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Publications
V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
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.
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.
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.
Large Language Models (LLM) have demonstrated the capability of generating free text self Natural Language Explanation (self-NLE) to justify… (see more) their answers. Despite their logical appearance, self-NLE do not necessarily reflect the LLM actual decision-making process, making such explanations unfaithful. While existing methods for measuring self-NLE faithfulness mostly rely on behavioral tests or computational block identification, none of them examines the neural activity underlying the model's reasoning. This work introduces a novel flexible framework for quantitatively measuring the faithfulness of LLM-generated self-NLE by directly comparing the latter with interpretations of the model's internal hidden states. The proposed framework is versatile and provides deep insights into self-NLE faithfulness by establishing a direct connection between self-NLE and model reasoning. This approach advances the understanding of self-NLE faithfulness and provides building blocks for generating more faithful self-NLE.
Large Language Models (LLM) have demonstrated the capability of generating free text self Natural Language Explanation (self-NLE) to justify… (see more) their answers. Despite their logical appearance, self-NLE do not necessarily reflect the LLM actual decision-making process, making such explanations unfaithful. While existing methods for measuring self-NLE faithfulness mostly rely on behavioral tests or computational block identification, none of them examines the neural activity underlying the model's reasoning. This work introduces a novel flexible framework for quantitatively measuring the faithfulness of LLM-generated self-NLE by directly comparing the latter with interpretations of the model's internal hidden states. The proposed framework is versatile and provides deep insights into self-NLE faithfulness by establishing a direct connection between self-NLE and model reasoning. This approach advances the understanding of self-NLE faithfulness and provides building blocks for generating more faithful self-NLE.
Adapting a pretrained diffusion model to new objectives at inference time remains an open problem in generative modeling. Existing steering … (see more)methods suffer from inaccurate value estimation, especially at high noise levels, which biases guidance. Moreover, information from past runs is not reused to improve sample quality, resulting in inefficient use of compute. Inspired by the success of Monte Carlo Tree Search, we address these limitations by casting inference-time alignment as a search problem that reuses past computations. We introduce a tree-based approach that samples from the reward-aligned target density by propagating terminal rewards back through the diffusion chain and iteratively refining value estimates with each additional generation. Our proposed method, Diffusion Tree Sampling (DTS), produces asymptotically exact samples from the target distribution in the limit of infinite rollouts, and its greedy variant, Diffusion Tree Search (DTS
Adapting a pretrained diffusion model to new objectives at inference time remains an open problem in generative modeling. Existing steering … (see more)methods suffer from inaccurate value estimation, especially at high noise levels, which biases guidance. Moreover, information from past runs is not reused to improve sample quality, leading to inefficient use of compute. Inspired by the success of Monte Carlo Tree Search, we address these limitations by casting inference-time alignment as a search problem that reuses past computations. We introduce a tree-based approach that _samples_ from the reward-aligned target density by propagating terminal rewards back through the diffusion chain and iteratively refining value estimates with each additional generation. Our proposed method, Diffusion Tree Sampling (DTS), produces asymptotically exact samples from the target distribution in the limit of infinite rollouts, and its greedy variant Diffusion Tree Search (DTS*) performs a robust search for high reward samples. On MNIST and CIFAR-10 class-conditional generation, DTS matches the FID of the best-performing baseline with up to
Recent advances in 3D generative models have achieved impressive results but 3D contents generated by these models may not align with subjec… (see more)tive human preferences or task-specific criteria. Moreover, a core challenge in the 3D texture generation domain remains: most existing approaches rely on repeated calls to 2D text-to-image generative models, which lack an inherent understanding of the 3D structure of the input 3D mesh object. To address this, we propose an end-to-end differentiable preference learning framework that back-propagates human preferences, represented by differentiable reward functions, through the entire 3D generative pipeline, making the process inherently geometry-aware. We demonstrate the effectiveness of our framework using four proposed novel geometry-aware reward functions, offering a more controllable and interpretable pathway for high-quality 3D content creation from natural language.
As pre-trained language models grow in size, full fine-tuning their parameters on task adaptation data becomes increasingly impractical. To … (see more)address this challenge, some methods for low-rank adaptation of language models have been proposed, e.g. LoRA, which incorporates trainable low-rank decomposition matrices into only some parameters of the pre-trained model, called adapters. This approach significantly reduces the number of trainable parameters compared to fine-tuning all parameters or adapters. In this work, we look at low-rank adaptation method from the lens of data privacy. We show theoretically that the low-rank adaptation used in LoRA is equivalent to fine-tuning adapters with noisy batch gradients - just like what DPSGD algorithm does. We also quantify the variance of the injected noise as a decreasing function of adaptation rank. By establishing a Berry-Esseen type bound on the total variation distance between the injected noise distribution and a Gaussian noise distribution with the same variance, we show that the dynamics of low-rank adaptation is very close to when DPSGD is performed w.r.t the adapters. Following our theoretical findings and approved by our experimental results, we show that low-rank adaptation provides robustness to membership inference attacks w.r.t the fine-tuning data.
Large Language models (LLMs) have demonstrated impressive performance on a wide range of tasks, including in multimodal settings such as spe… (see more)ech. However, their evaluation is often limited to English and a few high-resource languages. For low-resource languages, there is no standardized evaluation benchmark. In this paper, we address this gap by introducing mSTEB, a new benchmark to evaluate the performance of LLMs on a wide range of tasks covering language identification, text classification, question answering, and translation tasks on both speech and text modalities. We evaluated the performance of leading LLMs such as Gemini 2.0 Flash and GPT-4o (Audio) and state-of-the-art open models such as Qwen 2 Audio and Gemma 3 27B. Our evaluation shows a wide gap in performance between high-resource and low-resource languages, especially for languages spoken in Africa and Americas/Oceania. Our findings show that more investment is needed to address their under-representation in LLMs coverage.
Large Language models (LLMs) have demonstrated impressive performance on a wide range of tasks, including in multimodal settings such as spe… (see more)ech. However, their evaluation is often limited to English and a few high-resource languages. For low-resource languages, there is no standardized evaluation benchmark. In this paper, we address this gap by introducing mSTEB, a new benchmark to evaluate the performance of LLMs on a wide range of tasks covering language identification, text classification, question answering, and translation tasks on both speech and text modalities. We evaluated the performance of leading LLMs such as Gemini 2.0 Flash and GPT-4o (Audio) and state-of-the-art open models such as Qwen 2 Audio and Gemma 3 27B. Our evaluation shows a wide gap in performance between high-resource and low-resource languages, especially for languages spoken in Africa and Americas/Oceania. Our findings show that more investment is needed to address their under-representation in LLMs coverage.
