Singapore

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a result, they tend to neglect the fine-grained frame-level dynamics required for complex manipulation and generalization to novel tasks. We posit that this limitation stems from a vicious circle of inadequate datasets and the methods they inspire. To break this cycle, we propose a paradigm shift that treats fine-grained human-robot alignment as a conditional video generation problem. To this end, we first introduce H&amp;R, a novel third-person dataset containing 2,600 episodes of precisely synchronized human and robot motions, collected using a VR teleoperation system. We then present Human2Robot, a framework designed to leverage this data. Human2Robot employs a Video Prediction Model to learn a rich and implicit representation of robot dynamics by generating robot videos from human input, which in turn guides a decoupled action decoder. Our real-world experiments demonstrate that this approach not only achieves high performance on seen tasks but also exhibits significant one-shot generalization to novel positions, objects, instances, and even new task categories.

AAAI 2026

Human2Robot: Learning Robot Actions from Paired Human-Robot Videos

generation pretraining

learn from human

imitation learning

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. This theme also touches upon people's expectations and perceptions of robots, as well as other social, cognitive and cultural factors that will influence human-robot interactions. We will have a special session/track on this topic, invite targeted submissions and include plenary speakers who are specialist in this area. We sincerely hope that this focus will help enlighten the design-thinking of all of us as we fabricate and program our own various systems.

To access RO-MAN Virtual 2021, [please register here.](https://ro-man2021.org/registration/)

IEEE RO-MAN 2021

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. 

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a result, they tend to neglect the fine-grained frame-level dynamics required for complex manipulation and generalization to novel tasks. We posit that this limitation stems from a vicious circle of inadequate datasets and the methods they inspire. To break this cycle, we propose a paradigm shift that treats fine-grained human-robot alignment as a conditional video generation problem. To this end, we first introduce H&R, a novel third-person dataset containing 2,600 episodes of precisely synchronized human and robot motions, collected using a VR teleoperation system. We then present Human2Robot, a framework designed to leverage this data. Human2Robot employs a Video Prediction Model to learn a rich and implicit representation of robot dynamics by generating robot videos from human input, which in turn guides a decoupled action decoder. Our real-world experiments demonstrate that this approach not only achieves high performance on seen tasks but also exhibits significant one-shot generalization to novel positions, objects, instances, and even new task categories.

technical paper

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

The data scaling law has significantly enhanced large multi-modal models (LMMs) performance across various downstream tasks. However, in the domain of perceptual video quality assessment (VQA), the potential of data scaling remains unprecedented due to the scarcity of labeled resources and the insufficient scale of datasets. To address this, we propose \textbf{OmniVQA}, a framework designed to efficiently build high-quality, machine-dominated synthetic multi-modal instruction databases (MIDBs) for VQA. We then scale up to create **OmniVQA-Chat-400K**, the largest dataset in the VQA field concurrently. Our focus is on the technical and aesthetic quality dimensions, with abundant in-context instruction data to provide fine-grained VQA knowledge. Additionally, we build the **OmniVQA-MOS-20K** dataset to enhance the model's quantitative quality rating capabilities. We then introduce a **complementary training strategy** that effectively leverages the knowledge from datasets for different tasks. Furthermore, we propose the **OmniVQA-FG (fine-grain)-Benchmark** to evaluate the fine-grained performance of models. Our results demonstrate that our models achieve state-of-the-art performance.

Scaling-up Perceptual Video Quality Assessment

Multi-agent epistemic planning (MEP) is the task of generating action sequences that achieve goals specified over both the physical world and agents’ mental states. It plays an important role in research domains such as game theory, computational economics, and cognitive science. While dynamic epistemic logic (DEL) provides an expressive framework for MEP, it requires complete, model-based specifications of the initial state and action effects, and suffers from undecidability due to the unbounded nesting of beliefs.
In this work, we propose a modal variant of the situation calculus that captures much of the expressive power of the DEL approach. Inspired by the cognitive concept Theory of Mind (ToM), we introduce action theories with hierarchical structures, allowing agents to reason about other agents' action theories up to bounded depths. We develop a regression method that reduces reasoning about future states to reasoning about the initial state. By preserving bounded-order ToM throughout the regression process, our approach ensures the decidability of the planning problem. Finally, we propose an algorithm to find the optimal solution, namely, to find the shortest action sequence that achieves the goal.

Decidable Multi-agent Epistemic Planning: A Situation Calculus Approach

Chain‑of‑thought (CoT) prompting boosts Large Language Models accuracy on multi‑step tasks, yet whether the generated ``thoughts'' reflect the true internal reasoning process is unresolved. We present the first feature‑level causal study of CoT faithfulness. Combining sparse autoencoders with activation patching, we extract monosemantic features from Pythia‑70M and Pythia‑2.8B while they tackle GSM8K math problems under CoT and plain (noCoT) prompting. Swapping a small set of CoT‑reasoning features into a noCoT run raises answer log‑probabilities significantly in the 2.8B model, but has no reliable effect in 70M, revealing a clear contrast for these two scales. CoT also leads to significantly higher activation sparsity and feature interpretability scores in the larger model, signalling more modular internal computation. For example, the model's confidence in generating correct answers improves from 1.2 to 4.3. We introduce patch‑curves and random‑feature patching baselines, showing that useful CoT information is not only present in the top-K patches but widely distributed. Overall, our results indicate that CoT can induce more interpretable internal structures in high-capacity LLMs, validating its role as a structured prompting method.

How Does Chain of Thought Think? Mechanistic Interpretability of Chain-of-Thought Reasoning with Sparse Autoencoding

Reconstructing controllable Gaussian splats for articulated objects from monocular video is especially challenging due to its inherently insufficient constraints. Existing methods address this by relying on dense masks and manually defined control signals, limiting their real-world applications. In this paper, we propose an annotation-free method, **FreeGaussian**, which mathematically disentangles camera egomotion and articulated movements via flow derivatives. By establishing a connection between 2D flows and 3D Gaussian dynamic flow, our method enables optimization and continuity of dynamic Gaussian motions from flow priors without any control signals. Furthermore, we introduce a 3D spherical vector controlling scheme, which represents the state as a 3D Gaussian trajectory, thereby eliminating the need for complex 1D control signal calculations and simplifying controllable Gaussian modeling. Extensive experiments on articulated objects demonstrate the state-of-the-art visual performance and precise, part-aware controllability of our method.

FreeGaussian: Annotation-free Control of Articulated Objects via 3D Gaussian Splats with Flow Derivatives

Data-driven discovery of governing equations from data remains a fundamental challenge in nonlinear dynamics. Although sparse regression techniques have advanced system identification, they struggle with rational functions and noise sensitivity in complex mechanical systems. The Lagrangian formalism offers a promising alternative, as it typically avoids rational expressions and provides a more concise representation of system dynamics. However, existing Lagrangian identification methods are significantly affected by measurement noise and limited data availability. This paper presents a novel differentiable sparse identification framework that addresses these limitations through three key contributions: (1) the first integration of cubic B-Spline approximation into Lagrangian system identification, enabling accurate representation of complex nonlinearities, (2) a robust equation discovery mechanism that effectively utilizes measurements while incorporating known physical constraints, (3) a recursive derivative computation scheme based on B-spline basis functions, effectively constraining higher-order derivatives and reducing noise sensitivity on second-order dynamical systems. The proposed method demonstrates superior performance and enables more accurate and reliable extraction of physical laws from noisy data, particularly in complex mechanical systems compared to baseline methods.

Differentiable Sparse Identification of Lagrangian Dynamics

Road networks are critical infrastructures underpinning intelligent transportation systems and their related applications. Effective representation learning of road networks remains challenging due to the complex interplay between spatial structures and frequency characteristics in traffic patterns. Existing graph neural networks for modeling road networks predominantly fall into two paradigms: spatial-based methods that capture local topology but tend to over-smooth representations, and spectral-based methods that analyze global frequency components but often overlook localized variations. This spatial-spectral misalignment limits their modeling capacity for road networks exhibiting both coarse global trends and fine-grained local fluctuations. To bridge this gap, we propose HiFiNet, a novel hierarchical frequency-decomposition graph neural network that unifies spatial and spectral modeling. HiFiNet constructs a multi-level hierarchy of virtual nodes to enable localized frequency analysis, and employs a decomposition–updating–reconstruction framework with a topology-aware graph transformer to separately model and fuse low- and high-frequency signals. Theoretically justified and empirically validated on multiple real-world datasets across four downstream tasks, HiFiNet demonstrates superior performance and generalization ability in capturing effective road network representations.

Hierarchical Frequency-Decomposition Graph Neural Networks for Road Network Representation Learning

Training Large Language Models (LLMs) for chain-of-thought reasoning presents a significant challenge: supervised fine-tuning on a single "golden" rationale hurts generalization as it penalizes equally valid alternatives, whereas reinforcement learning with verifiable rewards struggles with credit assignment and prohibitive computational cost. To tackle these limitations, we introduce InTRO (\textbf{I}n-\textbf{T}oken \textbf{R}ationality \textbf{O}ptimization), a new framework that enables both token-level exploration and self-feedback for accurate and concise reasoning. Instead of directly optimizing an intractable objective over all valid reasoning paths, InTRO leverages correction factors---token-wise importance weights estimated by the information discrepancy between the generative policy and its answer-conditioned counterpart, for informative next-token selection. This approach allows the model to perform token-level exploration and receive self-generated feedback within a single forward pass, ultimately encouraging accurate and concise rationales. Across six math-reasoning benchmarks, InTRO consistently outperforms other baselines, raising solution accuracy by up to 20\% relative to the base model. Its chains of thought are also notably more concise, exhibiting reduced verbosity. Beyond this, InTRO enables cross-domain transfer, successfully adapting to out-of-domain reasoning tasks that extend beyond the realm of mathematics, demonstrating robust generalization.

In-Token Rationality Optimization: Towards Accurate and Concise LLM Reasoning via Self-Feedback

Text-guided image editing has advanced rapidly with the rise of diffusion models. While flow-based inversion-free methods offer high efficiency by avoiding latent inversion, they often fail to effectively integrate source information, leading to poor background preservation, spatial inconsistencies, and over-editing due to the lack of effective integration of source information.
In this paper, we present $\textbf{FIA-Edit}$, a novel inversion-free framework that achieves high-fidelity and semantically precise edits through a $\textbf{F}$requency-$\textbf{I}$nteractive $\textbf{A}$ttention. Specifically, we design two key components: (1) a Frequency Representation Interaction (FRI) module that enhances cross-domain alignment by exchanging frequency components between source and target features within self-attention, and (2) a Feature Injection (FIJ) module that explicitly incorporates source-side queries, keys, values, and text embeddings into the target branch's cross-attention to preserve structure and semantics. 
Comprehensive and extensive experiments demonstrate that FIA-Edit supports high-fidelity editing at low computational cost ($\sim$6s per $512\times 512$ image on an RTX 4090) and consistently outperforms existing methods across diverse tasks in visual quality, background fidelity, and controllability.
Furthermore, we are the first to extend text-guided image editing to clinical applications. By synthesizing anatomically coherent hemorrhage variations in surgical images, FIA-Edit opens new opportunities for medical data augmentation and delivers significant gains in downstream bleeding classification.

FIA-Edit: Frequency-Interactive Attention for Efficient and High-Fidelity Inversion-Free Text-Guided Image Editing

Understanding true influence in social media requires distinguishing correlation from causation—particularly when analyzing misinformation spread. While existing approaches focus on exposure metrics and network structures, they often fail to capture the causal mechanisms by which external temporal signals trigger engagement. We introduce CITRUS (Causal Influence through Treatment-Response Understanding in Social media), a novel joint treatment-outcome framework that leverages existing sequential models to understand how external signals—search trends, news coverage, influencer activity—trigger misinformation engagement. Through experiments on real-world misinformation and disinformation datasets, CITRUS outperforms existing benchmarks by $15$-$22$\% in predicting engagement across diverse counterfactual scenarios, including exposure adjustment, temporal alignment shifts, and varied intervention durations. 
Case studies on $492$ social media users demonstrate that our causal effect measure aligns strongly with expert-based empirical influence assessments, validating CITRUS as a robust framework for understanding information spread dynamics.
CITRUS also reveals that low-baseline misinformation can scale 6-fold under external promotion, showing super-linear growth, and unmasks hidden amplifiers—accounts with modest followings that double engagement rates, outperforming supposed "influencers" with $100$x more followers.

Estimating Online Influence Needs Causal Modeling! Counterfactual Analysis of Misinformation Engagement on Social Media

Offline Reinforcement Learning (RL) enables policy improvement from fixed datasets without online interactions, making it highly suitable for real-world applications lacking efficient simulators.
Despite its success in the single-agent setting, offline multi-agent RL remains a challenge, especially in competitive games.
Firstly, unaware of the game structure, it is impossible to interact with the opponents and conduct a major learning paradigm, self-play, for competitive games. Secondly, real-world datasets cannot cover all the state and action space in the game, resulting in barriers to identifying Nash equilibrium (NE).
To address these issues, this paper introduces Off-FSP, the first practical model-free offline RL algorithm for competitive games.
We start by simulating interactions with various opponents by adjusting the weights of the fixed dataset with importance sampling.
This technique allows us to learn the best responses to different opponents and employ the Offline Self-Play learning framework. 
To overcome the challenge of partial coverage, we combine the single-agent offline RL method with Fictitious Self-Play (FSP) to approximate NE by constraining the approximate best responses away from out-of-distribution actions.
Experiments on matrix games, extensive-form poker, and board games demonstrate that Off-FSP achieves significantly lower exploitability than state-of-the-art baselines. Finally, we validate Off-FSP on a real-world human-robot competitive task, demonstrating its potential for solving complex, hard-to-simulate real-world problems.

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