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新论文 · v1arXiv:2611.09030

A Controlled Study of Models, Skills, Feedback, and Curriculum in Agentic Robotics

Kaiyuan Chen, Xinyue Zhu, Shuangyu Xie, Uksang Yoo, Thi Thu Phuong Luong, Marcus Gualtieri, Christian Juette, Liu Ren 等 10 位作者

原文摘要

Agentic robotics asks coding agents to implement and iteratively improve robot policies from simulated and real-world physical interactions. We study the self-learning loop of agentic robotics through a controlled simulation study spanning nine manipulation tasks, 631 different experiment configurations, and 28K coding agent rollouts, systematically varying model capability, skill priors, feedback structure, and curriculum. The experiment data suggests that the bottleneck is often not the access to sufficient information, but interpreting it into the right policy update. Across these factors, a successful self-learning loop depends on how effectively agents attribute failures, reason task-relevant spatial and geometric structure, and selectively restructure code to improve policies.

cs.RO · cs.AI · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1347ACL Anthology · ACL 2026

Beyond Itinerary Planning—A Real-World Benchmark for Multi-Turn and Tool-Using Travel Tasks

Xiang Cheng Renmin University of China, Yulan Hu Alibaba Group, Xiangwen Zhang, Lu Xu, Lide Tan, Zheng Pan Alibaba Group, Xin Li Alibaba Group, Yong Liu Renmin University of China

原文摘要

Travel planning is a natural real-world task to test large language models’ (LLMs) planning and tool-use abilities. Although prior work has studied LLM performance on travel planning, existing settings still differ from real-world needs, mainly due to limited domain coverage, insufficient modeling of users’ implicit preferences in multi-turn conversations, and a lack of evaluation of agents’ capability boundaries. To mitigate these gaps, we propose \mbox{\textbf{TravelBench}}, a benchmark for \textit{truly real-world} travel planning. We collect user queries, user preferences, and tools from real scenarios, and construct three subtasks—\textit{Single-Turn}, \textit{Multi-Turn}, and \textit{Unsolvable}—to evaluate agents’ three core capabilities in real settings: (1) solving problems independently, (2) interacting with users to elicit implicit preferences, and (3) recognizing the capability boundaries. To enable stable tool invocation and reproducible evaluation, we cache real tool-call results and build a sandbox environment which integrates ten travel-related tools, enabling agents to combine these tools to solve most practical travel planning problems. We evaluate multiple LLMs on TravelBench and find that even advanced models exhibit imbalanced performance across different capabilities. Our further systematic verification demonstrates the stability of the proposed benchmark. TravelBench provides a practical and reproducible benchmark to advance research on LLM agents for real-world travel planning.

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.1630ACL Anthology · ACL 2026

DiningBench: A Hierarchical Multi-view Benchmark for Perception and Reasoning in the Dietary Domain

Song Jin, Juntian Zhang, Xun Zhang, Zeying Tian, Fei Jiang Meituan, Guojun Yin Meituan, Wei Lin, Yong Liu Renmin University of China 等 9 位作者

原文摘要

Recent advancements in Vision-Language Models (VLMs) have revolutionized general visual understanding. However, their application in the food domain remains constrained by benchmarks that rely on coarse-grained categories, single-view imagery, and inaccurate metadata. To bridge this gap, we introduce DiningBench, a hierarchical, multi-view benchmark designed to evaluate VLMs across three levels of cognitive complexity: Fine-Grained Classification, Nutrition Estimation, and Visual Question Answering. Unlike previous datasets, DiningBench comprises 3,021 distinct dishes with an average of 5.27 images per entry, incorporating fine-grained “hard” negatives from identical menus and rigorous, verification-based nutritional data. We conduct an extensive evaluation of 29 state-of-the-art open-source and proprietary models. Our experiments reveal that while current VLMs excel at general reasoning, they struggle significantly with fine-grained visual discrimination and precise nutritional reasoning. Furthermore, we systematically investigate the impact of multi-view inputs and Chain-of-Thought reasoning, identifying five primary failure modes. DiningBench serves as a challenging testbed to drive the next generation of food-centric VLM research. All codes are released in https://github.com/meituan/DiningBench.

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.2201ACL Anthology · ACL 2026

ReasonAny: Incorporating Reasoning Capability to Any Model via Simple and Effective Model Merging

Junyao Yang, Chen Qian, Wen Shen Tongji University, Yong Liu Renmin University of China, Jing Shao Shanghai AI Laboratory, Dongrui Liu Shanghai Artificial Intelligence Laboratory

原文摘要

Large Reasoning Models (LRMs) with long chain-of-thought reasoning have recently achieved remarkable success. Yet, equipping domain-specialized models with such reasoning capabilities, referred to as “Reasoning + X”, remains a significant challenge. While model merging offers a promising training-free solution, existing methods often suffer from a destructive performance collapse: existing methods tend to both weaken reasoning depth and compromise domain-specific utility. Interestingly, we identify a counter-intuitive phenomenon underlying this failure: reasoning ability predominantly resides in parameter regions with low gradient sensitivity, contrary to the common assumption that domain capabilities correspond to high-magnitude parameters. Motivated by this insight, we propose ReasonAny, a novel merging framework that resolves the reasoning–domain performance collapse through Contrastive Gradient Identification. Experiments across safety, biomedicine, and finance domains show that ReasonAny effectively synthesizes “Reasoning + X” capabilities, significantly outperforming state-of-the-art baselines while retaining robust reasoning performance.

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.576ACL Anthology · ACL 2026

No More Stale Feedback: Co-Evolving Critics for Open-World Agent Learning

Zhicong Li, Lingjie Jiang Peking University, Yulan Hu Alibaba Group, Xingchen Zeng, Yixia Li, Xiangwen Zhang, Guanhua Chen Southern University of Science and Technology, Zheng Pan Alibaba Group 等 10 位作者

原文摘要

Critique-guided reinforcement learning (RL) has emerged as a powerful paradigm for training LLM agents by augmenting sparse outcome rewards with natural-language feedback. However, current methods often rely on static or offline critic models, which fail to adapt as the policy evolves. In on-policy RL, the agent’s trajectory distribution and error patterns shift over time, causing stationary critics to become stale and providing feedback of diminishing utility. To address this, we introduce ECHO (Evolving Critic for Hindsight-Guided Optimization), a framework that jointly optimizes the policy and critic through a synchronized co-evolutionary loop. ECHO utilizes a cascaded rollout mechanism where the critic generates multiple diagnoses for an initial trajectory, followed by policy refinement to enable group-structured advantage estimation. We address the challenge of learning plateaus via a saturation-aware gain shaping objective, which rewards the critic for inducing incremental improvements in high-performing trajectories. By employing synchronized dual-track GRPO updates, ECHO ensures the critic’s feedback stays synchronized with the evolving policy. Experimental results show that ECHO yields more stable training and higher long-horizon task success across open-world environments.

cs.CL

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