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首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1060ACL Anthology · ACL 2026

PEAP: Proactive Embodied Action Sequence Planning with Joint Understanding of Vision and Audio Perception

Tianwei Lan, Jiaqi Wu, Zeming Liu, Zhaoxin Fan Beijing University of Aeronautics and Astronautics, Haifeng Wang Baidu, Yuhang Guo

原文摘要

Embodied Action Sequence Planning focuses on the capability of embodied agents to implement action planning via environmental perception. This technology enables diverse intelligent assistance for real-world scenarios such as home and office environments. To address the limitations of existing embodied agents in meeting the requirement for proactivity and achieving joint understanding of visual and audio information, this study investigates the ability of embodied agents to proactively provide assistance through action sequence planning based on joint understanding of vision and audio perception without explicit human instructions. Correspondingly, we propose PEAP, the first multimodal proactive embodied action sequence planning dataset. We evaluate the performance of multiple Large Language Models on the PEAP dataset. The results demonstrate that these models still exhibit significant deficiencies on this task particularly lacking accurate environmental perception capabilities. Furthermore, ablation experiment and replacement experiment further corroborate that the joint understanding of multimodal information can significantly improve the models’ performance on proactive embodied action sequence planning task.

cs.CL · cs.CV

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1822ACL Anthology · ACL 2026

On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning

Di Wu, Jiaxin Fan tongji university, Chloe Gu, Guanbo Wang, Wei Yin, Wenhao Li Tongji University, Bo Jin Tongji University

原文摘要

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle in interactive environments. Reinforcement learning (RL) offers a natural way to address this limitation, yet online RL approaches suffer from costly interaction and sparse rewards in embodied settings. This paper introduces ORBIT, an On-policy Reinforcement fine-tuning (RFT) framework with offline rewards for EmBodIed Task Planning, that preserves the generalization benefits of RFT while addressing the challenges of costly interaction and sparse rewards, supported by solid theoretical guarantees. Our approach is evaluated on EmbodiedBench, a recent benchmark for interactive embodied tasks, covering both in-domain and out-of-domain scenarios. Experimental results show that ORBIT achieves SOTA performance on EB-ALFRED, outperforming all closed-source and online-RL-based methods, while being substantially more efficient in training speed and computational cost, remaining robust to sub-optimal expert trajectories, and exhibiting strong generalization to unseen environments. We released all code and data at https://github.com/mail-taii/Reinforced-Reasoning-for-Embodied-Planning.

cs.CL · cs.CV

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.614ACL Anthology · ACL 2026

Inside Out: Evolving User-Centric Core Memory Trees for Long-Term Personalized Dialogue Systems

Jihao Zhao, Ding Chen China Telecom Corporation Limited Research Institute, Zhaoxin Fan Beijing University of Aeronautics and Astronautics, Kerun Xu, Mengting Hu Nankai University, Bo Tang, Feiyu Xiong MemTensor (Shanghai) Technology Co., Ltd., Zhiyu li

原文摘要

Existing long-term personalized dialogue systems struggle to reconcile unbounded interaction streams with finite context constraints, often succumbing to memory noise accumulation, reasoning degradation, and persona inconsistency. To address these challenges, this paper proposes Inside Out, a framework that utilizes a globally maintained PersonaTree as the carrier of long-term user profiling. By constraining the trunk with an initial schema and updating the branches and leaves, PersonaTree enables controllable growth, achieving memory compression while preserving consistency. Moreover, we train a lightweight MemListener via reinforcement learning with process-based rewards to produce structured, executable, and interpretable ADD, UPDATE, DELETE, NO_OP operations, thereby supporting the dynamic evolution of the personalized tree. During response generation, PersonaTree is directly leveraged to enhance outputs in latency-sensitive scenarios; when users require more details, the agentic mode is triggered to introduce details on-demand under the constraints of the PersonaTree. Experiments show that PersonaTree outperforms full-text concatenation and various personalized memory systems in suppressing contextual noise and maintaining persona consistency. Notably, the small MemListener model achieves memory-operation decision performance comparable to, or even surpassing, powerful reasoning models such as DeepSeek-R1-0528 and Gemini-3-Pro.

cs.CL · cs.AI

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.794ACL Anthology · ACL 2026

FedProxy: Federated Fine-Tuning of LLMs via Proxy SLMs and Heterogeneity-Aware Fusion

Tao Fan The Hong Kong University of Science and Technology, Guoqiang Ma, Yuanfeng Song ByteDance Inc., Lixin Fan, Kai Chen Hong Kong University of Science and Technology, Qiang Yang

原文摘要

Federated fine-tuning of Large Language Models (LLMs) is obstructed by a trilemma of challenges: protecting LLMs intellectual property (IP), ensuring client privacy, and mitigating performance loss on heterogeneous data. Existing methods like Offsite-Tuning (OT) secure the LLMs IP by having clients train only lightweight adapters, yet our analysis reveals they suffer from a fundamental performance bottleneck, leaving a significant gap compared to centralized training. To bridge this gap, we introduce FedProxy, a new federated adaptation framework. FedProxy replaces weak adapters with a unified, powerful Proxy Small Language Model (SLM), compressed from the proprietary LLM, to serve as a high-fidelity surrogate for collaborative fine-tuning. Our framework systematically resolves the trilemma through a three-stage architecture: (i) Efficient Representation via server-guided compression to create a resource-friendly proxy; (ii) Robust Optimization through an interference-mitigating aggregation strategy to handle data heterogeneity; and (iii) Effortless Fusion via a training-free “plug-in” mechanism to integrate learned knowledge back into the LLM. Experiments show FedProxy significantly outperforms OT methods and approaches centralized performance, establishing a new benchmark for secure and high-performance federated LLM adaptation.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表