In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage 'grasp-then-plan' framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.
Mukai Li, Linfeng Song Google, Zhenwen Liang Tencent AI Lab, Jiahao Xu Tencent AI Lab, Shansan Gong, Qi Liu University of Hong Kong, Haitao Mi Tencent AI Lab, Dong Yu CapitalOne
Large Language Models (LLMs) have recently advanced the field of Automated Theorem Proving (ATP), attaining substantial performance gains through widely adopted test-time scaling strategies, notably reflective Chain-of-Thought (CoT) reasoning and increased sampling passes. However, they both introduce significant computational overhead for inference. Moreover, existing cost analyses typically regulate only the number of sampling passes, while neglecting the substantial disparities in sampling costs introduced by different scaling strategies. In this paper, we systematically compare the efficiency of different test-time scaling strategies for ATP models and demonstrate the inefficiency of the current state-of-the-art (SOTA) open-source approaches. We then investigate approaches to significantly reduce token usage and sample passes while maintaining the original performance. Specifically, we propose two complementary methods that can be integrated into a unified EconRL pipeline for amplified benefits: (1) a dynamic Chain-of-Thought (CoT) switching mechanism designed to mitigate unnecessary token consumption, and (2) Diverse parallel-scaled reinforcement learning (RL) with trainable prefixes to enhance pass rates under constrained sampling passes. Experiments on miniF2F and ProofNet demonstrate that our EconProver-GD achieves comparable performance to baseline methods with only 12% of the computational cost. This work provides actionable insights for deploying lightweight ATP models without sacrificing performance.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Jiahao Xu, Rui Hu University of Nevada, Reno, Olivera Kotevska Oak Ridge National Laboratory, Zikai Zhang University of Nevada, Reno
Multi-bit watermarking has emerged as a promising solution for embedding imperceptible binary messages into Large Language Model (LLM)-generated text, enabling reliable attribution and tracing of malicious usage of LLMs. Despite recent progress, existing methods still face key limitations: some become computationally infeasible for large messages, while others suffer from a poor trade-off between text quality and decoding accuracy. Moreover, the decoding accuracy of existing methods drops significantly when the number of tokens in the generated text is limited, a condition that frequently arises in practical usage. To address these challenges, we propose XMark, a novel method for encoding and decoding binary messages in LLM-generated texts. The unique design of XMark’s encoder produces a less distorted logit distribution for watermarked token generation, preserving text quality, and also enables its tailored decoder to reliably recover the encoded message with limited tokens. Extensive experiments across diverse downstream tasks show that XMark significantly improves decoding accuracy while preserving the quality of watermarked text, outperforming prior methods. The code will be made publicly available upon acceptance.
尚无 AI 解读，展示原文摘要
cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表