Seed1.5-VL Technical Report

We present Seed1.5-VL, a vision-language foundation model designed to advance general-purpose multimodal understanding and reasoning. Seed1.5-VL is composed with a 532M-parameter vision encoder and a Mixture-of-Experts (MoE) LLM of 20B active parameters. Despite its relatively compact architecture, it delivers strong performance across a wide spectrum of public VLM benchmarks and internal evaluation suites, achieving the state-of-the-art performance on 38 out of 60 public benchmarks. Moreover, in agent-centric tasks such as GUI control and gameplay, Seed1.5-VL outperforms leading multimodal systems, including OpenAI CUA and Claude 3.7. Beyond visual and video understanding, it also demonstrates strong reasoning abilities, making it particularly effective for multimodal reasoning challenges such as visual puzzles. We believe these capabilities will empower broader applications across diverse tasks. In this report, we mainly provide a comprehensive review of our experiences in building Seed1.5-VL across model design, data construction, and training at various stages, hoping that this report can inspire further research. Seed1.5-VL is now accessible at https://www.volcengine.com/ (Volcano Engine Model ID: doubao-1-5-thinking-vision-pro-250428)

OCRT: Boosting Foundation Models in the Open World with Object-Concept-Relation Triad

Although foundation models (FMs) claim to be powerful, their generalization ability significantly decreases when faced with distribution shifts, weak supervision, or malicious attacks in the open world. On the other hand, most domain generalization or adversarial fine-tuning methods are task-related or model-specific, ignoring the universality in practical applications and the transferability between FMs. This paper delves into the problem of generalizing FMs to the out-of-domain data. We propose a novel framework, the Object-Concept-Relation Triad (OCRT), that enables FMs to extract sparse, high-level concepts and intricate relational structures from raw visual inputs. The key idea is to bind objects in visual scenes and a set of object-centric representations through unsupervised decoupling and iterative refinement. To be specific, we project the object-centric representations onto a semantic concept space that the model can readily interpret and estimate their importance to filter out irrelevant elements. Then, a concept-based graph, which has a flexible degree, is constructed to incorporate the set of concepts and their corresponding importance, enabling the extraction of high-order factors from informative concepts and facilitating relational reasoning among these concepts. Extensive experiments demonstrate that OCRT can substantially boost the generalizability and robustness of SAM and CLIP across multiple downstream tasks.

Analytic DAG Constraints for Differentiable DAG Learning

Recovering the underlying Directed Acyclic Graph (DAG) structures from observational data presents a formidable challenge, partly due to the combinatorial nature of the DAG-constrained optimization problem. Recently, researchers have identified gradient vanishing as one of the primary obstacles in differentiable DAG learning and have proposed several DAG constraints to mitigate this issue. By developing the necessary theory to establish a connection between analytic functions and DAG constraints, we demonstrate that analytic functions from the set $\{f(x) = c_0 + \sum_{i=1}^{\infty}c_ix^i | \forall i > 0, c_i > 0; r = \lim_{i\rightarrow \infty}c_{i}/c_{i+1} > 0\}$ can be employed to formulate effective DAG constraints. Furthermore, we establish that this set of functions is closed under several functional operators, including differentiation, summation, and multiplication. Consequently, these operators can be leveraged to create novel DAG constraints based on existing ones. Using these properties, we design a series of DAG constraints and develop an efficient algorithm to evaluate them. Experiments in various settings demonstrate that our DAG constraints outperform previous state-of-the-art comparators. Our implementation is available at https://github.com/zzhang1987/AnalyticDAGLearning.

Causal Discovery and Counterfactual Reasoning to Optimize Persuasive Dialogue Policies

Tailoring persuasive conversations to users leads to more effective persuasion. However, existing dialogue systems often struggle to adapt to dynamically evolving user states. This paper presents a novel method that leverages causal discovery and counterfactual reasoning for optimizing system persuasion capability and outcomes. We employ the Greedy Relaxation of the Sparsest Permutation (GRaSP) algorithm to identify causal relationships between user and system utterance strategies, treating user strategies as states and system strategies as actions. GRaSP identifies user strategies as causal factors influencing system responses, which inform Bidirectional Conditional Generative Adversarial Networks (BiCoGAN) in generating counterfactual utterances for the system. Subsequently, we use the Dueling Double Deep Q-Network (D3QN) model to utilize counterfactual data to determine the best policy for selecting system utterances. Our experiments with the PersuasionForGood dataset show measurable improvements in persuasion outcomes using our approach over baseline methods. The observed increase in cumulative rewards and Q-values highlights the effectiveness of causal discovery in enhancing counterfactual reasoning and optimizing reinforcement learning policies for online dialogue systems.

Type Information-Assisted Self-Supervised Knowledge Graph Denoising

Knowledge graphs serve as critical resources supporting intelligent systems, but they can be noisy due to imperfect automatic generation processes. Existing approaches to noise detection often rely on external facts, logical rule constraints, or structural embeddings. These methods are often challenged by imperfect entity alignment, flexible knowledge graph construction, and overfitting on structures. In this paper, we propose to exploit the consistency between entity and relation type information for noise detection, resulting a novel self-supervised knowledge graph denoising method that avoids those problems. We formalize type inconsistency noise as triples that deviate from the majority with respect to type-dependent reasoning along the topological structure. Specifically, we first extract a compact representation of a given knowledge graph via an encoder that models the type dependencies of triples. Then, the decoder reconstructs the original input knowledge graph based on the compact representation. It is worth noting that, our proposal has the potential to address the problems of knowledge graph compression and completion, although this is not our focus. For the specific task of noise detection, the discrepancy between the reconstruction results and the input knowledge graph provides an opportunity for denoising, which is facilitated by the type consistency embedded in our method. Experimental validation demonstrates the effectiveness of our approach in detecting potential noise in real-world data.

SDD-4DGS: Static-Dynamic Aware Decoupling in Gaussian Splatting for 4D Scene Reconstruction

Dynamic and static components in scenes often exhibit distinct properties, yet most 4D reconstruction methods treat them indiscriminately, leading to suboptimal performance in both cases. This work introduces SDD-4DGS, the first framework for static-dynamic decoupled 4D scene reconstruction based on Gaussian Splatting. Our approach is built upon a novel probabilistic dynamic perception coefficient that is naturally integrated into the Gaussian reconstruction pipeline, enabling adaptive separation of static and dynamic components. With carefully designed implementation strategies to realize this theoretical framework, our method effectively facilitates explicit learning of motion patterns for dynamic elements while maintaining geometric stability for static structures. Extensive experiments on five benchmark datasets demonstrate that SDD-4DGS consistently outperforms state-of-the-art methods in reconstruction fidelity, with enhanced detail restoration for static structures and precise modeling of dynamic motions. The code will be released.

When Selection Meets Intervention: Additional Complexities in Causal Discovery

We address the common yet often-overlooked selection bias in interventional studies, where subjects are selectively enrolled into experiments. For instance, participants in a drug trial are usually patients of the relevant disease; A/B tests on mobile applications target existing users only, and gene perturbation studies typically focus on specific cell types, such as cancer cells. Ignoring this bias leads to incorrect causal discovery results. Even when recognized, the existing paradigm for interventional causal discovery still fails to address it. This is because subtle differences in when and where interventions happen can lead to significantly different statistical patterns. We capture this dynamic by introducing a graphical model that explicitly accounts for both the observed world (where interventions are applied) and the counterfactual world (where selection occurs while interventions have not been applied). We characterize the Markov property of the model, and propose a provably sound algorithm to identify causal relations as well as selection mechanisms up to the equivalence class, from data with soft interventions and unknown targets. Through synthetic and real-world experiments, we demonstrate that our algorithm effectively identifies true causal relations despite the presence of selection bias.

Infant Cry Detection Using Causal Temporal Representation

This paper addresses a major challenge in acoustic event detection, in particular infant cry detection in the presence of other sounds and background noises: the lack of precise annotated data. We present two contributions for supervised and unsupervised infant cry detection. The first is an annotated dataset for cry segmentation, which enables supervised models to achieve state-of-the-art performance. Additionally, we propose a novel unsupervised method, Causal Representation Spare Transition Clustering (CRSTC), based on causal temporal representation, which helps address the issue of data scarcity more generally. By integrating the detected cry segments, we significantly improve the performance of downstream infant cry classification, highlighting the potential of this approach for infant care applications.

Generative Artificial Intelligence in Robotic Manipulation: A Survey

This survey provides a comprehensive review on recent advancements of generative learning models in robotic manipulation, addressing key challenges in the field. Robotic manipulation faces critical bottlenecks, including significant challenges in insufficient data and inefficient data acquisition, long-horizon and complex task planning, and the multi-modality reasoning ability for robust policy learning performance across diverse environments. To tackle these challenges, this survey introduces several generative model paradigms, including Generative Adversarial Networks (GANs), Variational Autoencoders (VAEs), diffusion models, probabilistic flow models, and autoregressive models, highlighting their strengths and limitations. The applications of these models are categorized into three hierarchical layers: the Foundation Layer, focusing on data generation and reward generation; the Intermediate Layer, covering language, code, visual, and state generation; and the Policy Layer, emphasizing grasp generation and trajectory generation. Each layer is explored in detail, along with notable works that have advanced the state of the art. Finally, the survey outlines future research directions and challenges, emphasizing the need for improved efficiency in data utilization, better handling of long-horizon tasks, and enhanced generalization across diverse robotic scenarios. All the related resources, including research papers, open-source data, and projects, are collected for the community in https://github.com/GAI4Manipulation/AwesomeGAIManipulation

Can Large Language Models Help Experimental Design for Causal Discovery?

Designing proper experiments and selecting optimal intervention targets is a longstanding problem in scientific or causal discovery. Identifying the underlying causal structure from observational data alone is inherently difficult. Obtaining interventional data, on the other hand, is crucial to causal discovery, yet it is usually expensive and time-consuming to gather sufficient interventional data to facilitate causal discovery. Previous approaches commonly utilize uncertainty or gradient signals to determine the intervention targets. However, numerical-based approaches may yield suboptimal results due to the inaccurate estimation of the guiding signals at the beginning when with limited interventional data. In this work, we investigate a different approach, whether we can leverage Large Language Models (LLMs) to assist with the intervention targeting in causal discovery by making use of the rich world knowledge about the experimental design in LLMs. Specifically, we present Large Language Model Guided Intervention Targeting (LeGIT) -- a robust framework that effectively incorporates LLMs to augment existing numerical approaches for the intervention targeting in causal discovery. Across 4 realistic benchmark scales, LeGIT demonstrates significant improvements and robustness over existing methods and even surpasses humans, which demonstrates the usefulness of LLMs in assisting with experimental design for scientific discovery.