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新论文 · v1arXiv:2611.12806

面向通用灵巧操作的异构触觉表征学习

Learning Heterogeneous Tactile Representation for General Dexterous Manipulation

Bing Han, Yichuan Peng, Haoyu Dong, Yuanmeng Hu, Yongyi Jia, Fangjing Wang, Kecheng Zheng, Yiming Zhang 等 19 位作者

AI 速读 基于摘要

提出触觉基础模型 LingBot-Touch，将压阻、磁性与视触觉等异构传感器数据统一表征，并以即插即用方式增强多种策略模型的灵巧操作能力。

cs.RO

arXiv ↗PDF ↗
查看原文摘要

Tactile sensing is an indispensable modality for contact-rich dexterous manipulation, a capability that hints at the ultimate frontiers of embodied intelligence. However, commercially available tactile sensors are still at a relatively early stage of development, with each type of sensor offering irreplaceable strengths alongside its own drawbacks. A key challenge is thus to free tactile understanding from sensor-specific physics, so that embodied models can effectively leverage heterogeneous tactile data. To this end, we develop LingBot-Touch, a tactile foundation model characterized by the following properties. (i) Our model yields a unified representation across different tactile sensors (i.e., piezoresistive, magnetic, and visuotactile sensors), and is easily extensible to new sensor types. (ii) The resulting tactile tokens are plug-and-play: they can be seamlessly integrated into policy models across paradigms, from diffusion policy to vision-language-action (VLA) models such as $π_{0.5}$ and LingBot-VLA, consistently enhancing manipulation dexterity. (iii) Extensive experiments, spanning simulation and real-robot deployments across multiple hardware platforms, demonstrate that our tactile representation substantially benefits complex manipulation tasks while maintaining strong computational efficiency. We believe the findings in this work demonstrate the potential of leveraging cross-sensor data to scale tactile learning, and offer encouraging insights for the design of future hardware and embodied models.

版本更新 · v3arXiv:2610.25076

P2N: Reusing Deep Representations for Greater Effective Depth

Yiqin Hao, Boyi Zeng, Zitong Wang, He Li, Shixiang Song, Feichen Song, Yifan Liu, Ran Tao 等 10 位作者

原文摘要

Mathematical problem solving and autonomous agents are increasingly important applications of language models, demanding stronger reasoning capabilities. Computational depth is a key resource for such reasoning, but adding model layers increases both training and inference costs, while test-time scaling incurs substantial additional inference computation. We introduce P2N (Previous to Next), which reuses the previous token's deep representations, already available during generation, to increase effective computational depth with negligible decoding overhead. Specifically, P2N adds the previous token's deep hidden state to the current token's shallow representation, allowing subsequent layers to build on previously completed deep computation. This recurrence extends effective computational depth across tokens, while introducing only a single vector addition per decoding step. We train the recurrence using parallel Jacobi updates restricted to a middle-layer core. Experiments with Qwen-style models show that, at 1.5B parameters, P2N improves GSM8K accuracy by over 10 percentage points under both zero-shot and few-shot prompting, with nearly unchanged decoding latency. The benefits also extend to language modeling and average performance on general downstream benchmarks. on general downstream benchmarks.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2605.16679

CHI-Bench: Can AI Agents Automate End-to-End, Long-Horizon, Policy-Rich Healthcare Workflows?

Haolin Chen, Deon Metelski, Leon Qi, Tao Xia, Joonyul Lee, Steve Brown, Kevin Riley, Frank Wang 等 33 位作者

原文摘要

End-to-end automation of realistic healthcare operations stresses three capabilities underrepresented in current benchmarks: policy density, decisions must be grounded in a large library of medical, insurance, and operational rules; Multi-role composition: a single task requires the agent to play multiple roles with handoffs; and multilateral interaction: intermediate workflow steps are multi-turn dialogs, such as peer-to-peer review and patient outreach. We introduce $χ$-Bench, a benchmark of long-horizon healthcare workflows across three domains: provider prior authorization, payer utilization management, and care management. Each task hands the agent a clinical case in a high-fidelity simulator of 20 healthcare apps exposed via 87 MCP tools, which it must drive to a terminal status through tool calls and writing the role's artifacts, guided by a 1,290+ document managed-care operations handbook skill. Across 30 agent harness/models configurations, the best agent resolves only 28.0% of tasks, no agent clears 20% on strict pass^3, and executing all tasks in a single session slumps the performance to 3.8%. These results raise the hypothesis that similar gaps are likely to surface in other policy-dense, role-composed, irreversible enterprise domains.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2607.13429

Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment

Dwip Dalal, Shivansh Patel, Chahit Jain, Jeonghwan Kim, Utkarsh Mishra, Yuchen Song, Alex Baratian, Hyeonjeong Ha 等 11 位作者

原文摘要

Finetuning a pretrained vision-language model (VLM) on robot demonstrations via behavior cloning (BC) has become the standard recipe for vision-language-action (VLA) policies. However, BC finetuning progressively overwrites the pretrained representations that support visual and semantic generalization. Co-training on web image-text data, a common remedy, applies language and action losses to separate observations, leaving VLAs with language-action misalignment that standard manipulation benchmarks do not expose. We propose Anchor-Align, which augments BC with two objectives: Vision-Language Anchoring distills layer-wise representations from a frozen VLM copy to prevent this drift, while Language-Action Alignment converts each action target into a discrete motion-direction label and jointly trains language and action prediction on the same robot observation. We conduct real-world evaluations across eight manipulation settings on single-arm xArm7 and bimanual YAM robots, using two VLA architectures with regression and flow-matching action heads. Across these settings, Anchor-Align consistently improves over BC on novel targets, layouts, and motion-sensitive bimanual tasks requiring coordinated control. At scale in simulation, we demonstrate consistent improvements on OOD perturbations, perceptual robustness, and long-horizon control across LIBERO-PRO, LIBERO-Plus, and CALVIN, respectively, suggesting that preserving pretrained representations and effective action learning are not fundamentally at odds. Project page: anchoralignvla.github.io

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35556

LoopFold: Parallelizing Recurrent Depth in Looped Transformers

Feichen Song, Boyi Zeng, Yiqin Hao, Shixiang Song, He Li, Yizhou Yang, Zitong Wang, Yifan Liu 等 10 位作者

原文摘要

Looped Transformers increase computation per token by repeatedly applying a shared backbone, offering a way to improve language modeling and downstream task performance at a fixed backbone parameter count. However, each loop depends on the preceding loop, so increasing recurrent depth also increases decoding latency. Existing approaches include Parallel Loop Transformers, which reduce latency by overlapping loop computation across token positions, but yield rapidly diminishing marginal accuracy gains at larger depths. To address this challenge, we introduce LoopFold, which folds computation at multiple recurrent depths into parallel batches for the same token prefix. A lightweight predictor estimates inputs to later loops so they can start before earlier loops finish. A corrector then refines the outputs of these later loops using newly available results from earlier loops. All components are trained jointly using only the final next-token prediction loss. In experiments with 1.4B models, deeper LoopFold configurations achieve progressively higher average zero-shot accuracy across eight tasks, rising from 53.41% to 56.38%. Vanilla looped models and PLT show limited gains over the same depth range. Compared with a nine-loop vanilla model, LoopFold uses five sequential stages and additional parallel computation to reduce decoding latency by 46%.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35544

StateLoop: Persistent State for Looped Transformers

Feichen Song, Boyi Zeng, He Li, Shixiang Song, Yiqin Hao, Zitong Wang, Yizhou Yang, Yifan Liu 等 10 位作者

原文摘要

Looped Transformers offer a parameter-efficient approach to language modeling by repeatedly applying a shared backbone. Vanilla looped Transformers use each backbone output directly as the input to the next iteration. These outputs may contain information useful several iterations later, but retaining it across the loop depends entirely on the single hidden state. We introduce StateLoop, which maintains one additional persistent state per token to retain information across iterations. At each iteration, a learned gate controls how much of the previous state is retained and how much information from the backbone output is incorporated. The updated state is projected back and added to the backbone output for subsequent iterations and final prediction. This design reduces Pile perplexity and improves average accuracy across eight zero-shot tasks over Vanilla Looped. Its perplexity advantage over Vanilla Looped grows with trained loop depth, consistent with persistent state becoming increasingly useful as recurrent computation deepens.

cs.CL

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1978ACL Anthology · ACL 2026

Advancing Reasoning in Diffusion Language Models with Denoising Process Rewards

Shaoan Xie Carnegie Mellon University, Lingjing Kong Computer Science Department, School of Computer Science, Xiangchen Song Carnegie Mellon University, Xinshuai Dong, Guangyi Chen Mohamed bin Zayed University of Artificial Intelligence and Carnegie Mellon University, Eric P. Xing, Kun Zhang Carnegie Mellon University and Mohamed bin Zayed University of Artificial Intelligence

原文摘要

Diffusion-based large language models offer a non-autoregressive alternative for text generation, but enabling them to perform complex reasoning remains challenging. Reinforcement learning has recently emerged as an effective post-training strategy for improving their performance; however, existing methods rely primarily on outcome-based rewards, which provide no direct supervision over the denoising process and often result in poorly structured reasoning that is difficult to interpret and inconsistently supports the final prediction. To address this limitation, we introduce denoising process reward, a process-level reinforcement signal defined over the denoising trajectory of diffusion language models. This reward is obtained by estimating the contribution of intermediate denoising intervals to the final task outcome, encouraging the model to favor reasoning trajectories that consistently guide generation toward correct predictions. We further propose an efficient stochastic estimator that reuses standard training rollouts, enabling practical process-level supervision at scale. Experiments on challenging reasoning benchmarks demonstrate that our approach yields consistent improvements in reasoning stability, interpretability, and overall task performance.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.99ACL Anthology · ACL 2026

Mechanistic Interpretability Should Prioritize Feature Consistency in Sparse Autoencoders

Xiangchen Song Carnegie Mellon University, Aashiq Muhamed, Yujia Zheng Carnegie Mellon University, Lingjing Kong Computer Science Department, School of Computer Science, Zeyu Tang Stanford University, Mona T. Diab Carnegie Mellon University, Virginia Smith Carnegie Mellon University, Kun Zhang Carnegie Mellon University and Mohamed bin Zayed University of Artificial Intelligence

原文摘要

Sparse Autoencoders (SAEs) are a prominent tool in mechanistic interpretability (MI) for decomposing neural network activations into interpretable features. However, the aspiration to identify a canonical set of features is challenged by the observed inconsistency of learned SAE features across different training runs, undermining reproducibility and complicating model comparison. We study run-to-run feature consistency in SAEs and argue that it should be reported as a standard evaluation axis alongside reconstruction and sparsity. We propose the Pairwise Dictionary Mean Correlation Coefficient (PW-MCC) as an assignment-based metric to quantify consistency and demonstrate that high levels are achievable (PW-MCC ≈ 0.80 for TopK SAEs on LLM activations) with appropriate architectural choices.Our contributions include: (i) theoretical grounding for strong consistency in the idealized setting of TopK SAEs; (ii) synthetic validation using a model organism, which verifies PW-MCC as a reliable proxy for ground-truth recovery; and (iii) empirical analysis on LLM activations, where PW-MCC correlates with the similarity of automatically generated natural-language feature explanations.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表