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新论文 · v1arXiv:2611.07850

Learning Robotic World Models with Semantic and Visual Feedback

Hao Wu, Yuqi Li, Yizhou Zhao, Kun Wang, Xiao Luo, Yu Cheng, Bo An, Yingli Tian 等 10 位作者

原文摘要

Robot world models predict action-conditioned future visual states to support robotic planning and decision making. However, visual reconstruction does not fully capture task progress, semantic evaluation alone provides limited constraints on fine-grained visual errors, and homogeneous predictions limit comparative feedback. We present RoboImagine, a framework for post-training autoregressive robotic world models through candidate-future comparisons with semantic and visual feedback. Diverse search promotes diversity among candidate trajectories under shared visual observations, action sequences, and task instructions. A frozen multimodal evaluator provides task-relevant semantic preferences through pairwise video comparisons in both presentation orders, complemented by pixel- and perceptual-level visual consistency feedback that constrains local structural and appearance errors. These signals drive policy optimization through group-relative advantages. Fixed initial context and branch-specific rolling histories support long-sequence generation with bounded context and consistent conditioning between candidate generation and policy optimization. Experiments with separately trained models on RT-1, BridgeV2, and RoboCasa cover real-world and simulated manipulation. On RT-1, under matched initialization, update counts, and evaluation protocols, RoboImagine improves PSNR by 1.26 dB and reduces LPIPS by 11.93% relative to continued supervised fine-tuning. Ablations show that diverse search improves prediction quality and that combined semantic and visual feedback yields higher external multimodal evaluation scores than visual feedback alone while maintaining comparable visual fidelity. Rolling histories further improve long-horizon prediction. These results support improving visual fidelity, task relevance, and long-horizon prediction through candidate comparison and complementary feedback.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07713

Selective Event Evidence and Persistent Temporal Priors for Event-Based Point Tracking

Xiaokai Song, Zhang Li, Leqi Liu, Yibin Ye, Kun Wang, Xichao Teng

原文摘要

Event cameras enable tracking under fast motion and challenging illumination. However, stable long-term point tracking remains challenging: event activity is sparse and varies with scene content and motion, complicating correspondence, while trajectory estimates can drift over long sequences. Together, these challenges motivate a tracker that selectively uses informative event evidence and retains trajectory constraints across temporal windows. We propose Selective Event Evidence and Persistent Temporal Priors (SEPT), an event-only framework for tracking any point (TAP) over long sequences. SEPT introduces two complementary modules: Task-Adaptive Event Evidence Modulation (TEEM) and Persistent Trajectory Prior (PTP). Using only tracking supervision, TEEM learns a bounded reliability field that weights the event tensor across space, time, and channels before feature extraction. PTP carries geometric information across overlapping windows by marginalizing a fixed local quadratic trajectory model with a Schur complement. Its visibility-aware correction refines overlap coordinates, while a clipped terminal velocity initializes coordinates at newly exposed timestamps. SEPT builds on the ETAP architecture. SEPT is trained exclusively on synthetic EventKubric data and evaluated on five datasets across TAP and feature tracking. Results show that SEPT outperforms the retrained ETAP baseline in average Jaccard for TAP and in feature age and expected feature age for feature tracking; it also surpasses several methods combining event and frame inputs on EC and EDS. The source code is publicly available at https://github.com/sssxxxkkkk/SEPT.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07570

ACSeL: Adaptive Configuration Search for Hardware-Constrained LLM Inference

Bokun Wang, Hung-Yueh Chiang, Diana Marculescu

原文摘要

Serving large language models (LLMs) under tight memory and latency service-level objectives (SLOs), including on edge devices, requires jointly selecting the model size, batch size, quantization algorithm, and mixed-precision quantization recipes. Exhaustive search over this combinatorially large space is infeasible. Unlike data-center serving, which often prioritizes throughput or generation speed, resource-constrained deployments typically set memory and latency budgets as constraints and then seek the configuration with the highest generation quality among feasible ones. To this end, we propose ACSeL, a framework that identifies configurations predicted to satisfy deployment constraints while achieving high predicted generation quality. To enable efficient quality estimation, we use Relative Model Quality Degradation (RMQD), a proxy based on the divergence between the candidate and reference models' next-token distributions over a small calibration corpus. Across the evaluated model sizes and precisions, RMQD is inexpensive to evaluate and strongly correlated with downstream benchmark performance. ACSeL combines (i) a lightweight quality surrogate that predicts RMQD directly from a configuration; (ii) Few-shot Median Calibration (FMC), which calibrates operator-profile-based latency estimates using a small number of end-to-end profiles; and (iii) a structured search algorithm BandPareto for exploring layerwise mixed-precision configurations. Experiments on an NVIDIA RTX A6000 workstation and an NVIDIA Jetson Thor edge platform show that FMC substantially improves deployment feasibility, while BandPareto + FMC achieves the highest feasibility and the lowest RMQD gaps to the best measured configurations in the evaluation set.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07408

PSGAgent: Enhancing MLLMs' Dynamic Visual Perception for Panoptic Scene Graph Generation via Agentic Reasoning

Qingyun Liu, Yuankun Liu, Jiaye Feng, Jie Huang, Zonghong Dai, Haochen Li, Jingkun Wang, Weiping Li 等 9 位作者

原文摘要

Panoptic Scene Graph generation (PSG) requires holistic yet fine-grained reasoning over complex relations among objects. However, current Multimodal Large Language Models (MLLMs) applied to PSG suffer from a perception bottleneck: they function as static observers limited by fixed-resolution views. As a result, models often overlook critical relations involving small or peripheral objects and struggle to differentiate ambiguous predicates in complex scenes. To address these limitations, we propose PSGAgent, an agentic framework that enhances visual perception for PSG through a think-act-observe loop. PSGAgent allows MLLMs to dynamically refine their visual perception using two tools: a Region Zoom-In Tool for local exploration of small or boundary relations and a Visual Highlight Tool for relation-focused segmentation that filters out irrelevant contextual noise. To optimize decision-making, we construct a two-stage training pipeline. First, we create a high-quality, error-aware Multimodal Chain-of-Thought (M-CoT) dataset that provides robust supervision for cold-start learning. Then, we design a novel hierarchical reward mechanism integrated with Group Sequence Policy Optimization (GSPO) to enable strategic and adaptive tool usage. Extensive experiments on the PSG benchmark show that PSGAgent achieves SOTA performance, demonstrating strong capability in both holistic and fine-grained scene understanding.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06103

SenTrojan: Revealing Analog Hardware Trojan Attacks on Sensors

Kun Wang, Ruochen Zhou, Wenjun Zhu, Shilin Xiao, Kai Wang, Chen Yan, Xiaoyu Ji, Wenyuan Xu

原文摘要

Sensors bridge the physical and digital worlds, making their integrity critical to cyber-physical system security. Existing sensor attacks largely exploit unintended and sensor-specific physical vulnerabilities, limiting their generalizability and motivating a different threat model, i.e., whether an adversary can implant hidden attack surfaces into sensors before deployment. In this paper, we present SenTrojan, an analog hardware Trojan framework for sensors. SenTrojan embeds malicious functionality into analog signal circuitry commonly shared across diverse sensor architectures, and activates the hidden behavior through crafted external physical signals. Once activated, SenTrojan can induce sensor malfunctions ranging from permanent denial-of-service to static or dynamic spoofing. To achieve these effects under different architectural constraints, we introduce two complementary designs. The Logic-Rule-Driven (LRD) Trojan adds lightweight analog monitoring logic to detect trigger features such as frequency and amplitude, enabling reliable activation across various sensor types. The Physical-Effect-Driven (PED) Trojan targets sensors with exploitable native analog effects, e.g., nonlinearity and rectification, and realizes attacks with minimal component insertion. We evaluate SenTrojan on 14 sensors spanning 6 transduction principles and demonstrate its effectiveness across diverse real-world scenarios. Overall, SenTrojan achieves an average successful trigger rate above 95%, maintains over 97% similarity to benign behavior, incurs zero false-trigger rate for LRD designs, and introduces less than 5% average deviation in drift, noise floor, and response time. To our knowledge, this work is the first systematic study of analog sensor Trojans, broadening sensor security from unintended physical vulnerabilities to intentional supply-chain compromise.

cs.CR

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2608.20817

GhostTac: Manipulating Tactile Sensors without Physical Contact

Kun Wang, Xuancun Lu, Ruochen Zhou, Kai Wang, Tongjun Ye, Yihao Shao, Chen Yan, Xiaoyu Ji 等 9 位作者

原文摘要

Tactile sensors are integral components of modern robotic systems, enabling robots to perceive and interact with the physical environment through tactile feedback. Despite their importance, the physical-layer security of tactile sensors has received little attention in prior work. In this paper, we present GhostTac, to the best of our knowledge, the first contactless attack that manipulates tactile sensing via electromagnetic interference (EMI). We identify that EMI exploits the nonlinear rectification and limited bandwidth amplification effects, allowing carefully crafted EMI signals to be converted into a persistent DC offset that bypasses on-board filtering and induces stable measurement deviations. Building on this mechanism, GhostTac enables fine-grained and controllable manipulation of sensor outputs by reshaping the spatial distribution and manipulating the magnitude at the targeted location. Such interference can induce unintended and harmful robot behaviors, such as causing a domestic robot to exert excessive force, resulting in physical damage or human injury. We evaluate GhostTac on 10 sensor modules and 2 dexterous hands, covering 15 tactile sensors of different types, and demonstrate consistent attack effectiveness across all tested devices. We further present three case studies on tactile grasping, slip detection, and material classification to illustrate practical impacts in real robotic tasks. We envision that our findings shed light on a new physical attack vector against tactile sensing in robotic systems.

cs.CR · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.05133

PAC Learning with Multiple Correct Answers

Steve Hanneke, Farnam Mansouri, Alireza F. Pour, Amirreza Shaeiri, Kun Wang

原文摘要

We study PAC learning when each example comes with a set of at most $\ell$ correct labels and a prediction is correct if it belongs to this set. Training may reveal the full set, only whether a proposed label is correct (bandit feedback), or one correct label chosen by a demonstrator (demonstrations). Our main finding is that demonstrations can be much harder than full sets, and even than bandit feedback, both in which classes can be learned and in how many examples are needed. For finite label spaces, a generalized Natarajan dimension characterizes learnability from full sets and from bandit feedback, in both the realizable and the agnostic setting. From demonstrations, however, a class is realizably learnable if and only if the intersections of at most $\ell+1$ of its hypotheses are learnable from full sets. Already with three labels, this condition can fail for a class learnable from a single full-set example or even a single bandit answer. When the condition holds, we show that $\widetilde O(\varepsilon^{-\ell})$ demonstrations suffice, and the exponent $\ell$ cannot be improved in general, even for classes learnable from $\widetilde O(1/\varepsilon)$ full sets or bandit answers. For countable label spaces and $\ell \geq 2$, our packed dimension, which asks for many disjoint groups of at most $\ell+1$ hypotheses with no common label, characterizes full-set learnability, and demonstrations still reduce to intersections. Agnostic learning from demonstrations, already for finite label spaces, is not determined by the dimensions of the intersection class that characterize realizable learning. Finally, we show that the uniform bound $\ell$ on the number of correct labels is essential. Without this bound, it is impossible to characterize learnability by any dimension determined by finite subclasses.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.07139

Structural Rationale Distillation via Reasoning Space Compression

Jialin Yang, Jiankun Wang, Jiajun Wu, Henry Leung, Jiayu Zhou, Steve Drew

原文摘要

When distilling reasoning from large language models (LLMs) into smaller ones, teacher rationales for similar problems often vary wildly in structure and strategy. Like a chef who makes the same dish differently each time, this inconsistency burdens the student with noisy supervision that is hard to internalize. We propose Distillation through Reasoning Path Compression (D-RPC), which constrains the teacher to follow a compact, dynamically maintained bank of reusable high-level reasoning paths. For each training question, D-RPC retrieves the most relevant path and conditions the teacher to follow it, producing rationales that are consistent across similar problems yet diverse enough to cover different problem types. A PAC-Bayes analysis formalizes a trade-off between bank size and coverage, with smaller banks limiting path diversity at the risk of coverage gaps. Our ablations favor an intermediate bank size, consistent with this trade-off. Across five math and commonsense reasoning benchmarks with two student models, D-RPC achieves the highest average accuracy among the evaluated distillation methods, while using fewer tokens than template-heavy alternatives.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.17864

TStruct: Learning Shared Temporal Structures for Long-Term Time Series Forecasting

Yangze Li, Zhengyang Zhou, Qihe Huang, Pengkun Wang, Binwu Wang, Yang Wang

原文摘要

Long-term time series forecasting requires learning temporal dependencies that remain stable and generalizable under temporal distribution shifts. However, real-world time series are often noisy, non-stationary, and heterogeneous, making deep learning models prone to overfitting incidental temporal interactions in the training data. This raises a question: when observations are difficult to align, could temporal relationships be easier to reuse? To investigate this possibility, we analyze patch-level temporal relationship matrices across commonly used time series datasets, revealing dominant patterns shared across different temporal windows and variables. Comparisons with patch-shuffled and IID Gaussian controls further support the presence of reusable temporal relationship structures. Motivated by these findings, we propose \textbf{T}emporal \textbf{Struct}ure Network (\textbf{TStruct}), a simple yet effective network that learns reusable temporal dependency structures and adaptively combines them for each sample and variable. Specifically, TStruct directly parameterizes a set of shared temporal dependency matrices and generates normalized combination weights using dynamic sample information and static variable priors. These weights represent a soft allocation of each sample-variable pair over shared temporal dependency structures, enabling the model to generate adaptive temporal dependency matrices under shared structural constraints, rather than fitting incidental interactions in a fully unconstrained manner. Notably, TStruct consistently outperforms several strong baselines across all evaluated datasets, achieving superior accuracy while maintaining high computational efficiency. Our code is available at https://github.com/yangzeli/TStruct.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04916

Behind Video Generation: Observations and Insights on Multimodal Understanding from Kling

Kling Team, Dong Chen, Jialu Chen, Xinlong Chen, Yifan Dai, Haotian Dong, Binzong Geng, Yushuo Guan 等 53 位作者

原文摘要

Video generation has progressed from isolated clips to coherent short-form audiovisual sequences, and the bottleneck is shifting from rendering to semantic control. This report summarizes the observations and insights on multimodal understanding gained from successive generations of Kling. We argue that generation quality is the projection of multimodal understanding through the entire data--conditioning--alignment--evaluation chain, and we examine this chain module by module. Kling-MLLM, a shared multimodal foundation model that unifies image, video, audio, synchronized audio--video, and interleaved inputs, is specialized for each downstream module. Because a DiT is trained on far fewer training samples than a language model, we treat captioning as a semantic contract that maximizes description density, and extend it to reference-grounded captioning that makes reference bindings explicit. Prompt enhancement translates user intent into this caption distribution: basic PE is derived from captions of compelling videos and refined with text-level and generator-in-the-loop reinforcement learning, while agentic PE refines the story and retrieves compelling examples. We show that a reliable text encoder comes from perceptual training rather than from stronger language ability, and that candidates can be screened from text alone before end-to-end training. Reward modeling pairs a general reward model for explainable, localized critiques with a decision reward model for fast multidimensional scoring, treating perceptual bandwidth as a first-class design parameter. Finally, we review task-specific automatic evaluation, focusing on protocols that expose scoring shortcuts and help trace failures to their upstream source. We hope these lessons offer practical guidance for building the understanding stack behind controllable video generation.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04472

Beyond Token Representations: Explicit Visual Object Grounding for Video Reasoning Segmentation

Jun Huang, Junyang Zhang, Zijie Yue, Bingkun Wang, Yong Luo, Miaojing Shi

原文摘要

Video Reasoning Segmentation (VRS) aims to infer and segment target objects specified by reasoning queries in videos. Existing methods typically first infer the target and generate a few segmentation tokens for it, which are then fed into a mask decoder for mask prediction. However, such segmentation tokens tend to be both semantically monotonous and spatially ambiguous, making them largely insufficient to represent the target to guide mask prediction. In this paper, we propose an explicit visual object grounding framework for VRS. Specifically, we first propose a spatial-aware prompt generation and refinement scheme, in which we query a multimodal large language model to generate explicit spatial prompts (i.e., bounding box and point set) for the target and then refine them through multi-step dialogue. Furthermore, we introduce a query diversification and alignment module to generate auxiliary queries that describe the same target from different perspectives. We then enforce cross-query consistency between their predicted spatial prompts to alleviate the training bias caused by query limitations. Finally, we select several reliable frames using a prompt-based keyframe selection strategy to support mask decoding and propagation. Extensive experiments on eight datasets demonstrate that our method significantly outperforms state-of-the-art methods. The code is available at https://github.com/viscom-tongji/EVOG.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.04523

MaxKernel: Agentic Kernel Generation for TPUs

Shangkun Wang, Nina Cai, Charles Hoong, Julian Walker, Gerson Kroiz, George Vanica, Deepak Patil, Andi Gavrilescu 等 10 位作者

原文摘要

Designing and authoring high-performance custom kernels for accelerators is a complex task that requires deep hardware-level expertise. Large Language Models (LLM) can be leveraged together with real-time compiler feedback to build agentic systems for kernel generation. In this work, we present MaxKernel, a multi-agent system that implements three distinct paradigms for TPU kernel development: (1) a Human-in-the-Loop (HITL) agent for collaborative, step-by-step design; (2) an Autonomous (Auto) agent that executes a fully automated, metric/trace-driven optimization loop; and (3) a Graph-Based Autonomous Search that scales the Auto agent for global exploration of the design space. All three paradigms leverage a shared pool of specialized sub-agents to handle planning, implementation, self-debugging, testing, and hardware profiling. We evaluate MaxKernel on JaxBench, a comprehensive suite of 50 diverse kernel tasks for TPUs, alongside complex, real-world workloads from state-of-the-art open-source models. We demonstrate that MaxKernel consistently generates highly optimized implementations, matching expert hand-tuned baselines and delivering significant performance across the benchmark. Our agent is open-sourced and available https://github.com/AI-Hypercomputer/accelerator-agents/tree/main/MaxKernel.

cs.AI · cs.PF · cs.PL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03163

FineCraft: Enhancing VLA Models for Fine-Grained Manipulation

Shuaike Zhang, Ziheng Quan, Junhao Ran, Muhe Ding, Shaokun Wang, Jianlong Wu

原文摘要

Fine-grained manipulation couples instruction grounding, local visual precision, and sustained execution. We present FineCraft, a framework that adapts pretrained models for fine-grained manipulation in the MetaFine Challenge. A task-routed mixture of policies selects independently adapted DINOv2-DiT or pretrained $π_{0.5}$ policies through a common observation-action interface. Local visual features help identify the instructed object parts, demonstrations and expert continuations teach the required actions, and new observations guide replanning during execution. FineCraft ranks fourth with an overall score of $0.878$, exceeding the published reference on all five tasks. Official results and local diagnostics characterize performance across visual perturbations, instruction changes, and multi-stage manipulation. Code is available at https://github.com/eqcy/FineCraft

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03125

SurgPace: Complexity-Aware Progressive Distillation for Surgical Multimodal Large Language Models

Zhicheng He, Xiaohan Xing, Hongqiu Wang, Kun Yuan, Guankun Wang, Yanheng Li, Haoxuan Che, Nassir Navab 等 10 位作者

原文摘要

Multimodal large language models (MLLMs) have shown strong potential in robotic surgery for question answering, scene understanding, and grounded assistance, but their high computational cost limits real clinical deployment. Knowledge distillation provides a practical way to build compact surgical MLLMs, yet direct distillation is not well suited to surgical data because surgical samples vary greatly in difficulty, visual ambiguity, and required clinical context, making uniform teacher-student transfer unstable. In addition, the role of supervision changes during training: early stages require stronger teacher guidance for multimodal alignment, while later stages rely more on task supervision for effective optimization. To address these challenges, we propose SurgPace, a complexity-aware continuous curriculum framework for progressive distillation of surgical vision-language models. SurgPace estimates sample complexity using predictive confidence and Lorentz geometric consistency, and uses the fused score to guide a continuous easy-to-hard training process. We further introduce hierarchical representation alignment, which aligns the student with the teacher at the feature, logit, and probability levels, while gradually shifting the training focus from teacher imitation to task supervision. This design separates sample-level curriculum from objective-level scheduling, leading to more stable and effective distillation. We evaluate SurgPace on Surg-396K, a benchmark built from four public surgical datasets and covering five dialogue paradigms. SurgPace consistently outperforms strong MLLM distillation baselines, demonstrating its effectiveness for building compact, memory-efficient surgical MLLMs with faster decoding under controlled benchmarks. Code is available at https://github.com/hezhicheng2002/SurgPace.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.24202

When Does Multi-Agent RL Improve LLM Workflows? Workflow, Scale, and Policy-Sharing Tradeoffs

Yifan Zeng, Yiran Wu, Yaolun Zhang, Wentian Zhao, Kun Wan, Qingyun Wu, Huazheng Wang

原文摘要

Outcome-reward RL can train every role of a multi-agent LLM workflow. Its benefit is hard to predict because the reward assigns no credit to individual roles and a shared policy trades pooled data against specialization. We ask when this training improves a workflow over its base model and single-agent RL, and what each role learns. We train three workflows (Eval-Opt, Voting, Orch-Workers) with GRPO on math and code at three Qwen3 scales, with one policy for all roles (Shared-Policy, SP) or one per role type (Isolated-Policy, IP). Every workflow gains by adapting to its structure; this does not make a role better than training it alone. Single-agent RL in the same structure matches or beats trained Voting and Orch-Workers, and within the grid only Eval-Opt under IP exceeds it. Eval-Opt's evaluator learns when to retry and its generator learns to complete the retried attempts, a joint strategy that a single policy trained alone does not acquire. Under SP, per-output token averaging sets each role's gradient share, a hidden hyperparameter absent from single-agent RL, and the solving roles learn slowly; reweighting it gives SP the speed and peak of IP, and its decline. Under IP, a parallel role, whose instances share one adapter, takes one optimizer step per instance per training step and can drift after the peak as its entropy rises and accuracy declines. Merging those steps delays the decline. Our code is at: https://github.com/XHMY/marl-llm-workflows

cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01934

TriPhysBench: Evaluating Physical Intelligence for Embodied Agents

Zhongxiang Sun, Chenghao Yang, Haojie Ding, Boheng Zhang, Fan Yang, Qingsong Wen, Kun Wang

原文摘要

Embodied agents need physical intelligence to understand their surroundings through physical perception, physical knowledge retrieval, and physical reasoning. These capabilities must work together to interpret events and make quantitative judgments. Existing benchmarks advance physical understanding and general-purpose tool use, yet the coordination of these capabilities in physical scenarios remains insufficiently characterized. Inspired by Popper's Three Worlds, we introduce TriPhysBench, a benchmark of 410 questions from 200 videos that brings physical perception, physical knowledge retrieval, and physical reasoning into a shared evaluation setting. Its measurement-grounded and knowledge-grounded subtasks impose complementary demands on obtaining observations and acquiring external specifications, then applying them to quantitative problems. Among six representative vision-language models, the best achieves an answer accuracy of only 50.38%, revealing limited performance on tasks that require these capabilities to work together. We further introduce TriPhys, a framework that learns a unified policy for physical perception, knowledge retrieval, and quantitative reasoning from complete tool-integrated trajectories. The policy uses intermediate reasoning to guide retrieval and computation, then incorporates tool feedback into subsequent physical inference. On 110 questions from videos excluded from training, TriPhys improves answer and solution scores across three Qwen configurations, with a 17.7% relative gain in answer accuracy for TriPhys-27B over its Qwen3.6-27B backbone. This work provides a benchmark and a learning pathway toward embodied agents that move beyond recognizing events to understanding and reasoning about the physical processes behind them.

cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2603.05811

LIPAR: Training-free Latent Inter-Frame Pruning with Attention Recovery

Dennis Menn, Yuedong Yang, Bokun Wang, Xiwen Wei, Mustafa Munir, Feng Liang, Radu Marculescu, Chenfeng Xu 等 9 位作者

原文摘要

Video generation enables text-to-video synthesis, video editing, and motion-controlled content creation. However, current video generation models suffer from high computational latency, rendering true real-time capabilities infeasible for downstream tasks. We address this limitation by exploiting the temporal redundancy inherent in video latent patches. To this end, we propose the Latent Inter-frame Pruning with Attention Recovery (LIPAR) framework, which detects and skips recomputing duplicated latent patches. Additionally, we introduce a novel Attention Recovery mechanism that approximates the attention values of pruned tokens, thereby removing visual artifacts arising from naively applying the pruning method. Empirically, our method increases generation throughput by $1.45\times$, on average achieving 12.2 FPS on an NVIDIA A6000 compared to the baseline 8.4 FPS. The proposed method does not compromise generation quality and can be seamlessly integrated with Diffusion Transformer without additional training. Our approach effectively bridges the gap between traditional compression algorithms and modern generative pipelines.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.25429

Distance Is Not Enough: Forget-Retain Alignment Gap Predicts LLM Relearning Robustness

Yi Chen, Hanna Hsieh, Shuhong Liu, Chuanbo Hua, Zihan Ma, Kun Wang, Joo-Young Kim

原文摘要

Machine unlearning aims to make a model forget specific data, yet unlearned LLMs often fail to stay unlearned: brief fine-tuning can revive removed knowledge. Existing robustness predictors rely on global weight-space displacement, but distance alone can be misleading when random or destructive updates collapse performance. We argue that relearning robustness depends on update structure: robust unlearning should affect forget-critical weights while sparing retain-critical ones. We introduce the Forget-Retain Alignment Gap (FRAG), a training-free predictor that scores an update's forget-retain alignment without running a relearning attack, and separates selective from dense updates more reliably than global distance. Building on the forget-critical, retain-sparing principle, Forget-Retain Pruning (FRP) improves relearning robustness. Our results suggest that weight selectivity better explains robustness than distance alone. Code is available at https://github.com/Yi1-Chen/FRAG.

cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39557

LatentWeave: Test-Time Latent Optimization for Multimodal Reasoning

Fanci Meng, Kun Wang, Guibin Zhang, Xinlei Yu, Jiaming Zhang, Ming Li, Yang Wang

原文摘要

Recent advances in test-time optimization have shown that the multimodal reasoning performance of large multimodal language models (MLLMs) can be improved during inference without modifying backbone model parameters. However, existing approaches primarily operate at the prompt or output level, leaving the latent reasoning process largely uncontrolled and insufficient to prevent error accumulation during autoregressive generation. To address this limitation, we propose LatentWeave, a test-time framework that treats multimodal reasoning as a controllable latent trajectory. LatentWeave performs structured Latent Weaving, progressively refining intermediate hidden states segment-wise to correct emerging deviations, and further introduces Reasoning Anchors via lightweight WEAVE tokens to stabilize reasoning structure and guide answer-oriented generation. These mechanisms are designed to enable fine-grained, step-aware intervention in the latent reasoning process while keeping the main MLLM backbone parameters fixed. Extensive experiments across diverse multimodal reasoning benchmarks report improvements over the evaluated baselines; the contribution of latent optimization, anchor training, and additional test-time computation is analyzed separately in the ablation and efficiency studies. Our code is available at https://github.com/jins7/LatentWeave.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2608.02673

dots.tts.edit: Precisely Controlled Speech Editing with a Continuous Autoregressive Model

Hankun Wang, Bohan Li, Shi Lian, Xiaoyu Gu, Jing Peng, Da Zheng, Yiwei Guo, Colin Zhang 等 10 位作者

原文摘要

Speech editing for content creation requires precise control over both what an edit should do and where it should apply. Free-form natural language provides a flexible interface for expressing edit requests, but its ambiguity may leave the intended operation, parameters, or target region underspecified. We study a semi-formal transcript-grounded edit instruction that specifies operation categories and parameters and binds them to transcript spans or boundaries. This semantic timeline avoids explicit timestamp alignment and provides an externally inspectable contract for compositional edits. We instantiate the interface in dots$.$tts$.$edit, a speech editing model built on a continuous autoregressive speech generation architecture. Four representative speech-creation controls cover lexical content, affective expression, pitch and speaking-rate delivery, and temporal phrasing through text, emotion, prosody, and pause editing. Task-specific data pipelines construct operation- and scope-controlled pairs while retaining source-derived context outside each target region. We further introduce doteBench, a bilingual benchmark that measures precise instruction following, local preservation, and audio quality across the four controls and their composition. Experiments show leading overall instruction following and local preservation across its five editing categories, while audio quality remains comparable to existing open-source systems. Across three Seed-TTS-Eval shards, the model shows negligible differences from the base model in zero-shot TTS recognition error rate and speaker similarity.

cs.SD · cs.AI · cs.CL · eess.AS

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版本更新 · v4arXiv:2603.25184

Train at Moving Edge: Online-Verified Prompt Selection for Efficient RL Training of Large Reasoning Model

Jiahao Wu, Ning Lu, Shengcai Liu, Kun Wang, Yanting Yang, Baijiong Lin, Chen Jason Zhang, Li Qing 等 9 位作者

原文摘要

Reinforcement learning (RL) has become essential for post-training large language models (LLMs) in reasoning tasks. While scaling rollouts can stabilize training and enhance performance, the computational overhead is a critical issue. In algorithms like GRPO, multiple rollouts per prompt incur prohibitive costs, as a large portion of prompts provide negligible gradients and are thus of low utility. To address this problem, we investigate how to select high-utility prompts before the rollout phase. Our experimental analysis reveals that sample utility is non-uniform and evolving: the strongest learning signals concentrate at the ``learning edge", the intersection of intermediate difficulty and high uncertainty, which shifts as training proceeds. Motivated by this, we propose HIVE (History-Informed and online-VErified prompt selection), a dual-stage framework for data-efficient RL. HIVE utilizes historical reward trajectories for coarse selection and employs prompt entropy as a real-time proxy to prune instances with stale utility. By evaluating HIVE across multiple math reasoning benchmarks and models, we show that HIVE yields significant rollout efficiency without compromising performance.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.02004

ClueTracer: Question-to-Vision Clue Tracing for Training-Free Hallucination Suppression in Multimodal Reasoning

Gongli Xi, Kun Wang, Zeming Gao, Huahui Yi, Haolang Lu, Qianshan Wei, Ye Tian, Wendong Wang

原文摘要

Large multimodal reasoning models solve challenging visual problems via explicit long-chain inference: they gather visual clues from images and decode clues into textual tokens. Yet this capability also increases hallucinations, where the model generates content that is not supported by the input image or the question. To understand this failure mode, we identify \emph{reasoning drift}: during clue gathering, the model over-focuses on question-irrelevant entities, diluting focus on task-relevant cues and gradually decoupling the reasoning trace from visual grounding. As a consequence, many inference-time localization or intervention methods developed for non-reasoning models fail to pinpoint the true clues in reasoning settings. Motivated by these insights, we introduce ClueRecall, a metric for assessing visual clue retrieval, and present ClueTracer, a training-free, parameter-free, and architecture-agnostic plugin for hallucination suppression. ClueTracer starts from the question and traces how key clues propagate along the model's reasoning pathway (question $\rightarrow$ outputs $\rightarrow$ visual tokens), thereby localizing task-relevant patches while suppressing spurious attention to irrelevant regions. Remarkably, \textbf{without any additional training}, ClueTracer improves all \textbf{reasoning} architectures (including \texttt{R1-OneVision}, \texttt{Ocean-R1}, \texttt{MM-Eureka}, \emph{etc}.) by $\mathbf{1.21\times}$ on reasoning benchmarks

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.04680

Read What You Hear: Reference-Free Hypotheses Evaluation with Acoustic Discrepancy

Zhihan Li, Hankun Wang, Yiwei Guo, Bohan Li, Xie Chen, Kai Yu

原文摘要

Automatic speech recognition systems commonly rely on reference transcriptions for evaluation, while reference-free approaches often depend on internal confidence estimation or auxiliary language models. We propose READ (Reference-free Hypothesis Evaluation with Acoustic Discrepancy), a novel metric that evaluates ASR hypotheses directly from the speech signal. READ emphasizes the acoustic grounding of hypotheses. It uses a pretrained auto-regressive TTS model to compute the conditional likelihood of speech tokens given a text hypothesis, to measure fine-grained acoustic discrepancy between speech and text. Without additional training, READ can be applied for hypothesis refinement. Experiments show that READ correlates with specific recognition errors and improves ASR outputs, achieving up to 20\% relative error rate reduction, with particularly strong gains under noisy conditions.

eess.AS · cs.CL · cs.SD

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37298

Understanding Human-Robot Collaboration through Joint Action

Chengwen Zhang, Jianyang Wang, Chang Liu, Yukun Wang, Yuan Xu, Zhoutong Ye, Jie Cai, Chun Yu 等 9 位作者

原文摘要

Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal. Joint Action theory provides concepts for understanding this coordination, but how these concepts are instantiated and combined across empirical research remains fragmented. We conducted a systematic review following PRISMA 2020, identifying 83 empirical papers published between 2021 and 2026. Through theory-driven framework analysis, we organized the literature into nine constructs across three capacities: Representation, Prediction, and Integration. We analyze how these constructs are distributed and co-occur across studies, revealing where empirical evidence concentrates and where it is absent. By mapping empirical HRC research onto a unified Joint Action framework, this review offers a coherent overview of HRC studies, identifies gaps in current evidence, and provides guidelines for future research.

cs.HC · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37231

TaskBridge: Technical Report for SIGIR 2026 eCommerce Challenge

Zhiheng Fu, Yupeng Hu, Zixu Li, Zhiwei Chen, Qinlei Huang, Shaokun Wang, Han Liu, Fan Liu 等 10 位作者

原文摘要

The SIGIR 2026 eCommerce Challenge Query Reformulation Task evaluates the reformulation of task-oriented queries into expressions suitable for product retrieval, followed by BM25-based retrieval. These queries often imply product needs through activity-level semantics, creating a lexical gap with catalog descriptions. Systems must preserve task intent while adapting the number of reformulations to the Automatic and Interactive protocols. We propose TaskBridge, a catalog-anchored framework comprising Catalog Semantic Anchoring, Unified Five-Candidate Rewriting, and Protocol-Aware Selection. It grounds queries in catalog vocabulary, generates five complementary reformulations, and selects one query for Automatic retrieval or up to four for Interactive retrieval using BM25 scores, query-product reranking, and weighted Jaccard overlap. The selected queries are independently executed using BM25 to produce results in the required six-column format. Experiments demonstrate improved retrieval effectiveness, with multiple complementary queries providing additional gains in the Interactive setting. TaskBridge achieved first place in the SIGIR 2026 eCommerce Challenge.

cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35727

TRACE: Memory-Efficient Time Series Class-Incremental Learning via Temporal-Spectral Reconstruction

Junhui Mao, Junru Zhang, Liming Ye, Cheng Peng, Haoran Shi, Xiaoli Tang, Baokun Wang, Bin Dou 等 10 位作者

原文摘要

Web-connected sensing applications continuously generate multivariate time series with evolving behavioral categories, making Time Series Class-Incremental Learning (TSCIL) essential for adapting to new classes without forgetting previously acquired knowledge. However, preserving diverse and evolving class distributions under strict privacy and memory constraints remains a fundamental challenge. Existing approaches often face a trade-off between retaining sufficient historical knowledge for accurate recognition and minimizing the memory required for continual adaptation. To address these limitations, we propose TRACE, a memory-efficient, replay-free framework that preserves class-specific knowledge through generative modeling rather than sample rehearsal. TRACE employs a compact, frozen temporal-spectral representation and lightweight class-specific autoencoders to capture complex intra-class variations. By independently preserving each class model, TRACE avoids recursive generation and catastrophic forgetting, while enabling direct classification through reconstruction-based scoring without retaining historical samples or large statistical matrices. Extensive experiments across five TSCIL benchmarks demonstrate that TRACE achieves competitive classification accuracy while reducing mean retained memory by approximately 98.26% compared with TS-ACL, the strongest evaluated analytical baseline, and achieving an approximately 33.43% relative improvement in accuracy on GrabMyo.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34925

Rethinking Data Imbalance in Class Incremental Surgical Instrument Segmentation

Shifang Zhao, Long Bai, Kun Yuan, Feng Li, Jieming Yu, Wenzhen Dong, Guankun Wang, Mobarakol Islam 等 11 位作者

原文摘要

In surgical instrument segmentation, the increasing variety of instruments over time poses a significant challenge for existing neural networks, as they are unable to effectively learn such incremental tasks and suffer from catastrophic forgetting. When learning new data, the model experiences a sharp performance drop on previously learned data. Although several continual learning methods have been proposed for incremental understanding tasks in surgical scenarios, the issue of data imbalance often leads to a strong bias in the segmentation head, resulting in poor performance. Data imbalance can occur in two forms: (i) class imbalance between new and old data, and (ii) class imbalance within the same time point of data. Such imbalances often cause the dominant classes to take over the training process of continual semantic segmentation (CSS). To address this issue, we propose SurgCSS, a novel plug-and-play CSS framework for surgical instrument segmentation under data imbalance. Specifically, we generate realistic surgical backgrounds through inpainting and blend instrument foregrounds with the generated backgrounds in a class-aware manner to balance the data distribution in various scenarios. We further propose the Class Desensitization Loss by employing contrastive learning to correct edge biases caused by data imbalance. Moreover, we dynamically fuse the weight parameters of the old and new models to achieve a better trade-off between the biased and unbiased model weights. To investigate the data imbalance problem in surgical scenarios, we construct a new benchmark for surgical instrument CSS by integrating datasets. Extensive experiments demonstrate the effectiveness of the proposed framework, achieving significant performance improvement against existing baselines.

cs.CV

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1136ACL Anthology · ACL 2026

PARIF: Pushing the Pareto Frontier of Instruction Following and Reasoning with Curriculum Reinforcement Learning

Rongchuan Mu, Zexin Wang Harbin Institute of Technology, Qianyu Wang, MingHua Ma, Zekun Wang Alibaba Group, Ming Liu Harbin Institute of Technology, Bing Qin Harbin Institute of Technology

原文摘要

Large Reasoning Models (LRMs) excel at complex problem-solving but frequently overlook specific instruction constraints. Existing alignment methods struggle to balance general reasoning with instruction-following (IF), hindered by dependency on teacher models, reward hacking, and reasoning-answer inconsistencies. We propose PARIF, a two-stage curriculum learning framework based on Reinforcement Learning from Verifiable Rewards (RLVR) to enhance both IF and general reasoning capabilities. The framework employs a correctness proxy across different stages to mitigate reward hacking. Stage I employs a dynamic weighting strategy simultaneously to optimize the model’s reasoning paradigm regarding constraints. Stage II introduces Decoupled-GRPO, which builds upon the first stage to enhance the logical consistency between the reasoning process and the final answer, enabling the model to better leverage its optimized reasoning paradigm. To support the framework, we curate 26,000 high-quality instructions featuring diverse constraints. Extensive experiments demonstrate PARIF’s effectiveness: our 7B model achieves a remarkable 21.25% relative average improvement to the original model across six representative IF tasks, while our 8B model outperforms leading models like DeepSeek-V3 on these IF tasks, effectively pushing the Pareto frontier of instruction following and reasoning for models of comparable scale. We open-source our code and models to facilitate future research.

cs.CL

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1660ACL Anthology · ACL 2026

Graph Reasoning Paradigm: Structured and Symbolic Reasoning with Topology-Aware Reinforcement Learning for Large Language Models

Runxuan Liu, Xianhao Ou Harbin Institute of Technology, Xinyan Ma Harbin Institute of Technology, Jiyuan Wang, Jiafeng Liang Harbin Institute of Technology, Jiaqi Li Tianjin Normal University, Tao He Harbin Institute of Technology, Zheng Chu Harbin Institute of Technology 等 16 位作者

原文摘要

Long Chain-of-Thought (LCoT), achieved by Reinforcement Learning with Verifiable Rewards (RLVR), has proven effective in enhancing the reasoning capabilities of Large Language Models (LLMs). However, reasoning in current LLMs is primarily generated as plain text, where performing semantic evaluation on such unstructured data creates a computational bottleneck during training. Despite RLVR-based optimization, existing methods still suffer from coarse-grained supervision, reward hacking, high training costs, and poor generalization.To address these issues, we propose the Graph Reasoning Paradigm (GRP), which realizes structured and symbolic reasoning, implemented via graph-structured representations with step-level cognitive labels. Building upon GRP, we further design Process-Aware Stratified Clipping Group Relative Policy Optimization (PASC-GRPO), which leverages structured evaluation to replace semantic evaluation, achieves process-aware verification through graph-structured outcome rewards, and mitigates reward hacking via stratified clipping advantage estimation. Experiments demonstrate significant improvements across mathematical reasoning and code generation tasks. Data, models, and code will be released later.

cs.CL

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1850ACL Anthology · ACL 2026

Decoding-Unlearning: Fact Forgetting via Entropy-Guided Inference

Jingwen Pu University of Electronic Science and Technology of China, Mingjun Shi, Xinrui Ren University of Electronic Science and Technology of China, Yizhe Wang, Xinyu Zhang, Zhaokun Wang, Kun She University of Electronic Science and Technology of China

原文摘要

Large Language Models (LLMs) exhibit powerful capabilities but inevitably memorize sensitive information, raising privacy, copyright, and safety concerns. Existing LLM unlearning methods typically rely on updating model parameters. While effective, they are often limited in real-world scenarios: fine-tuning large-scale models is costly, may introduce potential irreversible risks, and depends on both forget and retain datasets, which are often difficult to obtain in full. To address these challenges, an ideal solution is to achieve unlearning at inference time. To this end, we propose SEGUE, a training-free, plug-and-play inference-time unlearning strategy. SEGUE employs a probe to detect queries involving forgettable concepts and applies entropy-guided decoding to suppress target knowledge, enabling controllable non-factual generation while preserving overall model capabilities. Experiments on the MUSE, RWKU, and WMDP datasets, covering copyright, entity, and potential-risk knowledge, show that SEGUE effectively balances sensitive knowledge suppression and generation quality, outperforming existing most inference-time unlearning methods.

cs.CL

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