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新论文 · v1arXiv:2611.13596

Towards Reliable VLM Judges: State-Conditional Invariance and Presentation-Aware Diagnostics

Qinan Zhang, Xinyu Wang, Qihang Jin, Tianyuan Wang, Hongbing Luo, Pengfei Li, Wenjun Lv, Yu Kang 等 9 位作者

原文摘要

Vision-language models (VLMs) are increasingly used as automated judges for multimodal and embodied tasks, yet aggregate accuracy or consistency alone does not reveal whether a judge changes its verdict for the right reason. We propose State-Conditional Invariance (SCI), a reliability principle requiring a judge to remain stable under semantics-preserving changes in presentation while responding to causal interventions that change the task outcome. We instantiate SCI in GridWM-Judge, a simulator-grounded diagnostic benchmark built from deterministic MiniGrid trajectories with aligned Full, evidence-removal, and counterfactual variants, plus presentation and representation probes. Across five diagnostic tasks, GridWM-Judge tests local perception, action-conditioned transitions, presentation stability, representation exchangeability, and Full-CF causal discrimination. Our diagnostic evaluations reveal heterogeneous failure modes, including sensitivity to evidence presentation and encoding, low activation on successful trajectories, and weak paired counterfactual discrimination. Perception-controlled analyses further indicate that visual grounding and objective recovery are substantial, model-dependent bottlenecks. These results motivate jointly reporting correctness, presentation stability, and causal sensitivity instead of relying on a single score.

cs.AI · cs.CL · cs.CV · cs.LG

新论文 · v1arXiv:2611.12870

SWAM:通过跨模态对齐扩展世界动作模型

SWAM: Scaling World Action Models with Cross-Modal Alignment

Yu Zhou, Xinyuan Xia, Xuankun Yang, Yinghao Yang, Wendi Chen, Bowen Liu, Jianhan Ma, Weicheng Duan 等 11 位作者

AI 速读 基于摘要

作者构建约4.7万小时多源视频数据池,系统研究语言-视频与语言-视频-动作监督设计如何影响世界动作模型(WAM)的跨模态对齐与泛化能力。

cs.CV · cs.RO

查看原文摘要

World action models jointly predict video and actions conditioned on language. Existing studies focus primarily on architectures and training mechanisms, typically treating language-video alignment acquired through video pretraining as an established foundation. However, introducing action learning may impair this alignment. Principled guidance on data and supervision design for maintaining language-video alignment during action learning remains limited. To investigate this, we curate a pool of approximately 47,000 hours of general videos, egocentric videos, UMI demonstrations, and robot demonstrations. Building on this, we systematically study how language-video supervision, language-video-action supervision, and the joint use of these two forms affect WAM performance. In particular, we examine how language annotation quality affects pretrained language-video capabilities, and how action supervision from UMI and robot demonstrations extends these capabilities to language-video-action modeling. To better scale the model, we further conduct detailed studies on joint training recipe and model architecture. Under a fixed training budget, mixing egocentric videos and UMI demonstrations improves control generalization. Model architecture affects how effectively these experiences are used, while scaling pretraining under the selected configuration brings further gains. The resulting recipe, post-trained on RoboTwin Clean demonstrations only, achieves success rates of 88.10% and 61.56% under Easy (Clean-to-Clean) and Hard (Clean-to-Random) conditions, respectively. Our model achieves 40.00% SR across three real-world tasks, compared with 23.33% for the strongest baseline, indicating better generalization under unseen conditions. We release the curated data, training code, and model weights.

版本更新 · v3arXiv:2608.07267

WNM-3D: A World Navigation Model with 3D Scene Conditioning for Closed-Loop VLN

Yuehao Huang, Yunzi Wu, Xiaotao Zhang, Xinhai Li, Jiankun Dong, Sunyao Zhou, Jiajun Lv, Chi Zhang 等 11 位作者

原文摘要

Recent vision-language navigation (VLN) systems increasingly adapt pretrained vision-language models (VLMs) into vision-language-action (VLA) policies that map egocentric observations and language instructions directly to navigation actions. Although semantically capable, such action-centric training does not explicitly model how the agent's visual observations evolve under its predicted motion. Generative world-action models (WAMs) jointly predict future observations and actions, yet existing WAMs for continuous VLN do not condition joint future-view and action generation on geometry-aware representations inferred from the observation history. We present WNM-3D, a generative World Navigation Model with 3D scene conditioning for continuous VLN. A frozen feed-forward geometry encoder extracts cross-view representations from monocular RGB history, and a trainable 3D Scene-to-Token Adapter converts them into a fixed-length scene prefix for the world-action Diffusion Transformer. Through block-causal attention, this prefix remains visible to every future video-action block throughout joint denoising, providing persistent geometric context. We train WNM-3D with supervised world-action learning, DAgger-style adaptation on policy-visited states, and Counterfactual DanceGRPO refinement. Across GN-Bench and VLN-CE, WNM-3D consistently outperforms the backbone-matched WNM-2D counterpart, demonstrating gains from 3D scene conditioning across distinct visual domains. WNM-3D further outperforms strong VLN baselines on GN-Bench and demonstrates closed-loop deployment on a physical robot. Component and stage-wise ablations support the Adapter design and the complementary roles of DAgger-SFT and subsequent reward-guided refinement.

cs.AI · cs.CV · cs.RO

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1950ACL Anthology · ACL 2026

Which Reasoning Trajectories Teach Students to Reason Better? A Simple Metric of Informative Alignment

Yuming Yang Fudan University, Mingyoung Lai University of Toronto, Wanxu Zhao, Xiaoran Fan, Zhiheng Xi, Mingqi Wu, Chiyue Huang, Jun Zhao 等 16 位作者

原文摘要

Long chain-of-thought (CoT) trajectories provide rich supervision signals for distilling reasoning from teacher to student LLMs. However, both prior work and our experiments show that trajectories from stronger teachers do not necessarily yield better students, highlighting the importance of data-student suitability in distillation. Existing methods assess suitability primarily through student likelihood, favoring trajectories that align closely with the student model’s current behavior but overlooking more informative ones. Addressing this, we propose Rank–Surprisal Ratio (RSR), a simple metric that captures both alignment and informativeness to assess the suitability of a reasoning trajectory. RSR is motivated by the observation that effective trajectories typically balance learning signal strength and behavioral alignment by combining low absolute probability with relatively high-ranked tokens under the student model.Concretely, RSR is defined as the ratio of a trajectory’s average token-wise rank to its average negative log-likelihood, and is straightforward to compute and interpret. Across five student models and reasoning trajectories from 11 diverse teachers, RSR strongly correlates with post-training reasoning performance (average Spearman 0.86), consistently outperforming existing metrics. We further demonstrate its practical utility in both trajectory selection and teacher selection.

cs.CL

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