Embodied perception requires positional representations that capture both physical geometry and the spatial and temporal extent of observations. We introduce POD-RoPE (Physical Observation Distribution RoPE), which represents token observation footprints as distributions over camera centers, viewing directions, and sampling times. Under independent sampling, expected rotations encode relative relationships between distributions; when each distribution collapses to a single address, the construction recovers pointwise RoPE. The same rotation statistics support Q/K matching and coherence-dependent V/O transformations, allowing observation geometry to guide both information selection and content aggregation. Per-token pre-aggregation avoids increasing sequence length or processing pairs of observation nodes. We evaluate POD-RoPE across four robot policy architectures, simulation and real-world manipulation, and complementary reconstruction, depth-estimation, and novel-view-synthesis tasks. Integrating POD-RoPE into Fast-WAM improves mean success from 91.83% to 92.88% across all 50 RoboTwin 2.0 tasks, and from 32.5% to 52.5% on two real-robot tasks on Sharpa North. Controlled reconstruction ablations support the contributions of distribution encoding and V/O transformations. In H20 model-block benchmarks, POD-RoPE achieves median forward-plus-backward speedups of $1.91\times$ over P-RoPE and $5.34\times$ over RayRoPE, with a median latency overhead of 17.4% over Standard RoPE. These results support physical observation distributions as an effective and computationally efficient basis for geometry-aware attention.
Large language models (LLMs) have shown promise in medical question answering and clinical reasoning, yet their improvement remains constrained by static parametric knowledge and costly expert supervision. Self-evolving agents offer a promising alternative by enabling models to improve through iterative task generation and problem-solving. However, most existing self-evolving methods are designed for easily verifiable domains such as mathematics and coding, where solutions can be checked by exact answers or executable programs. Medical reasoning is fundamentally different: it is open-ended, knowledge-intensive, and often only partially verifiable. We present MedZERO, a self-evolving framework for open-ended medical reasoning. MedZERO couples an Examiner that generates frontier medical question-option pairs with a Reasoner that solves them through evidence-grounded multi-turn reasoning with external knowledge tools. To support reliable, continual improvement, MedZERO adopts controlled knowledge accumulation, which maintains temporary exploratory knowledge and curated persistent knowledge in reasoning. We evaluate MedZERO on five public medical reasoning benchmarks using 4B- and 8B-scale base models under open-ended evaluation. At both model scales, MedZERO achieves the highest average accuracy among the evaluated methods. Code available at https://github.com/IcecreamArtist/MedZERO.
Xi Chen, Chuan Qin Chinese Academy of Sciences, Jinpeng Li University of the Chinese Academy of Sciences, Shasha Hu, Chao Wang University of Science and Technology of China, Hengshu Zhu Computer Network Information Center, Chinese Academy of Sciences, Hui Xiong Hong Kong University of Science and Technology (Guangzhou)
Generalized Category Discovery (GCD) aims to identify both known and novel categories from partially labeled data, reflecting more realistic open-world learning scenarios. However, most existing methods rely solely on one-hot discriminative supervision, leading to overfitting on seen classes and poor generalization to unseen ones. Recent advances introduce large language models (LLMs) to incorporate external semantics, yet they often suffer from semantic–label misalignment and weak semantic integration during training. We propose GenDis, a Generative–Discriminative Dual-View Co-Training framework that unifies discriminative classification and semantic label generation within an LLM. Discriminative pseudo-labels guide the formation of a separable generative latent space, enabling semantically meaningful supervision for novel classes. To ensure consistency between the two views, we employ Canonical Correlation Analysis (CCA)-based alignment and a curriculum-guided, dispersion-aware pseudo-labeling strategy for iterative refinement. Extensive experiments on five GCD benchmarks demonstrate that GenDis substantially outperforms prior methods, validating the effectiveness of dual-view co-training with semantically enriched supervision. The anonymized repository is available at https://anonymous.4open.science/r/GenDis.
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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
Kaiyi Zhang, Ang Lv, Jinpeng Li, Yongbo Wang, Feng Wang, Haoyuan hu, Rui Yan Wuhan University
Reinforcement learning with verifiable rewards (RLVR) is a promising approach for improving the complex reasoning abilities of large language models (LLMs). However, current RLVR methods face two significant challenges: the near-miss reward problem, where a small mistake can invalidate an otherwise correct reasoning process, greatly hindering training efficiency; and exploration stagnation, where models tend to focus on solutions within their ”comfort zone”, lacking the motivation to explore potentially more effective alternatives. To address these challenges, we propose StepHint, a novel RLVR algorithm that utilizes multi-level stepwise hints to help models explore the solution space more effectively. StepHint partitions valid reasoning chains into reasoning steps using our proposed adaptive partitioning method. The initial few steps are used as hints, and simultaneously, multiple-level hints (each comprising a different number of steps) are provided to the model. This approach directs the model’s exploration toward a promising solution subspace while preserving its flexibility for independent exploration. By providing hints, StepHint mitigates the near-miss reward problem, thereby improving training efficiency. Additionally, the external reasoning pathways help the model develop better reasoning abilities, enabling it to move beyond its ”comfort zone” and mitigate exploration stagnation. StepHint outperforms competitive RLVR enhancement methods across six mathematical benchmarks and two out-of-domain benchmarks.
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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