NeurIPS 2026 论文列表

Conference on Neural Information Processing Systems

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6,437篇论文

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Adaptive Power Iteration Method for Differentially Private PCA

Ta Duy Nguyen, Alina Ene, Huy Nguyen

展开摘要

We study $\left(\epsilon,\delta\right)$-differentially private algorithms for the problem of approximately computing the top singular vector of a matrix $A\in\mathbb{R}^{n\times d}$ where each row of $A$ is a datapoint in $\mathbb{R}^{d}$. Following Dwork-Talwar-Thakurta-Zhang (STOC 2014), we consider the privacy model where neighboring inputs differ by one single row. We give a novel algorithm that achieves beyond-worst-case guarantees for input matrices with low coherence, which is a structural property of matrices in many applications, including but not limited to i.i.d. data. Our algorithm contributes to the extensive literature on private power iteration methods, where we introduce a new filtering technique which adapts to this coherence parameter. Our work departs from and complements the work by Hardt-Roth (STOC 2013) which achieves beyond-worst-case guarantees for the more restrictive privacy model where neighboring inputs differ in one single entry by at most 1.

Poster
Adaptive Multi-view Graph Contrastive Learning via Fractional Continuous Dynamics

Yanan Zhao, Feng Ji, Jingyang Dai, Jiaze Ma, Keyue Jiang, Kai Zhao, Wee Peng Tay

展开摘要

Graph contrastive learning (GCL) learns node and graph representations by contrasting multiple views of the same graph. Existing methods predominantly rely on a small set of fixed, handcrafted views---typically a local and a global perspective---which fundamentally constrains their capacity to capture multi-scale structural patterns. We present an augmentation-free, multi-view GCL framework grounded in fractional-order continuous dynamics. By systematically varying the fractional derivative order $\alpha\in(0,1]$, our encoders produce a continuous spectrum of semantically distinct views: small values of $\alpha$ induce localized, memory-attenuated feature propagation, whereas values approaching $1$ recover broader, global aggregation. Crucially, we treat $\alpha$ as a learnable parameter, enabling the model to automatically identify informative views in a data-driven manner, without resorting to manual view engineering. Extensive experiments on standard node- and graph-level benchmarks demonstrate that the resulting representations are more robust and expressive, consistently outperforming state-of-the-art GCL baselines.

Poster
Adaptive Internal Readout for Native Multimodal Models

Yunpeng Zhou

展开摘要

Native multimodal models build rich internal representations across visual, multimodal, and language streams, yet their answers are usually read only from the final layer. We study this mismatch between where task information is available and where the model is allowed to read from. We formalize it with the availability--accessibility gap (AAG), whose primary form compares a small-budget internal readout reference with a learned final-only parity head under the same supervised answer space and loss. Across document, chart, diagram, counting, compositional, and broad multimodal reasoning tasks, we find that task-relevant information often appears at internal sites before it becomes accessible to the final output. We then introduce adaptive internal readout (AIR), a small policy that selects a few internal sites from the full model stack. Under matched budgets, AIR closes much of the gap and outperforms static fusion, dense fusion, visual-only readout, and random site controls. Ablations show that the selected sites are functionally important for the learned readout pathway.

Poster
Adaptive Inference for Functionals of M-Estimands

James Leiner, Aurelien Bibaut, Nathan Kallus, Aaditya Ramdas, Koulik Khamaru

展开摘要

Reinforcement learning and contextual bandit algorithms have become increasingly common in sequential decision-making applications. When these methods are deployed in high-stakes domains, there is growing interest not only in learning effective policies, but also in conducting statistical inference for quantities learned under adaptive data collection. However, classical procedures applied naively in these settings can fail: even when estimators are unbiased, their variance becomes path-dependent and as a result may not be asymptotically normal. A growing literature has emerged to ameliorate this problem, but solutions tend to be problem specific and often rely on correct specification of a working model. In this work, we develop a unified framework for constructing asymptotically valid confidence intervals to cover smooth functionals of nonparametric M-estimands under adaptive sampling. Under Neyman orthogonality, we provide two novel methods for performing inference: (1) a self-normalized statistic based on the realized quadratic variation of the influence function and (2) a statistic using a plug-in estimate of the conditional variance based on reweighted influence function increments. Our results allow for flexible nonparametric estimation of nuisance parameters and remain valid under model misspecification. Our theory is supported by a simulation study for a dynamic pricing application which demonstrates that this method can produce asymptotically valid confidence intervals where standard methods fail.

Poster
Adaptive Generate-Rank-Verify: Inference-Time Search with Costly Verification

Shaddin Dughmi, Mahdi Haghifam, Yusuf H Kalayci

展开摘要

Many inference-time language-model pipelines combine a cheap reward signal with an expensive verifier, such as exact answer checking in mathematical reasoning or hidden-test execution in code generation. We formalize this setting using a learning-theoretic lens as generative active search: a cost-sensitive first-positive search problem in which a policy adaptively samples candidates from an unknown distribution, observes cheap scores, and pays for verifier labels until it finds a positive example. For a fixed prompt, the generator and reward model induce two unknown objects: a distribution over reward scores and a score-conditioned success function. When these quantities are known, we characterize the distribution-aware optimal policy using a dynamic programming approach. In the realistic and practical setting where both the score distribution and success function are unknown, we propose ADAP, a shellwise adaptive generate-rank-verify algorithm that progressively increases the number of sampled responses and top-ranked verifications. Under the monotonicity assumption that higher reward scores are no less likely to pass verification, we show that ADAP achieves expected cost within a constant factor of the distribution-aware optimum. We complement this result with learning-theoretic lower bounds, based on a centered star number, showing that structural assumptions on the score--label relationship are necessary. Experiments on mathematical reasoning and competitive programming validate the predicted advantage over both fixed non-adaptive policies and difficulty-adaptive baselines.

Poster
Adaptive Fine-Tuning Scheduler for Multi-Tenant Edge LLM via Convergence-Aware Bandits

Yandi Li, Jianxiong Guo, Yupeng Li, Zhiqing Tang, Tian Wang, Weijia Jia

展开摘要

Personalizing Large Language Models (LLMs) directly on local edge servers is becoming increasingly important for privacy-preserving and context-aware applications. However, this potential is bottlenecked by hardware resources: limited GPU memory permits only a fixed number of train-ready LoRA adapters, while compute constraints enforce sequential fine-tuning updates. This creates a critical challenge: scheduling scarce update opportunities across a dynamic stream of resident tenants to improve overall model quality and scheduling stability. Crucially, standard Multi-Armed Bandit (MAB) algorithms fail to distinguish between low-potential tenant streams and fully saturated adapters, leading to wasteful exploration on tasks that offer little further gain. To address this, we propose WCA-UCB (Windowed Convergence-Aware UCB), a scheduler designed for this piecewise-converging non-stationary environment. By formally modeling fine-tuning as a slot-constrained bandit problem with piecewise-converging rewards, WCA-UCB detects when an adapter has saturated to pause its training and resets stale statistics after tenant replacement or harmful drift. We prove a dynamic regret bound of $\tilde{O}(\log T)$ and validate the system on an edge-like single-GPU LoRA prototype running Qwen2.5-1.5B. Results demonstrate that WCA-UCB reduces model perplexity by $2.6$% to $8.6$% and uses up to $5.8\times$ fewer training-target switches than strong non-stationary baselines. These results highlight the necessity of convergence-aware scheduling for scalable local LLM personalization.

Poster
Adaptive Feature Propagation for Attribute-Missing Graph Clustering

Xiang Long, Qianqian Wang

展开摘要

Attribute-Missing Graph Clustering (AMGC) is a critical yet challenging task in real-world applications, in which only a subset of nodes hold complete attributes information while others are partially missing. Though existing feature propagation-based methods can effectively recover missing node attributes, they commonly assume uniform contributions across all nodes, ignoring unreliable nodes that may degrade imputation quality. Furthermore, adopting low-pass graph filters often suffers from the over-smoothing problem and inevitably sacrifices discriminative information. %Besides, traditional contrastive learning pulls all the node embeddings evenly, which might conflict with the rule that intra-cluster nodes should be closer to each other. To address these limitations, we propose \underline{\textbf{A}}daptive \underline{\textbf{F}}eature \underline{\textbf{P}}ropagation (AFP) for attribute-missing graph clustering. Specifically, we first design a reliability-aware feature propagation mechanism that adaptively weights edges based on node importance. Then, we introduce a multi-scale embedding module to capture both local and global structural information. Finally, we develop a topology-aware contrastive loss to enhance clustering consistency. Extensive experiments on benchmark datasets demonstrate the superiority of our method.

Poster
Adaptive Delayed-Update Cyclic Algorithm for Variational Inequalities

Yi Wei, Xufeng Cai, Jelena Diakonikolas

展开摘要

Cyclic block coordinate methods are widely used in practice for their simplicity and strong empirical performance. Yet, their theoretical behavior is challenging to explain, and setting their step sizes$-$beyond classical coordinate descent for minimization$-$requires careful tuning or line-search machinery. In this work, we develop $\texttt{ADUCA}$ (Adaptive Delayed-Update Cyclic Algorithm), a cyclic algorithm addressing a broad class of Minty variational inequalities with monotone Lipschitz operators. $\texttt{ADUCA}$ is parameter-free and locally adaptive: it requires no global or block-wise Lipschitz constants, it uses no per-epoch line search, and it adapts to local problem geometry. A key feature of the algorithm is using operator information delayed by a full cycle, which makes the algorithm compatible with parallel and distributed implementations, and attractive due to weakened synchronization requirements across blocks. We prove that $\texttt{ADUCA}$ attains (near) optimal global oracle complexity as a function of target error $\epsilon >0$, scaling with $1/\epsilon$ for monotone operators, or with $\log^2(1/\epsilon)$ for operators that are strongly monotone.

Poster
Adaptive Covariance and Multi-Layer Alignment for Out-of-Distribution Detection

Haoyang Su, Qi Chen, Max Gutbrod, Johan Verjans, Zhibin Liao

展开摘要

Out-of-distribution (OOD) detection plays a pivotal role in ensuring the reliability and trustworthiness of AI systems. Although existing approaches achieve strong performance by leveraging features, logits, or both, most of them cannot generalize well across domains due to either overlooking critical information in low-level representations from shallow layers or utilizing sub-optimal layer selection strategies. In this paper, we propose Multi-Layer Adaptive Mahalanobis-Cosine Similarity (ML-AMCoS), a method that adaptively integrates cosine similarity with class-conditional Gaussian distributions. ML-AMCoS is designed to capture subtle nuances in feature covariance when intra-class variance is low, while suppressing covariance noise when the variance is high. To optimize the utilization of each layer, we calculate contribution weights based on performance against pseudo-OOD samples, which are generated by cut-mixing in-distribution (ID) training images with the four corners of images from different classes. Extensive experiments across diverse domains demonstrate that our method significantly improves robustness and detection accuracy, achieving an average AUROC of 81.13\% and FPR@95 of 40.12\% on near-OOD detection, outperforming the state-of-the-art methods by 7.25\% and 7.08\%, respectively.

Poster
Adaptive Conditional Gradient Sliding: Projection-Free and Line-Search-Free Acceleration

Shota Takahashi

展开摘要

We study convex optimization problems over a compact convex set where projections are expensive but a linear minimization oracle (LMO) is available. We propose the *adaptive conditional gradient sliding method* (AdCGS), a projection-free and line-search-free method that retains Nesterov's acceleration with adaptive stepsizes based on local Lipschitz estimates. AdCGS combines an accelerated outer scheme with an LMO-based inner routine. It reuses gradients across multiple LMO calls to reduce gradient evaluations, while controlling the subproblem inexactness via a prescribed accuracy level coupled with adaptive stepsizes. We prove accelerated rates for convex objective functions, matching projection-based methods, without relying on a projection oracle. For locally strongly convex objective functions, we further establish linear convergence without additional geometric assumptions on the constraint set, such as polytopes or strongly convex sets. Experiments on constrained $\ell_p$ regression, logistic regression, and least-squares problems demonstrate that AdCGS improves over projection-free baselines and provides competitive performance when projections are inexpensive.

Poster
Adaptive Calibration in Non-Stationary Environments

Junyan Liu, Haipeng Luo, Lillian Ratliff

展开摘要

Making calibrated online predictions is a central challenge in modern AI systems. Much of the existing literature focuses on fully adversarial environments where outcomes may be arbitrary, leading to conservative algorithms that can perform suboptimally in more benign settings, such as when outcomes are nearly stationary. This gap raises a natural question: can we design online prediction algorithms whose calibration error automatically adapts to the degree of non-stationarity in the environment, smoothly interpolating between i.i.d. and adversarial regimes? We answer this question in the affirmative and develop a suite of algorithms that achieve adaptive calibration guarantees under multiple calibration measures. Specifically, with $T$ being the number of rounds and $C\in[0,T]$ being an unknown non-stationary measure defined as the minimal $\ell_1$ deviation of the mean outcomes, our algorithms attain $\widetilde{O}(\sqrt{T}+(TC)^{\frac{1}{3}})$ for $\ell_1$ calibration error and $\widetilde{O}((1+C)^{\frac{1}{3}})$ for both $\ell_2$ and pseudo KL calibration error. These bounds match the optimal rates in the stationary case ($C=0$) and recover known guarantees in the fully adversarial regime ($C=T$). Our approach builds on and extends prior work [Hu et al., 2025, Luo et al., 2025], introducing an epoch-based scheduling together with a novel non-uniform partition of the prediction space that allocates finer resolution near the underlying ground truth.

Poster
Adapting to Conflict: Equilibrium Structure and Adaptive Learning in Harmonic Games

Davide Legacci, Panayotis Mertikopoulos, Bary Pradelski

展开摘要

Zero-sum games are the textbook model of strategic competition—yet they can fail to capture conflict even in simple settings. *Harmonic games* provide a more robust framework for opposed interests: they are invariant under strategic equivalence, and naturally extend beyond pairwise competition. This generality comes at a structural cost. We show that, in odd-dimensional harmonic games, the set of totally mixed Nash equilibria is a generically non-convex real algebraic variety of dimension at least one, extending to the boundary of the strategy space. As a result, learning becomes delicate: although finely tuned methods are known, whether adaptive, parameter-agnostic learning is possible has remained open. We resolve this question in the affirmative. We introduce a flexible extrapolation-based variant of follow-the-regularized-leader (FTRL+) that converges to Nash equilibrium while achieving order-optimal regret: $\mathcal{O}(1)$ in self-play and $\mathcal{O}(\sqrt{T})$ against arbitrary opponents. The method is fully adaptive—each player updates from locally observable information alone, without access to global problem parameters or shared signals—yielding the first parameter-agnostic learning dynamics provably convergent in this class.

Poster
AdaptNC: Adaptive Nonconformity Scores for Conformal Prediction under Distribution Shift

Renukanandan Tumu, Aditya Singh, Rahul Mangharam

展开摘要

Rigorous uncertainty quantification is essential for the safe deployment of autonomous systems in unconstrained environments. Conformal Prediction (CP) provides a distribution-free framework for this task, yet its standard formulations rely on exchangeability assumptions that are violated by the distribution shifts inherent in real-world robotics. Existing online CP methods maintain target coverage by adaptively scaling the conformal threshold, but typically employ a static nonconformity score function. We show that this fixed geometry leads to highly conservative, volume-inefficient prediction regions when environments undergo structural shifts. To address this, we propose \textbf{AdaptNC}, a framework for the joint online adaptation of both the nonconformity score parameters and the conformal threshold. AdaptNC leverages an adaptive reweighting scheme to optimize score functions, and introduces a replay buffer mechanism to mitigate the coverage instability that occurs during score transitions. We evaluate AdaptNC on diverse robotic benchmarks involving multi-agent policy changes, environmental changes and sensor degradation. Our results demonstrate that AdaptNC significantly reduces prediction region volume compared to state-of-the-art threshold-only baselines while maintaining target coverage levels.

Poster
AdapToPASS: Ambiguity-aware Adaptive Spherical Transformer for Panoramic Semantic Segmentation

Soumyaratna Debnath, Weiming Zhang, Shriram Damodaran, Dingwen Xiao, Lin Wang

展开摘要

Spherical Transformers have emerged as a promising framework for panoramic semantic segmentation (PASS) by operating directly on spherical geometry and alleviating projection-induced distortions. However, existing architectures rely on assumptions of canonical spherical structure and stable viewpoints, which are frequently violated in real-world $360^\circ$ imagery due to unconstrained camera motion, introducing significant contextual and geometric ambiguity. Consequently, they lack adaptive mechanisms to model such ambiguity, limiting robustness to unseen spherical transformations. In contrast, biological perception is inherently ambiguity-aware: rather than estimating uncertainty probabilistically, it adapts to fluctuations in cue reliability caused by geometric and contextual variations, enabling stable interpretation under complex visual transformations. Motivated by these observations, we first present a systematic analysis of existing PASS architectures under various unseen spherical transformations. Following this, we introduce AdapToPASS, a novel, bio-inspired Spherical Transformer that adaptively models contextual and geometric ambiguities for robust panoramic semantic segmentation. At the core of AdapToPASS are the Adaptive Spherical Attention (AdaSpA) blocks that dynamically modulate attention according to local contextual ambiguity, mimicking the adaptive, context-driven perception of biological vision. To address geometric ambiguities, AdapToPASS employs Bifocal Spherical Representation that reconciles the trade-off between field of view and spatial resolution; along with boundary supervision to emulate the boundary-sensitive nature of biological vision. We evaluate AdapToPASS in both indoor and outdoor semantic segmentation, where it consistently outperforms prior state-of-the-art methods. We further validate AdapToPASS under unseen spherical transformations, where it demonstrates strong robustness and surpasses the next-best method by +13.38% relative improvement in mIoU on Stanford2D3D and +18.77% on WildPASS. Additionally, we introduce a lightweight variant, AdapToPASS-Tiny, with fewer than 2M parameters, which surpasses compact baselines while retaining robustness to spherical transformations.

Spotlight
AdapMatch: Adaptive Bias Decoupling for Semi-Supervised Partial Label Learning under Unknown Class Distributions

Yuheng Jia, Yaodong Shen, Jiahao Jiang, Hui Liu, Junhui Hou

展开摘要

Partial Label Learning (PLL) trains models from instances with candidate label sets containing the ground-truth, while Semi-Supervised Partial Label Learning (SSPLL) further leverages the available unlabeled data to prompt the performance. The previous SSPLL methods implicitly assume the unlabeled data are class-balanced distributed. However, in realistic scenarios, the class distribution of unlabeled data is unknown, resulting in performance collapse on minority classes for the existing SSPLL methods. We identify two coupled biases behind this failure: (i) pseudo-label selection bias, where high-confidence filtering tends to over-select samples from dominant classes, causing the training data to become increasingly skewed toward these classes; and (ii) disambiguation bias, where dominant classes are more likely to win within candidate sets, even when they are incorrect. Theoretically, we show that these two biases reinforce each other over training, forming a feedback loop that degrades generalization performance. To weaken this loop, we propose AdapMatch, which uses DAS to reduce the skew in training data caused by pseudo-label selection bias via prior-aware pseudo-label admission and CAD to lower the disambiguation error by suppressing candidate-set domination. Across five benchmarks, AdapMatch yields gains up to 41.31\% at most , showing strong robustness to varying scale, imbalance, and ambiguity. The code is available at \url{https://anonymous.4open.science/r/AdapMatch-8BC5}.

Poster
AdaTree: Serving-Aware Adaptive Tree Construction for Speculative Decoding

Soohyun Cha, Jungi Lee, Jaewoong Sim

展开摘要

Speculative decoding accelerates generative inference of large language models (LLMs) by using a small draft model to propose multiple candidate tokens, which are then verified in parallel with the target model in a single decoding iteration. While the state-of-the-art method of tree-based speculative decoding helps improve generation throughput over non-speculative inference, deploying it in LLM serving systems often yields suboptimal performance due to dynamically changing serving conditions. In particular, our analysis shows that the optimal tree configuration---the one that maximizes performance---varies with two key serving conditions: request rate and per-request characteristics. Based on the analysis, we present AdaTree, a plug-in component for LLM serving systems that dynamically adapts tree configurations to varying serving conditions. AdaTree predicts model execution time and acceptance length across different tree configurations and selects the one that maximizes speculative decoding efficiency. To capture the non-linear relationship between tree configuration and model execution time, AdaTree employs decision trees as its core modeling primitive. Our evaluation shows that AdaTree consistently outperforms both chain-based and static tree-based speculative decoding across diverse serving conditions.

Poster
AdaST: Adaptive Coupling for Spatial-Temporal Forecasting

Zhenyu Lei, Chenghao Liu, Yushun Dong, Ryan Qi Wang, Jundong Li

展开摘要

Spatial-temporal (ST) forecasting underpins many real-world systems such as traffic, climate, and energy networks. While existing methods implicitly assume strong spatiotemporal coupling, we observe that real-world ST data exhibits distinct coupling regimes, ranging from temporal-dominated and spatial-dominated to strongly coupled patterns. This mismatch causes current models to suffer from spurious dependencies and degraded performance when one correlation dominates. To overcome this limitation, we aim to dynamically modulate spatial and temporal modeling based on the data's inherent coupling structure. However, three key challenges exist: unknown coupling structure, heterogeneous coupling dynamics, and suboptimal spatial modeling. We propose AdaST, an adaptive ST forecasting framework that tackles these challenges through a decompose-recompose paradigm. AdaST factorizes inputs into components capturing different coupling patterns using heterogeneity-aware experts. Each component is processed by role-aligned modules, and a correlation-informed adaptive recomposer integrates them for final prediction. Extensive experiments confirm that AdaST significantly outperforms state-of-the-art baselines, validating the necessity of an adaptive approach.

Poster
AdaSRU: Adaptive Source-Free Recommendation Unlearning via Gradient-Constrained Optimization

Xiaoran Zhao, Weiming Liu, Lianyong Qi, Weiyi Zhong, Yuwen Liu, Xiaolong Xu, Haolong Xiang, Qiang Ni, Xuyun Zhang, Wanchun Dou, Xiaokang Zhou

展开摘要

Recommendation unlearning (RU) aims to remove the influence of specified user--item interactions from a trained recommender while preserving utility on the remaining data. Existing RU methods usually require access to the original training data, especially the remaining data, to recover recommendation utility after unlearning. However, access to such data is often restricted or unavailable in practice due to privacy constraints, storage costs, or third-party deployment, giving rise to source-free recommendation unlearning. To address this challenge, we propose an adaptive source-free recommendation unlearning (**AdaSRU**) method that enables effective unlearning without accessing the original remaining data. **AdaSRU** first estimates the inaccessible gradient on the remaining data. It exploits the first-order optimality condition of the trained recommender and approximates the remaining gradient using the forgetting data and squared gradient accumulators from adaptive optimizers, e.g., Adam. **AdaSRU** then formulates unlearning as a gradient-constrained update, where the estimated remaining gradient is used as a constraint to limit utility degradation while maximizing the unlearning objective. **AdaSRU** adaptively adjusts the utility-preserving correction according to the current gradient geometry. We further theoretically prove that **AdaSRU** approaches an approximate Pareto stationary solution. Extensive experiments on three real-world datasets demonstrate that **AdaSRU** achieves strong performance in both unlearning and recommendation. The code is available at https://anonymous.4open.science/r/AdaSRU-94D9/.

Oral
AdaPaD: Adaptive Parallel Deflation for PEFT with Self-Correcting Rank Discovery

Barbara Su, Fangshuo Liao, Anastasios Kyrillidis

展开摘要

Fine-tuning large language models with LoRA requires choosing a rank $r$ before training starts. Existing approaches either extract rank-1 components sequentially, freezing each component's error permanently into every subsequent residual, or optimize the full low-rank factorization jointly with guarantees that describe only the joint update, not individual rank-1 directions. We present AdaPaD (Adaptive Parallel Deflation), which trains all rank-1 components simultaneously: each worker refines its component against a deflation target built from the latest estimates of all predecessors, and as those estimates improve, the targets improve too. We call this property self-correction: deflation errors converge to zero over rounds rather than persisting as fixed residuals. On top of this backbone, AdaPaD adds advance learning (private pre-training before activation) and per-module dynamic rank discovery (importance-based growth until a shared budget is exhausted), making the rank distribution an output rather than an input. We prove that every component's error decays exponentially after a warm-up period, with a generalization bound that splits into a vanishing algorithmic term and an irreducible statistical floor. Empirically, AdaPaD is competitive with adaptive-rank LoRA baselines on GLUE with DeBERTaV3-base at matched parameter budgets, and competitive with fixed-rank LoRA on Qwen3-0.6B SQuAD/SQuAD v2 while deploying an adapter that is on average 30.7% smaller.

Poster
AdaOcc: Adaptive 3D Occupancy Prediction for Embodied Tasks

Jinglong Wang, Yunjie Wang, Zhiyang Zhang, Jiawei He, Ye Yuan, Bo Qiu, Jing Zhang

展开摘要

Embodied tasks demand accurate, flexible, and semantically rich 3D scene representations. 3D semantic occupancy is well suited to this requirement, as it can model holistic 3D spaces by encoding geometric occupancy along with semantic categories. However, existing occupancy prediction methods struggle to meet practical deployment requirements, such as adapting to varying computing budgets, sensor setups, and observation views. In this paper, we propose a point-based Adaptive 3D Occupancy Prediction method, called AdaOcc, tailored for embodied scenarios. To accommodate heterogeneous sensor inputs, AdaOcc uses an adaptive geometry-guided dual-branch encoder that can support RGB images in various numbers of views with (estimated) depth maps or LiDAR scans. AdaOcc represents occupied regions via sparse semantic points trained with a progressive query learning strategy, allowing the prediction computational budget to be flexibly adjusted through query point numbers and decoder layers. To facilitate high-fidelity geometric modeling for lightweight point-based occupancy learning, we further propose a novel containment loss that regularizes predicted points to reside within valid occupied regions. Extensive experiments show that our method achieves a new state-of-the-art on Occ-ScanNet with considerable performance improvements over previous methods. Moreover, our framework demonstrates strong practical applicability as an adaptive 3D perception module in real-world embodied systems.

Poster