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新论文 · v1arXiv:2611.12286

VLA-MOPD: On-Policy Distillation for Multi-Task VLA Policy Consolidation

Yongxuan Lv, Zhen Fang, Lichen Man, Hao Li, Pu Li, Hengyi Wang, Langfeng Cao, Lin Chen 等 13 位作者

原文摘要

Physical intelligence requires embodied agents to ground language in observations and execute actions while retaining useful skills. Vision-language-action (VLA) policies offer a shared interface, but task-specific post-training often produces separate specialists. Consolidation is difficult: mixed-task reinforcement learning provides sparse trajectory-level credit, while offline distillation may miss student-visited observations and endpoint distillation does not supervise intermediate action-generation states. We introduce VLA Multi-teacher On-Policy Distillation (VLA-MOPD), a protocol for consolidating flow-matching VLA specialists. After acquiring task or suite experts, a shared student collects robot rollouts and queries the instruction-routed frozen teacher at each visited observation and intermediate ordinary differential equation (ODE) state. Detached per-flow-step transition targets supervise valid action chunks through a masked local matching loss; an optional reference-policy term supports retention on other tasks. Starting from one trajectory per LIBERO task, VLA-MOPD raises mean success-once from 75.4% to 98.9%, compared with 98.15% for endpoint action distillation. It improves mean RoboTwin 2.0 success from 73.0% to 89.3%; on a Piper robot, two consolidation rounds improve average success from 70.0% to 90.0%. In a near-matched Spatial-adaptation study, reference matching limits the Object suite decrease to 3.0 points, versus 13.2 without the reference term.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.18654

Kwai Summary Attention V2 Technical Report

OneRec Team, Chenglong Chu, Guohong Mu, Guowang Zhang, Hao Peng, Hui Wang, Jian Liang, Jiangxia Cao 等 33 位作者

原文摘要

Summary-token architectures such as Kwai Summary Attention (KSA) compress distant context into learnable Summary token per chunk, and hybrid variants interleave these layers with full attention to retain exact access to the original text. In such hybrid KSA-Full architecture, the interleaving inserted summary tokens are served as a streaming flow role across different layers. Although effective, however, it also introduce some bottlenecks: (1) the different layers summary compression chunk must be same, therefore hard to reach a flexible KV Cache compression, e.g., different layer set different summary compression chunk window. (2) in the full-attention layers, the summary token introduced additional computation cost, but such layer ignore them and still pay quadratic prefilling, therefore unfriendly to the computation side. Motivated by them, we developed the KSA V2, which not only achieves a more flexible KV cache memory compression but also reduces the computation cost in Full attention layer. Specifically, we found that the summary tokens can serve two roles: the KV memory and sparse indexer.

cs.LG · cs.AI · cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06728

Turns Matter: Advancing Streaming Video RL via Turn-Level Credit

Shuai Dong, Kanghui Tian, Linghan Chen, Wenqi Shao, Hongrui Wu, Haowen Hou, Yongfu Zhu, Xuehui Wang 等 23 位作者

原文摘要

Streaming video understanding requires models to repeatedly decide whether to respond or continue observing. Recently, Group Relative Policy Optimization (GRPO) has been applied to this setting, with existing approaches emphasizing reward design while retaining a single trajectory-level advantage across turns. Such shared credit can reinforce redundant replies after earlier successes and discourage useful follow-ups after earlier failures. We propose TurnWise, a turn-level GRPO framework that aligns learning with individual streaming decisions. TurnWise addresses the mismatch between trajectory-level feedback and turn-level interaction, promoting informative responses and reducing redundancy. Specifically, turn-level credit assignment uses silence-completed prefix scoring to construct group-relative advantages from each decision's remaining return, separating its learning signal from earlier rewards. Turn-mean policy optimization averages token losses within each turn and then across turns, giving response and waiting decisions equal weight regardless of output length. These complementary designs improve streaming policy learning without a learned critic or additional rollouts. Extensive experiments show our method outperforms prior RL approaches for streaming video understanding.

cs.CV · cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05906

CHARM+: Cross-Hardware Attention with Re-Merge Multistream Mechanism

Xinhang Zhang, Boning Zhang, Chengchun Liu, Chunpu Li, Lei Sun, Weifeng Zhang, Limin Xiao

原文摘要

As sequence lengths continue to grow, distributed attention based on sequence parallel (e.g., Ring-Attention) has become a mainstream solution for large language models (LLMs). Nevertheless, inherent communication dependencies limit computation-communication overlap, reducing GPU utilization. Moreover, in cross-hardware (NUMA or node) architectures, due to imbalanced communication bandwidth, frequent communication synchronization will limit overall performance. Based on these insights, we propose CHARM+, Cross-Hardware Attention with Re-Merge Multistream Mechanism. We reorganize sequential communications into several levels and achieve intra-level parallelism and computation overlap. Furthermore, we decouple cross-hardware communication from intra-hardware communication, eliminating synchronization overhead caused by bandwidth imbalance. Forward and backward algorithms were evaluated on multiple hardware architectures and consistently outperformed state-of-the-art methods. Compared to Ring-Attention, our forward and backward algorithms achieve average speedups of 1.3x and 1.7x on a dual-NUMA PCIe architecture, and 2.8x and 2.9x on a dual-node NVLink architecture, respectively.

cs.AI · cs.AR · cs.DC

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2604.01650

AromaGen: Interactive Generation of Rich Olfactory Experiences with Multimodal Language Models

Awu Chen, Silang Wang, Yunge Wen, Jianing Yu, Zinab Eisa, Ana Julia Santos Lopes, Jas Brooks, Hiroshi Ishii 等 9 位作者

原文摘要

Smell's connections with food, memory, and social experience have motivated researchers to bring olfaction into interactive systems. Multimodal AI opens new possibilities for generating smells from natural language, yet it remains unclear whether pretrained models encode sufficient olfactory knowledge to translate language into perceptible compositions. We present AromaGen, an AI-powered 12-channel wearable olfactory system that maps free-form natural-language descriptions to 12 base odorants selected to cover a semantically derived olfactory space, while supporting iterative refinement through natural-language feedback. In a between-subjects study (N=60) across 50 real-world benchmark smells, participants distinguished AromaGen-generated target smells above chance in a three-alternative forced-choice task, with retrieval-augmented AI composition performing comparably to human-expert composition and zero-shot AI composition. Natural-language feedback significantly improved the perceived similarity of both AI- and human-expert compositions. Our findings demonstrate the feasibility of using pretrained multimodal AI, with human aroma composition data, to generate perceptible olfactory experiences from natural language.

cs.HC · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.02785

Smell with Genji: Rediscovering Sensory Experience with an AI Co-Smelling Partner

Vera Yu Wu, Awu Chen, Yunge Wen, Yaluo Wang, Jiaxuan Olivia Yin, Yichen Wang, Qian Xiang, Richard Zhang 等 10 位作者

原文摘要

Olfaction contributes substantially to human perception, yet the olfactory-verbal gap often leaves people struggling to articulate what they smell. We present Smell with Genji, an AI-mediated interactive experience adapting Genji-kō, a traditional Japanese scent-matching game. This practice maps comparative judgments across a sequence of scents onto Genji-mon, providing visual patterns as shared reference points for communication. Within this framework, we introduce an AI co-smelling partner integrating multichannel olfactory sensing, a Transformer-based classification model, and a large language model (LLM)-driven conversational interface to translate sensor signals into descriptive dialogue. Rather than deploying machine olfaction purely for identification, the system positions the AI as a co-present partner sharing its sensory impressions while human judgment remains open. Placing the machine's perspective alongside human intuition creates a space for shared reflection, encouraging participants to deliberately evaluate and articulate their choices. This work explores how computational systems can support sensory interaction grounded in dialogue, fostering reflective articulation and preserving human agency in making sense of the olfactory world.

cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04508

Theory-guided relational learning for data product pricing: An interpretable meta-path-guided graph neural network approach

Ruize Gao, Feng Xiao, Jinpu Li, Ke Tang, Shaoze Cui

原文摘要

Data products are non-standardized and context-dependent, so their prices are jointly shaped by product attributes and contextual factors such as provider reputation, product comparability, and industry structure. We formulate data product pricing as a learning task over a heterogeneous information network spanning data products, providers, marketplaces, industries, and pricing modes, and design theory-grounded meta-paths, brand-based, similarity-based, industry-based, and hybrid, to characterize distinct pricing mechanisms. Building on this network, we propose a Meta-Path-Guided Heterogeneous Graph Neural Network (MPGNN), which learns path-specific representations, fuses them through an attention-based gate, and is further augmented with large language model-generated textual features. Empirical evaluation shows that MPGNN achieves statistically significant improvements over baseline models in both regression and classification across different pricing modes, and that provider-involving meta-paths dominate the learned weights, yielding predictive evidence consistent with a brand-equity-related pricing mechanism. The proposed framework combines predictive accuracy with theory-driven interpretability, offering a transferable methodological template for pricing other non-standardized digital assets.

cs.CE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.20812

B[FM]$^2$: Brain Foundation Model via Flow Matching with SplitUNet

Jaedong Hwang, Kathleen Zhang, Wei Dai, Konstantinos Kontras, Maarten Vanmarcke, Maarten De Vos, Ila Fiete, Paul Pu Liang

原文摘要

EEG foundation models can learn generalizable representations from large-scale EEG corpora to enable single-backbone transfer across diverse clinical and brain-computer interface tasks. Existing models typically discretize the continuous multi-channel EEG waveform into patches or codebook tokens and train a transformer with masked self-supervision. Recognizing that this discretization fragments continuous brain rhythms and obscures fine-grained temporal dynamics, we present B[FM]$^2$(Brain Foundation Model via Flow Matching), whose inductive bias aligns with the data by pretraining directly on the raw signal using continuous-time flow matching without patches, tokenization, or masking. However, multi-channel EEG signals pose an architectural challenge for flow matching: time is densely sampled and highly autocorrelated (thousands of timepoints), while the electrode axis is short (tens of channels) at distinct scalp positions. To address this time-electrode asymmetry, we introduce SplitUNet, a velocity network that factorizes each block into separate 1D temporal and 1D electrode convolutions and downsamples only along time, preserving electrode topology throughout the hierarchy. B[FM]$^2$ sets a new state of the art on $7$ of $9$ standard downstream EEG classification tasks, using a pretraining budget of only $36{,}895$ segments ($\approx$ 307h), 1-2 orders of magnitude ($\approx$ 30x) less than required by existing EEG foundation models. Further, it generates synthetic EEGs that two board-certified neurologists cannot distinguish from brain data (Cohen's $κ= -0.096$). https://jd730.github.io/projects/BFM2

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.04097

CTM-AI: Evolving Multi-Agent Intelligence Inspired by a Model of Consciousness

Haofei Yu, Yining Zhao, Lenore Blum, Manuel Blum, Paul Pu Liang

原文摘要

Despite remarkable advances, today's AI systems remain narrow in scope, falling short of the adaptive and continual intelligence that characterizes human capabilities. This gap has fueled longstanding debates about whether AI might one day achieve human-like generality or even consciousness. Flipping the debate, we present a concrete blueprint for a multi-agent AI system inspired by a formal machine model of consciousness called the Conscious Turing Machine (CTM). Together, CTM-AI contains a large collection of powerful processors ranging from specialized experts (e.g., language models, multimodal models, tools, and APIs) to unspecialized general-purpose learners poised to develop their own expertise. Crucially, for whatever problem must be dealt with, information from many processors is competitively selected, integrated, and exchanged appropriately to solve the task. Feedback mechanisms in CTM-AI enable the system to iteratively evolve its internal connections and communication. CTM-AI achieves state-of-the-art accuracy on MUStARD (72.28) and UR-FUNNY (72.13), outperforming multimodal and multi-agent frameworks. On tool-using and agentic tasks, CTM-AI achieves 10+ points of improvement on StableToolBench and WebArena-Lite. Overall, CTM-AI offers a principled and testable multi-agent AI system inspired by a model of consciousness. The code is available at https://github.com/consciousness-lab/ctm-ai.

q-bio.NC · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36610

4D Reconstruction with Events & RGB

Dulanga Weerakoon, Darshana Rathnayake, Van Minh Do, Hemanth Sabbella, Kaichen Zhou, Fangneng Zhan, Alok Prakash, Sanjay E. Sarma 等 10 位作者

原文摘要

Reconstructing dynamic 3D scenes over time (4D reconstruction) from a single moving camera is central to robotics and AR/VR applications, yet state-of the-art feed-forward methods rely solely on RGB frames and therefore inherit the failure modes of conventional cameras, including motion blur and temporal aliasing under fast or non-uniform camera and object motion. Event cameras report per-pixel brightness changes asynchronously at microsecond resolution, offering a complementary signal that is largely immune to these artifacts, but whether this modality can be incorporated into existing RGB based 4D reconstruction pipelines without a full architectural redesign remains an open question. In this preliminary study, we investigate a minimal extension: we augment Monst3R, an existing RGB-only 4D reconstruction model, with an additional event-camera input branch, leaving the rest of the architecture unchanged. Across 3 benchmark datasets, this simple RGB-event fusion reduces Abs Rel by 3.4% on average relative to the RGB-only Monst3R baseline, and a sensitivity analysis shows that the improvement grows with the magnitude of camera and object motion, with the largest gains observed under high object motion conditions where RGB-only reconstruction degrades most. These early results suggest that even a lightweight, non-invasive fusion of event data can meaningfully improve 4D reconstruction robustness, motivating a more thorough architectural investigation in future work.

cs.CV

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.460ACL Anthology · ACL 2026

MT^{3}: A Synergistic Multi-Task RL Framework for Specializing MLLMs in Text Image Machine Translation

Zhaopeng Feng Zhejiang University, Yupu Liang University of Chinese Academy of Sciences, Shaosheng Cao, Jiayuan Su Tencent Wechat, Jiahan Ren, Zhijie Zhou, Wenxuan Huang, Jian Wu Zhejiang University 等 9 位作者

原文摘要

Text Image Machine Translation (TIMT)—the task of translating textual content embedded in images—is critical for applications in accessibility, cross-lingual information access, and real-world document understanding. However, TIMT remains a complex challenge due to the need for accurate optical character recognition (OCR), robust visual-text reasoning, and high-quality translation, often requiring cascading multi-stage pipelines. Recent advances in large-scale Reinforcement Learning (RL) have improved reasoning in Large Language Models (LLMs) and Multimodal LLMs (MLLMs), but their application to end-to-end TIMT is still underexplored. To bridge this gap, we introduce MT^{3}, a novel Multi-Task RL framework to specialize MLLMs into end-to-end expert TIMT models. MT^{3} adopts a synergistic multi-task optimization paradigm targeting three key sub-skills: text recognition, context-aware reasoning, and translation. It is trained using a novel multi-mixed reward mechanism that provides fine-grained feedback, fostering a controllable and transparent optimization process. Furthermore, to facilitate the evaluation of TIMT in authentic cross-cultural and real-world social media contexts, we introduced XHSPost, the first social media TIMT benchmark. Our MT^{3}-7B-Zero achieves state-of-the-art results on the latest in-domain MIT-10M benchmark, outperforming strong baselines such as Qwen2.5-VL-72B and InternVL2.5-78B by notable margins across multiple metrics. Additionally, the model shows strong generalization to out-of-distribution language pairs and datasets. In-depth analyses reveal how multi-task synergy, reinforcement learning initialization, curriculum design, and reward formulation contribute to advancing MLLM-driven TIMT.

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

版本更新 · v3arXiv:2512.08296Google Research

Towards a Science of Scaling Agent Systems

Yubin Kim, Ken Gu, Chanwoo Park, Chunjong Park, Samuel Schmidgall, A. Ali Heydari, Yao Yan, Zhihan Zhang 等 20 位作者

原文摘要

Agents, language model-based systems capable of reasoning, planning, and acting are widely adopted in real-world tasks, yet how their performance changes as these systems scale across key dimensions remains underexplored. We introduce quantitative scaling principles for agent systems as a predictive model, capturing how performance varies with coordination, model capability, and measurable system and task factors. Across 260 configurations spanning six agentic benchmarks, five canonical architectures (Single-Agent and four Multi-Agent: Independent, Centralized, Decentralized, Hybrid), and three LLM families, we perform controlled evaluations, standardizing tools, prompts, and compute to isolate architectural effects. The resulting model achieves a cross-validated R^2=0.373 across all six benchmarks (R^2=0.413 with a task-grounded capability metric). We identify a robust capability-saturation effect and additional patterns: (1) a coordination yields diminishing returns once single-agent baselines exceed certain performance; (2) tool-heavy tasks appear to incur multi-agent overhead; and (3) architectures without centralized verification tend to propagate errors more than those with centralized coordination. Relative performance change compared to single-agent baseline ranges from +80.8% on decomposable financial reasoning to -70.0% on sequential planning, demonstrating that architecture-task alignment determines collaborative success. The framework identifies the best-performing architecture for 87% of held-out configurations and shows consistent relative architecture preferences on unseen frontier models. Agent effectiveness depends on alignment between coordination and task structure, and that mismatched coordination degrades the performance.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2506.15841Berkeley BAIR

MEM1：学习协同记忆与推理以实现高效长程智能体

MEM1: Learning to Synergize Memory and Reasoning for Efficient Long-Horizon Agents

Zijian Zhou, Ao Qu, Zhaoxuan Wu, Sunghwan Kim, Alok Prakash, Daniela Rus, Jinhua Zhao, Bryan Kian Hsiang Low 等 9 位作者

AI 速读 基于摘要

MEM1 是一个端到端强化学习框架，让语言智能体在长多轮任务中以恒定内存运行，通过紧凑共享状态协同记忆巩固与推理。

cs.CL · cs.AI · cs.IR

arXiv ↗PDF ↗
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Modern language agents must operate over long-horizon, multi-turn interactions, where they retrieve external information, adapt to observations, and answer interdependent queries. Yet, most LLM systems rely on full-context prompting, appending all past turns regardless of their relevance. This leads to unbounded memory growth, increased computational costs, and degraded reasoning performance on out-of-distribution input lengths. We introduce MEM1, an end-to-end reinforcement learning framework that enables agents to operate with constant memory across long multi-turn tasks. At each turn, MEM1 updates a compact shared internal state that jointly supports memory consolidation and reasoning. This state integrates prior memory with new observations from the environment while strategically discarding irrelevant or redundant information. To support training in more realistic and compositional settings, we propose a simple yet effective and scalable approach to constructing multi-turn environments by composing existing datasets into arbitrarily complex task sequences. Experiments across three domains, including internal retrieval QA, open-domain web QA, and multi-turn web shopping, show that MEM1-7B improves performance by 3.5x while reducing memory usage by 3.7x compared to Qwen2.5-14B-Instruct on a 16-objective multi-hop QA task, and generalizes beyond the training horizon. Our results demonstrate the promise of reasoning-driven memory consolidation as a scalable alternative to existing solutions for training long-horizon interactive agents, where both efficiency and performance are optimized.