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新论文 · v1arXiv:2611.06673

Which Physical Tactile Cues Matter for Contact-Rich Imitation Learning? A Controlled Real-Robot Study

Xuhao Qin, Xiyan Huang, Haoyu Dong, Xi Zhang, Chenxi Xiao

原文摘要

Vision-based tactile sensors capture multiple aspects of physical interaction within a single image stream, including contact appearance, geometry, indentation depth, and tangential deformation. However, existing visuo-tactile policies often directly process tactile observations as images, making it difficult to determine which physical cues contribute to policy learning. This paper presents a controlled real-robot study that compares physically interpretable tactile signals using the LeRobot platform, enhanced with our visuo-tactile perception system. From the same tactile stream, we derive tactile RGB images, normal/depth maps, and marker-flow fields, representing contact appearance, geometry, and tangential deformation, respectively. Using identical task demonstrations and the same policy backbone, we evaluate the individual and combined contributions of these tactile cues. We further compare tactile encoders and visuo-tactile fusion strategies. Evaluation across 720 real-robot trials yields four key findings: (1) tactile perception substantially improves the overall success rate from 57.8% to 78.9%, although its contribution varies across task stages; (2) marker flow is the most effective individual cue, achieving a success rate of 74.4% and playing a particularly important role in regulating established contact; (3) cue-factorized encoding consistently improves performance, highlighting that different physical cues require tailored processing techniques; and (4) although the effectiveness of tactile fusion is task-dependent, cross-attention offers a lightweight solution with performance comparable to that of pretrained tactile encoders.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2502.14379

Achieving adaptivity and optimality for multi-armed bandits using Exponential-Kullback Leibler Maillard Sampling

Hao Qin, Kwang-Sung Jun, Chicheng Zhang

原文摘要

We study the problem of $K$-armed bandits with reward distributions belonging to a one-parameter exponential distribution family. In the literature, several criteria have been proposed to evaluate the performance of such algorithms, including Asymptotic Optimality, Minimax Optimality, Sub-UCB, and variance-adaptive regret bound. Thompson Sampling-based and Upper Confidence Bound-based algorithms have been employed to achieve some of these criteria. However, none of these algorithms simultaneously satisfy all the aforementioned criteria. In this paper, we design an algorithm, Exponential Kullback-LeiblerMaillard Sampling (abbrev. Exp-KL-MS), that achieves multiple optimality criteria simultaneously, including Asymptotic Optimality, minimax ratio with a $\sqrt{\ln (K)}$ factor, Sub-UCB, and a variance-adaptive regret bound. Our algorithm design follows the Minimum Empirical Divergence framework~\citep{honda2011asymptotically,maillard2011apprentissage}, with the exploration probability of arm $a$ proportional to $\text{exp}\left(-L(N_{t-1, a}) \text{KL}(\hatμ_{t-1, a}, \max_{a'} \hatμ_{t-1, a'})\right)$, where $L(\cdot)$ is an inverse temperature function, $N_{t-1, a}$ is the number of times arm $a$ has been pulled before time $t$, $\hatμ_{t-1, a}$ is the empirical mean of arm $a$ before time $t$, and $\text{KL}(\cdot, \cdot)$ is the Kullback-Leibler divergence between two distributions in the one-parameter exponential distribution family. Our analysis allows different choices of inverse temperature function $L(k)$. We also provide numerical simulations demonstrating the effectiveness of our algorithms.

cs.LG · cs.DS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.13686

Optimal and Efficient Contextual Combinatorial Semi-bandits with General Function Approximation

Hao Qin, Chicheng Zhang

原文摘要

We study the contextual combinatorial semi-bandit (CCSB) problem, where at each round, the learner observes a context, selects a combinatorial action consisting of a subset of basic arms, and receives the reward of each selected arm; its goal is to maximize its cumulative reward over time. While many previous works focus on CCSB problems with linear reward function approximation, the design of efficient algorithms for the CCSB problem with general reward function approximation is limited. In this work, we study the realizable setting where the learner has access to a reward function class $\mathcal{F}$ that contains the true reward function, and propose the $\mathrm{SquareCB{.}Comb}$ algorithm. We prove that $\mathrm{SquareCB{.}Comb}$ achieves a minimax optimal regret bound of $O(\sqrt{m A T \log |\mathcal{F}|})$, where $A$ is the number of arms, $m$ is the maximum number of arms in a combinatorial action, and $T$ is the time horizon. In addition, $\mathrm{SquareCB{.}Comb}$ is computationally efficient when we have an online regression oracle that can efficiently predict rewards of all arms given contexts, and the combinatorial action set admits either efficient linear optimization or efficient sampling given any target marginal probability on arms. We empirically verify the effectiveness of our algorithm in webpage recommendation and contextual shortest path problems.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.07794

Density Decomposition on Hypergraphs

Xiaoyu Leng, Hongchao Qin, Rong-Hua Li, Guoren Wang

原文摘要

Hypergraphs capture higher-order interactions involving multiple entities. Existing decomposition models, such as $k$-core and nbr-$k$-core, rely on degree or neighborhood constraints and may overlook fine-grained density variations. We propose a $(k,δ)$-dense subhypergraph model based on capped hyperedge contributions. For each parameter pair, the unique dense set is the inclusionwise smallest maximizer of a penalized capped hyperedge contribution. These dense sets form a nested hierarchy characterized by egalitarian $δ$-orientations and hypergraph reachability. We develop three algorithms for dense subhypergraph search and two for complete density decomposition. Both decomposition algorithms use integral flow balancing: Flow-Decomp extracts density levels through strongly connected component condensation, while Reverse-Decomp uses direct reverse propagation. Once an egalitarian orientation is obtained, both recover all density levels in linear time. We further derive sandwich bounds that restrict computation to equivalent residual subproblems and develop incremental algorithms for maintaining the hierarchy under hyperedge insertions and deletions. Experiments on nine real-world hypergraphs, including datasets with over 15 million vertices, compare our methods with four established decomposition models. The results show that Reverse-Decomp improves decomposition efficiency, incremental maintenance outperforms recomputation in the tested settings, and the proposed model captures density structures overlooked by degree-based decompositions.

cs.SI · cs.DS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.13004

EffiBench-X: A Multi-Language Benchmark for Measuring Efficiency of LLM-Generated Code

Yuhao Qing, Boyu Zhu, Mingzhe Du, Zhijiang Guo, Terry Yue Zhuo, Qianru Zhang, Jie M. Zhang, Heming Cui 等 12 位作者

原文摘要

Existing code generation benchmarks primarily evaluate functional correctness, with limited focus on code efficiency and often restricted to a single language like Python. To address this gap, we introduce EffiBench-X, the first multi-language benchmark designed to measure the efficiency of LLM-generated code. EffiBench-X supports Python, C++, Java, JavaScript, Ruby, and Golang. It comprises competitive programming tasks with human-expert solutions as efficiency baselines. Evaluating state-of-the-art LLMs on EffiBench-X reveals that while models generate functionally correct code, they consistently underperform human experts in efficiency. Even the most efficient LLM-generated solutions (Qwen3-32B) achieve only around \textbf{62\%} of human efficiency on average, with significant language-specific variations. LLMs show better efficiency in Python, Ruby, and JavaScript than in Java, C++, and Golang. For instance, DeepSeek-R1's Python code is significantly more efficient than its Java code. These results highlight the critical need for research into LLM optimization techniques to improve code efficiency across diverse languages. The dataset and evaluation infrastructure are submitted and available at https://github.com/EffiBench/EffiBench-X.git and https://huggingface.co/datasets/EffiBench/effibench-x.

cs.CL

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-demo.66ACL Anthology · ACL 2026

Formally Specifying the Intended Behavior of the Program: LLM-Driven Neuro-Symbolic Program Specification Synthesis

Cheng Wen Xi'an University of Electronic Science and Technology, Hu Junjie, YiKun Hu, Jie Su Xi'an University of Electronic Science and Technology, Bin Yu, Dugang Liu Shenzhen University, Zhiwu Xu Shenzhen University, Weidi Sun Peking University 等 10 位作者

原文摘要

Formal verification can provide strong mathematical guarantees about software correctness, but it typically requires developers to write detailed formal specifications (e.g., contracts and loop invariants), which is costly and error-prone. We introduce AutoSpec+, an LLM-driven neuro-symbolic demonstration system that reframes specification writing as constrained structured synthesis: large language models generate candidate specifications at the granularity of proof-relevant program components, while a symbolic verifier acts as a deterministic critic that checks legality, satisfiability, and proof adequacy, rejecting or repairing candidates in an iterative loop. This design turns unconstrained text generation into constrained structured synthesis, substantially reducing hallucinations and producing proof-ready annotations. We evaluate AutoSpec+ on seven benchmark suites, showing strong effectiveness. We release an open-source, Dockerized system with ensemble LLM backends and inter-modular verification support for reproducible demonstration and deployment

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表