Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to practical scenarios. Specifically, learned systems for scene measurement and state estimation tend to degrade when the application scenarios deviate from the training data, resulting to unreliable depth and pose estimation. Toward addressing this problem, this work aims to develop a visual odometry system that can fast adapt to diverse novel environments in an online manner. To this end, we construct a self-supervised online adaptation framework for monocular visual odometry aided by an online-updated depth estimation module. Firstly, we design a monocular depth estimation network with lightweight refiner modules, which enables efficient online adaptation. Then, we construct an objective for self-supervised learning of the depth estimation module based on the output of the visual odometry system and the contextual semantic information of the scene. Specifically, a sparse depth densification module and a dynamic consistency enhancement module are proposed to leverage camera poses and contextual semantics to generate pseudo-depths and valid masks for the online adaptation. Finally, we demonstrate the robustness and generalization capability of the proposed method in comparison with state-of-the-art learning-based approaches on urban, in-house datasets and a robot platform. Code is publicly available at: https://github.com/jixingwu/SOL-SLAM.

This work revisits the dominant supervised fine-tuning (SFT) then reinforcement learning (RL) paradigm for training Large Vision-Language Models (LVLMs), and reveals a key finding: SFT can significantly undermine subsequent RL by inducing ``pseudo reasoning paths'' imitated from expert models. While these paths may resemble the native reasoning paths of RL models, they often involve prolonged, hesitant, less informative steps, and incorrect reasoning. To systematically study this effect, we introduce VLAA-Thinking, a new multimodal dataset designed to support reasoning in LVLMs. Constructed via a six-step pipeline involving captioning, reasoning distillation, answer rewrite and verification, VLAA-Thinking comprises high-quality, step-by-step visual reasoning traces for SFT, along with a more challenging RL split from the same data source. Using this dataset, we conduct extensive experiments comparing SFT, RL and their combinations. Results show that while SFT helps models learn reasoning formats, it often locks aligned models into imitative, rigid reasoning modes that impede further learning. In contrast, building on the Group Relative Policy Optimization (GRPO) with a novel mixed reward module integrating both perception and cognition signals, our RL approach fosters more genuine, adaptive reasoning behavior. Notably, our model VLAA-Thinker, based on Qwen2.5VL 3B, achieves top-1 performance on Open LMM Reasoning Leaderboard (https://huggingface.co/spaces/opencompass/Open_LMM_Reasoning_Leaderboard) among 4B scale LVLMs, surpassing the previous state-of-the-art by 1.8%. We hope our findings provide valuable insights in developing reasoning-capable LVLMs and can inform future research in this area.

Continual Learning (CL) epitomizes an advanced training paradigm wherein prior data samples remain inaccessible during the acquisition of new tasks. Numerous investigations have delved into leveraging a pre-trained Vision Transformer (ViT) to enhance model efficacy in continual learning. Nonetheless, these approaches typically utilize a singular, static backbone, which inadequately adapts to novel tasks, particularly when engaging with diverse data domains, due to a substantial number of inactive parameters. This paper addresses this limitation by introducing an innovative Self-Controlled Dynamic Expansion Model (SCDEM), which orchestrates multiple distinct trainable pre-trained ViT backbones to furnish diverse and semantically enriched representations. Specifically, by employing the multi-backbone architecture as a shared module, the proposed SCDEM dynamically generates a new expert with minimal parameters to accommodate a new task. A novel Collaborative Optimization Mechanism (COM) is introduced to synergistically optimize multiple backbones by harnessing prediction signals from historical experts, thereby facilitating new task learning without erasing previously acquired knowledge. Additionally, a novel Feature Distribution Consistency (FDC) approach is proposed to align semantic similarity between previously and currently learned representations through an optimal transport distance-based mechanism, effectively mitigating negative knowledge transfer effects. Furthermore, to alleviate over-regularization challenges, this paper presents a novel Dynamic Layer-Wise Feature Attention Mechanism (DLWFAM) to autonomously determine the penalization intensity on each trainable representation layer. An extensive series of experiments have been conducted to evaluate the proposed methodology's efficacy, with empirical results corroborating that the approach attains state-of-the-art performance.

Despite the successes of language models, their evaluation remains a daunting challenge for new and existing tasks. We consider the task of text simplification, commonly used to improve information accessibility, where evaluation faces two major challenges. First, the data in existing benchmarks might not reflect the capabilities of current language models on the task, often containing disfluent, incoherent, or simplistic examples. Second, existing human ratings associated with the benchmarks often contain a high degree of disagreement, resulting in inconsistent ratings; nevertheless, existing metrics still have to show higher correlations with these imperfect ratings. As a result, evaluation for the task is not reliable and does not reflect expected trends (e.g., more powerful models being assigned higher scores). We address these challenges for the task of text simplification through three contributions. First, we introduce SynthSimpliEval, a synthetic benchmark for text simplification featuring simplified sentences generated by models of varying sizes. Through a pilot study, we show that human ratings on our benchmark exhibit high inter-annotator agreement and reflect the expected trend: larger models produce higher-quality simplifications. Second, we show that auto-evaluation with a panel of LLM judges (LLMs-as-a-jury) often suffices to obtain consistent ratings for the evaluation of text simplification. Third, we demonstrate that existing learnable metrics for text simplification benefit from training on our LLMs-as-a-jury-rated synthetic data, closing the gap with pure LLMs-as-a-jury for evaluation. Overall, through our case study on text simplification, we show that a reliable evaluation requires higher quality test data, which could be obtained through synthetic data and LLMs-as-a-jury ratings.

Archetypal analysis (AA) was originally proposed in 1994 by Adele Cutler and Leo Breiman as a computational procedure to extract the distinct aspects called archetypes in observations with each observational record approximated as a mixture (i.e., convex combination) of these archetypes. AA thereby provides straightforward, interpretable, and explainable representations for feature extraction and dimensionality reduction, facilitating the understanding of the structure of high-dimensional data with wide applications throughout the sciences. However, AA also faces challenges, particularly as the associated optimization problem is non-convex. This survey provides researchers and data mining practitioners an overview of methodologies and opportunities that AA has to offer surveying the many applications of AA across disparate fields of science, as well as best practices for modeling data using AA and limitations. The survey concludes by explaining important future research directions concerning AA.

Knowledge distillation (KD) is a promising solution to compress large language models (LLMs) by transferring their knowledge to smaller models. During this process, white-box KD methods usually minimize the distance between the output distributions of the teacher model and the student model to transfer more information. However, we reveal that the current white-box KD framework exhibits two limitations: a) bridging probability distributions from different output spaces will limit the similarity between the teacher model and the student model; b) this framework cannot be applied to LLMs with different vocabularies. One of the root causes for these limitations is that the distributions from the teacher and the student for KD are output by different prediction heads, which yield distributions in different output spaces and dimensions. Therefore, in this paper, we propose a dual-space knowledge distillation (DSKD) framework that unifies the prediction heads of the teacher and the student models for KD. Specifically, we first introduce two projectors with ideal initialization to project the teacher/student hidden states into the student/teacher representation spaces. After this, the hidden states from different models can share the same head and unify the output spaces of the distributions. Furthermore, we develop an exact token alignment (ETA) algorithm to align the same tokens in two differently-tokenized sequences. Based on the above, our DSKD framework is a general KD framework that supports both off-policy and on-policy KD, and KD between any two LLMs regardless of their vocabularies. Extensive experiments on instruction-following, mathematical reasoning, and code generation benchmarks show that DSKD significantly outperforms existing methods based on the current white-box KD framework and surpasses other cross-tokenizer KD methods for LLMs with different vocabularies.

Hindsight Experience Replay (HER) is widely regarded as the state-of-the-art algorithm for achieving sample-efficient multi-goal reinforcement learning (RL) in robotic manipulation tasks with binary rewards. HER facilitates learning from failed attempts by replaying trajectories with redefined goals. However, it relies on a heuristic-based replay method that lacks a principled framework. To address this limitation, we introduce a novel replay strategy, "Next-Future", which focuses on rewarding single-step transitions. This approach significantly enhances sample efficiency and accuracy in learning multi-goal Markov decision processes (MDPs), particularly under stringent accuracy requirements -- a critical aspect for performing complex and precise robotic-arm tasks. We demonstrate the efficacy of our method by highlighting how single-step learning enables improved value approximation within the multi-goal RL framework. The performance of the proposed replay strategy is evaluated across eight challenging robotic manipulation tasks, using ten random seeds for training. Our results indicate substantial improvements in sample efficiency for seven out of eight tasks and higher success rates in six tasks. Furthermore, real-world experiments validate the practical feasibility of the learned policies, demonstrating the potential of "Next-Future" in solving complex robotic-arm tasks.

This systematic literature review examines the critical challenges and solutions related to scalability and maintainability in Machine Learning (ML) systems. As ML applications become increasingly complex and widespread across industries, the need to balance system scalability with long-term maintainability has emerged as a significant concern. This review synthesizes current research and practices addressing these dual challenges across the entire ML life-cycle, from data engineering to model deployment in production. We analyzed 124 papers to identify and categorize 41 maintainability challenges and 13 scalability challenges, along with their corresponding solutions. Our findings reveal intricate inter dependencies between scalability and maintainability, where improvements in one often impact the other. The review is structured around six primary research questions, examining maintainability and scalability challenges in data engineering, model engineering, and ML system development. We explore how these challenges manifest differently across various stages of the ML life-cycle. This comprehensive overview offers valuable insights for both researchers and practitioners in the field of ML systems. It aims to guide future research directions, inform best practices, and contribute to the development of more robust, efficient, and sustainable ML applications across various domains.

In today's visually dominated social media landscape, predicting the perceived credibility of visual content and understanding what drives human judgment are crucial for countering misinformation. However, these tasks are challenging due to the diversity and richness of visual features. We introduce a Large Language Model (LLM)-informed feature discovery framework that leverages multimodal LLMs, such as GPT-4o, to evaluate content credibility and explain its reasoning. We extract and quantify interpretable features using targeted prompts and integrate them into machine learning models to improve credibility predictions. We tested this approach on 4,191 visual social media posts across eight topics in science, health, and politics, using credibility ratings from 5,355 crowdsourced workers. Our method outperformed zero-shot GPT-based predictions by 13 percent in R2, and revealed key features like information concreteness and image format. We discuss the implications for misinformation mitigation, visual credibility, and the role of LLMs in social science.

Vertical federated learning (VFL) enables a paradigm for vertically partitioned data across clients to collaboratively train machine learning models. Feature selection (FS) plays a crucial role in Vertical Federated Learning (VFL) due to the unique nature that data are distributed across multiple clients. In VFL, different clients possess distinct subsets of features for overlapping data samples, making the process of identifying and selecting the most relevant features a complex yet essential task. Previous FS efforts have primarily revolved around intra-client feature selection, overlooking vital feature interaction across clients, leading to subpar model outcomes. We introduce ICAFS, a novel multi-stage ensemble approach for effective FS in VFL by considering inter-client interactions. By employing conditional feature synthesis alongside multiple learnable feature selectors, ICAFS facilitates ensemble FS over these selectors using synthetic embeddings. This method bypasses the limitations of private gradient sharing and allows for model training using real data with refined embeddings. Experiments on multiple real-world datasets demonstrate that ICAFS surpasses current state-of-the-art methods in prediction accuracy.