arXiv subjects

Idan Szpektor

Publications and source records attributed to Idan Szpektor.

At least 19 recordsLinked to original sources

arXiv2026

Error-Driven Scene Editing for 3D Grounding in Large Language Models

Despite recent progress in 3D-LLMs, they remain limited in accurately grounding language to visual and spatial elements in 3D environments. This limitation stems in part from training data that focuses on language reasoning rather than spatial understanding due to scarce 3D resources, leaving inherent grounding biases unresolved. To address this, we propose 3D scene editing as a key mechanism to generate visual counterfactuals that mitigate these biases through fine-grained spatial manipulation, without requiring costly scene reconstruction or large-scale 3D data collection. Furthermore, to make these edits targeted and directly address the specific weaknesses of the model, we introduce DEER-3D, an error-driven framework that diagnoses grounding failures and generates targeted counterfactual training supervision via a structured "Decompose, Diagnose, Edit, and Retrain" loop. Specifically, given a grounding failure, DEER-3D first identifies the predicate-level error (e.g., attribute or spatial relation). It then performs minimal predicate-aligned scene edits, such as recoloring or repositioning, and constructs aligned question-answer pairs that explicitly target the failed predicate, forming targeted counterfactual training examples. We evaluate our editing pipeline across multiple benchmarks for 3D grounding and scene understanding tasks, consistently demonstrating improvements across all grounding datasets through iterative refinement (4-6% gains). DEER-3D underscores the effectiveness of targeted, error-driven scene editing in bridging linguistic reasoning with spatial grounding in 3D LLMs.

cs.CV↗

arXiv2026

Reinforcement Learning with Metacognitive Feedback Elicits Faithful Uncertainty Expression in LLMs

Metacognition is a critical component of intelligence that describes the ability to monitor and regulate one's own cognitive processes. Yet LLMs exhibit systemic deficiencies in key metacognitive faculties: they hallucinate with high confidence, fail to recognize knowledge boundaries, and misrepresent their internal uncertainty--undermining trustworthiness and reliability. Since monitoring task performance and adapting behavior accordingly are central to metacognition, we posit that models capable of accurately judging their own performance are better positioned to improve it. We operationalize this idea via two novel mechanisms: reinforcement learning with metacognitive feedback (RLMF), a paradigm to refine completion rankings during preference optimization based on the quality of a model's self-judgments of performance, and metacognitive data selection, which uses similar self-judgments to identify high-value training examples, outperforming naive active learning. We apply these innovations to the problem of faithful calibration (FC), a task that is itself fundamentally metacognitive: the goal is to align expressed with intrinsic uncertainty, difficult even for frontier LLMs. We adopt a two-stage, decoupled approach, first using these methods to calibrate the faithfulness of models' self-reported confidence scores, then mapping to natural, context-adaptable linguistic uncertainty via targeted output editing. Extensive experiments show RLMF achieves generalizable, state-of-the-art FC on diverse tasks while preserving accuracy. Further, RLMF surpasses standard RL by up to 63% while enhancing models' ability to assess and express their own capability limits. This positions RLMF as a promising paradigm to enhance LLM metacognition toward improved abilities and alignment, and suggests metacognitive performance as an effective RL signal to overcome limits of prior intrinsic feedback methods.

cs.CL↗

arXiv2026

Early Estimation of Language to Latent Alignment in Diffusion Models

Conditional diffusion models frequently suffer from language-image misalignments. Due to the ambiguity of intermediate noise corrupted latents, assessing prompt adherence currently requires completing the entire sampling trajectory. This late-stage evaluation incurs even higher computational costs during test-time scaling strategies, such as Best-of-N (BoN) sampling, as all misaligned trajectories must finish generation before being discarded. To tackle this, we propose NoisyCLIP, a noise-aware twin-tower model that enables early language-to-latent alignment estimation. By learning a vision encoder on noise-corrupted latents, we allow the model to "see" through the ambiguity of intermediate diffusion steps. To facilitate this training, we investigate noise-data augmentation sampling strategies and introduce two new benchmark datasets: Noisy-Conceptual-Captions and Noisy-GenAI-Bench. When applied as an early-stopping criterion for BoN, NoisyCLIP at half cost matches or beats frozen CLIP at full cost. Ultimately, this transforms alignment assessment from an expensive final check into a continuous monitoring tool, drastically reducing compute costs without sacrificing semantic fidelity.

cs.CV↗

arXiv2026

Cross-Lingual Exploration for Parametric Knowledge

Parametric knowledge in Large Language Models is not equally accessible across languages. As a result, standard inference techniques often struggle to surface localized facts, leading to failures in cross-lingual knowledge transfer and consistency. In this work, we investigate techniques for accessing hidden factual knowledge by exploring cross-lingual prompting strategies. We identify four inherent dimensions of cross-lingual exploration that directly govern parametric knowledge retrieval and evaluate them on multilingual factual benchmarks covering 17 typologically diverse languages. Our results demonstrate that cross-lingual exploration significantly improves knowledge transfer and factual recall, representing a more efficient compute Pareto frontier than native-language scaling. Furthermore, we observe corresponding improvements in cross-lingual consistency, exceeding what can be explained by accuracy gains alone. Overall, our work establishes multilingual prompt exploration as a highly effective inference-time strategy for unlocking latent parametric knowledge.

cs.CL↗

arXiv2026

Real-Time Execution with Autoregressive Policies

Real-time execution, enabled by asynchronous inference that ensures both smooth action trajectories and fast reactivity, is critical for realistic deployments of large-scale Vision-Language-Action models. However, recent work on real-time execution primarily focuses on variants of diffusion policies, even though it is more critical for autoregressive policies given their slower rollout speed in synchronous inference. In contrast, we demonstrate that autoregressive policies can achieve real-time execution by adjusting the tokenization horizon and applying constrained decoding, thereby guaranteeing strict latency bounds that enable multi-trajectory decoding to maximize performance. Across simulated and real-world environments, we find that the autoregressive policy consistently outperforms its equivalent-level flow-matching policy counterpart while achieving significantly improved task completion speeds from synchronous inference. Coupled with the inherent advantages of autoregressive policies, such as faster convergence and better generalizability in instruction-following, these results confirm that autoregressive policies can remain a competitive policy type supporting real-time execution.

cs.RO↗

arXiv2026

Seeing Isn't Knowing: Do VLMs Know When Not to Answer Spatial Questions (and Why)?

Spatial reasoning is a fundamental capability for vision-language models (VLMs) deployed in real-world environments. However, visual observations are inherently limited representations of a 3D world: occlusion can render objects invisible, and perspective can make geometric properties misleading. Despite this, existing spatial reasoning benchmarks typically assume that observations are sufficient and reliable, focusing on whether models produce correct answers rather than whether they recognize when a question cannot be answered and what additional observations would be needed. In this work, we challenge this assumption by constructing a controlled evaluation framework, SpatialUncertain, and introducing two types of observation challenges: (1) occlusion, which hides target information, and (2) perspective ambiguity, which produces misleading visual cues. For each configuration, we design spatial questions that are answerable under clean observations but require abstention under the introduced challenges. We further evaluate whether models can identify which additional viewpoints would resolve perspective ambiguity. Our results across a diverse set of frontier open- and closed-source VLMs reveal two consistent failure modes. First, models are prone to overconfident answering, attempting to solve spatial reasoning tasks even when visual evidence is incomplete or misleading, with average accuracy around 30\% under occlusion and below 10\% under perspective ambiguity. Second, even when additional views are available, some models perform near random chance in identifying which would provide reliable evidence. Together, our findings call for moving beyond answer correctness toward evaluating whether models know when to abstain and how to seek reliable evidence.

cs.CV↗

arXiv2026

Location Not Found: Exposing Implicit Local and Global Biases in Multilingual LLMs

Multilingual large language models (LLMs) have minimized the fluency gap between languages. This advancement, however, exposes models to the risk of biased behavior, as knowledge and norms may propagate across languages. In this work, we aim to quantify models' inter- and intra-lingual biases, via their ability to answer locale-ambiguous questions. To this end, we present LocQA, a test set containing 2,156 questions in 12 languages, referring to various locale-dependent facts such as laws, dates, and measurements. The questions do not contain indications of the locales they relate to, other than the querying language itself. LLMs' responses to LocQA locale-ambiguous questions thus reveal models' implicit priors. We used LocQA to evaluate 32 models, and detected two types of structural biases. Inter-lingually, we show a global bias towards answers relevant to the US-locale, even when models are asked in languages other than English. Moreover, we discovered that this global bias is exacerbated in models that underwent instruction tuning, compared to their base counterparts. Intra-lingually, we show that when multiple locales are relevant for the same language, models act as demographic probability engines, prioritizing locales with larger populations. Taken together, insights from LocQA may help in shaping LLMs' desired local behavior, and in quantifying the impact of various training phases on different kinds of biases.

cs.CL↗

arXiv2026

ManagerBench: Evaluating the Safety-Pragmatism Trade-off in Autonomous LLMs

As large language models (LLMs) evolve from conversational assistants into autonomous agents, evaluating the safety of their actions becomes critical. Prior safety benchmarks have primarily focused on preventing generation of harmful content, such as toxic text. However, they overlook the challenge of agents taking harmful actions when the most effective path to an operational goal conflicts with human safety. To address this gap, we introduce ManagerBench, a benchmark that evaluates LLM decision-making in realistic, human-validated managerial scenarios. Each scenario forces a choice between a pragmatic but harmful action that achieves an operational goal, and a safe action that leads to worse operational performance. A parallel control set, where potential harm is directed only at inanimate objects, measures a model's pragmatism and identifies its tendency to be overly safe. Our findings indicate that the frontier LLMs perform poorly when navigating this safety-pragmatism trade-off. Many consistently choose harmful options to advance their operational goals, while others avoid harm only to become overly safe and ineffective. Critically, we find this misalignment does not stem from an inability to perceive harm, as models' harm assessments align with human judgments, but from flawed prioritization. ManagerBench is a challenging benchmark for a core component of agentic behavior: making safe choices when operational goals and alignment values incentivize conflicting actions. Benchmark & code available at https://technion-cs-nlp.github.io/ManagerBench-website/.

cs.CL↗

arXiv2026

Latent Reasoning with Supervised Thinking States

Reasoning with a chain-of-thought (CoT) enables Large Language Models (LLMs) to solve complex tasks but incurs significant inference costs due to the generation of long rationales. We propose Thinking States, a method that performs reasoning {\em while} the input is processing. Specifically, Thinking States generates sequences of thinking tokens every few input tokens, transforms the thoughts back into embedding space, and adds them to the following input tokens. This has two key advantages. First, it captures the recurrent nature of CoT, but where the thought tokens are generated as input is processing. Second, since the thoughts are represented as tokens, they can be learned from natural language supervision, and using teacher-forcing, which is parallelizable. Empirically, Thinking States outperforms other latent reasoning methods on multiple reasoning tasks, narrowing the gap to CoT on math problems, and matching its performance on 2-Hop QA with improved latency. On state-tracking tasks, we show Thinking States leads to stronger reasoning behavior than CoT, successfully extrapolating to longer sequences than seen during training.

cs.CL↗

arXiv2025

Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

cs.CL↗

arXiv2025

3DLLM-Mem: Long-Term Spatial-Temporal Memory for Embodied 3D Large Language Model

Humans excel at performing complex tasks by leveraging long-term memory across temporal and spatial experiences. In contrast, current Large Language Models (LLMs) struggle to effectively plan and act in dynamic, multi-room 3D environments. We posit that part of this limitation is due to the lack of proper 3D spatial-temporal memory modeling in LLMs. To address this, we first introduce 3DMem-Bench, a comprehensive benchmark comprising over 26,000 trajectories and 2,892 embodied tasks, question-answering and captioning, designed to evaluate an agent's ability to reason over long-term memory in 3D environments. Second, we propose 3DLLM-Mem, a novel dynamic memory management and fusion model for embodied spatial-temporal reasoning and actions in LLMs. Our model uses working memory tokens, which represents current observations, as queries to selectively attend to and fuse the most useful spatial and temporal features from episodic memory, which stores past observations and interactions. Our approach allows the agent to focus on task-relevant information while maintaining memory efficiency in complex, long-horizon environments. Experimental results demonstrate that 3DLLM-Mem achieves state-of-the-art performance across various tasks, outperforming the strongest baselines by 16.5% in success rate on 3DMem-Bench's most challenging in-the-wild embodied tasks.

cs.CV↗

arXiv2025

ECLeKTic: a Novel Challenge Set for Evaluation of Cross-Lingual Knowledge Transfer

To achieve equitable performance across languages, large language models (LLMs) must be able to abstract knowledge beyond the language in which it was learnt. However, the current literature lacks reliable ways to measure LLMs' capability of such cross-lingual knowledge transfer. To that end, we present ECLeKTic, a multilingual closed-book QA dataset that Evaluates Cross-Lingual Knowledge Transfer in a simple, black-box manner. Concretely, we used the presence and absence of Wikipedia articles in 12 languages to detect pieces of information that were likely available during pre-training in one of the languages but not in the others. We curate ECLeKTic as a set of fact-seeking questions over this kind of information, in all the different languages. Therefore, in order to solve ECLeKTic the model is required to transfer knowledge between languages. We evaluated 8 LLMs and showed that current SOTA models struggle to effectively share knowledge across languages, even if they can predict the answer for questions in the language in which the knowledge was acquired.

cs.CL↗

arXiv2025

HACK: Hallucinations Along Certainty and Knowledge Axes

Hallucinations in LLMs present a critical barrier to their reliable usage. Existing research usually categorizes hallucination by their external properties rather than by the LLMs' underlying internal properties. This external focus overlooks that hallucinations may require tailored mitigation strategies based on their underlying mechanism. We propose a framework for categorizing hallucinations along two axes: knowledge and certainty. Since parametric knowledge and certainty may vary across models, our categorization method involves a model-specific dataset construction process that differentiates between those types of hallucinations. Along the knowledge axis, we distinguish between hallucinations caused by a lack of knowledge and those occurring despite the model having the knowledge of the correct response. To validate our framework along the knowledge axis, we apply steering mitigation, which relies on the existence of parametric knowledge to manipulate model activations. This addresses the lack of existing methods to validate knowledge categorization by showing a significant difference between the two hallucination types. We further analyze the distinct knowledge and hallucination patterns between models, showing that different hallucinations do occur despite shared parametric knowledge. Turning to the certainty axis, we identify a particularly concerning subset of hallucinations where models hallucinate with certainty despite having the correct knowledge internally. We introduce a new evaluation metric to measure the effectiveness of mitigation methods on this subset, revealing that while some methods perform well on average, they fail disproportionately on these critical cases. Our findings highlight the importance of considering both knowledge and certainty in hallucination analysis and call for targeted mitigation approaches that consider the hallucination underlying factors.

cs.CL↗

arXiv2025

MetaFaith: Faithful Natural Language Uncertainty Expression in LLMs

A critical component in the trustworthiness of LLMs is reliable uncertainty communication, yet LLMs often use assertive language when conveying false claims, leading to over-reliance and eroded trust. We present the first systematic study of $\textit{faithful confidence calibration}$ of LLMs, benchmarking models' ability to use linguistic expressions of uncertainty that $\textit{faithfully reflect}$ their intrinsic uncertainty, across a comprehensive array of models, datasets, and prompting strategies. Our results demonstrate that LLMs largely fail at this task, and that existing interventions are insufficient: standard prompt approaches provide only marginal gains, and existing, factuality-based calibration techniques can even harm faithful calibration. To address this critical gap, we introduce MetaFaith, a novel prompt-based calibration approach inspired by human metacognition. We show that MetaFaith robustly improves faithful calibration across diverse models and task domains, enabling up to 61% improvement in faithfulness and achieving an 83% win rate over original generations as judged by humans.

cs.CL↗

arXiv2025

Latent Beam Diffusion Models for Generating Visual Sequences

While diffusion models excel at generating high-quality images from text prompts, they struggle with visual consistency when generating image sequences. Existing methods generate each image independently, leading to disjointed narratives - a challenge further exacerbated in non-linear storytelling, where scenes must connect beyond adjacent images. We introduce a novel beam search strategy for latent space exploration, enabling conditional generation of full image sequences with beam search decoding. In contrast to earlier methods that rely on fixed latent priors, our method dynamically samples past latents to search for an optimal sequence of latent representations, ensuring coherent visual transitions. As the latent denoising space is explored, the beam search graph is pruned with a cross-attention mechanism that efficiently scores search paths, prioritizing alignment with both textual prompts and visual context. Human and automatic evaluations confirm that BeamDiffusion outperforms other baseline methods, producing full sequences with superior coherence, visual continuity, and textual alignment.

cs.CV↗

arXiv2025

Are LLMs Better than Reported? Detecting Label Errors and Mitigating Their Effect on Model Performance

NLP benchmarks rely on standardized datasets for training and evaluating models and are crucial for advancing the field. Traditionally, expert annotations ensure high-quality labels; however, the cost of expert annotation does not scale well with the growing demand for larger datasets required by modern models. While crowd-sourcing provides a more scalable solution, it often comes at the expense of annotation precision and consistency. Recent advancements in large language models (LLMs) offer new opportunities to enhance the annotation process, particularly for detecting label errors in existing datasets. In this work, we consider the recent approach of LLM-as-a-judge, leveraging an ensemble of LLMs to flag potentially mislabeled examples. We conduct a case study on four factual consistency datasets from the TRUE benchmark, spanning diverse NLP tasks, and on SummEval, which uses Likert-scale ratings of summary quality across multiple dimensions. We empirically analyze the labeling quality of existing datasets and compare expert, crowd-sourced, and LLM-based annotations in terms of the agreement, label quality, and efficiency, demonstrating the strengths and limitations of each annotation method. Our findings reveal a substantial number of label errors, which, when corrected, induce a significant upward shift in reported model performance. This suggests that many of the LLMs' so-called mistakes are due to label errors rather than genuine model failures. Additionally, we discuss the implications of mislabeled data and propose methods to mitigate them in training to improve performance.

cs.CL↗

arXiv2025

Localizing Factual Inconsistencies in Attributable Text Generation

There has been an increasing interest in detecting hallucinations in model-generated texts, both manually and automatically, at varying levels of granularity. However, most existing methods fail to precisely pinpoint the errors. In this work, we introduce QASemConsistency, a new formalism for localizing factual inconsistencies in attributable text generation, at a fine-grained level. Drawing inspiration from Neo-Davidsonian formal semantics, we propose decomposing the generated text into minimal predicate-argument level propositions, expressed as simple question-answer (QA) pairs, and assess whether each individual QA pair is supported by a trusted reference text. As each QA pair corresponds to a single semantic relation between a predicate and an argument, QASemConsistency effectively localizes the unsupported information. We first demonstrate the effectiveness of the QASemConsistency methodology for human annotation, by collecting crowdsourced annotations of granular consistency errors, while achieving a substantial inter-annotator agreement. This benchmark includes more than 3K instances spanning various tasks of attributable text generation. We also show that QASemConsistency yields factual consistency scores that correlate well with human judgments. Finally, we implement several methods for automatically detecting localized factual inconsistencies, with both supervised entailment models and LLMs.

cs.CL↗

arXiv2025

Inside-Out: Hidden Factual Knowledge in LLMs

This work presents a framework for assessing whether large language models (LLMs) encode more factual knowledge in their parameters than what they express in their outputs. While a few studies hint at this possibility, none has clearly defined or demonstrated this phenomenon. We first propose a formal definition of knowledge, quantifying it for a given question as the fraction of correct-incorrect answer pairs where the correct one is ranked higher. This gives rise to external and internal knowledge, depending on the information used to score individual answer candidates: either the model's observable token-level probabilities or its intermediate computations. Hidden knowledge arises when internal knowledge exceeds external knowledge. We then present a case study, applying this framework to three popular open-weights LLMs in a closed-book QA setup. Our results indicate that: (1) LLMs consistently encode more factual knowledge internally than what they express externally, with an average relative gap of 40%. (2) Surprisingly, some knowledge is so deeply hidden that a model can internally know an answer perfectly, yet fail to generate it even once, despite large-scale repeated sampling of 1,000 answers. This reveals fundamental limitations in the generation capabilities of LLMs, which (3) put a practical constraint on scaling test-time compute via repeated answer sampling in closed-book QA: significant performance improvements remain inaccessible because some answers are practically never sampled, yet if they were, we would be guaranteed to rank them first.

cs.CL↗