Verifying the behavior of neural networks is necessary if developers are to confidently deploy them as parts of mission-critical systems. Toward this end, researchers have been actively developing a range of increasingly sophisticated and scalable neural network verifiers. However, scaling verification to large networks is challenging, at least in part due to the significant memory requirements of verification algorithms. In this paper, we propose an assume-guarantee compositional framework, CoVeNN, that is parameterized by an underlying verifier to generate a sequence of verification sub-problems to address this challenge. We present an iterative refinement-based strategy for computing assumptions that allow sub-problems to retain sufficient accuracy. An evaluation using 7 neural networks and a total of 140 property specifications demonstrates that CoVeNN can verify nearly 7 times more problems than state-of-the-art verifiers.

Pruning is a widely used technique to compress large language models (LLMs) by removing unimportant weights, but it often suffers from significant performance degradation--especially under semi-structured sparsity constraints. Existing pruning methods primarily focus on estimating the importance of individual weights, which limits their ability to preserve critical capabilities of the model. In this work, we propose a new perspective: rather than merely selecting which weights to prune, we first redistribute parameter importance to make the model inherently more amenable to pruning. By minimizing the information entropy of normalized importance scores, our approach concentrates importance onto a smaller subset of weights, thereby enhancing pruning robustness. We instantiate this idea through DenoiseRotator, which applies learnable orthogonal transformations to the model's weight matrices. Our method can be seamlessly integrated with existing pruning techniques such as Magnitude, SparseGPT, and Wanda. Evaluated on LLaMA3, Qwen2.5, and Mistral models under 50% unstructured and 2:4 semistructured sparsity, DenoiseRotator consistently improves perplexity and zero-shot accuracy. For instance, on LLaMA3-70B pruned with SparseGPT at 2:4 semistructured sparsity, DenoiseRotator reduces the perplexity gap to the dense model by 58%, narrowing the degradation from 8.1 to 3.4 points.

Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks. However, existing methods still face challenges in coordinating mobile base and manipulator, primarily due to two limitations. On the one hand, they fail to explicitly model the influence of the mobile base on manipulator control, which easily leads to error accumulation under high degrees of freedom. On the other hand, they treat the entire mobile manipulation process with the same visual observation modality (e.g., either all 2D or all 3D), overlooking the distinct multimodal perception requirements at different stages during mobile manipulation. To address this, we propose the Adaptive Coordination Diffusion Transformer (AC-DiT), which enhances mobile base and manipulator coordination for end-to-end mobile manipulation.

Neural networks are powered by an implicit bias: a tendency of gradient descent to fit training data in a way that generalizes to unseen data. A recent class of neural network models gaining increasing popularity is structured state space models (SSMs). Prior work argued that the implicit bias of SSMs leads to generalization in a setting where data is generated by a low dimensional teacher. In this paper, we revisit the latter setting, and formally establish a phenomenon entirely undetected by prior work on the implicit bias of SSMs. Namely, we prove that while implicit bias leads to generalization under many choices of training data, there exist special examples whose inclusion in training completely distorts the implicit bias, to a point where generalization fails. This failure occurs despite the special training examples being labeled by the teacher, i.e., having clean labels! We empirically demonstrate the phenomenon, with SSMs trained independently and as part of non-linear neural networks. In the area of adversarial machine learning, disrupting generalization with cleanly labeled training examples is known as clean-label poisoning. Given the proliferation of SSMs, we believe that delineating their susceptibility to clean-label poisoning, and developing methods for overcoming this susceptibility, are critical research directions to pursue.

Conformal prediction provides a powerful framework for constructing prediction intervals with finite-sample guarantees, yet its robustness under distribution shifts remains a significant challenge. This paper addresses this limitation by modeling distribution shifts using Lévy-Prokhorov (LP) ambiguity sets, which capture both local and global perturbations. We provide a self-contained overview of LP ambiguity sets and their connections to popular metrics such as Wasserstein and Total Variation. We show that the link between conformal prediction and LP ambiguity sets is a natural one: by propagating the LP ambiguity set through the scoring function, we reduce complex high-dimensional distribution shifts to manageable onedimensional distribution shifts, enabling exact quantification of worst-case quantiles and coverage. Building on this analysis, we construct robust conformal prediction intervals that remain valid under distribution shifts, explicitly linking LP parameters to interval width and confidence levels. Experimental results on real-world datasets demonstrate the effectiveness of the proposed approach.

Image compression methods are usually optimized isolatedly for human perception or machine analysis tasks. We reveal fundamental commonalities between these objectives: preserving accurate semantic information is paramount, as it directly dictates the integrity of critical information for intelligent tasks and aids human understanding. Concurrently, enhanced perceptual quality not only improves visual appeal but also, by ensuring realistic image distributions, benefits semantic feature extraction for machine tasks. Based on this insight, we propose Diff-ICMH, a generative image compression framework aiming for harmonizing machine and human vision in image compression. It ensures perceptual realism by leveraging generative priors and simultaneously guarantees semantic fidelity through the incorporation of Semantic Consistency loss (SC loss) during training. Additionally, we introduce the Tag Guidance Module (TGM) that leverages highly semantic image-level tags to stimulate the pre-trained diffusion model's generative capabilities, requiring minimal additional bit rates. Consequently, Diff-ICMH supports multiple intelligent tasks through a single codec and bitstream without any task-specific adaptation, while preserving high-quality visual experience for human perception. Extensive experimental results demonstrate Diff-ICMH's superiority and generalizability across diverse tasks, while maintaining visual appeal for human perception.

We investigate various stochastic bandit problems in the presence of adversarial corruptions. A seminal work for this problem is the BARBAR [1] algorithm, which achieves both robustness and efficiency. However, it suffers from a regret of O(KC), which does not match the lower bound of Ω(C), where K denotes the number of arms and C denotes the corruption level. In this paper, we first improve the BARBAR algorithm by proposing a novel framework called BARBAT, which eliminates the factor of K to achieve an optimal regret bound up to a logarithmic factor. We also extend BARBAT to various settings, including multi-agent bandits, graph bandits, combinatorial semi-bandits and batched bandits. Compared with the Follow-the-Regularized-Leader framework, our methods are more amenable to parallelization, making them suitable for multi-agent and batched bandit settings, and they incur lower computational costs, particularly in semi-bandit problems. Numerical experiments verify the efficiency of the proposed methods.

Activation functions are fundamental elements of deep learning architectures as they significantly influence training dynamics. ReLU, while widely used, is prone to the dying neuron problem, which has been mitigated by variants such as LeakyReLU, PReLU, and ELU that better handle negative neuron outputs. Recently, self-gated activations like GELU and Swish have emerged as state-of-the-art alternatives, leveraging their smoothness to ensure stable gradient flow and prevent neuron inactivity.

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models exhibit limited physical awareness, particularly in modeling 3D geometry and motion dynamics, resulting in unrealistic video generation for contact-rich robotic scenarios. In this paper, we present RoboScape, a unified physics-informed world model that jointly learns RGB video generation and physics knowledge within an integrated framework. We introduce two key physics-informed joint training tasks: temporal depth prediction that enhances 3D geometric consistency in video rendering, and keypoint dynamics learning that implicitly encodes physical properties (e.g., object shape and material characteristics) while improving complex motion modeling. Extensive experiments demonstrate that RoboScape generates videos with superior visual fidelity and physical plausibility across diverse robotic scenarios. We further validate its practical utility through downstream applications including robotic policy training with generated data and policy evaluation. Our work provides new insights for building efficient physics-informed world models to advance embodied intelligence research.

Matrix preconditioning is a critical technique to accelerate the solution of linear systems, where performance heavily depends on the selection of preconditioning parameters. Traditional parameter selection approaches often define fixed constants for specific scenarios. However, they rely on domain expertise and fail to consider the instance-wise features for individual problems, limiting their performance. In contrast, machine learning (ML) approaches, though promising, are hindered by high inference costs and limited interpretability. To combine the strengths of both approaches, we propose a symbolic discovery framework-namely, Symbolic Matrix Preconditioning (SymMaP)-to learn efficient symbolic expressions for preconditioning parameters. Specifically, we employ a neural network to search the high-dimensional discrete space for expressions that can accurately predict the optimal parameters. The learned expression allows for high inference efficiency and excellent interpretability (expressed in concise symbolic formulas), making it simple and reliable for deployment. Experimental results show that SymMaP consistently outperforms traditional strategies across various benchmarks 1.