Publications

A Large Recurrent Action Model: xLSTM enables Fast Inference for Robotics Tasks
Thomas Schmied
Thomas Adler
Vihang Prakash Patil
Maximilian Beck
Korbinian Poppel
Johannes Brandstetter
Günter Klambauer
Razvan Pascanu
Sepp Hochreiter
In recent years, there has been a trend in the field of Reinforcement Learning (RL) towards large action models trained offline on large-sca… (voir plus)le datasets via sequence modeling. Existing models are primarily based on the Transformer architecture, which results in powerful agents. However, due to slow inference times, Transformer-based approaches are impractical for real-time applications, such as robotics. Recently, modern recurrent architectures, such as xLSTM and Mamba, have been proposed that exhibit parallelization benefits during training similar to the Transformer architecture while offering fast inference. In this work, we study the aptitude of these modern recurrent architectures for large action models. Consequently, we propose a Large Recurrent Action Model (LRAM) with an xLSTM at its core that comes with linear-time inference complexity and natural sequence length extrapolation abilities. Experiments on 432 tasks from 6 domains show that LRAM compares favorably to Transformers in terms of performance and speed.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Leveraging Per-Instance Privacy for Machine Unlearning
Nazanin Mohammadi Sepahvand
Anvith Thudi
Berivan Isik
Ashmita Bhattacharyya
Nicolas Papernot
Eleni Triantafillou
Daniel M. Roy
Gintare Karolina Dziugaite
We present a principled, per-instance approach to quantifying the difficulty of unlearning via fine-tuning. We begin by sharpening an analys… (voir plus)is of noisy gradient descent for unlearning (Chien et al., 2024), obtaining a better utility–unlearning trade-off by replacing worst-case privacy loss bounds with per-instance privacy losses (Thudi et al., 2024), each of which bounds the (R ényi) divergence to retraining without an individual datapoint. To demonstrate the practical applicability of our theory, we present empirical results showing that our theoretical predictions are born out both for Stochastic Gradient Langevin Dynamics (SGLD) as well as for standard fine-tuning without explicit noise. We further demonstrate that per-instance privacy losses correlate well with several existing data difficulty metrics, while also identifying harder groups of data points, and introduce novel evaluation methods based on loss barriers. All together, our findings provide a foundation for more efficient and adaptive unlearning strategies tailored to the unique properties of individual data points.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
LIVS: A Pluralistic Alignment Dataset for Inclusive Public Spaces
Rashid A. Mushkani
Shravan Nayak
Hugo Berard
Allison Cohen
Shin (Alexandre) Koseki
Hadrien Bertrand
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
doi.org
arxiv.org
LIVS: A Pluralistic Alignment Dataset for Inclusive Public Spaces
Rashid A. Mushkani
Shravan Nayak
Hugo Berard
Allison Cohen
Shin (Alexandre) Koseki
Hadrien Bertrand
We introduce the Local Intersectional Visual Spaces (LIVS) dataset, a benchmark for multi-criteria alignment, developed through a t… (voir plus)wo-year participatory process with 30 community organizations to support the pluralistic alignment of text-to-image (T2I) models in inclusive urban planning. The dataset encodes 37,710 pairwise comparisons across 13,462 images, structured along six criteria—Accessibility, Safety, Comfort, Invitingness, Inclusivity, and Diversity—derived from 634 community-defined concepts. Using Direct Preference Optimization (DPO), we fine-tune Stable Diffusion XL to reflect multi-criteria spatial preferences and evaluate the LIVS dataset and the fine-tuned model through four case studies: (1) DPO increases alignment with annotated preferences, particularly when annotation volume is high; (2) preference patterns vary across participant identities, underscoring the need for intersectional data; (3) human-authored prompts generate more distinctive visual outputs than LLM-generated ones, influencing annotation decisiveness; and (4) intersectional groups assign systematically different ratings across criteria, revealing the limitations of single-objective alignment. While DPO improves alignment under specific conditions, the prevalence of neutral ratings indicates that community values are heterogeneous and often ambiguous. LIVS provides a benchmark for developing T2I models that incorporate local, stakeholder-driven preferences, offering a foundation for context-aware alignment in spatial design.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
LOCATE 3D: Real-World Object Localization via Self-Supervised Learning in 3D
Paul McVay
Sergio Arnaud
Ada Martin
Arjun Majumdar
Krishna Murthy
Phillip Thomas
Ruslan Partsey
Daniel Dugas
Abha Gejji
Alexander Sax
Vincent-Pierre Berges
Mikael Henaff
Ayush Jain
Ang Cao
Ishita Prasad
Mrinal Kalakrishnan
Michael Rabbat
Nicolas Ballas
Mahmoud Assran
Oleksandr Maksymets … (voir 2 de plus)
Aravind Rajeswaran
Franziska Meier
We present LOCATE 3D, a model for localizing objects in 3D scenes from referring expressions like "the small coffee table between the sofa a… (voir plus)nd the lamp." LOCATE 3D sets a new state-of-the-art on standard referential grounding benchmarks and showcases robust generalization capabilities. Notably, LOCATE 3D operates directly on sensor observation streams (posed RGB-D frames), enabling real-world deployment on robots and AR devices. Key to our approach is 3D-JEPA, a novel self-supervised learning (SSL) algorithm applicable to sensor point clouds. It takes as input a 3D pointcloud featurized using 2D foundation models (CLIP, DINO). Subsequently, masked prediction in latent space is employed as a pretext task to aid the self-supervised learning of contextualized pointcloud features. Once trained, the 3D-JEPA encoder is finetuned alongside a language-conditioned decoder to jointly predict 3D masks and bounding boxes. Additionally, we introduce LOCATE 3D DATASET, a new dataset for 3D referential grounding, spanning multiple capture setups with over 130K annotations. This enables a systematic study of generalization capabilities as well as a stronger model. Code, models and dataset can be found at the project website: locate3d.atmeta.com
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Mechanistic Unlearning: Robust Knowledge Unlearning and Editing via Mechanistic Localization
Phillip Huang Guo
Aaquib Syed
Abhay Sheshadri
Aidan Ewart
Gintare Karolina Dziugaite
Methods for knowledge editing and unlearning in large language models seek to edit or remove undesirable knowledge or capabilities without c… (voir plus)ompromising general language modeling performance. This work investigates how mechanistic interpretability—which, in part, aims to identify model components (circuits) associated to specific interpretable mechanisms that make up a model capability—can improve the precision and effectiveness of editing and unlearning. We find a stark difference in unlearning and edit robustness when training components localized by different methods. We highlight an important distinction between methods that localize components based primarily on preserving outputs, and those finding high level mechanisms with predictable intermediate states. In particular, localizing edits/unlearning to components associated with the lookup-table mechanism for factual recall 1) leads to more robust edits/unlearning across different input/output formats, and 2) resists attempts to relearn the unwanted information, while also reducing unintended side effects compared to baselines, on both a sports facts dataset and the CounterFact dataset across multiple models. We also find that certain localized edits disrupt the latent knowledge in the model more than any other baselines, making unlearning more robust to various attacks.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Mitigating Plasticity Loss in Continual Reinforcement Learning by Reducing Churn
Hongyao Tang
Johan Samir Obando Ceron
Pablo Samuel Castro
Aaron Courville
Glen Berseth
Plasticity, or the ability of an agent to adapt to new tasks, environments, or distributions, is crucial for continual learning. In this pap… (voir plus)er, we study the loss of plasticity in deep continual RL from the lens of churn: network output variability induced by the data in each training batch. We demonstrate that (1) the loss of plasticity is accompanied by the exacerbation of churn due to the gradual rank decrease of the Neural Tangent Kernel (NTK) matrix; (2) reducing churn helps prevent rank collapse and adjusts the step size of regular RL gradients adaptively. Moreover, we introduce Continual Churn Approximated Reduction (C-CHAIN) and demonstrate it improves learning performance and outperforms baselines in a diverse range of continual learning environments on OpenAI Gym Control, ProcGen, DeepMind Control Suite, and MinAtar benchmarks.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Mitigating Plasticity Loss in Continual Reinforcement Learning by Reducing Churn
Hongyao Tang
Johan Samir Obando Ceron
Pablo Samuel Castro
Aaron Courville
Glen Berseth
Plasticity, or the ability of an agent to adapt to new tasks, environments, or distributions, is crucial for continual learning. In this pap… (voir plus)er, we study the loss of plasticity in deep continual RL from the lens of churn: network output variability for out-of-batch data induced by mini-batch training. We demonstrate that (1) the loss of plasticity is accompanied by the exacerbation of churn due to the gradual rank decrease of the Neural Tangent Kernel (NTK) matrix; (2) reducing churn helps prevent rank collapse and adjusts the step size of regular RL gradients adaptively. Moreover, we introduce Continual Churn Approximated Reduction (C-CHAIN) and demonstrate it improves learning performance and outperforms baselines in a diverse range of continual learning environments on OpenAI Gym Control, ProcGen, DeepMind Control Suite, and MinAtar benchmarks.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
doi.org
openreview.net
Monte Carlo Tree Diffusion for System 2 Planning
Jaesik Yoon
Hyeonseo Cho
Doojin Baek
Yoshua Bengio
Sungjin Ahn
Diffusion models have recently emerged as a powerful tool for planning. However, unlike Monte Carlo Tree Search (MCTS)-whose performance nat… (voir plus)urally improves with additional test-time computation (TTC), standard diffusion-based planners offer only limited avenues for TTC scalability. In this paper, we introduce Monte Carlo Tree Diffusion (MCTD), a novel framework that integrates the generative strength of diffusion models with the adaptive search capabilities of MCTS. Our method reconceptualizes denoising as a tree-structured process, allowing partially denoised plans to be iteratively evaluated, pruned, and refined. By selectively expanding promising trajectories while retaining the flexibility to revisit and improve suboptimal branches, MCTD achieves the benefits of MCTS such as controlling exploration-exploitation trade-offs within the diffusion framework. Empirical results on challenging long-horizon tasks show that MCTD outperforms diffusion baselines, yielding higher-quality solutions as TTC increases.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
doi.org
openreview.net
Monte Carlo Tree Diffusion for System 2 Planning
Jaesik Yoon
Hyeonseo Cho
Doojin Baek
Yoshua Bengio
Sungjin Ahn
Diffusion models have recently emerged as a powerful tool for planning. However, unlike Monte Carlo Tree Search (MCTS)—whose performance n… (voir plus)aturally improves with inference-time computation scaling—standard diffusion-based planners offer only limited avenues for the scalability. In this paper, we introduce Monte Carlo Tree Diffusion (MCTD), a novel framework that integrates the generative strength of diffusion models with the adaptive search capabilities of MCTS. Our method reconceptualizes denoising as a tree-structured process, allowing partially denoised plans to be iteratively evaluated, pruned, and refined. By selectively expanding promising trajectories while retaining the flexibility to revisit and improve suboptimal branches, MCTD achieves the benefits of MCTS such as controlling exploration-exploitation trade-offs within the diffusion framework. Empirical results on challenging long-horizon tasks show that MCTD outperforms diffusion baselines, yielding higher-quality solutions as inference-time computation increases.
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Multivariate Conformal Selection
Tian Bai
Yue Zhao
Xiang Yu
Archer Y. Yang
Selecting high-quality candidates from large datasets is critical in applications such as drug discovery, precision medicine, and alignment … (voir plus)of large language models (LLMs). While Conformal Selection (CS) provides rigorous uncertainty quantification, it is limited to univariate responses and scalar criteria. To address this, we propose Multivariate Conformal Selection (mCS), a generalization of CS designed for multivariate response settings. Our method introduces regional monotonicity and employs multivariate nonconformity scores to construct conformal
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press
Multivariate Conformal Selection
Tian Bai
Yue Zhao
Xiang Yu
Archer Yang
Selecting high-quality candidates from large datasets is critical in applications such as drug discovery, precision medicine, and alignment … (voir plus)of large language models (LLMs). While Conformal Selection (CS) provides rigorous uncertainty quantification, it is limited to univariate responses and scalar criteria. To address this, we propose Multivariate Conformal Selection (mCS), a generalization of CS designed for multivariate response settings. Our method introduces regional monotonicity and employs multivariate nonconformity scores to construct conformal
2025-10-06
Proceedings of the 42nd International Conference on Machine Learning (publié)
proceedings.mlr.press