ICLR 2026 论文列表

Text-to-CAD code generation is a long-horizon task, requiring the translation of instructions into a long sequence of interdependent operations. This process is exceptionally fragile, as minor early errors can propagate through the sequence and ultimately invalidate an entire complex assembly. Existing methods typically decode instructions directly into executable code (e.g., bpy) without an explicit representation of assembly hierarchy or geometric constraints. This flat decoding strategy vastly expands the search space, amplifying local errors and leading to cascading failures in contextual operations. We address this gap by learning an intermediate representation: a hierarchical and geometry-aware graph. The graph represents an assembly-based decomposition, with multi-level nodes modeling the product's parts and components, and edges defining the explicit geometric constraints between them. Rather than mapping text directly to code, our graph paradigm first predicts high-level structure and constraints, then conditions the sequencing of operations and program generation, thereby narrowing the search space and improving both geometric fidelity and constraint satisfaction. Furthermore, we introduce a structure-aware progressive curriculum learning mechanism to enhance the model's ability to generate sophisticated decomposition graphs, allowing it to handle more complex assemblies. The mechanism constructs graded tasks via controlled edits to object structure, probes the model’s capability boundary, and synthesizes boundary examples for subsequent training rounds. We also introduce a 12K-instruction dataset annotated with instructions, geometric decomposition graphs, action sequences, and bpy code, together with metrics for node- and hierarchy-level graph accuracy and a measure of constraint satisfaction. Extensive experiments show that our approach outperforms existing methods in terms of both geometric fidelity and accurate fulfillment of geometric constraints.

While black-box large language models are widely deployed, they produce generic outputs that overlook individual user preferences. Current personalization methods are fundamentally limited to response-level personalization; they only match final outputs, failing to model the underlying reasoning that connects user behavior to responses. To address this, this work introduces reasoning-level personalization as a new paradigm and proposes RPM, the first systematic framework designed to guide the model’s reasoning process using structured rationales constructed from patterns in a user’s behavior. RPM constructs a structured model of user behavior—built from response-influential features and statistical factors—to create personalized reasoning paths and retrieve beneficial examples for guiding inference through a feature-based retrieval mechanism. Extensive experiments across four diverse tasks demonstrate that RPM consistently outperforms existing response-level methods while simultaneously enhancing both personalization performance and interpretability, providing a promising direction for black-box LLM personalization.

Single-domain offline reinforcement learning (RL) often suffers from limited data coverage, while cross-domain offline RL handles this issue by leveraging additional data from other domains with dynamics shifts. However, existing studies primarily focus on train-time robustness (handling dynamics shifts from training data), neglecting the test-time robustness against dynamics perturbations when deployed in practical scenarios. In this paper, we investigate dual (both train-time and test-time) robustness against dynamics shifts in cross-domain offline RL. We first empirically show that the policy trained with cross-domain offline RL exhibits fragility under dynamics perturbations during evaluation, particularly when target domain data is limited. To address this, we introduce a novel robust cross-domain Bellman (RCB) operator, which enhances test-time robustness against dynamics perturbations while staying conservative to the out-of-distribution dynamics transitions, thus guaranteeing the train-time robustness. To further counteract potential value overestimation or underestimation caused by the RCB operator, we introduce two techniques, the dynamic value penalty and the Huber loss, into our framework, resulting in the practical Dual-RObust Cross-domain Offline RL (DROCO) algorithm. Extensive empirical results across various dynamics shift scenarios show that DROCO outperforms strong baselines and exhibits enhanced robustness to dynamics perturbations.

Visual agents operating in the wild must respond to queries precisely when sufficient evidence first appears in a video stream, a critical capability that is overlooked by conventional video LLMs evaluated in offline settings. The shift to an online, streaming paradigm introduces significant challenges: a lack of decision transparency, the difficulty of aligning response timing with visual evidence, and the need to maintain a global, causally consistent understanding under tight computational budgets. To address these issues, we propose a novel framework that decouples reasoning control from memory integration. We introduce Thinking-QwenVL, an instantiation of this framework with two core components. First, the Active Thinking Decision Maker (ATDM) is a transparent reasoning controller that externalizes its decision process using observable progress ($\boldsymbol{\rho}$) and confidence ($\boldsymbol{c}$) metrics. This allows it to precisely time its response $t_r$ to match the first-sufficient-evidence timestamp $t^\star$ while streaming its reasoning to the user. Second, the Hierarchical Progressive Semantic Integration (HPSI) module acts as an efficient memory system. It employs a set of learnable, multi-level aggregation tokens that are propagated across clips to build a rich, global cognitive state without exceeding token budgets. Extensive experiments demonstrate the effectiveness of ATDM and HPSI, e.g., Thinking-QwenVL improves the accuracy of the previous state-of-the-art from 67.63\% to 71.60\% on the StreamingBench benchmark.

Spiking neural networks (SNNs) promise high energy efficiency, particularly with time-to-first-spike (TTFS) encoding, which maximizes sparsity by emitting at most one spike per neuron. However, such energy advantage is often unrealized because inference requires evaluating a temporal decay function and subsequent multiplication with the synaptic weights. This paper challenges this costly approach by repurposing a physical hardware `bug', namely, the natural signal decay in optoelectronic devices, as the core computation of TTFS. We fabricated a custom indium oxide optoelectronic synapse, showing how its natural physical decay directly implements the required temporal function. By treating the device's analog output as the fused product of the synaptic weight and temporal decay, optoelectronic synaptic TTFS (named Otters) eliminates these expensive digital operations. To use the Otters paradigm in complex architectures like the transformer, which are challenging to train directly due to the sparsity issue, we introduce a novel quantized neural network-to-SNN conversion algorithm. This complete hardware-software co-design enables our model to achieve state-of-the-art accuracy across seven GLUE benchmark datasets and demonstrates a 1.77$\times$ improvement in energy efficiency over previous leading SNNs, based on a comprehensive analysis of compute, data movement, and memory access costs using energy measurements from a commercial 22nm process. Our work thus establishes a new paradigm for energy-efficient SNNs, translating fundamental device physics directly into powerful computational primitives. All codes and data are open source.

Retrieval-Augmented Generation (RAG) aims to mitigate hallucinations in large language models (LLMs) by grounding responses in retrieved documents. Yet, RAG-based LLMs still hallucinate even when provided with correct and sufficient context. A growing line of work suggests that this stems from an imbalance between how models use external context and their internal knowledge, and several approaches have attempted to quantify these signals for hallucination detection. However, existing methods require extensive hyperparameter tuning, limiting their generalizability. We propose LUMINA, a novel framework that detects hallucinations in RAG systems through context--knowledge signals: external context utilization is quantified via distributional distance, while internal knowledge utilization is measured by tracking how predicted tokens evolve across transformer layers. We further introduce a framework for statistically validating these measurements. Experiments on common RAG hallucination benchmarks and four open-source LLMs show that LUMINA achieves consistently high AUROC and AUPRC scores, outperforming prior utilization-based methods by up to +13% AUROC on HalluRAG. Moreover, LUMINA remains robust under relaxed assumptions about retrieval quality and model matching, offering both effectiveness and practicality. LUMINA: https://github.com/deeplearning-wisc/LUMINA

Multimodal large language models are progressively advancing toward multimodal agents that can proactively execute tasks. Existing research on multimodal agents primarily targets either GUI or embodied scenarios, corresponding to interactions within 2D virtual world and 3D physical world, respectively. However, many real-world tasks inherently require agents to interleave interactions across both types of environments. We initially mix GUI and embodied data to train models, but find performance degradation caused by data conflicts. Further analysis reveals that GUI and embodied data exhibit synergy at shallow layers but conflict at deep layers, resembling the cerebrum-cerebellum mechanism in the human brain. To this end, we introduce a high-performance generalist agent, OmniActor, designed from both structural and data perspectives. First, we propose Layer-heterogeneous MoE that separates parameters at deep layers to eliminate conflict, while sharing parameters at shallow layers to leverage synergy. This design enables OmniActor to outperform agents trained solely on GUI or embodied data in their respective tasks. Furthermore, we unify the action spaces of GUI and embodied tasks and collect large-scale datasets from diverse sources for training. This substantially enhances the performance of OmniActor across various scenarios, especially in GUI tasks.

Multimodal large language models (MLLMs) promise enhanced reasoning by integrating diverse inputs such as text, vision, and audio. Yet, despite their perceptual strengths, their reasoning ability across modalities remains underexplored, with conflicting reports on whether additional modalities help or harm performance. These inconsistencies stem from a lack of controlled evaluation frameworks and analysis of models' internals to isolate when and why modality interactions support or undermine reasoning. We address this gap through a logic-grounded evaluation framework that categorizes multimodal reasoning into six interaction patterns, varying how facts are distributed across modalities and logically combined. Empirically, additional modalities enhance reasoning only when they provide independent and sufficient reasoning paths, while redundant or chained entailment support often hurts performance. Besides, models recognize cross-modal facts reliably and always reason on text effectively. Moreover, reasoning degrades in three systematic ways: weaker modalities drag down overall performance, conflicts bias preference toward certain modalities, and joint signals from different modalities fail to be integrated effectively. Therefore, we identify two core failures: task-composition bottleneck, where recognition and reasoning cannot be jointly executed in one pass, and fusion bottleneck, where early integration introduces bias. For further investigation, we find that attention patterns fail to encode fact usefulness, but a simple two-step prompting (recognize then reason) restores performance, confirming the task-composition bottleneck. Moreover, modality identity remains recoverable in early layers, and softening attention in early fusion improves reasoning, highlighting biased fusion as another failure mode. Overall, our findings show that integration, not perception, is the main barrier to multimodal reasoning, suggesting composition-aware training and early fusion control as promising directions.

Deploying reinforcement learning (RL) in robotics, industry, and health care is blocked by two obstacles: the difficulty of specifying accurate rewards and the risk of unsafe, data-hungry exploration. We address this by proposing a two-stage framework that first learns a safe initial policy from a reward-free dataset of expert demonstrations, then fine-tunes it online using preference-based human feedback. We provide the first principled analysis of this offline-to-online approach and introduce BRIDGE, a unified algorithm that integrates both signals via an uncertainty-weighted objective. We derive regret bounds that shrink with the number of offline demonstrations, explicitly connecting the quantity of offline data to online sample efficiency. We validate BRIDGE in discrete and continuous control MuJoCo environments, showing it achieves lower regret than both standalone behavioral cloning and online preference-based RL. Our work establishes a theoretical foundation for designing more sample-efficient interactive agents.

Mixture-of-Experts (MoE) language models dramatically expand model capacity and achieve remarkable performance without increasing per-token compute. However, can MoEs surpass dense architectures under strictly equal resource constraints — that is, when the total parameter count, training compute, and data budget are identical? This question remains under-explored despite its significant practical value and potential. In this paper, we propose a novel perspective and methodological framework to study this question thoroughly. First, we comprehensively investigate the architecture of MoEs and achieve an optimal model design that maximizes the performance. Based on this, we subsequently find that an MoE model with activation rate in an optimal region is able to outperform its dense counterpart under the same total parameter, training compute and data resource. More importantly, this optimal region remains consistent across different model sizes. Although additional amount of data turns out to be a trade-off for enhanced performance, we show that this can be resolved via reusing data. We validate our findings through extensive experiments, training nearly 200 language models at 2B scale and over 50 at 7B scale, cumulatively processing 50 trillion tokens. All code and models will be released publicly.

The alignment of Large Language Models (LLMs) with human preferences is critically undermined by noisy labels in training datasets. Existing robust methods often prove insufficient, as they rely on single, narrow heuristics such as perplexity or loss, failing to address the diverse nature of real-world noise. We challenge this limited-scope approach by introducing a new paradigm where models learn to diagnose thyself, systematically fusing multiple streams of intrinsic feedback for a holistic reliability assessment of each preference pair. We instantiate this paradigm through a meta-learning methodology that learns to adaptively reweight samples based on a rich diagnostic vector. This vector captures three complementary perspectives: preference consistency, learning difficulty, and generation confidence. Extensive experiments demonstrate that our approach significantly outperforms state-of-the-art methods across various noise conditions. Crucially, our work provides the first quantitative analysis of these intrinsic diagnostics, revealing that their fusion is essential for overcoming the blind spots inherent in any single heuristic. This diagnostic-driven paradigm offers a principled path towards developing more robust and trustworthy LLMs.

Zero-shot Human-object interaction (HOI) detection aims to locate humans and objects in images and recognize their interactions. While advances in open-vocabulary object detection provide promising solutions for object localization, interaction recognition (IR) remains challenging due to the combinatorial diversity of interactions. Existing methods, including two-stage methods, tightly couple IR with a specific detector and rely on coarse-grained vision-language model (VLM) features, which limit generalization to unseen interactions. In this work, we propose a decoupled framework that separates object detection from IR and leverages multi-modal large language models (MLLMs) for zero-shot IR. We introduce a deterministic generation method that formulates IR as a visual question answering task and enforces deterministic outputs, enabling training-free zero-shot IR. To further enhance performance and efficiency by fine-tuning the model, we design a spatial-aware pooling module that integrates appearance and pairwise spatial cues, and a one-pass deterministic matching method that predicts all candidate interactions in a single forward pass. Extensive experiments on HICO-DET and V-COCO demonstrate that our method achieves superior zero-shot performance, strong cross-dataset generalization, and the flexibility to integrate with any object detectors without retraining. Code will be released.

We present UP2You, the first tuning-free solution for reconstructing high-fidelity 3D clothed portraits from extremely unconstrained in-the-wild 2D photos. Unlike previous approaches that require "clean" inputs (e.g., full-body images with minimal occlusions, or well calibrated cross-view captures), UP2You directly processes raw, unstructured photographs, which may vary significantly in pose, viewpoint, cropping, and occlusion. Instead of compressing data into tokens for slow online text-to-3D optimization, we introduce a data rectifier paradigm that efficiently converts unconstrained inputs into clean, orthogonal multi-view images in a single forward pass within seconds, simplifying the 3D reconstruction. Central to UP2You is a pose-correlated feature aggregation module PCFA, that selectively fuses information from multiple reference images w.r.t. target poses, enabling better identity preservation and nearly constant memory footprint, with more observations. Extensive experiments on 4D-Dress, PuzzleIOI, and in-the-wild captures demonstrate that UP2You consistently surpasses previous methods in both geometric accuracy (Chamfer-15\%$\\downarrow$, P2S-18\%$\\downarrow$ on PuzzleIOI) and texture fidelity (PSNR-21\%$\\uparrow$, LPIPS 46\%$\\downarrow$ on 4D-Dress). UP2You is efficient (1.5 minutes per person), and versatile (supports arbitrary pose control, and training-free multi-garment 3D virtual try-on), making it practical for real-world scenarios where humans are casually captured. Both models and code will be released to facilitate future research on this underexplored task.

Morphological traits are physical characteristics of biological organisms that provide vital clues on how organisms interact with their environment. Yet extracting these traits remains a slow, expert-driven process, limiting their use in large-scale ecological studies. A major bottleneck is the absence of high-quality datasets linking biological images to trait-level annotations. In this work, we demonstrate that sparse autoencoders trained on foundation-model features yield monosemantic, spatially grounded neurons that consistently activate on meaningful morphological parts. Leveraging this property, we introduce a trait annotation pipeline that localizes salient regions and uses vision-language prompting to generate interpretable trait descriptions. Using this approach, we construct Bioscan-Traits, a dataset of 80K trait annotations spanning 19K insect images from BIOSCAN-5M. Human evaluation confirms the biological plausibility of the generated morphological descriptions. When used to fine-tune BioCLIP, a biologically grounded vision-language model, Bioscan-Traits improves zero-shot species classification on the in-the-wild Insects benchmark, underscoring the value of trait-level supervision for enhancing model generalization.

Federated learning (FL) as a distributed learning paradigm has a significant advantage in addressing large-scale machine learning tasks. In the Euclidean setting, FL algorithms have been extensively studied with both theoretical and empirical success. However, there exist few works that investigate federated learning algorithms in the Riemannian setting. In particular, critical challenges such as partial participation and data heterogeneity among agents are not explored in the Riemannian federated setting. This paper presents and analyzes a Riemannian FL algorithm, called RFedAGS, based on a new efficient server aggregation---averaging gradient streams, which can simultaneously handle partial participation and data heterogeneity. We theoretically show that the proposed RFedAGS has global convergence and sublinear convergence rate under decaying step sizes cases; and converges sublinearly/linearly to a neighborhood of a stationary point/solution under fixed step sizes cases. These analyses are based on a vital and non-trivial assumption induced by partial participation, which is shown to hold with high probability. Extensive experiments conducted on synthetic and real-world data demonstrate the good performance of RFedAGS.

We introduce ComputerRL, a framework for autonomous desktop intelligence that enables agents to operate complex digital workspaces skillfully. ComputerRL features the API-GUI paradigm, which unifies programmatic API calls and direct GUI interaction to address the inherent mismatch between machine agents and human-centric desktop environments. Scaling end-to-end RL training is crucial for improvement and generalization across diverse desktop tasks; however, it remains challenging due to environmental inefficiency and instability during extended training. To support scalable and robust training, we develop a distributed RL infrastructure capable of orchestrating thousands of parallel virtual desktop environments to accelerate large-scale online RL. Furthermore, we propose Entropulse, a training strategy that alternates reinforcement learning with supervised fine-tuning, effectively mitigating entropy collapse during extended training runs. We employ ComputerRL on open models GLM-4-9B-0414 and GLM-4.1V-9B-Thinking, and evaluate them on the OSWorld benchmark. The GLM-ComputerRL-9B achieves a new state-of-the-art accuracy of 48.9%, demonstrating significant improvements for general agents in desktop automation. Our code and demos are available at https://computer-rl.vercel.app/.

Leveraging offline data is a promising way to improve the sample efficiency of online reinforcement learning (RL). This paper expands the pool of usable data for offline-to-online RL by leveraging abundant non-curated data that is reward-free, of mixed quality, and collected across multiple embodiments. Although learning a world model appears promising for utilizing such data, we find that naive fine-tuning fails to accelerate RL training on many tasks. Through careful investigation, we attribute this failure to the distributional shift between offline and online data during fine-tuning. To address this issue and effectively use the offline data, we propose two techniques: i) experience rehearsal and ii) execution guidance. With these modifications, the non-curated offline data substantially improves RL’s sample efficiency. Under limited sample budgets, our method achieves a 102.8% relative improvement in aggregate score over learning-from-scratch baselines across 72 visuomotor tasks spanning 6 embodiments. On challenging tasks such as locomotion and robotic manipulation, it outperforms prior methods that utilize offline data by a decent margin.

The cross-entropy scaling law has long served as a key tool for guiding the development of large language models. It shows that cross-entropy loss decreases in a predictable power-law rate as the model size increases. However, recent evidence indicates that this law breaks down at very large scales: the loss decreases more slowly than expected, which causes significant trouble for developing large language models. In this paper, we hypothesize that the root cause lies in the fact that cross-entropy itself does not truly scale; instead, only one of its hidden components does. To investigate this, we introduce a novel decomposition of cross-entropy into three parts: Error-Entropy, Self-Alignment, and Confidence. We show both theoretically and empirically that this decomposition precisely captures the training dynamics and optimization objectives. Through extensive experiments on multiple datasets and 32 models spanning five orders of magnitude in size, we find that only error-entropy follows a robust power-law scaling, while the other two terms remain largely invariant. Moreover, error-entropy constitutes the dominant share of cross-entropy in small models but diminishes in proportion as models grow larger. This explains why the cross-entropy scaling law appears accurate at small scales but fails at very large ones. Our findings establish the error-entropy scaling law as a more accurate description of model behavior. We believe it will have wide applications in the training, understanding, and future development of large language models.

Reasoning on Temporal Knowledge Graphs (TKGs) is essential for predicting future events and time-aware facts. While existing methods are effective at capturing relational dynamics, their performance is limited by a closed-world assumption, which fails to account for emerging entities not present in the training. Notably, these entities continuously join the network without historical interactions. Empirical study reveals that emerging entities are widespread in TKGs, comprising roughly 25\% of all entities. The absence of historical interactions of these entities leads to significant performance degradation in reasoning tasks. Whereas, we observe that entities with semantic similarities often exhibit comparable interaction histories, suggesting the presence of transferable temporal patterns. Inspired by this insight, we propose TransFIR (Transferable Inductive Reasoning), a novel framework that leverages historical interaction sequences from semantically similar known entities to support inductive reasoning. Specifically, we propose a codebook-based classifier that categorizes emerging entities into latent semantic clusters, allowing them to adopt reasoning patterns from similar entities. Experimental results demonstrate that TransFIR outperforms all baselines in reasoning on emerging entities, achieving an average improvement of 28.6\% in Mean Reciprocal Rank (MRR) across multiple datasets. The implementations are available at https://anonymous.4open.science/r/TransFIR-C72F.