While Vision-Language-Action (VLA) models generalize well to generic instructions, they struggle with personalized commands such as "bring cup," where the robot must act on one specific instance among visually similar objects. We study this setting of manipulating personal objects, in which a VLA must identify and control a user-specific object unseen during training using only a few reference images. To address this challenge, we propose , a simple-yet-effective training-free perceptual adapter that equips frozen VLAs with top-down selective attention. VAP treats the reference images as a non-parametric visual memory, grounds the personal object in the scene through open-vocabulary detection and embedding-based matching, and then injects this grounding as a visual prompt by highlighting the object and rewriting the instruction. We construct two simulation benchmarks, Personalized-SIMPLER and Personalized-VLABench, and a real-world tabletop benchmark to evaluate personalized manipulation across multiple robots and tasks. Experiments show that VAP consistently outperforms generic policies and token-learning baselines in both success rate and correct-object manipulation, helping to bridge the gap between semantic understanding and instance-level control.
Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain impractically slow, memory-intensive, and overly complex due to iterative optimization and dense feature assignments for every Gaussian. To address these limitations, we propose LightSplat, a fast and memory-efficient training-free framework that injects compact 2-byte semantic indices into 3D representations from multi-view images. By assigning semantics only to salient regions and managing them with a lightweight index-feature mapping, LightSplat eliminates costly feature optimization and storage overhead. To further streamline inference and ensure semantic consistency, we cluster Gaussians in a single step by linking geometrically and semantically related masks in 3D. In evaluation, we assess our method on diverse benchmarks, including DL3DV-OVS with large and complex indoor-outdoor scenes. As a result, LightSplat achieves state-of-the-art performance with up to 50× faster speed and 64× lower memory, offering a scalable foundation for real-time language-driven 3D understanding.
Uncertainty quantification is crucial in safety-critical systems, where decisions must be made under uncertainty. In particular, we consider the problem of online uncertainty quantification, where data points arrive sequentially. Online conformal prediction is a principled online uncertainty quantification method that dynamically constructs a prediction set at each time step. While existing methods for online conformal prediction provide long-run coverage guarantees without any distributional assumptions, they typically assume a full feedback setting in which the true label is always observed. In this paper, we propose a novel learning method for online conformal prediction with partial feedback from an adaptive adversary-a more challenging setup where the true label is revealed only when it lies inside the constructed prediction set. Specifically, we formulate online conformal prediction as an adversarial bandit problem by treating each candidate prediction set as an arm. Building on an existing algorithm for adversarial bandits, our method achieves a long-run coverage guarantee by explicitly establishing its connection to the regret of the learner. Finally, we empirically demonstrate the effectiveness of our method in both independent and identically distributed (i.i.d.) and non-i.i.d. settings, showing that it successfully controls the miscoverage rate while maintaining a reasonable size of the prediction set.
Knowledge Tracing (KT) aims to predict learners' future performance from past interactions. While recent KT approaches have improved via learning item representations aligned with Knowledge Components, they overlook the procedural dynamics of problem solving. We propose Behavior-Aware Item Modeling (BAIM), a framework that enriches item representations by integrating dynamic procedural solution information. BAIM leverages a reasoning language model to decompose each item's solution into four problem-solving stages (i.e., understand, plan, carry out, and look back), pedagogically grounded in Polya's framework. Specifically, it derives stage-level representations from per-stage embedding trajectories, capturing latent signals beyond surface features. To reflect learner heterogeneity, BAIM adaptively routes these stage-wise representations, introducing a context-conditioned mechanism within a KT backbone, allowing different procedural stages to be emphasized for different learners. Experiments on XES3G5M and NIPS34 show that BAIM consistently outperforms strong pretraining-based baselines, achieving particularly large gains under repeated learner interactions.
Open-domain multimodal document retrieval aims to retrieve specific components (paragraphs, tables, or images) from large and interconnected document corpora. Existing graph-based retrieval approaches typically rely on a uniform similarity metric that overlooks hop-specific semantics, and their rigid pre-defined plans hinder dynamic error correction. These limitations suggest that a retriever should adapt its reasoning to the evolving context and recover intelligently from dead ends. To address these needs, we propose Failure is Feedback (FiF), which casts subgraph retrieval as a sequential decision process and introduces two key innovations. (i) We introduce a history-aware backtracking mechanism; unlike standard backtracking that simply reverts the state, our approach piggybacks on the context of failed traversals, leveraging insights from previous failures. (ii) We implement an economically-rational agentic workflow. Unlike conventional agents with static strategies, our orchestrator employs a cost-aware traversal method to dynamically manage the trade-off between retrieval accuracy and inference costs, escalating to intensive LLM-based reasoning only when the prior failure justifies the additional computational investment. Extensive experiments show that FiF achieves state-of-the-art retrieval on the benchmarks of MultimodalQA, MMCoQA and WebQA.
