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新论文 · v1arXiv:2611.15652

Taming Neural Fields with a Frequency-Lipschitz Curriculum for Sparse-View CT Reconstruction

Songtao Hu, Jingrui Wu, Hong Ding, Fanhao Zhu, Yunhao Liu, Suyang Xi

原文摘要

Sparse-view computed tomography (SVCT) reduces radiation dose by acquiring fewer projection views, but the resulting under-determined inverse problem requires careful regularization to prevent reconstruction algorithms from fitting streak artifacts and hallucinated structures. Existing implicit neural representation (INR) methods rely on implicit spectral bias or iterative external denoising, yet they provide limited control over when high-frequency capacity is exposed during optimization. To address this limitation, we propose FLIC (Frequency-Lipschitz INR Curriculum), a capacity-controlled self-prior INR framework that makes the network's representational capacity explicit and schedulable. The core of our method is a joint frequency-Lipschitz curriculum that couples random Fourier feature encoding with spectrally normalized MLP decoding under non-uniform Lipschitz budgets, guiding reconstruction along a coarse-to-fine trajectory from stable global anatomy to fine details. The terminal capacity is automatically calibrated from FBP gradient statistics, enabling scan-adaptive regularization without per-scan manual tuning of the terminal Lipschitz budget. We further introduce a prior-guided adaptive ray sampling strategy that concentrates integration samples near high-gradient anatomical boundaries, improving forward-model fidelity. The entire framework operates in a single training stage without iterative denoising, enabling efficient per-image reconstruction. Extensive experiments on four public CT datasets under noise-free and low-dose settings show that our method achieves state-of-the-art unsupervised reconstruction quality with consistent performance across diverse anatomical structures.

cs.CV · cs.LG

版本更新 · v2arXiv:2611.13675

OpticalRAG: Pixel-Space Compression for Token-Efficient Retrieval-Augmented Generation

Senhao Liu, Yuheng Zhang, Chunyu Wei, Yueguo Chen, Xinran Zhang

原文摘要

Retrieval-augmented generation (RAG) is bottlenecked by the token budget of large language models: feeding long documents into the context window is expensive, while aggressive textual compression discards fine-grained information that is irreversibly lost in a one-dimensional token sequence. We argue that this bottleneck is not fundamental to information density but to the choice of compression \emph{modality}. Modern visual encoders can pack the contents of a rendered text page into roughly a hundred visual tokens with little semantic loss, opening a new compression-fidelity tradeoff that purely textual methods cannot reach. We present \textbf{OpticalRAG}, a framework that renders documents as page images, encodes them with a frozen vision encoder, and distills the retrieved visual tokens into as few as $16$ injected tokens before passing them to the LLM. Two ingredients make this work without expensive cross-modal training: (i) \emph{Encoder-Bridged Retrieval}, which projects text-query states into the visual feature space of the frozen encoder, through a projection shared with the compressor, to retrieve visual tokens from a text query, with no contrastive training; and (ii) \emph{Query-Driven Distillation}, a lightweight cross-attention compressor that condenses the retrieved visual tokens into a small set of query-conditioned prefix tokens. On LongBench-v2, BAMBOO, and LooGLE-v2, OpticalRAG achieves the best compression-aware accuracy (CAP) on all three benchmarks while injecting only $16$ tokens, and improves the closed-book Qwen2.5-7B-Instruct backbone by $5.17$ points on LongBench-v2. Code is available at https://github.com/brighterr/OpticalRAG.

cs.CL

版本更新 · v2arXiv:2611.14019

Program-Aided Patchable Skill Evolution

Jiahao Wang, Yuqi Xiong, Qing Yang, Zhipeng Xu, Zhenghao Liu, Zulong Chen, Yubin Bao

原文摘要

Agent skills have emerged as an effective means of enabling LLM agents to solve complex, interactive tasks by encoding reusable knowledge without modifying model parameters. Recent approaches further improve skill adaptation by distilling reusable experience from agent execution trajectories and evolving skills based on downstream task feedback. However, existing methods primarily represent skills as natural language documents, intertwining procedural logic with descriptive knowledge and making skills difficult to maintain and evolve. To address this limitation, we propose PASE (Program-Aided Patchable Skill Evolution), a program-aided framework that iteratively evolves skills by associating them with executable programs. Unlike prior approaches that encode trajectory-derived experience primarily in natural language, PASE separates reusable procedural logic into editable programs, enabling targeted updates to executable components while reducing the need to repeatedly revise natural language skills. Extensive experiments across diverse models and benchmarks demonstrate that PASE consistently outperforms all baselines, by achieving over 2.8% improvements. Further analyses show that PASE exhibits greater evolutionary stability and generalisation capability, highlighting the critical role of programmatic knowledge in skill evolution. We will release all data and code via GitHub.

cs.CL · cs.AI

版本更新 · v3arXiv:2610.41354

OneSteer: Unlocking Steerable General Humanoid Motion Tracking via One-Step Diffusion Whole-Body Control

Yifei Huang, Yazhao Yang, Li Weijia, Tianle Shi, Ji Jin, Zhihui Cai, Zihao Liu, Jianzhuang Zhao 等 13 位作者

原文摘要

Deployment objectives often specify desired outcomes without providing revised trajectories, while parts of the original reference must still be followed. We present OneSteer, a one-step diffusion whole-body controller that combines general motion tracking with selective test-time steering. To accommodate new objectives, differentiable task costs guide optimization of the generator's input noise with frozen weights, while body-group reference masks relax selected tracking requirements. Predicted state-action plans provide a shared interface for task optimization and feedback-conditioned execution. For nominal tracking, the model trained from scratch achieves the lowest local tracking error among the evaluated baselines on successful held-out AMASS and BONES clips. For steering, one frozen distilled controller adapts across diverse deployment objectives in simulation, raising the clean passage rate under a 1.25 m bar from 2% to 90%. On a physical Unitree G1, OneSteer completes all 27 nominal tracking trials across nine diverse whole-body motion sequences without falling. With a steering cost derived from a signed distance field built using only onboard LiDAR, it also passes under a 1.1 m low bar in four of five attempts and steps over a 12 cm hurdle without falling in all three attempts. Beyond control, prediction variation in the model trained from scratch ranks likely tracking failures without physics rollouts. This scoring method is more than 10x faster than simulation-based scoring with five rollouts per clip and guides targeted fine-tuning. Project page: https://onesteer.github.io

cs.RO

新论文 · v1arXiv:2611.14907

Lines Are Ideas: Visual Creativity Assessment in Hyperbolic Space

Baoliang Chen, Zihao Lin, Hao Liu, Xiangjie Sui

原文摘要

Assessing human creativity from drawings provides a scalable way to evaluate human creative ability. However, existing approaches either rely on costly expert annotation or treat creativity as a single regression target, overlooking its underlying structure. Psychological theories have long emphasized that creativity emerges from balancing novelty and appropriateness. Motivated by this principle, we recast creativity as structured semantic deviation between paired drawings, where novelty measures the extent of departure from the original base sketch, and appropriateness determines whether such departures remain meaningful. This formulation naturally leads to a hyperbolic representation, in which novelty is quantified by geodesic distance and appropriateness is evaluated conditionally via a learned decision boundary, further regulated by an abstraction-conditioned adaptive constraint. Experiments on AuDrA-Drawings demonstrate state-of-the-art alignment with expert judgments and strong robustness under rater and task shifts. Beyond performance gains, our framework reveals an interpretable radial organization of creative variation, offering a principled geometric foundation for automatic creativity assessment.

cs.CV

版本更新 · v3arXiv:2610.33484

能否听见几何?用于文本到B-rep检索的规范不变谱描述子

Can One Hear Geometry? Gauge-Invariant Spectral Descriptors for Text-to-B-rep Retrieval

Hongzhu Yi, Hao Liu, Tao Yu, Tiankun Yang, Yujia Yang, Zhenghao Zhang, Tianyu Zong, Zhenyu Guan 等 15 位作者

AI 速读 基于摘要

提出 SpectraBRep 框架,用基于几何不变性与谱描述子的方法在跨模态对齐前消除 B-rep 的位姿、尺度与边界编码歧义,用于文本到三维实体检索。

cs.CV

查看原文摘要

Text-to-3D solid retrieval faces a fundamental representation gap: while natural language describes intrinsic shapes, Boundary Representation (B-rep) entangles precise geometry with arbitrary variations in pose, scale, and boundary encoding conventions. Existing methods either discretize B-reps at the cost of analytic precision, or learn features from topological graphs without explicit invariance guarantees. We propose **SpectraBRep** (*Spectral Geometry for Text-to-B-rep Retrieval*), a framework based on geometric invariance and spectral descriptors that mathematically eliminates representation ambiguities prior to cross-modal alignment. Formalizing translation, rotation, reflection, uniform scaling, and contour re-indexing via group actions, we exploit the planar-profile-and-extrusion structure of engineering solids to construct a unified spectral descriptor across cross-sectional regions, contour boundaries, and extrusion depths. On public benchmarks, our method achieves state-of-the-art recall performance across all evaluation metrics.

版本更新 · v4arXiv:2606.24548

Are Text-to-Image Models Inductivist Turkeys? A Counterfactual Benchmark for Causal Reasoning

Jiayi Lei, Yuandong Pu, Xingyu Han, Rongpeng Zhu, Jing Xu, Jinyao Wang, Zijian Zhou, Bin Fu 等 11 位作者

原文摘要

Text-to-image (T2I) generation models have achieved remarkable progress in producing visually realistic images from natural language prompts. Yet it remains unclear whether their success reflects genuine causal understanding or sophisticated pattern matching over visual-textual correlations. Inspired by Russell's inductivist turkey, we introduce Counterfactual-World (CF-World), a counterfactual benchmark designed to investigate whether text-to-image models can generate images under rules that systematically contradict real-world priors. CF-World organizes each scenario into three progressive levels: factual generation under ordinary world knowledge, explicit counterfactual generation with direct visual instructions, and implicit counterfactual generation requiring causal deduction from altered rules. We evaluate open-source and closed-source text-to-image models using CF-Eval, a scoring pipeline based on vision-language models. We report the scores at each prompt level as the primary results and use Prior Resistance Rate (PRR) and Reasoning Retention Rate (RRR) as auxiliary descriptive indicators. All evaluated models score lower on counterfactual prompts than on factual prompts. Diagnostic experiments reveal difficulties in following altered rules and recombining rarely co-occurring visual attributes. The gains from rephrasing object and attribute names are consistent with a role for learned visual priors in counterfactual generation. Our benchmark and evaluation code are publicly available at https://jylei16.github.io/CF-World.github.io/.

cs.CV

新论文 · v1arXiv:2611.12791

大语言模型作为开放世界自动化机器学习的通用搜索器

Large Language Models as a Universal Searcher for Open-World Automated Machine Learning

Yuxuan Hu, Jihao Liu, Weikang Shi, Xijie Huang, Linda Wei, Mingjie Zhan, Aojun Zhou, Rui Liu 等 9 位作者

AI 速读 基于摘要

作者提出基于大语言模型的通用AutoML框架,用统一数值编码NCode将架构、超参数与数据配比联合优化重构为排序任务,并在多任务上报告了跨域泛化与可扩展性结果。

cs.CL

查看原文摘要

Developing effective machine learning models requires complex manual tuning, while current Automated Machine Learning (AutoML) frameworks remain domain-specific and isolate model architecture, training hyperparameter, and data ratio optimization. Here, we bridge this gap by proposing a universal, large language model (LLM)-based AutoML framework that jointly optimizes these configurations for the first time without the need for task-specific fine-tuning. We propose NCode, a unified numerical encoding scheme that translates diverse AutoML design choices into universal discrete sequences and effectively reframes the optimization process as a unified ranking task. Trained solely on optimization trajectories derived from a limited, single-domain vision task, the proposed LLM-based searcher demonstrates impressive cross-task, cross-modality and joint search-space optimization generalizability, achieving state-of-the-art performance across image classification, image segmentation, speaker verification and text-to-image benchmarks. Crucially, it exhibits superior scalability in the large-scale training and joint optimization of a billion-parameter Diffusion Transformer, requiring 896 GPU-days and attaining a state-of-the-art GenEval score of 0.91. By leveraging reinforcement learning to instill Chain-of-Thought reasoning, we provide a systematic way to interpret the LLM-based searcher's internal decision-making mechanisms, revealing its optimization strategy shifted from the early-stage diversity-driven exploration to the late-stage anchor exploitation. Our proposed framework provides a scalable, generalizable, and interpretable pathway toward general-purpose open-world machine learning optimization.

新论文 · v1arXiv:2611.12762

Sage-Taiyi:一种面向科学发现的元认知架构

Sage-Taiyi: A Metacognitive Architecture for Scientific Discovery

Weida Wang, Benteng Chen, Yigeng Jiang, Shuchen Pu, Weiping Shen, Zichao Liu, Yulin Su, Zitong Wang 等 90 位作者

AI 速读 基于摘要

作者提出一种受元认知启发的AI科学家架构,通过显式监控与控制来调整研究目标并选择可复用推理方法,并在自建基准与外部基准及若干专家协作案例中报告了结果。

cs.AI

查看原文摘要

We introduce Sage-Taiyi, a metacognition-inspired architecture that uses accumulated scientific understanding to guide what to investigate next and how to investigate it. Through explicit monitoring and control, the system revises its understanding of evidence, assumptions, and unresolved questions, then uses these assessments to adapt research targets and select reusable reasoning methods. On Taiyi-Bench, an AI co-scientist ideation benchmark comprising 265 tasks from 50 papers across ten disciplines, Sage-Taiyi ranks first on all eight metrics of historical rediscovery and open-ended ideation, achieving an Overall score of 54.0 compared with 47.9 for the strongest baseline, AI Scientist-v2. It also performs well on two external scientific ideation benchmarks. Five expert-guided collaborations further connect its proposals to experimental and computational validation across chemistry, materials science, and engineering. In chemistry, reaction-condition optimization raises the yield of cobalt-catalyzed carbonylation from trace amounts to 84% and photocatalytic allylic amination from 13% to 69%. These results support metacognitive regulation as an approach to scientific ideation and its progression toward practical validation.

版本更新 · v4arXiv:2602.16681

VETime: Vision Enhanced Zero-Shot Time Series Anomaly Detection

Yingyuan Yang, Tian Lan, Yifei Gao, Yimeng Lu, Xuming An, Wenjun He, Meng Wang, Chenghao Liu 等 9 位作者

原文摘要

Time-series anomaly detection (TSAD) requires identifying both immediate Point Anomalies and long-range Context Anomalies. However, existing foundation models face a fundamental trade-off: 1D temporal models provide fine-grained pointwise localization but lack a global contextual perspective, while 2D vision-based models capture global patterns but suffer from information bottlenecks due to a lack of temporal alignment and coarse-grained pointwise detection. To resolve this dilemma, we propose VETime, the first TSAD framework that unifies temporal and visual modalities through fine-grained visual-temporal alignment and dynamic fusion. VETime introduces a Reversible Image Conversion and a Patch-Level Temporal Alignment module to establish a shared visual-temporal timeline, preserving discriminative details while maintaining temporal sensitivity. Furthermore, we design an Anomaly Window Contrastive Learning mechanism and a Task-Adaptive Multi-Modal Fusion to adaptively integrate the complementary perceptual strengths of both modalities. Extensive experiments demonstrate that VETime significantly outperforms state-of-the-art models in zero-shot scenarios, achieving superior localization precision with lower computational overhead than current vision-based approaches. Code available at: https://github.com/yyyangcoder/VETime .

cs.CV

新论文 · v1arXiv:2611.12392

More Than Just Style: Benchmarking Personality Influence in Large Language Models

Yuhao Liu, Mengyu Wang, Xiao Chen, Lu Liu

原文摘要

In addition to the effects of explicit input prompts and instructions, large language model outputs are influenced by underlying behavioral preferences similar to human personality tendencies. These tendencies can affect how models interpret situations and make decisions. However, their influence is difficult to disentangle from the effects of model capabilities and instructions. Therefore, we introduce SPACE, a benchmark framework combining a controlled evaluation protocol with complementary datasets for personality verification, capability assessment, and hierarchical situational tasks. Controlled comparisons across guidance conditions help distinguish personality influence from measured capability changes and immediate instruction effects. Experimental results demonstrate that although prompting can shift generation style, models' internal personality tendencies are persistent and not readily overridden by opposing instructions. Furthermore, these underlying tendencies have an observable influence on LLM task performance, highlighting the need for greater attention to these characteristics and potential applications. Training code and SPACE benchmark specifications are available at https://github.com/Niklauseik/SPACE-training.

cs.CL

版本更新 · v6arXiv:2509.21190

Towards Foundation Models for Zero-Shot Time Series Anomaly Detection: Leveraging Synthetic Data and Relative Context Discrepancy

Tian Lan, Hao Duong Le, Jinbo Li, Wenjun He, Meng Wang, Chenghao Liu, Chen Zhang

原文摘要

Time series anomaly detection (TSAD) is a critical task, but developing models that generalize to unseen data in a zero-shot manner remains challenging. Existing foundation models for TSAD often rely on reconstruction-error scoring at inference time, which can miss subtle anomalies that are well reconstructed and can falsely flag complex but normal patterns in unseen domains. We introduce TimeRCD, a foundation model for TSAD built on Relative Context Discrepancy (RCD), a pre-training paradigm that trains the model to detect anomalies by comparing a query pattern with its surrounding context. This relational formulation, implemented with a standard Transformer architecture, enables the model to infer normality from the input context rather than relying on fixed global normal patterns. We further construct a large-scale synthetic corpus with context-dependent anomaly labels to provide supervised pre-training signals for RCD. Experiments across diverse benchmarks show that TimeRCD outperforms existing general-purpose and anomaly-specific foundation models in most zero-shot TSAD settings, while remaining competitive with dataset-specific full-shot baselines. These results provide empirical evidence that RCD is an effective direction for building robust and generalizable TSAD models.

cs.LG · cs.AI

新论文 · v1arXiv:2611.11560

LiveAsset: Learning Intent Assets from Corrective Interactions for Agent Runtime Control

Guanming Liu, Weihang Wang, Peng Zhang, Meng Wu, Kainan Tu, Jiahao Liu, Yu Zhang, Liuxin Zhang 等 11 位作者

原文摘要

Large language model (LLM) agents acting across web applications and online services often need multi-turn corrections to align their work with users' underspecified goals and preferences. In practice, users may identify problems in the current outcome without specifying the desired result, so learning user intentions requires interpreting each correction against the agent's preceding and revised outcomes. These expectations are often connected to a particular context, making it hard to know when they apply and how to ensure the agent later acts as the user expects. To this end, we propose LiveAsset, an intent harness that learns reusable intent assets from corrective interactions and uses them for runtime control of agent execution. LiveAsset jointly interprets each correction with the agent's original and revised results to infer user intent, incrementally updating the assets while preserving earlier requirements that remain applicable. The learned requirements guide agent execution from task entry and provide criteria for runtime verification, which uses the explanations to assess applicability before each reply is delivered and directs the agent to revise the result to address unmet requirements while preserving those already satisfied. Following a learning phase in which simulated users progressively reveal requirements through multi-turn corrections, we evaluate LiveAsset using same-task replay of the original requests on π-Bench, PERMA, and Vita and cross-task transfer on PAST-Bench and SkillEvolBench. Experiments show that LiveAsset better fulfills requirements learned from corrective interactions and improves performance on these benchmarks compared with memory, skill, and rule-based harness baselines. Code is available at github.com/landian60/LiveAsset.

cs.AI

新论文 · v1arXiv:2611.11510

Reaching Is Not Finding: Map-Anchored Visual Prompting for the Last Mile of Aerial Vision-Language Navigation

Ningbo Li, Kebin Liu, Jingcan Chen, Weichen Zhang, Rong Ding, Yunhao Liu, Mo Li

原文摘要

Aerial vision-language navigation (VLN) asks a drone to find an object described in natural language. The description usually locates the object relative to named landmarks, such as streets and buildings. We observe that current navigators often bring the drone close to the target and then stop at the wrong place: they reach the target without finding it. This gap is shared by navigators of very different designs, from imitation learners to a fine-tuned 7B vision-language model. A simple test reveals the cause. When we replace the target object in the instruction with another one next to the same landmarks, no navigator goes to it, and most stop where they did before. Navigators learn to reach the landmarks, not to identify the described object. We therefore propose MAP-VP, a plug-and-play module for the last step. After any navigator stops, MAP-VP draws the landmarks named in the instruction onto the drone's current view, using the landmark outlines that the benchmark provides on a map. A fine-tuned 4B vision-language model then locates the target relative to these landmarks. The training data are generated automatically from the benchmark annotations. Neither drawing the landmarks nor fine-tuning helps much alone, but together they are highly effective. Without retraining any navigator, MAP-VP significantly improves all six navigators we test on CityNav. It roughly doubles the success rate of the two strongest trained navigators, raising HETT from 25.9% to 54.6% and FlightGPT from 24.2% to 48.9%, whereas CityNav's official detector-based last step adds less than two points to HETT.

cs.CV

版本更新 · v4arXiv:2607.20002

A Survey of Post-Training in Time Series Foundation Models

Shifeng Xie, Ambroise Odonnat, Zehao Xiao, Lei Zan, Malik Tiomoko, Lujia Pan, Themis Palpanas, Boris N. Oreshkin 等 10 位作者

原文摘要

Time series foundation models (TSFMs) have emerged as general-purpose models for time series analysis, but pretraining alone is often insufficient for reliable downstream deployment. Bridging this gap requires further intervention to handle domain shift, task heterogeneity, limited supervision, and computational constraints, which motivates post-training as a broad class of methods to adapt, augment, compose, calibrate, or specialize pretrained TSFMs for downstream tasks. In this work, we analyze TSFM post-training methods based on their locus of intervention in the prediction pipeline, yielding five categories: parameter adaptation, context augmentation, model composition, output processing and uncertainty control, and compression and specialization. Within each category, we study main representative methods and discuss their current limitations. We further identify future directions toward controlled adaptation, reliable context construction, uncertainty-aware model composition, calibrated output processing, and deployment-aware specialization. Overall, by providing a unifying framework for the emerging TSFM post-training landscape, this work aims to support future research to navigate the design space between a pretrained TSFM and its reliable downstream deployment.

cs.LG · cs.AI

版本更新 · v4arXiv:2310.01830

AI-Generated Images as Data Source: The Dawn of Synthetic Era

Zuhao Yang, Yu Wei, Fangneng Zhan, Kunhao Liu, Muyu Xu, Xiaoqin Zhang, Ling Shao, Shijian Lu

原文摘要

The advancement of visual intelligence is intrinsically tethered to the availability of large-scale data. In parallel, generative Artificial Intelligence (AI) has unlocked the potential to create synthetic images that closely resemble real-world photographs. This prompts a compelling inquiry: how much visual intelligence could benefit from the advance of generative AI? This paper explores the innovative concept of harnessing these AI-generated images as new data sources, reshaping traditional modeling paradigms in visual intelligence. In contrast to real data, AI-generated data exhibit remarkable advantages, including unmatched abundance and scalability, the rapid generation of vast datasets, and the effortless simulation of edge cases. Built on the success of generative AI models, we examine the potential of their generated data in a range of applications, from training machine learning models to simulating scenarios for computational modeling, testing, and validation. We probe the technological foundations that support this groundbreaking use of generative AI, engaging in an in-depth discussion on the ethical, legal, and practical considerations that accompany this transformative paradigm shift. Through an exhaustive survey of current technologies and applications, this paper presents a comprehensive view of the synthetic era in visual intelligence. A project associated with this paper can be found at https://github.com/mwxely/AIGS .

cs.CV

版本更新 · v2arXiv:2606.04391

SkillAny: Online Skill Learning for Language Agents at Any Intermediate State

Jiaxi Li, Ke Deng, Yun Wang, Jingyuan Huang, Yucheng Shi, Yuanfu Sun, Qiaoyu Tan, Jin Lu 等 9 位作者

原文摘要

Language agents increasingly rely on reusable skills to improve multi-step web automation across related tasks. A growing line of work studies online skill learning, where agents continually induce skills from previous task trajectories and reuse them in future tasks on the fly. However, existing methods mainly reuse skills at the task-level: a fixed set of skills is retrieved based on the initial task instruction and then held fixed throughout execution. This static strategy is misaligned with web execution, where the appropriate next action depends not only on the task goal but also on the current webpage state, which often transitions into situations that the initial skills fail to cover. To address this gap, we introduce SkillAny, an online skill learning framework that enables language agents to learn, retrieve, and invoke reusable skills at any intermediate state during task execution. Three components jointly enable this capability: sliding-window extraction turns completed trajectories into sub-procedures applicable beyond task boundaries, a dual text-code representation makes each skill both retrievable and executable, and step-level task-state retrieval selects skills that match the goal and the current webpage state as execution unfolds. Experiments on WebArena across five domains show that SkillAny consistently outperforms strong baselines, achieving average success rates of 37.5% with GPT-4.1 and 24.3% with Qwen3-4B, corresponding to relative gains of 10.6% and 10.0% over the strongest baseline, respectively. The code is available at https://github.com/plusnli/online-skill-learning.

cs.AI

版本更新 · v2arXiv:2609.19134

ScienceIDE: Turning World's Scientific Codebase into Agent Learnable Environments

Hejia Geng, Zesen Huang, Haoyang Li, Wenbin Li, Koutian Wu, Zihan Zhou, Yuanbo Pang, Weihao Liu 等 63 位作者

原文摘要

Scientific code repositories encode decades of human knowledge in executable models, methods, and tools. Yet fragmented toolchains, implicit domain conventions, and specialized correctness criteria make this knowledge difficult to convert into reliable learning experience-a challenge we call the scientific experience bottleneck. We introduce ScienceIDE, infrastructure for turning the world's scientific code into programmable environments for scientific agents. Guided by expert-defined scientific cases and acceptance criteria, agents transform repositories into executable environments that support task generation, execution, and scientific verification. These environments provide a shared foundation for supervised fine-tuning, reinforcement learning, and evaluation. Using verified interaction trajectories, we train PhAI-IDE-72B/9B/4B. The model family shows gains in held-out scientific-code repair and across selected general-purpose benchmarks in code, reasoning, and knowledge, providing evidence of positive transfer from scientific experience to broader capabilities. ScienceIDE lays the foundation for an integrated workspace for agent learning and scientific practice, making humanity's scientific software a shared substrate for developing scientific intelligence. Code: https://github.com/aitofound/ScienceIDE

cs.CL · cs.CY

版本更新 · v3arXiv:2605.13230

Teacher-Guided Policy Optimization for On-Policy Reasoning Distillation under Large Policy Divergence

Xinyu Liu, Kechen Jiao, Chunyang Xiao, Runsong Zhao, Junhao Ruan, Bei Li, Jiahao Liu, Qifan Wang 等 13 位作者

原文摘要

On-policy distillation (OPD) has become a promising paradigm for reasoning-oriented post-training of large language models (LLMs), especially when combined with reinforcement learning from verifiable rewards (RLVR). Existing OPD methods rely on reverse KL (RKL)-based teacher supervision over trajectories sampled from the student policy. However, we identify a critical limitation: under large teacher--student policy divergence, RL-driven exploration often produces trajectories outside the teacher distribution, resulting in uninformative negative feedback. To address this, we propose Teacher-Guided Policy Optimization (TGPO), an on-policy reasoning distillation method that remains effective under large policy divergence settings. Rather than relying solely on evaluative supervision, TGPO uses teacher to directly guide token level generation conditioning on student-generated contexts; together with RLVR-style trajectory level rewards, TGPO steers exploration toward improved continuations. Experiments on reasoning benchmarks show that TGPO consistently outperforms existing RKL-based OPD methods and remains robust across different teacher models.

cs.LG · cs.AI

版本更新 · v3arXiv:2509.00031

End-to-End On-Device Quantization-Aware Training for LLMs at Inference Cost

Qitao Tan, Xiaoying Song, Ningxi Cheng, Guoming Li, Jun Liu, Lingzi Hong, Caiwen Ding, Jundong Li 等 14 位作者

原文摘要

Quantization reduces the deployment cost of large language models (LLMs). However, post-training quantization (PTQ) cannot fine-tune model parameters and often degrades accuracy in low-bit settings, while quantization-aware training (QAT) requires backpropagation and incurs high memory overhead. We propose ZeroQAT, a zeroth-order QAT framework supporting both weight and activation quantization. By using forward-only gradient estimation, ZeroQAT removes backpropagation and substantially reduces memory and computation while retaining end-to-end optimization benefits. We further introduce a lightweight variant of ZeroQAT for quantized fine-tuning, which freezes and pre-quantizes most parameters to further cut memory usage. Experiments show that ZeroQAT consistently outperforms representative PTQ and QAT baselines while requiring significantly less memory. For example, ZeroQAT enables fine-tuning of a 13B model at extremely low bit-widths (e.g., 2-4 bits) on a single 8GB GPU, and even allows fine-tuning a 6.7B model on a OnePlus 12 smartphone, demonstrating its practicality for end-to-end QAT on resource-limited edge devices.

cs.LG · cs.AI

新论文 · v1arXiv:2611.08731

eSharp: Diffusion-based Sharp Monocular Metric Event-to-Depth Estimation

Qiushi Dai, Aniket Dashpute, Yuhao Liu, Rishubh Parihar, Guha Balakrishnan, Ashok Veeraraghavan

原文摘要

Depth perception is fundamental for autonomous navigation, industrial inspection, and mixed-reality systems. It often operates under strict constraints on power and form factor. In such cases, monocular depth estimation (MDE) is often used. Even as recent advances continue to improve monocular depth quality, conventional frame-based MDE systems remain challenged by fast motion and high-dynamic-range scenes. This work introduces eSharp, an MDE framework that addresses these problems using an event camera. eSharp repurposes pretrained diffusion priors for event-only MDE and produces accurate metric depth with unparalleled sharpness on real data. Real-world event datasets provide only sparse LiDAR depth maps for ground-truth supervision, making dense prediction challenging. We address this limitation through cross-modal distillation, using LiDAR-calibrated dense pseudo-labels generated from a spatially co-registered frame camera to train eSharp. Experiments show that eSharp outperforms prior event-to-depth baselines in both metric-depth accuracy and spatial fidelity, establishing diffusion models as a promising foundation for event-driven 3D perception.

cs.CV · eess.IV

版本更新 · v4arXiv:2608.05466

Recursive Synthesis for Long-Horizon Terminal Tasks

Zhongzhi Li, Yucheng Shi, Zongxia Li, Ruhan Wang, Anhao Li, Jiaxi Li, Junyao Yang, Lei Ke 等 14 位作者

原文摘要

High-quality long-horizon training data for terminal agents is costly and difficult to scale, as manual authoring is expensive and direct LLM generation often produces inconsistent instructions, environments, solutions, and verifiers. We present Recursive Synthetic Terminal Tasks (RST), a recursive verified synthesis framework for constructing long-horizon terminal-agent tasks at scale. Starting from verified seed tasks, RST extends the reference solution, realigns the verifier and instruction to the new workflow, validates the result in a fresh sandbox, and reuses accepted tasks as seeds for subsequent rounds. Across fifteen recursive rounds, RST produces 37,484 synthesized terminal-agent tasks at roughly $0.05 per task. Task difficulty increases substantially over rounds: the median reference solution grows from 67 to 374 lines, the median number of executed commands grows from 40 to 244, and DeepSeek-V4-Pro pass@4 drops from 90% at R1 to 2.5% at R15. To demonstrate training utility, we collect rejection-sampled Qwen3.5 trajectories on the synthesized tasks and use them for supervised fine-tuning. Fine-tuning on these trajectories improves Qwen3.5-27B and Qwen3.5-122B-A10B by up to 10 points on Terminal-Bench 2, Terminal-Bench Hard, and Long-Horizon Terminal Bench, while agentic PPO lifts Qwen3.5-27B to 49.44%, 32.00%, and 22.07% on the three benchmarks, corresponding to relative gains of 20.0%, 41.2%, and 21.9% over the base model. Moreover, after 15 rounds, the recursion shows no ceiling: synthesis yield and validation rates remain stable as difficulty keeps climbing, indicating that the process can continue well beyond the scale reported here.

cs.AI · cs.LG

新论文 · v1arXiv:2611.08578

HaNDF: Object-Conditioned Geometric Neural Hand Distance Fields

Zuhao Liu, Melih Darcan, Zhengdi Yu, Riza Alp Guler, Tolga Birdal

原文摘要

We propose, HaNDF, object-conditional neural distance fields as data-driven priors for modeling the plausible hand-object configurations, in the product manifold of hand articulations. While recent unconditional generative priors showed success in modeling human pose, hands are versatile articulated bodies often found in interaction with other objects. This makes it crucial to develop a generative prior which can model the plausible hand poses conditioned on the object under interaction. To this end, our HaNDF proposes a geometry-aware, object-conditioned neural distance field, representing the plausible articulations in the zero-level set of a conditional field. We leverage tools from Riemannian geometry to (i) represent plausible hands in the zero level-set of an object-induced neural field, and (ii) project a given pose onto this field. Using HaNDF, we can also optimize for a plausible condition, determining the object under interaction. Our extensive evaluations demonstrate that our HaNDF provides a flexible and powerful prior for hand-object interaction, suitable for applications such as pose refinement, reconstruction under occlusion, and physically plausible manipulation synthesis.

cs.CV · cs.AI · cs.LG · cs.RO

版本更新 · v2arXiv:2606.23431

DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy

Haichao Liu, Yuyao Jiang, Hyunsun Park, Yuanjiang Xue, Mingze Sun, Ziwei Liu, Ziwei Wang

原文摘要

Fine-grained, bimanual dexterous manipulation remains a foundational challenge in robotics. Embodiment gaps hinder accurate kinematic mapping, and visual tracking alone does not regulate contact forces. To address these limitations, we propose a tactile-driven adaptation strategy designed to enable fine-grained manipulation on top of teleoperation pipelines. Instantiated within our bimanual dexterous framework, DexTeleop-0, this strategy introduces a real-time optimization loop that adds robot-side contact corrections to human tracking commands using fingertip feedback. By estimating contact positions and forces, the system dynamically computes localized corrections using a contact-stiffness approximation and the kinematic Jacobian, with per-contact vector force tracking, soft predicted-contact-moment regularization, and bounded hand-joint residuals. We evaluate this tactile-driven adaptation strategy across both simulated environments and real-world hardware. Controlled simulation replay yields final-stage success rates of 91% for Ball Assembly and 62% for Stir in Cup, versus 88% and 49% for force tracking alone. Fixed-input replay on two hand types, seven-operator teleoperation, and external-force traces further assess contact assistance. The open-sourced project page can be found at https://henryhcliu.github.io/dexteleop-0.

cs.RO

版本更新 · v3arXiv:2606.14571

StreamMemBench: Streaming Evaluation of Agent Memory for Future-Oriented Assistance

Guanming Liu, Yuqi Ren, Hansu Gu, Peng Zhang, Weihang Wang, Jiahao Liu, Ning Gu, Tun Lu

原文摘要

A central role of personal-agent memory is to turn stored information and prior interactions into future-oriented assistance. In daily use, useful cues come from what the agent observes and how the user interacts with the agent, and the agent must carry them forward from the current request to similar future tasks. Existing memory benchmarks usually test dialogue recall or task improvement in isolation, leaving the trajectory from streaming observations to later assistance largely untested. We introduce StreamMemBench, a streaming benchmark that constructs a two-step task sequence around each evidence anchor from EgoLife egocentric streams. The initial task tests evidence use, while the follow-up task tests whether feedback and interaction experience are reused. Four metrics diagnose evidence recall, initial evidence use, feedback incorporation, and follow-up reuse. Experiments with eight memory systems across two backbones show that current systems often fail to use observed evidence or turn feedback into reliable follow-up behavior, even when evidence is stored or feedback is incorporated locally. StreamMemBench is publicly available at https://github.com/landian60/StreamMemBench.

cs.AI

版本更新 · v5arXiv:2608.18234

GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction

Ziyang Cheng, Tianshu Tang, Jinxin Lan, Xinze Chen, Yuhan Gong, Zhichao Liu, Changzhong Wu, Yahao Mao 等 22 位作者

原文摘要

General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands. We introduce InterTrack, the first behavior world model (BWM) for robust whole-body tracking with environment interaction. Its Transformer jointly predicts the next action, state, and behavior distribution, learning environment-conditioned dynamics. To scale interaction training data, an automatic annotation pipeline reconstructs 3D support geometry from retargeted motions. At deployment, the policy handles commands implausible in the current environment in a "best-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot, alongside object interaction, stable responses to missing supports, and robust recovery from falls.

cs.RO · cs.AI · cs.LG

版本更新 · v2arXiv:2608.01651

Twig: Parallel and Memory-Efficient Tree Speculative Decoding for Hybrid-Attention LLMs

Li Wang, Yi Su, Xiabao Wu, Chiran You, Yongchao Liu, Zhan Qiu, Juelu Zhang, Jiajun Zheng 等 12 位作者

原文摘要

Emerging LLMs increasingly interleave full attention with recurrent linear attention to reduce long-context serving costs. Tree speculative decoding could further accelerate these hybrid models, but recurrent linear-attention layers carry parent-dependent states. Existing engines therefore verify proposal trees sequentially and snapshot the full state per node, causing latency and memory to grow with tree and batch sizes. We present Twig, a kernel--runtime co-design for tree speculative decoding of hybrid LLMs. Twig derives a tree-structured factorization of the linear-attention recurrence and realizes it with a resource-efficient GPU kernel that verifies all nodes in parallel, accelerating linear-attention tree verification by 3.4--7.7$\times$. It losslessly represents speculative state updates as token-level factors and reconstructs only the accepted state, reducing transient state memory by 82--99$\times$ and freeing GPU memory for KV caches. We integrate Twig into SGLang, a widely deployed production LLM serving engine, and further optimize its runtime through batch-wide verification budgeting. Across four models, two GPU platforms, and diverse datasets, Twig achieves up to $4.72\times$ the offline decode throughput of autoregressive decoding and up to $2.03\times$ that of the strongest tree-speculative baseline. Under online agent workloads, Twig reduces TTFT and TPOT by up to $67.6\%$ and $49.9\%$, respectively, over the strongest tree-speculative baseline.

cs.DC · cs.CL · cs.LG

版本更新 · v2arXiv:2605.16797

EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

Liuchuan Yu, Erdem Murat, Beichen Wang, Yan Zeng, Tingting Luo, Huizhen Zhou, Shanghao Li, Huining Feng 等 13 位作者

原文摘要

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone, iPhone, iPad, smart glasses, or extended reality (XR) headset, exposes a different SDK, a different policy on raw camera access, and different limitations on external USB cameras and on-device tracking. Synchronized ego-view and wrist-view capture is therefore typically obtained by either committing to a single proprietary platform or building one-off rigs that do not transfer across devices. To address this gap, we present EgoKit, a toolkit that exposes the same egocentric recording workflow across six heterogeneous host devices. Across all supported devices, EgoKit presents the same recording interaction and produces locally stored video with a uniform log format; on XR headsets, it additionally logs head pose and OpenXR-standard 26-joint hand tracking aligned to the video streams. The companion accessories, including two wrist cameras with mounts, a head strap, and a USB-C hub, add wrist-view capture to any supported host without custom hardware fabrication. To validate that EgoKit data can train robot policies, we replicated HumanEgo with 41 demonstrations recorded by EgoKit-PICO: in simulation, policies trained on 20 or 40 of them placed a cube on a tray in 60-74% of 100 unseen layouts, about as often as policies trained on Project Aria recordings of the same layouts. EgoKit is available at https://egokit.chuange.org/.

cs.CV · cs.RO

新论文 · v1arXiv:2611.05609

On the Generalization Limitation of On-Policy Distillation for Post-RL Consolidation

Yichen Wang, Yufa Zhou, Siqi Zhu, Haozheng Luo, Jingzhi Bao, Zhichao Liu, Zijun Wei

原文摘要

Multi-teacher on-policy distillation (MOPD) extends on-policy distillation (OPD) to consolidate capabilities from multiple teachers. Although prior work reports near-perfect in-distribution (IND) distillation performance, we find that this can mask incomplete capability consolidation beyond the supervised distribution. A preliminary study on synthetic reasoning shows that OPD does not fully transfer teachers' generalization capabilities. We then extend this investigation to real-world tasks, evaluating extrapolative and compositional generalization across mathematical reasoning, coding, agent, and long-context capabilities using Qwen3 models. Across extrapolative settings, OPD and MOPD reach 96.04-102.73% of their teachers' IND scores. Yet their out-of-distribution (OOD) scores remain 2.45-16.25% below the base model's. Across three compositional settings, MOPD improves IND performance over the base model, but its performance on composed tasks as OOD remains 18.19-24.34% below that of the best teachers. To understand these gaps, we examine teacher capability and data coverage as two potential bottlenecks. Jointly alleviating these bottlenecks eliminates OOD forgetting in our experiments and suggests the potential for generalization beyond the teacher. (M)OPD also reduces OOD forgetting on average relative to its reinforcement learning (RL) baselines. Analysis of the associated update geometry reveals smaller and more spectrally concentrated updates on average than those of the RL baselines, along with greater shared update structure under MOPD. Motivated by these findings, we propose geometry-based patching and base-preserving replay to improve OOD performance while largely preserving IND performance. Our findings identify a blind spot in capability consolidation via (M)OPD, highlighting the need for algorithms that explicitly support OOD retention and generalization.

cs.LG

版本更新 · v4arXiv:2606.00537

PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking

Junnan Nie, Jiayi Li, Chenghao Liu, Junyi Lao, Jiachen Zhang, Tianle Zhang, Songfang Huang

原文摘要

Action-chunking robot policies predict sequences of future actions, but deployment requires choosing how many actions to execute before replanning. The execution horizon trades off feedback frequency against motion continuity. However, success varies non-monotonically with the execution horizon, and the best-performing horizon differs across tasks. These effects make a single fixed horizon unreliable as a default execution strategy across tasks. We propose PACE (Phase-Aware Chunk Execution), a training-free method that selects execution horizons online from predicted action chunks. PACE uses prominent low-speed valleys in the predicted speed profile as candidate replanning boundaries, exploiting the phase-dependent kinematics of manipulation trajectories. By default, PACE calibrates the valley threshold from each task's existing training demonstrations, without task-specific fixed-horizon tuning. On the 50-task RoboTwin2.0 benchmark, PACE improves average success from 57.8% to 64.2% over the strongest fixed-horizon baseline and outperforms the adaptive execution baselines AAC and AutoHorizon. With GR00T N1.7 on LIBERO, PACE achieves the highest overall success rate among the evaluated strategies, supporting its applicability across base policies, benchmarks, and action representations. On real robots, PACE improves the average task score from 60.7 to 77.7 and success rate from 50.7% to 70.4% over full-chunk execution. Code is available at https://niejunnan25.github.io/pace-project/.

cs.RO