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新论文 · v1arXiv:2611.16632

Reins: Frontier Multimodal Models Driving Real Robot Arms on Long-Horizon Tasks, Zero-Shot

Pengfei Ye, Zhiyang Dou, Yuxiang Ma, Haonan Chen, Heng Yang, Edward H. Adelson

原文摘要

Frontier models such as GPT-6.1 Sol, GPT-6 Astra and Claude Opus 5.5 can now plan and call tools, yet they still struggle to drive real robots through long-horizon, contact-rich manipulation, blind while the arm moves and while they think. We present Reins, a harness in which an off-the-shelf model operates a dual-arm robot with 3D perception tools and atomic actions that report contact and grip. The model chains actions in one call, each with a condition that must hold, stopping at the first that fails; a second instance, the narrator, watches the cameras continuously and reports what changed with every result. From images, Reins also builds a simulation-ready twin of the scene for continual policy learning. With natural-language prompts and no task-specific code, GPT-6.1 Sol succeeds in 88% of real episodes on five tasks; without the harness, it fails every shell game, taking 8 times as long. Three frontier models perform alike but differ in tracking a scene that changes while the actor thinks. Code will be released upon publication.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.14257

Elastic-WAM：面向高效机器人控制的自适应时空想象

Elastic-WAM: Adaptive Spatiotemporal Imagination for Efficient Robot Control

Haitian Li, Tianfu Li, Xuxi Zhao, Zizheng Liu, Yangcheng Yu, Yiwen Hou, Zeyu Xiao, Mutian Xu 等 11 位作者

AI 速读 基于摘要

提出 Elastic-WAM，用统一时空细化需求场自适应分配世界模型的计算，在降低推理开销的同时提升机器人控制表现。

cs.RO · cs.CV

arXiv ↗PDF ↗
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World-Action Models improve robot control by predicting future visual dynamics, but iterative video denoising incurs substantial inference overhead. Recent approaches reduce this cost through partial future denoising, yet typically rely on fixed refinement budgets. Our empirical observations reveal that preferred refinement depths vary across tasks and states, while different future regions exhibit varying relevance to action generation. Motivated by these findings, we propose Elastic-WAM, which adaptively allocates world refinement computation across temporal denoising time and spatial future space. A unified spatiotemporal refinement demand field governs when to stop world refinement, how far to advance each denoising step, and which regions to refresh. We parameterize this field with a shared temporal basis and spatial amplitudes, and learn it through a three-stage action-grounded supervised procedure. At inference, the learned field guides recurrent sparse world refinement to improve task success while reducing inference overhead. Evaluations across diverse simulation benchmarks and real-world long-horizon manipulation demonstrate state-of-the-art control performance with reduced inference latency.

新论文 · v1arXiv:2611.12725

Scaling Taxonomy-Free Image Labeling with Generative AI: A Multimodal

Zhenjie Zhang, Sainan Chen, Kshiteesh Hegde, Mengze, Li, Pouya Rezazadeh Kalehbasti, Munachim Ezema, Karina Sobhani

原文摘要

Providing real-time multimodal insights into images is challenging because it requires low latency, high description accuracy, and scalable solutions that are both cost-effective and efficient. For example, given a new image of an outfit, we would like to generate insights that the image depicts "earth tones" and "linen pants" and allow users to explore similar ideas along these themes. Traditional strategies to generate such insights would typically involve building taxonomies producing a golden set labeled by humans, training models on these datasets, and deploying these models for online inference services. Such workflows are constrained by fixed taxonomy, high labeling cost, limited labeling coverage in sample space, and human errors and expertise gaps in labelers. In addition, these methods are expensive and cumbersome to iterate over time. Recent trends have started exploring generative AI models for online insights, but this method suffers from long latency and prohibitive costs to support a high volume of requests or large amounts of offline labeling needs. We present Generative Labeling On Clusters (GLOC) as a solution to provide highly scalable, cost-effective, low latency, and high accuracy online image insight services. GLOC leverages highly optimized image embeddings to form image clusters that are semantically close to each other for the purpose of the type of insights, and summarizes the insights at the cluster level, which effectively generalizes to members in the cluster. At Pinterest, GLOC powers image descriptors and pivot query suggestions for Hybrid Search, which is a multimodal search service enabling users to search with both an image and a text query. Our offline and online A/B tests demonstrate that GLOC significantly outperforms previous methods, delivering improvements in quality and efficiency.

cs.LG · cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11085

ObjectWorld: Scaling Object-Centric World Models with A Large-Scale 3D Full-Object Flow Dataset

Haonan Chen, Sicheng Isabella Lu, Haitian Li, Jiajin Wu, Hexiang Wei, Jiawei Zhang, Xin Fei, Yiwen Hou 等 12 位作者

原文摘要

Generative world modeling from large-scale visual data offers a promising path toward scalable robot manipulation. This calls for an intermediate representation that can be supervised at scale and remains actionable for downstream control. We propose 3D full-object flow, an object-centric motion representation that assigns dense 3D trajectories to points across the complete surface of a target object, including its occluded regions. By extending visible-surface object flow to the full object geometry, this representation makes complete object motion explicit and applies uniformly to both rigid and deformable objects. To realize the potential of this representation at scale, we introduce a 1210-hour full-object flow dataset that addresses the scarcity of large-scale supervision for complete 3D object motion. The dataset integrates diverse real-world videos and physical simulations, with a scalable annotation pipeline for recovering full-object motion from real-world observations and quality metrics for systematically assessing annotation quality. We then train a world model that takes an image and a task description as input and predicts dense full-object flow over the reconstructed object geometry. Experiments show reliable annotation quality, data-scalable flow prediction, and effective downstream manipulation across novel scenes and robot embodiments. Project website with additional results and videos: https://nus-lins-lab.github.io/ObjectWorld/.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10581

Receiver-Resolution APS-PDP Maps for Wireless Channels: Benchmarking and Coarse-to-Fine Modeling

Peilin Zheng, Haozhe Jia, Xiucheng Wang, Wenshuo Chen, Nan Cheng

原文摘要

Angle Power Spectrum (APS) and Power Delay Profile (PDP) are receiver-facing spectra that govern beam selection and wideband equalization. Most ray-tracing benchmarks provide supervision as variable-size multipath component lists. This format does not match practical receivers, whose angular and delay resolutions are limited by array aperture and system bandwidth. As a result, learning targets are ambiguous and evaluations can change with reconstruction conventions. We introduce UrbanADPSMap, a benchmark that converts ray-traced supervision into fixed-grid APS and PDP targets by explicitly modeling bandwidth-limited and aperture-limited response kernels. By fixing the receiver-domain kernels, discretization, and validity mask, UrbanADPSMap removes reconstruction-induced target ambiguity and stabilizes downstream evaluation across methods. Built on this benchmark, we propose SpecFlowAR, a coarse-to-fine generator based on multi-scale autoregressive flow matching. The model first captures coarse dispersion structure and then refines beam-relevant peaks and low-power tails. The number of function evaluations controls the sampling budget, enabling latency and quality to be adjusted for dense spectrum queries. Experiments on the test set show that SpecFlowAR reduces BPL@5 to 2.03 dB under a unified NFE=80 budget, while improving beam utility and reducing errors of 3GPP dispersion statistics.

cs.AI · eess.SP

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.26058

DomainShuttle: Freeform Open Domain Subject-driven Text-to-video Generation

Nan Chen, Yiyang Cai, Weinan Jia, Zhuowei Chen, Wen Zhou, Wenhan Luo

原文摘要

Open domain subject-driven text-to-video (S2V) generation has drawn significant interest in academia and industry. Open domain S2V mainly involves two scenarios: in-domain, which requires retaining the reference subject features as much as possible, and cross-domain, which preserves the intrinsic features of the subject while allowing subject-irrelevant properties to vary flexibly according to the text prompt. Existing methods primarily focus on maximizing subject fidelity in in-domain scenarios, which limits their editability and adaptability in cross-domain scenarios, such as novel styles, semantic combinations, or domain attributes. In this study, we propose that an ideal S2V method should flexibly shuttle between different domains, achieving strong performance in both in-domain and cross-domain scenarios. To this end, we propose DomainShuttle, which could achieve high fidelity and generative flexibility for open domain video personalization. Specifically, we introduce Domain-MoT, which decouples videos and reference features and introduces the domain-aware AdaLN for domain-specific modeling of reference images. We then introduce the Video-Reference DualRoPE scheme, which places reference image tokens and video tokens in separate RoPE spaces to enable precise subject-level spatial modeling, and Cross-Pair Consistent Loss, which aims to extract intrinsic subject features unaffected by irrelevant features. Extensive experiments demonstrate that DomainShuttle achieves significant performance improvements over existing methods, exhibiting high subject fidelity and generative flexibility across diverse open domain application scenarios.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06378

UniLoop: Unified Loop Closure Detection from Retrieval to Geometric Verification and Relative Pose Estimation

Jingwen Yu, Pengyu Wang, Jin Wu, Weinan Chen, Ping Tan, Hong Zhang

原文摘要

Loop closure detection conventionally cascades separate models for global retrieval, geometric verification, and relative pose estimation, leading to redundant computation and disconnected visual representations. We propose UniLoop, a unified framework that reuses the hierarchical representations of the pretrained geometric foundation model throughout this pipeline. A shared image encoder produces features for compact global descriptors; the same features are passed to the cross-view decoder for pairwise verification; and the original geometric predictions provide relative camera constraints for pose-graph optimization. Experiments on place recognition, loop verification, and relative pose estimation show that UniLoop improves loop-closure robustness and accuracy while reducing redundant backbone computation relative to modular pipelines. UniLoop achieves the best Recall@10 on MSLS (96.6) and Pitts30k (99.3) among the compared methods, while its verification branch reaches 95.63 AP and 96.29 ROC-AUC, surpassing the existing geometric verification baselines.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2609.34249

Evolving Support Priorities in Empathetic Reinforcement Learning

Pengyu Huang, Zhiyuan Han, Wenwen Tong, Hewei Guo, Jiangnan Chen, Sirui Chen, Lewei Lu, Beier Zhu 等 9 位作者

原文摘要

We identify a fundamental mismatch in empathetic reinforcement learning: support priorities evolve with the dialogue state, yet existing methods typically optimize predefined reward specifications that remain fixed across turns. To model these evolving support priorities, we organize empathetic support along cognitive, affective, and proactive empathy, and propose Context-Adaptive Rubric Evolution (CARE). At each turn, CARE generates a context-adaptive rubric by adjusting both the weights of these three empathy dimensions and their fine-grained evaluation criteria. The rubric generator is trained with turn-level rubric supervision and human preference data through supervised fine-tuning followed by preference-based reinforcement learning, and then serves as an adaptive reward interface for online empathetic RL. Integrated with both RLVER and MICA, CARE achieves state-of-the-art performance across SentientBench, EQBench3, and EMPA under three independent LLM judges. Notably, on EMPA, CARE improves EPM-Idx over the strongest baseline by at least 13 points under all three judges, including an increase from 28.11 to 83.54 under Gemini-2.5-Pro. Further analyses show that learned rubric priorities systematically vary across dialogue stages and user emotions, demonstrating that CARE adapts what is rewarded as support needs evolve. Code is available at https://asa13opp.github.io/CARE-project-page.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05280

YANAMI：面向多轮有状态交互的大规模多模态数据集与基准

YANAMI: A Large-Scale Multimodal Dataset and Benchmark for Multiturn Stateful Interaction

Shengyu Wang, Tengyue Nong, Junming Liu, Haosong Peng, Siyu Li, Ruiqi Lei, Fushuo Huo, Yuhao Pan 等 13 位作者

AI 速读 基于摘要

作者提出首个面向多模态有状态交互的大规模多轮对话数据集 YANAMI-400K 与评测基准 YANAMI-Bench，并报告微调 BAGEL 后在图像编辑、生成与有状态交互上均有提升。

cs.CV

arXiv ↗PDF ↗
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Unified Multimodal Models (UMMs) integrate visual understanding, generation, and editing within a single unified framework. However, existing unified multimodal datasets and benchmarks remain dominated by single-turn tasks. Even in recent multi-turn datasets, many turns can be solved independently without tracking information across turns. Consequently, they provide limited supervision and evaluation for multimodal stateful interaction, which requires models to understand, maintain, update, and faithfully realize evolving dialogue states across turns. To address this gap, we introduce YANAMI, the first large-scale multimodal dialogue dataset and benchmark for stateful interaction, comprising YANAMI-400K and YANAMI-Bench. YANAMI-400K contains 400K multi-turn multimodal dialogues, with more than 2M images and 2.6M dialogue turns. The dialogues span four representative scenarios: Multi-Image Fusion, Image Editing, World Modeling, and Visual Reasoning, and require models to continuously track, preserve, and revise evolving multimodal dialogue states across turns. YANAMI-Bench comprises 400 multi-turn dialogues for systematically evaluating multimodal stateful interaction. It jointly evaluates Dialogue State Understanding and Visual Realization, characterizing the gap between models' ability to understand evolving dialogue states and their ability to faithfully realize them in visual outputs. Experiments show that fine-tuning BAGEL on YANAMI-400K improves image editing, generation, and multimodal stateful interaction by 10.3%, 2.0%, and 13.23%, respectively, while preserving its general visual understanding capabilities. Evaluations on YANAMI-Bench further reveal that existing UMMs still struggle to maintain, update, and visually realize evolving multimodal dialogue states.

新论文 · v1arXiv:2611.03916

When Latent Dynamics Meet Data Assimilation: A Benchmark of Koopman-Type Representations

Zhiwei Zhang, Wenxuan Yuan, Xiaoyuan Cheng, Pouria Behnoudfar, Chuanqi Chen, Charlotte Moser, Yuta Tarumi, Jin-Long Wu 等 13 位作者

原文摘要

Koopman representations describe nonlinear dynamics through linear evolution in a transformed space, offering an attractive framework for their linear simplicity and generality. Yet these advantages do not necessarily translate into improved performance in deep latent data assimilation (LDA). We systematically compare seven representative methods and structural baselines across five systems spanning approximately periodic to strongly chaotic dynamics and a broad range of state dimensions. We evaluate forecast and assimilation accuracy, physical state recovery, latent-trajectory behavior, and dynamical consistency, and assess Gaussian error assumptions, objective convexity, and uniqueness of analysis solutions. Our results reveal a trade-off between representational flexibility and optimization tractability. Linear evolution of the latent state can stabilize short-term forecasts but restrict expressiveness in strongly chaotic and high-dimensional systems, without consistently improving assimilation accuracy. Parameterized linear operators offer greater flexibility, yet their joint optimization with the encoder--decoder remains nonconvex. Methods with closed-form analysis updates generally perform better and exhibit greater robustness in our experiments, although matrix inversion remains a computational bottleneck. These findings show that the practical benefits of Koopman structure depend on both sufficient observational information and the choice of assimilation procedure.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03132

Behavioral Affinity Transduction for Zero-Shot Vision-Language Classification

Junxi Huang, Wenshuo Chen, Xiucheng Wang, Meitong Shen, Shaofeng Liang, Yuehan Kou, Yutao Yue, Nan Cheng

原文摘要

An image that is hard to classify on its own may have a helpful neighbor in the same unlabeled batch. Zero-shot vision-language models (VLMs) score images independently and leave this evidence unused. We study small unlabeled query batches with no labeled examples. Visual similarity can reflect pose or background, so it may connect images from different classes. Each image's scores over the class vocabulary offer another way to choose neighbors. We introduce Behavioral Affinity Transduction (BAT), which builds a sparse graph from these class-response profiles. The graph supplies neighbor evidence during prediction. For EM-Dirichlet, it also screens candidate classes and initializes assignments. BAT plugs into direct and iterative readouts of a frozen VLM. Across diverse datasets, BAT improves the mean accuracy of every tested readout. In the main RN50 comparison, soft and hard EM-Dirichlet gain $4.22$ and $2.72$ percentage points.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.38000

Self-Labeled Preference Transfer for Steerable Robot Manipulation

Kaiwen Hong, Shaoting Peng, Xiangyu Zeng, Pengcheng Wang, Boyuan Tian, Haonan Chen, Yifan Zhu, Yixiao Wang 等 9 位作者

原文摘要

Vision-language-action (VLA) policies can learn to follow execution preferences, such as where to grasp an object or how to move around an obstacle, from demonstrations annotated with preference labels. Providing these annotations for every new task, however, is costly. We study whether learned preference control can transfer to new tasks whose demonstrations contain the desired behaviors but lack preference annotations. We find that a policy trained with preference annotations can follow preferences on a new task before adaptation but achieves limited task success. Fine-tuning on target demonstrations without these annotations improves task success while weakening preference control. Motivated by this finding, we introduce Self-Labeled Preference Transfer (SPT). SPT jointly trains a shared vision-language backbone for preference-conditioned action prediction and preference recognition on annotated source demonstrations. It then freezes the recognizer to preserve its cross-task preference recognition capability and uses it to self-label target demonstrations for policy fine-tuning. Across five types of execution preferences in simulation, the recognizer achieves 96.4% accuracy, and SPT reaches 84.8% preference following and 89.2% task success, compared with 59.4% and 88.0% for naive finetuning. We further extend to multiple preferences, achieving 93.8% preference following compared with 42.5% of baselines. In real-world experiments, SPT increases preference following from 52.5% to 92.5% relative to naive finetuning across two task transfers. These results show that SPT can support preference adaptation across tasks and objects while maintaining success, without additional manual preference annotations.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36616

Normalized Cuts and Data Clustering via Matrix Fractional Programming

Yannan Chen, Beichen Huang, Licheng Zhao, Chris Ding, Kaiming Shen

原文摘要

The normalized cut (NCut) problem is a fundamental one in the area of data clustering. Despite its fractional structure, the NCut problem is seldom considered from a fractional programming (FP) perspective in the existing literature. The main reason is that the conventional FP method is inadequate for this problem case: the classical Dinkelbach's transform can only handle a single ratio and hence is limited to the two-class clustering, whereas the multi-class clustering involves multiple ratio terms. This work proposes a novel so-called multidimensional quadratic transform that is capable of dealing with the multi-ratio case; it recasts the NCut problem into a bipartite matching problem---which can be immediately solved by linear search. Furthermore, we explore the connection between the proposed FP method and the minorization-maximization (MM) theory, and in turn characterize the convergence behavior of our algorithm. Finally, we conduct experiments to numerically demonstrate the advantages of the proposed FP-based algorithm in a variety of data clustering and image segmentation tasks.

cs.LG · eess.SP

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.318ACL Anthology · ACL 2026

Hierarchical Reinforcement Learning with Augmented Step-Level Transitions for LLM Agents

Shuai Zhen Beijing University of Posts and Telecommunications, Yanhua Yu Beijing University of Posts and Telecommunications, Ruopei Guo, Nan Cheng, Yang Deng Singapore Management University

原文摘要

Large language model (LLM) agents have demonstrated strong capabilities in complex interactive decision-making tasks. However, existing LLM agents typically rely on increasingly long interaction histories, resulting in high computational cost and limited scalability. In this paper, we propose STEP-HRL, a hierarchical reinforcement learning (HRL) framework that enables step-level learning by conditioning only on single-step transitions rather than full interaction histories. STEP-HRL structures tasks hierarchically, using completed subtasks to represent global progress of overall task. By introducing a local progress module, it also iteratively and selectively summarizes interaction history within each subtask to produce a compact summary of local progress. Together, these components yield augmented step-level transitions for both high-level and low-level policies. Experimental results on ScienceWorld and ALFWorld benchmarks consistently demonstrate that STEP-HRL substantially outperforms baselines in terms of performance and generalization while reducing token usage. Our code is available at https://github.com/TonyStark042/STEP-HRL.

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.34ACL Anthology · ACL 2026

MoCa: Modality-aware Continual Pre-training Makes Better Bidirectional Multimodal Embeddings

Haonan Chen, Hong Liu, Yuping Luo, Liang Wang Microsoft Research, Nan Yang Microsoft Research Asia, Furu Wei Microsoft Research, Zhicheng Dou Renmin University of China

原文摘要

Multimodal embedding models, built upon causal Vision Language Models (VLMs), have shown promise in various tasks. However, current approaches face three limitations: causal attention in VLM backbones is suboptimal for embedding tasks; scalability issues due to reliance on high-quality labeled paired data for contrastive learning; and limited diversity in training objectives and data. To address these issues, we propose MoCa, a two-stage framework for transforming pre-trained VLMs into bidirectional multimodal embedding models. The first stage, Modality-aware Continual Pre-training, introduces a joint reconstruction objective that simultaneously denoises interleaved texts and images, enhancing bidirectional context-aware reasoning. The second stage, Heterogeneous Contrastive Fine-tuning, leverages diverse, semantically rich multimodal data beyond simple image-caption pairs to enhance generalization and alignment. Our method addresses the stated limitations by introducing bidirectional attention through continual pre-training, scaling effectively with massive unlabeled datasets via joint reconstruction objectives, and utilizing diverse multimodal data for enhanced representation robustness. Experiments demonstrate that MoCa consistently improves performance across MMEB and ViDoRe-v2 benchmarks, achieving new state-of-the-arts, and exhibits strong scalability with both model size and training data on MMEB.We have released the model weights and data on our project page https://haon-chen.github.io/MoCa/.

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