Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to acquire bimanual policies. However, transferring knowledge from single-arm datasets or pre-trained VLA models often fails to generalize effectively, primarily due to the scarcity of bimanual data and the fundamental differences between single-arm and bimanual manipulation. In this paper, we propose a novel bimanual foundation policy by fine-tuning the leading text-to-video models to predict robot trajectories and training a lightweight diffusion policy for action generation. Given the lack of embodied knowledge in text-to-video models, we introduce a two-stage paradigm that fine-tunes independent text-to-flow and flow-to-video models derived from a pre-trained text-to-video model. Specifically, optical flow serves as an intermediate variable, providing a concise representation of subtle movements between images. The text-to-flow model predicts optical flow to concretize the intent of language instructions, and the flow-to-video model leverages this flow for fine-grained video prediction. Our method mitigates the ambiguity of language in single-stage text-to-video prediction and significantly reduces the robot-data requirement by avoiding direct use of low-level actions. In experiments, we collect high-quality manipulation data for real dual-arm robot, and the results of simulation and real-world experiments demonstrate the effectiveness of our method.

Given finite-dimensional random vectors $Y$, $X$, and $Z$ that form a Markov chain in that order (i.e., $Y \to X \to Z$), we derive upper bounds on the excess minimum risk using generalized information divergence measures. Here, $Y$ is a target vector to be estimated from an observed feature vector $X$ or its stochastically degraded version $Z$. The excess minimum risk is defined as the difference between the minimum expected loss in estimating $Y$ from $X$ and from $Z$. We present a family of bounds that generalize the mutual information based bound of Györfi et al. (2023), using the Rényi and $α$-Jensen-Shannon divergences, as well as Sibson's mutual information. Our bounds are similar to those developed by Modak et al. (2021) and Aminian et al. (2024) for the generalization error of learning algorithms. However, unlike these works, our bounds do not require the sub-Gaussian parameter to be constant and therefore apply to a broader class of joint distributions over $Y$, $X$, and $Z$. We also provide numerical examples under both constant and non-constant sub-Gaussianity assumptions, illustrating that our generalized divergence based bounds can be tighter than the one based on mutual information for certain regimes of the parameter $α$.

Training neural networks on randomly generated artificial datasets yields Bayesian models that capture the prior defined by the dataset-generating distribution. Prior-data Fitted Networks (PFNs) are a class of methods designed to leverage this insight. In an era of rapidly increasing computational resources for pre-training and a near stagnation in the generation of new real-world data in many applications, PFNs are poised to play a more important role across a wide range of applications. They enable the efficient allocation of pre-training compute to low-data scenarios. Originally applied to small Bayesian modeling tasks, the field of PFNs has significantly expanded to address more complex domains and larger datasets. This position paper argues that PFNs and other amortized inference approaches represent the future of Bayesian inference, leveraging amortized learning to tackle data-scarce problems. We thus believe they are a fruitful area of research. In this position paper, we explore their potential and directions to address their current limitations.

Reinforcement learning from human feedback (RLHF) has achieved great empirical success in aligning large language models (LLMs) with human preference, and it is of great importance to study the statistical efficiency of RLHF algorithms from a theoretical perspective. In this work, we consider the online RLHF setting where the preference data is revealed during the learning process and study action value function approximation. We design a model-free posterior sampling algorithm for online RLHF inspired by Thompson sampling and provide its theoretical guarantee. Specifically, we adopt Bellman eluder (BE) dimension as the complexity measure of the function class and establish $O(\sqrt{T})$ regret bound for the proposed algorithm with other multiplicative factor depending on the horizon, BE dimension and the $log$-bracketing number of the function class. Further, in the analysis, we first establish the concentration-type inequality of the squared Bellman error bound based on the maximum likelihood estimator (MLE) generalization bound, which plays the crucial rules in obtaining the eluder-type regret bound and may be of independent interest.

Lifelong learning is essential for intelligent agents operating in dynamic environments. Current large language model (LLM)-based agents, however, remain stateless and unable to accumulate or transfer knowledge over time. Existing benchmarks treat agents as static systems and fail to evaluate lifelong learning capabilities. We present LifelongAgentBench, the first unified benchmark designed to systematically assess the lifelong learning ability of LLM agents. It provides skill-grounded, interdependent tasks across three interactive environments, Database, Operating System, and Knowledge Graph, with automatic label verification, reproducibility, and modular extensibility. Extensive experiments reveal that conventional experience replay has limited effectiveness for LLM agents due to irrelevant information and context length constraints. We further introduce a group self-consistency mechanism that significantly improves lifelong learning performance. We hope LifelongAgentBench will advance the development of adaptive, memory-capable LLM agents.

This paper introduces a new complexity measure for MDPs called maximum expected hitting cost. Unlike the diameter measure is only a function of the transition dynamics, this new measure takes into account the reward dynamics as well. The authors show theoretically that under the same assumptions as previous authors who introduced diameter, this new measure is a tighter upper bound. Furthermore, they show the usefulness of this measure by showing that it can be used to better understand the informativeness of rewards when using potential based reward shaping and they prove theoretically that in a large class of MDPs potential based reward shaping is bounded by a multiplicative factor of 2 on their maximum expected hitting costs. I enjoyed reading this paper. I appreciated the structure that the authors used in this paper which first introduced all the necessary prior work (related to diameter) cosily but thoroughly enough before introducing their contributions.

The paper introduces a new complexity measure for MDPs, the expected hitting costs. In contrast to former complexity measures, the hitting costs also depend on the reward of the MDP and can provide a tighter bound for UCRL2. The theory also provides an intersting connection between reward shapeing and the complexity of a MDP. All reviewers appreciated the strong theoretical contribution of the paper which improves our theoretical understanding of the complexity of MDPs. The reviewers also liked that the paper is well written and establishes connections to reward shaping, a method that has also a highly practical value. All reviewers recommend acceptance and I agree with their assessment.

Markov Chain Monte Carlo (MCMC) and Belief Propagation (BP) are the most popular algorithms for computational inference in Graphical Models (GM). In principle, MCMC is an exact probabilistic method which, however, often suffers from exponentially slow mixing. In contrast, BP is a deterministic method, which is typically fast, empirically very successful, however in general lacking control of accuracy over loopy graphs. In this paper, we introduce MCMC algorithms correcting the approximation error of BP, i.e., we provide a way to compensate for BP errors via a consecutive BP-aware MCMC. Our framework is based on the Loop Calculus approach which allows to express the BP error as a sum of weighted generalized loops. Although the full series is computationally intractable, it is known that a truncated series, summing up all 2-regular loops, is computable in polynomial-time for planar pair-wise binary GMs and it also provides a highly accurate approximation empirically. Motivated by this, we first propose a polynomial-time approximation MCMC scheme for the truncated series of general (non-planar) pair-wise binary models. Our main idea here is to use the Worm algorithm, known to provide fast mixing in other (related) problems, and then design an appropriate rejection scheme to sample 2-regular loops.

Summary: Within the manuscript, the authors extend the continuous time Bayesian Networks by incorporating a mixture prior over the conditional intensity matrices, thereby allowing for a larger class compared to a gamma prior usually employed over these. My main concerns are with clarity / quality as the manuscript is quite densely written with quite some material has either been omitted or shifted to the appendix. For a non-expert in continuous time bayesian networks, it is quite hard to read. Additionally, there are quite a few minor mistakes (see below) that make understanding of the manuscript harder. As it stands, Originality: The authors combine variational inference method from Linzner et al [11], with the new prior over the dependency structure (mixture).

Weaknesses: Soundness of the claims: While the general ideas seem somewhat clear, most of the proofs read more like sketches and some of the claims need to be verified by hand. For example in the proof of Lemma 9 the authors do not provide a derivation for the each of the elements of the Hessian but merely state that the result follows from a direct computation (which seems to be left as an exercise to the reader). Other examples where more details would not hurt are the proof of Lemma 13, where the authors bound \ q_t - \tilde \q_t\ in a self-bounding way, to achieve the upper bound but no mention of this is given other than the final result and the proof of Lemma 27, where derivations on lines 720-722 were not entirely straightforward. Overall the Appendix can benefit from more details in the proofs. Significance and novelty of contribution: The core ideas of this work are not novel.