Why Does Your CoT Prompt (Not) Work? Theoretical Analysis of Prompt Space Complexity, its Interaction with Answer Space During CoT Reasoning with LLMs: A Recurrent Perspective

Despite the remarkable successes of Large Language Models (LLMs), their fundamental Transformer architecture possesses inherent theoretical limitations that restrict their capability to handle reasoning tasks with increasing computational complexity. Chain-of-Thought (CoT) prompting has emerged as a practical solution, supported by several theoretical studies. However, current CoT-based methods (including ToT, GoT, etc.) generally adopt a "one-prompt-fits-all" strategy, using fixed templates (e.g., "think step by step") across diverse reasoning tasks. This method forces models to navigate an extremely complex prompt space to identify effective reasoning paths. The current prompt designing research are also heavily relying on trial-and-error rather than theoretically informed guidance. In this paper, we provide a rigorous theoretical analysis of the complexity and interplay between two crucial spaces: the prompt space (the space of potential prompt structures) and the answer space (the space of reasoning solutions generated by LLMs) in CoT reasoning. We demonstrate how reliance on a single universal prompt (e.g. think step by step) can negatively impact the theoretical computability of LLMs, illustrating that prompt complexity directly influences the structure and effectiveness of the navigation in answer space. Our analysis highlights that sometimes human supervision is critical for efficiently navigating the prompt space. We theoretically and empirically show that task-specific prompting significantly outperforms unsupervised prompt generation, emphasizing the necessity of thoughtful human guidance in CoT prompting.

Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity

Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-purpose tasks requiring greater dexterity and adaptability. Addressing these limitations, we introduce the Prismatic-Bending Transformable (PBT) Joint, a novel design inspired by the scissors mechanism, enabling transformable kinematic chains. Each PBT joint module provides three degrees of freedom-bending, rotation, and elongation/contraction-allowing scalable and reconfigurable assemblies to form diverse kinematic configurations tailored to specific tasks. This innovative design surpasses conventional systems, delivering superior flexibility and performance across various applications. We present the design, modeling, and experimental validation of the PBT joint, demonstrating its integration into modular and foldable robotic arms. The PBT joint functions as a single SKU, enabling manipulators to be constructed entirely from standardized PBT joints without additional customized components. It also serves as a modular extension for existing systems, such as wrist modules, streamlining design, deployment, transportation, and maintenance. Three sizes-large, medium, and small-have been developed and integrated into robotic manipulators, highlighting their enhanced dexterity, reachability, and adaptability for manipulation tasks. This work represents a significant advancement in robotic design, offering scalable and efficient solutions for dynamic and unstructured environments.

Fundamental Limits of Hierarchical Secure Aggregation with Cyclic User Association

Secure aggregation is motivated by federated learning (FL) where a cloud server aims to compute an averaged model (i.e., weights of deep neural networks) of the locally-trained models of numerous clients, while adhering to data security requirements. Hierarchical secure aggregation (HSA) extends this concept to a three-layer network, where clustered users communicate with the server through an intermediate layer of relays. In HSA, beyond conventional server security, relay security is also enforced to ensure that the relays remain oblivious to the users' inputs (an abstraction of the local models in FL). Existing study on HSA assumes that each user is associated with only one relay, limiting opportunities for coding across inter-cluster users to achieve efficient communication and key generation. In this paper, we consider HSA with a cyclic association pattern where each user is connected to $B$ consecutive relays in a wrap-around manner. We propose an efficient aggregation scheme which includes a message design for the inputs inspired by gradient coding-a well-known technique for efficient communication in distributed computing-along with a highly nontrivial security key design. We also derive novel converse bounds on the minimum achievable communication and key rates using information-theoretic arguments.

Multi$^2$: Multi-Agent Test-Time Scalable Framework for Multi-Document Processing

Recent advances in test-time scaling have shown promising results in improving Large Language Models (LLMs) performance through strategic computation allocation during inference. While this approach has demonstrated strong performance improvements in logical and mathematical reasoning tasks, its application to natural language generation (NLG), especially summarization, has yet to be explored. Multi-Document Summarization (MDS) is a challenging task that focuses on extracting and synthesizing useful information from multiple lengthy documents. Unlike reasoning tasks, MDS requires a more nuanced approach to prompt design and ensemble, as there is no "best" prompt to satisfy diverse summarization requirements. To address this, we propose a novel framework that leverages inference-time scaling for this task. Precisely, we take prompt ensemble approach by leveraging various prompt to first generate candidate summaries and then ensemble them with an aggregator to produce a refined summary. We also introduce two new evaluation metrics: Consistency-Aware Preference (CAP) score and LLM Atom-Content-Unit (ACU) score, to enhance LLM's contextual understanding while mitigating its positional bias. Extensive experiments demonstrate the effectiveness of our approach in improving summary quality while identifying and analyzing the scaling boundaries in summarization tasks.

How Far are LLMs from Real Search? A Comprehensive Study on Efficiency, Completeness, and Inherent Capabilities

Search plays a fundamental role in problem-solving across various domains, with most real-world decision-making problems being solvable through systematic search. Drawing inspiration from recent discussions on search and learning, we systematically explore the complementary relationship between search and Large Language Models (LLMs) from three perspectives. First, we analyze how learning can enhance search efficiency and propose Search via Learning (SeaL), a framework that leverages LLMs for effective and efficient search. Second, we further extend SeaL to SeaL-C to ensure rigorous completeness during search. Our evaluation across three real-world planning tasks demonstrates that SeaL achieves near-perfect accuracy while reducing search spaces by up to 99.1% compared to traditional approaches. Finally, we explore how far LLMs are from real search by investigating whether they can develop search capabilities independently. Our analysis reveals that while current LLMs struggle with efficient search in complex problems, incorporating systematic search strategies significantly enhances their problem-solving capabilities. These findings not only validate the effectiveness of our approach but also highlight the need for improving LLMs' search abilities for real-world applications.

High-Fidelity Novel View Synthesis via Splatting-Guided Diffusion

Despite recent advances in Novel View Synthesis (NVS), generating high-fidelity views from single or sparse observations remains a significant challenge. Existing splatting-based approaches often produce distorted geometry due to splatting errors. While diffusion-based methods leverage rich 3D priors to achieve improved geometry, they often suffer from texture hallucination. In this paper, we introduce SplatDiff, a pixel-splatting-guided video diffusion model designed to synthesize high-fidelity novel views from a single image. Specifically, we propose an aligned synthesis strategy for precise control of target viewpoints and geometry-consistent view synthesis. To mitigate texture hallucination, we design a texture bridge module that enables high-fidelity texture generation through adaptive feature fusion. In this manner, SplatDiff leverages the strengths of splatting and diffusion to generate novel views with consistent geometry and high-fidelity details. Extensive experiments verify the state-of-the-art performance of SplatDiff in single-view NVS. Additionally, without extra training, SplatDiff shows remarkable zero-shot performance across diverse tasks, including sparse-view NVS and stereo video conversion.

LanP: Rethinking the Impact of Language Priors in Large Vision-Language Models

Large Vision-Language Models (LVLMs) have shown impressive performance in various tasks. However, LVLMs suffer from hallucination, which hinders their adoption in the real world. Existing studies emphasized that the strong language priors of LVLMs can overpower visual information, causing hallucinations. However, the positive role of language priors is the key to a powerful LVLM. If the language priors are too weak, LVLMs will struggle to leverage rich parameter knowledge and instruction understanding abilities to complete tasks in challenging visual scenarios where visual information alone is insufficient. Therefore, we propose a benchmark called LanP to rethink the impact of Language Priors in LVLMs. It is designed to investigate how strong language priors are in current LVLMs. LanP consists of 170 images and 340 corresponding well-designed questions. Extensive experiments on 25 popular LVLMs reveal that many LVLMs' language priors are not strong enough to effectively aid question answering when objects are partially hidden. Many models, including GPT-4 Turbo, exhibit an accuracy below 0.5 in such a scenario.

Towards Accurate Unified Anomaly Segmentation

Unsupervised anomaly detection (UAD) from images strives to model normal data distributions, creating discriminative representations to distinguish and precisely localize anomalies. Despite recent advancements in the efficient and unified one-for-all scheme, challenges persist in accurately segmenting anomalies for further monitoring. Moreover, this problem is obscured by the widely-used AUROC metric under imbalanced UAD settings. This motivates us to emphasize the significance of precise segmentation of anomaly pixels using pAP and DSC as metrics. To address the unsolved segmentation task, we introduce the Unified Anomaly Segmentation (UniAS). UniAS presents a multi-level hybrid pipeline that progressively enhances normal information from coarse to fine, incorporating a novel multi-granularity gated CNN (MGG-CNN) into Transformer layers to explicitly aggregate local details from different granularities. UniAS achieves state-of-the-art anomaly segmentation performance, attaining 65.12/59.33 and 40.06/32.50 in pAP/DSC on the MVTec-AD and VisA datasets, respectively, surpassing previous methods significantly. The codes are shared at https://github.com/Mwxinnn/UniAS.

CorrDiff: Adaptive Delay-aware Detector with Temporal Cue Inputs for Real-time Object Detection

Real-time object detection takes an essential part in the decision-making process of numerous real-world applications, including collision avoidance and path planning in autonomous driving systems. This paper presents a novel real-time streaming perception method named CorrDiff, designed to tackle the challenge of delays in real-time detection systems. The main contribution of CorrDiff lies in its adaptive delay-aware detector, which is able to utilize runtime-estimated temporal cues to predict objects' locations for multiple future frames, and selectively produce predictions that matches real-world time, effectively compensating for any communication and computational delays. The proposed model outperforms current state-of-the-art methods by leveraging motion estimation and feature enhancement, both for 1) single-frame detection for the current frame or the next frame, in terms of the metric mAP, and 2) the prediction for (multiple) future frame(s), in terms of the metric sAP (The sAP metric is to evaluate object detection algorithms in streaming scenarios, factoring in both latency and accuracy). It demonstrates robust performance across a range of devices, from powerful Tesla V100 to modest RTX 2080Ti, achieving the highest level of perceptual accuracy on all platforms. Unlike most state-of-the-art methods that struggle to complete computation within a single frame on less powerful devices, CorrDiff meets the stringent real-time processing requirements on all kinds of devices. The experimental results emphasize the system's adaptability and its potential to significantly improve the safety and reliability for many real-world systems, such as autonomous driving. Our code is completely open-sourced and is available at https://anonymous.4open.science/r/CorrDiff.

ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle

LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to the vertical direction, when passing to uneven terrains. This deficiency typically leads to a conspicuously distorted global map. In this article, a LiDAR-based SLAM method is presented to improve the accuracy of pose estimations for ground vehicles in rough terrains, which is termed Rotation-Optimized LiDAR-Only (ROLO) SLAM. The method exploits a forward location prediction to coarsely eliminate the location difference of consecutive scans, thereby enabling separate and accurate determination of the location and orientation at the front-end. Furthermore, we adopt a parallel-capable spatial voxelization for correspondence-matching. We develop a spherical alignment-guided rotation registration within each voxel to estimate the rotation of vehicle. By incorporating geometric alignment, we introduce the motion constraint into the optimization formulation to enhance the rapid and effective estimation of LiDAR's translation. Subsequently, we extract several keyframes to construct the submap and exploit an alignment from the current scan to the submap for precise pose estimation. Meanwhile, a global-scale factor graph is established to aid in the reduction of cumulative errors. In various scenes, diverse experiments have been conducted to evaluate our method. The results demonstrate that ROLO-SLAM excels in pose estimation of ground vehicles and outperforms existing state-of-the-art LiDAR SLAM frameworks.