Publications

Self-Predictive Representations for Combinatorial Generalization in Behavioral Cloning

Adriana Hugessen

Behavioral cloning (BC) methods trained with supervised learning (SL) are an effective way to learn policies from human demonstrations in do… (see more)mains like robotics. Goal-conditioning these policies enables a single generalist policy to capture diverse behaviors contained within an offline dataset. While goal-conditioned behavior cloning (GCBC) methods can perform well on in-distribution training tasks, they do not necessarily generalize zero-shot to tasks that require conditioning on novel state-goal pairs, i.e. combinatorial generalization. In part, this limitation can be attributed to a lack of temporal consistency in the state representation learned by BC; if temporally related states are encoded to similar latent representations, then the out-of-distribution gap for novel state-goal pairs would be reduced. Hence, encouraging this temporal consistency in the representation space should facilitate combinatorial generalization. Successor representations, which encode the distribution of future states visited from the current state, nicely encapsulate this property. However, previous methods for learning successor representations have relied on contrastive samples, temporal-difference (TD) learning, or both. In this work, we propose a simple yet effective representation learning objective,

2025-06-11

ArXiv (preprint)

The 2025 PNPL Competition: Speech Detection and Phoneme Classification in the LibriBrain Dataset

Gilad Landau

Miran Ozdogan

Gereon Elvers

Francesco Mantegna

Pratik Somaiya

Dulhan Hansaja Jayalath

Luisa Kurth

Teyun Kwon

Brendan Shillingford

Greg Farquhar

Minqi Jiang

Karim Jerbi

Hamza Abdelhedi

Yorguin Mantilla Ramos

Caglar Gulcehre

M. Woolrich

Natalie Voets

Oiwi Parker Jones

The advance of speech decoding from non-invasive brain data holds the potential for profound societal impact. Among its most promising appli… (see more)cations is the restoration of communication to paralysed individuals affected by speech deficits such as dysarthria, without the need for high-risk surgical interventions. The ultimate aim of the 2025 PNPL competition is to produce the conditions for an"ImageNet moment"or breakthrough in non-invasive neural decoding, by harnessing the collective power of the machine learning community. To facilitate this vision we present the largest within-subject MEG dataset recorded to date (LibriBrain) together with a user-friendly Python library (pnpl) for easy data access and integration with deep learning frameworks. For the competition we define two foundational tasks (i.e. Speech Detection and Phoneme Classification from brain data), complete with standardised data splits and evaluation metrics, illustrative benchmark models, online tutorial code, a community discussion board, and public leaderboard for submissions. To promote accessibility and participation the competition features a Standard track that emphasises algorithmic innovation, as well as an Extended track that is expected to reward larger-scale computing, accelerating progress toward a non-invasive brain-computer interface for speech.

2025-06-11

ArXiv (preprint)

The 2025 PNPL Competition: Speech Detection and Phoneme Classification in the LibriBrain Dataset

Gilad Landau

Miran Ozdogan

Gereon Elvers

Francesco Mantegna

Pratik Somaiya

Dulhan Hansaja Jayalath

Luisa Kurth

Teyun Kwon

Brendan Shillingford

Greg Farquhar

Minqi Jiang

Karim Jerbi

Hamza Abdelhedi

Yorguin Mantilla Ramos

Caglar Gulcehre

M. Woolrich

Natalie Voets

Oiwi Parker Jones

The advance of speech decoding from non-invasive brain data holds the potential for profound societal impact. Among its most promising appli… (see more)cations is the restoration of communication to paralysed individuals affected by speech deficits such as dysarthria, without the need for high-risk surgical interventions. The ultimate aim of the 2025 PNPL competition is to produce the conditions for an"ImageNet moment"or breakthrough in non-invasive neural decoding, by harnessing the collective power of the machine learning community. To facilitate this vision we present the largest within-subject MEG dataset recorded to date (LibriBrain) together with a user-friendly Python library (pnpl) for easy data access and integration with deep learning frameworks. For the competition we define two foundational tasks (i.e. Speech Detection and Phoneme Classification from brain data), complete with standardised data splits and evaluation metrics, illustrative benchmark models, online tutorial code, a community discussion board, and public leaderboard for submissions. To promote accessibility and participation the competition features a Standard track that emphasises algorithmic innovation, as well as an Extended track that is expected to reward larger-scale computing, accelerating progress toward a non-invasive brain-computer interface for speech.

2025-06-11

ArXiv (preprint)

Torsional-GFN: a conditional conformation generator for small molecules

Alexandra Volokhova

Lena Nehale Ezzine

Piotr Gaiński

Luca Scimeca

Emmanuel Bengio

Prudencio Tossou

Yoshua Bengio

Alex Hernandez-Garcia

2025-06-11

ICML.cc/2025/Workshop/GenBio (poster)

V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning

Mahmoud Assran

Adrien Bardes

David Fan

Quentin Garrido

Russell Howes

Mojtaba Komeili

Matthew J. Muckley

Ammar Rizvi

Claire Roberts

Koustuv Sinha

Artem Zholus

Sergio Arnaud

Abha Gejji

Ada Martin

Francois Robert Hogan

Daniel Dugas

Piotr Bojanowski

Vasil Khalidov

Patrick Labatut

Francisco Massa … (see 13 more)

Marc Szafraniec

K. Krishnakumar

Ying Li

Xiaodong Ma

Sarath Chandar

Franziska Meier

Yann LeCun

Michael Rabbat

Nicolas Ballas

Fair at Meta

Mila - Québec

AI Institute

Polytechnique Montréal

A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supe… (see more)rvised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on Something-Something v2) and state-of-the-art performance on human action anticipation (39.7 recall-at-5 on Epic-Kitchens-100) surpassing previous task-specific models. Additionally, after aligning V-JEPA 2 with a large language model, we demonstrate state-of-the-art performance on multiple video question-answering tasks at the 8 billion parameter scale (e.g., 84.0 on PerceptionTest, 76.9 on TempCompass). Finally, we show how self-supervised learning can be applied to robotic planning tasks by post-training a latent action-conditioned world model, V-JEPA 2-AC, using less than 62 hours of unlabeled robot videos from the Droid dataset. We deploy V-JEPA 2-AC zero-shot on Franka arms in two different labs and enable picking and placing of objects using planning with image goals. Notably, this is achieved without collecting any data from the robots in these environments, and without any task-specific training or reward. This work demonstrates how self-supervised learning from web-scale data and a small amount of robot interaction data can yield a world model capable of planning in the physical world.

2025-06-11

ArXiv (preprint)

V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning

Mahmoud Assran

Adrien Bardes

David Fan

Quentin Garrido

Russell Howes

Mojtaba Komeili

Matthew J. Muckley

Ammar Rizvi

Claire Roberts

Koustuv Sinha

Artem Zholus

Sergio Arnaud

Abha Gejji

Ada Martin

Francois Robert Hogan

Daniel Dugas

Piotr Bojanowski

Vasil Khalidov

Patrick Labatut

Francisco Massa … (see 13 more)

Marc Szafraniec

K. Krishnakumar

Yong Li

Xiaodong Ma

Sarath Chandar

Franziska Meier

Yann LeCun

Michael Rabbat

Nicolas Ballas

Fair at Meta

Mila - Québec

AI Institute

Polytechnique Montréal

A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supe… (see more)rvised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on Something-Something v2) and state-of-the-art performance on human action anticipation (39.7 recall-at-5 on Epic-Kitchens-100) surpassing previous task-specific models. Additionally, after aligning V-JEPA 2 with a large language model, we demonstrate state-of-the-art performance on multiple video question-answering tasks at the 8 billion parameter scale (e.g., 84.0 on PerceptionTest, 76.9 on TempCompass). Finally, we show how self-supervised learning can be applied to robotic planning tasks by post-training a latent action-conditioned world model, V-JEPA 2-AC, using less than 62 hours of unlabeled robot videos from the Droid dataset. We deploy V-JEPA 2-AC zero-shot on Franka arms in two different labs and enable picking and placing of objects using planning with image goals. Notably, this is achieved without collecting any data from the robots in these environments, and without any task-specific training or reward. This work demonstrates how self-supervised learning from web-scale data and a small amount of robot interaction data can yield a world model capable of planning in the physical world.

2025-06-11

ArXiv (preprint)

V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning

Mahmoud Assran

Adrien Bardes

David Fan

Quentin Garrido

Russell Howes

Mojtaba Komeili

Matthew J. Muckley

Ammar Rizvi

Claire Roberts

Koustuv Sinha

Artem Zholus

Sergio Arnaud

Abha Gejji

Ada Martin

Francois Robert Hogan

Daniel Dugas

Piotr Bojanowski

Vasil Khalidov

Patrick Labatut

Francisco Massa … (see 13 more)

Marc Szafraniec

K. Krishnakumar

Yong Li

Xiaodong Ma

Sarath Chandar

Franziska Meier

Yann LeCun

Michael Rabbat

Nicolas Ballas

Fair at Meta

Mila - Québec

AI Institute

Polytechnique Montréal

A major challenge for modern AI is to learn to understand the world and learn to act largely by observation. This paper explores a self-supe… (see more)rvised approach that combines internet-scale video data with a small amount of interaction data (robot trajectories), to develop models capable of understanding, predicting, and planning in the physical world. We first pre-train an action-free joint-embedding-predictive architecture, V-JEPA 2, on a video and image dataset comprising over 1 million hours of internet video. V-JEPA 2 achieves strong performance on motion understanding (77.3 top-1 accuracy on Something-Something v2) and state-of-the-art performance on human action anticipation (39.7 recall-at-5 on Epic-Kitchens-100) surpassing previous task-specific models. Additionally, after aligning V-JEPA 2 with a large language model, we demonstrate state-of-the-art performance on multiple video question-answering tasks at the 8 billion parameter scale (e.g., 84.0 on PerceptionTest, 76.9 on TempCompass). Finally, we show how self-supervised learning can be applied to robotic planning tasks by post-training a latent action-conditioned world model, V-JEPA 2-AC, using less than 62 hours of unlabeled robot videos from the Droid dataset. We deploy V-JEPA 2-AC zero-shot on Franka arms in two different labs and enable picking and placing of objects using planning with image goals. Notably, this is achieved without collecting any data from the robots in these environments, and without any task-specific training or reward. This work demonstrates how self-supervised learning from web-scale data and a small amount of robot interaction data can yield a world model capable of planning in the physical world.

2025-06-11

ArXiv (preprint)

Assessing and Learning Alignment of Unimodal Vision and Language Models

Le Zhang

Qian Yang

How well are unimodal vision and language models aligned? Although prior work have approached answering this question, their assessment meth… (see more)ods do not directly translate to how these models are used in practical vision-language tasks. In this paper, we propose a direct assessment method, inspired by linear probing, to assess vision-language alignment. We identify that the degree of alignment of the SSL vision models depends on their SSL training objective, and we find that the clustering quality of SSL representations has a stronger impact on alignment performance than their linear separability. Next, we introduce Swift Alignment of Image and Language (SAIL), a efficient transfer learning framework that aligns pretrained unimodal vision and language models for downstream vision-language tasks. Since SAIL leverages the strengths of pretrained unimodal models, it requires significantly fewer (6%) paired image-text data for the multimodal alignment compared to models like CLIP which are trained from scratch. SAIL training only requires a single A100 GPU, 5 hours of training and can accommodate a batch size up to 32,768. SAIL achieves 73.4% zero-shot accuracy on ImageNet (vs. CLIP's 72.7%) and excels in zero-shot retrieval, complex reasoning, and semantic segmentation. Additionally, SAIL improves the language-compatibility of vision encoders that in turn enhance the performance of multimodal large language models. The entire codebase and model weights are open-source: https://lezhang7.github.io/sail.github.io/

2025-06-10

2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (published)

CTRL-O: Language-Controllable Object-Centric Visual Representation Learning

Aniket Rajiv Didolkar

Andrii Zadaianchuk

Rabiul Awal

Maximilian Seitzer

Efstratios Gavves

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each … (see more)slot captures a distinct object. Current state-of-the-art models have shown remarkable success in object discovery, particularly in complex real-world scenes, while also generalizing well to unseen domains. However, these models suffer from a key limitation: they lack controllability. Specifically, current object-centric models learn representations based on their preconceived understanding of objects and parts, without allowing user input to guide or modify which objects are represented. Introducing controllability into object-centric models could unlock a range of useful capabilities, such as enabling models to represent scenes at variable levels of granularity based on user specification. In this work, we propose a novel approach that conditions slot representations through guided decomposition, paired with a novel contrastive learning objective, to enable user-directed control over which objects are represented. Our method achieves such controllability without any mask supervision and successfully binds to user-specified objects in complex real-world scenes.

2025-06-10

2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (published)

CulturalFrames: Assessing Cultural Expectation Alignment in Text-to-Image Models and Evaluation Metrics

Shravan Nayak

Mehar Bhatia

Xiaofeng Zhang

Verena Rieser

Lisa Anne Hendricks

Sjoerd van Steenkiste

Yash Goyal

Karolina Stanczak

The increasing ubiquity of text-to-image (T2I) models as tools for visual content generation raises concerns about their ability to accurate… (see more)ly represent diverse cultural contexts. In this work, we present the first study to systematically quantify the alignment of T2I models and evaluation metrics with respect to both explicit as well as implicit cultural expectations. To this end, we introduce CulturalFrames, a novel benchmark designed for rigorous human evaluation of cultural representation in visual generations. Spanning 10 countries and 5 socio-cultural domains, CulturalFrames comprises 983 prompts, 3637 corresponding images generated by 4 state-of-the-art T2I models, and over 10k detailed human annotations. We find that T2I models not only fail to meet the more challenging implicit expectations but also the less challenging explicit expectations. Across models and countries, cultural expectations are missed an average of 44% of the time. Among these failures, explicit expectations are missed at a surprisingly high average rate of 68%, while implicit expectation failures are also significant, averaging 49%. Furthermore, we demonstrate that existing T2I evaluation metrics correlate poorly with human judgments of cultural alignment, irrespective of their internal reasoning. Collectively, our findings expose critical gaps, providing actionable directions for developing more culturally informed T2I models and evaluation methodologies.

2025-06-10

ICML.cc/2025/Workshop/MoFA (poster)

CulturalFrames: Assessing Cultural Expectation Alignment in Text-to-Image Models and Evaluation Metrics

Shravan Nayak

Mehar Bhatia

Xiaofeng Zhang

Verena Rieser

Lisa Anne Hendricks

Sjoerd van Steenkiste

Yash Goyal

Karolina Stanczak

The increasing ubiquity of text-to-image (T2I) models as tools for visual content generation raises concerns about their ability to accurate… (see more)ly represent diverse cultural contexts. In this work, we present the first study to systematically quantify the alignment of T2I models and evaluation metrics with respect to both explicit as well as implicit cultural expectations. To this end, we introduce CulturalFrames, a novel benchmark designed for rigorous human evaluation of cultural representation in visual generations. Spanning 10 countries and 5 socio-cultural domains, CulturalFrames comprises 983 prompts, 3637 corresponding images generated by 4 state-of-the-art T2I models, and over 10k detailed human annotations. We find that T2I models not only fail to meet the more challenging implicit expectations but also the less challenging explicit expectations. Across models and countries, cultural expectations are missed an average of 44% of the time. Among these failures, explicit expectations are missed at a surprisingly high average rate of 68%, while implicit expectation failures are also significant, averaging 49%. Furthermore, we demonstrate that existing T2I evaluation metrics correlate poorly with human judgments of cultural alignment, irrespective of their internal reasoning. Collectively, our findings expose critical gaps, providing actionable directions for developing more culturally informed T2I models and evaluation methodologies.

2025-06-10

ArXiv (preprint)