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版本更新 · v3arXiv:2610.40016

LOGIV: Graph-Verified Execution with Causal Local Repair for Long-Horizon Robot Tasks

Enqiao Lu, Yuxiang Xie, Xingrui Yu, Yuyang Wang, Yipeng Gu, Zhirui Fang, Xinrun Xu, Zhenglin Wan 等 13 位作者

原文摘要

Agentic robots must turn a high-level goal into actions while keeping the physical conditions needed for future steps valid. A completed action does not ensure that its effects will persist: a later disturbance can invalidate support that the remaining plan still assumes. We present LOGIV, a graph engineering framework for agentic robot execution that uses an explicit task graph to connect symbolic planning, observation-based verification, and embodied action. LOGIV compiles a validated plan into condition-support and resource-ordering edges, checks their physical validity during execution, and uses dependency tracing to determine what must be restored after a failure. Repair is constrained by retained unfinished actions, and the combined continuation is symbolically validated before execution resumes. The framework operates above existing Vision-Language-Action (VLA) and World Action Model (WAM) policies without adding trainable components. Across 20 dual-arm tasks from RoboTwin V2 and BiCoord with three execution backbones, LOGIV improves mean task success without injected disturbances by 10.67 and 15.33 percentage points, respectively. Under predefined perturbations, it achieves higher task completion and condition restoration than three adapted recovery baselines for every backbone on both benchmarks. On three real-robot tasks, successful trials increase from 12/30 to 17/30. These results support explicit, continuously checked task dependencies as a practical interface for reliable agentic robot execution.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2603.26993

On the Reliability Limits of LLM-Based Multi-Agent Planning

Ruicheng Ao, Siyang Gao, David Simchi-Levi

原文摘要

LLM-based multi-agent planning delegates operational decisions to specialists that communicate through finite reports. In this research, we study its reliability limits when a coordinator can revisit source records before completing a resource-constrained plan. A useful report can support an immediate decision or direct later reading, so its value depends on how these stages communicate. We derive exact communication and access tradeoffs and prove that two report forms suffice for a broad class of allocation requirements, one favoring immediate resource identification and the other distinguishing absence from unnamed availability. For shared capacity, this reduction permits joint optimization of reporting roles and adaptive reads for a fixed number of source types with unequal workloads and reading costs. Identical specialists can optimally report different facts, and maximizing immediate completion can impose an unbounded recovery cost penalty even with full-record access. We also conduct numerical experiments to quantify the benefits of the proposed joint optimization and show how source access improves language-agent decisions that already use their reports optimally. In particular, an exhaustive evaluation of 207,632 report designs on small allocation instances recovers the predicted joint optima. Our analysis suggests that reliable agent communication should be evaluated by the complete decisions it supports and the cost of finishing its unresolved cases, instead of solely by report length, local prediction accuracy, or immediate task completion, as is often the case in current practice.

cs.MA · cs.LG · math.OC · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39998

Gaze-Assisted Supervisory Control for Lunar Robotic Arm Teleoperation Under Concurrent Monitoring

Jiayu He, Yifan Li, Oliver R. Runswick, Ernest N. Kamavuako, Yunjie Jia, Peter D. Hodkinson, Yang Gao

原文摘要

Rover-mounted robotic arms can extend human reach during lunar sample handling, but continuous joystick teleoperation requires repeated visual-motor alignment while operators may also need to monitor system states. This paper presents a gaze-assisted supervisory control framework in which gaze nominates a rock or placement target, explicit confirmation authorizes the action, and the robot performs bounded autonomous grasp-and-place execution. The framework was evaluated against manual joystick teleoperation in a mission-analog virtual reality study with 16 participants. The study used a 2 x 2 x 3 within-subject design varying control mode, placement difficulty, and concurrent monitoring load. Mean recorded task completion time decreased from 47.65 to 18.43 s per rock, with 72.5% of this difference arising during grasping. Under the tested auditory monitoring conditions, gaze-assisted supervisory control showed less average proportional slowing, with no detected control-mode difference in monitoring-response accuracy or speed. The rate of gaze shifts between core areas of interest decreased from 49.98 to 27.73 shifts/min, while the raw NASA Task Load Index score decreased from 32.54 to 18.26. However, the benefit was task dependent. In precision placement, manual control yielded lower mean placement error and a higher placement success rate. These findings support a mixed-initiative allocation in which gaze enables rapid task-level intention specification and autonomous execution, while precision-critical stages retain manual refinement.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39958

Observability-Aligned Evidential Masked Pretraining for Reliable VRU Motion Prediction

Shang Gao, Franz Götz-Hahn, Konrad Doll, Bernhard Sick

原文摘要

Vulnerable road user (VRU) prediction must operate under partial observability and distribution shift, so reliable uncertainty matters alongside accuracy. Masked pretraining is attractive in this setting because it naturally exposes the model to missing content during self-supervision, but existing time-series masked autoencoding methods are typically deterministic and do not constrain how confidence should change with observability. We introduce eCoMAE, an evidential masked pretraining method for multivariate time series that explicitly aligns predictive evidence with what is observed. eCoMAE combines block-wise time-step masking with a Normal-Inverse-Gamma decoder and three observability-aware mechanisms: uncertainty-weighted mean consistency on positions visible in both a masked view and a reference pass, evidence suppression on masked positions, and representation consistency across stochastic masks. On IMPTC benchmark for VRU intention prediction under leave-one-environment-out weather shift, eCoMAE improves the strongest baseline from 0.7971 to 0.8068 in OOD accuracy and from 0.0718 to 0.0648 in OOD AURC. Additional evaluation on pedestrian trajectory forecasting across IMPTC, Waymo, nuScenes, and inD further yields the best fine-tuning MSE on all four datasets. These results show that observability-aligned evidential pretraining improves reliability under shift and remains effective beyond the primary benchmark.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39728

Grounding Predictive Reliability through Masked Observability

Shang Gao, Bernhard Sick, Franz Götz-Hahn

原文摘要

An uncertainty estimate is meaningful only if its semantics can be tied to observable predictive behavior. Normal-Inverse-Gamma (NIG) evidential regression provides a structured decomposition of predictive variability into data-scale and predictive-mean components, but marginal likelihood does not identify their allocation. We address this semantic ambiguity in masked representation learning. MORSE (Masked Observability for Reliable Structured Encoding) predicts the same hidden target under controlled changes in visible context and uses normalized cross-context variation to ground predictive-mean uncertainty, while a Gaussian objective learns the conditional mean and data scale. The normalized variation plays the role of the NIG factor $1/ν$, which the marginal leaves unidentified; this yields a policy-relative observability variance that measures dependence on visible evidence, distinct from variation induced by resampling the training set. On a Gaussian-process benchmark with a contextual reference built from analytic Bayes conditional means, MORSE has the lowest log-variance error among compared evidential, ensemble, and dropout estimators in all nine tested settings, while the estimator closest to training-set variation perturbs the model rather than its context in every setting, so the two references separate the estimators empirically. MORSE amortizes observability estimation into one forward pass per observation state. On a heteroscedastic pulse benchmark, its predictor's cross-context variance approaches a large-sample reference as training data increase. MORSE also improves low-label transfer on PTB-XL and in-distribution trajectory prediction on IMPTC.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39409

Safe Multi-Objective Reinforcement Learning: Zero Constraint Violation and Primal-Averaging Convergence

Chenxi Li, Yao Shu, Siyang Gao, Shuang Qiu, Guangxin Jiang

原文摘要

Many applications of multi-objective reinforcement learning (MORL) require policies that balance conflicting objectives while satisfying safety constraints. We study safe MORL with zero constraint violation throughout learning, covering both cumulative and stepwise constraints. A key challenge is to explore sufficiently under unknown dynamics and constraint costs without violating the constraints. For a given preference over objectives, we develop an algorithm to learn a safe Pareto optimal policy by combining optimistic reward estimates with pessimistic cost bounds. With high probability, every policy executed over $T$ episodes incurs zero constraint violation. The algorithm returns a safe Markov policy induced by the averaged occupancy measure and achieves an $\widetilde{O}(1/\sqrt{T})$ suboptimality gap under smooth Tchebycheff scalarization. We further develop a preference-free algorithm that first explores safely without a prespecified preference and then computes a safe policy for any given preference without further interaction. Over $T$ exploration episodes and $K$ planning iterations, it retains the same safety guarantee and achieves an $\widetilde{O}(1/\sqrt{T}+1/\sqrt{K})$ suboptimality gap. Both algorithms require knowledge of a policy that strictly satisfies the constraints and its costs. We then relax these requirements, incurring at most constant cumulative violation. To our knowledge, we provide the first sample-efficient MORL algorithms that guarantee safety for every executed policy.

cs.LG · cs.AI · math.OC · stat.ML

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.36660

The View from Nowhere: Population-Centered Agent Evolution

Shuo Yan, Ningning Hou, Haoyu He, Haochen Pei, Shang Gao

原文摘要

Self-improving AI systems can revise the designs that govern their own behavior. Yet existing approaches center improvement on selected parent agents and their evolutionary experience, leaving the broader population largely underused. We identify a substantial gap between population coverage (i.e., the tasks solved by at least one evolved variant) and the performance of the best individual agent. This gap shows that useful capabilities and diagnostic evidence emerge across the population without being consolidated into its leading agents. These observations motivate the view from nowhere, a principle for agent evolution: an agent should be improved by interpreting its behavior through population-wide patterns of success, failure, and prior self-modification. We instantiate this principle as Population-Centered Evolution (PCE). PCE distils task records and modification histories from the population into a population block, which captures recurring failures, complementary successes, and the effects of previously attempted modifications to guide improvements to a selected parent's harness. Under matched models, initial harnesses, and evolution schedules, PCE achieves 72.1% success on SWE-bench Verified and 96.7% on Polyglot, improving over a strong group-evolution baseline by 3.2 and 5.9 percentage points. In our evaluation, PCE reduces the gap between population coverage and best-agent performance by one-third on SWE-bench and closes it on Polyglot. These results suggest that treating the population as evidence, not merely as candidates for selection, provides a complementary principle for agent evolution.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.05415

Executable Schema Contracts: From Automatic Ingestion to Multi-Source Retrieval

Padmaja Jonnalagedda, Yuguang Yao, Xiang Gao, Hilaf Hasson, Kamalika Das

原文摘要

Real-world data spans tables, documents, and semi-structured files with implicit semantics. Querying this data requires integrating evidence across inconsistent schemas and formats, yet existing approaches either demand costly manual engineering or bypass structure entirely. We present a system that automatically discovers an executable schema from raw multi-source data and uses it as a shared contract for knowledge graph construction and query-time retrieval. A closed-world field catalog constrains LLM-based schema discovery to attested fields; deterministic structural analysis infers identity keys, foreign keys, and source hierarchy; and the resulting schema drives extraction, deduplication, and cross-source linking into a provenance-aware knowledge graph. At query time the schema -- optionally extended via a monotonic protocol -- conditions a multi-tool agent routing retrieval across structured lookup, graph traversal, and vector search, returning grounded answers with traceable citations. In controlled zero-shot comparisons using the same LLM, data, and evaluation harness, the system improves over retrieval-only and decomposition-based baselines across four QA benchmarks, with ablations showing that schema-conditioned routing, structural intelligence, and schema-guided construction each contribute to the gains.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.38587

RoSAMDepth: Robust Self-supervised Depth Estimation Leveraging Segment Anything Model

Xuanang Gao, Zhiwei Ning, Gengming Zhang, Jiaxi Cao, Runze Yang, Zhonglong Zheng, Jie Yang, Rong Xiao 等 9 位作者

原文摘要

Robust depth estimation aims to maintain high-quality depths across diverse conditions. However, most existing methods estimate depth without taking into account the object-level information. As a result, the predicted depth may easily deviate within objects and become blurred under adverse conditions. To overcome this weakness, we propose RoSAMDepth, a novel framework that can assist robust self-supervised depth estimation in leveraging rich and diverse object-level priors from the Segment Anything Model (SAM). We focus on incorporating object-level information across three key aspects: a segment-guided representation contrasting method that injects object-level awareness into the feature representation space; an adaptive regional outlier masking strategy combined with a regional Gaussian likelihood loss that enforces regional depth smoothness; and an object-level reliability estimation strategy that mitigates the influence of unreliable supervision. Extensive experiments across multiple datasets and diverse weather conditions demonstrate that our method produces sharper, more accurate depth predictions, consistently outperforming state-of-the-art methods. Our code is available at https://github.com/xagao/RoSAMDepth.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.38579

Session-Bound Behavioral Watermarking for Autonomous LLM Agents

Md Facklasur Rahaman, Yong Xiang, Md Palash Uddin, Shang Gao, Guang Hua, Leo Yu Zhang

原文摘要

Large Language Model (LLM) agents are increasingly acting through Web interfaces and external tools. They produce trajectories. Those trajectories may pass through several intermediaries. They can store, modify, or dispute those trajectories. In Web-based agent deployments, trajectories may pass through APIs, marketplaces, and tool servers. As such, a copied or disputed log may not by itself reveal which agent owner produced it. Behavioral watermarking can embed ownership evidence in agent action choices. However, existing methods mainly address detection, removal, rewriting, or imitation. They do not directly test whether repeated observation of watermarked trajectories enables cross-session forgery by exploiting learned action preferences. We formulate this learned-forgery threat and propose AgentAnchor, a session-keyed behavioral watermark for owner attribution from trajectory logs. We derive each step key from a secret key, a fresh public session identifier, and semantic states of recent observations, while a guarded digest of the action-policy state diversifies linear coding rows. It embeds parity evidence through a KL-bounded exponential tilt, and a trusted verifier checks a disputed log without rerunning the agent, using wrong-key calibration and abstention.

cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37091

GAWM: A Compact Latent World-Action Model for Multi-Task Robot Manipulation

Yang Liu, Xiaoli Liu, Liuzhao Li, Yuduo Song, Muyuan Liu, Xiang Gao

原文摘要

World-action models (WAMs) incorporate the prediction of future observations into robot policy learning. However, most WAMs build on billion-parameter vision-language or video-generation backbones, which incur high training cost and inference latency. In this letter, we present GAWM (Geometry-Aware World Model), a compact multi-task WAM that predicts future observations in the latent space of a frozen DINOv3 encoder. GAWM compresses the features of each camera view into a small set of tokens. A lightweight predictor, conditioned on the task rather than on actions, forecasts these tokens at two future horizons. The forecast is supervised with the dense patch features of future frames, which requires it to encode the spatial layout of the future scene. An action decoder directly regresses a chunk of future actions from the current and predicted tokens. With fewer than 100M parameters and no robot or video pretraining, GAWM outperforms billion-parameter WAMs on RoboTwin 2.0 and performs comparably to billion-parameter VLAs on LIBERO. On a dual-arm robot, it achieves lower action-prediction error on held-out demonstrations than a fine-tuned billion-parameter VLA, with substantially lower inference latency. Ablation studies show that the latent world model substantially improves performance when training data or training time is limited. Code is available at https://github.com/gaoxiang12/ga-wm.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2606.13102Berkeley BAIR

FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation

Chengbo Yuan, Zicheng Zhang, Mingjie Zhou, Wendi Chen, Yi Wang, Zhuoyang Liu, Dantong Niu, Shuo Wang 等 17 位作者

原文摘要

Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals are highly heterogeneous across hardware, making cross-sensor generalization difficult. We present FTP-1,the first generalist foundation tactile policy pretrained to acquire transferable tactile manipulation abilities across diverse sensors and embodiments. FTP-1 supports varied tactile inputs, including image-, array-, and state-based signals, by using heterogeneous encoders to project them into unified morphology-aware latent tokens that are jointly modeled by a shared tactile Transformer expert. Pretrained on around 3,000 hours of tactile manipulation data aggregated from 26 data sources, spanning human and robot demonstrations across 21 sensors, FTP-1 learns tactile skills that transfer beyond the sensors seen during pretraining. Across downstream finetuning experiments spanning 5 hardware configurations, FTP-1 improves contact-rich manipulation on seen sensor setups by +17.2% and, surprisingly, transfers to two previously unseen tactile-sensor setups, achieving a +31% gain in success rate. FTP-1 establishes the first unified foundation baseline for tactile manipulation, providing future tactile policies with a shared model-level starting point. Pretrained models, datasets, training code and more visualization at https://ftp1-policy.github.io.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35342

VisGeo-PipeTrack: A Visual Geometric Servo Control Framework with MPC-RCAPID Control for UAV-Based Dynamic Pipes Tracking

Zhenyang Gao, Jianlin Chen, Yang Yu, Honghao Shan, Jiale Gao, Ziyan Jia

原文摘要

While unmanned aerial vehicles (UAVs) are increasingly deployed for pipeline inspection, prevailing research predominantly assumes static pipes. In real-world industrial environments, pipes often exhibit dynamic movements, such as vibrations. This imposes more stringent requirements on UAVs' adaptive control and computational efficiency than in static scenarios. Therefore, this paper proposes a servo control framework named VisGeo-PipeTrack, which utilizes geometric constraints to enable UAV tracking of dynamic pipes. To achieve efficient UAV positioning, YOLOv5 is employed to detect labels on the pipe. The positions are derived from visual geometric constraints based on these detected labels to enable precise localization. To address tracking control challenges, a model predictive control based real-time corrected adaptive PID (MPC-RCAPID) controller is proposed. This controller employs the Recursive Least Squares method for real-time model estimation and integrates rolling horizon optimization to dynamically adjust PID parameters. Experiments conducted on both the AirSim simulator and the Tello UAV platform validate the effectiveness of the proposed framework. Simulation comparisons with standard PID, fractional-order PID, adaptive PID, and fuzzy PID demonstrate that MPC-RCAPID achieves the shortest settling time (3.26 s) and the lowest average tracking error (3.52%). In physical experiments on the Tello platform, compared with standard PID control, MPC-RCAPID reduces the average tracking error by 55.52%, 26.72%, and 26.52% across the three test dimensions. These results demonstrate that VisGeo-PipeTrack facilitates efficient autonomous tracking in dynamic pipe environments.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35223

Behavioral Regression Detection for Pull Requests via Structured Oracles

Yiwen Fu, Binhang Qi, Xiao Li, Runlin Liu, Hailong Sun, Xiang Gao

原文摘要

Software regressions are unintended behavioral changes introduced by code modifications and are hard to detect at pull-request (PR) level. Existing methods rely on incomplete tests or directly analyze PRs via LLMs, lacking structured behavioral reasoning and explicit oracles. We present ORION, a staged framework for PR-level regression detection. ORION extracts PR intent and identifies impacted functions via AST-based impact analysis, then synthesizes function-level structured behavioral oracles encoding preserved/changed behaviors, setup constraints and control-flow hints from PR intent, static risk signals and code changes. Guided by these oracles, ORION generates executable tests, conducts oracle-coverage-guided augmentation and static repair, and differentially runs tests on pre- and post-change code. It classifies PRs with deterministic rules and constrained LLM reasoning. We build RegBench-Py, the first Python PR regression benchmark with 154 verified real-world PRs. ORION achieves F1-scores of 0.6125 (DeepSeek-Chat-V3.2) and 0.5578 (Claude-4.5-haiku), outperforming baselines including Testora, Codex and Claude Code. Compared with PatchGuru, ORION supports broader multi-function PRs while remaining competitive on single-function cases. On 1,459 merged PRs, ORION finds 9 reproducible regression candidates, 8 confirmed by maintainers. It takes ~15 minutes per PR, showing practicality for CI/CD screening.

cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35193

Trustworthy Recursive Self-Improvement in the Era of Large Models: Foundation, Risks, Evaluation and Open Challenges

Jiayue Pu, Ang Gao, Jinyi Bai, Qipeng Wang, Tongyu Wen, Jiahao Zhao, Keyu Qu, Junhao Zhang 等 12 位作者

原文摘要

AI systems built around large models increasingly use experience and feedback to make persistent changes to models, prompts, memories, tools, and workflows. Recursive self-improvement (RSI) extends this process to inductive biases and to the mechanisms that govern future updates, which can themselves be revised and reused across improvement cycles. Yet self-modification alone does not guarantee trustworthy improvement. Reported gains may reflect flawed evaluations, previously acquired capabilities may deteriorate, and compliance with behavioral constraints may weaken. Compromised artifacts or sensitive information may also persist in successor systems. Changes to improvement mechanisms may invalidate earlier verification results and make human oversight less effective. This survey presents an operational definition and process framework for RSI and organizes the requirements for trustworthy RSI into four interconnected themes: genuine and sustained improvement; behavioral constraints, alignment, and fairness; system security and privacy; and transparency and controllability. We examine these themes from three perspectives: Improvement Validity, Constraint Preservation, and Effective Oversight. This analysis covers improvement diagnosis, proposal generation, proposal evaluation, and update implementation (S1--S4), including the recursive application of these stages to improvement mechanisms (RI). We review risks, safeguards, and evaluation evidence for individual updates, effects inherited by successor systems, and revisions to improvement mechanisms, while distinguishing direct RSI findings from evidence in related systems. Finally, we examine evaluation settings, identify requirements for independent and longitudinal assessment, and discuss applications and open research problems.

cs.AI · cs.CR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.11200

AmbientFM: A Foundation Model for Ambient Sensing

Guozhen Zhu, Yuqian Hu, Sakila Jayaweera, Weihang Gao, Wei-Hsiang Wang, Jiaxuan Zhang, Beibei Wang, Chenshu Wu 等 9 位作者

原文摘要

Ambient intelligence seeks to continuously understand human presence, activity, and physiology in physical spaces, enabling smart environments, health monitoring, and human-computer interaction. WiFi infrastructure offers a ubiquitous, always-on, and privacy-preserving sensing substrate across billions of IoT devices. Yet ambient sensing with WiFi remains largely fragmented, with most systems relying on task-specific models, labeled data collection, and customized training pipelines. We present AmbientFM, a foundation model for ambient sensing through ubiquitous WiFi signals. AmbientFM is pre-trained on 9.2 million unlabeled Channel State Information (CSI) samples collected over 439 days from 20 commercial device types deployed in real homes, the largest real-world WiFi CSI pre-training corpus reported to date. It learns transferable wireless representations through contrastive learning, masked reconstruction, and physics-informed objectives tailored to wireless signals. With lightweight adaptation, a single backbone transfers to 9 downstream tasks, achieving above 0.90 AUROC on all classification benchmarks and supporting dense spatial reconstruction. AmbientFM reduces the need for labeled data and task-specific design, enabling scalable ambient intelligence on existing wireless infrastructure.

cs.LG · eess.SP

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1022ACL Anthology · ACL 2026

Learning from Cognition: Enhancing RL Efficiency for LLM Reasoning via Hierarchical Metacognitive Decomposition and Refinement

Zexu Sun, Yongcheng Zeng, Erxue Min, Heyang Gao Renmin University of China, Bokai Ji, Dugang Liu Shenzhen University, Xing Tang Shenzhen Technology University, Xiuqiang He 等 9 位作者

原文摘要

Contemporary progress in Large Language Models (LLMs) has revealed notable inferential capacities via reinforcement learning (RL) employing verifiable rewards. However, “zero-RL” approaches relying on fixed prompt templates introduce substantial sampling inefficiencies for weak LLMs, as most problems generate invalid outputs during accuracy-driven filtration. To solve this, we propose Cog-Rethinker, a novel hierarchical metacognitive RL framework. Cog-Rethinker enhances the rollout procedure by improving sample utilization through a two-stage framework leveraging human cognition. First, it prompts the policy to decompose zero-accuracy problems into subproblems. Second, it prompts the policy to refine answers by referencing previous wrong solutions. Moreover, to enable cold-starts and maintain train-test consistency, Cog-Rethinker applies supervised fine-tuning using correct samples from these stages. Experimental results demonstrate Cog-Rethinker’s superior performance on mathematical reasoning benchmarks and its improved sample efficiency that accelerates convergence compared to baselines.

cs.CL

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.1049ACL Anthology · ACL 2026

Nested Browser-Use Learning for Agentic Information Seeking

Baixuan Li, Jialong Wu Southeast University, Wenbiao Yin nanjing university, Kuan Li, Zhongwang Zhang Shanghai Jiao Tong University, Huifeng Yin, Zhengwei Tao, Liwen Zhang Alibaba Group 等 13 位作者

原文摘要

Information-seeking (IS) agents have achieved strong performance across a range of wide and deep search tasks, yet their tool use remains largely restricted to API-level snippet retrieval and URL-based page fetching, limiting access to the richer information available through real browsing. While full browser interaction could unlock deeper capabilities, its fine-grained control and verbose page content returns introduce substantial complexity for ReAct-style function-calling agents. To bridge this gap, we propose Nested Browser-Use Learning (NestBrowse), which introduces a minimal and complete browser-action framework that decouples interaction control from page exploration through a nested structure. This design simplifies agentic reasoning while enabling effective deep-web information acquisition. Empirical results on challenging deep IS benchmarks demonstrate that NestBrowse offers clear benefits in practice. Further in-depth analyses underscore its efficiency.

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.1166ACL Anthology · ACL 2026

AIRCoder: Adaptive Integration of Multi-dimensional Retrieval for Repository-level Code Completion

Chuanqi Shi Southeast University, Miao Gao Southeast university, Zhiqiang Gao Southeast University

原文摘要

Repository-level code completion relies on retrieval strategies to select relevant context from large codebases. Most existing methods employ single-dimensional retrieval based on textual similarity or dependency existence, leading to inconsistent performance across completion scenarios. Even task-adaptive and hybrid methods incur high computational costs while failing to explicitly consider structural hierarchy for retrieving functionally similar code. We introduce AIRCoder, a multi-dimensional retrieval framework that combines eight complementary metrics across three dimensions: textual similarity, dependency existence, and structural hierarchy. By proposing a structure-preserving chunking strategy and lightweight fusion module, AIRCoder learns context-dependent weights to adaptively integrate retrieval metrics for each query. Experiments on CrossCodeEval and RepoEval demonstrate that AIRCoder achieves an average improvement of 4.63% in exact match over the best baseline, with 10.2\times higher efficiency and strong cross-language generalization across Python, Java, C#, and TypeScript.

cs.CL

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.1259ACL Anthology · ACL 2026

Audio Jailbreak: An Open Comprehensive Benchmark for Jailbreaking Large Audio-Language Models

Zirui Song, Qian Jiang, Mingxuan Cui, Mingzhe Li, Lang Gao Mohamed bin Zayed University of Artificial Intelligence, Zeyu Zhang Australian National University, Zixiang Xu, Yanbo Wang Mohamed bin Zayed University of Artificial Intelligence 等 11 位作者

原文摘要

The rise of Large Audio-Language Models (LAMs) brings both potential and risks, as their audio outputs may contain harmful or unethical content. However, current research lacks a systematic, quantitative evaluation of LAM safety, especially against jailbreak attacks, which are challenging due to the temporal and semantic nature of speech. To bridge this gap, we introduce AJailBench, the first benchmark specifically designed to evaluate jailbreak vulnerabilities in LAMs. We begin by constructing -Base, a dataset of 1,495 adversarial audio prompts spanning 10 policy-violating categories. Using this dataset, we evaluate several state-of-the-art LAMs and reveal that none exhibit consistent robustness across attacks. To further strengthen jailbreak testing and simulate more realistic attack conditions, we propose a method to generate dynamic adversarial variants. Our Audio Perturbation Toolkit (APT) applies targeted distortions across time, frequency, and amplitude domains. To preserve the original jailbreak intent, we enforce a semantic consistency constraint and employ Bayesian optimization to efficiently search for perturbations that are both subtle and highly effective. This results in AJailBench-APT+, an extended dataset of optimized adversarial audio samples. Our findings demonstrate that even small, semantically preserved perturbations can significantly reduce the safety performance of leading LAMs, underscoring the need for more robust and semantically aware defense mechanisms. We release AJailBench to facilitate future research: https://anonymous.4open.science/r/AudioJailbreak-4262/

cs.CL

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.1350ACL Anthology · ACL 2026

Persona-E²: A Human-Grounded Dataset for Personality-Shaped Emotional Responses to Textual Events

Yuqin Yang, Haowu Zhou South China University of Technology, Haoran Tu, Zhiwen Hui, Shiqi Yan South China University of Technology, HaoYang Li, Dong She South China University of Technology, Xianrong Yao 等 10 位作者

原文摘要

Most affective computing research treats emotion as a static property of text, focusing on the writer’s sentiment while overlooking the reader’s perspective. This approach ignores how individual personalities lead to diverse emotional appraisals of the same event. Although role-playing Large Language Models (LLMs) attempt to simulate such nuanced reactions, they often suffer from "personality illusion”—relying on surface-level stereotypes rather than authentic cognitive logic. A critical bottleneck is the absence of ground-truth human data to link personality traits to emotional shifts. To bridge the gap, we introduce Persona-E² (Persona-Event2Emotion), a large-scale dataset grounded in annotated MBTI and Big Five traits to capture reader-based emotional variations across news, social media, and life narratives. Extensive experiments reveal that state-of-the-art LLMs struggle to capture precise appraisal shifts, particularly in social media domains. Crucially, we find that personality information significantly improves comprehension, with the Big Five traits alleviating "personality illusion.’

cs.CL

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.1386ACL Anthology · ACL 2026

Think Better, Not Longer: Token-Level Marginal Utility for Efficient Reasoning in Large Reasoning Models

Jiawei Li, Yang Gao, Huashan Sun, Chong Feng

原文摘要

While Large Reasoning Models (LRMs) have demonstrated remarkable capabilities through explicit Chain-of-Thought (CoT) generation, they frequently suffer from “overthinking”. In this work, we bridge this gap by introducing Token-level Marginal Utility, which quantifies the per-token log-probability gain of the ground-truth answer. Leveraging this dense supervision signal, we propose MUTO (Marginal Utility Guided Thinking Optimization), a unified training framework designed to synthesize concise reasoning chains. Rather than relying only on coarse trajectory-level length control, MUTO identifies tokens that reduce the model’s likelihood of the correct answer and penalizes such negative-utility reasoning, yielding concise yet effective CoT trajectories. Experiments on DeepSeek-R1-Distill-Qwen backbones (1.5B and 7B) across six math reasoning benchmarks show that MUTO yields a markedly better efficiency-accuracy Pareto frontier. It reduces average token usage by 87.1% at 1.5B while improving accuracy by 2.3%, and cuts tokens by 80.2% at 7B with only -0.1% accuracy change, achieving the best length-normalized accuracy among baselines.

cs.CL

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.1599ACL Anthology · ACL 2026

RIMRULE: Improving Tool-Using Language Agents via MDL-Guided Rule Learning

Xiang Gao Intuit, Yuguang Yao Intuit, Qi Zhang AWS, Kaiwen Dong Intuit, Avinash Baidya Intuit, Ruocheng Guo Intuit AI Research, Hilaf Hasson Cohesity, Kamalika Das Intuit

原文摘要

Large language models (LLMs) often struggle to use tools reliably in domain-specific settings, where APIs may be idiosyncratic, under-documented, or tailored to private workflows. This highlights the need for effective adaptation to task-specific tools. We propose RIMRULE, a neuro-symbolic approach for LLM adaptation based on dynamic rule injection. Compact, interpretable rules are distilled from failure traces and injected into the prompt during inference to improve task performance. These rules are proposed by the LLM itself and consolidated using a Minimum Description Length (MDL) objective that favors generality and conciseness. Each rule is stored in both natural language and a structured symbolic form, supporting efficient retrieval at inference time. Experiments on tool-use benchmarks show that this approach improves accuracy on both seen and unseen tools without modifying LLM weights. It outperforms prompting-based adaptation methods and complements finetuning, offering an interpretable layer of inference-time generalization. Moreover, rules learned from one LLM can be reused to improve others, including long reasoning LLMs, highlighting the portability of symbolic knowledge across architectures.

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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.1765ACL Anthology · ACL 2026

TaxPraBen: A Scalable Benchmark for Structured Evaluation of LLMs in Chinese Real-World Tax Practice

Gang Hu Yunnan University, Yating Chen, Haiyan Ding Yunnan University, Wang Gao, Huang Jiajia NanJing Audit University, Min Peng Wuhan University, Qianqian Xie Wuhan University, Kun Yue Yunnan University

原文摘要

While Large Language Models (LLMs) excel in various general domains, they exhibit notable gaps in the highly specialized, knowledge-intensive, and legally regulated Chinese tax domain. Consequently, while tax-related benchmarks are gaining attention, many focus on isolated NLP tasks, neglecting real-world practical capabilities. To address this issue, we introduce TaxPraBen, the first dedicated benchmark for Chinese taxation practice. It combines 10 traditional application tasks, along with 3 pioneering real-world scenarios: tax risk prevention, tax inspection analysis, and tax strategy planning, sourced from 14 datasets totaling 7.3K instances. TaxPraBen features a scalable structured evaluation paradigm designed through process of “structured parsing—field alignment extraction—numerical and textual matching”, enabling end-to-end tax practice assessment while being extensible to other domains. We evaluate 19 LLMs based on Bloom’s taxonomy. The results indicate significant performance disparities: all closed-source large-parameter LLMs excel, and Chinese LLMs like Qwen2.5 generally exceed multilingual LLMs, while the YaYi2 LLM, fine-tuned with some tax data, shows only limited improvement. TaxPraBen[https://anonymous.4open.science/r/TaxPraBen/] serves as a vital resource for advancing evaluations of LLMs in practical applications.

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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.1924ACL Anthology · ACL 2026

Outcome Accuracy is Not Enough: Aligning the Reasoning Process of Reward Models

Binghai Wang, Yantao Liu Qwen Team, Alibaba Group, Yuxuan Liu Qwen Team, Alibaba Group, Tianyi Tang Alibaba Group, Shenzhi Wang Alibaba Group, Chang Gao Alibaba Group, Chujie Zheng Alibaba Group, Yichang Zhang Alibaba Group 等 16 位作者

原文摘要

Generative Reward Models (GenRMs) and LLM-as-a-Judge exhibit deceptive alignment by producing correct judgments for incorrect reasons, as they are trained and evaluated to prioritize Outcome Accuracy, which undermines their ability to generalize during RLHF. We introduce Rationale Consistency, a fine-grained metric that quantifies the alignment between the model’s reasoning process and human judgment. Our evaluation of frontier models reveals that rationale consistency effectively discriminates among state-of-the-art models and detects deceptive alignment, while outcome accuracy falls short in both respects. To mitigate this gap, we introduce a hybrid signal that combines rationale consistency with outcome accuracy for GenRM training. Our training method achieves state-of-the-art performance on RM-Bench (87.1%) and JudgeBench (82%), surpassing outcome-only baselines by an average of 5%. Using RM during RLHF, our method effectively improves performance as demonstrated on Arena Hard v2, notably yielding a 7% improvement in creative writing tasks. Further analysis confirms that our method escapes the deceptive alignment trap, effectively reversing the decline in rationale consistency observed in outcome-only training.

cs.CL

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.1979ACL Anthology · ACL 2026

Estimating the Black-box LLM Uncertainty with Distribution-Aligned Adversarial Distillation

Huizi Cui Tianjin University, Huan Ma Tianjin University, Qilin Wang, Yuhang Gao, Changqing Zhang Tianjin University

原文摘要

Large language models (LLMs) have progressed rapidly in complex reasoning and question answering, yet LLM hallucination remains a central bottleneck that hinders practical deployment, especially for commercial black-box LLMs accessible only via APIs. Existing uncertainty quantification methods typically depend on computationally expensive multiple sampling or internal parameters, which prevents real-time estimation and fails to capture information implicit in the black-box reasoning process. To address this issue, we propose Distribution-Aligned Adversarial Distillation (DisAAD), which introduces a generation-discrimination architecture to guide a lightweight proxy model to learn the high-quality regions of the output distribution of the black-box LLM, thus effectively endowing it with the ability to “know whether the black-box LLM knows or not”. Subsequently, we use the proxy model to reproduce the specific responses of the black-box LLM and estimate the corresponding uncertainty based on evidence learning. Extensive experiments have verified the effectiveness and promise of our proposed method, indicating that a proxy model even one that only accounts for 1% of the target LLM’s size can achieve reliable uncertainty quantification.

cs.CL

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.1989ACL Anthology · ACL 2026

Thinking Alignment of Scenario-Oriented User Simulation

Xiaoting Wu, Yi Huang China Mobile Research Institute, Chunyang Gao, Mengfei Guo, Jingyu Yao China Mobile Communications Company Limited, Junlan Feng

原文摘要

Existing user simulators based on prompting to role-play or SFT are generally confined to imitating users’ textual utterances, without adequately considering the multi-faceted cognitive processes that underlie human decision-making during interactions. To facilitate better alignment with real human thinking patterns, we construct the LMSYS-UserThinking dataset, in which we augment 51k human–LLM conversations by reconstructing the user’s inner reasoning both during and at the end of each dialogue. Furthermore, to enhance controllability and situational coherence, we introduce scenario settings that describe the global context and user goals throughout multi-turn conversations. Using this dataset, we train user simulators called ThinkingUS on different base models. We evaluate our approach from both offline and online user simulation perspectives, ultimately demonstrating its effectiveness.

cs.CL

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.1998ACL Anthology · ACL 2026

When Personalization Tricks Detectors: The Feature-Inversion Trap in Machine-Generated Text Detection

Lang Gao Mohamed bin Zayed University of Artificial Intelligence, Xuhui Li, Chenxi Wang, Mingzhe Li, Wei Liu, Zirui Song, Jinghui Zhang Mohamed bin Zayed University of Artificial Intelligence, Rui Yan Wuhan University 等 10 位作者

原文摘要

As large language models (LLMs) increasingly imitate personal writing styles, personalization has become a key challenge for machine-generated text (MGT) detection. Yet personalized MGT detection remains largely underexplored. In this work, we introduce StyloBench, the first benchmark for evaluating detector robustness under personalization, built from literary and blog texts paired with their LLM-generated imitations. Experiments across diverse detectors show pronounced performance instability under personalization, with frequent inversions relative to general-domain behavior. To better understand this limitation, we conduct an in-depth analysis and attribute it to a feature-inversion trap, i.e., features that are effective for separating human-written text (HWT) from MGT in general flip their effect in personalized contexts, ultimately misleading detectors. Motivated by this, we propose StyloCheck, a diagnostic framework for predicting detector robustness under personalization. StyloCheck identifies the inverted features and quantifies detector dependence using perturbed texts pronounced in the features. In our experiments, StyloCheck predicts both the direction and magnitude of cross-domain performance shifts with an 85% correlation to actual outcomes. We hope this work will raise awareness of the structural risks introduced by personalization and motivate more robust approaches to personalized MGT detection. The code is available at: https://github.com/mbzuai-nlp/Personalized_MGT_Detect

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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.2014ACL Anthology · ACL 2026

ServImage: An Image Generation and Editing Benchmark from Real-world Commercial Imaging Services

Fengxian Ji Mohamed bin Zayed University of Artificial Intelligence and Northeastern University(China), Jingpu Yang, Zirui Song, Lang Gao Mohamed bin Zayed University of Artificial Intelligence, Junhong Liang Mohamed bin Zayed University of Artificial Intelligence, Zhenhao Chen, Jinghui Zhang Mohamed bin Zayed University of Artificial Intelligence, Xiuying Chen Mohamed bin Zayed University of Artificial Intelligence

原文摘要

Recent image generation and editing models demonstrate robust adherence to instructions and high visual quality on academic benchmarks.However, their performance on paid, real-world design projects remains uncertain. We introduce ServImage, a benchmark that explicitly correlates model outputs with economic value in commercial design projects. ServImage consists of (i) ServImageBench: a dataset of 1.07k paid commercial design tasks and 2.05k designer deliverables totaling over $295k, covering portrait, product, and digital content, along with 33k candidate images and 33k human annotations.(ii) ServImageScore: an integrated scoring system that combines three quality dimensions: baseline requirements fulfilment, visual execution quality, and commercial necessity satisfaction. These three dimensions are designed to characterize the factors that drive human payment decisions and indicate whether an image is commercially acceptable.(iii) ServImageModel: under this scoring system, we propose a payment prediction model trained on the human-annotated candidate images, achieving 82.00% accuracy in predicting human payment decisions and producing calibrated payment probabilities.ServImage provides a comprehensive foundation for assessing the commercial viability of image generation models and offers a scalable resource for future research on economically grounded vision systems Github.

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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.2122ACL Anthology · ACL 2026

Thinking-Based Non-Thinking: Solving the Reward Hacking Problem in Training Hybrid Reasoning Models via Reinforcement Learning

Siyuan Gan, Jiaheng Liu Nanjing University, Boyan Wang nanjing university, Tianpei Yang Nanjing University, Runqing Miao China Mobile Communications Company Limited Research Institute, Yuyao Zhang China Mobile Communications Company Limited Research Institute, Fanyu Meng JIUTIAN Research, Junlan Feng 等 11 位作者

原文摘要

Large reasoning models (LRMs) have attracted much attention due to their exceptional performance. However, their performance mainly stems from thinking, a long Chain of Thought (CoT), which significantly increase computational overhead. To address this overthinking problem, existing work focuses on using reinforcement learning (RL) to train hybrid reasoning models that automatically decide whether to engage in thinking or not based on the complexity of the query. Unfortunately, using RL will suffer the the reward hacking problem, e.g., the model engages in thinking but is judged as not doing so, resulting in incorrect rewards.To mitigate this problem, existing works either employ supervised fine-tuning (SFT), which incurs high computational costs, or enforce uniform token limits on non-thinking responses, which yields limited mitigation of the problem.In this paper, we propose Thinking-Based Non-Thinking (TNT). It does not employ SFT, and sets different maximum token usage for responses not using thinking across various queries by leveraging information from the solution component of the responses using thinking. Experiments on five mathematical benchmarks demonstrate that TNT reduces token usage by around 50\\%$ compared to DeepSeek-R1-Distill-Qwen-1.5B/7B and DeepScaleR-1.5B, while significantly improving accuracy. In fact, TNT achieves the optimal trade-off between accuracy and efficiency among all tested methods. Additionally, the probability of reward hacking problem in TNT’s responses, which are classified as not using thinking, remains below $10\\%$ across all tested datasets.

cs.CL

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