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新论文 · v1arXiv:2611.16645

Rethinking Actions: Continuity-Aware Priors for World-Model Planning

Shaobo Yang, Zichen Ai, Ziyang Ma, Qian Yang, Bin Fang

原文摘要

Actions in expert demonstrations exhibit temporal structure. An ordered-versus-shuffled analysis across five environments confirms this dependence. We ask whether action proposals that better reflect expert continuity can improve visual world-model planning. Rather than imposing generic smoothness, we learn continuations from the temporal structure of demonstrated actions. Our locality-gated deep-kernel Gaussian-process prior, LG-DKGP, combines recent and longer-range executed action history, predicts a neural continuation, and learns a temporal Gaussian-process (GP) residual. A training-derived exploration scale initializes search around the corrected mean; a frozen world model evaluates progress toward the goal. Training first fits the neural mean, then jointly optimizes the prior with the GP residual using expert future actions. The resulting planner achieves 87.07\% macro success across five simulated tasks spanning native and fragment-level goal attainment, compared with 71.03\% for INTACT, 61.66\% for PRISM, and 58.66\% for LeWM. Component interventions and expert-relative action-structure comparisons support demonstration-informed continuations and reveal task-dependent effects of visual conditioning, history length, and planning horizon.

cs.RO · cs.LG

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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:2611.09476

LEMMO: A Large Electromagnetic Model leveraging Pretrained LLMs for Million-Sample Signal Understanding

Mingkai Li, Jiajun Wu, Yihan Mao, Zilin Sang, Taosong Yu, Yuan Ma, Minghe Liu, Qianqian Yang 等 9 位作者

原文摘要

Large language models have expanded beyond text to vision, audio, and other modalities, but understanding raw electromagnetic (EM) signals remains challenging. Wideband recordings can contain millions of samples, whereas existing waveform-based EM models are primarily evaluated on short in-phase and quadrature (IQ) segments, leaving long-recording understanding and detailed description insufficiently explored. We introduce LEMMO, a large EM model for instruction-driven recognition and description of long raw IQ recordings. LEMMO combines a linear-attention EM encoder with anti-aliased temporal resampling to process up to eight million complex samples. Its EM-text interaction module conditions learnable queries on instructions before retrieving signal evidence. Compact queries support recognition, while structured queries with auxiliary factual supervision organize scene-level properties, signal attributes, and cross-signal relationships for detailed description. We also construct and release a unified 1.38-TB corpus of real-world and synthetic EM signals, including LEMMO-ShortQA and LEMMO-LongDesc. Compared with MERLIN-LoRA, LEMMO improves mean EM-Bench perception accuracy by 15.77 %, mean strategy-generation ROUGE-L F1 by 4.38 points, and mean LEMMO-ShortQA accuracy by 14.31 %. It also improves categorical and numerical fact F1 on both LEMMO-LongDesc tasks while preserving its language backbone's MMLU performance. Our code and datasets are available at https://github.com/N1rv4n4/LEMMO and https://huggingface.co/datasets/DaftJun/RFLAS, respectively.

cs.AI · cs.SD

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06508

ElecLoad: Adaptive Electricity Load Forecasting Guided by Multiple Events

Huajian Zhang, Mingyue Cheng, Xingpeng Gao, Xiaoyu Tao, Zhiding Liu, Jiqian Yang, Zhi Li

原文摘要

Accurate electricity load forecasting provides critical decision support for energy procurement, generation scheduling, and supply-demand balancing, contributing to the economic efficiency and operational reliability of power systems. However, future electricity demand can be affected by the complex interplay of multiple events described in Web notices, weather alerts, and event schedules. Their effects vary over time and can reinforce or offset one another, making electricity load difficult to forecast accurately. While existing methods can incorporate context as additional input, how to use the effects of multiple events and their interactions to guide the load forecasting process itself remains to be explored. To address this gap, we propose ElecLoad, a context-aware agent for multi-event electricity load forecasting that adaptively organizes the forecasting process. Specifically, we train ElecLoad to combine historical load with context to analyze each event's relevance to the target load, the timing of its effects, and potential interactions among events. Guided by this analysis, ElecLoad adaptively chooses to forecast the entire forecast horizon directly or to partition it into segments according to changes in event effects. When the horizon is partitioned, sub-agents independently generate initial forecasts for each segment. The main agent then reviews these forecasts, and the sub-agents perform selective refinement guided by its feedback. Experiments on multiple electricity load datasets show that ElecLoad achieves state-of-the-art performance in most evaluation scenarios. Code is available at https://github.com/zhjai/ElecLoad.

cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06437

OSD-JSCC: Neural Joint Source-Channel Coding with One-Step Diffusion

Shunpu Tang, Qianqian Yang

原文摘要

Neural joint source-channel coding (JSCC) enables efficient image transmission over noisy channels, yet distortion-optimized approaches often produce blurry reconstructions. While diffusion priors can enhance visual fidelity, their iterative sampling incurs substantial decoding latency. To address this limitation, we propose OSD-JSCC, an SNR-adaptive JSCC framework with a single diffusion step. Specifically, OSD-JSCC transmits pretrained variational autoencoder (VAE) latents through an SNR-conditioned JSCC codec and incorporates two key designs. First, we introduce a stochastic diffusion-state interface that enables the JSCC decoder to predict a Gaussian diffusion state rather than a clean latent, while extracting image-specific semantic tokens. The sampled diffusion state preserves spatial structure and provides a good initialization for one-step refinement, whereas the semantic tokens, together with an SNR token, guide the reconstruction process. Second, we develop SNR-conditioned feature modulation and adaptive timestep selection to jointly adapt latent transmission and diffusion refinement to varying channel conditions. Furthermore, we adopt a three-stage training strategy with low-rank adaptation (LoRA) to efficiently adapt the pretrained diffusion prior to the JSCC task. Extensive experiments on Kodak and CLIC2020 demonstrate that OSD-JSCC achieves superior perceptual quality and decoding efficiency. Compared with existing diffusion-based JSCC baselines, OSD-JSCC reduces LPIPS by approximately 43% on Kodak and 53% on CLIC2020, while achieving up to a 50.6$\times$ reduction in decoding latency.

eess.SP · cs.IT

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02688

Accelerating LLM Pretraining with Zeroth-Order Curvature on Idle Serving Compute

Mingchuan Ma, Dongqi Cai, Daqian Yang, Zhenyan Lu, Chen Chen, Teresa Lv, Yan Gao, Shangguang Wang 等 11 位作者

原文摘要

LLM pretraining is increasingly compute-intensive, while substantial inference serving compute remains idle during off-peak periods. However, such serving hardware is difficult to use for conventional first-order training due to its memory, networking and other system requirements. Zeroth-order (ZO) optimization offers a natural interface to this forward-only compute resource, but its gradient estimates break down in pretraining. Unlike fine-tuning, which can confine updates to a small parameter subspace, pretraining must update every parameter, and the alignment of a ZO gradient estimate with the true gradient shrinks as the number of updated parameters grows. We make a different observation: noisy ZO estimates can still provide useful curvature information, even when they are too inaccurate to serve as gradients. Based on this insight, we propose ZO-Curv, which leverages idle forward-only devices to estimate curvature and uses it to adapt and refine the update used during first-order training, thereby accelerating the process. We provide convergence guarantees that characterize the effect of finite-query curvature estimation. Experiments on LLMs from 125M to 1.5B parameters show that ZO-Curv consistently accelerates pretraining. At 770M parameters, ZO-Curv reaches AdamW's 20K-step validation loss in 3.9 hours instead of 7.5 hours, while achieving a lower final loss of 2.70 versus 2.84 under the same step budget. These results show that idle model serving compute can accelerate LLM pretraining when zeroth-order queries are used to estimate curvature rather than gradients directly.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.10288Berkeley BAIR

TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning

Dayou Li, Hao Wang, Qianqian Yang, Zihao Zhu, Haoquan Fang, Ziyao Zeng, Yan Han, Zihan Wang 等 26 位作者

原文摘要

Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the contact and pressure that characterize physical interaction unrecorded. Recent visual-tactile datasets provide this missing supervision, but their synchronized tactile data remain far smaller in volume than human video. Moreover, the largest resources often merge recordings from different sensors or annotation procedures, which makes the effect of data scale difficult to isolate. We therefore introduce TouchScale, a 500-hour dataset of contact-rich human interaction recorded with a single unified wearable setup. Its approximately 2K predefined task descriptions span everyday activities and structured manipulation, and each recording temporally aligns egocentric RGB-D video with wrist RGB video and dense full-hand bimanual tactile measurements. Compared with prior tactile data, training on the full TouchScale raises zero-shot contact IoU on data from an unseen tactile sensor from 0.134 to 0.383. Pretraining a visual encoder on TouchScale also yields the highest action recognition accuracy on three benchmarks among the compared visual-tactile datasets. Used for visual-tactile mid-training of a robot policy, TouchScale improves the average real-world success rate across four contact-rich manipulation tasks from 22.5% to 57.5%. With the sensor and collection protocol held fixed, both zero-shot tactile prediction and robot success show an overall upward trend as more TouchScale data is used. These results suggest that human visual-tactile data collected at scale with consistent sensing benefits both perception and robot manipulation. We will publicly release TouchScale, including all synchronized visual-tactile recordings and reconstructed object models, to support future research on scalable visual-tactile learning.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37121

Prospector: learning a compact graph traversal policy for scientific reasoning

Haiqian Yang, Markus J. Buehler

原文摘要

Scientific reasoning in specialized engineering fields depends on knowledge scattered across the literature, often proprietary and absent from frontier LLM training data. In such domains, frontier models tend to give generic answers. Knowledge graphs (KGs) can ground LLM reasoning. Because a graph is too large to provide in full, typical LLM+KG systems preselect a portion, deciding relevance before reasoning begins. Here we train a compact model, Prospector, to reason over a domain knowledge graph by traversing it step by step, seeking evidence in light of what it has already found. Prospector calls a small set of tools one at a time to progressively build its context, and answers with a chain of evidence that can be checked edge by edge against what its tools retrieved from the graph. On a knowledge graph built from the semiconductor-manufacturing literature, Prospector approaches the strongest off-the-shelf models given the same graph and tools, and it far exceeds off-the-shelf models answering closed-book or from a pre-selected portion of the graph. Although trained only on the semiconductor graph, Prospector transfers to unseen knowledge graphs from three other distinct fields: bio-inspired materials, per- and polyfluoroalkyl substances (PFAS) and materials properties. Served on a single GPU, Prospector answers faster and at a fraction of the cost of a hosted service, while keeping proprietary data on the owner's hardware. We find that the policy's latent state is indicative of its next move on both seen and unseen graphs, and modulating the latent state can steer the policy from one behavior mode to another. These results suggest a practical LLM + KG paradigm for scientific and engineering reasoning over private data, in which a compact model trained on a graph from published literature transfers its traversal to unseen graphs that stay with their owners.

cs.AI · cs.CL · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.937ACL Anthology · ACL 2026

HSCodeComp: A Realistic and Expert-level Agent Benchmark for Hierarchical Rule Application

Tian Lan Alibaba Group, Yiqian Yang, Qianghuai Jia, Li Zhu Alibaba Group, Hui Jiang, Hang Zhu, Weihua Luo Alibaba International Digital Commerce Group, Longyue Wang Alibaba Group

原文摘要

Despite recent progress, existing agent benchmarks neglect a fundamental real-world capability: hierarchical rule application, a critical requirement in fields such as law and medicine where agents must reason from broad categories down to specific exceptions to reach rule-compliant decisions.This introduces significant challenges in resolving logical dependencies and disambiguating vague boundaries.To bridge this gap, we introduce HSCodeComp, a novel benchmark derived from e-commerce, requiring agents to assign a unique 10-digit Harmonized System (HS) Code to products by aligning their fuzzy attributes with strict tariff classification rules.HSCodeComp comprises 632 realistic products across 32 categories, featuring detailed yet noisy product information (titles, attributes, and images). The HS Codes are annotated by a panel of 26 tariff experts, strictly adhering to official rules and an empirical knowledge base, both of which we jointly open-source.Through a comprehensive evaluation of 23 LLMs, VLMs, and agents on HSCodeComp, we demonstrate that: 1) a substantial performance gap remains between state-of-the-art agents and human experts (46.8% vs. 95.0%); and 2) test-time scaling fails to close this gap. Further analysis reveals that 1) excessive reasoning steps frequently induce “reasoning drift,” which degrades accuracy; and 2) agents are prone to premature decisions on high-level categories and reasoning hallucinations that lack factual grounding.

cs.CL

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