Juncheng Ma, Jiaxin Li, Jiankai Tu, Bo Liang, Guodong Lv, Yufan Deng, Junzhe Tang, Liangzhu Yang 等 33 位作者
Egocentric human video offers a scalable source of manipulation priors for robot learning, yet translating raw data scale into generalizable robot policies demands rigorous data curation and training recipes. We introduce Open-HumanWAM, the first fully open recipe for scaling egocentric pretraining to 50,000 hours, anchored by Open-HumanWAM-50K---a curated egocentric video corpus densely annotated with hand motion and natural language. Leveraging this corpus, we systematically investigate pure human pretraining via closed-loop simulation evaluations and uncover an empirical log-linear scaling law linking pretraining data hours to downstream robot success rates. Grounded in these findings, we develop HumanWAM-Vanilla, a world--action model pretrained exclusively on 50k hours of egocentric human video. Upon robot post-training, HumanWAM-Vanilla reaches 92.08% success on RoboTwin 2.0 Clean2Clean and 68.88% on Clean2Random, alongside a 14.17% mean success rate and a 19.00 mean progress score on RoboDojo. To push the capability frontier further, we explore joint human--robot pretraining with HumanWAM-Goal, a visual-goal-conditioned world--action model. Hybrid data scaling unlocks broad zero-shot generalization across both simulation and physical benchmarks, propelling post-trained RoboTwin 2.0 performance to new state-of-the-art levels: 92.70% on Clean2Clean and a substantial leap to 84.60% on Clean2Random. On physical robots, HumanWAM-Goal further exhibits emergent embodied in-context learning, dynamically adapting its manipulation behavior to unseen visual goals without parameter updates. To support reproducible scaling research in embodied AI, we open-source the Open-HumanWAM-50K corpus, data curation and pretraining pipelines, alongside the pretrained and post-trained HumanWAM checkpoints, inference code, and simulation evaluation suites.
Wenjun Wang, Yuchen Fang, Fengrui Liu, Zibo Liang, Kai Zheng
Large Language Model (LLM) agents have shown remarkable capabilities in autonomous decision-making by generating sequential trajectories of states, actions, and observations. However, in complex, long-horizon tasks, these agents frequently suffer from compounding errors and struggle to recover from failures. Despite advances in experience memory, extracting reliable and transferable correction knowledge from historical trajectories remains challenging. Existing methods, whether based on test-time reflection or offline memory construction, largely rely on LLMs to diagnose failures and formulate corrective strategies, which can produce brittle or task-specific insights that are difficult to generalize. To address this challenge, we propose Experience Memory Graph (EMG), a framework that reformulates agent failure recovery as a graph matching problem. During offline construction on the training set, we convert both failed exploration trajectories and successful expert trajectories into directed action decision graphs. By matching these graphs, we extract common subgraphs and graph edit paths that explicitly indicate how to correct failures, and store them in a memory graph with intra-task nodes and cross-task edges. At test time, EMG retrieves relevant insights and guides the agent in a single test-time attempt without additional reflection-and-replay rounds. Experiments on ALFWorld and ScienceWorld demonstrate consistent improvements over the evaluated memory construction and competitive baselines across seen and unseen splits.
Linxuan Du, Guangquan Xue, Xiaobo Liang, Qipeng Huang, Yuyang Ding, Xinyu Shi, Zhang Yijun China Mobile Communications Company Limited Research Institute, Ji Qi 等 11 位作者
Despite the potential of multi-turn self-reflection to improve LLM reasoning, its effectiveness in practice is severely constrained by a failure mode we term the Echo Trap.Specifically, this phenomenon gives rise to two coupled problems: (1) the model becomes limited by its inherent capabilities and tends to repeat earlier reflections to preserve reward signals; (2) once such “copy” behavior is reinforced, the model ceases to try new strategies, leading to exploration collapse.We attribute this issue to imprecise credit assignment during training, as standard GRPO assigns rewards at the trajectory level, making it difficult to distinguish which reflection steps contribute to improved outcomes.To address this limitation, we propose a tree-structured extension of GRPO for multi-turn self-reflection, which enables more accurate advantage estimation.Through extensive experiments, we analyze the Echo Trap and demonstrate that our method effectively mitigates behavior collapse and improves performance across multiple benchmarks.
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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
The ability to model sparse and underspecified rewards, characteristic of human preferences, is fundamental to scaling Reinforcement Learning (RL). Current preference-based reward modeling largely relies on verifiable rewards, where human-annotated labels define rule-based signals. However, these methods face a fundamental bottleneck we term the Matryoshka Doll Problem: a recursive dependency where each reward verifier requires a meta-verifier, leading to continuous and costly dependence on human annotation. In this work, we propose Dual RM, which couples discriminative and generative reward models (DisRMs and GenRMs) under a non-parametric meta-reward. Rather than verifying the correctness of GenRM’s reasoning, the meta-reward evaluates its practical impact on response quality. Specifically, GenRM identifies multi-dimensional evaluation rubrics and iteratively refines the response, while DisRM quantifies the quality shifts induced by each rubric. Furthermore, we implement rubric-based test-time scaling to improve sample efficiency and preference alignment under both DPO and GRPO. Our experiments demonstrate that Dual RM achieves strong performance across major preference benchmarks. Notably, even when trained exclusively on language modality, it exhibits robust cross-modal transfer on Omni-RewardBench.
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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