Joint-embedding self-supervised learning (SSL), the key paradigm for unsupervised representation learning from visual data, learns from invariances between semantically-related data pairs. We study the one-to-many mapping problem in SSL, where each datum may be mapped to multiple valid targets. This arises when data pairs come from naturally occurring generative processes, e.g., successive video frames. We show that existing methods struggle to flexibly capture this conditional uncertainty. As a remedy, we introduce a latent variable to account for this […]

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arXiv:2601.12291v1 Announce Type: new Abstract: Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping enhances efficiency, traditional structure-based methods struggle with high maintenance costs and fail in feature-less environments or under significant viewpoint changes typical of crowd-sourced data. To address this, we propose OPENNAVMAP, a lightweight, structure-free topometric system leveraging 3D geometric foundation models for on-demand reconstruction. Our method unifies […]

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When we optimize responses using a reward model as a proxy for “goodness” in reinforcement learning, models sometimes learn to “hack” this proxy and output an answer that only “looks good” to it (because coming up with an answer that is actually good can be hard). The philosophy behind confessions is that we can train models to produce a second output — aka a “confession” — that is rewarded solely for honesty, which we will argue is less […]

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Urban mobility is a central challenge for sustainable and inclusive cities, as climate change, congestion, and spatial inequality expose mobility patterns as expressions of deeper social and spatial structures. Inclusive urban mobility examines whether transport systems equitably support the everyday movements and accessibility needs of historically marginalized and underserved populations. The integration of AI with geographic information science, together with multimodal geospatial data fusion, provides powerful tools to diagnose and address these disparities by combining heterogeneous sources such […]

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Human-in-the-loop guidance has emerged as an effective approach for enabling faster convergence in online reinforcement learning (RL) of complex real-world manipulation tasks. However, existing human-in-the-loop RL (HiL-RL) frameworks often suffer from low sample efficiency, requiring substantial human interventions to achieve convergence and thereby leading to high labor costs. To address this, we propose a sample-efficient real-world human-in-the-loop RL framework named method, which requires fewer human intervention by actively selecting informative samples. Specifically, stable reduction of policy entropy enables […]

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arXiv:2504.14772v2 Announce Type: replace-cross Abstract: The exponential growth of Large Language Models (LLMs) continues to highlight the need for efficient strategies to meet ever-expanding computational and data demands. This survey provides a comprehensive analysis of two complementary paradigms: Knowledge Distillation (KD) and Dataset Distillation (DD), both aimed at compressing LLMs while preserving their advanced reasoning capabilities and linguistic diversity. We first examine key methodologies in KD, such as task-specific alignment, rationale-based training, and multi-teacher frameworks, alongside DD techniques […]

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