Zhifeng Gu, Ying Chen, Rui Jiang, Lei Yi, Bing Wang
Experience can help embodied agents turn high-level plans into grounded actions, but transferring it across tasks remains challenging: previously effective strategies may be inapplicable to the current state or fail to produce their intended outcomes. We present EmbodiExp, a framework for constructing transferable experiences and composing them online during embodied task execution. Our key observation is that tasks often share subgoals whose completion can be assessed independently of overall task success. We therefore introduce an outcome-grounded subgoal experience that specifies a subgoal, applicability conditions, an adaptable policy, and a verifiable outcome. During execution, applicable experiences guide action generation, while verified outcomes can establish the conditions required by subsequent experiences, enabling online composition. Subgoal-level outcome attribution further enables failure utilization: failed trajectories can still contribute verified local successes and condition-specific guidance on actions to avoid. Experiments on multiple embodied benchmarks under a fold-based protocol with frozen experience banks demonstrate the effectiveness of EmbodiExp.
Ymyang, Jiang Zhong Chongqing University, Li Jin, Xiao Sun, Jingwang Huang, Gaojinpeng, Qing Liu, Yang Bai 等 12 位作者
Multimodal Retrieval-Augmented Generation (MRAG) enhances reasoning capabilities by integrating external knowledge. However, existing benchmarks primarily focus on simple image-text interactions, overlooking complex visual formats like charts that are prevalent in real-world applications. In this work, we introduce a novel task, \textbf{Chart-based MRAG}, to address this limitation. To generate high-quality evaluation samples, we propose \textbf{CHARGE} (\textbf{CHAR}t-based document question-answering \textbf{GE}neration), a semi-automatic framework for generating evaluation samples through multi-modal keypoint extraction, knowledge graph construction, and qa pair synthesis.By combining CHARGE with expert validation, we construct \textbf{Chart-MRAG Bench}, a comprehensive benchmark for chart-based MRAG evaluation, featuring 4,738 question-answering pairs across 8 domains from real-world documents.Our experiments reveal three critical limitations in current approaches: (1) unified multimodal embedding retrieval methods struggles in chart-based scenarios, (2) even with ground-truth retrieval, state-of-the-art Multimodal Large Language Models (MLLMs) achieve only 71.15% Correctness and 80.74% Coverage scores, and (3) Widely-used MLLMs demonstrate consistent text-over-visual modality bias. These findings highlight great challenges in processing information-dense visual formats. We will make our code and dataset publicly available.
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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