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新论文 · v1arXiv:2611.12885

更新于 2026-11-10

面向智能体机器人操作的世界上下文学习

World In-Context Learning for Agentic Robot Manipulation

Heng Fang, Zehui Guo, Yuehan Zhang, Mingyang Du, Dingkang Liang, Xiang Bai

AI 速读基于摘要

提出 World In-Context Learning（WICL）范式与 RoboScript 框架：冻结模型从单次演示出发，在仿真世界中排练任务，把反馈写入上下文而非权重，从而在新场景中完成操作任务。

cs.CV · cs.RO

查看原文摘要

Trained action policies write manipulation skill into network weights, tying what is learned to the distribution it is learned from. In-context learning (ICL) avoids this coupling but has not matched trained policies, because a demonstration recorded in another scene carries no feedback from the world the robot currently faces. We observe that what an agent learns in context is semantic, recording task steps and object roles rather than visual appearance, so experience gathered in one world transfers to another. Based on this insight, we propose World In-Context Learning (WICL), a paradigm in which a frozen model starts from a demonstration, rehearses the task in a world such as a simulator, and writes the feedback into its context rather than its weights. We build RoboScript, a modular infrastructure that implements WICL for agentic manipulation. From a single demonstration, RoboScript learns each task through rehearsal in simulation, freezes the learned knowledge as a Task Memory, and deploys the frozen memory on new scenes with data isolation that ensures every deployment input is available on a real robot. On all 50 tasks of RoboTwin 2.0, RoboScript reaches 83.4% mean success across clean and randomized settings with one demonstration per task and no gradient updates, exceeding the strongest trained action policy by over 20 points. The method generalizes across visual distributions, improves through reflection, scales with the foundation model, and transfers to a physical dual-arm robot through cross-embodiment memory adaptation. With a world in the loop, a robot can learn a manipulation task in its context as well as it learns one in its weights. All code is available at https://github.com/ArcheOne-AI/RoboScript

版本更新 · v3arXiv:2503.00747

更新于 2026-11-08

LFX: Fusion-Form-Flexible Light Field Modeling for Dense Semantic Segmentation and Salient Object Detection

Fei Teng, Lingxin Huang, Buyin Deng, Kai Luo, Boyuan Zheng, Zheng Fang, Hong Zheng, Kunyu Peng 等 11 位作者

原文摘要

Two distinct light field (LF) observation forms, namely sub-aperture images (S.Aperture images) and focal stack (FS), correspond to two fusion settings: the central image with S.Aperture images (CS) and the central image with FS (CF). Existing LF perception methods are typically form-specific, while a modeling design that can be separately instantiated under either setting remains underexplored. To address this gap, we present LFX, a form-flexible LF perception framework. Here, ``X'' represents the LF observation form, indicating that the one modeling design can be separately instantiated under two fusion settings (CS and CF). Specifically, we propose Field-of-Parallax Angular Subspace Modeling (FoP-ASM), which maps the feature difference between each auxiliary observation and the central image to an observation-specific angular marker. This avoids pairwise modeling among auxiliary observations and form-specific geometric assumptions. Meanwhile, a shared manifold subspace and the associated regularization losses constrain the angular residuals within a common feature space, promoting semantic consistency across auxiliary observations. Extensive evaluations across three LF datasets show that LFX achieves state-of-the-art results across distinct LF forms. Under the S.Aperture images and FS settings, respectively, LFX reduces MAE by 12.12%/20.59% on DUTLF-V2 and by 6.15%/7.69% on HFUT, while achieving the best performance on UrbanLF-real. The source code will be made publicly available at https://github.com/FeiT-FeiTeng/LFX.

cs.CV · cs.RO · eess.IV

新论文 · v1arXiv:2611.02341

更新于 2026-11-02

AgiWorld: An Agentic Video World Model for Building Persistent Worlds

Shaoheng Fang, Yiqun Mei, Hanwen Jiang, Xin Sun, Haitian Zheng, Hao Tan, Kalyan Sunkavalli, Georgios Pavlakos 等 10 位作者

原文摘要

Recent interactive video world models generate visually compelling videos from a single image, following user-provided camera motion and text prompts. However, such low-level control demands substantial user effort to realize a high-level intent, and the generated world struggles to remain persistent as the exploration proceeds. In this work, we present AgiWorld, an agentic video world model that explores and builds a persistent world from a single image and a free-form instruction. For high-level planning, our agent AgiWorld-Agent designs the world and the journey through it in a world state and directs the exploration. For low-level realization, our video world model AgiWorld-WM generates the video chunk by chunk and stores it with its geometry in a spatial memory, from which the agent updates its world state. This closed loop keeps the world faithful to the user's intent and keeps the agent's world state consistent with the generated content throughout the exploration. We co-design the two levels around the shared spatial memory and an interface of metric camera trajectories and structured prompts. In AgiWorld-WM, to handle occlusion and accumulated geometric errors in the spatial memory over long rollouts, we propose occlusion-aware history selection, which retrieves past views by surface visibility, and reliability-based memory maintenance, which prefers reliable geometry and earlier observations. AgiWorld-WM achieves state-of-the-art overall performance on world revisiting and exploration benchmarks, and qualitative results and ablations show that AgiWorld builds persistent worlds from free-form instructions over minute-long journeys. Persistence thus arises not from the video model alone but from its closed loop with the agent.

cs.CV · cs.AI

版本更新 · v2arXiv:2610.34321

更新于 2026-10-29

TopX: Text-to-Motion for Unseen Skeletons from the Skeleton File Alone

Tengjiao Sun, Pengcheng Fang, Xiaoyu Zhan, Dongjie Fu, Xiaohao Cai, Hansung Kim

原文摘要

Text-to-motion models generate motion only for the skeletons they were trained on, while a new character arrives as a skeleton file and nothing else. We study text-to-motion for skeletons unseen in training, without clips of the character, templates, retargeting or fine-tuning. We present TopX, a 73M-parameter flow-matching transformer that generates joint rotations and a root trajectory for any skeleton from its kinematic tree, rest pose and joint names. Motion is normalised by the rest pose and the size of the skeleton, and the rest pose is encoded as a world-frame descriptor that is independent of how the rig's author oriented each joint, while rest conventions are randomised during training. Attention is factorised over the joints and the frames of a motion. Across joints, queries and keys are rotated by HK-RoPE, a heat-kernel rotary encoding of the skeleton graph that is defined for every tree and does not change with the order of its joints or the eigenbasis of its Laplacian; across frames, they are rotated by a rotary encoding of frame order. To evaluate this generalisation, we build SkelShift, which unifies four motion corpora under one codec and holds out whole skeletons, tree classes and species, so that each test bucket isolates one kind of skeleton shift: topology, joint count, body plan, species or rig source. It scores motion quality without a learned evaluator. A single model animates every benchmark skeleton (4--117 joints) directly from its skeleton file and generates up to 240 frames. On held-out game species its motion is about as close to the real clips as two halves of the real clips are to each other (kernel distance 0.127 against 0.124), and text-to-motion retrieval reaches R@1 0.953, compared with 0.929 for real motion. Project page: https://chdtevior.github.io/TopX-page/.

cs.CV

新论文 · v1arXiv:2610.35333

更新于 2026-10-26

RepoTrace: Improving Requirement Tracing in Multi-Round Agent Interactions

Huanyu Liu, Yezheng Cheng, Jinliang You, Tianxiao Huang, Linyu Li, Zheng Fang, Peng Cao, Ge Li

原文摘要

Code agents have become increasingly capable of performing software engineering tasks through interaction with software environments. However, agents tend to degrade as the number of interaction rounds increases, making it difficult to maintain existing software during iterative modification. We analyze 2,656 agent trajectories in EvoCode-Bench and identify requirement focus misalignment as a recurring failure pattern, where agents struggle to distinguish the primary modification targets of a requirement from unrelated code. We propose Repotrace a requirement-driven repository understanding harness that combines repository structure with requirement semantics to construct a requirement-code correspondence and injects it into the agent context. This correspondence enables code agents to follow the repository architecture, trace requirements across multi-round interactions, and identify the core code elements corresponding to the current requirement. Experiments show that Repotrace improves the mean per-round reward (MPR) across different models (e.g., +19.99 on GLM-5.2) and agent harnesses (e.g., +10.22 on Claude Code). Across rounds, Repotrace increases the average per-round reward from 0.163 to 0.371 on Terminus-2 with DeepSeek-V4-Pro, while reducing average regression errors by 56.78%. We release the source code and agents' trajectories to support future research.

cs.SE · cs.AI

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1318ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

DVI-DTM: Dual-View Representation Learning for Interpretable Short Text Dynamic Topic Modeling

Di Liu Beijing University of Posts and Telecommunications, Zheng Fang University of the Chinese Academy of Sciences, Bin Wu Beijing University of Posts and Telecommunications

原文摘要

Dynamic topic modeling aims to capture topic evolution from temporal text corpora. However, existing methods face two major challenges when applied to short texts: semantic ambiguity and interpretation ambiguity. Semantic ambiguity arises from the sparsity of short texts and the neglect of temporal semantic shifts. Interpretation ambiguity refers to the latent topics that lack human-understandable descriptions. In this work, we propose a novel Dual-View representation learning-based Interpretable short text Dynamic Topic Model (DVI-DTM). To address semantic ambiguity, the Dual-View Representation Learning module is presented to learn robust document-topic distributions by aligning temporal-aware term view and sentence view representations of short texts. To tackle interpretation ambiguity, we introduce a GEA Topic Refiner that leverages LLM agents to generate topic descriptions and refine document-topic distributions through collaborative semantic reasoning. Furthermore, a Dual-Factor Ranking module is designed to capture the topic evolution through semantic relevance and temporal uniqueness. Comprehensive experiments demonstrate that DVI-DTM outperforms the state-of-the-art baselines in topic alignment and dynamic topic quality metrics while producing highly interpretable topic descriptions.

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.1420ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

EA-Agent: A Structured Multi-Step Reasoning Agent for Entity Alignment

Yixuan Nan, Xixun Lin Institute of Information Engineering, Chinese Academy of Sciences, Yanmin Shang University of the Chinese Academy of Sciences, Ge Zhang Donghua University, Zheng Fang, Fang Fang Institute of Information Engineering,Chinese Academy of Sciences, Yanan Cao Institute of Information Engineering, Chinese Academy of Sciences

原文摘要

Entity alignment (EA) aims to identify entities across different knowledge graphs (KGs) that refer to the same real-world object and plays a critical role in knowledge fusion and integration. Traditional EA methods mainly rely on knowledge representation learning, but their performance is often limited under noisy or sparsely supervised scenarios. Recently, large language models (LLMs) have been introduced to EA and achieved notable improvements by leveraging rich semantic knowledge. However, existing LLM-based EA approaches typically treat LLMs as black-box decision makers, resulting in limited interpretability, and the direct use of large-scale triples substantially increases inference cost. To address these challenges, we propose EA-Agent, a reasoning-driven agent for EA. EA-Agent formulates EA as a structured reasoning process with multi-step planning and execution, enabling interpretable alignment decisions. Within this process, it introduces attribute and relation triple selectors to filter redundant triples before feeding them into the LLM, effectively addressing efficiency challenges. Experimental results on three benchmark datasets demonstrate that EA-Agent consistently outperforms existing EA methods and achieves state-of-the-art performance. The source code is available at https://anonymous.4open.science/r/EA-Agent-5696.

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.2010ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Deep Research with Open-Domain Evaluation and Multi-Stage Guardrails for Safety

Wei-Chieh Huang, Henry Peng Zou University of Illinois at Chicago, Yaozu Wu The University of Tokyo, Dongyuan Li The University of Tokyo and Institute of Science Tokyo, Yankai Chen Cornell University, Weizhi Zhang University of Illinois at Chicago, Yangning Li, Angelo Zangari 等 15 位作者

原文摘要

Deep research frameworks have shown promising capabilities in synthesizing comprehensive reports from web sources. While deep research possesses significant potential to address complex issues through planning and research cycles, existing frameworks are deficient in sufficient evaluation procedures and stage-specific protections. They typically treat evaluation as exact match accuracy of question-answering, but overlook crucial aspects of report quality such as credibility, coherence, breadth, depth, and safety. This oversight may result in hazardous or malicious sources being integrated into the final report. To address this, we introduce DeepResearchGuard, a framework featuring four-stage safeguards with open-domain evaluation, and DRSafeBench, a novel stage-wise safety benchmark. Evaluating across GPT-4o, o4-mini, Gemini-2.5-flash, DeepSeek-v3, and GPT-5, DeepResearchGuard improves defense success rates by an absolute 16.53% while reducing over-refusal rates to approximately 6%. Through extensive experiments, we show that DeepResearchGuard enables comprehensive open-domain evaluation and stage-aware defenses that effectively block harmful content propagation, while systematically improving report quality without excessive over-refusal rates.

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.506ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Reinforcement Learning on Pre-Training Data

Siheng Li, Kejiao Li Tencent, Zenan Xu, Guanhua Huang Tencent, Kun Li, Haoyuan Wu, Wujiajia Tencent, Zihao Zheng 等 34 位作者

原文摘要

Recent progress in large language models (LLMs) is largely driven by scaling training compute through either pre-training with next-token prediction (NTP) or post-training with reinforcement learning (RL). The former contributes to learning broad knowledge and skills from general data, while struggling with data inefficiency and catastrophic forgetting in continual learning settings. The latter incentivizes reasoning capabilities with strong generalization, but is constrained by limited data availability due to its reliance on human annotation. To alleviate these issues, we propose Reinforcement Learning on Pre-Training data (RLPT), which combines the advantages of learning from general data and RL. In particular, RLPT derives reward signals directly from general text data through a next-segment reasoning objective, rewarding the policy for correctly predicting next text segments conditioned on the prefix text. Experiments across multiple benchmarks and models demonstrate the effectiveness of . For example, RLPT yields substantial improvements in continual pre-training (+4.6\%) and provides a strong foundation for post-training (+3.4\%) on Qwen3-8B-Base.

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.994ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

d-TreeRPO: Towards More Reliable Policy Optimization for Diffusion Language Models

Leyi Pan Tsinghua University, Shuchang Tao Alibaba Group, Yunpeng Zhai Alibaba Group, Zheyu Fu, Liancheng Fang University of Illinois at Chicago, Minghua He Peking University, Lingzhe Zhang, Zhaoyang Liu 等 11 位作者

原文摘要

Reinforcement learning (RL) is pivotal for enhancing the reasoning capabilities of diffusion large language models (dLLMs). However, existing dLLM policy optimization methods suffer from two critical reliability bottlenecks: (1) reward sparsity, arising from coarse or unverifiable signals that impede accurate advantage calculation; and (2) their probability estimates do not account for the gap to the unbiased expectation over all decoding orders, which are intractable to compute. To mitigate these issues, we propose d-TreeRPO, a reliable RL framework for dLLMs that leverages tree-structured rollouts and bottom-up advantage computation based on verifiable outcome rewards to provide fine-grained and verifiable step-wise reward signals. Furthermore, we provide a theoretical proof demonstrating that increasing prediction confidence effectively minimizes the gap between unbiased expected prediction probabilities and its single-step forward pass estimate. Guided by this analysis, we introduce a time-scheduled self-distillation loss during training that enhances prediction confidence in later training stages, thereby enabling more accurate probability estimation and better performance. Experiments demonstrate that d-TreeRPO outperforms existing baselines and achieves significant improvements across multiple reasoning benchmarks. Specifically, it achieves +86.2% on Sudoku, +51.6% on Countdown, +4.5% on GSM8K, and +5.3% on Math500 compared to the base model.

cs.CL

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