Singapore

The human nervous system exhibits bilateral symmetry, enabling coordinated and balanced movements. However, existing Deep Reinforcement Learning (DRL) methods for humanoid robots neglect morphological symmetry of the robot, leading to uncoordinated and suboptimal behaviors. Inspired by human motor control, we propose Symmetry Equivariant Policy (SE-Policy), a new DRL framework that embeds strict symmetry equivariance in the actor and symmetry invariance in the critic without additional hyperparameters. SE-Policy enforces consistent behaviors across symmetric observations, producing temporally and spatially coordinated motions with higher task performance. Extensive experiments on velocity tracking tasks, conducted in both simulation and real-world deployment with the Unitree G1 humanoid robot, demonstrate that SE-Policy improves tracking accuracy by up to 40\% compared to state-of-the-art baselines, while achieving superior spatial-temporal coordination. These results demonstrate the effectiveness of SE-Policy and its broad applicability to humanoid robots.

AAAI 2026

Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy

behavior learning & control

learning & optimization for rob

reinforcement learning

poster

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.

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-26 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.<br><br>

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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.

In this paper, we study the bias and high-order error bounds of the Linear Stochastic Approximation (LSA) algorithm with Polyak–Ruppert (PR) averaging under Markovian noise. We focus on the version of the algorithm with constant step size $\alpha$ and propose a novel decomposition of the bias via a linearization technique. We analyze the structure of the bias and show that the leading-order term is linear in $\alpha$ and cannot be eliminated by PR averaging. To address this, we apply the Richardson–Romberg (RR) extrapolation procedure, which effectively cancels the leading bias term. We derive high-order moment bounds for the RR iterates and show that the leading error term aligns with the asymptotically optimal covariance matrix of the vanilla averaged LSA iterates.

High-Order Error Bounds for Markovian LSA with Richardson–Romberg Extrapolation

While large language models (LLMs) have shown progress in mathematical reasoning, they still face challenges in formalizing theorems that arise from instantiating abstract structures in concrete settings. With the goal of auto-formalizing mathematical results at the research level, we develop a framework for structure-to-instance theorem autoformalization (SITA), which systematically bridges the gap between abstract mathematical theories and their concrete applications in Lean proof assistant. Formalized abstract structures are treated as modular templates that contain definitions, assumptions, operations, and theorems. These templates serve as reusable guides for the formalization of concrete instances. Given a specific instantiation, we generate corresponding Lean definitions and instance declarations, integrate them using Lean’s typeclass mechanism, and construct verified theorems by checking structural assumptions. We incorporate LLM-based generation with feedback-guided refinement to ensure both automation and formal correctness. Experiments on a dataset of optimization problems demonstrate that SITA effectively formalizes diverse instances grounded in abstract structures.

SITA: A Framework for Structure-to-Instance Theorem Autoformalization

Multimodal table understanding, which aims for a comprehensive grasp of table content by integrating cellular text, tabular structure, and visual presentation, remains a core yet challenging area of research.
We identify that the structural complexity of a table, quantifiable by intrinsic properties such as the ratio of merged cells and the total number of cells, presents a significant obstacle for existing models. 
Our empirical analysis reveals that the performance of leading Multimodal Large Language Models (MLLMs) deteriorates markedly as table complexity increases, exposing a critical vulnerability in their ability to perceive and reason over intricate tabular data.
To address this challenge, we propose MM-Table-R1, a model enhanced through difficulty-aware reinforcement learning (RL) post-training strategy. 
Specifically, we introduce both task-level and data-level curriculum learning. 
The task-level curriculum is designed to establish a capability ladder, where the model first learns basic perceptual and semantic alignment of table data, and then progresses to acquiring multi-step reasoning capabilities.
The data-level curriculum ensures that the model is not exposed to difficult samples prematurely, facilitating a more gradual and effective learning process.
Furthermore, we invest considerable effort in constructing a high-quality, large-scale training corpus by curating and processing data from diverse open-source table datasets, ensuring that each instance is paired with an objectively verifiable reward signal.
Demonstrating exceptional parameter efficiency, our 3B-parameter model sets a new benchmark by surpassing both established 3B and 7B models, including those specifically designed for table reasoning.

Multimodal Table Understanding with Difficulty-aware Reinforcement Learning

Addressing missing modalities is a critical challenge in multimodal brain tumor segmentation. Most existing approaches merely handle modality-incomplete inputs during inference, assuming a full set of modalities for all training samples. However, this unrealistic assumption limits the usage of abundant modality-incomplete data commonly observed in clinical practice. In this paper, we explore a more practical task of tackling missing modalities during both training and inference. We propose a universal model featuring robust modality reconstruction and prompt-guided modality adaptation. Our mask-reconstruction pre-training enables robust modality-invariant representation learning, during which we design a novel distribution approximation method that supervises the reconstruction of absent modalities without requiring full-modal training data. Afterwards, when adapting our model to the segmentation task, we introduce the complete-then-distill (CTD) paradigm, which first estimates missing modalities in training samples from the available ones, and then distills the knowledge from the reconstructed full-modal representations to enhance the learning process with incomplete modalities. Moreover, we propose prompt-guided modality adaptation to personalize a part of model parameters during CTD, enabling the model to adapt to each distinct modality input scenario through using prompts with rich visual-textual information. Extensive experiments on two brain tumor segmentation benchmarks show our method consistently surpasses previous state-of-the-art approaches under dual-stage missing modality settings across various missing ratios.

Tackling Dual-stage Missing Modalities in Brain Tumor Segmentation via Robust Modality Reconstruction and Prompt-guided Modality Adaptation

Retrieval-augmented generation (RAG) enhances the reasoning capabilities of large language models (LLMs) by incorporating external knowledge. Among available sources, knowledge graphs (KGs) offer a structured and reliable foundation for factual information, making them increasingly popular in efforts to improve reasoning faithfulness in RAG. Most existing KG-based RAG methods rely on LLMs to extract knowledge from KGs. However, these approaches often require costly fine-tuning and struggle to navigate deep graph structures, limiting their effectiveness in multi-hop reasoning tasks. To address these challenges, we propose Stepwise Contrastive Reasoning (SCR), a lightweight framework that integrates graph structure and textual context for efficient and interpretable RAG over KGs. SCR combines relational message passing layers to encode KG entities with a Transformer encoder for processing question text. It decomposes reasoning into a series of alignment steps. At each step, SCR compares the current topic entity and its neighbors with the question representation, selecting the most relevant entity as the next topic entity. The question is then updated with this entity's textual description. This process continues until the selected entity no longer changes, indicating that the answer entity has been reached. Through stepwise alignment, SCR enables compact models to perform faithful and interpretable reasoning over large-scale KGs. Extensive experiments on several widely used KGQA benchmarks demonstrate that SCR not only achieves state-of-the-art performance but also effectively boosts the capabilities of smaller language models to match those of LLMs.

Stepwise Contrastive Reasoning for Retrieval-Augmented Generation over Knowledge Graphs

The de novo generation of molecules with desirable properties is a critical challenge, where diffusion models are computationally intensive and autoregressive models struggle with error propagation. In this work, we introduce the Graph VQ-Transformer (GVT), a two-stage generative framework that achieves both high accuracy and efficiency. The core of our approach is a novel Graph Vector Quantized Variational Autoencoder (VQ-VAE) that compresses molecular graphs into high-fidelity discrete latent sequences. By synergistically combining a Graph Transformer with canonical Reverse Cuthill-McKee (RCM) node ordering and Rotary Positional Embeddings (RoPE), our VQ-VAE achieves near-perfect reconstruction rates. An autoregressive Transformer is then trained on these discrete latents, effectively converting graph generation into a well-structured sequence modeling problem. Crucially, this mapping of complex graphs to high-fidelity discrete sequences bridges molecular design with the powerful paradigm of large-scale sequence modeling, unlocking potential synergies with Large Language Models (LLMs). Extensive experiments show that GVT achieves state-of-the-art or highly competitive performance across major benchmarks like ZINC250k, MOSES, and GuacaMol, and notably outperforms leading diffusion models on key distribution similarity metrics such as FCD and KL Divergence. With its superior performance, efficiency, and architectural novelty, GVT not only presents a compelling alternative to diffusion models but also establishes a strong new baseline for the field, paving the way for future research in discrete latent-space molecular generation.

Graph VQ-Transformer (GVT): Fast and Accurate Molecular Generation via High-Fidelity Discrete Latents

Recent advances in Time Series Foundation Models (TSFMs) have fundamentally revolutionized general time series analysis across domains like finance, retail, weather, and power. However, how to unlock the hidden capacity of general-purpose TSFMs for wearable activity recognition still remains largely unexplored, given severe sensor annotation scarcity and highly heterogeneous sensor data. To address these challenges, we propose DeepSenseMoE—a novel multi-scale convolution-based Mixture of Experts (MoE) module for parameter-efficient fine-tuning of general-purpose TSFMs to sensor-based activity recognition. DeepSenseMoE integrates three key innovations: (1) Multi-scale convolutional experts with different filter sizes responsible for capturing varying sensor contexts; (2) Shared-expert isolation mechanism compressing common activity knowledge into a single shared expert while reducing redundancy among routed experts; and (3) Hierarchical supervised contrastive alignment guiding experts to further learn discriminative activity features. Extensive experiments on three challenging HAR benchmarks demonstrate DeepSenseMoE's superiority, achieving up to 9.5% accuracy gains over state-of-the-art under few-shot and full-supervised settings, with only <1% additional trainable parameters. We hope that this work may establish a solid foundation to accelerate development and deployment of powerful TSFMs in data-scarce wearable activity recognition tasks while reducing the reliance on labeled sensor data. Code will be released.

DeepSenseMoE: Harnessing Power of Time Series Foundation Models for Few-Shot Human Activity Recognition

Recent camera-based 3D semantic scene completion (SSC) methods have increasingly explored leveraging temporal cues to enrich the features of the current frame. However, while these approaches primarily focus on enhancing in-frame regions, they often struggle to reconstruct critical out-of-frame areas near the sides of the ego-vehicle, although previous frames commonly contain valuable contextual information about these unseen regions. To address this limitation, we propose the Current-Centric Contextual 3D Fusion (C3DFusion) module, which generates hidden region-aware 3D feature geometry by explicitly aligning 3D-lifted point features from both current and historical frames. C3DFusion performs enhanced temporal fusion through two complementary techniques—historical context blurring and current-centric feature densification—which suppress noise from inaccurately warped historical point features by attenuating their scale, and enhance current point features by increasing their volumetric contribution. Simply integrated into standard SSC architectures, C3DFusion demonstrates strong effectiveness, significantly outperforming state-of-the-art methods on the SemanticKITTI and SSCBench-KITTI-360 datasets. Furthermore, it exhibits robust generalization, achieving notable performance gains when applied to other baseline models.

Towards Temporal Fusion Beyond the Field of View for Camera-based Semantic Scene Completion

Remote sensing imagery presents vast, inherently unstructured spatial data, necessitating sophisticated reasoning to interpret complex user intents and contextual relationships beyond simple recognition tasks. In this paper, we aim to construct an Earth observation workflow to handle complex queries by reasoning about spatial context and user intent. As a reasoning workflow, it should autonomously explore and construct its own inference paths, rather than being confined to predefined ground‑truth sequences.
Ideally, its architecture ought to be unified yet generalized, possessing capabilities to perform diverse reasoning tasks through one model without requiring additional fine-tuning.
Existing remote sensing approaches rely on supervised fine-tuning paradigms and task‑specific heads, limiting both autonomous reasoning and unified generalization.
To this end, we propose RemoteReasoner, a unified workflow for geospatial reasoning. The design of RemoteReasoner integrates a multi-modal large language model (MLLM) for interpreting user instructions and localizing targets, together with task transformation strategies that enable multi-granularity tasks, including object-, region-, and pixel-level. 
In contrast to existing methods, our framework is trained with reinforcement learning (RL) to endow the MLLM sufficient reasoning autonomy. 
At the inference stage, our transformation strategies enable diverse task output formats without requiring task-specific decoders or further fine-tuning. Experiments demonstrated that RemoteReasoner achieves state-of-the-art (SOTA) performance across multi-granularity reasoning tasks. Furthermore, it retains the MLLM's inherent generalization capability, demonstrating robust performance on unseen tasks and out-of-distribution categories. 
The model and code will be publicly available once our paper is accepted.

RemoteReasoner: Towards Unifying Geospatial Reasoning Workflow

We study an online linear regression setting in which the observed feature vectors are corrupted by noise and the learner can pay to reduce the noise level. In practice, this may happen for several reasons: for example, because features can be measured more accurately using more expensive equipment, or because data providers can be incentivized to release less private features. Assuming feature vectors are drawn i.i.d. from a fixed but unknown distribution, we measure the learner's regret against the linear predictor minimizing a notion of loss that combines the prediction error and payment. When the mapping between payments and noise covariance is known, we prove that the rate $\sqrt{T}$ is optimal for regret if logarithmic factors are ignored. When the noise covariance is unknown, we show that the optimal regret rate becomes of order $T^{2/3}$ (ignoring log factors). Our analysis leverages matrix martingale concentration, showing that the empirical loss uniformly converges to the expected one for all payments and linear predictors.

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High-Order Error Bounds for Markovian LSA with Richardson–Romberg Extrapolation

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