Chongxi Meng, Da Zhao, Yanmin Zhou, Runjie Shen, Zhipeng Wang, Bin He
Lattice-type modular reconfigurable robots rearrange standardized modules across tasks. Dedicated transport robots reduce module weight and cost by eliminating module level reconfiguration actuators. But existing systems use low capacity connections or internal fastening robots that occupy space for functional components. This paper presents CuBot-STT, which integrates module transport, interface locking, and release in one external robot. Cubic modules provide structural support and $24\,\mathrm{V}$ power distribution. On each face, a gear transmission converts one external input into motion of four helical locking points, preserving internal space. The robot uses alternating foot support, a gripper for module handling, and a tightening head for interface actuation. The controller coordinates two-foot support and module locking through continuous constraint transfers. The planner decomposes relocation costs into an analytical lower bound and a residual learned through expert-guided, goal conditioned Q-learning. Contact face $A^*$ search expands relocation sequences into robot primitives satisfying connectivity, asymmetric manipulation, and foot stance constraints. Experiments demonstrate normal and tangential interface capacities of $300\,\mathrm{N}$ and $490\,\mathrm{N}$, electrical continuity across six modules, and autonomous reconfiguration of an 11-module lattice. Planning benchmarks show superior search efficiency over analytical guidance and bidirectional heuristic search, with generalization beyond training lattice sizes without fine-tuning.
Zheng Lian, Fan Zhang, Lan Chen, Yazhou Zhang, Rui Liu, Jinyang Wu, Haoyu Chen, Xiaobai Li 等 11 位作者
Open-Vocabulary Multimodal Emotion Recognition (OV-MER) aims to predict emotions without being constrained by predefined label spaces, thereby enabling fine-grained emotion understanding. Unlike traditional discriminative methods, OV-MER leverages generative models to capture the full spectrum of emotions and employs emotion wheels (EWs) for metric calculation. Previous approaches primarily rely on token-level loss during training. However, this objective is misaligned with the metrics used in OV-MER, and these metrics cannot be directly optimized via gradient backpropagation. To address this limitation, we turn our attention to reinforcement learning, as this strategy can optimize non-differentiable objectives. We term this framework AffectGPT-RL. Furthermore, we conduct extensive experiments to elucidate the role of reinforcement learning in this task, revealing the necessity of the reasoning process, the impact of different rewards, and the generalizability to other emotion tasks such as sentiment analysis and basic emotion recognition. Experimental results demonstrate that AffectGPT-RL yields significant performance improvements on OV-MER. Beyond this task, we also achieve remarkable performance gains on basic emotion recognition, attaining state-of-the-art results on MER-UniBench. To the best of our knowledge, this is the pioneering work exploring the role of reinforcement learning in OV-MER, providing valuable guidance for subsequent researchers. Our code is provided at: https://github.com/zeroQiaoba/AffectGPT/tree/master/AffectGPT-RL.
Lei Ding University of California, Santa Cruz, Bin He Zillow Group, Inc., Chenguang Wang University of California, Santa Cruz, Yang Liu University of California, Santa Cruz
Proactive task-oriented agents must autonomously anticipate user needs, identify actionable opportunities, and trigger software actions at appropriate moments—fundamentally shifting from reactive systems that await explicit instructions. However, existing approaches lack generalizable end-to-end solutions for measuring and optimizing such anticipatory behaviors.This paper introduces ProActor, a unified framework for conversational task scheduling that integrates: (1) a domain-agnostic automated annotation methodology that enables scalable proactiveness reinforcement learning (RL) by generating full opportunity time windows instead of rigid point labels, (2) systematic proactiveness metrics capturing both timing quality and reference action alignment, and (3) RL optimization using GRPO with various reward designs. Our insight is that RULER-based rewards with proactiveness rubrics are crucial for improving timing quality, and that proactiveness optimization enabled by stage-aware composite rewards is key to balancing timing quality and reference action alignment.Furthermore, we introduce ART-F, an adaptive RL framework that combines request-adaptive inference clusters with asynchronous training for better GPU utilization, enabling LoRA training of 4-bit Qwen2.5-14B-ProActor-Q4 models on 4×H200 and 8×H100 GPUs with substantial speedups. Experiments on two newly auto-annotated datasets demonstrate significant improvements in proactive timing while maintaining action consistency comparable to state-of-the-art baselines. Ablations validate the effectiveness of distinct composite reward variations.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表