GenAI4ELab/papercli-papers huggingface dataset:
Taming Imperfect Process Verifiers: A Sampling Perspective on Backtracking
Authors: Dhruv Rohatgi; Abhishek Shetty; Donya Saless; Yuchen Li; Ankur Moitra; Andrej Risteski; Dylan J Foster
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Test-time algorithms that combine the *generative* power of language models with *process verifiers* that assess the quality of partial generations offer a promising lever for eliciting new reasoning capabilities, but the algorithmic design space and computational scaling properties of such approaches are still opaque, and their benefits are far from apparent when one accounts for the cost of learning a high-quality verifier. Our starting point is the observation that seemingly benign errors in a learned verifier can lead to catastrophic failures for standard decoding techniques due to *error amplification* during the course of generation. We then ask: can this be improved with more sophisticated decoding strategies?

We introduce a new process-guided test-time sampling algorithm, VGB, which uses theoretically grounded *backtracking* to achieve *provably* better robustness to verifier errors. VGB interprets autoregressive generation as a random walk on a tree of partial completions, with transition probabilities guided by the process verifier and base model; crucially, backtracking occurs probabilistically. This process generalizes the seminal *Sinclair-Jerrum random walk* (Sinclair & Jerrum, 1989) from the literature on approximate counting and sampling in theoretical computer science, and a conceptual contribution of our work is to highlight parallels with this literature. Empirically, we demonstrate on both synthetic and real language modeling tasks that VGB outperforms baselines on a variety of metrics.
Differentiable Model Predictive Control on the GPU
Authors: Emre Adabag; Marcus Greiff; John Subosits; Thomas Jonathan Lew
Venue: ICLR 2026 (ICLR 2026 Oral)

Abstract: Differentiable model predictive control (MPC) offers a powerful framework for combining learning and control. However, its adoption has been limited by the inherently sequential nature of traditional optimization algorithms, which are challenging to parallelize on modern computing hardware like GPUs. In this work, we tackle this bottleneck by introducing a GPU-accelerated differentiable optimization tool for MPC. This solver leverages sequential quadratic programming and a custom preconditioned conjugate gradient (PCG) routine with tridiagonal preconditioning to exploit the problem's structure and enable efficient parallelization. We demonstrate substantial speedups over CPU- and GPU-based baselines, significantly improving upon state-of-the-art training times on benchmark reinforcement learning and imitation learning tasks. Finally, we showcase the method on the challenging task of reinforcement learning for driving at the limits of handling, where it enables robust drifting of a Toyota Supra through water puddles.
Ctrl-World: A Controllable Generative World Model for Robot Manipulation
Authors: Yanjiang Guo; Lucy Xiaoyang Shi; Jianyu Chen; Chelsea Finn
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number of real-world rollouts, while systematic improvement demands additional corrective data with expert labels. Both of these processes are slow, costly, and difficult to scale.
World models offer a promising, scalable alternative by enabling policies to rollout within imagination space. 
However, a key challenge is building a controllable world model that can handle multi-step interactions with generalist robot policies. 
This requires a world model compatible with modern generalist policies by supporting multi-view prediction, fine-grained action control, and consistent long-horizon interactions, which is not achieved by previous works.
In this paper, we make a step forward by introducing a controllable multi-view world model that can be used to evaluate and improve the instruction-following ability of generalist robot policies. Our model maintains long-horizon consistency with a pose-conditioned memory retrieval mechanism and achieves precise action control through frame-level action conditioning. Trained on the DROID dataset (95k trajectories, 564 scenes), our model generates spatially and temporally consistent trajectories under novel scenarios and new camera placements for over 20 seconds. We show that our method can accurately rank policy performance without real-world robot rollouts. Moreover, by synthesizing successful trajectories in imagination and using them for supervised fine-tuning, our approach can improve policy success by 44.7\%. Videos can be found at https://sites.google.com/view/ctrl-world.
Deep Think with Confidence
Authors: Yichao Fu; Xuewei Wang; Hao Zhang; Yuandong Tian; Jiawei Zhao
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Large Language Models (LLMs) have shown great potential in reasoning tasks through test-time scaling methods like self-consistency with majority voting. However, this approach often leads to diminishing returns in accuracy and high computational overhead. To address these challenges, we introduce \textbf{Deep Think with Confidence (DeepConf)}, a simple yet powerful method that enhances both reasoning efficiency and performance at test time. DeepConf leverages model-internal confidence signals to dynamically filter out low-quality reasoning traces during or after generation. It requires no additional model training or hyperparameter tuning and can be seamlessly integrated into existing serving frameworks. We evaluate DeepConf across a variety of tasks and the latest open-source models, including Qwen3 and GPT-OSS series. Notably, on challenging benchmarks such as AIME 2025, DeepConf@512 achieves up to 99.9\% accuracy and reduces generated tokens by up to 84.7\% compared to full parallel thinking. Our code is available at https://github.com/facebookresearch/deepconf
PepTri: Tri-Guided All-Atom Diffusion for Peptide Design via Physics, Evolution, and Mutual Information
Authors: Ngoc-Quang Nguyen; Jaeyoon Jung; Seijung Kim; Sunkyu Kim; Jaewoo Kang
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Peptides, short chains of amino acids capable of high-specificity protein binding, represent a powerful class of therapeutics. While deep generative models have shown promise for peptide design, existing approaches are often structure-centric and therefore generate sequences and structures in a decoupled manner, failing to ensure that designs are simultaneously physically stable, evolutionarily plausible, and internally coherent. To overcome this limitation, we introduce $PepTri$, a novel diffusion framework that addresses this by jointly generating peptide sequences and 3D structures within a unified, $SE(3)$-equivariant latent space. Our proposed model integrates three complementary guidance signals during the generative process: (i) physics-informed guidance via differentiable molecular mechanics to ensure structural stability and realism; (ii) evolutionary guidance to bias sequences toward conserved, functional motifs; and (iii) mutual information guidance to explicitly maximize sequence-structure coherence. This tri-guided approach ensures the generative process is steered by biophysical laws, biological priors, and information-theoretic alignment in tandem. Extensive evaluations on challenging peptide-protein design benchmarks, cross-domain (PepBench, LNR) and in-domain (PepBDB), demonstrate that PepTri substantially outperforms strong baselines, achieving state-of-the-art results in binding affinity, structural accuracy, and design diversity. Our results establish that integrating these complementary signals directly into the denoising process is crucial for generating viable, high-quality peptide medicines. PepTri is available at: https://github.com/aigensciences/PepTri
VeriCoT: Neuro-symbolic Chain-of-Thought Validation via Logical Consistency Checks
Authors: Yu Feng; Nathaniel Weir; Kaj Bostrom; Sam Bayless; Darion Cassel; Sapana Chaudhary; Benjamin Kiesl-Reiter; Huzefa Rangwala
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: LLMs can perform multi-step reasoning through Chain-of-Thought (CoT), but they cannot reliably verify their own logic. Even when they reach correct answers, the underlying reasoning may be flawed, undermining trust in high-stakes scenarios. To mitigate this issue, we introduce VeriCoT, a neuro-symbolic method that extracts and verifies formal logical arguments from CoT reasoning. VeriCoT formalizes each CoT reasoning step into first-order logic and identifies premises that ground the argument in source context, commonsense knowledge, or prior reasoning steps. The symbolic representation enables automated solvers to verify logical validity while the NL premises allow humans and systems to identify ungrounded or fallacious reasoning steps. Experiments on the ProofWriter, LegalBench-SARA, and BioASQ
datasets show VeriCoT effectively identifies flawed reasoning, and serves as a strong predictor of final answer correctness. We also leverage VeriCoT’s verification signal for (1) inference-time self-reflection, (2) supervised fine-tuning (SFT) on VeriCoT-distilled datasets and (3) preference fine-tuning (PFT) with direct preference optimization (DPO) using verification-based pairwise rewards, further improving reasoning validity and accuracy.
Boomerang Distillation Enables Zero-Shot Model Size Interpolation
Authors: Sara Kangaslahti; Nihal V. Nayak; Jonathan Geuter; Marco Fumero; Francesco Locatello; David Alvarez-Melis
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Large language models (LLMs) are typically deployed under diverse memory and compute constraints. Existing approaches build model families by training each size independently, which is prohibitively expensive and provides only coarse-grained size options. In this work, we identify a novel phenomenon that we call boomerang distillation: starting from a large base model (the teacher), one first distills down to a small student and then progressively reconstructs intermediate-sized models by re-incorporating blocks of teacher layers into the student without any additional training. This process produces zero-shot interpolated models of many intermediate sizes whose performance scales smoothly between the student and teacher, often matching or surpassing pretrained or distilled models of the same size. We further analyze when this type of interpolation succeeds, showing that alignment between teacher and student through pruning and distillation is essential. Boomerang distillation thus provides a simple and efficient way to generate fine-grained model families, dramatically reducing training cost while enabling flexible adaptation across deployment environments. The code and models are available at [https://github.com/dcml-lab/boomerang-distillation](https://github.com/dcml-lab/boomerang-distillation).
Theory of Scaling Laws for In-Context Regression: Depth, Width, Context and Time
Authors: Blake Bordelon; Mary Letey; Cengiz Pehlevan
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: We study in-context learning (ICL) of linear regression in a deep linear self-attention model, characterizing how performance depends on various computational and statistical resources (width, depth, number of training steps, batch size and data per context). In a joint limit where data dimension, context length, and residual stream width scale proportionally, we analyze the limiting asymptotics for three ICL settings: (1) isotropic covariates and tasks (ISO), (2) fixed and structured covariance (FS), and (3) where covariances are randomly rotated and structured (RRS). For ISO and FS settings, we find that depth only aids ICL performance if context length is limited. Alternatively, in the RRS setting where covariances change across contexts, increasing the depth leads to significant improvements in ICL, even at infinite context length. This provides a new solvable toy model of neural scaling laws which depends on both width and depth of a transformer and predicts an optimal transformer shapes as a function of compute.
Toward Universal and Transferable Jailbreak Attacks on Vision-Language Models
Authors: Kaiyuan Cui; Yige Li; Yutao Wu; Xingjun Ma; Sarah Monazam Erfani; Christopher Leckie; Hanxun Huang
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Vision–language models (VLMs) extend large language models (LLMs) with vision encoders, enabling text generation conditioned on both images and text. However, this multimodal integration expands the attack surface by exposing the model to image-based jailbreaks crafted to induce harmful responses. Existing gradient-based jailbreak methods transfer poorly, as adversarial patterns overfit to a single white-box surrogate and fail to generalise to black-box models. In this work, we propose **U**niversa**l** and **tra**nsferable jail**break** (**UltraBreak**), a framework that constrains adversarial patterns through transformations and regularisation in the vision space, while relaxing textual targets through semantic-based objectives. By defining its loss in the textual embedding space of the target LLM, UltraBreak discovers universal adversarial patterns that generalise across diverse jailbreak objectives. This combination of vision-level regularisation and semantically guided textual supervision mitigates surrogate overfitting and enables strong transferability across both models and attack targets. Extensive experiments show that UltraBreak consistently outperforms prior jailbreak methods. Further analysis reveals why earlier approaches fail to transfer, highlighting that smoothing the loss landscape via semantic objectives is crucial for enabling universal and transferable jailbreaks.
What Happens Next? Anticipating Future Motion by Generating Point Trajectories
Authors: Gabrijel Boduljak; Laurynas Karazija; Iro Laina; Christian Rupprecht; Andrea Vedaldi
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We formulate this task as conditional generation of dense trajectory grids with a model that closely follows the architecture of modern video generators but outputs motion trajectories instead of pixels. This approach captures scene-wide dynamics and uncertainty, yielding more accurate and diverse predictions than prior regressors and generators. Although recent state-of-the-art video generators are often regarded as world models, we show that they struggle with forecasting motion from a single image, even in simple physical scenarios such as falling blocks or mechanical object interactions, despite fine-tuning on such data. We show that this limitation arises from the overhead of generating pixels rather than directly modeling motion.
Concept-TRAK: Understanding how diffusion models learn concepts through concept attribution
Authors: Yong-Hyun Park; Chieh-Hsin Lai; Satoshi Hayakawa; Yuhta Takida; Naoki Murata; Wei-Hsiang Liao; Woosung Choi; Kin Wai Cheuk; Junghyun Koo; Yuki Mitsufuji
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: While diffusion models excel at image generation, their growing adoption raises critical concerns about copyright issues and model transparency. Existing attribution methods identify training examples influencing an entire image, but fall short in isolating contributions to specific elements, such as styles or objects, that are of primary concern to stakeholders. To address this gap, we introduce _concept-level attribution_ through a novel method called _Concept-TRAK_, which extends influence functions with a key innovation: specialized training and utility loss functions designed to isolate concept-specific influences rather than overall reconstruction quality. We evaluate Concept-TRAK on novel concept attribution benchmarks using Synthetic and CelebA-HQ datasets, as well as the established AbC benchmark, showing substantial improvements over prior methods in concept-level attribution scenarios. We further demonstrate its versatility on real-world text-to-image generation with compositional and multi-concept prompts.
SAGA: Structural Aggregation Guided Alignment with Dynamic View and Neighborhood Order Selection for Multiview Graph Domain Adaptation
Authors: Ruiyi Fang; Jingyu Zhao; Shuo Wang; Ruizhi Pu; Bingheng Li; Jiale Cai; Zhihao Li; Zihao Jing; Jian Zhu; Song Tang; Charles Ling; Boyu Wang
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Graph domain adaptation (GDA) transfers knowledge from a labeled source graph to an unlabeled target graph to alleviate label scarcity. In multi-view graphs, the challenge of mitigating domain shift is constrained by structural information across various views. Moreover, within each view, structures at different hops capture distinct neighborhood levels, which can lead to varying structural discrepancies. However, existing methods typically assume only a single-view graph structure, which cannot effectively capture the rich structural information in multi-relational graphs and hampers adaptation performances. In this paper, we tackle the challenging Multi-view Graph Domain Adaptation (MGDA) problem by proposing Structural Aggregation Guided Alignment (SAGA) that aligns multi-view graph data via dynamic view and neighborhood order selection. Specifically, we propose the notion of Structural Aggregation Distance (SAD) as a dynamic discrepancy metric that jointly considers view and neighborhood order, allowing the dominant view–order pair to vary during training. Through empirical analysis, we justify the validity of SAD and show that domain discrepancy in MGDA is largely governed by the dominant view–order pair, which evolves throughout training. Motivated by this observation, we design SAGA, which leverages SAD to dynamically identify the principal view-order pair that guides alignment, thereby effectively characterizing and mitigating both view- and hop-level structural discrepancies between multi-view graphs. Experimental results on various multi-relational graph benchmarks verify the effectiveness of our method.
WearVox: An Egocentric Multichannel Voice Assistant Benchmark for Wearables
Authors: Zhaojiang Lin; YONG XU; Kai Sun; Jing Zheng; Yin Huang; Surya Teja Appini; Krish Narang; Renjie Tao; Ishan Kapil Jain; Siddhant Arora; Ruizhi Li; Yiteng Huang; Kaushik Patnaik; Wenfang Xu; Suwon Shon; Yue Liu; Ahmed A Aly; Anuj Kumar; Florian Metze; Xin Luna Dong
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Wearable devices such as AI glasses are transforming voice assistants into always-available, hands-free collaborators that integrate seamlessly with daily life, but they also introduce challenges like egocentric audio affected by motion and noise, rapid micro-interactions, and the need to distinguish device-directed speech from background conversations. Existing benchmarks largely overlook these complexities, focusing instead on clean or generic conversational audio. To bridge this gap, we present WearVox, the first benchmark designed to rigorously evaluate voice assistants in realistic wearable scenarios. WearVox comprises 3,842 multi-channel, egocentric audio recordings collected via AI glasses across five diverse tasks including Search-Grounded QA, Closed-Book QA, Side-Talk Rejection, Tool Calling, and Speech Translation, spanning a wide range of indoor and outdoor environments and acoustic conditions. Each recording is accompanied by rich metadata, enabling nuanced analysis of model performance under real-world constraints. We benchmark leading proprietary and open-source speech Large Language Models (SLLMs) and find that most real-time SLLMs achieve accuracies on WearVox ranging from 29\% to 59\%, with substantial performance degradation on noisy outdoor audio, underscoring the difficulty and realism of the benchmark. Additionally, we conduct a case study with two new SLLMs that perform inference with single-channel and multi-channel audio, demonstrating that multi-channel audio inputs significantly enhance model robustness to environmental noise and improve discrimination between device-directed and background speech. Our results highlight the critical importance of spatial audio cues for context-aware voice assistants and establish WearVox as a comprehensive testbed for advancing wearable voice AI research.
Deep SPI: Safe Policy Improvement via World Models
Authors: Florent Delgrange; Raphaël Avalos; Willem Röpke
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Safe policy improvement (SPI) offers theoretical control over policy updates, yet existing guarantees largely concern offline, tabular reinforcement learning (RL). We study SPI in general online settings, when combined with world model and representation learning. We develop a theoretical framework showing that restricting policy updates to a well-defined neighborhood of the current policy ensures monotonic improvement and convergence. This analysis links transition and reward prediction losses to representation quality, yielding online, ''deep'' analogues of classical SPI theorems from the offline RL literature. Building on these results, we introduce DeepSPI, a principled on-policy algorithm that couples local transition and reward losses with regularised policy updates. On the ALE-57 benchmark, DeepSPI matches or exceeds strong baselines, including PPO and DeepMDPs, while retaining theoretical guarantees.
The Ideation-Execution Gap: Execution Outcomes of LLM-Generated versus Human Research Ideas
Authors: Chenglei Si; Tatsunori Hashimoto; Diyi Yang
Venue: ICLR 2026 (ICLR 2026 Poster)

Abstract: Large Language Models (LLMs) have shown promise in accelerating the scientific research pipeline. A key capability for this process is the ability to generate novel research ideas, and prior studies have found settings in which LLM-generated research ideas were judged as more novel than human-expert ideas. However, a good idea should not simply appear to be novel, it should also result in better research after being executed. To test whether AI-generated ideas lead to better research outcomes, we conduct an execution study by recruiting 43 expert researchers to execute randomly-assigned ideas, either written by experts or generated by an LLM. Each expert spent over 100 hours implementing the idea and wrote a 4-page short paper to document the experiments. All the executed projects are then reviewed blindly by expert NLP researchers. Comparing the review scores of the same ideas before and after execution, the scores of the LLM-generated ideas decrease significantly more than expert-written ideas on all evaluation metrics (novelty, excitement, effectiveness, and overall; p < 0.05), closing the gap between LLM and human ideas observed at the ideation stage. When comparing the aggregated review scores from the execution study, we even observe that for many metrics there is a flip in rankings where human ideas score higher than LLM ideas. This ideation-execution gap highlights the limitations of current LLMs in generating truly effective research ideas and the challenge of evaluating research ideas in the absence of execution outcomes.