AI 速览：RFW-A 将智能体程序合成与程序化生成结合，先由智能体构建并验证类别级可复用生成器，再以程序化执行低成本批量产出铰接资产，并构建了 RFW-A-400K 数据集。
High-quality articulated assets are essential for embodied perception, simulation, and manipulation, yet constructing them at scale remains difficult. Manual annotation and procedural modeling require substantial human effort. Recent agentic systems automate asset construction through program synthesis, but repeat costly reasoning and refinement for every new asset. Our key observation is that assets within a category can share construction logic despite variations in structure and appearance. Agentic synthesis and procedural generation are therefore complementary: agents can construct reusable programs, while procedural execution reuses the resulting logic across many samples. We therefore present RFW-A, which combines the two in a new articulated-asset generation paradigm. Starting from existing articulated programs, RFW-A organizes reusable components and their dependencies into category-level generators. Agents test and refine these generators across sampled configurations and motion states. Once constructed and validated, the generators produce diverse assets through procedural execution with no further model calls or token charges. The estimated API cost of generator authoring averages $10.62, amortizing to $0.05 per asset over 200 assets, versus $1.24 for the sampled per-asset agentic synthesis baseline. Using RFW-A, we built RFW-A-400K, containing over 400K sim-ready articulated assets across more than 500 categories. Experiments show high structural and kinematic validity and stable execution across physics simulators. Beyond asset validity, training with RFW-A-400K improves part-level articulation estimation on seen and unseen categories, while policies trained in simulation with retrieved and program-edited assets transfer zero-shot to real articulated objects.
Robust Instruction Compliance in Cooperative Multi-Agent Reinforcement Learning
Wo Wei Lin, Ethan Rathbun, Enrico Marchesini, Xiang Zhi Tan
AI 速览：提出 MAVIC，通过在指令边界修正 Bellman 备份，缓解多智能体强化学习中外部语言指令打断宏动作时的价值估计不一致问题。
Multi-agent reinforcement learning (MARL) in real-world use cases may need to adapt to external natural language instructions that interrupt ongoing behavior and conflict with long-horizon objectives. However, conditioning rewards on instructions introduces a fundamental failure mode as Bellman updates couple value estimates across instruction contexts, leading to inconsistent values when instructions interrupt macro-actions. We propose Macro-Action Value Correction for Instruction Compliance (MAVIC), which corrects Bellman backups at instruction boundaries by correcting the incoming instruction objective and restoring the continuation value under the current objective. Unlike reward shaping, MAVIC modifies the bootstrapping target itself, enabling consistent value estimation under stochastic instruction switching within a unified policy. We provide theoretical analysis and an actor-critic implementation, and show that MAVIC achieves high instruction compliance while preserving base task performance in increasingly complex cooperative multi-agent environments.
Layering and reverse extension for weighted $k$-path vertex cover
Jiajing Wu, An Zhang, Shiming Li, Guohui Lin
AI 速览：作者在分层与反向扩展局部比值框架下设计局部权重函数，为加权 k-路径顶点覆盖问题给出新的近似比。
We study the weighted $k$-path vertex cover problem for any fixed integer $k \ge 2$, in which a vertex non-negatively weighted simple graph $G = (V, E)$ is given and one wants to find a minimum-weight vertex subset $C \subseteq V$ such that every simple path on $k$ vertices in $G$ contains at least one vertex of $C$. The problem generalizes the classic weighted vertex cover problem, that is, $k = 2$, and it admits a $k$-approximation algorithm of Hochbaum~[SIAM J. Comput., 1982] and a $(k - \frac 12)$-approximation algorithm of Brüstle et al.~[IWOCA 2021]. In this paper, we carefully design local weight functions in the Layering and Reverse Extension local ratio framework of Bar-Yehuda et al.~[ACM Comput. Surv., 2004], leading to an approximation algorithm of ratio $\frac {3k-1}4$ for odd $k \ge 3$ and of ratio $\frac {3k}4$ for even $k \ge 4$. When $k = 3$ and $k = 4$, these ratios are $2$ and $3$, respectively, matching the state-of-the-art approximation ratios for the corresponding special cases.
ToolLLM: Facilitating Large Language Models to Master 16000+ Real-world APIs
Yujia Qin, Shihao Liang, Yining Ye, Kunlun Zhu, Lan Yan, Yaxi Lu, Yankai Lin, Xin Cong 等 19 位作者
AI 速览：提出涵盖数据构建、模型训练与评估的通用工具使用框架ToolLLM，通过自动构建ToolBench数据集并微调LLaMA得到ToolLLaMA，以提升开源模型的API调用能力。
Despite the advancements of open-source large language models (LLMs), e.g., LLaMA, they remain significantly limited in tool-use capabilities, i.e., using external tools (APIs) to fulfill human instructions. The reason is that current instruction tuning largely focuses on basic language tasks but ignores the tool-use domain. This is in contrast to the excellent tool-use capabilities of state-of-the-art (SOTA) closed-source LLMs, e.g., ChatGPT. To bridge this gap, we introduce ToolLLM, a general tool-use framework encompassing data construction, model training, and evaluation. We first present ToolBench, an instruction-tuning dataset for tool use, which is constructed automatically using ChatGPT. Specifically, the construction can be divided into three stages: (i) API collection: we collect 16,464 real-world RESTful APIs spanning 49 categories from RapidAPI Hub; (ii) instruction generation: we prompt ChatGPT to generate diverse instructions involving these APIs, covering both single-tool and multi-tool scenarios; (iii) solution path annotation: we use ChatGPT to search for a valid solution path (chain of API calls) for each instruction. To enhance the reasoning capabilities of LLMs, we develop a novel depth-first search-based decision tree algorithm. It enables LLMs to evaluate multiple reasoning traces and expand the search space. Moreover, to evaluate the tool-use capabilities of LLMs, we develop an automatic evaluator: ToolEval. Based on ToolBench, we fine-tune LLaMA to obtain an LLM ToolLLaMA, and equip it with a neural API retriever to recommend appropriate APIs for each instruction. Experiments show that ToolLLaMA demonstrates a remarkable ability to execute complex instructions and generalize to unseen APIs, and exhibits comparable performance to ChatGPT. Our ToolLLaMA also demonstrates strong zero-shot generalization ability in an out-of-distribution tool-use dataset: APIBench.