Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the real-world requirement for continual adaptation to evolving scenarios. To facilitate related studies, we introduce the continual object navigation benchmark, which requires agents to acquire navigation skills for new object categories while avoiding catastrophic forgetting of previously learned knowledge. To tackle this challenge, we propose C-Nav, a continual visual navigation framework that integrates two key innovations: (1) A dual-path anti-forgetting mechanism, which comprises feature distillation that aligns multi-modal inputs into a consistent representation space to ensure representation consistency, and feature replay that retains temporal features within the action decoder to ensure policy consistency.

Chain-of-Thought (CoT) prompting plays an indispensable role in endowing large language models (LLMs) with complex reasoning capabilities. However, CoT currently faces two fundamental challenges: (1) Sufficiency, which ensures that the generated intermediate inference steps comprehensively cover and substantiate the final conclusion; and (2) Necessity, which identifies the inference steps that are truly indispensable for the soundness of the resulting answer. We propose a causal framework that characterizes CoT reasoning through the dual lenses of sufficiency and necessity. Incorporating causal Probability of Sufficiency and Necessity allows us not only to determine which steps are logically sufficient or necessary to the prediction outcome, but also to quantify their actual influence on the final reasoning outcome under different intervention scenarios, thereby enabling the automated addition of missing steps and the pruning of redundant ones. Extensive experimental results on various mathematical and commonsense reasoning benchmarks confirm substantial improvements in reasoning efficiency and reduced token usage without sacrificing accuracy. Our work provides a promising direction for improving LLM reasoning performance and cost-effectiveness.

Training multi-modal large language models (MLLMs) that align with human intentions is a long-term challenge. Traditional score-only reward models for alignment suffer from low accuracy, weak generalization, and poor interpretability, blocking the progress of alignment methods, e.g., reinforcement learning from human feedback (RLHF). Generative reward models (GRMs) leverage MLLMs' intrinsic reasoning capabilities to discriminate pair-wise responses, but their pair-wise paradigm makes it hard to generalize to learnable rewards. We introduce Generative RLHF-V, a novel alignment framework that integrates GRMs with multi-modal RLHF. We propose a two-stage pipeline: multi-modal generative reward modeling from RL, where RL guides GRMs to actively capture human intention, then predict the correct pair-wise scores; and RL optimization from grouped comparison, which enhances multi-modal RL scoring precision by grouped responses comparison. Experimental results demonstrate that, besides out-of-distribution generalization of RM discrimination, our framework improves 4 MLLMs' performance across 7 benchmarks by 18.1%, while the baseline RLHF is only 5.3%. We further validate that Generative RLHF-V achieves a near-linear improvement with an increasing number of candidate responses.

Real-world time series analysis, such as healthcare, autonomous driving, and solar energy, faces unique challenges arising from the scarcity of labeled data, highlighting the need for effective semi-supervised learning methods. While the Virtual Adversarial Training (VAT) method has shown promising performance in leveraging unlabeled data for smoother predictive distributions, straightforward extensions of VAT often fall short on time series tasks as they neglect the temporal structure of the data in the adversarial perturbation. In this paper, we propose the framework of functional Virtual Adversarial Training (f-VAT) that can incorporate the functional structure of the data into perturbations. By theoretically establishing a duality between the perturbation norm and the functional model sensitivity, we propose to use an appropriate Sobolev (H s) norm to generate structured functional adversarial perturbations for semi-supervised time series classification. Our proposed f-VAT method outperforms recent methods and achieves superior performance in extensive semi-supervised time series classification tasks (e.g., up to 9% performance improvement). We also provide additional visualization studies to offer further insights into the superiority of f-VAT.

We introduce EvaLearn, a pioneering benchmark designed to evaluate large language models (LLMs) on their learning capability and efficiency in challenging tasks, a critical, yet underexplored aspect of model potential. EvaLearn contains 648 challenging problems across six task types, grouped into 182 sequences, each sequence dedicated to one task type. Diverging from most existing benchmarks that evaluate models in parallel, EvaLearn requires models to solve problems sequentially, allowing them to leverage the experience gained from previous solutions. EvaLearn provides five comprehensive automated metrics to evaluate models and quantify their learning capability and efficiency. We extensively benchmark nine frontier models and observe varied performance profiles: some models, such as Claude-3.7-sonnet,

In this paper, we introduce Online Multimodal Conversational Response Generation (OMCRG), a novel task designed to produce synchronized verbal and non-verbal listener feedback online, based on the speaker's multimodal inputs. OMCRG captures natural dyadic interactions and introduces new challenges in aligning generated audio with listeners' facial responses. To tackle these challenges, we incorporate text as an intermediate modality to connect audio and facial responses. We propose OmniResponse, a Multimodal Large Language Model (MLLM) that autoregressively generates accurate multimodal listener responses. OmniResponse leverages a pretrained LLM enhanced with two core components: Chrono-Text Markup, which precisely timestamps generated text tokens, and TempoVoice, a controllable online text-to-speech (TTS) module that outputs speech synchronized with facial responses. To advance OMCRG research, we offer ResponseNet, a dataset of 696 detailed dyadic interactions featuring synchronized split-screen videos, multichannel audio, transcripts, and annotated facial behaviors. Comprehensive evaluations on ResponseNet demonstrate that OmniResponse outperforms baseline models in terms of semantic speech content, audio-visual synchronization, and generation quality. Our dataset, code, and models are publicly available at https://omniresponse.github.io/.

Pretrained Large Language Models (LLMs) achieve strong performance across a wide range of tasks, yet exhibit substantial variability in the various layers' training quality with respect to specific downstream applications, limiting their downstream performance. It is therefore critical to estimate layer-wise training quality in a manner that accounts for both model architecture and training data. However, existing approaches predominantly rely on model-centric heuristics (such as spectral statistics, outlier detection, or uniform allocation) while overlooking the influence of data. To address these limitations, we propose LAYERIF, a datadriven framework that leverages Influence Functions to quantify the training quality of individual layers in a principled and task-sensitive manner. By isolating each layer's gradients and measuring the sensitivity of the validation loss to training examples by computing layer-wise influences, we derive data-driven estimates of layer importance. Notably, our method produces task-specific layer importance estimates for the same LLM, revealing how layers specialize for different test-time evaluation tasks. We demonstrate the utility of our scores by leveraging them for two downstream applications: (a) expert allocation in LoRA-MoE architectures and (b) layer-wise sparsity distribution for LLM pruning. Experiments across multiple LLM architectures demonstrate that our model-agnostic, influence-guided allocation leads to consistent gains in task performance.

Spatio-temporal prediction plays a crucial role in intelligent transportation, weather forecasting, and urban planning. While integrating multi-modal data has shown potential for enhancing prediction accuracy, key challenges persist: (i) inadequate fusion of multi-modal information, (ii) confounding factors that obscure causal relations, and (iii) high computational complexity of prediction models. To address these challenges, we propose E2-CSTP, an Effective and Efficient Causal multimodal Spatio-Temporal Prediction framework. E2-CSTP leverages cross-modal attention and gating mechanisms to effectively integrate multi-modal data. Building on this, we design a dual-branch causal inference approach: the primary branch focuses on spatio-temporal prediction, while the auxiliary branch mitigates bias by modeling additional modalities and applying causal interventions to uncover true causal dependencies. To improve model efficiency, we integrate GCN with the Mamba architecture for accelerated spatio-temporal encoding. Extensive experiments on 4 real-world datasets show that E2-CSTP significantly outperforms 9 state-of-the-art methods, achieving up to 9.66% improvements in accuracy as well as 17.37%-56.11%

Event cameras are neuromorphic vision sensors that asynchronously capture pixellevel intensity changes with high temporal resolution and dynamic range. These make them well suited for monocular depth estimation under challenging lighting conditions. However, progress in event-based monocular depth estimation remains constrained by the quality of supervision: LiDAR-based depth labels are inherently sparse, spatially incomplete, and prone to artifacts. Consequently, these signals are suboptimal for learning dense depth from sparse events. To address this problem, we propose Distil-E2D, a framework that distills depth priors from the image domain into the event domain by generating dense synthetic pseudolabels from co-recorded APS or RGB frames using foundational depth models. These pseudolabels complement sparse LiDAR depths with dense semantically rich supervision informed by large-scale image-depth datasets. To reconcile discrepancies between synthetic and real depths, we introduce a Confidence-Guided Calibrated Depth Loss that learns nonlinear depth alignment and adaptively weights supervision by alignment confidence. Additionally, our architecture integrates past predictions via a Context Transformer and employs a Dual-Decoder Training scheme that enhances encoder representations by jointly learning metric and relative depth abstractions. Experiments on benchmark datasets show that Distil-E2D achieves state-of-the-art performance in event-based monocular depth estimation across both event-only and event+APS settings.

Recent advances in Structure-based Drug Design (SBDD) have leveraged generative models for 3D molecular generation, predominantly evaluating model performance by binding affinity to target proteins. However, practical drug discovery necessitates high binding affinity along with synthetic feasibility and selectivity, critical properties that were largely neglected in previous evaluations. To address this gap, we identify fundamental limitations of conventional diffusion-based generative models in effectively guiding molecule generation toward these diverse pharmacological properties. We propose CBYG, a novel framework extending Bayesian Flow Network into a gradient-based conditional generative model that robustly integrates property-specific guidance. Additionally, we introduce a comprehensive evaluation scheme incorporating practical benchmarks for binding affinity, synthetic feasibility, and selectivity, overcoming the limitations of conventional evaluation methods. Extensive experiments demonstrate that our proposed CBYG framework significantly outperforms baseline models across multiple essential evaluation criteria, highlighting its effectiveness and practicality for real-world drug discovery applications.