase of Reinforcement Learning (RL) post-training. As RL post-training becomes pivotal for advancing LLM reasoning, the absence of specialized contamination detection methods in this paradigm presents a critical vulnerability. To address this, we conduct the first systematic study of data detection within RL post-training scenario and propose Self-Critique. Our method is motivated by a key observation: after RL phase, the output entropy distribution of LLMs tends to collapse into highly specific and sparse modes. Self-Critique probes for the underlying policy collapse, i.e., the model's convergence to a narrow reasoning path, which causes this entropy reduction. To facilitate this research, we also introduce RL-MIA, a benchmark constructed to simulate this specific contamination scenario. Extensive experiments show that Self-Critique significantly outperforms baseline methods across multiple models and contamination tasks, achieving an AUC improvement of up to 30%. Whereas existing methods are close to a random guess for RL-phase contamination, our method makes detection possible. Our benchmark and code are available at https://anonymous.4open.science/r/Data-Contamination-in-RL.

We reinterpret the final Large Language Model (LLM) softmax classifier as an Energy-Based Model (EBM), decomposing the sequence-to-sequence probability chain into multiple interacting EBMs at inference. This principled approach allows us to track “energy spills” during decoding, which we empirically show correlate with factual errors, biases, and failures. Similar to Orgad et al. (2025), our method localizes the exact answer token and subsequently tests for hallucinations. Crucially, however, we achieve this without requiring trained probe classifiers or activation ablations. Instead, we introduce two completely training-free metrics derived directly from output logits: **spilled energy**, which captures the discrepancy between energy values across consecutive generation steps that should theoretically match, and **marginalized energy**, which is measurable at a single step. Evaluated on nine benchmarks across state-of-the-art LLMs (including LLaMA, Mistral, and Gemma) and on synthetic algebraic operations (Qwen3), our approach demonstrates robust, competitive hallucination detection and cross-task generalization. Notably, these results hold for both pretrained and instruction-tuned variants without introducing any training overhead.

Large Language Models (LLMs) have made remarkable progress, surpassing human performance on several benchmarks in domains such as mathematics and coding. A key driver of this progress has been the development of benchmark datasets. In contrast, the financial domain poses higher entry barriers due to its demand for specialized expertise, and benchmarks remain relatively scarce compared to those in mathematics or coding. We introduce EDINET-Bench, an open-source Japanese financial benchmark designed to evaluate LLMs on challenging tasks such as accounting fraud detection, earnings forecasting, and industry classification. EDINET-Bench is constructed from ten years of annual reports filed by Japanese companies. These tasks require models to process entire annual reports and integrate information across multiple tables and textual sections, demanding expert-level reasoning that is challenging even for human professionals. Our experiments show that even state-of-the-art LLMs struggle in this domain, performing only marginally better than logistic regression in binary classification tasks such as fraud detection and earnings forecasting. Our results show that simply providing reports to LLMs in a straightforward setting is not enough. This highlights the need for benchmark frameworks that better reflect the environments in which financial professionals operate, with richer scaffolding such as realistic simulations and task-specific reasoning support to enable more effective problem solving. We make our dataset and code publicly available to support future research.

Accurate detection of clinically meaningful events in healthcare time-series data is crucial for reliable downstream analysis and decision support. However, most existing methods struggle to jointly localize event boundaries and classify event types; even detection transformer (DETR)-based approaches show limited performance when confronted with extremely sparse events typical of clinical recordings. To address these challenges, we propose a coarse-to-fine detection framework combining a global context explorer, a local detail inspector, and an adaptive gating module (AGM) that fuses multiple label perspectives. The AGM uses transformed labels—encoding event presence and temporal position—to improve learning on sparse events. This design acts as a switch that selectively activates detailed feature extraction only when an event is likely, thereby reducing noise and improving efficiency in sparse settings. We evaluate our framework on diverse healthcare datasets—including arrhythmia detection, emotion recognition, and human-activity monitoring—and demonstrate substantial performance gains over existing DETR-based models, with particularly strong improvements in sparse event detection. With precise and robust event detection, our framework enables interpretation and actionable insights in real-world clinical applications.

Out-of-distribution (OOD) detection is critical for the safe deployment of machine learning systems in safety-sensitive domains. Diffusion models have recently emerged as powerful generative models, capable of capturing complex data distributions through iterative denoising. Building on this progress, recent work has explored their potential for OOD detection. We propose *EigenScore*, a new OOD detection method that leverages the eigenvalue spectrum of the posterior covariance induced by a diffusion model. We argue that posterior covariance provides a consistent signal of distribution shift, leading to larger trace and leading eigenvalues on OOD inputs, yielding a clear spectral signature. We further provide analysis explicitly linking posterior covariance to distribution mismatch, establishing it as a reliable signal for OOD detection. To ensure tractability, we adopt a Jacobian-free subspace iteration method to estimate the leading eigenvalues using only forward evaluations of the denoiser. Empirically, EigenScore achieves state-of-the-art performance, with up to 5% AUROC improvement over the best baseline. Notably, it remains robust in near-OOD settings such as CIFAR-10 vs CIFAR-100, where existing diffusion-based methods often fail.

Identifying how training samples influence/impact Large Language Model (LLM) decision-making is essential for effectively interpreting model decisions and auditing large-scale datasets. Current training sample influence estimation methods (also known as influence functions) undertake this goal by utilizing information flow through the model via its first-order and higher-order gradient terms. However, owing to the large model sizes of today consisting of billions of parameters, these influence computations are often restricted to some subset of model layers to ensure computational feasibility. Prior seminal work by Yeh et al. (2022) in assessing which layers are best suited for computing language data influence concluded that the first (embedding) layers are the most informative for this purpose, using a hypothesis based on influence scores canceling out (i.e., the cancellation effect). In this work, we propose theoretical and empirical evidence demonstrating how the cancellation effect is unreliable, and that middle attention layers are better estimators for influence. Furthermore, we address the broader challenge of aggregating influence scores across layers, and showcase how alternatives to standard averaging (such as ranking and vote-based methods) can lead to significantly improved performance. Finally, we propose better methods for evaluating influence score efficacy in LLMs without undertaking model retraining, and propose a new metric known as the Noise Detection Rate (NDR) that exhibits strong predictive capability compared to the cancellation effect. Through extensive experiments across LLMs of varying types and scales, we concretely determine that the first (layers) are not necessarily better than the last (layers) for LLM influence estimation, contrasting with prior knowledge in the field.

Human-Object Interaction (HOI) detection with vision-language models (VLMs) has progressed rapidly, yet a trade-off persists between specialization and generalization. Two major challenges remain: (1) the sparsity of supervision, which hampers effective transfer of foundation models to HOI tasks, and (2) the absence of a generalizable architecture that can excel in both fully supervised and zero-shot scenarios. To address these issues, we propose \textbf{LINK}, \textbf{L}earning \textbf{IN}stance-level \textbf{K}nowledge. First, we introduce a HOI detection framework equipped with a {Human-Object Geometrical Encoder} and a {VLM Linking Decoder}. By decoupling from detector-specific features, our design ensures plug-and-play compatibility with arbitrary object detectors and consistent adaptability across diverse settings. Building on this foundation, we develop a {Progressive Learning Strategy} under a teacher-student paradigm, which delivers dense supervision over all potential human-object pairs. By contrasting subtle spatial and semantic differences between positive and negative instances, the model learns robust and transferable HOI representations. Extensive experiments on SWiG-HOI, HICO-DET, and V-COCO demonstrate state-of-the-art results, showing that our method achieves strong performance in both zero-shot and fully supervised settings while also exhibiting open-vocabulary capability.