World action models (WAMs) increasingly couple internal visual or world representations with action generation, making their world-to-action pathways a critical yet poorly understood source of robustness. We investigate when perturbations to these internal representations actually become behaviorally consequential, and uncover a pronounced mismatch between representation perturbability and closed-loop vulnerability: attack effectiveness varies sharply across visual K/V routes, while larger representation displacement does not reliably imply stronger control failure. Our analysis attributes this mismatch to the action-conditioned readout, where keys determine where action queries read and values determine what content they receive. This motivates an action-facing view of vulnerability, in which the effect of a perturbation depends on how it is routed into action generation rather than on representation-space magnitude alone. We instantiate this view with Tail-AV, a short-probe signal for identifying vulnerable routes, and operationalize it in PASA-KV, which selects action-facing K/V targets before training a fresh task-shared attack. Experiments across multiple WAM systems and a physical robot validate readout-informed target selection, demonstrate strong closed-loop attacks, and reveal substantial system-level differences in resistance.
Fast quadrupedal navigation requires preparing for the next turn while approaching the current goal. Policies trained to reach and remain at a single target can instead produce stop-and-go motion when applied to sequential goals, compromising its agility potential. We introduce PrepTurn, a reinforcement learning framework for anticipatory maneuvering in sequential local navigation. PrepTurn maps the current and next pose goals directly to joint actions, using the upcoming goal to inform how the robot should approaches the current one. Its persistent-credit reward encourages timely completion of the whole sequence by continuing to reward reached goals while moving on and preparing subsequent maneuvers, and an automatic curriculum that gradually increases goal difficulty is critical for learning stable turning behaviors. Together, these components enable the policy to coordinate approach speed and reorientation across goal transitions without prescribed trajectories or arrival times. Simulation and onboard Unitree Go2 experiments demonstrate fast, efficient sequential traversal with high completion and reduced stop-and-go motion. We further show that when the goal-reaching tolerances are more relaxed, the policy learns to exploit the freedom allowed by the task with emergent behaviors, such as turning to the next goal in advance and cutting corners within the permitted regions behaviors, to traverse goal sequences more efficiently.
NL2SQL systems deployed in industry settings often encounter ambiguous or unanswerable queries, particularly in interactive scenarios with incomplete user clarification. Existing benchmarks typically assume a single source of ambiguity and rely on user interaction for resolution, overlooking realistic failure modes.We introduce Clarity, a framework for automatically generating an NL2SQL benchmark with multi-faceted ambiguities and diverse user behaviors across both single- and multi-turn settings. Using a constraint-driven pipeline, Clarity transforms executable SQL into ambiguous queries, augmented with grounded conversational continuations and schema-level metadata.Empirical evaluation on Spider and BIRD shows that leading NL2SQL systems, including those based on strong LLMs, suffer significant performance degradation under multi-faceted ambiguity. While these systems often detect ambiguity, they struggle to accurately localize and resolve the underlying schema-level sources. Our results highlight the need for more robust ambiguity detection and resolution in industry-grade NL2SQL systems.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表
Zixuan Huang, Yanxiang Ma University of Sydney, University of Sydney, Luhan Wang Beijing University of Posts and Telecommunications, Yunke Wang University of Sydney, Duo Shi China Mobile Communications Company Limited Research Institute, Chang Xu
With the growing potential of large language models (LLMs) in the legal domain, domain-specific finetuning and retrieval-augmented generation (RAG) methods have received widespread attention. However, current methods still suffer from hallucination risk and failing to resolve semantic drift and adapt to varying citation numbers. To address this, we propose Authoritative and Accurate Lawyer (AALawyer), a complementary dual-retriever framework based on the Legal Syllogism and the nature of different legal data. First, we introduce Symbolic Constrained Retrieval (SCR) for closed-set article retrieval, by constraining retrieval to the generative prediction. Second, we build Analogical Precedent Retrieval (APR) to retrieve open-set judicial precedents for reasoning with a newly collected large criminal dataset.Extensive experiments, including LawBench, our Hallucination Risk-Benchmark, and comprehensive ablation studies, demonstrate the effectiveness of AALawyer, which mitigates hallucinations while improving the explainability of legal reasoning.
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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