Systems of interacting objects often evolve under the influence of field effects that govern their dynamics, yet previous works have abstracted away from such effects, and assume that systems evolve in a vacuum. In this work, we focus on discovering these fields, and infer them from the observed dynamics alone, without directly observing them.

Exten-sive experiments show the effectiveness of this measure to rank different GANmodels and capture the typical GAN failure scenarios, including mode collapse andnon-convergentbehaviours.

In 2 dimensions, we use eq. Simplified rotations In 2 dimensions, the computations can be simplified since rotations commute. Thus, we wrap the computed angle difference so that it always belongs in that range. Furthermore, in all cases that angles are not used geometrically ( e.g. for rotations), we In 3 dimensions, the computation of rotation matrices is more involved than the 2D case. As explained in section 2.1, input trajectories are described by the states In the following equations, we remove time indices to reduce clutter.

Reliability and failure detection of large language models (LLMs) is critical for their deployment in high-stakes, multi-step reasoning tasks. Prior work explores confidence estimation for self-evaluating LLM-scorer systems, with confidence scorers estimating the likelihood of errors in LLM responses. However, most methods focus on single-step outputs and overlook the challenges of multi-step reasoning. In this work, we extend self-evaluation techniques to multi-step tasks, testing two intuitive approaches: holistic scoring and step-by-step scoring. Using two multi-step benchmark datasets, we show that stepwise evaluation generally outperforms holistic scoring in detecting potential errors, with up to 15% relative increase in AUC-ROC. Our findings demonstrate that self-evaluating LLM systems provide meaningful confidence estimates in complex reasoning, improving their trustworthiness and providing a practical framework for failure detection.

In 2 dimensions, we use eq. Simplified rotations In 2 dimensions, the computations can be simplified since rotations commute. Thus, we wrap the computed angle difference so that it always belongs in that range. Furthermore, in all cases that angles are not used geometrically ( e.g. for rotations), we In 3 dimensions, the computation of rotation matrices is more involved than the 2D case. As explained in section 2.1, input trajectories are described by the states In the following equations, we remove time indices to reduce clutter.

We report the performance on these generalization tasks for the final policy obtained at the end of training.

This paper investigates the inverse capabilities and broader utility of multimodal latent spaces within task-specific AI (Artificial Intelligence) models. While these models excel at their designed forward tasks (e.g., text-to-image generation, audio-to-text transcription), their potential for inverse mappings remains largely unexplored. We propose an optimization-based framework to infer input characteristics from desired outputs, applying it bidirectionally across Text-Image (BLIP, Flux.1-dev) and Text-Audio (Whisper-Large-V3, Chatterbox-TTS) modalities. Our central hypothesis posits that while optimization can guide models towards inverse tasks, their multimodal latent spaces will not consistently support semantically meaningful and perceptually coherent inverse mappings. Experimental results consistently validate this hypothesis. We demonstrate that while optimization can force models to produce outputs that align textually with targets (e.g., a text-to-image model generating an image that an image captioning model describes correctly, or an ASR model transcribing optimized audio accurately), the perceptual quality of these inversions is chaotic and incoherent. Furthermore, when attempting to infer the original semantic input from generative models, the reconstructed latent space embeddings frequently lack semantic interpretability, aligning with nonsensical vocabulary tokens. These findings highlight a critical limitation. multimodal latent spaces, primarily optimized for specific forward tasks, do not inherently possess the structure required for robust and interpretable inverse mappings. Our work underscores the need for further research into developing truly semantically rich and invertible multimodal latent spaces.

Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized decision-makers for multi-robot formation control. However, prior studies reveal that directly applying LLMs to such tasks often leads to unstable and inconsistent behaviors, where robots may collapse to the centroid of their positions or diverge entirely due to hallucinated reasoning, logical inconsistencies, and limited coordination awareness. To overcome these limitations, we propose a novel framework that integrates LLMs with an influence-based plan consensus protocol. In this framework, each robot independently generates a local plan toward the desired formation using its own LLM. The robots then iteratively refine their plans through a decentralized consensus protocol that accounts for their influence on neighboring robots. This process drives the system toward a coherent and stable flocking formation in a fully decentralized manner. We evaluate our approach through comprehensive simulations involving both state-of-the-art closed-source LLMs (e.g., o3-mini, Claude 3.5) and open-source models (e.g., Llama3.1-405b, Qwen-Max, DeepSeek-R1). The results show notable improvements in stability, convergence, and adaptability over previous LLM-based methods. We further validate our framework on a physical team of Crazyflie drones, demonstrating its practical viability and effectiveness in real-world multi-robot systems.

Pretrained Language Models (PLMs) have advanced Natural Language Processing (NLP) tasks significantly, but finetuning PLMs on low-resource datasets poses significant challenges such as instability and overfitting. Previous methods tackle these issues by finetuning a strategically chosen subnetwork on a downstream task, while keeping the remaining weights fixed to the pretrained weights. However, they rely on a suboptimal criteria for sub-network selection, leading to suboptimal solutions. To address these limitations, we propose a regularization method based on attention-guided weight mixup for finetuning PLMs. Our approach represents each network weight as a mixup of task-specific weight and pretrained weight, controlled by a learnable attention parameter, providing finer control over sub-network selection. Furthermore, we employ a bi-level optimization (BLO) based framework on two separate splits of the training dataset, improving generalization and combating overfitting. We validate the efficacy of our proposed method through extensive experiments, demonstrating its superiority over previous methods, particularly in the context of finetuning PLMs on low-resource datasets.

The recent progress in large language models (LLMs), especially the invention of chain-of-thought prompting, has made it possible to automatically answer questions by stepwise reasoning. However, when faced with more complicated problems that require non-linear thinking, even the strongest LLMs make mistakes. To address this, we explore whether LLMs are able to recognize errors in their own step-bystep reasoning, without resorting to external resources. To this end, we propose SelfCheck, a general-purpose zero-shot verification schema for recognizing such errors. We then use the results of these checks to improve question-answering performance by conducting weighted voting on multiple solutions to the question. We test SelfCheck on three datasets--GSM8K, MathQA, and MATH--and find that it successfully recognizes errors and, in turn, increases final answer accuracies. Recent years have witnessed dramatic changes in the areas of NLP and AI brought on by significant advances in LLMs. From GPT-3 (Brown et al., 2020), PaLM (Chowdhery et al., 2022), Llama (Touvron et al., 2023) and Falcon (Almazrouei et al., 2023) to GPT-4 (OpenAI, 2023) and PaLM-2 (Google, 2023), the increasing model sizes and exploding amount of training data have empowered LLMs to achieve human-level performance on a large range of tasks, including summarization, translation, and question answering. The invention of Chain-of-Thought prompting (CoT, Wei et al. (2022)) has further enhanced LLMs' ability to solve complex problems by generating step-by-step solutions. However, the performance of even the largest LLMs is still unsatisfactory on more difficult reasoning problems. For example, GPT-4 with CoT prompting only correctly answers 42.5% of problems in the MATH dataset (Bubeck et al., 2023; Hendrycks et al., 2021), which is far below human level. Such problems require careful and extensive multi-step reasoning to solve, and LLMs are consequently prone to make mistakes: even though their error rate on individual steps may be low, the probability of generating at least one erroneous step can still be quite high, undermining the final answer. Recent works have tried to overcome this limitation by checking for errors in these step-by-step solutions (Cobbe et al., 2021; Li et al., 2022; Ling et al., 2023).