Singapore

Recent advances in stochastic differential equations (SDEs) have enabled robust modeling of real-world dynamical processes across diverse domains, such as finance, health, and systems biology. However, parameter estimation for SDEs typically relies on accurately time-stamped observational data. When temporal ordering information is corrupted, missing, or deliberately hidden (e.g., for privacy), existing estimation methods often fail. In this paper, we investigate the conditions under which temporal order can be recovered and introduce a novel framework that simultaneously reconstructs temporal information and estimates SDE parameters. Our approach exploits asymmetries between forward and backward processes, deriving a score-matching criterion to infer the correct temporal order between pairs of observations. We then recover the total order via a sorting procedure and estimate SDE parameters from the reconstructed sequence using maximum likelihood. Finally, we conduct extensive experiments on synthetic and real-world datasets to demonstrate the effectiveness of our method, extending parameter estimation to settings with missing temporal order and broadening applicability in sensitive domains.

AAAI 2026

Robust SDE Parameter Estimation Under Missing Time Information Setting

stochastic differential equation

time-series data

parameter estimation

The IFAC Conference on Nonlinear Model Predictive Control (NMPC 2021) aims to bring together researchers interested in and work in the MPC field from both academia and industry. This allows us to reflect and establish the current state-of-the-art and focus on the future development of the MPC field towards relevant directions.

Model predictive control (MPC) is indisputably one of the advanced control techniques that have significantly affected control engineering practice with thousands of controllers implemented in various fields, spanning from the process industry to automotive and robotics. This is due to its unique ability to handle constraints, take preview information about disturbances and setpoint changes into account, and optimize performance. Furthermore, MPC allows the consideration of various types of dynamics, from linear to nonlinear, discrete to continuous, as well as an online adaptation of models and parameters. The research community on MPC is very active, with hundreds of papers published every year. Over the past decades, many theoretical, as well as implementation results, have been achieved.

### **All content presented at NMPC2021, including videos, papers and slides will be available only to registered (regular/student) participants. The content can be accessed until August 31st, 2021.**



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Nonlinear Model Predictive Control Conference 2021

The IFAC Conference on Nonlinear Model Predictive Control (NMPC 2021) aims to bring together researchers interested in and work in the MPC field from both academia and industry. This allows us to reflect and establish the current state-of-the-art and focus on the future development of the MPC field towards relevant directions.

poster

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 purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-26 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

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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.

Deep networks have achieved remarkable success in image compressed sensing (CS) task, namely reconstructing a high-fidelity image from its compressed measurement. However, existing works are deficient in incoherent compressed measurement at sensing phase and implicit measurement representations at reconstruction phase, limiting the overall performance. In this work, we answer two questions: i) how to improve the measurement incoherence for decreasing the ill-posedness; ii) how to learn informative representations from measurements. To this end, we propose a novel asymmetric Kronecker CS (AKCS) model and theoretically present its better incoherence than previous Kronecker CS with minimal complexity increase. Moreover, we reveal that the unfolding networks' superiority over non-unfolding ones result from sufficient gradient descents, called explicit measurement representations. We propose a measurement-aware cross attention (MACA) mechanism to learn implicit measurement representations. We integrate AKCS and MACA into widely-used unfolding architecture to get a measurement-enhanced unfolding network (MEUNet). Extensive experiences demonstrate that our MEUNet achieve the state-of-the-art performance in reconstruction accuracy and inference speed.

Breaking Measurement Barriers: From Compressed Sensing to Deep Reconstruction

Generating realistic and coordinated 3D human motion for multiple individuals within complex environments remains a significant challenge. Existing text-to-motion methods are often ``blind'' to the physical scene, leading to implausible motions, while scene-conditioned (HSI) approaches demand cumbersome full 3D data and largely neglect multi-person dynamics. To address these limitations, we introduce the **VL2Motion** paradigm and its embodiment, **MMG-VL**, a hierarchical framework that generates coordinated multi-person motions from the most accessible inputs: a single 2D image and natural language. MMG-VL first employs a **Scene-Aware Intent Planner (SAIP)** to interpret the visual context and decompose the user's command into a set of spatially-grounded, multi-person action blueprints. Subsequently, a **Coordinated Motion Synthesizer (CMS)** translates these blueprints into high-fidelity 3D motion sequences. The synergy between these stages is driven by two novel loss functions: a **Spatial-Semantic Grounding Loss** to ensure the planner's output is grounded in visual reality, and a **Coordinated Environmental Realism Loss** that enforces physical constraints and coherent group dynamics during synthesis. To facilitate this research, we introduce **HumanVL**, the first large-scale dataset featuring multi-person activities in multi-room scenes, providing aligned images, text, blueprints, 3D motions, and scene geometry. Extensive experiments demonstrate that MMG-VL significantly outperforms existing methods in generating spatially coherent, physically realistic, and coordinated multi-person motions, paving the way for more scalable and intuitive creation of dynamic virtual worlds.

MMG-VL: A Vision-Language Driven Approach for Multi-Person Motion Generation

Recently, self‑supervised representation learning relying on vast amounts of unlabeled data has been explored as a pre‑training method for autonomous driving. However, directly applying popular contrastive or generative methods to this problem is insufficient and may even lead to negative transfer. In this paper, we present $\textbf{AD‑L‑JEPA}$, a novel self‑supervised pre‑training framework with a joint embedding predictive architecture (JEPA) for automotive LiDAR object detection. Unlike existing methods, AD‑L‑JEPA is neither generative nor contrastive. Instead of explicitly generating masked regions, our method predicts Bird’s‑Eye‑View embeddings to capture the diverse nature of driving scenes. Furthermore, our approach eliminates the need to manually form contrastive pairs by employing explicit variance regularization to avoid representation collapse. Experimental results demonstrate consistent improvements on the LiDAR 3D object detection downstream task across the KITTI3D, Waymo, and ONCE datasets, while reducing GPU hours by $1.9\times$-$2.7\times$ and GPU memory by $2.8\times$-$4\times$ compared with the state-of-the-art method Occupancy-MAE. Notably, on the largest ONCE dataset, pre‑training on 100K frames yields a 1.61 mAP gain, better than in case of all the other methods pre‑trained on either 100K or 500K frames, and pre‑training on 500K frames yields a 2.98 mAP gain, better than in case of all the other methods pre‑trained on either 500K or 1M frames. AD‑L‑JEPA constitutes the first JEPA‑based pre‑training method for autonomous driving. It offers $\textit{better quality}$, $\textit{faster}$, and more $\textit{GPU‑memory‑efficient}$ self‑supervised representation learning. The source code of AD-L-JEPA is ready to be released.

Self-Supervised Representation Learning with Joint Embedding Predictive Architecture for Automotive LiDAR Object Detection

Planar quadrilateral (PQ) mesh generation is a key process in computer-aided design, particularly for architectural applications where the goal is to discretize a freeform surface using planar quad faces. The conjugate direction field (CDF) defined on the freeform surface plays a significant role in generating a PQ mesh, as it largely determines the PQ mesh layout. Conventionally, a CDF is obtained by solving a complex non-linear optimization problem that incorporates user preferences, i.e., aligning the CDF with user-specified strokes on the surface. This often requires a large number of iterations for the optimization solver, which is a time-consuming process. To address this challenge, we propose a data-driven approach based on neural networks for controlled CDF generation. Our approach can effectively learn and fuse features from the freeform surface and the user strokes, and efficiently generate quality CDF respecting user guidance. To enable training and testing, we also present a dataset composed of 50000+ freeform surfaces with ground-truth CDFs, as well as a set of metrics for quantitative evaluation. The effectiveness and efficiency of our work are demonstrated by extensive experiments using testing data, architectural surfaces, and general 3D shapes. Our codes and dataset will be made publicly available upon acceptance.

Learning Conjugate Direction Fields for Planar Quadrilateral Mesh Generation

Multimodal large language models (MLLMs) have demonstrated remarkable capabilities in vision-language answering tasks. Despite their strengths, these models often encounter challenges in achieving complex reasoning tasks such as mathematical problem-solving. Previous works have focused on fine-tuning on specialized mathematical datasets. However, these datasets are typically distilled directly from teacher models, which capture only static reasoning patterns and leaving substantial gaps compared to student models. This reliance on fixed teacher-derived datasets not only restricts the model's ability to adapt to novel or more intricate questions that extend beyond the confines of the training data, but also lacks the iterative depth needed for robust generalization.
To overcome these limitations, we propose MathSE, a Mathematical Self-Evolving framework for MLLMs. In contrast to traditional one-shot fine-tuning paradigms, MathSE iteratively refines the model through cycles of inference, reflection, and reward-based feedback. Specifically, we leverage iterative fine-tuning by incorporating correct reasoning paths derived from previous-stage inference and integrating reflections from a specialized Outcome Reward Model (ORM). 
To verify the effectiveness of MathSE, we evaluate it on a suite of challenging benchmarks, demonstrating significant performance gains over backbone models. Notably, our experimental results on MathVL-test surpass the leading open-source multimodal mathematical reasoning model QVQ.

MathSE: Improving Multimodal Mathematical Reasoning via Self-Evolving Iterative Reflection and Reward-Guided Fine-Tuning

The Kolmogorov-Arnold Network (KAN) has been gaining popularity as an alternative to the multi-layer perceptron (MLP) with its increased expressiveness and interpretability. However, the KAN can be orders of magnitude slower due to its increased computational cost and training instability, limiting its applicability to larger-scale tasks. Recently, the Kolmogorov-Arnold Transformer (KAT) has been proposed, which can achieve FLOPs similar to the traditional Transformer with MLPs by leveraging Group-Rational KAN (GR-KAN). Unfortunately, despite the comparable FLOPs, our characterizations reveal that the KAT is still 123x slower in training speeds, indicating that there are other performance bottlenecks beyond FLOPs. In this paper, we conduct a series of experiments to understand the root cause of the slowdown in KAT. We uncover that the slowdown can be isolated to memory stalls and, more specifically, in the backward pass of GR-KAN caused by inefficient gradient accumulation. To address this memory bottleneck, we propose FlashKAT, which builds on our restructured kernel that minimizes gradient accumulation with atomic adds and accesses to slow memory. Evaluations demonstrate that FlashKAT can achieve a training speedup of 86.5x compared with the state-of-the-art KAT, while reducing rounding errors in the coefficient gradients. We plan to release our code upon acceptance.

FlashKAT: Understanding and Addressing Performance Bottlenecks in the Kolmogorov-Arnold Transformer

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their scalability, their coarse discretization severely limits trajectory quality. In contrast, continuous optimization-based planners offer higher-quality paths but suffer from the curse of dimensionality, resulting in poor scalability with respect to the number of robots. This paper tackles the limitations of these two approaches by introducing a novel framework that integrates discrete MAPF solvers with constrained generative diffusion models. 
The resulting framework, called Discrete-Guided Diffusion (DGD), has three key characteristics: (1) it decomposes the original nonconvex MRMP problem into tractable subproblems with convex configuration spaces, (2) it combines discrete MAPF solutions with constrained optimization techniques to guide diffusion models capture complex spatiotemporal dependencies among robots, and (3) it incorporates a lightweight constraint repair mechanism to ensure trajectory feasibility. The proposed method sets a new state-of-the-art performance in large-scale, complex environments, scaling to 100 robots while achieving planning efficiency and high success rates.

Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planning

Fine-tuning large pretrained vision-language models (VLMs) has emerged as a prevalent paradigm for downstream adaptation, yet it faces a critical trade-off between domain specificity and domain generalization (DG) ability. Current methods typically fine-tune a universal model on the entire dataset, which potentially compromises the ability to generalize to unseen domains. To fill this gap, we provide a theoretical understanding of the generalization ability for VLM fine-tuning, which reveals that training multiple parameter-efficient expert models on partitioned source domains leads to better generalization than fine-tuning a universal model. Inspired by this finding, we propose a two-step domain-expert-Guided DG (GuiDG) framework. GuiDG first employs prompt tuning to obtain source domain experts, then introduces a Cross-Modal Attention module to guide the fine-tuning of the vision encoder via adaptive expert integration. To better evaluate few-shot DG, we construct ImageNet-DG from ImageNet and its variants. Extensive experiments on standard DG benchmarks and ImageNet-DG demonstrate that GuiDG improves upon state-of-the-art fine-tuning methods while maintaining efficiency. Code and Appendix: https://github.com/TL-UESTC/GuiDG.

Generalizing Vision-Language Models with Dedicated Prompt Guidance

Graphical user interface (GUI) agents have recently emerged as an intriguing paradigm for human-computer interaction, capable of automatically executing user instructions to operate intelligent terminal devices. 
However, when encountering out-of-distribution (OOD) instructions that violate environmental constraints or exceed the current capabilities of agents, GUI agents may suffer task breakdowns or even pose security threats. Therefore, effective OOD detection for GUI agents is essential. Traditional OOD detection methods perform suboptimally in this domain due to the complex embedding space and evolving GUI environments. 
In this work, we observe that the in-distribution input semantic space of GUI agents exhibits a clustering pattern with respect to the distance from the centroid.
Based on the finding, we propose GEM, a novel method based on fitting a Gaussian mixture model over input embedding distances extracted from the GUI Agent that reflect its capability boundary. 
Evaluated on eight datasets spanning smartphones, computers, and web browsers, our method achieves an average accuracy improvement of 23.70\% over the best-performing baseline while only increasing training time by 4.9\% and testing time by 6.5\%.
We also experimentally demonstrate that GEM can improve the step-wise success rate by 9.40\% by requesting assistance from the cloud model when encountering OOD samples.
Analysis verifies the generalization ability of our method through experiments on nine different backbones.

GEM: Gaussian Embedding Modeling for Out-of-Distribution Detection in GUI Agents

Research in Machine Learning (ML) and AI evolves rapidly. Information Extraction (IE) from scientific publications enables to identify information about research concepts and resources on a large scale and therefore is a pathway to improve understanding and reproducibility of machine learning-related research. To extract and connect fine-grained information in ML related research, e.g. method training and data usage, we introduce a new dataset. It is a manually curated fine-grained dataset with 10 entity types and 18 semantically categorized relation types, containing mentions of 63K entities and 35K relations from the full text of 100 machine learning publications. We show that our dataset enables fine-tuned models to automatically extract information relevant for downstream tasks ranging from knowledge graph (KG) construction, to monitoring the computational reproducibility of AI research at scale. Additionally, we use our dataset as a test suite to explore prompting strategies for IE using Large Language Models (LLM). It is observed that the performance of the state-of-the-art LLM prompting methods is largely outperformed by our best fine-tuned baseline model (NER: 80.6%, RE: 54.0% for the fine-tuned model vs. NER: 44.4%, RE: 10.1% for the LLM). This disparity of performance between supervised models and unsupervised usage of LLMs suggests datasets like ours are needed to advance research in the domain of scholarly information extraction.

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