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新论文 · v1arXiv:2610.39609

DiFuse: Fusing Native Diffusion Representations for Spatial Reasoning in Unified Multimodal Models

Ruixin Fan, Weining Wang, Jiahui Sun, Tailai Chen, Jing Liu

原文摘要

Unified multimodal models (UMMs) jointly support visual understanding and image generation, yet information flow between these two capabilities remains largely asymmetric: understanding representations routinely condition generation, whereas generative representations are rarely reused for multimodal reasoning. In this work, we investigate whether intermediate representations from a UMM's native diffusion branch can enhance spatial reasoning without compromising general multimodal understanding. We propose DiFuse, which selectively incorporates intermediate diffusion representations into the understanding pathway of UMMs. Through systematic layer-wise analysis, we identify which diffusion representations are most informative and where they can be integrated with minimal interference to semantic processing. Guided by these findings, DiFuse spatially aligns diffusion features with visual tokens and injects them into selected multimodal decoder layers via residual fusion. Extensive experiments on UniWorld-V1 show that, DiFuse consistently improves spatial reasoning over a matched SFT baseline while maintaining broadly comparable performance on general multimodal benchmarks. Further analyses show that these gains depend critically on the choice of diffusion representations, injection positions, and the preservation of spatial correspondence between diffusion features and visual tokens. Results on OmniGen2 further demonstrate the transferability of DiFuse across unified multimodal architectures. Overall, our findings show that native diffusion representations can provide complementary spatial cues for multimodal reasoning when selectively integrated in a structure-preserving manner.

cs.CV

版本更新 · v3arXiv:2605.19342

Semantic-Enriched Latent Visual Reasoning

Tianrun Xu, Yue Sun, Qixun Wang, Jingyi Lu, Yuan Wang, Tianren Zhang, Longteng Guo, Fengyun Rao 等 11 位作者

原文摘要

Multimodal latent-space reasoning aims to replace explicit thinking with images by performing visual reasoning directly in a compact latent space. However, existing approaches largely rely on visual supervision and produce latent representations that lack sufficient semantic richness, limiting their ability to support diverse region-level reasoning tasks. In this work, we introduce Semantic-Enriched Latent Visual Reasoning (SLVR), a two-stage learning framework that enriches latent representations with attribute-level visual semantics and aligns them with diverse reasoning objectives. In the first stage, SLVR learns semantically enriched region-centric latents under fine-grained attribute supervision. In the second stage, we design Multi-query Group Relative Policy Optimization (M-GRPO) to align latent representations across multiple queries grounded in the same region. To support this framework, we construct SLV-Set, comprising approximately 400K region-level attribute annotations and 800K multi-query question answering samples, and introduce SV-QA, a benchmark that evaluates latent reasoning under semantic variation. Experiments demonstrate that SLVR improves the robustness and semantic consistency of latent visual reasoning compared to existing baselines.

cs.CV

版本更新 · v2arXiv:2607.27982

ViP-Rig: Visual-Prompted Controllable Rigging

Zihan Qin, Mingze Sun, Yifan Mao, Jialei Xu, Jingfeng Guo, Changrong Hu, Wenbo Zhao, Junjun Jiang 等 9 位作者

原文摘要

Rigging is inherently task-dependent because the same mesh may require different skeletons and deformation behaviors across animation tasks. In practice, artists often inspect an initial rig and repeatedly edit its skeletal structure and deformation behavior to meet specific animation requirements. Existing automatic methods primarily generate a plausible rig from geometry, offering limited explicit control over the resulting skeleton and deformation behavior. In this work, we present ViP-Rig, a visual-prompted framework that supports both prompt-first rigging and result-guided editing by injecting features extracted from user-drawn or edited 2D skeletal and rigidity prompts into frozen pretrained backbones. Specifically, ViP-Rig consists of two stages, Skeleton Generation and Skinning Prediction. In the first stage, the skeletal sketch is processed by the Dense-to-Compact Visual Prompt Encoding to produce compact, fixed-length conditioning tokens. The resulting tokens are injected into a frozen pretrained autoregressive generator through gated adapters to control joint placement and branching structure while preserving the generator's geometric prior. In the second stage, the rigidity map is processed using the same visual encoding design, while the pretrained skinning backbone remains frozen. The resulting tokens are symmetrically injected into the point and joint streams to modulate point-joint compatibility and the resulting skinning weights. Experiments on Articulation-XL2.0 and zero-shot evaluation on ModelsResource show that ViP-Rig more accurately recovers target skeletons and skinning weights than geometry-conditioned baselines under prompt-guided evaluation. Qualitative results further demonstrate explicit and localized control in both prompt-first rigging and result-guided editing.

cs.CV

版本更新 · v2arXiv:2610.36527

ETC-Bench: A Multilingual Benchmark for Evaluation-Side Transcript Canonicalization

Zhiheng Qian, Junhao Du, Jing Peng, Hanqi Li, Kunyang Peng, Feng Xue, Shuai Wang, Kai Yu

原文摘要

Written transcripts of the same speech can differ in ways that are not uniquely determined by the speech signal. We formulate evaluation-side transcript canonicalization (ETC), which maps multiple surface forms to a single canonical form when their differences are not determined by speech. To our knowledge, ETC-Bench is the first and most comprehensive multilingual benchmark for evaluation-side transcript canonicalization, covering 181 phenomenon types across 12 languages. Each instance is a minimal pair that shares a sentence context and differs only in a target span exhibiting one phenomenon. To evaluate both canonicalization success and semantic preservation, we propose Semantic-preserving Exact-match Normalization Accuracy (SENA), which combines exact agreement between independently canonicalized pair members with a pair-relative BERTScore constraint against information loss. We further introduce the Taxonomy-guided Agent Canonicalization Skill (TACS), which provides LLM agents with phenomenon descriptions and explicit canonicalization contracts. Experiments with five baseline configurations and three TACS-based agents show that the agents outperform the baseline systems on shared languages. ETC-Bench provides a systematic testbed for evaluation-side transcript canonicalization across languages.

cs.CL

版本更新 · v4arXiv:2605.16679

CHI-Bench: Can AI Agents Automate End-to-End, Long-Horizon, Policy-Rich Healthcare Workflows?

Haolin Chen, Deon Metelski, Leon Qi, Tao Xia, Joonyul Lee, Steve Brown, Kevin Riley, Frank Wang 等 33 位作者

原文摘要

End-to-end automation of realistic healthcare operations stresses three capabilities underrepresented in current benchmarks: policy density, decisions must be grounded in a large library of medical, insurance, and operational rules; Multi-role composition: a single task requires the agent to play multiple roles with handoffs; and multilateral interaction: intermediate workflow steps are multi-turn dialogs, such as peer-to-peer review and patient outreach. We introduce $χ$-Bench, a benchmark of long-horizon healthcare workflows across three domains: provider prior authorization, payer utilization management, and care management. Each task hands the agent a clinical case in a high-fidelity simulator of 20 healthcare apps exposed via 87 MCP tools, which it must drive to a terminal status through tool calls and writing the role's artifacts, guided by a 1,290+ document managed-care operations handbook skill. Across 30 agent harness/models configurations, the best agent resolves only 28.0% of tasks, no agent clears 20% on strict pass^3, and executing all tasks in a single session slumps the performance to 3.8%. These results raise the hypothesis that similar gaps are likely to surface in other policy-dense, role-composed, irreversible enterprise domains.

cs.CL · cs.AI

版本更新 · v3arXiv:2610.35309

Shared Context, Separate Engines: Stateful Streaming Inference for Multimodal LLMs on Edge SoCs

Yilong Li, Chengpo Yan, Yijing Zeng, Hanlei Wu, Mingjun Song, Suman Banerjee

原文摘要

Edge SoCs combine CPUs, GPUs, and NPUs, yet runtimes for multimodal large language models (MLLMs) keep generation on one engine and leave others idle. Streaming workloads allow ingestion and answering to overlap, but backend-local KV state binds queries to the engine that built their history. Stage performance and co-running interference vary, so no single placement wins across SoCs and workloads. \name separates logical history from engine-specific KV state so any language engine can continue a stream. Stateful Streaming Generation overlaps ingestion and answering, while Concurrent Sequence Generation serves ready queries in parallel. Phase-level state continuation lets one engine prefill a query and another decode the answer, freeing the first to resume ingestion. State-Driven Execution Planning (SDEP) chooses paths by predicted completion time and sets each engine's share of queries using arrival rates and measured service times. Across M4 Max, RK3588, and QCS6490, \name beats the strongest single-engine baselines, even when they reuse context. On M4 Max, SDEP cuts live-stream p95 time to first token by $76\%$, with every first token within one second, and raises throughput under backlog by up to $35\%$ over Metal-only execution with context reuse. On two RK3588 streams, SDEP delivers $19.6\%$ higher request throughput than the best single engine with context reuse and $27.2\%$ more than parallel engines without shared state. Stateful Streaming Generation reaches up to $2.48\times$ serial throughput on the same engines. Every answer matches its serial reference.

cs.LG

新论文 · v1arXiv:2610.39426

UGR: Unified Generative Ranking for Heterogeneous E-commerce Recommendation

Zonghe Shao, Huabin Chen, Sitong Lu, Fangmei Zhu, Yingcai Ma, Ge Fan, Jinguo Gao, Wei Shi 等 10 位作者

原文摘要

List-wise ranking in e-commerce recommendation must balance user utility and commercial value across organic content, ads, and candidates from other businesses, while modeling candidate interactions and sequential dependencies. Existing generative ranking methods typically learn from logged exposure sequences and operate on truncated candidate sets from a single business. Exposure-sequence learning may not fully exploit post-exposure feedback signals. Meanwhile, generative ranking over heterogeneous, multi-business candidates remains less explored, particularly when recommendation scores and advertising value must be jointly modeled under generalized second-price (GSP) auctions. We propose Unified Generative Ranking (UGR), which performs generative ranking over the full request-level multi-business heterogeneous candidate set, typically comprising around a thousand candidates in production, and directly generates multi-business ranking lists through candidate-aware autoregressive decoding. To go beyond exposure-sequence imitation, UGR introduces complementary feedback supervision through weighted supervised fine-tuning and permutation preference optimization, which respectively leverage observed post-exposure feedback and feedback-derived preferences among permutations. UGR uses a training-time advertising debiasing tower to model historical ad exposure effects and incorporates current ad value during serving while preserving the existing allocation and GSP pricing rules. Multi-value sequence retrieval produces candidate ranking lists, and the existing downstream evaluator selects the final list for exposure. Offline experiments demonstrate consistent gains in ranking quality, while online A/B tests on Taobao's Guess You Like recommendation service yield improvements of 1.76% in Core IPV, 3.29% in Transaction Volume, and 2.10% in GMV over the production baseline.

cs.IR

版本更新 · v2arXiv:2604.21926

IMU4D: 4D Human-Object Understanding from Wearable IMUs

Hao-Yu Hsu, Tianhang Cheng, Jing Wen, Alexander G. Schwing, Shenlong Wang

原文摘要

Understanding human activities and the objects they interact with typically relies on visual perception, yet cameras pose persistent challenges in privacy, safety, energy efficiency, and scalability. We explore an alternative: 4D perception without vision. Its goal is to recover human motion and the objects the person interacts with purely from everyday wearable sensors. For this we introduce IMU4D, a framework that repurposes large language models for non-visual spatiotemporal understanding of human-object dynamics. IMU4D uses data from a few inertial sensors from earbuds, watches, or smartphones and predicts detailed 4D human motion together with surrounding objects the person interacts with. Experiments across diverse human motion datasets and human-object datasets show that IMU4D yields more coherent and temporally stable results than SoTA cascaded pipelines, suggesting wearable motion sensors alone can support 4D understanding of human-object interactions.

cs.CV

新论文 · v1arXiv:2610.39324

MRC-MMAgent: Reinforcement Learning for Multi-Role Collaboration in Multimodal Tool-Using Agents

Shengqin Wang, Jie Jin, Xiaofan Li, Wentao Yan, Yu Cheng, Qingsong HuYihang Chen, Weilin Luo, Jingyu Gong 等 11 位作者

原文摘要

Multimodal tool-using agents augment vision-language models with access to external information and capabilities, enabling them to solve knowledge-intensive and visually complex tasks that cannot be addressed using visual context alone. However, existing reinforcement learning pipelines largely train single-role agents to search and answer using terminal rewards, overlooking how humans inspect retrieved evidence, reformulate queries, and revise conclusions during search. Consequently, they fail to optimize this self-corrective process over complete interaction trajectories. We propose MRC-MMAgent, a multi-role collaborative reinforcement learning framework that incorporates trajectory assessment and continuation directly into the executable agent loop. First, the framework establishes a multi-role collaborative loop that integrates solving, inspection, and continuation, enabling the agent to acquire evidence through tools, evaluate the preceding trajectory, and resume problem solving when the current answer is insufficiently supported. Second, we introduce a role-coupled learning objective that combines task success, interaction validity, and successful correction with full-trajectory policy optimization across the decisions generated by all roles. Extensive experiments show that, using only the original baseline training set without constructing additional datasets, our method consistently outperforms the corresponding base models and achieves leading or highly competitive performance across benchmarks.

cs.CV

新论文 · v1arXiv:2610.39308

Unlimited OCR Works 2

Shu Wei, Jingjing Wu, Qunyi Xie, Lingshu Zhang, Xiangcheng Du, Yannian Fu, Mengjie Wang, Zuyi Wang 等 12 位作者

原文摘要

Unlimited OCR ushers the era of long-horizon parsing, substantially mitigating the growth of working memory as document lengthens. However, as document length scales to hundreds of pages, the visual context grows substantially, sharply increasing the computational cost of each decoding step and limiting the scalability of ultra-long document parsing. Inspired by human book transcription via localized focus without re-scanning preceding pages, we introduce Unlimited OCR 2, a document parsing model that looks only at what it transcribes. Building on Unlimited OCR, we upgrade all the decoder attention modules to Sparse Reference Sliding Window Attention (SR-SWA), bounding active reference tokens to a fixed capacity and thus sustaining constant computational costs across arbitrarily long documents. By combining SR-SWA with Unlimited-Horizon Decoding Paradigm, Unlimited OCR 2 enables document parsing over virtually unlimited lengths without prohibitive memory overhead. At the hundred-page scale, Unlimited OCR 2 achieves 7.0$\times$ and 5.6$\times$ per-step speedups over Full Attention and R-SWA, respectively. Furthermore, it delivers state-of-the-art end-to-end performance on both MPDocBench and MarathonDocBench, our newly proposed benchmark targeting hundred-page document parsing. Ultimately, the capacity for uninterrupted, one-shot document parsing signifies a fundamental paradigm shift into the OCR 3.0 era.

cs.CL · cs.CV

版本更新 · v2arXiv:2609.11234

NovGauge: A Fine-Grained Benchmark for Diagnosing LLMs' Capability in Paper Novelty Assessment

Guoqiang Zhang, Kexin Tan, Ming Zhang, Li Ju, Wenqing Jing, Zhonghan Yue, Jiayi Chen, Shiqiang Wu 等 15 位作者

原文摘要

Large language models (LLMs) are increasingly used in peer review at major AI conferences, yet novelty remains a persistent weak point. Existing benchmarks assess novelty as a single holistic score, making it difficult to diagnose which dimension a model misjudges or whether its evidence is faithful. We present NovGauge, a human-anchored benchmark for fine-grained novelty assessment diagnosis. The benchmark contains 619 paper pairs and 50 multi-paper sets, drawn from two expert sources: ICLR reviewer overlap claims and survey co-citations. Instances are independently labeled along three dimensions: task, problem, and method, capturing application goals, technical challenges, and solution approaches. We propose a cascading diagnostic pipeline that verifies per-dimension correctness, evidence grounding, and logical support. Evaluation of 18 LLMs shows hallucination rates ranging from 0% to 39% across dimensions, and among non-hallucinated correct-positive judgments, over 70% cite evidence fails to logically support the stated reason. The best-performing model, GPT-5.5, achieves 43-72% Verified F1 across dimensions, while most models retain less than half of their raw F1 after faithfulness verification. These results suggest that current LLMs remain far from reliable scientific novelty assessment, particularly when correctness is conditioned on faithful evidence grounding.

cs.AI

版本更新 · v2arXiv:2609.36816

Towards Better Training Signal: Advantage Clipped Policy Optimization

Ruichuan Huang, Jinghan Liu, Congliang Chen

原文摘要

Reinforcement learning (RL) has become a cornerstone for improving the reasoning capabilities of large language models (LLMs), but the need for on-policy data substantially limits training efficiency. Reusing off-policy data through importance sampling (IS) can improve efficiency but introduce considerable instability. Hence, algorithms such as PPO and GRPO widely adopt IS-ratio clipping to stabilize training. However, training stability and gradient estimate are mainly determined by the product of IS ratio and advantage. To further stabilize training, we propose ACPO, which clips the product of the IS ratio and the advantage, leading to more stable gradient estimates. We also establish a connection between ACPO and gradient clipping in policy mirror descent (PMD), which is a standard technique to stabilize optimization process, and prove the convergence of clipped-PMD under the standard RL setting. Experiments on widely used mathematical reasoning benchmarks show that ACPO consistently outperforms PPO and GRPO in both accuracy and training efficiency, delivering 4-6 percentage points gains on standard math benchmarks, with Qwen3-8B+PPO. Hence, ACPO is a practical and effective alternative to conventional IS-ratio clipping for RL post-training of LLMs.

cs.LG

版本更新 · v4arXiv:2609.38905

EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation

Haoran Lang, Haotao Lu, Shiyu Sang, Haoyang Luo, Guo Chen, Qun Li, Jingyi Yu, Ye Shi 等 9 位作者

原文摘要

Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current capabilities and failure modes. We introduce EmbodiRSI, an agentic system for recursive self-improvement (RSI) in a real-to-sim-to-real setting, where task-specific simulations are constructed from target deployment scenarios and used as low-cost environments for iterative policy improvement before transfer back to the physical world. EmbodiRSI uses policy execution feedback to guide subsequent experience acquisition and policy updates. Two complementary mechanisms close this loop: Collaborative Error Correction generates agent-assisted corrective trajectories from policy-reached states, while Adaptive Data Collection directs expert demonstration generation toward the current policy's weaknesses. The task-specific simulation serves as a reusable workspace for policy warm-up, repeatable evaluation, failure diagnosis, and targeted data generation across successive RSI rounds. Across three tabletop environments and 14 subtasks, EmbodiRSI increases scene-balanced autonomous simulation success from 50.4% to 83.5% over two RSI updates. With 400 adaptive simulated trajectories and only ten real-world refinement trajectories per subtask, EmbodiRSI achieves 83.1% scene-balanced autonomous real-world success, compared with 75.0% for adaptation using 200 real-world demonstrations per subtask. These results demonstrate that feedback-driven recursive improvement in deployment-specific simulations can enable data-efficient adaptation of embodied policies to physical environments.

cs.RO

新论文 · v1arXiv:2610.39265

DeCoRL: Decomposed Consistency Reinforcement Learning for Multi-Image Composition

Zhiqiang Wu, Shuang Sun, Jiale Zhang, Jing Li, Yibo Chen, Xu Tang, Yao Hu

原文摘要

Multi-image composition (MICo) is a critical yet challenging capability for large-scale image editing models, where consistency degrades rapidly as the number of reference images increases. While supervised fine-tuning (SFT) can equip models with basic MICo ability, it provides only implicit supervision on the composed image and often fails to learn reliable object-level correspondence across multiple references. We propose DeCoRL, a reinforcement-learning (RL) framework that improves MICo consistency by decomposing holistic MICo consistency into object-level consistency. DeCoRL first establishes instruction-relevant object correspondences across reference images and localizes the corresponding regions in the generated image. It then uses a VLM-based reward model trained on single-object consistency annotations to produce fine-grained, object-wise feedback, which is aggregated into a multi-object consistency reward to guide RL post-training. We further introduce DeCo-Bench, a benchmark covering compositions from 2 to 6 reference images. Experiments on DeCo-Bench and the public MICo-Bench demonstrate consistent improvements in MICo consistency.

cs.CV · cs.AI

新论文 · v1arXiv:2610.39258

Agentic LinkDreamer: Adaptive Neuro-Fuzzy World-Model Decision Making for Intermittent V2X Cooperative Perception

Zhaoyu Liu, Dongmin Wang, Liu Cao, Jijing Cai, Kai Fang, Syed Ishtiaque Ahmed, Almetwally M. Mostafa

原文摘要

Intermittent vehicle-to-everything (V2X) communication can remove collaborator information needed for cooperative perception, degrading object detection during link outages. Existing recovery methods reconstruct missing features but rarely determine when to trust predictions, reuse historical observations, or request fresh information. This paper proposes Agentic LinkDreamer, a soft-computing framework integrating a latent world model with an interpretable neuro-fuzzy decision agent. It maintains causal collaborator memory and uses a relative-motion-conditioned recurrent world model to predict unavailable bird's-eye-view (BEV) features. Prediction uncertainty, perceptual complementarity, memory freshness, communication quality, and residual communication budget form a compact decision state. A differentiable Takagi-Sugeno controller selects among five modes: ego-only perception, motion-compensated historical feature reuse, latent imagination, low-rate temporal-summary refresh, and high-rate collaborator-feature refresh. The policy balances detection risk, communication overhead, latency, predictive uncertainty, and action switching. After link recovery, reflection compares predicted and received features to update uncertainty calibration and causal memory. For reproducible evaluation without assuming unavailable physical-layer traces, we construct a geometry-derived V2X degradation protocol using recorded trajectories and LiDAR-derived scene geometry from V2X-Real. On the real-world V2X-Real V2V split, Agentic LinkDreamer achieves 90.95 AP@0.5 on outage frames and recovers 92.9% of the cooperative-perception performance gap. At a high-performance operating point, it remains only 0.65 AP below the cooperative upper reference while reducing communication volume by approximately 31% relative to continuous high-rate cooperation. This improves resilience under V2X outages.

cs.NI

新论文 · v1arXiv:2610.39222

When Does Heterogeneity Pay Off? Understanding GPU-WSE System Complementarity

Ziyu Hu, Zhijing Ye, Jiamin Wang, Zhiqing Zhong, Zhendong Mi, Shaoyi Huang, Weijian Zheng, Rajkumar Kettimuthu 等 9 位作者

原文摘要

As AI accelerator architectures become increasingly diverse, integrating different architectures into a unified system is emerging as a new heterogeneous computing paradigm. GPUs and WSEs differ substantially in compute, memory, and communication organization, creating both architectural complementarity and additional overheads, yet how to translate this heterogeneity into practical performance gains remains unclear. To address this gap, we propose a hierarchical benchmarking methodology to characterize GPU--WSE heterogeneous execution and the conditions for exploiting complementarity, together with an analytical performance model that identifies when heterogeneity becomes a bottleneck and when it yields system-level performance gains.

cs.DC · cs.AR

版本更新 · v7arXiv:2510.14431CVF · CVPR 2026

Real-Time Neural Video Compression with Unified Intra and Inter Coding

Hui Xiang, Yifan Bian, Li Li, Jingran Wu, Xianguo Zhang, Dong Liu

原文摘要

Neural video compression (NVC) technologies have advanced rapidly in recent years, yielding state-of-the-art schemes such as DCVC-RT that offer superior compression efficiency to H.266/VVC and real-time encoding/decoding capabilities. Nonetheless, existing NVC schemes have several limitations, including inefficiency in dealing with disocclusion and new content, interframe error propagation and accumulation, among others. To eliminate these limitations, we borrow the idea from classic video coding schemes, which allow intra coding within inter-coded frames. With the intra coding tool enabled, disocclusion and new content are properly handled, and interframe error propagation is naturally intercepted without the need for manual refresh mechanisms. We present an NVC framework with unified intra and inter coding, where every frame is processed by a single model that is trained to perform intra/inter coding adaptively. Moreover, we propose a simultaneous two-frame compression design to exploit interframe redundancy not only forwardly but also backwardly. Experimental results show that our scheme outperforms DCVC-RT by an average of 12.1% BD-rate reduction, delivers more stable bitrate and quality per frame, and retains real-time encoding/decoding performances. Code and models will be released.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

版本更新 · v2arXiv:2610.33947

Learning Functional Specialisation for Bimanual Robotic Control

Jingwen Li, Levin Kuhlmann, Jason Friedman, Gideon Kowadlo

原文摘要

Bimanual robotic control requires simultaneous management of distinct functional demands under motor noise, energetic costs, and communication delays. We investigate how learning responsibility should be organised across modular controllers and the two arms in a simulated musculoskeletal system with two communicating recurrent controllers. Using a 2 x 2 design, we compare differential versus shared controller objectives and fixed versus balanced hand-task assignments. Task-aligned functional specialisation was strongest when differential objectives were combined with a fixed assignment aligned with contralateral control routing. This condition achieved the highest canonical-task performance and control efficiency, reaching 81.33% bimanual success. Its advantage over shared objectives increased with motor noise but narrowed under stronger energy penalties. Stronger specialisation also reduced hand-role flexibility: reversing the hand roles decreased bimanual success by 80.46 percentage points under Differential-Fixed training, compared with 1.51 percentage points under Shared-Balanced training. These results show that controller objectives and hand-task experience jointly determine functional organisation. Stronger role-specific specialisation favours performance and efficiency when roles remain stable, whereas more distributed training favours interchangeability when roles change.

cs.RO

新论文 · v1arXiv:2610.39041

Exponential-Nemytskii Neural Operators: Learning Field Evolution Across Step Sizes

Jingye Li, Jinglai Li

原文摘要

In variable-step operator learning, agreement at observed step sizes does not by itself determine predictions at other temporal resolutions. We propose an operator whose step-size dependence is prescribed by a first-order Duhamel approximation of semilinear dynamics. It combines exact linear propagation with a local nonlinear function of the field and its derivatives, allowing evaluation below the observation interval without supervision densely sampled across step sizes. Under suitable conditions and at fixed spatial resolution, we prove that agreement between models at two step sizes controls their prediction differences throughout a prescribed range. We also give conditions for local identifiability of both components from two step sizes, supporting interpretation of the learned structure. A latent extension applies the same construction to learned fields. We evaluate the base model on two synthetic problems and the extension on two real datasets against several baselines.

cs.LG · math.NA

新论文 · v1arXiv:2610.39005

Self-Supervised Doppler-Guided RF Odometry

Kunzhe Song, Jialuo Du, Jingkai Lin, Huacheng Zeng

原文摘要

Radio-frequency (RF) sensing enables robot ego-motion estimation in darkness, smoke, and fog, yet RF odometry remains challenging because multipath and moving reflectors make cross-frame matching highly ambiguous. Existing methods often rely on auxiliary inertial sensors or ground-truth pose supervision. We present RFWalk, a self-supervised, RF-only odometry framework that models dense correspondences across range-azimuth frames as random walks on a space-time graph and learns them from unlabeled sequences through temporal cycle consistency. To rule out correspondences that are cycle-consistent but physically implausible, we introduce a Doppler consistency loss that constrains correspondence-induced motion using radial velocity measured by the RF sensor itself. Ego-motion is then recovered through robust $\mathrm{SE}(2)$ registration that suppresses uncertain correspondences and those arising from independently moving objects. Without pose labels or auxiliary sensors, RFWalk remains competitive with supervised baselines in static scenes and reduces absolute trajectory error by 58% in dynamic scenes with moving pedestrians.

cs.RO · cs.LG

版本更新 · v2arXiv:2610.36477

Proposing Better Rollouts for On-Policy Distillation

Sirui Chen, Yunzhe Qi, Haobo Xu, Jiaru Zou, Mengting Ai, Zihao Li, Jingrui He

原文摘要

On-policy distillation (OPD) improves language-model post-training by letting the student learn from its own sampled trajectories under teacher supervision, aligning the training process with inference-time behavior. However, the rollout policy in OPD is usually treated as fixed: each round samples directly from the current student. We show that this choice can create a compounding teacher--student mismatch, because it requires the teacher to provide effective supervision on whichever trajectories the student samples, including ones less reachable by the teacher itself. On such trajectories, teacher supervision can become noisy or even misleading, leading to undesirable student patterns such as repetition. Moreover, since the updated student in turn defines the rollout policy of subsequent rounds, these patterns persist and potentially amplify over training. This failure mode suggests that improving OPD requires treating the rollout policy itself as an optimization target, rather than only modifying the distillation objective. We propose Mixture Proposal On-Policy Distillation (MPOPD), which derives a student-anchored, teacher-guided rollout distribution from a local trust-region objective based on relative teacher support. The resulting target is a geometric mixture of the student and teacher policies, and we introduce a proposal policy that approximates this mixture, enabling rollout generation in a single forward pass. Experiments on 16 math, knowledge, and medical reasoning benchmarks show consistent gains over OPD and recent variants. On math reasoning, our method improves average accuracy by 6.91 over OPD on Qwen3-4B-Base while reducing average generation length by 41%, suggesting that rollout policy design provides an effective way to improve OPD.

cs.LG · cs.AI

新论文 · v1arXiv:2610.38951

GradSplat: Gradients Inside the Forward Pass for Feed-Forward 3D Gaussian Splatting

Jingong Chen, Linlian Jiang, Guangyuan Li, Xinxin Zuo, Yang Wang, Chulwoo Pack, Kyle Gao, Kwanghee Won

原文摘要

Feed-forward 3D Gaussian Splatting predicts a scene from a few images, but our predictor is less accurate than its own Gaussians optimized per scene on those images. This gap lies mostly in the shape of the Gaussians, their scale and rotation, since optimizing the shape alone recovers almost all of it and opacity and color recover less. Gradient steps on the input views correct this shape, and the model holds these views at inference. Log-anisotropy correction changes the axis ratios of each Gaussian in log space at constant volume, and in-forward gradient refinement renders the Gaussians into the input views and applies the gradient of the photometric loss with a learned recurrent update, first to opacity and color and then to the shape. GradSplat is a feed-forward model that refines its own Gaussians by learned gradient steps inside its forward pass, with no target view. On both complete six-view RealEstate10K protocols, it has the best PSNR and SSIM among nine methods and keeps its accuracy from $6$ to $42$ input views. Without fine-tuning, it is the most accurate on DL3DV and has the best PSNR and SSIM on ScanNet++. The code will be released at https://github.com/Jingong-Chen/GradSplat/.

cs.CV

版本更新 · v4arXiv:2608.02673

dots.tts.edit: Precisely Controlled Speech Editing with a Continuous Autoregressive Model

Hankun Wang, Bohan Li, Shi Lian, Xiaoyu Gu, Jing Peng, Da Zheng, Yiwei Guo, Colin Zhang 等 10 位作者

原文摘要

Speech editing for content creation requires precise control over both what an edit should do and where it should apply. Free-form natural language provides a flexible interface for expressing edit requests, but its ambiguity may leave the intended operation, parameters, or target region underspecified. We study a semi-formal transcript-grounded edit instruction that specifies operation categories and parameters and binds them to transcript spans or boundaries. This semantic timeline avoids explicit timestamp alignment and provides an externally inspectable contract for compositional edits. We instantiate the interface in dots$.$tts$.$edit, a speech editing model built on a continuous autoregressive speech generation architecture. Four representative speech-creation controls cover lexical content, affective expression, pitch and speaking-rate delivery, and temporal phrasing through text, emotion, prosody, and pause editing. Task-specific data pipelines construct operation- and scope-controlled pairs while retaining source-derived context outside each target region. We further introduce doteBench, a bilingual benchmark that measures precise instruction following, local preservation, and audio quality across the four controls and their composition. Experiments show leading overall instruction following and local preservation across its five editing categories, while audio quality remains comparable to existing open-source systems. Across three Seed-TTS-Eval shards, the model shows negligible differences from the base model in zero-shot TTS recognition error rate and speaker similarity.

cs.SD · cs.AI · cs.CL · eess.AS

版本更新 · v2arXiv:2602.06600

Echoes as Anchors: Probabilistic Costs and Attention Refocusing in LLM Reasoning

Zhuoyuan Hao, Zhuo Li, Wu Li, Fangming Liu, Min Zhang, Jing Li

原文摘要

Recent work improves reasoning in large reasoning models (LRMs) by test-time scaling through self-consistency and parallel thinking, adding generic "thinking tokens", or presenting the question twice, as in re-reading (RE2). However, these approaches either inject task-agnostic tokens or mandate heuristics that do not explain, and often ignore, the spontaneous repetition that many LRMs exhibit at the head of their long chain-of-thought (CoT). In this work, we analyze and harness the model's tendency to restate the question, dubbed Echo of Prompt (EOP), as a front-loaded, compute-shaping mechanism, which can be viewed as self-generated prompt repetition inside the reasoning trace rather than in the input. Specifically, we formalize its probabilistic cost by casting echo removal as rejection-based conditioning, and define the Echo Likelihood Gap $Δ\mathcal{L}$ as a computable proxy linking early repetition to likelihood gains and downstream accuracy. We find that (1) in a causal intervention, reinserting an echo into failed GSM8K traces raises exact match by 7.9-10.4 points for two reasoning models but not for a non-reasoning base model; and (2) in length- and suffix-controlled likelihood analyses and layer-wise attention studies conducted to show that EOP's benefits go beyond verbosity, EOP increases answer to answer-prefix attention in middle layers, consistent with an attention refocusing mechanism. Building on these findings, we develop Echo-Distilled SFT (ED-SFT) to instill an "echo-then-reason" pattern through supervised finetuning, and training-free Echoic Prompting (EP) to re-ground the model mid-trace. We evaluate on GSM8K, MathQA, Hendrycks-MATH, AIME24, and MATH-500 under identical decoding settings and budgets, and find consistent gains over baselines, including thinking-token insertion. Our code is publicly released at https://github.com/hhh2210/echoes-as-anchors.

cs.CL

版本更新 · v4arXiv:2605.00425

AEM: Adaptive Entropy Modulation for Multi-Turn Agentic Reinforcement Learning

Haotian Zhao, Songlin Zhou, Yuxin Zhang, Stephen S. -T. Yau, Wenyu Zhang, Lun Tian, Tianshu Zhu, Yifeng Huang 等 12 位作者

原文摘要

Reinforcement learning (RL) has substantially improved the ability of large language model (LLM) agents to interact with environments and solve multi-turn tasks. However, effective agentic RL remains challenging: sparse outcome-only rewards provide limited guidance for assigning credit to individual steps within long interaction trajectories. Existing approaches often introduce dense intermediate supervision, such as process reward models or auxiliary self-supervised signals, which increases supervision and tuning complexity and may limit generalization across tasks and domains. We present AEM, a supervision-free credit assignment method that adaptively modulates entropy dynamics during RL training to improve the exploration-exploitation trade-off. Since in agentic RL the environment is typically affected by a complete response, rather than an individual token, our analysis lifts entropy dynamics from the token level to the response level, aligning uncertainty estimation with the effective action granularity of LLM agents and reducing sensitivity to token-level sampling noise. We further show that entropy drift under natural-gradient updates is governed by the interaction between the sampled-response advantage and its relative surprisal. Motivated by this result, AEM derives a practical response-level uncertainty proxy and uses it to rescale advantages, leveraging the evolving balance between positive and negative samples to naturally transition from exploration to exploitation. Extensive experiments on ALFWorld, WebShop, and SWE-bench-Verified with models ranging from 1.5B to 32B demonstrate that AEM consistently improves strong RL baselines, including a +1.4\% gain when integrated into a state-of-the-art software-engineering RL training framework.

cs.AI

版本更新 · v2arXiv:2605.11447

Conditional Memory Enhanced Item Representation for Generative Recommendation

Ziwei Liu, Yejing Wang, Shengyu Zhou, Xinhang Li, Xiangyu Zhao

原文摘要

Generative recommendation (GR) has emerged as a promising paradigm that predicts target items by autoregressively generating their semantic identifiers (SID). Most GR methods follow a quantization-representation-generation pipeline. While most research focuses on quantization and generation, the representation that bridges the two remains underexplored. Existing representation constructions mainly take two forms: either directly flattening the SID code embeddings into a sequence or merging them into a compact vector via external networks. While effective, they still expose two practical challenges: \textbf{1) Loss of item semantics:} Information lost by quantization or compression needs to be recovered during the representation stage. \textbf{2) Insufficient modeling of structured SID relations:} Intra-item code composition patterns and inter-item prefix-transition patterns are not explicitly preserved for representation and subsequent SID generation. To overcome these challenges, we propose \textbf{ComeIR}, a \textbf{\uline{Co}}nditional \textbf{\uline{me}}mory Enhanced \textbf{\uline{I}}tem \textbf{\uline{R}}epresentation framework that reconstructs SID code embeddings into item-aware inputs and preserves structured SID evidence for prediction. Item-guided Token Scoring estimates the contribution of each SID code using the item embedding employed by the quantizer. Dual-level Conditional Memory captures intra-item prefix composition and inter-item prefix transitions, while Memory Merge integrates these signals into each historical item representation. The Memory-restoring Prediction Head further conditions SID-level prediction on the generated prefix and historical transition evidence. Extensive experiments demonstrate the effectiveness and flexibility of ComeIR, and further reveal scalable gains from enlarging conditional memory.

cs.IR · cs.AI

版本更新 · v2arXiv:2602.04814

X2HDR: HDR Image Generation in a Perceptually Uniform Space

Ronghuan Wu, Wanchao Su, Kede Ma, Jing Liao, Rafał K. Mantiuk

原文摘要

High-dynamic-range (HDR) formats and displays are becoming increasingly prevalent, yet state-of-the-art image generators (e.g., Stable Diffusion and FLUX) typically remain limited to low-dynamic-range (LDR) output due to the lack of large-scale HDR training data. In this work, we show that existing pretrained diffusion models can be easily adapted to HDR generation without retraining from scratch. A key challenge is that HDR images are natively represented in linear RGB, whose intensity and color statistics differ substantially from those of sRGB-encoded LDR images. This gap, however, can be effectively bridged by converting HDR inputs into perceptually uniform encodings (e.g., using PU21 or PQ). Empirically, we find that LDR-pretrained variational autoencoders (VAEs) reconstruct PU21-encoded HDR inputs with fidelity comparable to LDR data, whereas linear RGB inputs cause severe degradations. Motivated by this finding, we describe an efficient adaptation strategy that freezes the VAE and finetunes only the denoiser via low-rank adaptation in a perceptually uniform space. This results in a unified computational method that supports both text-to-HDR synthesis and single-image RAW-to-HDR reconstruction. Experiments demonstrate that our perceptually encoded adaptation consistently improves perceptual fidelity, text-image alignment, and effective dynamic range, relative to previous techniques.

cs.CV · cs.GR

版本更新 · v2arXiv:2609.19985

Past, Future, All at Once: Mitigating Stability-Plasticity Dilemma via Post-hoc JANUS Rectification

Zhilong Zheng, Letian Tao, Yujie Yang, Wei Xiong, Kehua Sheng, Bo Zhang, Jingliang Duan, Keqiang Li 等 10 位作者

原文摘要

Fine-tuning foundation models on new tasks inevitably suffer from catastrophic forgetting. While existing works attempt to mitigate this on the basis of parameter-efficient fine-tuning methods, they adopted an overly restrictive Subspace Orthogonality condition. In this paper, we introduce a purely post-hoc and tuning-agnostic weight rectification framework that achieves Parameter Space Orthogonality, which is the necessary and sufficient condition for preserving historical performance to the first order. By projecting parameter updates into the JAcobian NUll Space (JANUS), our method significantly recovers compromised historical knowledge without interfering with the underlying fine-tuning process. To overcome the local validity of the Jacobian approximation, we further propose a Multi-step Adaptive Rectification mechanism that utilizes the JANUS shift to dynamically verify the valid trust region and adjust step sizes. Coupled with our proposed ghost projection, ghost orientation comparison, and sequence-level singular value decomposition compression techniques, JANUS also achieves great temporal and spatial efficiency. Experiments demonstrate that JANUS seamlessly integrates with various fine-tuning methods, significantly mitigating the stability-plasticity dilemma by recovering historical knowledge while preserving downstream task adaptation.

cs.LG · cs.AI

版本更新 · v2arXiv:2610.37369

Uncovering Why LLMs Fail: From Internal Mechanisms to Adversarial Reasoning Trajectories

Zirui Ding, Xinxin Fan, Hao Yuan, Shaoye Luo, Men Niu, Quanliang Jing, Yunfeng Lu

原文摘要

Large language models (LLMs) are usually evaluated by final-output correctness or safety, yet an endpoint label does not reveal how a failure develops throughout the reasoning process. We therefore ask whether ordinary reasoning failures and adversarially induced failures can be characterized using the same internal coordinates. Towards this end, we in this paper study a white-box diagnostic framework CauTrace to disclose the root-cause of why LLM fails from three fundamental inspections: Functional States, Propagation of Representation, Temporal-State Coordination and Reasoning Trajectory. First, seven functional states are creatively defined to represent the support and constraint processing in LLMs. Second, the propagation of representation change measures how the changes among the seven states persist across subsequent Transformer blocks. Third, temporal-state coordination and trajectory topology characterize when the commitment and verification occur relative to the support, and how the dominant state sequence evolves over the full inference process. Finally, we evaluate CauTrace on both clean reasoning failures and paired adversarial perturbations. Across Qwen and LLaMA-family models, the failed traces show weaker Attention-MLP agreement on support-state updates and less verification activity relative to commitment, while the exact representation-level signatures and timing shifts vary by architecture. Held-out repair and steering tests demonstrate consistent operational signals that were in line with our claims for certain models and specific settings, with aligned steering producing the predicted directional changes in process measures. Overall, CauTrace provides a unified diagnostic framework for analyzing failure dynamics through changes in support, commitment, and verification, which would shed light on the in-depth research on LLM security.

cs.AI