Yixue Zhang, Wenke Xia, Kun Wu, Wenbo Yu, Pei Ren, Junnan Nie, Di Hu, Zhengping Che 等 9 位作者
Reasoning informs decision-making by connecting intended actions with their expected consequences. Recent vision-language-action (VLA) models incorporate embodied chains of thought (ECoTs) to guide action generation. However, such guidance remains implicit, as actions are conditioned on ECoTs rather than explicitly optimized to align with them. We introduce CoRAct, a consequence-grounded reasoning-to-action alignment framework that explicitly aligns reasoning and action through reward-guided optimization in action noise space. CoRAct formulates two physically grounded ECoT components as verifiable signals: movement specifies intended motion, while waypoints encode expected spatial consequences. A unified Mixture-of-Transformers jointly models ECoT reasoning, action generation, and action-conditioned future prediction. For candidate actions generated from sampled noise, CoRAct computes alignment rewards based on movement consistency and agreement between predicted outcomes and specified waypoints. These rewards guide group-relative optimization of the initial noise distribution, steering action generation toward consistency with intended actions and expected consequences. Experiments across RoboCasa, VLABench, and real-world manipulation tasks demonstrate improvements in task success, generalization, and reasoning-execution alignment over strong ECoT-based VLA baselines. CoRAct also grounds externally provided ECoTs in executable behavior, enabling zero-shot adaptation to novel scenarios by leveraging knowledge from powerful vision-language models. Project page and dataset: https://onlyxingxingzyx.github.io/CoRAct/
Yixue Zhang, Kun Wu, Zhi Gao, Zhen Zhao, Pei Ren, Zhiyuan Xu, Fei Liao, Xinhua Wang 等 15 位作者
The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike large-scale web vision-language data, robotic data collection incurs prohibitive physical costs. The key challenge is thus not merely to collect more robot data, but to obtain informative training data that broadens behavioral coverage across objects, scenes, and skills. Yet automatically curating task proposals to maximize the utility of collected data remains under-explored. We introduce RoboGene, an agentic framework for generating diverse, informative manipulation tasks across single-arm, dual-arm, and mobile robots. RoboGene combines (1) diversity-driven sampling for broad task coverage, (2) agentic self-reflection for task-quality assessment, and (3) human-verified feedback memory for execution-grounded validation and continual refinement. Through quantitative analysis and large-scale real-world experiments, we collect 18k trajectories and introduce metrics for task feasibility and diversity. RoboGene significantly outperforms frontier foundation models, including GPT-4o and Gemini 2.5 Pro. VLA models trained on RoboGene-generated data achieve higher success rates and stronger generalization, highlighting the value of high-quality task generation. Project page: https://robogene-boost-vla.github.io/. Datasets: Hugging Face (https://huggingface.co/datasets/X-Humanoid/RoboGene) and ModelScope (https://modelscope.cn/datasets/X-Humanoid/RoboGene_tasks).
Yadong Zhang, Xinshu Shen, Yupei Ren, Shangqing Zhao East China Normal University, Man Lan
Large Language Models (LLMs) have demonstrated remarkable general capabilities, yet they falter in domains requiring deep strategic reasoning. A primary obstacle is the need to navigate a game tree that grows exponentially with search depth, a task for which their generative nature is ill-suited. To address this, we introduce Generative Gamer (GenGamer), a framework that trains LLMs to reason like an expert player. Instead of attempting an exhaustive search, GenGamer learns to generate a compact, pruned reasoning trajectory termed as a Dynamic Deduction. This is achieved by integrating three key strategies: action pruning based on policy confidence, state pruning via value estimation, and branch pruning inspired by alpha-beta principles. Furthermore, to train the model effectively, we propose the Deduction Tree Reward (DTR), a process-oriented mechanism that provides step-by-step feedback on the quality of the reasoning process, rather than relying solely on the final game outcome. Experiments on complex games such as Tic-Tac-Toe and Leduc Poker demonstrate that GenGamer significantly enhances the strategic capabilities of LLMs, enabling them to achieve performance that surpasses current state-of-the-art language models.
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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