Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a critical scarcity of large-scale data. To resolve this, we curate high-quality 3D objects and supporting bases, proposing a scalable seed-and-filter strategy that bypasses sluggish scene-level optimization. This yields an unprecedented benchmark comprising over 2.6 million scenes and 0.4B scene-specific grasp ground truths, featuring diverse realistic layouts paired with rich semantic and geometric observations. Furthermore, we introduce the OmniDex model to overcome the grasp multimodality and last-millimeter precision errors plaguing current generative models. By coupling Soft Winner-Takes-All learning with human-inspired physical constraints during training, and utilizing physics-driven ranking, our approach achieves robust dexterous grasping without the latency of post-optimization. Experimental results show that OmniDex model achieves state-of-the-art performance and strong generalization across diverse scenes, views, and unseen objects.
Yi Jiang, Sendong Zhao, Jianbo Li, Haochun Wang Harbin Institute of Technology, Lizhe Zhang, Yan Liu, Bing Qin Harbin Institute of Technology
Retrieval-Augmented Generation (RAG) enhances Large Language Models (LLMs), especially for knowledge-intensive tasks. Despite its advantages, current RAG methods often struggle to fully exploit knowledge during generation. In particular, the synergy between the model’s internal parametric knowledge and external retrieved knowledge remains limited. Retrieved contents may sometimes mislead generation, while certain generated content can guide the model toward more accurate outputs. In this work, we propose Collaborative Chain-of-Agents, a framework designed to enhance explicitly synergy over both parametric and retrieved knowledge. Specifically, we first introduce CoCoA-zero, a multi-agent RAG framework that first performs conditional knowledge induction and then reasons answers. Building on this, we develop CoCoA, a long-chain training strategy that synthesizes extended multi-agent reasoning trajectories from CoCoA-zero to fine-tune the LLM. This strategy enhances the model’s capability to explicitly integrate and jointly leverage parametric and retrieved knowledge. Experimental results demonstrate the superiority of CoCoA in open-domain QA and multi-hop QA.
尚无 AI 解读，展示原文摘要
cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表