Closed-loop robot policies require observation processing, state management, and situation-dependent branching, making them costly to design and tune manually. Although coding agents increasingly support control-code generation and optimization, it remains unclear whether implementations improved on source tasks also support policy acquisition for new tasks. We study this question by treating complete closed-loop implementations as reusable execution experience. To learn each source policy, a coding agent generates policy code from a few successful demonstrations and iteratively improves it using simulation feedback. The validation-selected implementations are retained in a software archive. To transfer the acquired software to new tasks, the agent generates and improves policies using archived implementations, target demonstrations, and execution feedback. We evaluate policy learning and its relationship to cross-task transfer. For learning, across four source tasks in RoboCasa, iterative optimization increases the success rate from 28.3% with initially generated policy code to 64.2% with validation-selected policy code. We further validate this learning approach on a physical Unitree G1. For transfer, across nine additional target tasks in RoboCasa, success rates are 45.2% without references, 41.5% using initially generated policy code from source tasks, and 57.0% using their validation-selected policy code. These results show that improving source-task code also improves learning on new tasks.
Spectroscopic diagnostics provide rich information for characterizing plasma states in tokamak fusion experiments, while existing learning-based approaches are often designed for individual tasks and rely heavily on labeled data. In this work, we propose SpectralTF-MAE, a self-supervised spectral foundation model for tokamak plasma diagnostics. The model is pretrained on paired charge-exchange recombination spectroscopy (CXRS) and X-ray crystal spectroscopy (XCS) measurements through masked spectral reconstruction. To better capture diagnostically important spectral structures, we introduce a peak-aware masking strategy together with a peak-enhanced reconstruction objective, encouraging the model to focus on characteristic spectral regions. A shared Transformer encoder is employed to learn transferable representations across different diagnostic modalities. The pretrained model is further adapted to several downstream tasks, including plasma-parameter prediction, cross-diagnostic spectral generation, and spectral peak analysis. Experiments on EAST diagnostic data demonstrate that the proposed framework achieves competitive performance across different tasks and consistently benefits from self-supervised spectral pretraining. These results indicate the potential of SpectralTF-MAE as a general and transferable representation learning framework for plasma spectroscopic diagnostics.
Yuehang Li, Xiao Wang, Qiang Chen, Yangyi Fan, Bo Jiang, Yaowei Wang, Jin Tang
Industrial shampoo-bottle surface defect detection must operate across many stock keeping units (SKUs), where differences in bottle geometry, material, label layout, reflectance, and imaging conditions can substantially alter the appearance of the same defect. Existing industrial defect datasets rarely provide both instance-level defect annotations and product-variant identities, making it difficult to study SKU-aware detection under realistic manufacturing conditions. We introduce Bottle-SKU, a large-scale multi-SKU benchmark for shampoo bottle surface defect detection. Bottle-SKU contains 13,119 images, 20,419 instance-level bounding boxes, seven defect categories, and 48 bottle SKUs, enabling evaluation of both shared defect recognition and SKU-specific appearance variation. To address the challenge of SKU-specific appearance variation, we propose Prototype-Guided Dynamic Domain Modulation (ProDMM). ProDMM constructs a visual prototype for each SKU from training images and predicts a soft SKU distribution for each input. The resulting prototype-conditioned representation dynamically generates low-rank Query/Value modulation for the visual backbone and residual conditioning for defect-text-to-visual attention, while preserving the pretrained Grounding DINO detection pathway. The model is trained jointly with detection, SKU-domain classification, and modulation-regularization objectives. Experiments on Bottle-SKU and the public GC10-DET-SKU metallic surface defect dataset demonstrate the effectiveness of prototype-guided domain conditioning for industrial surface defect detection.
Ming Chen Zhejiang University, Wenyao Li, Chao Liang Hubei Academy of Aerospace Technology General Design Institute, Shi Gu Zhejiang University, Peng Lin Zhejiang University, De Ma Zhejiang University, Huajin Tang Zhejiang University, Qian Zheng 等 9 位作者
Tokenizers play a critical role in large language model studies. Despite recent advances, existing tokenizers fail to explicitly leverage historical tokenization results when making subsequent token decisions, nor do they selectively utilize such history based on contextual relevance. We propose SPEAK, a tokenizer that integrates spiking neurons to explicitly leverage historical tokenization results. Furthermore, we introduce an entropy-aware reset mechanism that selectively leverages history based on contextual relevance, which is determined by token-level entropy. High-entropy tokens are treated as contextual boundaries, whereas low-entropy tokens between consecutive such boundaries exhibit strong contextual relevance. Accordingly, we induce hard reset at high-entropy tokens to discard irrelevant historical tokenization results, and soft reset at low-entropy tokens to preserve and leverage relevant history. Experiments on 2 language models and 5 datasets spanning 16 languages demonstrate superior cross-lingual adaptability, with competitive performance and efficiency. Our code is publicly available at https://github.com/zju-bmi-lab/SPEAK.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表