#01Jul 23, 2026
cs.RO
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu and 6 more
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance Rate (FDR), capturing pairwise bias between factors, and Factor Dominance Hierarchy (FDH), aggregating these into a global ranking. Evaluation on six foundation policies reveals broadly consistent ordering, \textit{i.e.}, color $\geq$ object $\geq$ spatial $\geq$ verb $\geq$ size, with color dominant, and verb and size most under-grounded. We further show the diagnosis is actionable: a bias-aware data collection strategy that reallocates a fixed budget toward under-grounded factors outperforms baselines in simulation and on a real robot using half the demonstrations, thereby enabling more sample-efficient and generalizable policy learning.
#02Jul 23, 2026
cs.LG
Graph Learning on Ensembles of Cyclic Peptides: An Investigation of Molecular Ensemble Modeling
Aaron Feller, Kris Deibler, Maxim Secor
Molecular property prediction from structure often uses a single representative conformation, even though many molecules exist as conformational ensembles in solution. We introduce EnsembleEGNN, a molecular ensemble foundation model that encodes an ensemble by first encoding each conformer with shared Equivariant Graph Neural Network (EGNN) layers, then pooling the resulting conformer representations with a Set Attention Block. We pretrain the model on CREMP, a cyclic peptide ensemble dataset, using a multi-task self-supervised objective combining masked token recovery, noisy-coordinate reconstruction, and pairwise distance reconstruction. On the CREMP-CycPeptMPDB dataset, training EnsembleEGNN from scratch fails entirely ($R^2=0.005$). However, the pretrained model reaches $R^2=0.477$ and Pearson $r=0.699$, outperforming the sequence-only BERT baseline ($R^2=0.439$, Pearson $r=0.667$). When EnsembleEGNN is co-trained end-to-end with the BERT sequence encoder, the hybrid model improves further to $R^2=0.538$ and Pearson $r=0.737$. These results demonstrate that encoding conformational ensembles into a single thermodynamically informed embedding improves cyclic-peptide property prediction.
#03Jul 23, 2026
cs.CV
Unified Video Dense Prediction from Disjoint Data
Yihong Sun, Seoung Wug Oh, Jiahui Huang and 2 more
Scene understanding requires simultaneous prediction about geometry, appearance, and semantics. However, existing task-specific annotations are fragmented across incompatible, domain-specific datasets. Current unified systems circumvent this by restricting training to fully co-annotated data, or by incurring the large computational cost of pseudo-labeling. To mitigate this, we introduce UniD, a unified video model that jointly predicts eight dense scene properties-depth, surface normals, semantic segmentation, boundaries, human parts, albedo, shading, and materials-all learned from disjoint, domain-specific datasets. We propose a simple yet effective distillation step in which per-task experts supervise a unified backbone through lightweight task projectors, eliminating the need for annotation overlap or pseudo-labeling. Our key insight is that the strong visual priors of a pretrained diffusion model are sufficient to bridge the domain gaps introduced by disjoint training sources, enabling robust generalization to scene-task combinations never seen during training. UniD achieves competitive performance against per-task specialists and multi-task baselines, with strong generalization to out-of-distribution scenarios and enhanced temporal and cross-task consistency. Code and video results are available at https://unid-video.github.io/.
#04Jul 23, 2026
cs.LG
Expanding Flow Maps
Sophia Tang, Pranam Chatterjee
Flow-based generative models have enabled remarkable progress in fast and controllable generation across continuous and discrete state spaces, yet existing parameterizations are constrained to fixed dimensions or fixed sequence lengths. Here, we introduce Expanding Generative Flows (EFlows), which define flows between distributions of increasing dimensionality along an expanding interpolant that grows the state by augmenting it with conditional noise. Building on this construction, we propose Expanding Flow Maps (EFMs), a new class of flow maps that distill the expanding interpolant into efficient few-step generative models. Each EFM factors the map between any two timesteps into two learnable operations: an expand operator, which augments the state space with new coordinates or tokens conditioned on the current state, and a transport map, which pushes the expanded state forward along the interpolant. Composing these operators yields a single map that jointly expands and denoises the state, recovering existing fixed-canvas flows and flow maps as the special case in which the expand operator is the identity. We further extend the framework to the discrete simplex, enabling variable-size graph generation and variable-length sequence generation. Across both continuous and discrete modalities, we establish EFlows and EFMs as a principled framework for settings in which output size is itself a learned, controllable degree of freedom.
#05Jul 23, 2026
cs.LG
Zero-Flow Two-Sample Tests
Yakun Wang, Leyang Wang, Song Liu and 1 more
We propose a new approach to two-sample testing for deciding whether two sets of samples are drawn from the same distribution. The test is built on a statistical discrepancy based on the zero-flow criterion, termed zero-flow discrepancy (ZFD). We prove the validity of ZFD and propose a practical testing procedure, termed the zero-flow two-sample test (ZF2ST). The key idea is to learn how samples from the two distributions are locally misaligned and use the resulting directional pattern as evidence of distributional difference. By separating witness learning from hypothesis evaluation, ZF2ST can use flexible neural networks while maintaining valid statistical calibration. We develop both regression-based and power-maximized approaches for learning the witness. Experiments on synthetic and image datasets demonstrate that ZF2ST can achieve strong testing power for structured distributional changes while maintaining well-calibrated type-I error.