Singapore

While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic non-rigid body simulators. In this paper, we present \emph{Real Garment Benchmark} (RGBench), a comprehensive benchmark for robotic manipulation of garments. It features a diverse set of over 6000 garment mesh models, a new high-performance simulator, and a comprehensive protocol to evaluate garment simulation quality with carefully measured real garment dynamics. Our experiments demonstrate that our simulator outperforms currently available cloth simulators by a large margin, reducing simulation error by 20\% while maintaining a speed of 3 times faster. We will publicly release RGBench to accelerate future research in robotic garment manipulation.

AAAI 2026

Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation Featuring a High-Fidelity Scalable Simulator

garment

manipulation

robotics

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.

poster

In agent theory, epistemic trust is used to infer beliefs, for example by filtering out the information the agent receives from untrustworthy agents. Moreover, trust itself can be inferred from other information. We introduce a simple information filtering architecture that clearly distinguishes the relation between the two kinds of inference. Moreover, we provide a logical analysis of the architecture, based on a new family of input/output logics, and we explore information filtering and belief manipulation within this formal framework. Our key finding is that due to this architecture, some of the logical rules are redundant with respect to information-filtering mechanisms and some other logical rules are redundant with respect to belief manipulation.

A Logical Analysis of an Information Filtering Architecture Based on Epistemic Trust Inference

This paper presents the Min-Cut Bayesian Network Consensus (MCBNC) algorithm, a greedy method for structural consensus of Bayesian Networks (BNs), with applications in federated learning and model aggregation. MCBNC prunes weak edges from an initial unrestricted fusion using a structural score based on min-cut analysis, integrated into a modified Backward Equivalence Search (BES) phase of the Greedy Equivalence Search (GES) algorithm. The score quantifies edge support across input networks and is computed using max-flow. Unlike methods with fixed treewidth bounds, MCBNC introduces a pruning threshold $\theta$ that can be selected post hoc using only structural information. Experiments on real-world BNs show that MCBNC yields sparser, more accurate consensus structures than both canonical fusion and the input networks. The method is scalable, data-agnostic, and well-suited for distributed or federated structural learning of BNs or causal discovery.

Bayesian Network Structural Consensus via Greedy Min-Cut Analysis

The Whisper model, an open-source automatic speech recognition system, is widely adopted for its strong performance across multilingual and zero-shot settings. However, it frequently suffers from hallucination errors, especially under noisy acoustic conditions. Previous works to reduce hallucinations in Whisper-style ASR systems have primarily focused on audio preprocessing or post-processing of transcriptions to filter out erroneous content. However, modifications to the Whisper model itself remain largely unexplored to mitigate hallucinations directly. To address this challenge, we present a two-stage architecture that first enhances encoder robustness through Adaptive Layer Attention (ALA) and further suppresses hallucinations using a multi-objective knowledge distillation (KD) framework. In the first stage, ALA groups encoder layers into semantically coherent blocks via inter-layer correlation analysis. A learnable multi-head attention module then fuses these block representations, enabling the model to jointly exploit low- and high-level features for more robust encoding. In the second stage, our KD framework trains the student model on noisy audio to align its semantic and attention distributions with a teacher model processing clean inputs. Our experiments on noisy speech benchmarks show notable reductions in hallucinations and word error rates, while preserving performance on clean speech. Together, ALA and KD offer a principled strategy to improve Whisper’s reliability under real-world noisy conditions.

Listen like a Teacher: Mitigating Whisper Hallucinations Using Adaptive Layer Attention and Knowledge Distillation

We introduce the Probabilistic Coin Change Problem (PCCP), a novel variant of the classical Combination Coin Change Problem (CCCP), motivated by a real-world scientific inverse task. The goal of CCCP is to enumerate all unordered combinations of coin denominations that sum to a given target. In PCCP, each coin type’s value follows a discrete probability distribution, and the aggregate value of a combination of coins is thus stochastic. Given a set of such coin types and noisy observations of total sums, the task is to infer the most likely latent coin combination. To address the combinatorial and probabilistic complexity of PCCP, we propose DeepProReasoner (\textbf{Deep} Combinatorial \textbf{Pro}babilistic \textbf{Reason}ing with \textbf{E}mbedded \textbf{R}epresentations), an unsupervised, end-to-end, deep-learning framework that integrates combinatorial reasoning, latent-space modeling, and differentiable probabilistic reasoning. The model is trained using a reconstruction loss between the observed empirical distribution and a decoded probability mass function (PMF), enabling efficient gradient-based search over a continuous relaxation of the combinatorial space. We evaluate DeepProReasoner on two instances of PCCP: (1) a synthetic Candy Mix problem for ablation studies, and (2) a real-world task of molecular formula inference from ultrahigh resolution mass spectrometry (MS) data. Besides the two given instances, PCCP captures a wide range of inverse settings in biology, chemistry, environmental sciences, and medicine, where latent combinatorial structures give rise to noisy aggregate observations through stochastic processes. Our results show that DeepProReasoner achieves high accuracy and robustness, outperforming state-of-the-art methods.

Unsupervised Combinatorial Probabilistic Reasoning: Probabilistic Coin Change Problem

Reliable prediction of train delays is essential for enhancing the robustness and efficiency of railway transportation systems. In this work, we reframe delay forecasting as a stochastic simulation task, modeling state-transition dynamics through imitation learning. We introduce Drift-Corrected Imitation Learning (DCIL), a novel self-supervised algorithm that extends DAgger by incorporating distance-based drift correction, thereby mitigating covariate shift during rollouts without requiring access to an external oracle or adversarial schemes. Our approach synthesizes the interpretability of event-driven models with the representational capacity of data-driven methods, enabling uncertainty-aware forecasting via Monte Carlo simulation. We evaluate DCIL using a comprehensive real-world dataset from \textsc{Infrabel}, the Belgian railway infrastructure manager, which encompasses over three million train movements. Our results, focused on predictions up to 30 minutes ahead, demonstrate superior predictive performance of DCIL over traditional regression models and behavioral cloning on deep learning architectures, highlighting its effectiveness in capturing the sequential and uncertain nature of delay propagation in large-scale networks.

Simulation-Driven Railway Delay Prediction: An Imitation Learning Approach

Visual autoregressive modeling (VAR) via next-scale prediction has emerged as a scalable image generation paradigm. While Key and Value (KV) caching in large language models (LLMs) has been extensively studied, next-scale prediction presents unique challenges, and KV caching design for next-scale based VAR transformers remains largely unexplored. A major bottleneck is the excessive KV memory growth with the increasing number of scales—severely limiting scalability. Our systematic investigation reveals that: (1) Attending to tokens from local scales significantly contributes to generation quality (2) Allocating a small amount of memory for the coarsest scales, termed as condensed scales, stabilizes multi-scale image generation (3) Strong KV similarity across finer scales is predominantly observed in cache-efficient layers, whereas cache-demanding layers exhibit weaker inter-scale similarity. Based on the observations, we introduce AMS-KV, a scale-adaptive KV caching policy for next-scale prediction in VAR models. AMS-KV prioritizes storing KVs from condensed and local scales, preserving the most relevant tokens to maintain generation quality. It further optimizes KV cache utilization and computational efficiency identifying cache-demanding layers through inter-scale similarity analysis. Compared to the vanilla next-scale prediction-based VAR models, AMS-KV reduces KV cache usage by up to 84.83% and self-attention latency by 60.48%. Moreover, when the baseline VAR-d30 model encounters out-of-memory failures at a batch size of 128, AMS-KV enables stable scaling to a batch size of 256 with improved throughput.

AMS-KV: Adaptive KV Caching in Multi-Scale Visual Autoregressive Transformers

Explanatory Interactive Learning (XIL) is a powerful interactive learning framework designed to enable users to customize and correct AI models by interacting with their explanations. In a nutshell, XIL algorithms select a number of items on which an AI model made a decision (e.g., images and their tags) and present them to users, together with corresponding explanations (e.g., image regions that drive the model’s decision). Then, users supply corrective feedback for the explanations, which the algorithm uses to improve the model. Despite showing promise in debugging tasks, recent studies have raised concerns that explanatory interaction may trigger order effects, a well-known cognitive bias in which the sequence of presented items influences users’ trust and, critically, the quality of their feedback. We argue that these studies are not entirely conclusive, as the experimental designs and tasks employed differ substantially from common XIL use cases, complicating interpretation. To clarify the interplay between order effects and explanatory interaction, we ran a larger-scale user study (n = 713 total) designed to mimic common XIL tasks. Specifically, we assessed order effects both within and between debugging sessions by manipulating the order in which correct and wrong explanations are presented to participants. Order effects had a limited but significant impact on users’ agreement with the model (i.e., a behavioral measure of their trust), and only when examined within debugging sessions, not between them. The quality of users’ feedback reached satisfactory levels overall, with order effects exerting only a small and inconsistent influence both within and between sessions. Overall, our findings suggest that order effects do not pose a significant issue to the successful employment of XIL approaches. More broadly, our work contributes to the ongoing efforts for understanding human factors in AI.

Human Cognitive Biases in Explanation-based Interaction: The Case of Within and Between Session Order Effect

Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is unknown. 
Existing methods for learning-based control in such settings typically lack formal safety guarantees.
To address this challenge, we introduce a novel semi-probabilistic verification framework that integrates reachability analysis with conditional generative networks and distribution-free tail bounds to enable efficient and scalable verification of vision-based neural network controllers.
Next, we develop a gradient-based training approach that employs a novel safety loss function, safety-aware data-sampling strategy to efficiently select and store critical training examples, and curriculum learning, to efficiently synthesize safe controllers in the semi-probabilistic framework.
Empirical evaluations in X-Plane 11 airplane landing simulation, CARLA-simulated autonomous lane following, F1Tenth vehicle lane following in a physical visually-rich miniature environment, and Airsim-simulated drone navigation and obstacle avoidance demonstrate the effectiveness of our method in achieving formal safety guarantees while maintaining strong nominal performance.

Learning Vision-Based Neural Network Controllers with Semi-Probabilistic Safety Guarantees

Positional bias—where models overemphasize certain positions regardless of content—has been shown to negatively impact model performance across various tasks. While recent research has extensively examined positional bias in text generation models, its presence and effects in representation models remain underexplored. Even less is known about such biases in multimodal models. In this work, we investigate positional bias in multimodal representation models, specifically in the context of image-text retrieval. We begin by distinguishing between context importance and positional bias, and then assess the presence and extent of positional bias across different models and datasets. Our experiments demonstrate that positional bias is prevalent in multimodal models, but manifests differently across modalities: text encoders tend to exhibit bias toward the beginning of the input, whereas image encoders show bias at both the beginning and end. Furthermore, we find that this bias arises from, or is amplified by, a combination of factors, including the positional encoding scheme, training loss, context importance, and the nature of using image-text pairs in multimodal training

Positional Bias in Multimodal Embedding Models: Do They Favor the Beginning, the Middle, or the End?

The deployment of large language models for specialized tasks often requires domain-specific parameter-efficient finetuning through Low-Rank Adaptation (LoRA) modules. However, effectively fusing these adapters to handle complex, multi-domain composite queries remains a critical challenge. Existing LoRA fusion approaches either use static weights, which assign equal relevance to each participating LoRA, or require data-intensive supervised training for every possible LoRA combination to obtain respective optimal fusion weights. We propose qa-FLoRA, a novel query-adaptive training-free method for LoRA fusion that dynamically computes layer-level fusion weights by measuring distributional divergence between the base model and respective adapters. Our approach eliminates the need for composite training data or domain-representative samples, making it readily applicable to existing adapter collections. Extensive experiments across nine multilingual composite tasks spanning mathematics, coding, and medical domains, show that qa-FLoRA outperforms static fusion by $\sim$5\% and training-free baselines by $\sim$7\%, while significantly closing the gap with supervised baselines. Further, layer-level analysis of our fusion weights reveals interpretable fusion patterns, demonstrating the effectiveness of our approach for robust multi-domain adaptation.

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A Logical Analysis of an Information Filtering Architecture Based on Epistemic Trust Inference

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