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版本更新 · v2arXiv:2610.41697

TSBPO: Tree-Structured Branching for Policy Optimization in Interactive Language Agents

Rui Yu, Chong Mu, Jinchuan Zhang

原文摘要

Terminal feedback in multi-turn agent training leaves both rollout allocation and local credit underdetermined. Dynamics-Predictive Sampling (DPS) [9] provides a task-level predictive sampling reference, but interactive agents also need to choose which visited states merit further continuations. We introduce TSBPO with two method components. A lightweight, fine-grained Root/Branch budget allocator distributes factual rollouts across tasks and additional suffixes across replayable states using likelihood-fitted estimates of terminal-outcome contrast. On the resulting physical rollout trees, a tree-aware step-level credit assignment algorithm compares immediate sibling segments and assigns their local outcome contrasts to the turns they contain. Exact task/observation groups provide a complementary step term. The allocator selects what to sample; observed outcomes determine the subsequent credit. With a Qwen2.5-1.5B actor, fixed checkpoints attain 97.79% seen and 96.64% unseen stochastic success on ALFWorld, and an 81.07% per-episode success rate over six stochastic episodes for each of the 500 WebShop test goals. At the WebShop update-100 checkpoint, removing the observation-group step term yields 75.93% under the same evaluation. These results describe the evaluated training configurations on two interactive benchmarks.

cs.AI · cs.CL · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.01560

让机器人使用智能体走向大众：一个配开放模型的统一测试框架

Democratizing Robot-Use Agents: A Unified Harness with Open Models

Jiarui Yuan, Yuxin Zuo, Xiaoyu Huang, Wenbo Zhang, Kwanyoung Park, Junlin Yang, Tianxiang Zhang, Ruoqu Chen 等 28 位作者

AI 速读 基于摘要

作者提出统一测试框架 uni-robot-agent，使开放权重模型可开展机器人使用智能体研究并支持后续训练，报告开箱即用的 Qwen3.8-Flash-Next 在 RoboDojo 上取得 31.39 分。

cs.RO

arXiv ↗PDF ↗
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Robot-use Agents (RUAs) have shown promising zero-shot manipulation capabilities, but reliance on frontier, proprietary models limits research into further training. To democratize RUA research, we introduce uni-robot-agent, a unified harness for competitive open-weight robot use that supports further training. Without privileged inputs, an out-of-the-box Qwen3.8-Flash-Next achieves a RoboDojo Score of 31.39, surpassing the published GPT-6 Astra-RoboProbe result of 28.97 and many VLA/WAM baselines, and performs competitively on 19 real-world tasks. Our analysis across model generations, families, and sizes links effective robot use to four general capabilities, suggesting that future RUA training should develop them jointly.

版本更新 · v3arXiv:2610.40016

LOGIV: Graph-Verified Execution with Causal Local Repair for Long-Horizon Robot Tasks

Enqiao Lu, Yuxiang Xie, Xingrui Yu, Yuyang Wang, Yipeng Gu, Zhirui Fang, Xinrun Xu, Zhenglin Wan 等 13 位作者

原文摘要

Agentic robots must turn a high-level goal into actions while keeping the physical conditions needed for future steps valid. A completed action does not ensure that its effects will persist: a later disturbance can invalidate support that the remaining plan still assumes. We present LOGIV, a graph engineering framework for agentic robot execution that uses an explicit task graph to connect symbolic planning, observation-based verification, and embodied action. LOGIV compiles a validated plan into condition-support and resource-ordering edges, checks their physical validity during execution, and uses dependency tracing to determine what must be restored after a failure. Repair is constrained by retained unfinished actions, and the combined continuation is symbolically validated before execution resumes. The framework operates above existing Vision-Language-Action (VLA) and World Action Model (WAM) policies without adding trainable components. Across 20 dual-arm tasks from RoboTwin V2 and BiCoord with three execution backbones, LOGIV improves mean task success without injected disturbances by 10.67 and 15.33 percentage points, respectively. Under predefined perturbations, it achieves higher task completion and condition restoration than three adapted recovery baselines for every backbone on both benchmarks. On three real-robot tasks, successful trials increase from 12/30 to 17/30. These results support explicit, continuously checked task dependencies as a practical interface for reliable agentic robot execution.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2606.03056

SkillDAG: Self-Evolving Typed Skill Graphs for LLM Skill Selection at Scale

Tong Bai, Zhenglin Wan, Pengfei Zhou, Xingrui Yu, Yang You, Ivor W. Tsang

原文摘要

Large skill libraries are now standard equipment for LLM agents, and which subset reaches the prompt decides what the agent can do. Enumeration and top-$K$ embedding retrieval both treat skills as independent documents, assuming relevance is a property of one skill at a time. It is not: skills depend on, conflict with, specialize, and duplicate one another, so the closest match to a task can name it while omitting a prerequisite it needs. Graph retrieval encodes these relations but spends them in a fixed pipeline, handing the agent an opaque bundle. We present SkillDAG, which exposes a typed skill graph to the LLM as an agent-callable interface rather than consuming it for the agent: search returns vector matches, typed-edge neighbors, and conflict signals, and a propose-then-commit protocol lets it register execution-backed edges as it works. Across two benchmarks and three model families, SkillDAG outperforms full-library prompting, vector retrieval, and Graph-of-Skills, gaining +14.3 points of ALFWorld success and tying only at ceiling; its ranking holds flat across a $10\times$ pool expansion that degrades the fixed pipeline. Inter-skill structure, these results suggest, is worth more to an agent that can query and revise it than to a retriever that consumes it.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.12273

Learning to Control: The iUzawa-Net for Nonsmooth Optimal Control of Linear PDEs

Yongcun Song, Xiaoming Yuan, Hangrui Yue, Tianyou Zeng

原文摘要

We propose an optimization-informed deep neural network approach, named iUzawa-Net, aiming for the first solver that enables real-time solutions for a class of nonsmooth optimal control problems of linear partial differential equations (PDEs). The iUzawa-Net unrolls an inexact Uzawa method for saddle point problems, replacing classical preconditioners and PDE solvers with specifically designed learnable neural networks. We prove universal approximation properties and establish the asymptotic $\varepsilon$-optimality for the iUzawa-Net, and validate its promising numerical efficiency through nonsmooth elliptic and parabolic optimal control problems. Our techniques offer a versatile framework for designing and analyzing various optimization-informed deep learning approaches to optimal control and other PDE-constrained optimization problems. The proposed learning-to-control approach synergizes model-based optimization algorithms and data-driven deep learning techniques, inheriting the merits of both methodologies.

math.OC · cs.LG · math.NA

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1381ACL Anthology · ACL 2026

From Language to Driving: A Dual-Loop SLM-Enhanced Framework for Multi-Planner Scheduling via a Domain-Specific Language

Jiawei Liu, Xun Gong Jilin University, China, Muli Yang A*STAR, Xingrui Yu Institute of High Performance Computing, Singapore, A*STAR, Fen Fang, Xulei Yang I2R, A*STAR, Ivor Tsang, Yunfeng hu 等 10 位作者

原文摘要

Advancing from usable to collaborative autonomy requires driving systems to execute passenger instructions safely and reliably. This work formulates instruction realization as scheduling across multiple motion planners and presents a dual-loop framework that provides a transparent decision chain from natural language to vehicle control. The outer loop uses a small language model (SLM) for high-level, low-frequency semantic reasoning and schedule generation, while the inner loop performs low-level, high-frequency schedule execution and vehicle control. To compensate for the SLM’s limited capacity, the framework integrates receding-horizon scheduling to segment long-horizon instruction tasks, a domain-specific language (DSL) that restricts SLM outputs to a scheduling-oriented subspace, and reinforcement learning in high-fidelity urban traffic to refine the SLM’s DSL proficiency and scheduling performance. Experiments show that the framework improves instruction-completion rates while maintaining high safety and compliance relative to multiple baselines.

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.1436ACL Anthology · ACL 2026

Rethinking Entropy Interventions in RLVR: An Entropy Change Perspective

Zhezheng Hao, Hong Wang, Haoyang Liu, Jian Luo State University of New York at Stony Brook, Jiarui Yu Tencent, Hande Dong, Qiang Lin, Can Wang 等 9 位作者

原文摘要

Reinforcement Learning with Verifiable Rewards (RLVR) serves as a cornerstone technique for enhancing the reasoning capabilities of Large Language Models (LLMs). However, its training is often plagued by entropy collapse, a rapid decline in policy entropy that limits exploration and undermines training effectiveness. While recent works attempt to mitigate this issue via several heuristic entropy interventions, the underlying mechanisms remain poorly understood. In this work, we conduct comprehensive theoretical and empirical analyses of entropy dynamics in RLVR, offering two main insights: (1) We derive a tight approximation for token-level entropy change at each update step, revealing four governing factors and providing a unified theoretical framework of how existing methods influence entropy; (2) We reveal a fundamental limitation of recent approaches: they rely on heuristic adjustments to one or two of these factors, leaving other relevant factors unconsidered, thus inherently limiting their effectiveness. Motivated by these findings, we propose STEER, a principled entropy-modulation method that adaptively reweighs tokens based on theoretically-estimated entropy variations. Extensive experiments across six mathematical reasoning and three coding benchmarks demonstrate that STEER effectively mitigates entropy collapse and consistently outperforms state-of-the-art baselines.

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.529ACL Anthology · ACL 2026

SHAPE: Unifying Safety, Helpfulness and Pedagogy for Educational LLMs

Sihang Zhao, Kangrui Yu, Youliang Yuan The Chinese University of Hong Kong-Shenzhen, Pinjia He The Chinese University of Hong Kong, Shenzhen, Hongyi Wen New York University, Shanghai

原文摘要

Large Language Models (LLMs) have been widely explored in educational scenarios. We identify a critical vulnerability in current educational LLMs, pedagogical jailbreaks, where students use answer-inducing prompts to elicit solutions rather than scaffolded instructions. To enable systematic study, we unify and formalize safe, helpful, and pedagogical behaviors with a knowledge-mastery graph and introduce SHAPE, a benchmark of 9,087 student-question pairs for evaluating tutoring behavior under adversarial pressure. We propose a graph-augmented tutoring pipeline that infers prerequisite concepts from queries, identifies mastery gaps, and routes generation between instructing and problem-solving via explicit gating. Experiments across multiple LLMs show that our method yields significantly improved safety under two pedagogical jailbreak settings, while maintaining near-ceiling helpfulness under the same evaluation protocol. Our code and data are available at https://github.com/MAPS-research/SHaPE

cs.CL

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