Represenation_Learning
-
Adaptive Cortically Constrained EEG-Vision Alignment for Zero-Shot Brain-to-Image Retrieval
2026-09-21 04:50:30Ye Wang, Haokun Ren, Wei Wu, Guoyin Wang, Zhuliang Yu, Hong Yu, Ke LiuAbstract
Zero-shot brain-to-image retrieval requires robust alignment between noisy EEG responses and visual representations. Existing EEG-vision alignment methods often operate in sensor space and apply fixed visual supervision to all responses, ignoring both spatial mixing in scalp EEG and response-wise variability in alignment reliability. We propose an adaptive cortically constrained EEG-vision alignment method for zero-shot brain-to-image retrieval. The method reconstructs EEG responses into predefined ROI-level source-pattern representations and encodes them with a Neuro-ROI Attention Encoder. To handle response-wise variability, we introduce an evidence-based adaptive visual supervision strategy that weights detail-controlled visual targets using model-based alignment evidence. On THINGS-EEG, the proposed method achieves strong 200-way zero-shot retrieval performance, with ROI-level attribution providing post hoc interpretability of the learned source-pattern representations. These results show that cortically constrained representation learning and adaptive supervision can jointly support EEG-vision alignment for zero-shot brain-to-image retrieval.
Abstract (translated)
URL
https://arxiv.org/abs/2609.24109
PDF
-
GLR-MM: Graph-Based Global-Local Reconstruction for Robust Multimodal Chest X-ray and EHR Representation Learning under Missing Modalities
2026-09-20 21:20:52Surbhi Sharma, Nikhil Manali, Devesh MaheshwariAbstract
Clinical multimodal models must often predict before all chest X-ray (CXR) and electronic health record (EHR) inputs are available. Existing approaches align observed representations, model missingness, or reconstruct across modalities, but do not jointly exploit within-patient and clinically similar inter-patient evidence. We propose GLR-MM, a Graph-Based Global-Local Reconstruction framework for early ICU mortality prediction. It maps five CXR-EHR modalities to a shared space, reconstructs missing embeddings through complementary local cross-modal and global graph-attention branches, adaptively fuses their estimates, and optimizes class-balanced prediction, reconstruction, and contrastive objectives. On 9,620 MIMIC-derived ICU stays, we evaluate 10%, 30%, and 50% random modality missingness with shared deterministic masks. MUSE performs better under mild and moderate missingness, whereas GLR-MM achieves higher AUROC and AUPRC at 50% by 0.0088 and 0.0249, respectively. These results indicate that graph-guided reconstruction is most useful when inputs are severely incomplete.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23876
PDF
-
Belted Engression: Sufficient Dimension Reduction for Generative Distributional Regression
2026-09-20 18:20:21Wenxi Tan, Bing Li, Lingzhou XueAbstract
Modern conditional generative models face significant challenges when learning complex covariate dependencies. While sufficient dimension reduction (SDR) provides a principled approach to compress these dependencies, traditional SDR frameworks were not formulated for conditional generation. To bridge this gap, we propose Belted Engression, a unified and architecturally parameter-efficient framework for generative distributional regression. Our approach establishes an end-to-end compress-then-generate paradigm driven by sufficient representation learning, embedding a structural bottleneck into the generative architecture. Theoretically, we prove that the standard SDR condition is equivalent to a law-preserving generative factorization, which is achieved at the global optimum of the population Belted Engression objective. Furthermore, by uncovering a localized Bernstein-type control for the energy-score loss, we establish finite-sample convergence rates that are sharper than those of existing results. We also prove that this belted architecture is strictly smaller, operating with an asymptotically vanishing parameter count relative to the unstructured baseline. Extensive simulations and real-world applications demonstrate that Belted Engression achieves superior distributional prediction and SDR recovery with fewer trainable parameters.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23789
PDF
-
BiView-Touch: Learning Bimanual Tactile Representations by Cross-Hand Completion
2026-09-20 04:38:55Chenxin Liang, Youchen Lai, Chuqiao Lyu, Tianxing Chen, Shoujie Li, Wenbo DingAbstract
Bimanual interaction produces complementary tactile views of the same physical process, yet existing tactile representation learning largely models the two hands independently or combines them only for downstream prediction, leaving their cross-hand relationship unexplored. To exploit this overlooked structure, we introduce BiView-Touch, a tactile-only framework that completes masked target-hand latents from the remaining visible target-hand regions and the synchronized full contralateral hand. A student encoder with a geometry-conditioned directional decoder predicts full-view EMA latent targets, while temporal and layout counterfactuals encourage sensitivity to synchronized and anatomically organized source information. Controlled ablations and source-context interventions show that BiView-Touch learns structured cross-hand dependence on temporally aligned and anatomically organized contralateral tactile context, rather than benefiting from bilateral input alone. On the public HumanTouch dataset, its frozen representations consistently outperform representative self-supervised baselines across low-label settings. With only 5\% downstream labels, BiView-Touch achieves relative balanced-accuracy gains of 7.1\% on bilateral wrist-motion recognition and 14.1\% on force-derived interaction-phase recognition. We further introduce BVT-20, a 20-task bilateral tactile dataset, and demonstrate transfer across recording sessions and pretraining corpora, including transfer to a held-out bimanual task. Our code and dataset details are available on the anonymous project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23352
PDF
-
Enhancing speech representation learning with cross-modal knowledge transfer with HGNN under low resource settings: the case study of Yemba
2026-09-19 19:43:46Yannick Yomie Nzeuhang, Paulin Melatagia Yonta, Marie TahonAbstract
Acoustic representation learning is crucial for speech processing, yet low-resource languages (LRLs) face severe data scarcity, limiting the effectiveness of traditional and self-supervised methods. As a promising alternative, in this work, we propose to enhance acoustic representation trough a cross-modal transfer knowledge approach, based on heterogeneous graph neural networks (HGNNs), where acoustic and linguistic entities are modeled as distinct node types within a unified graph. Through message-passing mechanisms, linguistic nodes explicitly transfer knowledge to acoustic nodes, enabling structured and interpretable cross-modal information flow. To highlight this knowledge transfer and its benefits, we measured standard clustering metrics as an intrinsic evaluation of acoustic representation, and to emphasize applicability, we performed isolated-word recognition tasks using an English benchmark and a Cameroonian language dataset in low resources settings . Results demonstrate that acoustic representations consistently benefit from linguistic knowledge propagated through the graph. To our knowledge, this is the first demonstration of explicit cross-modal knowledge transfer for acoustic representation learning using HGNNs, highlighting a promising direction for speech representation in low-resource settings.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23194
PDF
-
Low resource cross-modal alignment using HGNN to enhance speech representation
2026-09-19 19:31:01Yannick Yomie Nzeuhang, Marie Tahon, Paulin Melatagia YontaAbstract
Speech-text space alignment is a multimodal representation learning method consisting to map different speech and text into a shared representation space, leading to enrichment of the representation of each modality. Proposed architectures, such as SAMU-XLSR, typically follow a student/teacher framework, with the goal of fine-tuning an audio encoder to produce representations that closely match those of the text. In this way a speech representation is semantically enriched. However, such systems generally require large amounts of training data and considerable computational resource, making them difficult to apply to low resources languages under frugal constraints. The present work proposes a data-efficient space alignment method based on Heterogeneous Graph Neural Networks and link prediction. The core idea is to leverage message passing to explicitly transfer information from the text modality to the speech modality, thereby reducing the need for large training datasets and intrinsically enriching the acoustic representations, all in a more interpretable manner. Although thoroughly explored for high-resource languages, word-level tasks in speech remain relevant for certain low-resource languages. Therefore, we conducted experiments on speech-text alignment at the word level using the TIMIT (English) dataset and Yemba (a Cameroonian language). Our approach yields results comparable to those of SAMU-XLSR, a state-of-the-art method, and even surpasses it for the Yemba language in the task of word retrieval, while using far fewer resources, demonstrating its power, frugality, and efficiency.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23191
PDF
-
Rethinking Vision Architectures with Gated Linear Attention and KAN
2026-09-18 19:07:25Ali Mehizel, Oussama KhaldiAbstract
Vision Transformers allocate most parameters to multi-layer perceptrons (MLPs) for channel mixing, while token interactions usually rely on quadratic multi-head self-attention (MHSA). Linear attention reduces sequence complexity to O(N), but remains coupled with the same fixed-activation MLP as softmax Transformers. Kolmogorov-Arnold Networks (KANs) instead place learnable univariate maps on edges, yet prior vision KANs keep MHSA or omit attention entirely. We introduce LKAT (Linear Kolmogorov-Arnold Transformer), an isotropic ViT encoder that couples chunkwise Gated Linear Attention (GLA) with a two-layer KAN feed-forward, and we provide an I/O-aware fused RBF-KAN kernel for the radial-basis grid maps. Under a shared DeiT-style recipe we compare LKAT with ViT, ViT-5, and MLP-Mixer. LKAT-B exceeds ViT-B/16, ViT-5-B, and Mixer-B/16 on ImageNet-100. Tiny/Small/Base LKAT variants scale consistently on CIFAR-10/100, and ImageNet-100 pretraining transfers to CIFAR fine-tuning. The results support gated linear attention and KAN-based radial-basis functions as complementary inductive biases for mid-scale visual representation learning.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22506
PDF
-
Chronosphere: Space-Time Tessellation of Local Climate Experts
2026-09-18 15:00:08Daniel Cher, Eric Xing, Kexing Li, Brian Wei, Isaac Corley, Nathan JacobsAbstract
We introduce Chronosphere, a spatio-temporal neural field that learns representations of climate. A central challenge in geographic representation learning is modeling environmental processes whose spatial and temporal complexity varies widely. Yet existing location encoders typically fix a single level of detail everywhere. Global bases such as spherical harmonics spread capacity uniformly across space and time. Localized bases resolve only predefined regions. Learned tessellations adapt, but are inefficient at representing higher frequencies. Chronosphere unifies these approaches, pairing an adaptive tessellation of learnable sites on the spacetime torus $S^2\times S^1$ with a shared bank of local basis functions. Both where capacity is placed and how much detail each region carries adapt to the data, across space and time. Trained to reconstruct climatology, Chronosphere matches or leads state-of-the-art location encoders across spatial and temporal tasks, with the largest gains under spatial and temporal transfer.
Abstract (translated)
URL
https://arxiv.org/abs/2609.21872
PDF
-
PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation
2026-09-18 13:27:15Shengbao Li, Peng Xu, Chao Tang, Hao Wei, Jiaheng Wang, Hong Yin, Jiangtao Chen, Jinxuan Zhu, Zhong Zhou, Mengfan Wang, Tingguang LiAbstract
Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot configurations, and interaction histories beyond visual observations. Existing methods passively condition on force feedback rather than actively predicting future contact dynamics, limiting their ability to generate high-precision actions. To address this problem, we introduce Predictive Sensorimotor Representation (PSR) learning, a framework that learns a hierarchy of predictive representations from multimodal sensorimotor signals and integrates them into the action stream of a visuomotor policy. Specifically, during a pretraining stage, a multimodal Transformer is trained to learn a hierarchy of predictive representations by jointly forecasting future interaction dynamics. The learned hierarchy subsequently augments the action stream, enabling the resulting policy to exploit contact-relevant cues at multiple depths. We further instantiate PSR within a Vision-Language-Action (VLA) model, resulting in PSR-VLA, and evaluate it on six real-world contact-rich manipulation tasks. Experimental results show that PSR-VLA achieves 91.7% overall success, improving over $\pi_{0.5}$, ForceVLA-$\pi_{0.5}$, and ForceVLA2-$\pi_{0.5}$ by 30.0, 22.5, and 19.2 percentage points, respectively. These results demonstrate the effectiveness of the proposed PSR for force-aware, contact-rich manipulation. Videos of the tasks and stability tests are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.21753
PDF
-
A benchmark dataset and baseline methods for four-dimensional STEM diffraction patterns
2026-09-18 10:23:28Yuyan Guan, Haoran Zhang, Zian Mao, Antong Yang, Caifei Li, Jialong Wang, Chuying Ouyang, Hong Wang, Xiaoqin Zeng, Yujun XieAbstract
Four-dimensional scanning transmission electron microscopy (4D-STEM) records a two-dimensional diffraction pattern at each electron-probe position, yielding spatially resolved reciprocal-space information but large, heterogeneous data volumes. Here we describe 4D-ImageNet, a collection of 174,000 diffraction patterns comprising 145,000 experimental patterns selected from 29 acquisitions and 29,000 multislice simulations. The experimental data cover acquisition-level labels for Ag, Au, mixed Au-Ag, CoO, Pd and ZnO specimens across multiple fields of view, scan dimensions, camera lengths and exposure times. Each acquisition contributes 5,000 quality-ranked patterns with source scan coordinates and acquisition metadata. A set-prediction detector provides model-derived pseudo-labels for the direct-beam position and Bragg-disk centres, with a confidence score for each disk. The simulation data cover 13 crystal structures and include Euler rotations, reciprocal-space sampling and approximate low-index beam directions. A grouped mixed-domain masked-reconstruction benchmark is provided to assess leakage-resistant loading and evaluation across experimental and simulated data. The dataset is intended for representation learning, disk detection, diffraction-pattern retrieval, orientation analysis and simulation-to-experiment studies.
Abstract (translated)
URL
https://arxiv.org/abs/2609.21593
PDF
-
JEPA Guided Diffusion: Predictive Vision-Language Conditioning for Generative Traffic Forecasting
2026-09-18 06:45:37Trinh Tra Giang Nguyen, Thanh Nguyen Vo, Nguyen Hoai Thuong Bui, Ha Duc BuiAbstract
Accurate traffic forecasting requires both understanding scene dynamics and synthesizing realistic future observations. Recent diffusion-based video generation models produce visually plausible predictions but require expensive end-to-end training and often entangle scene understanding with image synthesis. In this work, we propose a decoupled forecasting framework that separates future representation learning from video generation. A frozen V-JEPA encoder first extracts predictive latent representations from the observed traffic videos, capturing the underlying scene dynamics in a semantic latent space. A lightweight latent alignment module then projects these representations into the conditioning space of a frozen Cosmos diffusion module, enabling future video synthesis without retraining the large generative model. By freezing all foundation models and training only the lightweight alignment module, the proposed framework substantially reduces optimization complexity while preserving forecasting capability. Experimental results on the AI City Challenge 2026 Track 5 benchmark demonstrate that the proposed method achieved a score of 75.1297, ranking third in the competition. These results suggest that predictive world representations learned by V-JEPA can effectively guide downstream video generation, providing a practical and efficient alternative to end-to-end diffusion-based forecasting.
Abstract (translated)
URL
https://arxiv.org/abs/2609.21379
PDF
-
Co-Evolving Zero-Day Jamming: Adaptive Attack Synthesis and Graph Attention-Based Online Detection
2026-09-18 05:34:30Ghilas Aissou, R\'emi A. Chou, Taejoon KimAbstract
Effective evaluation of zero-day jamming detectors requires robust adversarial models. However, existing attack models often assume prior knowledge of the target receiver, limiting their utility as evaluation benchmarks. On the detection side, existing detectors fail to capture the global temporal-spectral structure of jamming behavior and cannot differentiate zero-day strategies as they emerge. This paper addresses these limitations through a two-pronged framework. First, an online detection framework is introduced that combines a graph attention network (GAT) for temporal-spectral representation learning with Dirichlet process (DP)-means clustering. This framework jointly classifies known and discovers zero-day strategies within a unified learning objective. Second, an inference-driven reinforcement learning (RL) jammer is proposed as an adversarial benchmark. The jammer treats the target receiver as a black-box, infers the detector state via hypothesis testing, and optimizes the trade-off between attack impact and stealth. Simulation results show that the proposed RL jammer outperforms benchmarks, achieving 33% higher attack efficacy and 67% higher stealth. The proposed detection framework against the proposed RL jammer is shown to achieve 20% higher detection accuracy than the benchmarks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.21334
PDF
-
MarsRecon: Self-Supervised and Multimodal Surface Representations for Mars
2026-09-17 21:45:50Akshay Naik, Marius F. R. Juston, Jay MahajanAbstract
High-resolution orbital imagery offers a rich record of the Martian surface, but sparse geological labels limit supervised representation learning. We present MarsRecon, a geospatially aware pipeline for learning visual and multimodal representations from HiRISE observations of Olympus Mons. The pipeline calibrates NASA Planetary Data System products, extracts valid georeferenced patches, and trains a masked autoencoder on unlabeled imagery. Increasing input resolution and filtering invalid tokens reduced held-out reconstruction loss from 0.1751 to 0.1342 in the principal Stage A model series. We then freeze the visual encoder and align its features with observation text, coordinates, and local--global image context. The strongest current local-primary model achieves image-to-text recall@10 of 0.3787, text-to-image recall@10 of 0.9161, and local-to-global recall@10 of 0.4350 on the held-out test split. These results establish a working Mars-specific pretraining and retrieval pipeline; further crop-overlap controls and downstream geological evaluations are needed to assess the broader utility of its embeddings.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22379
PDF
-
JEPA-Anything: Learning Predictive Models across Different Worlds
2026-09-17 17:55:57Taoyong Cui, Zhongyao Wang, Xinyue Xu, Weiyang Liu, Zhaochen Yu, Yuying Zhang, Qiang Gao, Mengyue Yang, Wanli Ouyang, Pheng Ann Heng, Yingcheng Wu, Zhenfei Yin, Ling YangAbstract
World modeling enables intelligence to anticipate consequences, guide interventions, and learn from interaction. Yet predictive models remain domain-specific: can a common learning principle support world modeling across radically different systems? We introduce JEPA-Anything, a domain-agnostic framework based on orthogonal predictive factorization (OPF). Extending joint-embedding predictive architectures, OPF decomposes latent targets into complementary factors, learns them through dedicated pathways, and recombines them within a shared predictive design. We evaluate JEPA-Anything across seven domains: vision, biology, clinical trajectories, control, molecular dynamics, physical fields, and weather. Experiments span representation learning, intervention prediction, out-of-distribution generalization, and long-horizon dynamics, including 10 matched dynamics tasks, forecasting of over 1,000 clinical events, and 100-step molecular rollouts across four systems. Against matched JEPA baselines, JEPA-Anything improves reported metrics on all 10 dynamics tasks and reduces single-intervention prediction error on Interventional Pong by 34.8%. It achieves the lowest one-step and 100-step molecular errors among compared methods in all four systems. Beyond prediction, a factor-nominated biological intervention receives experimental support in cell co-cultures, patient-derived organoids, tumor fragments, and mice; latent orbital modes recover the Keplerian scaling exponent with a fitted slope of -1.4991. These results support a common factorized predictive principle across heterogeneous worlds, connecting world modeling with intervention and experimentally grounded scientific discovery. Code: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.20800
PDF
-
Absence is Presence: Understanding Visual Scene Negative Events Under Safety Cognitive Constraint
2026-09-17 07:24:40Zhiyun Jiang, Hanyong Wang, Binbin Liang, Yu Xie, Menglong Yang, Wei LiAbstract
Traditional scene understanding focuses on affirmative information objectively present in images. However, in safety-critical domains, comprehending key information that should exist but is actually absent is vital for risk mitigation. To bridge this gap, we focus on visual scene negative captioning with safety as the cognitive constraint. The core challenge is to convert physical absence into semantic negative events. Existing vision-language models (VLMs) struggle with this process because affirmation bias suppresses negative reasoning, while limited mental filling capability and representation bias further hinder the inference of absent information. To address these challenges, we propose a negative captioning framework based on counterfactual reconstruction and contrastive decoding (CRCD). Inspired by human cognition, CRCD reformulates the task as counterfactual latent change captioning to bypass affirmation bias. It contrasts a synthesized safe expectation with reality to identify semantic omissions. To address limited mental filling, we design a dual-branch counterfactual reconstruction architecture. The amodal completion branch restores defective objects, while the functional association branch infers completely absent safety objects. Concurrently, a multi-condition representation learning mechanism is integrated to mitigate representation bias by projecting universal features onto predefined safety criteria subspaces, thereby capturing information across more dimensions. By decoding feature-level semantic residuals between the reconstructed scene prototype and raw input, CRCD bounds the non-existence search space and activates the decoder's negative logic. Extensive experiments validate the effectiveness of CRCD, establishing a high-performance baseline for this pioneering task.
Abstract (translated)
URL
https://arxiv.org/abs/2609.19812
PDF
-
LIFD: Anchored Diffusion for 3D-Aware Scene Memory in Robotic Manipulation
2026-09-17 07:07:03Wenbo Li, Yiteng Chen, Wenhao Li, Qingyao WuAbstract
Robotic manipulation under partial observability requires spatial information that extends beyond the current view. Geometry-aware RGB features describe visible structure, but previously observed regions may disappear as the robot or scene moves. Maintaining a useful scene representation therefore requires retaining observation history while inferring missing content without losing its connection to visible evidence. We introduce LIFD (Look, Imagine, Focus, and Do), a framework for persistent, 3D-aware scene memory. LIFD learns a scene-token representation from multi-view agreement and completes it from a single RGB view and recurrent memory. A rectified-flow model generates the tokens while Anchor-Guided Cross-Attention conditions completion on current geometric features. Compact slot features connect this representation to a manipulation policy. Multi-view and geometric supervision are used during representation learning; deployment requires one RGB camera, proprioception, and a task instruction. LIFD (Staged) reaches 91.6% average success on LIBERO and 79.8% on MetaWorld, improving LIBERO average success by 3.1 percentage points over Joint training. On four UR5e task families with ten demonstrations per family, it achieves 56.0% mean success, compared with 40.5% for OpenVLA-7B.
Abstract (translated)
URL
https://arxiv.org/abs/2609.19796
PDF
-
SPARC: SuperPixel-Aware Region Contrastive Learning for Self-Supervised Dense Prediction
2026-09-16 22:40:07David Szczecina, Yuanpei Xiang, Jitao Hu, David Clausi, Yuhao Chen, Jason Deglint, Paul FieguthAbstract
Self-supervised learning (SSL) has become an effective approach for learning visual representations without manual annotations. Among SSL approaches, contrastive learning has been widely used for visual representation learning. However, existing contrastive SSL methods have focused primarily on image-level or pixel-level representation learning, while region-level representation learning remains less explored. We propose SPARC, a region-level contrastive learning framework that leverages superpixels to establish explicit correspondence between augmented image views. SPARC introduces a region contrastive branch that performs superpixel-based feature pooling and optimizes a region-level contrastive objective jointly with a global image-level objective. Under identical settings, SPARC consistently outperforms previous methods such as MoCo-v2 and DenseCL, achieving improvements of up to +9.79 mIoU for semantic segmentation and +4.88 AP for object detection. Ablation studies further demonstrate that region-level objectives produce the strongest performance. Thus, region-level contrastive learning is an effective approach for improving self-supervised visual pretraining for dense prediction tasks. Code repository can be accessed at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.25067
PDF
-
Learning and Control Beyond Linearity: Towards a Non-asymptotic Theory for Bilinear Systems
2026-09-16 19:34:30Yahya Sattar, Yassir Jedra, Robin Str\"asser, Frank Allg\"ower, Maryam Fazel, Sarah DeanAbstract
This tutorial provides a unified view of the emerging area of bilinear learning and control. Using linear systems as a benchmark, it explains what fundamentally changes in the bilinear settings, how recent theory addresses finite-sample learning and control, and how these ideas connect to broader themes in nonlinear control, representation learning, and data-driven decision making. For learning, we emphasize tools that are particularly useful in the bilinear settings, such as one-sided Bernstein's inequality for dependent and heavy-tailed covariates, blocking arguments, and martingale concentration for input-dependent noise. We then apply these tools to obtain finite-sample learning guarantees for fully observed bilinear systems, partially observed bilinear systems, and linear systems with bilinear observations. For control, we discuss quadratic control from bilinear observations, where the classical separation principle fails, and review tractable approaches based on belief-space receding horizon control. We also cover stabilization of bilinear dynamics under state feedback using semi-definite programming, LMI relaxations, sum-of-squares methods, and Koopman-based lifting. We conclude by discussing connections to reinforcement learning and machine learning, and some open problems in combined learning and control of bilinear systems.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22338
PDF
-
Learning A Unified Template for Gait Recognition
2026-09-16 11:27:36Panjian Huang, Saihui Hou, Junzhou Huang, Yongzhen HuangAbstract
"What I cannot create, I do not understand."Human wisdom reveals that creation is one of the highest forms of learning. For example, Diffusion Models have demonstrated remarkable semantic structure and memory in image generation, understanding, and restoration, which intuitively benefits representation learning. However, current gait networks rarely embrace this perspective, relying primarily on learning by contrasting gait samples under varying complex conditions, leading to semantic inconsistency and uniformity issues. To address these issues, we propose Origins with generative capabilities whose underlying philosophy is that different entities are generated from a unified template, inherently regularizing gait representations within a consistent and diverse semantic space to capture accurate gait differences. Admittedly, learning this unified template is exceedingly challenging, as it requires the comprehensiveness of the template to encompass gait representations with various conditions. Inspired by Diffusion Models, Origins diffuses the unified template into timestep templates for gait generative learning, and meanwhile transfers the unified template for gait representation learning. Especially, gait generative and representation learning serve as a unified framework for end-to-end joint training. Extensive experiments on CASIA-B, CCPG,SUSTech1K, Gait3D, GREW and CCGR-MINI demonstrate that Origins performs unified generative and representation learning, achieving superior performance.
Abstract (translated)
URL
https://arxiv.org/abs/2609.18490
PDF
-
ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models
2026-09-16 11:19:54Shijie Lian, Bin Yu, Zhaolong Shen, Xiaopeng Lin, Yichao Du, Zhirui Zhang, Laurence T. Yang, Kai ChenAbstract
Action tokenizers play a central role in autoregressive vision-language-action (VLA) models, determining both the targets for policy training and the executable commands recovered from predicted tokens. Their fidelity is commonly evaluated using pointwise reconstruction metrics such as mean squared error (MSE), yet small individual errors do not fully characterize how faithfully action adjustments across demonstrations are preserved. After compression, similar actions may still cluster around a representative motion, while the adjustments needed for different contexts are diminished, distorted, or even reversed. We introduce physical rank consistency (PRC) to measure how well tokenization preserves local physical distance rankings after reconstruction. Evaluating decoded actions provides a common reference across token vocabularies and decoder architectures, complementing pointwise accuracy with a measure of relational fidelity. We further present ActionPiece, which preserves physical action relationships through joint supervision of representation learning and quantization. Physical rank preservation supervises near-far ordering in encoder and quantized feature distances, while quantization regularization applies the same ordering to codeword assignment distributions. Both objectives augment reconstruction, producing discrete action tokens for standard autoregressive policy learning and execution through a frozen decoder. Under the same Qwen3-VL-4B policy training setup, ActionPiece achieves 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus, with additional evaluations reaching 71.9% on SimplerEnv and 51.5% across VLA-Arena L0-L2. Component ablations show that the two objectives jointly improve PRC and policy success, demonstrating the value of physical relationship supervision for action tokenization.
Abstract (translated)
URL
https://arxiv.org/abs/2609.18487
PDF
