Generalist robot policies are trained on static offline datasets, yet physical manipulation unfolds sequentially across stages. Because a weakness in a downstream stage remains unobservable until the policy passes earlier ones, each resolved bottleneck exposes the next hidden failure mode. This staged structure calls for Recursive Self-Improvement (RSI), in which a policy iteratively executes, diagnoses failures, and updates itself. Moreover, because task completion behaves like a product of stage-level pass rates, recursive gains can multiply across generations. In physical environments, three bottlenecks obstruct compounding: terminal execution feedback rarely localizes the stage that caused a failure, failed trajectories do not supply the corrective action, and updating shared parameters can degrade previously mastered skills. We propose Compounding Physical RSI, a self-evolving policy framework that turns execution failures into heritable capability. First, automated capability-gap assessment traces failed rollouts to the task stage where progression breaks down and formulates a structured improvement objective. Second, conditioned on this objective, our remedy stage curates validated, stage-relevant experience and refines the policy via behavior-regularized offline reinforcement learning, without requiring costly online rollouts at each optimization step. Third, to safeguard existing skills, our retention stage constructs weight-space candidates between the inherited reference policy and the refined policy, evaluates them across the task suite, and promotes the best candidate as the reference state for the next generation. Evaluated across all 42 tasks of the RoboDojo-Sim benchmark, CSU-AI-07 ranks first on the leaderboard with a three-seed mean Overall Score of 26.15 and Success Rate of 20.70%, outperforming the next-best entry by 5.92 points and 5.82 percentage points.
We determine the exact zero-error memory-rate tradeoff for secure coded caching with three users and any number $N\ge2$ of independent files. Each user recovers its requested file, while its cache and the broadcast jointly reveal no information about the complete tuple of unrequested files. For $N\ge4$, two converse inequalities establish the optimality of the known achievable points and the memory-sharing segments between them. For $N=3$, two additional bounds identify a new corner at $(M,R)=(3/2,2)$, where memory and rate are measured in file units. An explicit linear code over $\mathbb{F}_3$ attains this corner and reduces the rate by one quarter of a file relative to memory sharing between the known points. The converse links the information held by cache pairs and triples to delivery under repeated and distinct requests. Its equality conditions guide the construction: users cancel the keys to recover their requested files, while uniform masking protects the complete tuple of unrequested files.
Indirect Prompt Injection (IPI) poses a critical threat to LLM agents. Existing defenses largely focus on whether an injection induces a new tool invocation or unintended action. In this paper, we study a different attack surface, parameter poisoning, where the attacker preserves the intended action but manipulates one or more tool arguments, such as a recipient or other task-critical value. Such attacks are difficult to detect because no new action is introduced, while parameter changes themselves are often legitimate parts of the user's request. Our key insight is that the legitimacy of a parameter change should be determined by the trust of the information flow that produces it under the user query. The query induces a task-specific trust hierarchy over available information fields: some are trusted to determine particular parameters, while others should have little or no influence. Based on this insight, we propose AuthorityFlow, a three-stage parameter-level defense. First, it interprets the user query to construct a task-specific trust hierarchy over the information fields available to the agent. Second, for each tool argument, it traces the information flow that produces its current value and attributes the value to its supporting field. Finally, it accepts the value only when that field is trusted to determine the parameter under the current task, allowing high-trust changes while flagging low-trust influence as potential parameter poisoning. We further introduce FactAuthBench for evaluating parameter poisoning in LLM agents. Without defense, the attack success rate reaches 93.06%. AuthorityFlow reduces it to 9.03%, while retaining 82.64% benign task utility compared with 90.28% without defense. Our results show that effective IPI defense requires reasoning not only about what action an agent takes, but also about which information is trusted to determine its parameters.
Generalization remains a central challenge in robotics, calling for policies that address domain variations from multiple dimensions such as diverse embodiments, camera poses, and/or scene layouts. In order to approach this problem, we introduce PointPilot, a task-focused and 3D aligned manipulation framework built on a 3D space point-flow prediction. Rather than modeling the global scene, PointPilot only represents task-focused objects (robot grippers treated as objects), avoiding the prediction of potentially redundant scene parts unrelated to the manipulation tasks. Moreover, PointPilot aligns 3D spatial representation in one unified coordinate and supports closed-loop and fully automatic action execution across different manipulation modes from object point flow without a separately trained action expert, while existing works typically need an extra action head or are (semi-)automatic and single-arm mode specific. Given sensor observations and language instructions, our model jointly learns subtask planning, task-relevant object grounding, and 3D point flow prediction in an end-to-end way. By processing heterogeneous data in a shared 3D point flow space, PointPilot is able to absorb demonstrations from different embodiments. Extensive simulative and real world experiments validate our method. Notably, we demonstrate zero-shot embodiment generalization with PointPilot. A single trained policy can be deployed on previously unseen embodiments and successfully complete manipulation tasks without any additional fine-tuning.
Zihan Fang, Ron Asoulin-Handelman, Helen Wu, Yu Huang, Gina R. Bai
Recent advances in generative AI have enabled assistants to generate increasingly sophisticated executable unit tests. However, novices may accept these outputs without independently identifying what to test, evaluating test-suite completeness, or verifying correctness, potentially limiting opportunities to develop essential testing skills. Although prior work has explored AI-assisted test generation and feedback-oriented programming tutors, little is known about whether AI can support novices' testing practices without generating tests for them. To investigate this, we introduce TestCompass, a generative AI tutor that provides targeted feedback on weaknesses in students' test suites without generating executable tests. In a classroom study with 18 students, we compared TestCompass with a general AI assistant across two Java unit-testing tasks, examining students' testing behaviors, test-suite quality, and subjective experiences. We found that participants using the general-purpose AI assistant produced more tests, whereas TestCompass participants spent more time developing and verifying tests themselves. However, most test-suite quality measures were comparable between conditions, and TestCompass participants achieved similar requirement coverage with significantly fewer test methods ($p=0.012$) in one task. Neither group reported short-term improvements in perceived testing knowledge or confidence. These findings suggest that feedback-oriented AI can support meaningful testing outcomes while preserving opportunities for hands-on testing practice, offering a complementary approach to AI-assisted testing education.
Zheng Lin, Zhanwei Wang, Yuxin Zhang, Yafei Wang, Ons Aouedi, Zihan Fang, Jinfeng Xu, Jing Yang 等 12 位作者
The proliferation of orbital sensing data and the real-time demands of emerging global services are pushing low Earth orbit (LEO) satellite networks from bent-pipe relays toward intelligent onboard processing. This shift confronts a fundamental tension, where modern artificial intelligence (AI) training paradigms require intensive computation, abundant memory, and stable connectivity, all of which are scarce under the dynamic topologies, intermittent links, and severe size, weight, and power (SWaP) constraints of satellite networks. Addressing this tension demands rethinking AI workflows, from training and inference to the emerging deployment of large language models (LLMs), under a constraint-aware design philosophy. To the best of our knowledge, this paper provides the first survey that jointly covers all three, whereas prior surveys examine these aspects in isolation. We begin by identifying the deployment challenge of satellite intelligence (SI) and deriving design principles for SI. We then examine three advancing paradigms: i) distributed training, where federated learning (FL) and split learning (SL) enable satellite-ground co-training under resource limitations; ii) collaborative inference, which exploits single-satellite, multi-satellite, and satellite-ground architectures to meet real-time service demands; and iii) on-orbit LLM adaptation and serving, which tackles the frontier challenge of deploying LLMs under severe orbital constraints and resource-aware serving. Finally, we identify open challenges and future directions. By bridging the AI and satellite networks, this paper provides a research roadmap for the implementation of space-native AI technologies.
Ying Qian, Jianshu Hu, Han Fang, Shuguang Li, Yutong Ban
Learning robot policies from demonstrations is often limited by the cost of collecting diverse, high-quality expert data. While an appealing alternative is to expand a single successful demonstration into a diverse set of successful trajectories, existing augmentation methods typically rely on manually designed transformation rules or complex trajectory planning, requiring substantial task-specific engineering and human effort. We introduce OneDemo, a reinforcement learning framework that learns to edit a single successful demonstration for new task configurations. We formulate demonstration editing as a structured reinforcement learning problem, in which an editor learns, from sparse task-success rewards, both when to transition between object-centric trajectory segments and how to geometrically adapt each segment. The learned editor serves both as a task policy and as a reusable demonstration generator. Across 15 Meta-World tasks, OneDemo reaches a 92.7% success rate within 53.7k environment interactions on average. Across 9 DexMimicGen tasks, it generates successful demonstrations with a 98.4% average success rate, and BC-RNN policies trained on the generated data achieve 99.6% average success at matched dataset scale. These results show that learning to edit a single successful demonstration provides a structured and effective basis for both policy learning and scalable demonstration generation.
Songxin Qu, Tai-Ping Sun, Yun-Jie Wang University of Science and Technology of China, Huan-Yu Liu, Cheng Xue, Xiao-Fan Xu, Han Fang University of Science and Technology of China, Yang Yang Anhui University 等 11 位作者
Large language models (LLMs) show strong capabilities in general reasoning but typically lack reliability in scientific domains like quantum mechanics, which demand strict adherence to physical constraints. This limitation arises from the scarcity of verifiable training resources and the inadequacy of coarse feedback signals in standard alignment paradigms. To address the data challenge, we introduce QuantumQA, a large-scale dataset constructed via a task-adaptive strategy and a hybrid verification protocol that combines deterministic solvers with semantic auditing to guarantee scientific rigor. Building on this foundation, we propose the verification-aware reward model (VRM) tailored for Reinforcement Learning with Verifiable Rewards (RLVR), which employs an adaptive reward fusion (ARF) mechanism to dynamically integrate deterministic signals from a scientific execution suite (SES) with multidimensional semantic evaluations for precise supervision. Experimental results demonstrate that our method consistently outperforms baselines and general-purpose preference models. Notably, our optimized 8B model achieves performance competitive with proprietary models, validating that incorporating verifiable, rule-based feedback into the reinforcement learning loop offers a parameter-efficient alternative to pure scaling.
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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
Buqiang Xu, Yijun Chen, Jizhan Fang, Ruobin Zhong Zhejiang University, Yunzhi Yao Zhejiang University, Yuqi Zhu Zhejiang University, Lun Du Ant Group, Shumin Deng Zhejiang University
Long-term conversational agents need memory systems that capture relationships between events, not merely isolated facts, to support temporal reasoning and multi-hop question answering. Current approaches face a fundamental trade-off: flat memory is efficient but fails to model relational structure, while graph-based memory enables structured reasoning at the cost of expensive and fragile construction. To address these issues, we propose StructMem, a structure-enriched hierarchical memory framework that preserves event-level bindings and induces cross-event connections. By temporally anchoring dual perspectives and performing periodic semantic consolidation, StructMem improves temporal reasoning and multi-hop performance on LoCoMo, while substantially reducing token usage, API calls, and runtime compared to prior memory systems.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 2: Short Papers) · 2026 · 正式发表