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版本更新 · v2arXiv:2611.01560

更新于 2026-11-04

让机器人使用智能体走向大众：一个配开放模型的统一测试框架

Democratizing Robot-Use Agents: A Unified Harness with Open Models

Jiarui Yuan, Yuxin Zuo, Xiaoyu Huang, Wenbo Zhang, Kwanyoung Park, Junlin Yang, Tianxiang Zhang, Ruoqu Chen 等 28 位作者

AI 速读基于摘要

作者提出统一测试框架 uni-robot-agent，使开放权重模型可开展机器人使用智能体研究并支持后续训练，报告开箱即用的 Qwen3.8-Flash-Next 在 RoboDojo 上取得 31.39 分。

cs.RO

查看原文摘要

Robot-use Agents (RUAs) have shown promising zero-shot manipulation capabilities, but reliance on frontier, proprietary models limits research into further training. To democratize RUA research, we introduce uni-robot-agent, a unified harness for competitive open-weight robot use that supports further training. Without privileged inputs, an out-of-the-box Qwen3.8-Flash-Next achieves a RoboDojo Score of 31.39, surpassing the published GPT-6 Astra-RoboProbe result of 28.97 and many VLA/WAM baselines, and performs competitively on 19 real-world tasks. Our analysis across model generations, families, and sizes links effective robot use to four general capabilities, suggesting that future RUA training should develop them jointly.

新论文 · v1arXiv:2610.37582

更新于 2026-10-28

EgoThumb: A Vision-Driven Supernumerary Robotic Thumb for Autonomous Grasp and Holding Assistance

Jianyu Hou, Jiawei Fu, Weikang Wan, Minghui Jiang, Jiajun Li, Hao Su

原文摘要

Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex "hold-and-manipulate" tasks that typically require bimanual coordination. However, existing devices are often hindered by bulky hardware that limits interaction to large objects and rely on explicit hand motion triggers that lack environmental context. To address these challenges, we present EgoThumb, a fully open-source, vision-driven supernumerary robotic thumb. EgoThumb features a compact, dual tendon-driven finger whose actuation is relocated to the forearm, reducing distal weight while enabling precise active joint control. The system utilizes a visual imitation learning policy that maps egocentric images from a palm-facing camera directly to continuous joint positions. By implicitly decoding human intent from visual cues capturing both the hand and the object of interest, EgoThumb achieves robust autonomous manipulation and strong generalization across diverse users and environments. All hardware designs and software implementations are fully open-sourced at https://ego-thumb.github.io.

cs.RO

新论文 · v1arXiv:2610.34999

更新于 2026-10-26

Conformal Novelty Detection via Data-enhanced Localization

Xiaoyang Wu, Jiajun Liu, Haojie Ren, Changliang Zou

原文摘要

Novelty detection is an important area of research in both statistics and machine learning. In this paper, we focus on the conditional novelty detection problem, where novelties arise from the relationship between different variables. We first adopt the conformal inference framework and propose a data-enhanced localized conformal p-value, constructed by recalibrating an enhanced conditional distribution estimator. This estimator efficiently captures conditional information by incorporating both calibration and test data into its kernel estimation. We show that our p-values are valid in finite samples and can improve detection efficiency. Based on this p-value, we then develop a novel conditional novelty detection algorithm, along with a data-driven bandwidth selection method that ensures finite-sample false discovery rate control while enhancing detection power. Both simulated and real data experiments demonstrate the advantages of our proposed approach.

stat.ME · stat.ML

新论文 · v1arXiv:2610.33106HF 社区推荐

更新于 2026-10-23

VibeGame: Prompt-to-Game Development with AI-Native Engine and Self-Evolving Adversarial Agent Team

Wenbo Hu, Ken Li, Jiazhe Wei, Yukang Cao, Weiyi Hong, Jiayi Dai, Chenjun Bai, Jiajun Liang 等 16 位作者

原文摘要

Large language model agents have enabled software development through natural-language interaction, but extending this paradigm to end-to-end game development remains challenging. Building a playable game requires coordinating code, scenes, assets, animations, physics, and configurations, while allowing developers to validate their integrated behavior through interactive testing. We introduce VibeGame, a framework for creating complete 2D game projects from natural-language prompts and optional reference images. Its AI-native game engine represents project state as schema-validated structured text and provides frame-synchronous runtime control, enabling agents to inspect game states, execute actions, and verify behavior at their own pace. Built upon this interface, we design an Adversarial Agent Team of eight specialized agents to separate implementation from review, so that problems are found and fixed through multi-round loops. For each conducted and accepted project, we further introduce a training-free self-evolution mechanism to distill it into reusable skeletons, modules, and collaboration contracts for future development. We evaluate prompt-assets-to-game (PA2G), where agents are given an asset library, and prompt-to-game (P2G), where agents generate their own art. On a GameCraft-Bench subset, VibeGame in P2G consistently outperforms a range of agent harnesses in either P2G or PA2G with the same underlying model, including GPT-6.1-Sol.

cs.MA

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1835ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Robust Membership Inference for Large Language Models under Adversarial Generative Corruption

Yuanhong Huang Beijing University of Posts and Telecommunications, Huili Wang, Xueying Bai, Jinrui Wang Beijing University of Posts and Telecommunications, Jiajun Liu, Ziqin Wang, Wanchun Ni ETHZ - ETH Zurich, Shangguang Wang Xiong'an Aerospace Information Research Institute and Beijing University of Posts and Telecommunications 等 9 位作者

原文摘要

Membership inference attack (MIA) has emerged as a promising tool for auditing the training data of LLMs, supporting data privacy and copyright protection. Most existing MIA methods rely on the assumption that LLMs assign higher confidence scores to training samples than to non-training ones.However, since LLMs generate text by sampling high-confidence tokens, they naturally produce AI-generated texts (AIGTs) that also satisfy this assumption.In this work, we empirically confirm that such AIGTs, regardless of whether they are generated by the target LLM, can lead existing MIAs to assign even higher membership likelihoods than those of true training samples, thereby significantly undermining their reliability.To address this challenge, we propose a robust membership inference framework for reliably identifying training data.Our method adopts a mixture-of-experts formulation to jointly model interactions across complementary features derived from multiple MIA methods and AIGT detectors, which can remain robust against adversarially generated samples.Furthermore, by leveraging expert components, our method provides explainable insights into the characteristics of member data.Experiments on various datasets and LLMs show that adversarial samples substantially degrade the performance of baselines, whereas our method preserves performance close to that of the unattacked setting.Codes and datasets are released at https://github.com/kong-hyh/MoMIA.

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.1910ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Tasks

Wenqi Zhang Zhejiang University, Mengna Wang, Gangao Liu, Huixin Xu, Yiwei Jiang Syracuse University, Yongliang Shen Zhejiang University, Guiyang Hou, Zhe Zheng Zhejiang University 等 14 位作者

原文摘要

Recent advances in reasoning models have demonstrated remarkable capabilities on mathematical and coding tasks. However, their effectiveness in embodied domains, where the agent must continuously interact with environments and process observation-action interleaved trajectories, remains largely unexplored. We present Embodied-Reasoner, a reasoning model for interactive embodied tasks. Unlike mathematical reasoning that relies primarily on logical deduction, embodied scenarios demand spatial understanding, temporal reasoning, and ongoing self-reflection based on interaction history. To address these challenges, we synthesize 9.3k coherent Observation-Thought-Action trajectories containing 64k ego-centric images and 90k diverse reasoning processes (analysis, spatial reasoning, reflection, planning, and verification). We develop a three-stage training recipe that progressively enhances the model’s capabilities through imitation learning, rejection sampling tuning on self-exploration trajectories, and reflection tuning. The evaluation shows that our model significantly outperforms advanced visual reasoning models, e.g., exceeds OpenAI o1, o3-mini, and Claude-3.7 by +9%, 24%, and +13%. Analysis reveals that our model exhibits fewer repeated searches and logical inconsistencies, with particular advantages in complex long-horizon tasks. Real-world testing further validates the effectiveness of our approach.

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.2093ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

On the Role of Discriminative Models in Generative Relation Extraction

Guozheng Li Southeast University, Peng Wang, Zijie Xu, Jing Zhou Southeast University, Jiajun Liu, Ziyu Shang Southeast University

原文摘要

Relation extraction (RE) identifies semantic relations between entities in text, with existing methods falling into two main paradigms: discriminative and generative. Discriminative models encode sentences and entities into relation representations and classify the most likely relation, whereas generative models directly produce relation labels through sequence generation. Although the latter have benefited from recent advances in large language models (LLMs), their performance remains limited by bottlenecks. In this work, we present the systematic investigation of how discriminative models can support generative RE. We propose the Discriminative-to-Generative (D2G) framework, which first leverages discriminative models to produce a top-k set of candidate relations, and then integrates this knowledge into generative models via in-context or prompt learning. Extensive experiments on five widely used RE benchmarks demonstrate that D2G consistently achieves state-of-the-art performance, with notable gains on long-tailed relation classes.

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.542ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Exploring Layer Activation Dynamic of CoT via Knowledge Probe

Chuanxin Zhang, Jiajun Liu, Yao He, Wenjun Ke Southeast University, Peng Wang, Yankun Le, Sirui Liu, Zhaoyu Yang

原文摘要

Chain-of-thought (CoT) reasoning has emerged as a crucial paradigm for enhancing large language model (LLM) performance on multi-step reasoning tasks.However, the internal mechanisms by which LLMs invoke knowledge and propagate information across different steps of the CoT are poorly understood.To fill this gap, we propose a multi-stage probing framework that enforces structured reasoning with three explicit stages: keyword extraction, theorem generation, and computation execution.The framework integrates attention knockout to trace cross-layer information flow and theorem probing to examine how specific contents are encoded within representations.To enable controlled and stage-aligned analysis, we construct a structured CoT dataset that covers the mathematics and physics domains. Experiments on four instruction-tuned LLMs reveal distinct stage-specific patterns.First, keyword information is progressively aggregated into the final token in later layers.Second, theorem semantics are encoded in the mid-to-late layers and undergo two stages of propagation.Finally, parameter substitution is achieved through joint extraction by the final token and other tokens.The first parameter predominantly relies on the final token, whereas later parameters increasingly depend on information extracted by other tokens.Overall, our findings shed light on the neural implementation of CoT reasoning and provide actionable insights for developing more interpretable and reasoning-capable LLMs.We further evaluate a free-form prompting setting without labeled fields and observe consistent qualitative trends.

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.561ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Capability Decomposition for Unified Information Extraction via Hierarchical Mixture-of-Experts

Jing Zhou Southeast University, Peng Wang, Wenjun Ke Southeast University, Jiajun Liu, Yao He

原文摘要

Unified Information Extraction (UIE) aims to handle heterogeneous IE tasks within a single framework, but existing methods often suffer from inconsistent schema representation, implicitly intermediate reasoning and full-parameter adaptation, which limit generalization, interpretability and parameter efficiency. To address these issues, we propose UC-UIE (Universal Capabilities-based Unified Information Extractor), a unified framework based on Large Language Model (LLM), which introduces a unified frame-and-slots schema for IE tasks and explicitly decomposes IE reasoning into three universal capabilities: judging, locating, and associating. Furthermore, UC-UIE adopts a Low-Rank Adaptation (LoRA) based hierarchical Mixture-of-Experts (MoE) adapter to fine-tune LLMs for IE tasks, which explicitly models these three capabilities in a task-driven way while ensuring parameter efficiency. With only 1.24% trainable parameters, UC-UIE outperforms full-parameter tuning methods, showing excellent parameter efficiency. Zero-shot evaluation reveals its strong generalization ability to unseen domains and schemas, benefiting from unified schema representation and explicit capability decomposition. Further experiments validate that the hierarchical MoE adapter learns capability specialization and composition, which enhances both UIE performance and interpretability.

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.892ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Knowledge Poisoning Attacks on Medical Multi-Modal Retrieval-Augmented Generation

Peiru Yang Tsinghua University, Haoran Zheng, Tong Ju, Shiting Wang, Wanchun Ni ETHZ - ETH Zurich, Jiajun Liu, Shangguang Wang Xiong'an Aerospace Information Research Institute and Beijing University of Posts and Telecommunications, Yongfeng Huang Tsinghua University, Tsinghua University 等 9 位作者

原文摘要

Retrieval-augmented generation (RAG) is a widely adopted paradigm for enhancing LLMs in medical applications by incorporating expert multi-modal knowledge during generation. However, the underlying retrieval databases may naturally contain, or be intentionally injected with, adversarial knowledge, which can perturb model outputs and undermine system reliability. To investigate this risk, prior studies have explored knowledge poisoning attacks in medical RAG systems. Nevertheless, most of them rely on the strong assumption that adversaries possess prior knowledge of user queries, which is unrealistic in deployments and substantially limits their practical applicability. In this paper, we propose M^3Att, a knowledge-poisoning framework designed for medical multimodal RAG systems, assuming only limited distribution knowledge of the underlying database. Our core idea is to inject covert misinformation into textual data while using paired visual data as a query-agnostic trigger to promote retrieval. We first propose a unified framework that introduces imperceptible perturbations to visual inputs to manipulate retrieval probabilities. Besides, due to the prior medical knowledge in LLMs, naively poisoned medical content with explicit factual errors can be corrected during generation. Thus, we leverage the inherent ambiguity of medical diagnosis and design a covert misinformation injection strategy that degrades diagnostic accuracy while evading model self-correction. Experiments on five LLMs and datasets demonstrate that M^3Att consistently produces clinically plausible yet incorrect generations. Codes: https://anonymous.4open.science/r/M3Att.

cs.CL · cs.CV

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