Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search resembles human-like exploration: selectively probing visually promising frontiers while relying on spatial memory to avoid redundant revisits. We propose IntentNav, a spatial-visual imitation framework that learns human-like ObjectNav policies from human demonstrations. To infer high-level search intent from low-level human actions, we introduce Frontier-based Human-Intent Labeling, which looks ahead in human demonstrations and labels the frontier that best explains the demonstrator's future search direction. We construct a spatial-visual candidate space, where BEV memory tracks explored regions, unexplored frontiers, and trajectory history, while egocentric visual memory provides semantic cues for each candidate. A VLM policy is trained to select among these grounded candidates, using Intent-Aligned Objective to encourage consistent and human-like exploration. IntentNav achieves state-of-the-art performance among learning-based methods on the MP3D, HM3D-v1, and HM3D-v2 ObjectNav benchmarks, attaining the best success rate among all compared methods. The proposed candidate-level navigation interface transfers zero-shot to wheeled, quadruped, and humanoid robots without further VLM fine-tuning. \href{https://wmn7.github.io/IntentNav/}{Project page}.
Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that are both physically stable and visually faithful remains slow and expensive. In this work, we present RoboSnap, a real-to-sim framework that turns a single RGB image into a simulation-ready scene. The key idea is a layered design that separates the physics-critical interaction area from the surrounding visual context: collision-aware foreground assets are refined for stable robot interaction, while a 3D Gaussian splatting visual layer preserves faithful background appearance under novel views. Experiments on DROID scenes and real-robot tasks show that RoboSnap achieves reliable trajectory replay in the recovered scenes, supports task-specific synthetic data generation for policy training, and yields meaningful sim-real correlation for policy evaluation. To further support real-to-sim research, we introduce DROID-Sim, a real-to-sim companion dataset constructed from 564 real-world scenes in DROID. Extensive experiments suggest that the value of real-to-sim methods lies not only in high-fidelity visual reconstruction, but in turning real environments into reusable infrastructure for robot learning and evaluation.
Feiteng Nie, Yuan Sun, Shengkun Zhu, Sheng Wang, Zhiyong Peng
k-means provides a simple and efficient foundation for text clustering, but embedding alone can miss task-specific semantic boundaries. Must-link (ML) and cannot-link (CL) constraints can correct such errors, yet conventional constrained clustering assumes that these relations are already supplied. LLMs can generate them without task-specific labels, but exhaustive querying is costly and their judgments can be incorrect. We present GPKmeans, an efficient Group-Penalty k-means method for text clustering with noisy LLM-generated constraints. GPKmeans uses LLM as an offline local pairwise annotator, querying selected anchor-candidate pairs for sparse ML links and constructing set-valued CL evidence without all-pairs queries. It converts connected components of the ML-link graph and the generated CL sets into groups with normalized, bounded soft penalties, limiting each group's influence independently of its size. Cached coordinate descent is proposed to efficiently solve the constraints clustering problem. We prove finite-step convergence and derive deterministic and probabilistic oracle-referenced bounds that relate objective distortion to the penalty coefficients and to the group-level error probabilities of the generated constraints. Across nine datasets, GPKmeans uses fewer LLM calls and yields more accurate constraints. It achieves the best average ACC, NMI, and ARI while running approximately 30 times faster than state-of-the-art constrained clustering methods.
Liang Zhao, Xiaocheng Feng, Weihong Zhong Harbin Institute of Technology, Lei Huang, Kun Zhu, Baoxin Wang IFLYTEK CO.LTD., Dayong Wu, Guoping Hu IFLYTEK CO.LTD. 等 10 位作者
The increasing context window greatly extends the capabilities of large language models, but on the other hand, it incurs an unaffordable memory overhead and computational latency due to the increasing Key-Value (KV) cache size. Recent KV cache compression methods manage to reduce the cache size by dropping irrelevant KVs. However, these methods often fail to identify crucial KVs for generation while excluding others accurately, resulting in severe information loss. To address this gap, we propose IntentKV, an intention-aware KV cache eviction method that identifies and retains crucial KVs according to the attention distribution of intention, which semantically reflects the user’s goal and determines which part of the context is relevant. The consistency between the semantics and attention distribution is further substantiated through meticulously designed experiments. On this basis, IntentKV first distinguishes intention tokens from the vanilla context tokens based on their attention distribution distances. Then, the block-wise cumulative attention is calculated via aggregating the intention token attention. Finally, blocks that acquire high cumulative attention are picked and stored in KV cache. We evaluate our method across diverse long-context tasks and models. Results demonstrate that IntentKV can effectively maintain the model performance while reducing the KV cache size from 128K to 2K, leading to a 6.3x increase in decoding speed and 7.8x enhancement in memory efficiency compared to the default setting.
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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
Vision-language model-based mobile agents have gained the ability to understand complex instructions and mobile screenshots, benefiting from reinforcement learning paradigms like Group Relative Policy Optimization (GRPO). However, existing approaches centers on offline training or local action-level rewards often trap agents in local optima, hindering effective exploration and error correction with the environment. Crucially, we find that directly applying task-level rewards often leads to convergence difficulties due to the sparse nature of GUI interactions. To address these challenges, we present Mobile-R1, a systematic training recipe that bridges atomic action execution and strategic task completion. We propose a hierarchical curriculum consisting of three stages: (1) format alignment for reasoning structure, (2) on-policy exploration with verifiable action feedback to ground basic execution, and (3) multi-turn task-level training with realistic environment to unlock exploration and self-correction. This hierarchical strategy effectively bootstraps the agent, significantly enhancing its capability for exploration and self-correction (the “Eureka” moments). Furthermore, addressing the critical scarcity of diverse GUI data in non-English ecosystems, we contribute a comprehensive Chinese mobile dataset covering 28 applications with 24,521 high-quality manual annotations, and establish a rigorous benchmark with 500 trajectories. We will open source all resources, including the dataset, benchmark, model weight, and codes: https://mobile-r1.github.io/Mobile-R1/.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Recent advances in Vision-Language Models (VLMs) have enabled mobile agents to perceive and interact with real-world mobile environments based on human instructions. However, the current fully autonomous paradigm poses potential safety risks when model understanding or reasoning capabilities are insufficient. To address this challenge, we first introduce InquireBench, a comprehensive benchmark specifically designed to evaluate mobile agents’ capabilities in safe interaction and proactive inquiry with users, encompassing 5 categories and 22 sub-categories, where most existing VLM-based agents demonstrate near-zero performance. In this paper, we aim to develop an interactive system that actively seeks human confirmation at critical decision points. To achieve this, we propose InquireMobile, a novel model inspired by reinforcement learning, featuring a two-stage training strategy and an interactive pre-action reasoning mechanism. Finally, our model achieves an 46.8% improvement in inquiry success rate and the best overall success rate among existing baselines on InquireBench. The project page is available at https://bit-aqh.github.io/InquireMobile/homepage/.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Medical calculators are fundamental to quantitative, evidence-based clinical practice. However, their real-world use is an adaptive, multi-stage process, requiring proactive EHR data acquisition, scenario-dependent calculator selection, and multi-step computation, whereas current benchmarks focus only on static single-step calculations with explicit instructions. To address these limitations, we introduce MedMCP-Calc, the first benchmark for evaluating LLMs in realistic medical calculator scenarios through Model Context Protocol (MCP) integration. MedMCP-Calc comprises 118 scenario tasks across 4 clinical domains, featuring fuzzy task descriptions mimicking natural queries, structured EHR database interaction, external reference retrieval, and process-level evaluation. Our evaluation of 23 leading models reveals critical limitations: even top performers like GPT-5 exhibit substantial gaps, including difficulty selecting appropriate calculators for end-to-end workflows given fuzzy queries, poor performance in iterative SQL-based database interactions, and marked reluctance to leverage external tools for numerical computation. Performance also varies considerably across clinical domains. Building on these findings, we develop CalcMate, a fine-tuned model incorporating scenario planning and tool augmentation, achieving state-of-the-art performance among open-source models.
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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