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Kangye Ji

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2 published item(s)

preprint2026arXiv

Jump-teaching: Combating Sample Selection Bias via Temporal Disagreement

Sample selection is a straightforward technique to combat noisy labels, aiming to prevent mislabeled samples from degrading the robustness of neural networks. However, existing methods mitigate compounding selection bias either by leveraging dual-network disagreement or additional forward propagations, leading to multiplied training overhead. To address this challenge, we introduce $\textit{Jump-teaching}$, an efficient sample selection framework for debiased model update and simplified selection criterion. Based on a key observation that a neural network exhibits significant disagreement across different training iterations, Jump-teaching proposes a jump-manner model update strategy to enable self-correction of selection bias by harnessing temporal disagreement, eliminating the need for multi-network or multi-round training. Furthermore, we employ a sample-wise selection criterion building on the intra variance of a decomposed single loss for a fine-grained selection without relying on batch-wise ranking or dataset-wise modeling. Extensive experiments demonstrate that Jump-teaching outperforms state-of-the-art counterparts while achieving a nearly overhead-free selection procedure, which boosts training speed by up to $4.47\times$ and reduces peak memory footprint by $54\%$.

preprint2026arXiv

Test-time Sparsity for Extreme Fast Action Diffusion

Action diffusion excels at high-fidelity action generation but incurs heavy computational costs owing to its iterative denoising nature. Despite current technologies showing promise in accelerating diffusion transformers by reusing the cached features, they struggle to adapt to policy dynamics arising from diverse perceptions and multi-round rollout iterations in open environments. We propose test-time sparsity to tackle this challenge, which aims to accelerate action diffusion by dynamically predicting prunable residual computations for each model forward at test time. However, two bottlenecks remain in this paradigm: 1) repetitive conditional encoding and pruning offset most potential speed gains, and 2) the features cached from previous denoising timesteps cannot constrain large pruning errors under aggressive sparsity. To address the first bottleneck, we design a highly parallelized inference pipeline that minimizes the non-decoder delay to milliseconds. Specifically, we first design a lightweight pruner that shares the encoder with the diffusion transformer. Then, we decouple the encoding and pruning from the autoregressive denoising loop by processing all denoising timesteps in parallel, and overlap the pruner with the decoder forward inference through asynchronism. To overcome the second bottleneck, we introduce an omnidirectional reusing strategy, which achieves 95% sparsity by selectively reusing features cached from the current forward, previous denoising timesteps, and earlier rollout iterations. To learn the rollout-level reusing strategies, we sample a few action trajectories to supervise the sparsified diffusion step by step. Extensive experiments demonstrate that our method reduces FLOPs by 92% and accelerates action generation by 5x, achieving lossless performance with an inference frequency of 47.5 Hz. Our code is available at https://github.com/ky-ji/Test-time-Sparsity.