Juncheng Ma, Jiaxin Li, Jiankai Tu, Bo Liang, Guodong Lv, Yufan Deng, Junzhe Tang, Liangzhu Yang 等 33 位作者
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-HumanWAM, the first fully open recipe for scaling egocentric pretraining to 50,000 hours, anchored by Open-HumanWAM-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-HumanWAM-50K corpus, data curation and pretraining pipelines, alongside the pretrained and post-trained HumanWAM checkpoints, inference code, and simulation evaluation suites.
Rubric optimization improves LLM grading by revising scoring instructions while keeping the grader's parameters fixed. Existing optimizers often judge edits by aggregate validation performance, limiting the supervision they retain about which errors an edit corrects or introduces. Testing each candidate also requires rescoring validation answers, which limits how many edits can be explored within a fixed budget. We propose RubricWorld, a framework that learns from previous edit evaluations to guide further search. Its world model predicts an edit's correction and degradation rates at score boundaries, conditioned on the current rubric state. The training signal comes from paired grading results: scores for the same answers before and after an edit. Predictions select one candidate for direct evaluation, and held-out confidence bounds determine whether it corrects enough target errors while keeping new errors within prespecified limits. Measured effects update the model even when the edit is rejected. Across EIR (National), ASAP2.0, and ASAP-SAS with three frozen LLM graders, RubricWorld achieves the highest score in 20 of 27 metric comparisons. On ASAP2.0, it raises gpt-5-mini accuracy from 18.20% with the original rubric to 46.70%, exceeding the strongest baseline, APO, by 22.60 percentage points. code will be released upon acceptance.
LLM-based agents are increasingly used to complete complex, long-horizon tasks without human intervention. To make progress toward the task goal, agents need to perform different duties, such as planning and verification, when needed. To understand how single agents manage these duties during long-horizon execution, we conduct a preliminary study. Our analysis shows that verification has the strongest association with task success, but often occurs late, leaving limited opportunities for correction. We also find that the proportion of duty-relevant information decreases as records from different duties accumulate in a shared context. These findings lead us to examine whether multi-agent systems (MAS) can address these problems by assigning duties to agents with separate contexts. Our analysis shows that this separation alone is insufficient. Agents can lose track of the overall goal and repeat prior investigations. They may also lack necessary background while receiving irrelevant information from others. To maintain goal awareness and coordinate collaboration as task needs change, we propose Goal-Aware Dynamic Multi-Agent Collaboration (GAD). It uses a growing execution graph to organize subtasks and their dependencies. To keep agents focused on their goals, each context retains the original instruction and the assigned task's goal and acceptance conditions. To adapt collaboration and information sharing during execution, agents can divide tasks into subtasks and specify dependencies based on execution evidence. These dependencies guide when agents work and which results they receive. Verification and recovery check subtask results and full task completion against their goals, providing feedback for repair when checks fail.
Haoyu Zheng, Yun Zhu Shanghai Artificial Intelligence Laboratory, Yuqian Yuan Qwen Team and Zhejiang University, Bo Yuan, Wenqiao Zhang Zhejiang University, Siliang Tang Zhejiang University, Jun Xiao Zhejiang University
Strategic planning is critical for multi-step reasoning, yet compact Language Language Models (LLMs) often lack the capacity to formulate global strategies, leading to error propagation in long-horizon tasks. Our analysis reveals that LLMs possess latent reasoning capabilities that can be unlocked when conditioned on explicit plans from a teacher model; however, runtime reliance on external guidance is often impractical due to latency and availability constraints. To bridge this gap, we propose PILOT (Planning via Internalized Latent Optimization Trajectories), a non-invasive framework designed to internalize the strategic oversight of large models into intrinsic Latent Guidance. Instead of altering backbone weights, PILOT employs a lightweight Hyper-Network to synthesize a query-conditioned Latent Guidance. This vector acts as an internal steering mechanism, guiding the model’s representations toward optimal reasoning paths. Extensive experiments on mathematical and coding benchmarks demonstrate that PILOT effectively stabilizes reasoning trajectories, consistently outperforming strong baselines (e.g., +8.9% on MATH500) with negligible inference latency. Our code is available at: https://anonymous.4open.science/r/PILOT-B266
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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
Zidi Xiong, Yuping Lin Michigan State University, Wenya Xie University of Minnesota - Twin Cities, Pengfei He Michigan State University, Zirui Liu University of Minnesota - Twin Cities, Jiliang Tang Michigan State University, Himabindu Lakkaraju, Zhen Xiang University of Georgia
Memory is a critical component in large language model (LLM)-based agents, enabling them to store and retrieve past executions to improve task performance over time. In this paper, we conduct an empirical study on how memory management choices impact the LLM agents’ behavior, especially their long-term performance. Specifically, we focus on two fundamental memory management operations that are widely used by many agent frameworks—memory addition and deletion—to systematically study their impact on the agent behavior. Through our quantitative analysis, we find that LLM agents display an experience-following property: high similarity between a task input and the input in a retrieved memory record often results in highly similar agent outputs. Our analysis further reveals two significant challenges associated with this property: error propagation, where inaccuracies in past experiences compound and degrade future performance, and misaligned experience replay, where some seemingly correct executions can provide limited or even misleading value as experiences. Through controlled experiments, we demonstrate the importance of regulating experience quality within the memory bank and show that future task evaluations can serve as free quality labels for stored memory. Our findings offer insights into the behavioral dynamics of LLM agent memory systems and provide practical guidance for designing memory components that support robust, long-term agent performance.
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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
Yuping Lin Michigan State University, Zitao Li Zoom, Yue Xing Michigan State University, Pengfei He Michigan State University, Yingqian Cui Michigan State University, Yaliang Li Alibaba Group, Bolin Ding Alibaba Group, Jingren Zhou Alibaba Group 等 9 位作者
Recent studies have identified “retrieval heads” in Large Language Models (LLMs) responsible for extracting information from input contexts. However, prior works largely rely on static statistics aggregated across datasets, identifying heads that perform retrieval on average. This perspective overlooks the fine-grained temporal dynamics of autoregressive generation. In this paper, we investigate retrieval heads from a dynamic perspective. Through extensive analysis, we establish three core claims: (1) Dynamism: Retrieval heads vary dynamically across timesteps; (2) Irreplaceability: Dynamic retrieval heads are specific at each timestep and cannot be effectively replaced by static retrieval heads; and (3) Correlation: The model’s hidden state encodes a predictive signal for future retrieval head patterns, indicating an internal planning mechanism. We validate these findings on the Needle-in-a-Haystack task and a multi-hop QA task, and quantify the differences on the utility of dynamic and static retrieval heads in a Dynamic Retrieval-Augmented Generation framework. Our study provides new insights into the internal mechanisms of LLMs.
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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
Jie Cao, Tianwei Lin, Bo Yuan, Rolan Yan, Hongyang He Manifolda.Ai, Wenqiao Zhang Zhejiang University, Juncheng Li Zhejiang University, Dongping Zhang China Jiliang University 等 10 位作者
Recent studies integrate Low-Rank Adaptation (LoRA) and Mixture-of-Experts (MoE) to further enhance the performance of parameter-efficient fine-tuning (PEFT) methods in Large Language Model (LLM) applications. Existing methods employ homogeneous MoE-LoRA architectures composed of LoRA experts with either similar or identical structures and capacities. However, these approaches often suffer from representation collapse and expert load imbalance, which negatively impact the potential of LLMs. To address these challenges, we propose a heterogeneous Mixture-of-Adapters (MoA) approach. This method dynamically integrates PEFT adapter experts with diverse structures, leveraging their complementary representational capabilities to foster expert specialization, thereby enhancing the effective transfer of pre-trained knowledge to downstream tasks. MoA supports two variants: (i) Soft MoA achieves fine-grained integration by performing a weighted fusion of all expert outputs; (ii) Sparse MoA activates adapter experts sparsely based on their contribution, achieving this with negligible performance degradation. Experimental results demonstrate that heterogeneous MoA outperforms homogeneous MoE-LoRA methods in both performance and parameter efficiency. Our project is available at https://github.com/DCDmllm/MoA.
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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