Duo Tang, Ping Deng, Sophie Armanini, Yajing Shen, Toshio Fukuda, Cosimo Della Santina, Peng Lu
Inspired by the coordination of global motion and local shape adaptation in snakes, elephant trunks, and octopus arms, we propose a unified planning and control framework for mobile continuum robots in cluttered and confined environments. Existing approaches often address high-level path planning and local motion control separately, limiting coordinated base-arm motion, kinematic consistency, and collision avoidance. Our framework integrates long-horizon trajectory planning with real-time geometric refinement under kinematic and environmental constraints. The global layer combines A* search with minimum-jerk planning to generate smooth reference trajectories. The local layer uses a geometry-consistent inverse kinematics solver and Riemannian optimization to coordinate mobile-base motion and continuum deformation while avoiding obstacles. We evaluate the framework through simulated pipe-traversal tasks with multiple baseline planners and real-world experiments involving navigation among dense obstacles and manipulation in confined spaces. Results demonstrate improved motion consistency, feasibility, and adaptability, supporting coordinated whole-body motion of mobile continuum robots in constrained environments.
Protein structure prediction has largely focused on native conformations, leaving the continuum of unfolded states, folding intermediates, and native structures difficult to access. We present FoldScape, a sequence-conditioned deep learning framework for generating protein conformational ensembles at specified folding fractions $Q$. Trained on approximately one million conformations from 10,000 protein sequences, FoldScape combines coarse-grained folding and all-atom mechanical-unfolding trajectories. It reconstructs three-dimensional $C_α$ chains through hierarchical sliding-window regressions of inter-residue distances, chain-level assembly, and a rectified-flow decoder. By conditioning on folding progress, FoldScape generates conformations from unfolded states through intermediates to native-state structures without protein-specific molecular dynamics at inference. In matched-sample comparisons, FoldScape achieves median conformational-space coverage of 0.989, 0.722, and 0.877 along radius of gyration, fraction of native contacts $Q$, and secondary-structure fraction, respectively, versus 0.05, 0.05, and 0.10 for seed-varied AlphaFold 3 ensembles. Coverage advantages are consistent across the evaluated proteins and robust to binning choices. Reconstruction accuracy remains approximately stable across the evaluated stages of a folding trajectory, and stride-one crop-and-superpose inference extends predictions to chains several times longer than the single-pass limit. Analyses of mechanical-unfolding trajectories show residue-resolved pathways, reproducible extension-conditioned observables across pulling velocities, and geometrically coherent segments in partially unfolded chains. FoldScape extends sequence-based structure prediction beyond a single folded endpoint to controllable conformational-ensemble generation across protein folding.
Minghe Wang, Weijun Zeng, Dapeng Luo, Xinyue Wang, Nong Sang
Most video anomaly understanding (VAU) systems still infer anomaly judgments from evidence collected in a feed-forward way under predefined rules, typically sampled frames, or events clustered from such frames. This protocol fails when the collected evidence is incomplete under imperfect predefined rules, because once reasoning begins the model can no longer search for the missing evidence. We address this limitation with SEEK-VAU, which reframes VAU as an agentic search-and-verify interaction protocol under a bounded search budget: instead of passively reasoning over pre-collected evidence, the policy actively gathers evidence across the three stages of an anomaly event chain (precursor, trigger, and aftermath) and verifies its sufficiency before finalization, turning event-chain completeness into an explicit design rather than an outcome of predefined rules. A bounded budget caps the cost of this search, but does not by itself teach the policy where to look or when to stop. To make this behavior learnable, we introduce evidence-faithful counterfactual verification (EFCV), which rewards selected evidence that remains supportive, compact, and necessary under counterfactual verification. We further introduce SEEK-Bench, featuring video-level episodes with temporal interval annotations, semantic QA and event-chain stage labels. Together, SEEK-VAU and SEEK-Bench establish a strong foundation for evidence-faithful and actively verifiable VAU.
A fallen humanoid beneath an overhead obstacle faces a coupled recovery problem. It must create clearance while organizing support for a stable rise, since attempting to stand before making room can further increase obstruction. We introduce a reinforcement learning method with contact-supported geometric escape guidance, which rewards incremental reduction of robot-obstacle overlap without prescribing an escape path. To achieve this, a learned motion prior, together with posture-dependent support and joint-stall costs, is proposed to shape a single policy that learns when to clear the obstacle, how to establish support, and when to complete the rise, all using proprioception alone. In simulation, it recovers in 88.5% of trials beneath plates that can only be lifted, compared with 18.9% without geometric guidance, and in 98.6% of trials beneath free plates with randomized size, mass and placement. On a Unitree G1, the deployed policy recovered in 95 of 150 attempts across seven real-world obstacle scenes, including furniture and multi-object arrangements absent from training. Project page: https://lu-yidan.github.io/ROOF/
Group distributionally robust optimization (GDRO) aims to learn models that perform well across $m$ distributions simultaneously. Existing methods either (i) query $m$ samples per round, which imposes strict implementation requirements, or (ii) query only a single sample per round, which requires many rounds to converge and therefore leads to long runtime. To avoid these limitations, we introduce a novel setting called \emph{flexible sample queries} (FSQ), which allows the number of samples that can be queried to vary across rounds. Under the FSQ setting, we cast GDRO as a two-player game: one performs non-oblivious online convex optimization, while the other tackles a non-oblivious prediction with limited advice (PLA) problem. In this game, the first player updates its decision using follow-the-regularized-leader with stochastic gradients. For the second player, we develop a new PLA method equipped with an adaptive exploration strategy that can leverage an arbitrary per-round sample size. We then establish the \emph{first} high-probability regret bound for non-oblivious PLA. By integrating these components, we develop an anytime GDRO algorithm that supports FSQ, and derive a high-probability optimization error bound of $O\left(\frac{1}{t}\sqrt{\sum_{j=1}^t \frac{m}{r_j}\log m}\right)$, where $r_j$ is the sample size at round $j$. This result demonstrates that the optimization error decreases as the per-round sample sizes increase, and implies the same near-optimal sample complexity of $O(m\log (m)/ε^2)$ for any fixed sample size $r\in[m]$.
Let $A$ be the adjacency matrix of $G\sim G(n,1/2)$, let $D=\operatorname{diag}(A\mathbf{1})$, and let $Λ_G=\mathbb{Z}\langle A,D\rangle\mathbf{1}$. We prove $\Pr[Λ_G\ne\mathbb{Z}^n]\le n^{-3/20+o(1)}$. Thus two dependent graph operators generate the entire vertex lattice from the constant vector, simultaneously over every prime field. Adjacency alone has a modulo-two rank obstruction for every simple graph of order greater than one, even though its rational word span is typically full. The proof first constructs words containing at most two adjacency operations whose integer span contains $Δ_G^3\mathbb{Z}^n$, where $Δ_G$ is the product of the pairwise differences between distinct degree values. This confines all possible arithmetic obstructions to a finite prime range on a single event. We then remove the remaining obstructions using conditional alternating forms, symmetric random-matrix code estimates, and uniform counts of degree-graded invariant subspaces. We connect the integer lattice to graph reconstruction through pointed moments. Saturation forces every pointed orthogonal AD intertwiner to be a vertex permutation. The short-word construction also shows that a fixed polynomial-size family of ordinary caterpillars, of diameter at most seven and order $O(\sqrt{n\log n})$, identifies almost every graph among all finite simple graphs. For nonsaturated full-rank lattices, we give an exact description of the moment fibre by admissible unimodular overlattices; at index two, the only possible ambiguity is a specified four-vertex Godsil--McKay switch.
Junyan Liu, Haipeng Luo, Lillian J. Ratliff, Zihan Zhang
We study online learning in two-player uninformed Markov games, where the opponent may follow an arbitrary, unknown policy in each episode and the learner does not observe the opponent's actions. [TWYS21] showed that achieving sublinear external regret requires an exponential dependence on the episode length $H$. Motivated by this limitation, they studied the weaker notion of Nash-value regret and obtained an $\widetilde{O}(K^{2/3})$ regret bound, where $K$ is the number of episodes. More recently, [LLZR26] introduced a stronger notion called empirical Nash-value regret and achieved an $\widetilde{O}(\sqrt{K})$ bound when the opponent's non-stationarity is moderate, including the case where the opponent follows a fixed policy. However, whether the $\sqrt{K}$ rate is achievable in the worst case remained open. In this paper, we resolve this open question by developing an algorithm that achieves $\widetilde{O}(H^{3/2}S\sqrt{AK})$ empirical Nash-value regret against arbitrary opponent policies, where $S$ is the number of states and $A$ is the number of learner's actions. Specifically, our algorithm combines global and local planning by maintaining a collection of candidate predictions of future losses, each associated with a policy. Global planning learns which candidates to favor across episodes, while local planning combines their policies differently at each state to make decisions. A key ingredient is to coordinate these two components to control the discrepancy between local loss estimates and the total loss of the executed policy, using only the learner's observed trajectories.
Jiafu Tang, Yifan Xu, Eric Tang, Junjie Zhao, Shipeng Luo, Te Sun, Haoxuan Hu, Yiyan Ji 等 14 位作者
Video captioning aims to preserve visual information through compact descriptions, predominantly using natural language. However, precisely expressing fine-grained spatial structures and temporal dynamics in natural language often leads to lengthy and potentially ambiguous descriptions. In this work, we explore Code as Video Caption, a paradigm where executable programs serve as a complementary representation of visual content through graphical primitives, layout rules, and functions of time. To examine whether code captions effectively preserve video information, we compare them with natural language captions on downstream question answering and video reconstruction tasks. Our results show that code captions achieve superior reasoning accuracy and reconstruction fidelity. Despite these advantages, realizing the potential of code captioning depends on whether current multimodal large language models (MLLMs) can generate faithful code captions. To systematically assess this capability, we introduce CodeCap-Bench, which comprises 323 videos spanning five categories of structured 2D content, along with fine-grained annotations and a multi-level evaluation framework. Extensive experiments reveal that while leading proprietary MLLMs demonstrate promising code captioning capabilities, they still struggle to faithfully capture complex temporal dynamics, with open-source models lagging substantially behind.
Wentao Ye, Yali Ye, Zhiqing Xiao, Ru Peng, Xinpeng Ti, Liyao Li, Zhanming Shen, Peng Lu 等 10 位作者
Prompt optimization should improve the image a user receives without changing the scene the user requested. Yet stylistic rewriting can weaken object attributes and relations even when global text--image similarity remains high. We propose StruPO, a structure-aware prompt editor that uses a calibrated scene graph as a shared representation for policy conditioning and image-grounded supervision. The graph exposes what should be preserved, while deletion, reordering, and insertion provide a token-aligned way to modify the prompt. This turns structural feedback from an external critique into a training signal for a reusable editing policy. Learning from that signal requires handling both uncertain grounding and stochastic image generation. StruPO retains grounding confidence through smooth reward shaping and averages multiple images for each edit before computing group-relative advantages. Experiments span three disjoint 2K-prompt test sets and four frozen generation backbones, with comparisons to learned prompt optimizers, iterative structural feedback, diffusion-model fine-tuning, and inference-time attention control. StruPO improves the faithfulness--aesthetics trade-off, with consistent gains in relational fidelity. Independent automatic evaluators and a 15-annotator study provide complementary evidence, and human preference margins increase with relation complexity. Controlled ablations connect these gains to graph conditioning, local editing, and image-grounded learning. The resulting policy produces reusable optimized text in one pass after graph calibration, without an iterative critique--rewrite loop.
Kangjun Liu, Zhenyu Li Qilu University of Science and Technology, Jianlei Wang Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Hongjiao Guan, Ying Lian The First Affiliated Hospital of Shandong First Medical University & Shandong Provincial Qianfoshan Hospital, Guoqiang Chen The First Affiliated Hospital of Shandong First Medical University & Shandong Provincial Qianfoshan Hospital, Tao Xin The First Affiliated Hospital of Shandong First Medical University & Shandong Provincial Qianfoshan Hospital, Wenpeng Lu
Automated ICD coding is a critical task for standardizing clinical information from electronic health records (EHRs) and supporting downstream healthcare administration.However, existing automated ICD coding systems face several fundamental challenges. First, the majority of existing research focuses on English ICD tasks, with limited attention to Chinese-language clinical contexts due to the scarcity of publicly available Chinese ICD datasets. Second, most approaches primarily target disease coding, overlooking procedure coding as well as the multi-stage workflows followed in real-world clinical practice. Moreover, many recent methods rely heavily on closed-source large language models or substantial computational resources, which limits their scalability and deployability in clinical environments.To address these gaps, this paper proposes JointCoder, which includes a real-world Chinese ICD coding dataset and a multi-agent framework that reformulates automated ICD coding as a joint disease-procedure coding task. JointCoder explicitly models real-world clinical coding workflows through stage-wise agent collaboration.All agents are instantiated using locally deployed 1.7B-parameter models, enabling scalable and privacy-preserving deployment.Extensive experiments on real-world Chinese ICD coding datasets demonstrate JointCoder’s superiority over state-of-the-art baselines across all evaluation metrics.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表
Yeqing Teng, Jiasheng Si Qilu University of Technology (Shandong Academy of Sciences), Shuxia Lin Southeast University, Linhai Zhang, Weiyu Zhang, Wenpeng Lu, Deyu Zhou Southeast University, Xiaoming Wu Qilu University of Technology
With the generative capabilities of large language models (LLMs) reshaping the information ecosystem, the concern with the sociological validity of claim detection benchmarks is increasing. Current claim detection benchmarks predominantly treat claims as static textual artifacts, overlooking the sociological etiology of how information naturally emerges and mutates. In this paper, we propose an evolutionary paradigm that models claims as socially evolving entities. In specific, we introduce a socially generative framework for synthetic claim generation, a multi-agent simulation grounded in the Open Claims Model. By decomposing claims into context, utterance, and proposition, our approach enables the precise simulation of unmitigated propagation to capture truth decay, and intervened propagation with multi-auditor oversight for targeted generation. Furthermore, we propose the background-user-perspective (BUP) framework, which reformulates check-worthiness as a condition-dependent probability rooted in social environment. Experiments on our datasets verify the data quality and reveal how network topology and user attributes systematically shape veracity drift.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Enming Wang, Jianlei Wang Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Xueping Peng University of Technology Sydney, Hongjiao Guan, Yinglong Wang, Sibo Wei Zhongke Wenge Technology Co., Ltd, Jianbin Guo Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Ruifeng Xu Harbin Institute of Technology 等 9 位作者
Emergency departments (ED) rely on the Emergency Severity Index (ESI) to assess patient acuity and prioritize care, a process that is largely driven by clinical triage text. Despite recent progress in automated ESI prediction, two fundamental challenges remain: the scarcity of high-quality triage text data due to privacy and regulatory constraints and the lack of a clinically grounded triage framework capable of explicitly capturing the multidimensional structure of triage reasoning. To address these challenges, we draw inspiration from the clinically grounded SOAP paradigm, in which SOAP refers to Subjective, Objective, Assessment, and Plan and captures four complementary aspects of clinical reasoning. Building on this paradigm, we propose SOAPTriage, a SOAP-guided multi-view clinical text modeling framework for automated ESI prediction. To mitigate data scarcity, SOAPTriage introduces a Clinical Note Augmentation (CNA) module that generates natural-language triage notes from structured ED records, resulting in 15,393 augmented clinical notes derived from a real-world dataset. To incorporate clinical structure, SOAPTriage employs a SOAP-Guided Encoding (SGE) module that models patient conditions from four complementary SOAP perspectives, together with an adaptive SOAP-Aware Aggregation and Inference (SAAI) module that performs multi-view reasoning to infer ESI levels. Extensive experiments show that SOAPTriage consistently outperforms strong prompting-based, multi-agent, and encoder-based baselines, demonstrating the effectiveness of SOAP-guided multi-view clinical text modeling for automated emergency triage.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Kunpeng Kang, Shuaimin Li, Kaiyuan Zhang, Luyang Zhang, Jiasheng Si Qilu University of Technology (Shandong Academy of Sciences), Bing Xu, Kehai Chen Harbin Institute of Technology (Shenzhen), Muyun Yang 等 9 位作者
Word sense disambiguation (WSD) is a foundational task in natural language processing. Recent research has reformulated WSD for large language models (LLMs) as a generative task, where the model produces a definition to convey the intended meaning of an ambiguous word in context.In practice, most existing approaches implement this formulation through straightforward supervised fine-tuning, which tends to prioritize superficial context-to-gloss memorization over true contextual sense discrimination, leading to degraded performance on less frequent senses (LFS), particularly in unseen settings.To address this issue, we propose WSDPO, a training framework for generative WSD with chain-of-thought (CoT) and preference optimization. WSDPO consists of three stages: (1) disambiguation-aware CoT construction, which produces training data containing explicit disambiguation steps for the later stage;(2) disambiguation-guided supervised fine-tuning, which explicitly trains the model to discriminate word sense before generating the final definition; and(3) preference-based optimization, which further strengthens the model’s ability to generate sense-faithful definitions by optimizing it using preference pairs constructed from multiple sampled CoT outputs.Extensive experiments across benchmark datasets and multiple backbone LLMs demonstrate that WSDPO achieves substantial performance gains on rare and unseen settings, and exhibits strong generalization in standard evaluation settings.
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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
Zhen Yang, Ping Jian Beijing Institute of Technology, Zhongbin Guo, Zuming Zhang Nanyang Technological University, Chengzhi Li Beijing Institute of Technology, Yonghong Deng Beijing Institute of Technology, Xinyue Zhang, Wenpeng Lu
Over the past year, spatial intelligence has drawn increasing attention. Many prior works study it from the perspective of visual-spatial intelligence, where models have access to visuospatial information from visual inputs. However, in the absence of visual information, whether linguistic intelligence alone is sufficient to endow models with spatial intelligence, and how models perform relevant tasks with text-only inputs still remain unexplored. Therefore, in this paper, we focus on a fundamental and critical capability in spatial intelligence from a linguistic perspective: viewpoint rotation understanding (VRU). Specifically, LLMs and VLMs are asked to infer their final viewpoint and predict the corresponding observation in an environment given textual description of viewpoint rotation and observation over multiple steps. We find that both LLMs and VLMs perform poorly on our proposed dataset while human can easily achieve 100% accuracy, indicating a substantial gap between current model capabilities and the requirements of spatial intelligence. To uncover the underlying mechanisms, we conduct a layer-wise probing analysis and head-wise causal intervention. Our findings reveal that although models encode viewpoint information in the hidden states, they appear to struggle to bind the viewpoint position with corresponding observation, resulting in a hallucination in final layers. Finally, we selectively fine-tune the key attention heads identified by causal intervention to improve VRU performance. Experimental results demonstrate that such selective fine-tuning achieves improved VRU performance while avoiding catastrophic forgetting of generic abilities.
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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
Linrui Ma, Chun Hei Lo Huawei Technologies Ltd., Xinyu Wang McGill University, McGill University, Peng Lu, Xihao Yuan Huawei Technologies Ltd., Hanting Chen Peking University, Kai Han Independent Researcher, Xinghao Chen Huawei Noah's Ark Lab 等 15 位作者
The quadratic computational cost of traditional attention mechanisms poses a major bottleneck to the scalability and practical deployment of large language models (LLMs), particularly in long-context scenarios. To improve efficiency, existing approaches often enforce rigid structural constraints such as local attention windows. However, these strategies typically lead to substantial performance degradation on tasks requiring precise long-range recall. In this work, we propose MATCH, a scalable and efficient framework that augments sparsified attention mechanisms with dynamically integrated in-context information through an efficient retrieval system. Empirical results show that MATCH significantly improves the performance of sparse-attention models on both synthetic and real-world natural-language tasks. These findings highlight the versatility of MATCH as a general approach for enhancing in-context retrieval capabilities while maintaining the efficiency benefits of sparse attention architectures.
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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
Xueqing Peng Yale University, Lingfei Qian Yale University, Yan Wang Yale University, Ruoyu Xiang, Yueru He Columbia University, Yang Ren Yale University, Mingyang Jiang, Vincent Jim Zhang 等 47 位作者
Real-world financial analysis involves information across multiple languages and modalities, from reports and news to scanned filings and meeting recordings. Yet most existing evaluations of LLMs in finance remain text-only, monolingual, and largely saturated by current models. To bridge these gaps, we present MultiFinBen, the first expert-annotated multilingual (five languages) and multimodal (text, vision, audio) benchmark for evaluating LLMs in realistic financial contexts. MultiFinBen introduces two new task families: multilingual financial reasoning, which tests cross-lingual evidence integration from filings and news, and financial OCR, which extracts structured text from scanned documents containing tables and charts. Rather than aggregating all available datasets, we apply a structured, difficulty-aware selection based on advanced model performance, ensuring balanced challenge and removing redundant tasks. Evaluating 21 leading LLMs shows that even frontier multimodal models like GPT-4o achieve only 46.01% overall, stronger on vision and audio but dropping sharply in multilingual settings. These findings expose persistent limitations in multilingual, multimodal, and expert-level financial reasoning. All datasets, evaluation scripts, and leaderboards are publicly released.
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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