Shu'ang Sun, Yibo Qiu, Haoliang Ye, Zan Huang, Ao Tian, Kan Ding, Ronald Xu, Mingzhai Sun
Online reinforcement learning offers an effective approach to precise laboratory manipulation, yet costly real-world demonstrations and limited access to dense process rewards hinder its practical application. We present TwinBridge, a digital twin-driven framework that supplies policy initialization and dense visual rewards for real-world online learning. We construct digital twins by combining 3D Gaussian splatting with physics simulation. Here, simulator states provide task events and geometric progress under physical prerequisites and ordering constraints, yielding rewards for policy pretraining with simulated demonstrations and reinforcement learning. We distill this supervision into a visual reward model. During real-world interaction, its predictions are combined with execution history to compute dense rewards for human-in-the-loop policy refinement. Across five real-world laboratory tasks, TwinBridge achieves a final mean autonomous success rate of 98% with at most 25 minutes of real-world interaction per task. Experiments show that dense rewards improve interaction efficiency over sparse rewards, and simulation-based policy initialization further accelerates learning.
Ziyang Ling University of Science and Technology of China, Ronald X. Xu University of Science and Technology of China, Mingzhai Sun University of Science and Technology of China
Multi-hop question answering requires retrieving and integrating evidence from multiple contexts. Despite the rapid progress of current research, multi-hop reasoning remains constrained by two persistent limitations: attention decay, where the model’s focus on main question degrades as the reasoning chain grows, and error accumulation, where mistakes propagate across hops and compounds into final failure. Inspired by Theta-Gamma hierarchical oscillation which decouples global planning from local retrieval, enabling efficient attention transfer between hops and a verification and repair mechanism that interrupts the accumulation of errors in the wrong paths, we present THOR, a brain-inspired Theta-Gamma hierarchical oscillatory reasoning framework. Extensive comparative experiments and specific validation experiments on multi-hop QA benchmarks demonstrate that THOR improves answer accuracy and robustness while mitigating limitations, showcasing its generalization across different backbones.
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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