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新论文 · v1arXiv:2611.09355

HiMEM: Hippocampus-Inspired Memory Consolidation, Pruning, and Composition for Vision-Language-Action Models in 3D Scenes

Boran Zhao, Yanbin Hu, Jun Ye, Zhenxian Hu, Yuxin Zhai, Jin Cui, Pengju Ren

原文摘要

Memory plays a crucial role in long-horizon task execution and cross-task generalization for Vision-Language-Action (VLA) models operating in complex 3D scenes. However, existing VLA memory mechanisms suffer from memory noise, particularly in complex 3D scenes, as stored episodic memories contain extensive redundant details about scene layouts, object configurations, and robot-specific states, which obscure generalizable manipulation principles and hinder cross-task transfer. To address this challenge, we first introduce a hippocampus-inspired memory consolidation mechanism that synthesizes extensive episodic experiences into a compact set of essential semantic memories, enabling VLA models to derive generalizable principles from practical experience. Second, we propose an episodic memory pruning mechanism that removes redundant episodic memories whose contents are captured by consolidated semantic memories, thereby increasing effective memory capacity and improving long-horizon task execution. Finally, to handle complex task scenarios, we develop a flexible memory composition mechanism that jointly leverages multiple episodic and semantic memories to enhance cross-scenario generalization. Experiments on LIBERO, LIBERO-Plus demonstrate the effectiveness of HiMEM across different VLA backbones, improving the average success rate of pi_0 from 91.88% to 98.20% on LIBERO.

cs.CV · cs.AI

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首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.2020ACL Anthology · ACL 2026

MIND: From Passive Mimicry to Active Reasoning through Capability-Aware Multi-Perspective CoT Distillation

Jin Cui Xi'an Jiaotong University, Jiaqi Guo Nankai University, Jiepeng Zhou, Ruixuan Yang, Jiayi Lu, Jiajun Xu Xi'an Jiaotong University, Jiangcheng Song, Boran Zhao 等 9 位作者

原文摘要

While Large Language Models (LLMs) have emerged with remarkable capabilities in complex tasks through Chain-of-Thought (CoT) reasoning, practical resource constraints have sparked interest in transferring these abilities to smaller models. However, achieving both domain performance and cross-domain generalization remains challenging. Existing approaches typically restrict students to following a single golden rationale and treat different reasoning paths independently. Due to distinct inductive biases and intrinsic preferences, alongside the student’s evolving capacity and reasoning preferences during training, a teacher’s “optimal” rationale could act as out-of-distribution noise. This misalignment leads to a degeneration of the student’s latent reasoning distribution, causing suboptimal performance. To bridge this gap, we propose MIND, a capability-adaptive framework that transitions distillation from passive mimicry to active cognitive construction. We synthesize diverse teacher perspectives through a novel “Teaching Assistant” network. By employing a novel Feedback-Driven Inertia Calibration mechanism, this network utilizes inertia-filtered training loss to align supervision with the student’s current adaptability, effectively enhancing performance while mitigating catastrophic forgetting. Extensive experiments demonstrate that MIND achieves state-of-the-art performance on both in-distribution and out-of-distribution benchmarks, and our sophisticated latent space analysis further confirms the mechanism of reasoning ability internalization.

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.487ACL Anthology · ACL 2026

Jakiro: Boosting Speculative Decoding via Decoupled MoE

Haiduo Huang, Fuwei Yang AMD Inc., Zhenhua Liu, Pengju Ren Xi'an Jiaotong University

原文摘要

Speculative decoding has emerged as a promising technique to accelerate large language model inference by employing a smaller draft model to predict multiple tokens, which are then verified in parallel by the larger target model. However, existing approaches face a fundamental limitation: candidates at the same tree layer share identical feature representations, constraining diversity and diminishing overall effectiveness. We identify this as an intra-layer coupling problem that limits prediction accuracy. To address this challenge, we propose Jakiro, which introduces decoupled Mixture of Experts (MoE) into the draft model, enabling different experts to generate diverse candidate tokens from distinct feature spaces. We further propose Contrastive-Enhanced Parallel Decoding (CEPD) that combines autoregressive and parallel decoding with a contrastive mechanism to reduce inference steps while maintaining accuracy. Extensive experiments across diverse models and tasks demonstrate that Jakiro achieves significant speedups over strong baselines, with particularly notable improvements in non-greedy decoding scenarios where token diversity is crucial.

cs.CL

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