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Aug 4

APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies

Vision-Language-Action (VLA) models that couple pretrained Vision-Language Models (VLMs) with continuous action experts have achieved strong manipulation performance, yet generalization to out-of-distribution (OOD) language instructions remains poor. A known challenge is the structural imbalance in VLA data, where language is far less diverse than visual and action content, making policies prone to visual shortcuts. While discrete-action methods mitigate this through vision-language co-training, continuous action experts lack such protection: they start from random initialization and learn entirely from imbalanced data, producing noisy gradients that corrupt the VLM and fail to exploit its language capability. We address this from a Bayesian perspective, factorizing the policy into a language-agnostic Vision-Action (VA) prior and a language-conditioned VLA likelihood, and propose APT, a two-stage training method emphasizing Action expert PreTraining. In Stage 1, the action expert is pretrained as a VA prior on vision-action pairs from a frozen VLM, bypassing the language imbalance. In Stage 2, language tokens are injected through a gated fusion mechanism that integrates VLM features while preserving the learned visuomotor prior. APT applies to mainstream VLA architectures, including the π and GR00T-style architectures. Comprehensive experiments validate that APT achieves consistent gains on unseen instructions and compositional tasks. Project Page: https://xukechun.github.io/papers/APT/

Neural Collapse in Deep Linear Networks: From Balanced to Imbalanced Data

Modern deep neural networks have achieved impressive performance on tasks from image classification to natural language processing. Surprisingly, these complex systems with massive amounts of parameters exhibit the same structural properties in their last-layer features and classifiers across canonical datasets when training until convergence. In particular, it has been observed that the last-layer features collapse to their class-means, and those class-means are the vertices of a simplex Equiangular Tight Frame (ETF). This phenomenon is known as Neural Collapse (NC). Recent papers have theoretically shown that NC emerges in the global minimizers of training problems with the simplified "unconstrained feature model". In this context, we take a step further and prove the NC occurrences in deep linear networks for the popular mean squared error (MSE) and cross entropy (CE) losses, showing that global solutions exhibit NC properties across the linear layers. Furthermore, we extend our study to imbalanced data for MSE loss and present the first geometric analysis of NC under bias-free setting. Our results demonstrate the convergence of the last-layer features and classifiers to a geometry consisting of orthogonal vectors, whose lengths depend on the amount of data in their corresponding classes. Finally, we empirically validate our theoretical analyses on synthetic and practical network architectures with both balanced and imbalanced scenarios.

  • 6 authors
·
Jan 1, 2023

Diagnosing and Calibrating Tool-Call Boundary Drift in Multi-Teacher On-Policy Distillation

Agentic language models must learn when to call tools, when to consume tool responses, and when to answer directly. This makes multi-teacher on-policy distillation a natural training strategy: one teacher can specialize in tool calls, another in direct responses, and the student can learn from both on its own generated distribution. We show that this strategy can induce a behavior shift that is invisible from aggregate losses alone. In a two-teacher tool-use setting, vanilla generalized knowledge distillation improves tool-call recall but also moves the model toward over-calling, where it calls tools on examples that should be answered directly. Aggregate explanations are insufficient: tool-call samples do not receive more token exposure, and full-sequence per-token divergence is not larger for the tool-call teacher. We instead analyze behavior leverage imbalance: local token-level signals at mode- entry and structural positions, such as <tool_call> and function names, can have disproportionate control over the global generation mode. We propose Soft Clamp, a per-token divergence calibration method that dynamically compresses extreme token-level Jensen-Shannon divergence while preserving nonzero gradients. On APIGen-MT, Soft Clamp reduces over-calling from 13.7% to 9.0% relative to vanilla GKD while matching its decision accuracy. In a BFCL multi-turn diagnostic, it also lowers tool-call loops and repeated calls among GKD variants. These results suggest that multi-teacher OPD should monitor where teacher signals act, not only how large they are in aggregate.

antgroup Ant Group
·
Jul 14 2

Rethinking the Bias of Foundation Model under Long-tailed Distribution

Long-tailed learning has garnered increasing attention due to its practical significance. Among the various approaches, the fine-tuning paradigm has gained considerable interest with the advent of foundation models. However, most existing methods primarily focus on leveraging knowledge from these models, overlooking the inherent biases introduced by the imbalanced training data they rely on. In this paper, we examine how such imbalances from pre-training affect long-tailed downstream tasks. Specifically, we find the imbalance biases inherited in foundation models on downstream task as parameter imbalance and data imbalance. During fine-tuning, we observe that parameter imbalance plays a more critical role, while data imbalance can be mitigated using existing re-balancing strategies. Moreover, we find that parameter imbalance cannot be effectively addressed by current re-balancing techniques, such as adjusting the logits, during training, unlike data imbalance. To tackle both imbalances simultaneously, we build our method on causal learning and view the incomplete semantic factor as the confounder, which brings spurious correlations between input samples and labels. To resolve the negative effects of this, we propose a novel backdoor adjustment method that learns the true causal effect between input samples and labels, rather than merely fitting the correlations in the data. Notably, we achieve an average performance increase of about 1.67% on each dataset.

  • 5 authors
·
Jan 27, 2025

Improving General Text Embedding Model: Tackling Task Conflict and Data Imbalance through Model Merging

Text embeddings are vital for tasks such as text retrieval and semantic textual similarity (STS). Recently, the advent of pretrained language models, along with unified benchmarks like the Massive Text Embedding Benchmark (MTEB), has facilitated the development of versatile general-purpose text embedding models. Advanced embedding models are typically developed using large-scale multi-task data and joint training across multiple tasks. However, our experimental analysis reveals two significant drawbacks of joint training: 1) Task Conflict: Gradients from different tasks interfere with each other, leading to negative transfer. 2) Data Imbalance: Disproportionate data distribution introduces biases that negatively impact performance across tasks. To overcome these challenges, we explore model merging-a technique that combines independently trained models to mitigate gradient conflicts and balance data distribution. We introduce a novel method, Self Positioning, which efficiently searches for optimal model combinations within the interpolation space of task vectors using stochastic gradient descent. Our experiments demonstrate that Self Positioning significantly enhances multi-task performance on the MTEB dataset, achieving an absolute improvement of 0.7 points. It outperforms traditional resampling methods while reducing computational costs. This work offers a robust approach to building generalized text embedding models with superior performance across diverse embedding-related tasks.

  • 6 authors
·
Oct 19, 2024

Enhancing Fairness in Autoencoders for Node-Level Graph Anomaly Detection

Graph anomaly detection (GAD) has become an increasingly important task across various domains. With the rapid development of graph neural networks (GNNs), GAD methods have achieved significant performance improvements. However, fairness considerations in GAD remain largely underexplored. Indeed, GNN-based GAD models can inherit and amplify biases present in training data, potentially leading to unfair outcomes. While existing efforts have focused on developing fair GNNs, most approaches target node classification tasks, where models often rely on simple layer architectures rather than autoencoder-based structures, which are the most widely used architecturs for anomaly detection. To address fairness in autoencoder-based GAD models, we propose DisEntangled Counterfactual Adversarial Fair (DECAF)-GAD, a framework that alleviates bias while preserving GAD performance. Specifically, we introduce a structural causal model (SCM) to disentangle sensitive attributes from learned representations. Based on this causal framework, we formulate a specialized autoencoder architecture along with a fairness-guided loss function. Through extensive experiments on both synthetic and real-world datasets, we demonstrate that DECAF-GAD not only achieves competitive anomaly detection performance but also significantly enhances fairness metrics compared to baseline GAD methods. Our code is available at https://github.com/Tlhey/decaf_code.

  • 4 authors
·
Aug 14, 2025

DatasetEquity: Are All Samples Created Equal? In The Quest For Equity Within Datasets

Data imbalance is a well-known issue in the field of machine learning, attributable to the cost of data collection, the difficulty of labeling, and the geographical distribution of the data. In computer vision, bias in data distribution caused by image appearance remains highly unexplored. Compared to categorical distributions using class labels, image appearance reveals complex relationships between objects beyond what class labels provide. Clustering deep perceptual features extracted from raw pixels gives a richer representation of the data. This paper presents a novel method for addressing data imbalance in machine learning. The method computes sample likelihoods based on image appearance using deep perceptual embeddings and clustering. It then uses these likelihoods to weigh samples differently during training with a proposed Generalized Focal Loss function. This loss can be easily integrated with deep learning algorithms. Experiments validate the method's effectiveness across autonomous driving vision datasets including KITTI and nuScenes. The loss function improves state-of-the-art 3D object detection methods, achieving over 200% AP gains on under-represented classes (Cyclist) in the KITTI dataset. The results demonstrate the method is generalizable, complements existing techniques, and is particularly beneficial for smaller datasets and rare classes. Code is available at: https://github.com/towardsautonomy/DatasetEquity

  • 4 authors
·
Aug 18, 2023

Transitive Expert Error and Routing Problems in Complex AI Systems

Domain expertise enhances judgment within boundaries but creates systematic vulnerabilities specifically at borders. We term this Transitive Expert Error (TEE), distinct from Dunning-Kruger effects, requiring calibrated expertise as precondition. Mechanisms enabling reliable within-domain judgment become liabilities when structural similarity masks causal divergence. Two core mechanisms operate: structural similarity bias causes experts to overweight surface features (shared vocabulary, patterns, formal structure) while missing causal architecture differences; authority persistence maintains confidence across competence boundaries through social reinforcement and metacognitive failures (experts experience no subjective uncertainty as pattern recognition operates smoothly on familiar-seeming inputs.) These mechanism intensify under three conditions: shared vocabulary masking divergent processes, social pressure for immediate judgment, and delayed feedback. These findings extend to AI routing architectures (MoE systems, multi-model orchestration, tool-using agents, RAG systems) exhibiting routing-induced failures (wrong specialist selected) and coverage-induced failures (no appropriate specialist exists). Both produce a hallucination phenotype: confident, coherent, structurally plausible but causally incorrect outputs at domain boundaries. In human systems where mechanisms are cognitive black boxes; AI architectures make them explicit and addressable. We propose interventions: multi-expert activation with disagreement detection (router level), boundary-aware calibration (specialist level), and coverage gap detection (training level). TEE has detectable signatures (routing patterns, confidence-accuracy dissociations, domain-inappropriate content) enabling monitoring and mitigation. What remains intractable in human cognition becomes addressable through architectural design.

  • 1 authors
·
Jan 6

WorldKernel: A World Model is the Coupling Kernel of Admissible Possible Worlds

A common assumption holds that enough observational and interventional data, given to a strong enough predictor, suffices. We report a failure mode that contradicts it. Across hundreds of structural causal models, on identified quantities a strong predictor and a Bayesian baseline both succeed, but on unidentified quantities (the couplings between counterfactual worlds) the predictor collapses to a point, on 28% of models to one no valid model can produce, while the truth is an admissible interval more data never narrows. The gap is structural: prediction cannot represent uncertainty over counterfactual couplings. We cast a world model as a single positive semidefinite coupling kernel K(T,T') over admissible worlds, whose diagonal is the ordinary posterior (what a predictor recovers) and whose off-diagonal is the cross-world coupling it cannot, which every counterfactual reads. The paper is the theory of that off-diagonal. It is real: two states with identical posteriors differ on a cross-world query, and the off-diagonal is the coupling that fixes counterfactuals. It can be bounded: positive semidefiniteness is partial-identifying information the marginals lack, and enforcing it bounds counterfactuals in polynomial time where the exact response-type program is intractable. Logical structure sharpens it: ontology axioms tighten the bound by up to a third, propagating to couplings they never touch. It can be acquired: targeted scars, constraints learned from encountered infeasibilities, close the gap several times faster than untargeted ones. Its full reconstruction is approximate counting of the admissible worlds, tractable below the Sly-Sun threshold and inapproximable above; we do not claim to beat the worst case.

  • 1 authors
·
Jun 8

Extended Detailed Balance for Systems with Irreversible Reactions

The principle of detailed balance states that in equilibrium each elementary process is equilibrated by its reverse process. For many real physico-chemical complex systems (e.g. homogeneous combustion, heterogeneous catalytic oxidation, most enzyme reactions etc), detailed mechanisms include both reversible and irreversible reactions. In this case, the principle of detailed balance cannot be applied directly. We represent irreversible reactions as limits of reversible steps and obtain the principle of detailed balance for complex mechanisms with some irreversible elementary processes. We proved two consequences of the detailed balance for these mechanisms: the structural condition and the algebraic condition that form together the extended form of detailed balance. The algebraic condition is the principle of detailed balance for the reversible part. The structural condition is: the convex hull of the stoichiometric vectors of the irreversible reactions has empty intersection with the linear span of the stoichiometric vectors of the reversible reaction. Physically, this means that the irreversible reactions cannot be included in oriented pathways. The systems with the extended form of detailed balance are also the limits of the reversible systems with detailed balance when some of the equilibrium concentrations (or activities) tend to zero. Surprisingly, the structure of the limit reaction mechanism crucially depends on the relative speeds of this tendency to zero.

  • 2 authors
·
Jan 27, 2011

IGL-Bench: Establishing the Comprehensive Benchmark for Imbalanced Graph Learning

Deep graph learning has gained grand popularity over the past years due to its versatility and success in representing graph data across a wide range of domains. However, the pervasive issue of imbalanced graph data distributions, where certain parts exhibit disproportionally abundant data while others remain sparse, undermines the efficacy of conventional graph learning algorithms, leading to biased outcomes. To address this challenge, Imbalanced Graph Learning (IGL) has garnered substantial attention, enabling more balanced data distributions and better task performance. Despite the proliferation of IGL algorithms, the absence of consistent experimental protocols and fair performance comparisons pose a significant barrier to comprehending advancements in this field. To bridge this gap, we introduce IGL-Bench, a foundational comprehensive benchmark for imbalanced graph learning, embarking on 16 diverse graph datasets and 24 distinct IGL algorithms with uniform data processing and splitting strategies. Specifically, IGL-Bench systematically investigates state-of-the-art IGL algorithms in terms of effectiveness, robustness, and efficiency on node-level and graph-level tasks, with the scope of class-imbalance and topology-imbalance. Extensive experiments demonstrate the potential benefits of IGL algorithms on various imbalanced conditions, offering insights and opportunities in the IGL field. Further, we have developed an open-sourced and unified package to facilitate reproducible evaluation and inspire further innovative research, which is available at https://github.com/RingBDStack/IGL-Bench.

  • 11 authors
·
Jun 14, 2024

Topo Goes Political: TDA-Based Controversy Detection in Imbalanced Reddit Political Data

The detection of controversial content in political discussions on the Internet is a critical challenge in maintaining healthy digital discourse. Unlike much of the existing literature that relies on synthetically balanced data, our work preserves the natural distribution of controversial and non-controversial posts. This real-world imbalance highlights a core challenge that needs to be addressed for practical deployment. Our study re-evaluates well-established methods for detecting controversial content. We curate our own dataset focusing on the Indian political context that preserves the natural distribution of controversial content, with only 12.9% of the posts in our dataset being controversial. This disparity reflects the true imbalance in real-world political discussions and highlights a critical limitation in the existing evaluation methods. Benchmarking on datasets that model data imbalance is vital for ensuring real-world applicability. Thus, in this work, (i) we release our dataset, with an emphasis on class imbalance, that focuses on the Indian political context, (ii) we evaluate existing methods from this domain on this dataset and demonstrate their limitations in the imbalanced setting, (iii) we introduce an intuitive metric to measure a model's robustness to class imbalance, (iv) we also incorporate ideas from the domain of Topological Data Analysis, specifically Persistent Homology, to curate features that provide richer representations of the data. Furthermore, we benchmark models trained with topological features against established baselines.

  • 7 authors
·
Mar 5, 2025