Open-HumanScale: An Open Recipe for Scaling Human and Robot Experience for Embodied Foundation Models
Juncheng Ma, Jiaxin Li, Jiankai Tu, Bo Liang, Guodong Lv, Yufan Deng, Junzhe Tang, Liangzhu Yang 等 31 位作者
AI 速览：提出首个全开放的第一人称人类视频预训练扩展方案，构建5万小时带标注语料并探索人类—机器人联合预训练的世界—动作模型。
Egocentric human video offers a scalable source of manipulation priors for robot learning, yet translating raw data scale into generalizable robot policies demands rigorous data curation and training recipes. We introduce Open-HumanScale, the first fully open recipe for scaling egocentric pretraining to 50,000 hours, anchored by Open-HumanScale-50K---a curated egocentric video corpus densely annotated with hand motion and natural language. Leveraging this corpus, we systematically investigate pure human pretraining via closed-loop simulation evaluations and uncover an empirical log-linear scaling law linking pretraining data hours to downstream robot success rates. Grounded in these findings, we develop HumanWAM-Vanilla, a world--action model pretrained exclusively on 50k hours of egocentric human video. Upon robot post-training, HumanWAM-Vanilla reaches 92.08% success on RoboTwin 2.0 Clean2Clean and 68.88% on Clean2Random, alongside a 14.17% mean success rate and a 19.00 mean progress score on RoboDojo. To push the capability frontier further, we explore joint human--robot pretraining with HumanWAM-Goal, a visual-goal-conditioned world--action model. Hybrid data scaling unlocks broad zero-shot generalization across both simulation and physical benchmarks, propelling post-trained RoboTwin 2.0 performance to new state-of-the-art levels: 92.70% on Clean2Clean and a substantial leap to 84.60% on Clean2Random. On physical robots, HumanWAM-Goal further exhibits emergent embodied in-context learning, dynamically adapting its manipulation behavior to unseen visual goals without parameter updates. To support reproducible scaling research in embodied AI, we open-source the Open-HumanScale-50K corpus, data curation and pretraining pipelines, alongside the pretrained and post-trained HumanWAM checkpoints, inference code, and simulation evaluation suites.
Intelligent reflecting surface (IRS) has emerged as a promising wireless technology for enhancing legitimate communications. In this paper, we investigate an IRS-assisted multiuser MISO downlink network in which an attacker reconfigures the IRS to degrade legitimate data transmission. Specifically, we consider a black-box attack setting in which the attacker has access to neither channel information nor symbol-level observations and can observe only the BER reported by each user. The objective of the attacker is to identify an IRS configuration that maximizes the minimum BER among all users under a limited budget of non-repeated tests. To address this BER-only black-box attack problem, we propose PRIS, an online search method that learns effective phase transitions from previous trials and progressively narrows the search from large-block modifications to single-element refinement. Specifically, an annealed user-balancing reward and prioritized replay are incorporated to exploit noisy BER feedback. Numerical results demonstrate that PRIS achieves a higher minimum BER than existing benchmarks.
Syed Md Mukit Rashid Pennsylvania State University, Abdullah Al Ishtiaq Pennsylvania State University, Kai Tu, Yilu Dong Pennsylvania State University, Tianwei Wu, Ali Ranjbar, Tianchang Yang Pennsylvania State University, Najrin Sultana Pennsylvania State University 等 10 位作者
Logical vulnerabilities in software stem from flaws in program logic rather than memory safety, which can lead to critical security failures. Although existing automated program-repair techniques primarily focus on repairing memory-corruption vulnerabilities, they struggle with logical vulnerabilities because of their limited semantic understanding of the vulnerable code and its expected behavior. On the other hand, recent successes of large language models (LLMs) in understanding and repairing code are promising. However, no framework currently exists to analyze the capabilities and limitations of such techniques for logical vulnerabilities. We aim to systematically evaluate both traditional and LLM-based repair approaches for addressing real-world logical vulnerabilities. To facilitate our assessment, we created the first-ever dataset, LogicDS, comprising 122 logical vulnerabilities that reflect tangible security impact. We also developed a systematic framework, LogicEval, to evaluate patches for logical vulnerabilities. Evaluations suggest that compilation and testing failures are primarily driven by prompt sensitivity, loss of code context, and difficulty in patch localization.
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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