Skills provide agents with reusable experience to guide future decisions without modifying the underlying model. However, coding trajectories are often entangled with task- and repository-specific contexts, making it challenging to distill procedural skills that generalize across diverse coding environments. To address this challenge, we present Hierarchical Skill Evolution (HSE), which progressively distills procedural knowledge from coding trajectories through hierarchical evidence aggregation. HSE first extracts task-level evidence from individual trajectories, then aggregates recurring evidence within the same repository to form repository-specific skill candidates, and finally consolidates consistent patterns across repositories into transferable skills across repositories. The evolution is driven by an external writer-evaluator loop that generates and assesses skills while keeping the underlying coding model frozen. The loop externally updates the writer and evaluator policies to improve subsequent skill generation and assessment. This hierarchy progressively filters task-specific details while preserving procedures that generalize across diverse coding environments. Successful trajectories yield reusable guidance for future tasks, while failed trajectories reveal recurring failure modes that guide avoidance and recovery. We evaluate HSE on SWE-bench Verified and DeepSWE, using GLM-5.2 across Pi and Claude Code harnesses and GPT-5.5 and Opus 4.8 with Pi. Across both benchmarks, 10 skills evolved solely from SWE-Gym improve coding performance across all evaluated settings, demonstrating transfer across benchmarks, coding models, and agent harnesses. We further evolve the skill library from target-benchmark trajectories without verifier feedback, relying solely on the learned evaluator for candidate assessment and achieving additional gains through benchmark-tailored skills.
Yunfei Xie, Howard H. Qian, Shiyi Lan, Kaiyu Hang, Chen Wei
Robot foundation models are typically evaluated through costly closed-loop rollouts, motivating low-cost offline proxies for model capability. The Platonic Representation Hypothesis (PRH) suggests that as representations improve, modalities such as vision and language converge toward a shared statistical model of reality. We ask whether motion trajectories form another such modality: as embodied models become more capable, should their sensory representations converge toward the structure of physical motion? To test this, we propose Sensorimotor Alignment ($S^2$), a training-free offline metric that measures how well a model's sensory representation aligns with the geometry of physical motion. We find that $S^2$ correlates positively with downstream robot task success across model families, making it a low-cost offline proxy for prioritizing models before closed-loop evaluation. $S^2$ can also identify promising vision-language model (VLM) backbones before costly fine-tuning into vision-language-action models (VLAs). Beyond this correlation, $S^2$ offers representation-level explanations for phenomena observed in VLAs and world action models (WAMs). With $S^2$, we extend PRH to robotics and make sensorimotor alignment measurable, offering a low-cost, representation-level view of robot foundation models that closed-loop success rates alone cannot reveal.
Sunzhu Li Li Auto Inc., Jiale Zhao, Huimin Ren Li Auto Inc., Zhenlin Wei, Yang Zhou Zhejiang University, Jingwen Yang, Shunyu Liu Nanyang Technological University, Kaike Zhang Li Auto Inc. 等 9 位作者
Reinforcement Learning with Verifiable Rewards (RLVR) has driven substantial progress in reasoning-intensive domains like mathematics. However, optimizing open-ended generation remains challenging due to the lack of ground truth. While rubric-based evaluation offers a structured proxy for verification, existing methods suffer from scalability bottlenecks and coarse criteria, resulting in a supervision ceiling effect. To address this, we propose an automated Coarse-to-Fine Rubric Generation framework. By synergizing principle-guided synthesis, multi-model aggregation, and difficulty evolution, our approach produces comprehensive and highly discriminative criteria capable of capturing the subtle nuances. Based on this framework, we introduce RubricHub, a large-scale (110k) and multi-domain dataset. We validate its utility through a two-stage post-training pipeline comprising Rubric-based Rejection Sampling Fine-Tuning (RuFT) and Reinforcement Learning (RuRL). Experimental results demonstrate that RubricHub unlocks significant performance gains: our post-trained Qwen3-14B achieves state-of-the-art (SOTA) results on HealthBench (69.3), surpassing proprietary frontier models such as GPT-5.
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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