Modeling the human as Boltzmann-rational w.r.t. a belief over trajectories, we prove conditions under which RLHF is

Neural Information Processing Systems http://nips.cc/

Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly proficient in capturing program semantics. For robot programming, prior works have facilitated program synthesis by incorporating global environments. However, the assumption of acquiring a comprehensive understanding of the entire environment is often excessively challenging to achieve.

Shape completion aims to recover the full 3D geometry of an object from a partial observation. This problem is inherently multi-modal since there can be many ways to plausibly complete the missing regions of a shape. Such diversity would be indicative of the underlying uncertainty of the shape and could be preferable for downstream tasks such as planning. In this paper, we propose a novel conditional generative adversarial network that can produce many diverse plausible completions of a partially observed point cloud. To enable our network to produce multiple completions for the same partial input, we introduce stochasticity into our network via style modulation. By extracting style codes from complete shapes during training, and learning a distribution over them, our style codes can explicitly carry shape category information leading to better completions. We further introduce diversity penalties and discriminators at multiple scales to prevent conditional mode collapse and to train without the need for multiple ground truth completions for each partial input. Evaluations across several synthetic and real datasets demonstrate that our method achieves significant improvements in respecting the partial observations while obtaining greater diversity in completions.

Many real-world systems, such as moving planets, can be considered as multi-agent dynamic systems, where objects interact with each other and co-evolve along with the time. Such dynamics is usually difficult to capture, and understanding and predicting the dynamics based on observed trajectories of objects become a critical research problem in many domains. Most existing algorithms, however, assume the observations are regularly sampled and all the objects can be fully observed at each sampling time, which is impractical for many applications. In this paper, we pro-pose to learn system dynamics from irregularly-sampled and partial observations with underlying graph structure for the first time. To tackle the above challenge, we present LG-ODE, a latent ordinary differential equation generative model for modeling multi-agent dynamic system with known graph structure. It can simultaneously learn the embedding of high dimensional trajectories and infer continuous latent system dynamics. Our model employs a novel encoder parameterized by a graph neural network that can infer initial states in an unsupervised way from irregularly-sampled partial observations of structural objects and utilizes neuralODE to infer arbitrarily complex continuous-time latent dynamics. Experiments on motion capture, spring system, and charged particle datasets demonstrate the effectiveness of our approach.

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not always the case in real-world applications. For example, in inverse graphics, the goal is to generate samples from a distribution of 3D scenes that align with a given image, but ground-truth 3D scenes are unavailable and only 2D images are accessible. To address this limitation, we propose a novel class of denoising diffusion probabilistic models that learn to sample from distributions of signals that are never directly observed. Instead, these signals are measured indirectly through a known differentiable forward model, which produces partial observations of the unknown signal.

Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage complementary RGB images to compensate for missing geometry, most methods still follow a Completion-by-Inpainting paradigm, synthesizing missing structures from fused latent features. We empirically show that this paradigm often results in structural inconsistencies and topological artifacts due to limited geometric and semantic constraints. To address this, we rethink the task and propose a more robust paradigm, termed Completion-by-Correction, which begins with a topologically complete shape prior generated by a pre-trained image-to-3D model and performs feature-space correction to align it with the partial observation. This paradigm shifts completion from unconstrained synthesis to guided refinement, enabling structurally consistent and observation-aligned reconstruction. Building upon this paradigm, we introduce PGNet, a multi-stage framework that conducts dual-feature encoding to ground the generative prior, synthesizes a coarse yet structurally aligned scaffold, and progressively refines geometric details via hierarchical correction. Experiments on the ShapeNetViPC dataset demonstrate the superiority of PGNet over state-of-the-art baselines in terms of average Chamfer Distance (-23.5%) and F-score (+7.1%).

Tor is a widely used anonymity network that conceals user identities by routing traffic through encrypted relays, yet it remains vulnerable to traffic correlation attacks that deanonymize users by matching patterns in ingress and egress traffic. However, existing correlation methods suffer from two major limitations: limited robustness to noise and partial observations, and poor scalability due to computationally expensive pairwise matching. To address these challenges, we propose RECTor, a machine learning-based framework for traffic correlation under realistic conditions. RECTor employs attention-based Multiple Instance Learning (MIL) and GRU-based temporal encoding to extract robust flow representations, even when traffic data is incomplete or obfuscated. These embeddings are mapped into a shared space via a Siamese network and efficiently matched using approximate nearest neighbor (aNN) search. Empirical evaluations show that RECTor outperforms state-of-the-art baselines such as DeepCorr, DeepCOFFEA, and FlowTracker, achieving up to 60% higher true positive rates under high-noise conditions and reducing training and inference time by over 50%. Moreover, RECTor demonstrates strong scalability: inference cost grows near-linearly as the number of flows increases. These findings reveal critical vulnerabilities in Tor's anonymity model and highlight the need for advanced model-aware defenses.