As a representative form of embodied robotic interaction, aerial grasping requires close coordination between the aerial platform and manipulator. Most existing systems perform aerial grasping with static or slowly moving targets under fixed scenarios. Dynamic and precise grasping across different conditions introduces additional challenges, including target motion, localization drift, dynamic coupling, and external disturbances. In this work, we present CAPTURER, a dexterous aerial manipulator for centimeter-level grasping across diverse environments. To achieve the challenging goal, we first develop an onboard perception system for state estimation and target detection. Drift correction and global pose transformation are introduced to improve target localization during flight. A cooperative motion planner is proposed to coordinate the mobility of the aerial platform with the dexterity of the manipulator according to the relative target state. To maintain grasping accuracy under disturbances, we design a disturbance-rejection controller to compensate for dynamic coupling, model uncertainty, and external disturbances. The capability of CAPTURER is validated through indoor and outdoor experiments with both static and moving targets. The results demonstrate that CAPTURER achieves centimeter-level grasping accuracy for a marker pen measuring only 1.5 cm in diameter at flight speeds exceeding 1.5 m/s.
Yongchang Hao, Jie Hao, Yongsheng Mei, Ze Ye, Junyi Chai, Bin Guo, Benjamin Z. Yao, Chenlei Guo 等 9 位作者
Reinforcement learning (RL) has become a cornerstone of the post-training pipeline for large language models (LLMs), enabling capabilities such as complex reasoning and tool use. However, standard RL approaches face significant challenges due to reward sparsity. Moreover, LLMs typically exhibit mode-seeking behavior, concentrating probability mass on high-likelihood regions. This lack of diversity biases the model toward premature exploitation, hindering the exploration necessary for optimal learning. To address this, we propose VEG (verbal \epsilon-greedy), a novel framework that leverages external feedback as a dynamic control variable to explicitly balance exploration and exploitation within the semantic space. This method not only supplements sparse final rewards with intermediate signals but also enforces sustained exploration throughout the training process. Experiments on Tau Bench and SearchQA demonstrate that our method achieves superior accuracy compared to standard RL baselines. Notably, the trained policy eventually outperforms the external feedback model itself, demonstrating that VEG enables the agent to effectively filter and improve upon the guidance it receives.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表
Large language model agents rely on in-context policy documents encoding diverse business rules. As businesses scale, these documents grow, creating substantial computational overhead and motivating internalization methods that embed policy into model priors. Prior work focuses on generic prompts, but we find agentic policies span multiple complexity levels and demand heavier reasoning, posing greater challenges. We introduce an agentic benchmark generator with Controllable Complexity in agent policy across four levels, enabling systematic evaluation of agents under increasing complexity and providing a testbed for policy internalization. Our analysis shows that workflow-governing policy specifications are the hardest to reason over, and that SFT on gold trajectories with chain-of-thought is data-hungry and struggles at high complexity. We propose Category-Aware Policy Continued Pretraining, an automated pipeline that analyzes policies, extracts key specifications, categorizes them into factual, behavioral, and conditional types, and isolates those driving workflow complexity. This enables targeted “therapy” by synthesizing specialized training data for each type and improving internalization via an autoregressive pretraining loss. Extensive experiments show our synthetic data and objective consistently improve performance. Combined with SFT, our method outperforms the baseline across different settings, especially in data-sparse and high-complexity regimes, with gains up to 41% and 22% on Qwen-3-32B. Overall, we achieve 97.3% prompt reduction on our benchmark, and on \tau-Bench we further improve performance while reducing prompt requirements with very limited SFT data.
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cs.CL · cs.AI
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表