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Thong Nguyen

Publications and source records attributed to Thong Nguyen.

At least 19 recordsLinked to original sources
arXiv2026

DynaPix: Can Vision-Language Models Identify the Exact Future?

Acting in a physical scene requires knowing its real later state, not a plausible one. Current evaluations often accept words or a realistic-looking image, so the predicted state is never checked against the true one. We introduce DynaPix (Dynamic Pixels), a benchmark that makes prediction checkable. Given a video clip that stops before a key event and a question about a later moment, a model must pick the true future image from close candidates or a large gallery. The scenes come from a physics simulator, so the correct image and its time are known exactly and the wrong options are deliberately similar. Models often succeed when a visible event marks the target moment, but are near chance when only elapsed time marks it. Gallery search is harder still, as the true image rarely ranks first. People handle the elapsed-time items well, so the difficulty lies with the models, not the questions. Training on scene accounts drawn from the simulator's true record, not a teacher's guess, repairs much of this but not the longer elapsed time case. DynaPix thus exposes a temporal-anchoring gap: models attach a prediction to an event far better than to time itself.

cs.CV↗
arXiv2026

Predict, Then Retrieve: Cross-Instance Future-State Retrieval from Video Prefixes

We introduce Predictive State Retrieval (PSR), a task in which a model observes a short video prefix and a temporal question about an object's future state, then retrieves instances from other videos or images that depict that state. Unlike action anticipation, which predicts a label, moment retrieval, which localizes an observed event within a video, or video generation, which synthesizes pixels, PSR combines anticipation with cross-instance retrieval across multiple temporal horizons. We construct a benchmark from four datasets with graded, human-validated ground truth, difficulty tiers, and an oracle ceiling. We also propose LFTR, a lightweight retriever with frozen encoders that predicts a question- and horizon-conditioned future latent and matches it in complementary semantic and visual spaces. A ceiling decomposition reveals a clear bottleneck: the true future state is highly retrievable once specified, whereas every predictor we evaluate, including a large multimodal language model with access to the prefix frames, remains far below the oracle. Thus, forecasting rather than perception is the central learnable challenge. LFTR narrows this gap at substantially lower inference cost, and ablations attribute its gains to cross-space fusion and hard-negative training rather than latent rollout. We release the benchmark, code, and evaluation scripts.

cs.CV↗
arXiv2026

TIGER: Text-Conditioned Visual Gated Routing with Acceptance Alignment for Multimodal Speculative Decoding

Speculative decoding accelerates autoregressive generation by letting a lightweight drafter propose multiple tokens that are verified by a larger target model. Although effective for text-only LLMs, speculative decoding yields limited gains in VLMs because drafters often diverge on vision-critical content, while existing multimodal acceleration methods do not directly address irrelevant visual evidence or optimize the verifier-accepted prefix length that governs speedup. We propose TIGER, a Text-conditioned vIsual GatEd Routing framework for multimodal speculative decoding. TIGER dynamically selects a sparse set of context-relevant visual tokens based on the drafter's current textual state, rather than expose the full visual token set or a fixed compressed interface. To better align training with inference-time efficiency, we optimize the drafter with acceptance-aligned group-based policy training using verifier-derived rewards based on accepted prefix length, built on top of distillation warm start with KL anchoring. This encourages the drafter not only to imitate the target model, but also to produce speculative continuations that survive verification for longer prefixes. Experiments show that TIGER yields consistent gains in accepted prefix length and speculative speedup under exact verifier-side speculative decoding, while achieving favorable quality-latency trade-offs with comparable downstream accuracy in visual-routing analyses.

cs.CL↗
arXiv2026

When Depth Is Better Told Than Shown: Depth-Ordinal Prompting for Vision-Language Spatial Reasoning

Vision-language models (VLMs) are expected to reason about physical space -- which object is closer, what lies behind what, and how objects are arranged in 3D -- yet they still struggle with such spatial judgments. A natural remedy is to show the model a depth map, but we find that this can make performance worse. We show that depth is not absent: it reaches the language model, but becomes difficult to access for downstream reasoning, while rendered pseudo-depth maps act as noisy auxiliary images that frozen VLMs cannot easily regulate. We propose Depth-Ordinal Prompting (DOP), a training-free method that converts monocular depth into a single question-targeted ordinal text cue at the queried objects, without adding a depth image, training a module, injecting features, or using labels. Our key finding is form dependence: the same depth signal can hurt when shown as an image but help when told as text.Across benchmarks, models, and depth estimators, DOP improves spatial reasoning when pseudo-depth provides reliable object-level ordering and remains largely neutral in strong original-image regimes. It is also competitive with the strongest training-free depth-prompting alternative while being simpler and more targeted.

cs.CV↗
arXiv2026

WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning

Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat contact force only implicitly. On the other hand, different demonstration sources provide complementary modalities with inherent trade-offs: human demonstrations capture natural contact forces but not robot-executable actions, while teleoperation directly records robot actions but with less natural force regulation. This paper presents \textbf{WT-UMI}, a wearable whole-body tactile interface worn by human operators or mounted on humanoids, providing accurate observations of tactile images, contact forces, and end-effector poses across both human demonstration and humanoid teleoperation modes. We introduce a force-conditioned target-pose correction module that converts measured human poses into contact-aware robot targets by learning corrections from teleoperation data. To leverage the natural force interaction in human data, we propose a force-supervised planner that predicts end-effector pose chunks and contact-force trajectories. The predicted contact force serves as the reference for a tactile-based admittance controller. Across five contact-rich tasks spanning deformable objects, bulky rigid objects, and human--humanoid collaboration, WT-UMI improves success rate and reduces contact-position tracking error over four policy baselines. Our project page is available at https://wt-umi.github.io/WTUMI/.

cs.RO↗
arXiv2026

Don't Read Everything: A Curvature-Conditioned Query for Linear Attention

Linear attention reduces the quadratic cost of softmax attention by maintaining a recurrent fast-weight state, but it consistently lags on in-context retrieval and long-context tasks. Existing remedies act on the write side of memory through gating, delta updates, or kernel feature maps, but the read step is left unchanged: every past key contributes additively to the output, so useful targets are diluted by the bulk of stored vectors. We borrow one specific piece of softmax's geometry to construct a cheap read-time contraction of the query. A second-order Taylor expansion of the softmax log-partition at the isotropic-attention point gives a local quadratic model whose curvature coincides with the running key covariance, a quantity that can be maintained with the same recurrent/chunkwise mechanism as the linear-attention state. The associated linear operator contracts the query along the high-variance directions of memory before it reads the state. We call this mechanism Curvature-Conditioned Query (CCQ). CCQ modifies only the read step and is composable with any linear-attention backbone. Attached to GLA and Gated DeltaNet, it improves perplexity, zero-shot downstream accuracy, S-NIAH retrieval at and beyond the training context, length-extrapolation perplexity from 4K to 20K, and LongBench accuracy.

cs.CL↗
arXiv2026

When In-Distribution Gains Fail: Evaluating Weak-to-Strong Reward Models under Preference Shift

Weak-to-strong (W2S) generalization is a promising framework for scalable oversight, yet existing evaluations often test students under matched train-test distributions. Therefore, we study W2S preference learning under zero-shot distribution shift and find that strong students trained on weak preference labels can appear successful in-distribution while failing to transfer across preference datasets. We provide evidence for a representational failure mode in which weak-supervised fine-tuning can pull the strong model toward source-domain features instead of maintaining broadly transferable preference representations. To mitigate this, we propose Representation Anchoring (Anchor), a simple yet effective regularizer that constrains excessive drift from the pretrained strong model's representation space during fine-tuning, while still allowing task-relevant adaptation. Across preference domains, datasets, and model families, Anchor consistently improves out-of-distribution transfer while maintaining competitive in-distribution performance. Together, our evaluation protocol, transfer-aware metrics, and method expose hidden brittleness in current W2S reward modeling and provide a practical path toward more robust preference transfer.

cs.CL↗
arXiv2026

WARD: Adversarially Robust Defense of Web Agents Against Prompt Injections

Web agents can autonomously complete online tasks by interacting with websites, but their exposure to open web environments makes them vulnerable to prompt injection attacks embedded in HTML content or visual interfaces. Existing guard models still suffer from limited generalization to unseen domains and attack patterns, high false positive rates on benign content, reduced deployment efficiency due to added latency at each step, and vulnerability to adversarial attacks that evolve over time or directly target the guard itself. To address these limitations, we propose WARD (Web Agent Robust Defense against Prompt Injection), a practical guard model for secure and efficient web agents. WARD is built on WARD-Base, a large-scale dataset with around 177K samples collected from 719 high-traffic URLs and platforms, and WARD-PIG, a dedicated dataset designed for prompt injection attacks targeting the guard model. We further introduce A3T, an adaptive adversarial attack training framework that iteratively strengthens WARD through a memory-based attacker and guard co-evolution process. Extensive experiments show that WARD achieves nearly perfect recall on out-of-distribution benchmarks, maintains low false positive rates to preserve agent utility, remains robust against guard-targeted and adaptive attacks under substantial distribution shifts, and runs efficiently in parallel with the agent without introducing additional latency.

cs.CR↗
arXiv2026

Tracking the Truth: Object-Centric Spatio-Temporal Monitoring for Video Large Language Models

While multimodal large language models (MLLMs) have advanced video understanding, they remain highly prone to hallucinations in dynamic scenes. We argue this stems from a failure in spatio-temporal monitoring, the ability to persistently track object identities, states, and relations over time. Existing benchmarks obscure this deficit by relying on single final-answer evaluations for queries that can often be resolved via local visual cues or statistical priors. To rigorously diagnose this, we introduce STEMO-Bench (Spatio-TEmporal MOnitoring), a benchmark of human-verified object-centric facts that evaluates intermediate reasoning by decomposing queries into sub-questions, distinguishing genuine temporal understanding from coincidental correctness. To address failure modes exposed by STEMO, we propose STEMO-Track, a novel object-centric framework that explicitly constructs and reasons over structured object trajectories via chunk-wise state extraction and temporal aggregation. Extensive experiments demonstrate that our object-centric framework significantly reduces hallucinated answers and improves spatio-temporal reasoning consistency over state-of-the-art MLLMs.

cs.CV↗
arXiv2026

Eulerian Motion Guidance: Robust Image Animation via Bidirectional Geometric Consistency

Recent advancements in image animation have utilized diffusion models to breathe life into static images. However, existing controllable frameworks typically rely on Lagrangian motion guidance, where optical flow is estimated relative to the initial frame. This paper revisits the same optical-flow primitive through a more local supervision design: we use adjacent-frame Eulerian motion fields to guide generation, where the motion signal always describes a short temporal hop. This shift enables parallelized training and provides bounded-error supervision throughout the generation process. To mitigate the drift artifacts common in adjacent frame generation, we introduce a Bidirectional Geometric Consistency mechanism, which computes a forward-backward cycle check to mathematically identify and mask occluded regions, preventing the model from learning incorrect warping objectives. Extensive experiments demonstrate that our approach accelerates training, preserves temporal coherence, and reduces dynamic artifacts compared to reference-based baselines. The code, model, and data have been made available at https://nguyentthong.github.io/eulerian/

cs.CV↗
arXiv2026

Sparton: Fast and Memory-Efficient Triton Kernel for Learned Sparse Retrieval

State-of-the-art Learned Sparse Retrieval (LSR) models, such as Splade, typically employ a Language Modeling (LM) head to project latent hidden states into a lexically-anchored logit matrix. This intermediate matrix is subsequently transformed into a sparse lexical representation through element-wise operations (ReLU, Log1P) and max-pooling over the sequence dimension. Despite its effectiveness, the LM head creates a massive memory bottleneck due to the sheer size of the vocabulary (V), which can range from 30,000 to over 250,000 tokens in recent models. Materializing this matrix creates a significant memory bottleneck, limiting model scaling. The resulting I/O overhead between operators further throttles throughput and runtime performance. In this paper, we propose Sparton, a fast memory-efficient Triton kernel tailored for the LM head in LSR models. Sparton utilizes a fused approach that integrates the tiled matrix multiplication, ReLU, Log1P, and max-reduction into a single GPU kernel. By performing an early online reduction directly on raw logit tiles, Sparton avoids materializing the full logit matrix in memory. Our experiments demonstrate that the Sparton kernel, in isolation, achieves up to a 4.8x speedup and an order-of-magnitude reduction in peak memory usage compared to PyTorch baselines. Integrated into Splade (|V| ~ 30k), Sparton enables a 33% larger batch size and 14% faster training with no effectiveness loss. On a multilingual backbone (|V| ~ 250k), these gains jump to a 26x larger batch size and 2.5x faster training.

cs.IR↗
arXiv2026

Milco: Learned Sparse Retrieval Across Languages via a Multilingual Connector

Learned Sparse Retrieval (LSR) combines the efficiency of bi-encoders with the transparency of lexical matching, but existing approaches struggle to scale beyond English. We introduce MILCO, an LSR architecture that maps queries and documents from different languages into a shared English lexical space via a multilingual connector. MILCO is trained with a specialized two-stage regime that combines Sparse Alignment Pretraining with contrastive training to provide representation transparency and effectiveness while mitigating semantic collapse. Motivated by the observation that uncommon entities are often lost when projected into English, we propose a new LexEcho head, which enhances robustness by augmenting the English lexical representation with a source-language view obtained through a special [ECHO] token. MILCO achieves state-of-the-art multilingual and cross-lingual LSR performance, outperforming leading dense, sparse, and multi-vector baselines such as BGE-M3 and Qwen3-Embed on standard multilingual benchmarks, while supporting dynamic efficiency through post-hoc pruning. Notably, when using mass-based pruning to reduce document representations to only 30 active dimensions on average, MILCO 560M outperforms the similarly-sized Qwen3-Embed 0.6B with 1024 dimensions, while achieving 3$\times$ lower retrieval latency and 10$\times$ smaller index size.

cs.IR↗
arXiv2026

REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning

Humanoid loco-manipulation requires coordinated task-space motion planning with stable loco-manipulation command tracking under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning from demonstrations, deploying them on humanoids poses critical challenges: the motion planner trained offline is decoupled from the loco-manipulation controller, leading to poor command tracking, compounding distribution shift, and task failures. The common approach of scaling demonstration data is prohibitively expensive for high-dimensional humanoid systems. To address this challenge, we present REFINE-DP (REinforcement learning FINE-tuning of Diffusion Policy), a hierarchical framework that jointly optimizes a DP motion planner and an RL-based loco-manipulation controller. The DP is fine-tuned via a PPO-based diffusion policy gradient to improve task success rate, while the controller is simultaneously updated to accurately track the planner's evolving command distribution, reducing the distributional mismatch that degrades motion quality. We validate REFINE-DP on a humanoid robot performing loco-manipulation tasks, including door traversal and long-horizon object transport. REFINE-DP achieves an over 90% success rate in simulation, even in out-of-distribution cases not seen in the pre-training data, and enables real-world execution without privileged state information. Our proposed method substantially outperforms pre-trained DP baselines and demonstrates that RL fine-tuning is key to reliable humanoid loco-manipulation. https://refine-dp.github.io/REFINE-DP/

cs.RO↗
arXiv2025

More Bias, Less Bias: BiasPrompting for Enhanced Multiple-Choice Question Answering

With the advancement of large language models (LLMs), their performance on multiple-choice question (MCQ) tasks has improved significantly. However, existing approaches face key limitations: answer choices are typically presented to LLMs without contextual grounding or explanation. This absence of context can lead to incomplete exploration of all possible answers, ultimately degrading the models' reasoning capabilities. To address these challenges, we introduce BiasPrompting, a novel inference framework that guides LLMs to generate and critically evaluate reasoning across all plausible answer options before reaching a final prediction. It consists of two components: first, a reasoning generation stage, where the model is prompted to produce supportive reasonings for each answer option, and then, a reasoning-guided agreement stage, where the generated reasonings are synthesized to select the most plausible answer. Through comprehensive evaluations, BiasPrompting demonstrates significant improvements in five widely used multiple-choice question answering benchmarks. Our experiments showcase that BiasPrompting enhances the reasoning capabilities of LLMs and provides a strong foundation for tackling complex and challenging questions, particularly in settings where existing methods underperform.

cs.CL↗
arXiv2025

SERVAL: Surprisingly Effective Zero-Shot Visual Document Retrieval Powered by Large Vision and Language Models

Visual Document Retrieval (VDR) typically operates as text-to-image retrieval using specialized bi-encoders trained to directly embed document images. We revisit a zero-shot generate-and-encode pipeline: a vision-language model first produces a detailed textual description of each document image, which is then embedded by a standard text encoder. On the ViDoRe-v2 benchmark, the method reaches 63.4% nDCG@5, surpassing the strongest specialised multi-vector visual document encoder. It also scales better to large collections and offers broader multilingual coverage. Analysis shows that modern vision-language models capture complex textual and visual cues with sufficient granularity to act as a reusable semantic proxy. By offloading modality alignment to pretrained vision-language models, our approach removes the need for computationally intensive text-image contrastive training and establishes a strong zero-shot baseline for future VDR systems.

cs.IR↗
arXiv2025

CutPaste&Find: Efficient Multimodal Hallucination Detector with Visual-aid Knowledge Base

Large Vision-Language Models (LVLMs) have demonstrated impressive multimodal reasoning capabilities, but they remain susceptible to hallucination, particularly object hallucination where non-existent objects or incorrect attributes are fabricated in generated descriptions. Existing detection methods achieve strong performance but rely heavily on expensive API calls and iterative LVLM-based validation, making them impractical for large-scale or offline use. To address these limitations, we propose CutPaste\&Find, a lightweight and training-free framework for detecting hallucinations in LVLM-generated outputs. Our approach leverages off-the-shelf visual and linguistic modules to perform multi-step verification efficiently without requiring LVLM inference. At the core of our framework is a Visual-aid Knowledge Base that encodes rich entity-attribute relationships and associated image representations. We introduce a scaling factor to refine similarity scores, mitigating the issue of suboptimal alignment values even for ground-truth image-text pairs. Comprehensive evaluations on benchmark datasets, including POPE and R-Bench, demonstrate that CutPaste\&Find achieves competitive hallucination detection performance while being significantly more efficient and cost-effective than previous methods.

cs.CV↗
arXiv2025

Topic Modeling as Multi-Objective Contrastive Optimization

Recent representation learning approaches enhance neural topic models by optimizing the weighted linear combination of the evidence lower bound (ELBO) of the log-likelihood and the contrastive learning objective that contrasts pairs of input documents. However, document-level contrastive learning might capture low-level mutual information, such as word ratio, which disturbs topic modeling. Moreover, there is a potential conflict between the ELBO loss that memorizes input details for better reconstruction quality, and the contrastive loss which attempts to learn topic representations that generalize among input documents. To address these issues, we first introduce a novel contrastive learning method oriented towards sets of topic vectors to capture useful semantics that are shared among a set of input documents. Secondly, we explicitly cast contrastive topic modeling as a gradient-based multi-objective optimization problem, with the goal of achieving a Pareto stationary solution that balances the trade-off between the ELBO and the contrastive objective. Extensive experiments demonstrate that our framework consistently produces higher-performing neural topic models in terms of topic coherence, topic diversity, and downstream performance.

cs.CL↗
arXiv2025

VM14K: First Vietnamese Medical Benchmark

Medical benchmarks are indispensable for evaluating the capabilities of language models in healthcare for non-English-speaking communities,therefore help ensuring the quality of real-life applications. However, not every community has sufficient resources and standardized methods to effectively build and design such benchmark, and available non-English medical data is normally fragmented and difficult to verify. We developed an approach to tackle this problem and applied it to create the first Vietnamese medical question benchmark, featuring 14,000 multiple-choice questions across 34 medical specialties. Our benchmark was constructed using various verifiable sources, including carefully curated medical exams and clinical records, and eventually annotated by medical experts. The benchmark includes four difficulty levels, ranging from foundational biological knowledge commonly found in textbooks to typical clinical case studies that require advanced reasoning. This design enables assessment of both the breadth and depth of language models' medical understanding in the target language thanks to its extensive coverage and in-depth subject-specific expertise. We release the benchmark in three parts: a sample public set (4k questions), a full public set (10k questions), and a private set (2k questions) used for leaderboard evaluation. Each set contains all medical subfields and difficulty levels. Our approach is scalable to other languages, and we open-source our data construction pipeline to support the development of future multilingual benchmarks in the medical domain.

cs.CL↗