Yang Wu, Qiang Meng, Zhaojiang Liu, Youquan Liu, Jian Yang, Jin Xie
Current end-to-end autonomous driving models are fundamentally constrained by the behavioral cloning ceiling of imitation learning. While reinforcement learning offers a path to smarter autonomy, it demands two missing pieces of infrastructure: (1) a cognitive foundation that understands traffic semantics and driving intent, and (2) a foresighted physical environment that can anticipate the consequences of candidate actions. To this end, we propose CoPhy, a CognitivePhysical reinforcement learning framework for autonomous driving. To distill to think, we distill VLM knowledge into the BEV encoder and then discard the VLM entirely, retaining cognitive ability at zero inference cost while releasing the cognitive channel as a pluggable interface for optional human language commands. To foresee to act, we build an auto-regressive BEV world model that explicitly predicts future semantic maps conditioned on candidate actions, serving as an interpretable physical sandbox from which safety metrics are directly derived. Built upon this dual infrastructure, we optimize the driving policy via GRPO with a novel dual-reward mechanism: a physical reward derived from BEV rollouts enforces hard safety constraints, while a cognitive reward from a language-aligned scorer ensures intent compliance. Extensive experiments demonstrate that CoPhy not only achieves state-of-the-art results on NAVSIM v1 and v2 benchmarks, but also enables safer driving via cognitively informed scene compliance and flexible intent control through user-defined language instructions. Project page: https://wuyang98.github.io/CoPhy/.
Jinyuan Chang, Chenguang Duan, Yuling Jiao, Ruoxuan Li, Yi Xu, Jerry Zhijian Yang
Inference-time alignment for diffusion models aims to adapt a pre-trained reference diffusion model toward a target distribution without retraining the reference score network, thereby preserving the generative capacity of the reference model while enforcing desired properties at inference time. A central mechanism for achieving such alignment is guidance, which modifies the sampling dynamics through an additional drift term. In this work, we introduce variationally stable Doob's matching, a novel framework for provable guidance estimation grounded in Doob's $h$-transform. Our approach formulates guidance as the gradient of the logarithm of an underlying Doob's $h$-function and employs gradient-regularized regression to simultaneously estimate both the $h$-function and its gradient, resulting in a consistent estimator of the guidance. Theoretically, we establish non-asymptotic convergence rates for the estimated guidance. Moreover, we analyze the resulting controllable diffusion processes and prove non-asymptotic convergence guarantees for the generated distributions in the Wasserstein-2 distance. Finally, we show that variationally stable guidance estimators are adaptive to unknown low dimensionality, effectively mitigating the curse of dimensionality under low-dimensional linear subspace assumptions. Numerical experiments demonstrate the effectiveness of our proposed method and show the advantages compared to the baselines.
Yang Qu, Qiang Fu, Zonghao Ying, Jiayi Zhao, Yaoyuan Zhang, Jinyang Guo, Jian Yang, Aishan Liu 等 10 位作者
Embodied agents are increasingly deployed in open-world environments, yet current robustness evaluations remain biased toward hazardous instructions and jailbreak vulnerabilities. A more fundamental issue is largely overlooked: agents are rarely tested under semantically sufficient but contextually minimal instructions (i.e., common in real-world human communication), where auxiliary contextual cues are absent. For the first, we identify a novel phenomenon termed Ambient Context Illusion, where agents fail to execute tasks correctly when non-essential contextual details are omitted, despite unchanged task semantics. To systematically study this, we establish VagueBench, a benchmark built upon the AI2-THOR interactive simulation environment for the evaluation of context dependency in embodied agents. We systematically consider key semantic components of instructions (entities, procedures, constraints, and prior knowledge) and derive a unified taxonomy with four categories and nine subtypes to reduce auxiliary information. VagueBench contains 1,303 instruction pairs across diverse indoor environments, constructed via a human-agent co-generation framework that integrates semantic redundancy estimation, taxonomy-guided transformation, and rigorous semantic-invariance verification. Through extensive evaluation on 6 state-of-the-art embodied agents, we observe significant degradation on VagueBench in both task performance and executability (relatively -19.65% in task success rate and relatively +54.10% in empty plan rate) revealing a strong reliance on auxiliary linguistic signals rather than core task semantics. Furthermore, we demonstrate that this phenomenon persists in real-world robotic systems, where it can lead to incorrect decisions and potential safety risks.
Yuling Jiao, Lican Kang, Jerry Zhijian Yang, Jincheng Ying
Diffusion policies represent multimodal action distributions, but a $Q$-weighted update does not specify how to sample from the resulting target distribution. We propose Schrödinger--Föllmer Actor--Critic (SFAC), an offline-to-online reinforcement learning (RL) method for Kullback--Leibler (KL)-regularized policy improvement through conditional diffusion. A minimax Bellman critic estimates the action-value function, which defines an exponentially tilted target policy. A Doob $h$-transform expresses this update as a correction to the reference diffusion drift. The target drift is a weighted conditional mean of Brownian-bridge labels. We fit it by weighted regression using endpoints from the current policy and pointwise action-value evaluations. In the small-update regime, the KL-regularized update follows the natural policy-gradient direction, and the Doob correction represents the same local change in the space of diffusion drifts. Under suitable conditions, we derive finite-sample bounds that separate the errors from critic estimation, weighted neural drift regression, and diffusion discretization through a reverse-KL actor bound. The average-performance bound depends explicitly on the comparison coefficients over the policy iterations. Synthetic experiments assess approximation to prescribed advantage-tilted targets and sensitivity to the diffusion-step count. Across six offline-to-online continuous-control tasks, the $Q$-guided bridge-regression implementation achieves higher final-checkpoint returns than its BC initialization after $500K$ online interactions.
3D generation, editing, and completion are typically treated as regenerating the complete 3D asset under task-specific constraints, even when only a local region needs modification. This leads to task isolation, inconsistency in content that should remain unchanged, and dependence on task-specific paired data. We address these issues with a key observation: the three tasks all synthesize a designated region while keeping the rest intact---the full region for generation, the target region for editing, and the missing region for completion. We term this paradigm Selective Modeling and build SeMo3D upon it; it naturally unifies the three tasks, preserves unchanged content by construction, and enables training without paired editing or completion data, since any 3D asset can be partitioned into a selected region and its context. For training, we propose region-selective denoising, which randomly selects regions of varying sizes on standard 3D assets and applies noise and loss only to them, jointly learning all three tasks. For architecture, we propose Omni3DiT, a multi-condition 3D diffusion transformer that distinguishes regions to create from those to retain and fuses image, text, and point guidance for fine-grained control. Experiments across three benchmarks show SeMo3D surpasses state-of-the-art methods on all tasks, delivering multimodal controllability in generation and strong consistency and accuracy in editing and completion. SeMo3D further serves as a unified modeling tool for agents, enabling efficient 3D creation through natural-language interaction. Project page: https://xiaokunsun.github.io/SeMo3D.github.io/.
Shenghao Ye, Yuxiang Wang, Yu Guo, Tao Zhang, Shuangwu Chen, Zijian Wen, Qihui Zhu, Mengjie Zhang 等 11 位作者
Large Reasoning Models (LRMs) achieve strong performance on table reasoning tasks but incur substantial inference cost due to long reasoning traces. Stepwise model routing mitigates this issue by dynamically assigning reasoning steps to smaller or larger models. However, stepwise model routing for table reasoning remains underexplored. Through empirical analysis, we find that reasoning steps involving tables contain two types of tokens with distinct uncertainty distributions: table tokens grounded in table structure, such as cell values and headers, and text tokens representing surrounding natural-language reasoning. The uncertainty of both token types is correlated with the risk that the model makes an error in the next reasoning step. However, existing methods fail to model them separately, leading to suboptimal routing decisions. To address this, we propose EcoTab, a table-aware stepwise routing framework for efficient table reasoning. At each reasoning step, EcoTab separately estimates the uncertainties of table tokens and text tokens, maps them to next-step failure risks for the small model, and combines the two risks for routing. Experiments on multiple table reasoning benchmarks show that EcoTab consistently outperforms strong baselines and achieves a better balance between accuracy and efficiency.
Shenghao Ye, Yu Guo, Zhengheng Li, Qiang Huang, Shuangwu Chen, Wang Luo, Qian Rui, Jie Zhang 等 13 位作者
Stepwise model routing improves the efficiency of Large Reasoning Models (LRMs) by assigning each reasoning step to a suitable model. Recent methods formulate routing as a sequential decision process and train the router with reinforcement learning. However, although they model routing as a process, they still supervise the router with outcome rewards. Such rewards only reflect final answer correctness and fail to evaluate intermediate routing decisions, which can weaken performance and generalization. To address this gap, we propose RoRo, a rubric-guided process reward framework for stepwise model routing. RoRo first collects diverse routing trajectories and constructs preference pairs based on outcome, cost, and process quality. It then trains a Rubricor to generate a query-specific evaluation rubric and a Judge to score routing trajectories under this rubric through alternating optimization. The resulting process rewards are combined with outcome rewards to optimize the routing policy via GRPO. Experiments on five reasoning benchmarks under both same-family and cross-family settings show that RoRo consistently outperforms strong baselines and achieves better accuracy and cost trade-offs.
Qianliang Wu, Yaqing Ding, Guangwei Gao, Weiping Ding, Jin Xie, Jian Yang
Non-rigid point cloud registration depends on accurate correspondences under deformation and partial visibility. Existing coarse-to-fine methods use coarse matches to select regions for fine matching, but incorrect selection can remove valid correspondences before refinement. We introduce \paper, a conditional transport framework that connects coarse correspondence estimation to high-resolution matching. A diffusion model first estimates a coarse matching matrix. We lift the complete estimate to a fine-level source matrix and refine its scores with a geometry-conditioned bridge. We consider two bridge formulations: a deterministic endpoint-parameterized flow and a stochastic paired Brownian bridge with endpoint and noise prediction. At each step, the current matrix provides an alignment for the next prediction. Both models reuse backbone features throughout inference. Experiments on 4DMatch and 4DLoMatch show improved correspondence and non-rigid registration accuracy. The models also transfer to CAPE and DeepDeform without target-domain training. Ablations examine the roles of candidate coverage, source initialization, and refinement budget.
Xinyu Chen, Song Wu, Dingbao Shao, Jiahang Li, Jiang Lin, Yuhang Liu, Duo Li, Jiaxin Hu 等 15 位作者
Instruction-guided video editing requires executing a requested change while preserving the source video's appearance and temporal structure. We present SemantiScene-Edit, a video editor that couples a multimodal encoder with a pretrained video diffusion transformer. The encoder jointly processes source frames and the editing instruction, and learnable queries convey their semantic context to the generator through a trainable connector and cross-attention. A complementary visual pathway concatenates source-video latents with noisy target latents before patch embedding, supplying dense spatial and temporal information for content preservation. We train the model with flow matching and a three-stage image--video curriculum comprising semantic alignment, joint adaptation, and high-resolution refinement. To support training, we construct over 1.2 million instruction-conditioned video-editing records covering object addition, removal, replacement, and attribute modification. We also construct a 100-case benchmark for evaluating instruction execution, source preservation, temporal consistency, and visual quality. Comparative experiments show that SemantiScene-Edit effectively follows editing instructions while retaining source content. At inference, the model requires only a source video and a natural-language instruction.
Noel D'souza, Zhijian Yang, Nishank Singla, Pranay Doshi, Krisztian Koos, Fei Tan, Bruno Nunes, Laszlo Rusko 等 18 位作者
Recent advances in large-scale foundation models have enabled strong generalization across a wide range of clinical and research tasks in magnetic resonance imaging (MRI). However, existing vision-language MRI models remain limited in anatomy-specific localization and pathology-aware representation, particularly in real-world settings. We introduce A4-MR, a 3D vision-language foundation model trained on approximately 50,000 MRI studies comprising 491,000 series, roughly half of which are paired with radiology reports. A4-MR is designed to: (1) learn anatomy localization through large-scale pretraining with noisy labels; (2) align image and text representations at the anatomical level; and (3) learn distinct representations of healthy and abnormal anatomy. Across a diverse set of downstream tasks, A4-MR outperforms existing foundation models, including a +1.7 AUROC improvement over MedSigLIP for abnormality detection. Using a frozen encoder, A4-MR also surpasses an end-to-end task-specific MedNeXt model for knee segmentation by +1.4 Dice and performs comparably to the best task-specific model for abdominal organ segmentation on AMOS, within 0.4 Dice. Finally, without anatomical prompts, A4-MR localizes 3D anatomy comparably to MedSAM2 provided with ground-truth bounding boxes. Together, these results demonstrate that anatomy-level multimodal alignment and abnormality-aware representation learning can enable a single MRI foundation model to support localization, segmentation, and pathology-related tasks.
Xiaoyi Chen, Yifei Gao, Yang Xu, Zhenlong Wang, Jian Yan, Jiming An, Xingxing Song, Liqun Deng 等 12 位作者
Exploratory GUI testing is a particularly demanding setting for MLLM agents: without predefined test scripts, an agent must autonomously navigate an application and discover defects through its own interaction. However, current evaluation falls short on two fronts. First, existing benchmarks focus almost exclusively on interaction defects, leaving display defects outside the evaluation frame. Second, evaluation protocols are bound to predefined defect annotations, collapsing the testing process into a single end-state judgment that conflates qualitatively distinct failure modes. To address these challenges, we present GUITestScape, an interactive benchmark covering 61 real-world Android applications and 508 preset defects spanning interaction and display types, and introduce GUIJudge, an open-set evaluator that decomposes an agent's testing trajectory into independently diagnosable capabilities. Experimental results demonstrate that GUIJudge achieves reliable process-aware evaluation beyond predefined annotations, substantially outperforming all baselines. Benchmarking on GUITestScape further reveals that detection remains the critical bottleneck for existing models across both defect types, and that integrating GUIJudge's verifiers into existing agents significantly boosts their detection performance without retraining.
Ao Zhang, Haochuan Li, Boya Du, Jian Yang, Qihang Fang, Yulin Xu
Large-scale industrial ranking models must jointly capture heterogeneous feature interactions, long-term user behaviors, and multi-scenario dependencies under stringent online serving constraints. Existing architectures typically process sequential and non-sequential features with separate modules, limiting bidirectional information exchange. Directly applying homogeneous self-attention to all semantic tokens can also be inefficient when sequential and non-sequential signals exhibit different effective-ranks (eRanks). Meanwhile, shared representations can overlook scenario-specific patterns and induce negative transfer between scenarios. In this paper, we propose HiRank, a unified framework for multi-scenario recommendation that jointly models Heterogeneous feature Interactions via effective-Rank scaling. HiRank integrates gated sequential attention with heterogeneous feature interaction within a unified backbone, enabling bidirectional fusion between sequential and non-sequential representations. HiRank further uses scenario-aware aggregation to compress heterogeneous low-order tokens into a compact representation. Distinct learned projections transform the full compact representation into scenario-aware composite tokens with complementary global feature views and more uniform information density, enabling more effective high-order self-attention. Extensive experiments on industrial-scale datasets demonstrate favorable performance scaling with parameter count and consistent improvements over competitive baselines. Online A/B tests further show a 2.27% increase in orders per user.
Yang Liu, Jiacheng Liu, Hengtao Li, Yuheng Huang, Zijian Yang, Ji Dai, Maoxin Wang, Yi Gao 等 17 位作者
Extending Vision-Language-Action models (VLAs) to humanoid robots requires coordinated whole-body control and diverse demonstrations that are costly to collect in real-world scenarios. Although egocentric human demonstrations provide a complementary source of task experience, differences in visual embodiment and missing robot proprioception complicate transfer to humanoid policies. To address these challenges, we introduce HuGe, a family of Humanoid Generalist VLAs pre-trained on over 2,000 hours of egocentric human and robot data. Specifically, HuGe employs three existing representative VLA architectures to predict latent motion tokens for a pretrained whole-body controller, together with hand-control signals. Based on this, we introduce a three-stage training pipeline that combines egocentric pre-training, humanoid adaptation, and downstream fine-tuning. To facilitate transfer across embodiments, we construct pseudo-proprioceptive states through simulation playback during pre-training and modify arm appearance in egocentric observations through re-rendering during downstream fine-tuning. With this pipeline, HuGe achieves the state-of-the-art on simulation benchmark HumanoidArena. Furthermore, real-world experiments on the Unitree G1 indicate that augmenting robot demonstrations with visually adapted egocentric demonstrations significantly increases success on a pick-and-drop task.
Yunqi Liu, Peiyu Wang, Bingli Wang, Leo Luo, Xuanwu Song, Xudong Ma, Hongxin Li, Yaxin Du 等 24 位作者
Command-line interface (CLI) agents increasingly execute longer-horizon tasks, yet existing benchmarks either assume that user instructions remain fixed throughout execution or evaluate task outcomes without capturing runtime collaboration quality. In this paper, we present REALCLI, a paired benchmark that unifies the evaluation of task execution and human-agent collaboration quality on realistic CLI tasks. To comprehensively measure collaboration, REALCLI builds a five-dimensional framework, operationalized into 22 sub-dimensions and 51 interaction scenario templates. REALCLI provides two modes for paired comparison: REALCLI-EXEC supplies complete specifications upfront, whereas REALCLI-COLLAB introduces a scripted user that delivers progressive information, corrections, constraint revisions, and authorization decisions. Evaluations reveal profound capability gaps in frontier agents: the best configuration attains an average score of only 49.2%, and when evaluated by the joint collaboration score ($J_{\mathrm{collab}}$), the peak performance reaches merely 37.6%. These results show that task effectiveness diverges sharply from collaboration quality, with models consistently struggling in steerability, trust calibration, and safety boundary management. REALCLI provides a rigorous, reproducible foundation for measuring and advancing collaborative CLI agents.
Large Language Models (LLMs) have demonstrated remarkable capabilities in reasoning and generation, serving as the foundation for advanced persona simulation and Role-Playing Language Agents (RPLAs). However, achieving authentic alignment with human cognitive and behavioral patterns remains a critical challenge for these agents. We present HumanLLM, a framework treating psychological patterns as interacting causal forces.We construct 244 patterns from \sim12,000 academic papers and synthesize 11,359 scenarios where 2-5 patterns reinforce, conflict, or modulate each other, with multi-turn conversations expressing inner thoughts, actions, and dialogue.Our dual-level checklists evaluate both individual pattern fidelity and emergent multi-pattern dynamics, achieving strong human alignment (r=0.90) while revealing that holistic metrics conflate simulation accuracy with social desirability.HumanLLM-8B outperforms Qwen3-32B on multi-pattern dynamics despite 4\times fewer parameters, demonstrating that authentic anthropomorphism requires cognitive modeling—simulating not just what humans do, but the psychological processes generating those behaviors.Our dataset, code, and model are available at:https://github.com/YJGoodbye2024/HumanLLM
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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
Yuchun Fan, Bei Li Meituan, Peiguang Li, Yilin Wang, Yongyu Mu Northeastern University, Jian Yang, Xin Chen Meituan, Rongxiang Weng 等 12 位作者
Reinforcement learning has proven effective for enhancing multi-step reasoning in Large Language Models (LLMs), yet its benefits have not fully translated to multilingual contexts. Existing methods struggle with a fundamental trade-off: prioritizing input-language consistency severely hampers reasoning quality, while prioritizing reasoning often leads to unintended language drift toward English. We address this challenge with LANG, a novel framework that leverages language-conditioned hints to guide exploration in non-English reasoning tasks. Our method incorporates two key mechanisms to prevent dependency on these hints: a progressive decay schedule that gradually withdraws scaffolding, and a language-adaptive switch that tailors learning horizons to specific language difficulties. Empirical results on challenging multilingual mathematical benchmarks reveal that LANG substantially enhances reasoning performance without compromising language consistency. Moreover, we show that our framework generalizes beyond mathematics, fostering more consistent language alignment across model layers.
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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
Zeguan Xiao Shanghai University of Finance and Economics, Siqing Li, Yong Wang, Xuetao Wei Southern University of Science and Technology, Jian Yang Beijing University of Aeronautics and Astronautics, Yun Chen Shanghai University of Finance and Economics, Guanhua Chen Southern University of Science and Technology
Machine unlearning for large language models (LLMs) aims to remove targeted knowledge while preserving general capability. In this paper, we recast LLM unlearning as an asymmetric two-task problem: retention is the primary objective and forgetting is an auxiliary. From this perspective, we propose a retention-prioritized gradient synthesis framework that decouples task-specific gradient extraction from conflict-aware combination. Instantiating the framework, we adapt established PCGrad to resolve gradient conflicts, and introduce SAGO, a novel retention-prioritized gradient synthesis method. Theoretically, both variants ensure non-negative cosine similarity with the retain gradient, while SAGO achieves strictly tighter alignment through constructive sign-constrained synthesis. Empirically, on WMDP Bio/Cyber and RWKU benchmarks, SAGO consistently pushes the Pareto frontier: e.g., on WMDP Bio (SimNPO+GD), recovery of target model MMLU performance progresses from 44.6% (naive) to 94.0% (+PCGrad) and further to 96.0% (+SAGO), while maintaining comparable forgetting strength. Our results show that re-shaping gradient geometry, rather than re-balancing losses, is the key to mitigating unlearning-retention trade-offs.
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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
Baolin Zheng Alibaba Group, Guanlin Chen Alibaba Group, Qingyang Teng Alibaba Group, Hongqiong Zhong, Yingshui Tan Alibaba Group, Zhendong Liu, Weixun Wang Alibaba Group, Jiaheng Liu Nanjing University 等 15 位作者
Despite their rapid advancement, Multimodal Large Language Models (MLLMs) remain vulnerable to diverse safety risks. Current benchmarks fail to provide reliable assessments due to limited risk coverage, insufficient scale, and the oversight of complex modality combinations (e.g., cross-modal risks). To address this, we introduce the Unified Safety Benchmark (USB), a comprehensive framework covering 61 risk categories across four distinct modality interactions. We first demonstrate that existing benchmarks—even when aggregated—leave significant coverage gaps. To bridge this, we design a sophisticated data synthesis pipeline that generates complementary data, ensuring balanced coverage across all risk dimensions. Furthermore, beyond evaluating vulnerability to harmful queries, USB incorporates the simultaneous assessment of model over-refusal on benign inputs as an integrated diagnostic suite. Experimental results, evaluating 22 MLLMs across 244 risk-modality intersections, demonstrate that existing MLLMs still struggle with the trade-off between avoiding vulnerabilities and over-refusal. Models are particularly vulnerable to image-only or cross-modal risky inputs, highlighting the persistent need for refined safety mechanisms. Warning: This paper contains unfiltered and potentially harmful content that may be offensive.
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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
An Yang, Anfeng Li, Baosong Yang, Beichen Zhang, Binyuan Hui, Bo Zheng, Bowen Yu, Chang Gao 等 60 位作者
In this work, we present Qwen3, the latest version of the Qwen model family. Qwen3 comprises a series of large language models (LLMs) designed to advance performance, efficiency, and multilingual capabilities. The Qwen3 series includes models of both dense and Mixture-of-Expert (MoE) architectures, with parameter scales ranging from 0.6 to 235 billion. A key innovation in Qwen3 is the integration of thinking mode (for complex, multi-step reasoning) and non-thinking mode (for rapid, context-driven responses) into a unified framework. This eliminates the need to switch between different models--such as chat-optimized models (e.g., GPT-4o) and dedicated reasoning models (e.g., QwQ-32B)--and enables dynamic mode switching based on user queries or chat templates. Meanwhile, Qwen3 introduces a thinking budget mechanism, allowing users to allocate computational resources adaptively during inference, thereby balancing latency and performance based on task complexity. Moreover, by leveraging the knowledge from the flagship models, we significantly reduce the computational resources required to build smaller-scale models, while ensuring their highly competitive performance. Empirical evaluations demonstrate that Qwen3 achieves state-of-the-art results across diverse benchmarks, including tasks in code generation, mathematical reasoning, agent tasks, etc., competitive against larger MoE models and proprietary models. Compared to its predecessor Qwen2.5, Qwen3 expands multilingual support from 29 to 119 languages and dialects, enhancing global accessibility through improved cross-lingual understanding and generation capabilities. To facilitate reproducibility and community-driven research and development, all Qwen3 models are publicly accessible under Apache 2.0.