United States

3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and a single human-object interaction image. However, the geometric structure of the 3D object and the object in the human-object interaction image are not always consistent, leading to poor generalization. To address this issue, we propose to learn generalizable invariant affordance knowledge from multiple human-object interaction images within the same affordance category. Specifically, we introduce the \textbf{M}ulti-\textbf{I}mage Guided Invariant-\textbf{F}eature-Aware 3D \textbf{A}ffordance \textbf{G}rounding (\textbf{MIFAG}) framework. It grounds 3D object affordance regions by identifying common interaction patterns across multiple human-object interaction images. First, the Invariant Affordance Knowledge Extraction Module (\textbf{IAM}) utilizes an iterative updating strategy to gradually extract aligned affordance knowledge from multiple images and integrate it into an affordance dictionary. Then, the Affordance Dictionary Adaptive Fusion Module (\textbf{ADM}) learns comprehensive point cloud representations that consider all affordance candidates in multiple images. Besides, the Multi-Image and Point Affordance (\textbf{MIPA}) benchmark is constructed and our method outperforms existing state-of-the-art methods on various experimental comparisons. The code and dataset will be released upon acceptance.

AAAI 2025

Learning 2D Invariant Affordance Knowledge for 3D Affordance Grounding

vision for robotics

autonomous driving

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AAAI 2026

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

technical paper

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

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The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Learning-based methods provide a promising approach to solving highly non-linear control tasks that are often challenging for classical control methods. To ensure the satisfaction of a safety property, learning-based methods jointly learn a control policy together with a certificate function for the property. Popular examples include barrier functions for safety and Lyapunov functions for asymptotic stability. While there has been significant progress on learning-based control with certificate functions in the white-box setting, where the correctness of the certificate function can be formally verified, there has been little work on ensuring their reliability in the black-box setting where the system dynamics are unknown. In this work, we consider the problems of certifying and repairing neural network control policies and certificate functions in the black-box setting. We propose a novel framework that utilizes runtime monitoring to detect system behaviors that violate the property of interest under some initially trained neural network policy and certificate. These violating behaviors are used to extract new training data, that is used to re-train the neural network policy and the certificate function and to ultimately repair them. We demonstrate the effectiveness of our approach empirically by using it to repair and to boost the safety rate of neural network policies learned by a state-of-the-art method for learning-based control on two autonomous system control tasks.

Neural Control and Certificate Repair via Runtime Monitoring

Offline safe reinforcement learning (OSRL) involves learning a decision-making policy to maximize rewards from a fixed batch of training data to satisfy pre-defined safety constraints. However, adapting to varying safety constraints during deployment without retraining remains an under-explored challenge. To address this challenge, we introduce constraint-adaptive policy switching (CAPS), a wrapper framework around existing offline RL algorithms. During training, CAPS uses offline data to learn multiple policies with a shared representation that optimize different reward and cost trade-offs. During testing, CAPS switches between those policies by selecting at each state the policy that maximizes future rewards among those that satisfy the current cost constraint. Our experiments on 38 tasks from the DSRL benchmark demonstrate that CAPS consistently outperforms existing methods, establishing a strong wrapper-based baseline for OSRL. The code is publicly available at anonymous.4open.science/r/CAPS-EC91.

Constraint-Adaptive Policy Switching for Offline Safe Reinforcement Learning

Generalized planning is concerned with how to find a single plan to solve multiple similar planning instances. Abstractions are widely used for solving generalized planning, and QNP (qualitative numeric planning) is a popular abstract model. Recently, Cui et al. showed that a plan solves a sound and complete abstraction of a generalized planning problem if and only if the refined plan solves the original problem. However, existing work on automatic abstraction for generalized planning can hardly guarantee soundness let alone completeness. In this paper, we propose an automatic sound and complete abstraction method for generalized planning with baggable types. We use a variant of QNP, called bounded QNP (BQNP), where integer variables are increased or decreased by only one. Since BQNP is undecidable, we propose and implement a sound but incomplete solver for BQNP. We present an automatic method to abstract a BQNP problem from a given classical planning instance. The basic idea for abstraction is to introduce a counter for each bag of indistinguishable objects. We show that the BQNP problem got by our automatic method is a sound and complete abstraction for a generalized planning problem whose instances share the same bags of objects with the given instance but the sizes of the bags might be different. Thus, the refined plan of a solution to the BQNP problem is a solution to the generalized planning problem. Finally, we implement our abstraction method and experiments on a number of planning domains demonstrate the promise of our approach.

An Automatic Sound and Complete Abstraction Method for Generalized Planning with Baggable Types

Learning discriminative state representations of agents, encompassing the spatial layout and temporal pose trajectory, is essential for effective navigation decisions. However, existing approaches often rely on simplistic plain networks for navigation information fusion, overlooking the complex long-range dependencies across spatio-temporal cues, which leads to suboptimal state perception and potential decision failures. In this paper, we introduce NaviFormer, an effective encoder-decoder navigation transformer, to aggregate discriminative spatio-temporal context information for object navigation. Our navigation encoder not only encodes spatial layouts and temporal agent poses but also innovatively constructs and encodes a passable frontier map, enriching the original state encoding with cues of potential exploration regions. Furthermore, our navigation decoder employs spatio-temporal self-attention and cross-attention mechanisms to model the dependencies among spatial layout encoding, temporal pose encoding, and passable frontier encoding, thereby facilitating comprehensive contextual state feature aggregation. Finally, we leverage these learned spatio-temporal contextual state representations for PPO-based navigation decisions. Extensive experiments on the Gibson,  Habitat-Matterport3D and Matterport3D datasets demonstrate the superiority of our approach.

NaviFormer: A Spatio-Temporal Context-Aware Transformer for Object Navigation

Complex question answering (QA) is a challenging task in artificial intelligence research which requires reasoning based on related knowledge. The retrieval-augmented generation (RAG) based on large language models (LLMs) have become one promising solution in QA. To facilitate RAG more effectively, the LLM needs to precisely evaluate knowledge required in QA. That is, first, the LLM needs to examine its knowledge boundary (what the LLM does not know) to retrieve external knowledge as supplement. Second, the LLM needs to evaluate the utility of the retrieved knowledge (whether it helps in reasoning) for robust RAG. To this end, in this paper, we propose a novel Question Answering with Knowledge Evaluation (KEQA) framework to promote the effectiveness and efficiency of RAG in QA. First, inspired by quizzes in classroom, we propose a quiz-based method to precisely examine the knowledge state of the uninterpretable LLM for QA. We ask indicative quizzes on each required knowledge, and inspect whether the LLM can consistently answer the quiz to examine its knowledge boundary. Second, we retrieve the unknown knowledge from external source, and evaluate its utility to pick the helpful ones for reasoning. We design a reasoning-based metric to evaluate utility, and construct a demonstration set in training data for reference to guide knowledge picking in inference. We conduct extensive experiments on four widely-used QA datasets, and the results demonstrate the effectiveness of the proposed method.

Explore What LLM Does Not Know in Complex Question Answering

In contemporary e-commerce platforms, search result pages display two types of items: ad items and organic items. Ad items are determined through an advertising auction system, while organic items are selected by a recommendation system. These systems have distinct optimization objectives, creating the challenge of effectively merging these two components. Recent research has explored merging mechanisms for e-commerce platforms, but none have simultaneously achieved all desirable properties: incentive compatibility, individual rationality, adaptability to multiple slots, integration of inseparable candidates, and avoidance of repeated exposure for ads and organic items. This paper addresses the design of a merging mechanism that satisfies all these properties. We first provide the necessary conditions for the optimal merging mechanisms. Next, we introduce two simple and effective mechanisms, termed the generalized fix mechanism and the generalized change mechanism. Finally, we theoretically prove that both mechanisms offer guaranteed competitive ratios compared to the optimal mechanism in both simplest and general settings.

Merging Mechanisms for Ads and Organic Items in E-commerce Platforms

The recent emergence of extreme climate events has significantly raised awareness about sustainable living. In addition to developing energy-saving materials and technologies, existing research mainly relies on traditional methods that encourage behavioral shifts towards sustainability, which can be overly demanding or only passively engaging. In this work, we propose to employ recommendation systems to actively nudge users toward more sustainable choices. We introduce Green Recommender Aligned with Personalized Eating (GRAPE), which is designed to prioritize and recommend sustainable food options that align with users’ evolving preferences. We also design two innovative Green Loss functions that cater to green indicators with either uniform or differentiated priorities, thereby enhancing adaptability across a range of scenarios. Extensive experiments on a real-world dataset demonstrate the effectiveness of our GRAPE.

Bites of Tomorrow: Personalized Recommendations for a Healthier and Greener Plate

The community has recently developed various training-time defenses to counter neural backdoors introduced through data poisoning. In light of the observation that a model learns poisonous samples responsible for the backdoor easier than benign samples, these approaches either use a fixed threshold of the training loss for splitting or iteratively learn a reference model as an oracle for identifying benign samples. In particular, the latter has proven effective for anti-backdoor learning. Our method, HARVEY, leverages a similar yet crucially different technique, learning an oracle for poisonous rather than benign samples. Learning a backdoored reference model is significantly easier than learning a reference model on benign data. Consequently, we can identify poisonous samples much more accurately than related work identifies benign samples. This crucial difference enables near-perfect backdoor removal as we demonstrate in the evaluation. HARVEY substantially outperforms related approaches across attack types, datasets, and architectures, lowering the attack success rate to the very minimum at a negligible loss in natural accuracy.

Two Sides of the Same Coin: Learning the Backdoor to Remove the Backdoor

We investigate the problem of designing *randomized* obviously strategyproof (OSP) mechanisms in several  canonical  auction settings. Obvious strategyproofness, introduced by Li [American Economic Review '17], strengthens the well-known concept of dominant-strategy incentive compatibility (DSIC). Loosely speaking, it ensures that even agents who struggle with contingent reasoning can identify truth-telling as their optimal strategy.

Thus, one would hope to design OSP mechanisms with good approximation guarantees. Unfortunately,  deterministic OSP mechanisms fail to achieve an approximation better than $\min${$m,n$} where $m$ is the number of items and $n$ is the number of bidders, even for the simple settings of additive and unit-demand bidders. We circumvent these impossibilities by showing that randomized
mechanisms that are obviously strategy-proof in the universal sense obtain a *constant* factor approximation for these classes. 
We show that this phenomenon occurs also for the setting of a multi-unit auction with single-minded bidders. Thus, our results provide a more positive outlook on the design of OSP mechanisms and exhibit a stark separation between the power of randomized and deterministic OSP mechanisms.

To complement the picture, we provide lower bounds on the performance of randomized OSP mechanisms in each setting. This further demonstrates that OSP mechanisms are significantly weaker than dominant-strategy mechanisms: it is well known that the VCG mechanism outputs an optimal allocation deterministically in dominant-strategies, whereas even randomized OSP mechanisms cannot obtain more than $87.5$% of the optimal welfare.

On the Power of Randomization for Obviously Strategy-Proof Mechanisms

Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks.
As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve autonomous planning for robots in diverse tasks. 
However, since the large models are pre-trained with Internet data and lack the knowledge of real task scenes, large models as planners may make unsafe decisions that hurt the robots and the surrounding environments. 
To solve this challenge, we propose a novel Safe Planner framework, which empowers safety awareness in large pre-trained models to accomplish safe and executable planning. 
In this framework, we develop a safety prediction module to guide the high-level large model planner, and this safety module trained in a simulator can be effectively transferred to real-world tasks. 
The proposed Safe Planner framework is evaluated on both simulated environments and real robots. The experiment results demonstrate that Safe Planner not only achieves state-of-the-art task success rates, but also substantially improves safety during task execution. The experiment videos are shown in \url{https://sites.google.com/view/safeplanner}.

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Neural Control and Certificate Repair via Runtime Monitoring

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Affordance-R1: Reinforcement Learning for Generalizable Affordance Reasoning in Multimodal Large Language Models

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