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版本更新 · v2arXiv:2610.26507

Learn the Task, Not the Schedule: Reducing Spurious Cross-Arm Coupling in Bimanual Imitation Learning

Shuyuan Hu, Deng-Ke Wu, Yifan Jin, Qianhang Luo, Mingchen Ju, Kai Ye, Bo Zhao

原文摘要

A bimanual demonstration specifies both what the robot should do and one particular schedule for when each arm should act. Standard imitation learning does not distinguish task-required cross-arm constraints from incidental scheduling choices, and may therefore exploit opposite-arm progress as a shortcut cue, creating spurious cross-arm coupling even where relative timing is irrelevant for the current task phase. We introduce Constraint-preserving Temporal Recombination (CTR), a training-time data intervention that preserves recorded arm-local sensorimotor content while retiming the corresponding segments to realize admissible schedules that preserve task-required cross-arm constraints. We use CTR to train Diffusion Policy, Action Chunking with Transformers, and $π_{0.5}$, and evaluate them on four simulated and four real-robot tasks. Across six real-robot bimanual progress-state initializations, CTR raises worst-state success from 56% for the strongest non-CTR schedule mixture to 76%. With $π_{0.5}$ on an Independent task, a 4 s pause transfers 2.56 s of delay to the opposite arm under the Concurrent schedule distribution, but only 0.25 s with CTR. On real robots, CTR violates task constraints in only 0--4% of trials, versus 36--98% for narrow-schedule baselines. Code will be released at https://github.com/MINT-SJTU/CTR.

cs.RO · cs.AI · cs.LG

新论文 · v1arXiv:2611.12364

TRIAD: Multimodal Retrieval across Abstraction, Constraints, and State

Xiangyang Wu, Chen Ju, Xu Chen, Likang Peng, Jinsong Lan, Haihong Tang, Yang Hu

原文摘要

Multimodal retrieval increasingly supports agentic systems, where user requests can involve cross-level relations, combine multiple constraints, and evolve across dialogue turns. In these settings, a highly similar result may still violate the user's requirements, while retrieved content may directly inform downstream actions without human screening. We introduce TRIAD, a multimodal retrieval benchmark for evaluating how well retrieval systems satisfy these complex, evolving requests. TRIAD comprises three tracks: abstraction, testing bidirectional retrieval between visual instances and concepts at different hierarchical levels; constraints, testing the joint satisfaction of positive and negative conditions; and state, testing the integration of requirements across dialogue turns and the updating of earlier conditions when users revise their requests. The benchmark contains six subsets, each with 1,000 queries and a fixed pool of 1,000 candidates per query, evaluated using a common multi-positive mean average precision (mAP) protocol. Simpler reference tasks and hard negatives grouped by the requirements they violate help characterize specific retrieval difficulties. We evaluate 20 configurations of 17 systems and find that no system leads across all six subsets. Performance declines with hierarchical distance, and negative-only queries generally underperform positive-only queries with the same number of constraints. Across paired tasks expressing the same final intent, multi-turn retrieval yields lower mAP in 39 of 40 configuration-domain comparisons. The benefits of explicit reasoning also vary across models and tasks. These findings highlight the gap between retrieving similar content and satisfying a complete request.

cs.CV

版本更新 · v3arXiv:2606.28351

HyperSU:面向检索增强生成的语料驱动语义单元超图

HyperSU: Corpus-Driven Semantic-Unit Hypergraph for Retrieval-Augmented Generation

Jiate Liu, Liuyi Chen, Zhengyi Yang, Chuan He, Mingchen Ju, Bocheng Han, Ruyi Liu, Xu Zhou

AI 速读 基于摘要

HyperSU 用源文本语义单元构建超边、以线索引导双向检索,避免 LLM 摘要幻觉与检索扩散噪声,作者报告在 GraphRAG Bench 上平均准确率优于基线。

cs.IR

查看原文摘要

Recent Hypergraph-based retrieval-augmented generation (HyperRAG) methods use hyper edges to connect multiple entities simultaneously, enabling more efficient multi-entity evidence organization than pairwise graph structures. However, existing HyperRAG methods often rely on LLM-generated summaries to construct hyperedges, which can introduce hallucinations while also incurring high indexing costs. In addition, during retrieval, existing methods typically rely on either one-hop neighbor expansion or PageRank diffusion. The former may miss useful multi-hop evidence, while the latter can suffer from uncontrolled propagation over excessive hub nodes, leading to semantic drift and noisy reasoning chains. To address these challenges, we propose HyperSU, a novel hypergraph-based RAG framework featuring semantic-unit hyperedges and clue guided bidirectional retrieval. During construction, HyperSU formulates hyperedge construction as an entity-aware minimum-description length (MDL) optimization problem, inducing source-grounded semantic-unit hyperedges that balance sentence-level semantic coherence and entity compactness. It then constructs a hypergraph by modeling each semantic unit as a hyperedge over its co-mentioned entities. During retrieval, HyperSU performs clue-guided bidirectional expansion over the semantic-unit hypergraph, enabling both multi-hop evidence discovery and evidence-anchored noise reduction. Experiments show that HyperSU consistently improves answer accuracy over standard, graph-based, and hypergraph-based RAG baselines, raising average accuracy on GraphRAG Bench by 5.5 points over the strongest baseline (68.7 vs. 63.2), with larger gains on reasoning intensive tasks, where the relative improvement reaches 14.1%.