Chenyang Le, Pei Zhang, Yuxiang Chen, Bing Han, Derek F. Wong, Baosong Yang, Yanmin Qian
Simultaneous Speech Translation (SimulST) requires balancing translation quality and latency. While Large Language Models (LLMs) excel in offline translation, current LLM-based SimulST systems predominantly rely on prefix-incremental generation. This paradigm suffers from redundant Key-Value cache recomputation and necessitates external Voice Activity Detection to process unbounded streams. To overcome these bottlenecks, we propose an end-to-end interleaved read-write framework built upon an omni-modal LLM. By interleaving speech chunks and text tokens, our architecture achieves full KV cache reuse, natively supporting segmentation-free, infinite-length inference. Furthermore, to learn optimal streaming policies without rigid offline alignments, we introduce a novel Actor-Critic self-enhancement pipeline. An RNN-T Actor dynamically samples read-write trajectories, while an LLM-based Critic evaluates these paths via intrinsic semantic and latency rewards, distilling the optimal policy back to the Actor. Extensive experiments on sentence-level (FLEURS, CoVoST2) and document-level (MuST-C, ACL 60/60) benchmarks demonstrate that our model establishes new state-of-the-art quality-latency Pareto frontiers, substantially outperforming existing cascaded and static-alignment baselines.
Recent advances in vision-language-action (VLA) and world-action models (WAMs) have significantly improved robotic manipulation, yet deploying robots in the open world demands a higher level of autonomy beyond executing predefined tasks. Robot agents offer a promising paradigm for this transition, integrating task discovery, contextual reasoning, physical execution, and adaptive recovery into a closed interaction loop. However, existing benchmarks largely evaluate isolated capabilities, failing to capture the complexity of open-world robot autonomy. We introduce RobotAgentBench (RAB), a comprehensive benchmark for evaluating robot agents in realistic, open-world household environments. Through an agent-assisted, human-in-the-loop real-to-sim pipeline, RAB constructs 50 diverse household layouts with interactive objects and physically grounded tasks, encompassing 90 atomic tasks, 18 short-horizon tasks, 8 long-horizon tasks, and 4 open-ended scenarios. RAB provides a multi-level evaluation of robot agent capabilities: (1) task-level assessments systematically examine five complementary dimensions: task discovery, context reasoning, manipulation, failure recovery, and robustness; (2) scenario-level evaluation assesses how agents integrate these capabilities to autonomously fulfill high-level user needs. Furthermore, RAB enables systematic comparisons of standalone VLA/WAM models and diverse robot agent architectures under a unified planning-execution-verification framework. Extensive experiments reveal substantial gaps between manipulation and autonomy, demonstrate the advantages of agentic architectures and recursive self-improvement, and highlight the remaining challenges toward open-world robot autonomy.
Yifan Yang, Bing Han, Hui Wang, Wei Wang, Ziyang Ma, Long Zhou Tencent, Zengrui Jin Tsinghua University, Guanrou Yang 等 11 位作者
Modeling fine-grained speaking styles remains challenging for language-speech representation pre-training, as existing speech-text models are typically trained with coarse captions or task-specific supervision, and scalable fine-grained style annotations are unavailable. We present FCaps, a large-scale dataset with fine-grained free-text style descriptions, encompassing 47k hours of speech and 19M fine-grained captions annotated via a novel end-to-end pipeline that directly grounds detailed captions in audio, thereby avoiding the error propagation caused by LLM-based rewriting in existing cascaded pipelines. Evaluations using LLM-as-a-judge demonstrate that our annotations surpass existing cascaded annotations in terms of correctness, coverage, and naturalness. Building on FCaps, we propose CLSP, a contrastive language-speech pre-trained model that integrates global and fine-grained supervision, enabling unified representations across multiple granularities. Extensive experiments demonstrate that CLSP learns fine-grained and multi-granular speech-text representations that perform reliably across global and fine-grained speech-text retrieval, zero-shot paralinguistic classification, and speech style similarity scoring, with strong alignment to human judgments. Code and dataset are publicly available at https://github.com/yfyeung/CLSP.
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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