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Leilei Wang

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AAAI Conference 2026 Conference Paper

ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation

Weize Xie
Yi Ding
Ying He
Leilei Wang
Binwen Bai
Zheyi Zhao
Chenyang Wang
F. Richard Yu

Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing baseline models decreases considerably. Analysis indicates that current diffusion strategies are confronted with two limitations. First, these strategies only rely on short-term observations as conditions. Second, the training objective remains limited to a single denoising loss, which leads to error accumulation and causes grasping deviations. To address these limitations, this paper proposes Foresight-Conditioned Diffusion (ForeDiffusion), by injecting the predicted future view representation into the diffusion process. As a result, the policy is guided to be forward-looking, enabling it to correct trajectory deviations. Following this design, ForeDiffusion employs a dual loss mechanism, combining the traditional denoising loss and the consistency loss of future observations, to achieve the unified optimization. Extensive evaluation on the Adroit suite and the MetaWorld benchmark demonstrates that ForeDiffusion achieves an average success rate of 80% for the overall task, significantly outperforming the existing mainstream diffusion methods by approximately 20% in high difficulty tasks, while maintaining more stable performance across the entire tasks.

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AAAI Conference 2025 Conference Paper

Subgraph Invariant Learning Towards Large-Scale Graph Node Classification

Leilei Wang
Si Shi
Fei Ma
Fei Richard Yu
Pengteng Li
Ying Tiffany He

Graph Neural Networks (GNNs) have shown efficacy in graph node classification, but face computational challenges on large-scale graphs. Although existing graph reduction methods address these issues, they still require high computational resources and fail to prioritize robust performance on out-of-distribution data. To tackle these challenges, we introduce the subgraph invariant learning paradigm, inspired by the small-world phenomenon. This approach enables models trained on specific subgraphs to generalize across diverse subgraphs, reducing computational demands, and enhancing scalability. To promote generalization, we maximize the invariance log-likelihood by deriving a theoretical lower bound of it and formulating the InVar loss. This loss minimizes the discrepancy between node representations and their corresponding invariance representations while maximizing the entropy of the node representation. In response to InVar loss, we propose the Invariance Facilitation Model (IFM), comprising the Invariance Representation Encoder (IRE) and Node Representation Encoder (NRE). IRE, capturing the invariance representations, utilizes Invariance ATTention (InvarATT) to compress long-range dependencies, while NRE learns the node representation, by integrating invariance representations via Telematic ATTention (TeleATT) and exchanging local information within each subgraph through GNNs. Evaluations on four large-scale graph datasets demonstrate the effectiveness, computational efficiency, and interpretability of IFM for large-scale graph node classification.

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