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新论文 · v1arXiv:2611.06564

Playing Soccer Like Humans Do: Learning Versatile and Agile Humanoid Soccer via Latent Motion Priors

Haoyu Shao, Yunshen Wang, Jingze Zhang, Shaohang Zhu, Yong-Lu Li, Tianzhu Zhang, Baoxiong Jia, Siyuan Huang

原文摘要

Humanoid soccer requires a robot to seamlessly combine agile locomotion, ball manipulation, and impact-rich contact dynamics across a continuous, dynamic behavioral spectrum. Yet existing approaches either cover only a limited set of skills, or forego motion priors entirely and produce unnatural behaviors, leaving the combination of a unified skill set and human-like motion quality unaddressed. We present soccerbot, a hierarchical reinforcement learning framework that resolves both limitations through a structured latent motion prior distilled from large-scale human soccer motion capture data. By constraining policy learning within this dynamically plausible motion manifold, a single skill-conditioned policy naturally learns to perform moving, dribbling, trapping, and kicking in a unified formulation, while inherently producing human-like motion and fluid transitions during commanded skill switching. Augmented by robustness-oriented simulation design, soccerbot transfers zero-shot to the Unitree G1 humanoid robot, demonstrating agile, natural, and robust execution of the full soccer skill repertoire under real-world conditions.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39711

Sandman: Building and Operating Sandboxes for Agentic Reinforcement Learning on Shared Kubernetes

Yiming Yan, Hongyang Wang, Wenbo Chen, Xuan Wang, Jingguo Liu, Xian Li, Chen Qi, Leo Fan 等 15 位作者

原文摘要

Agentic reinforcement learning (RL) often requires repeated tool calls in task-specific environments. A training job may create thousands of these environments in bursts while sharing a cluster with other jobs. We present Sandman, a sandbox service built and operated at Amazon for agent tool execution and evaluation. It serves multiple production agentic RL workloads on shared Kubernetes. A training framework supplies a task image and uses commands and file operations in the returned sandbox. Files and processes persist across calls until the framework releases the environment. Sandman manages creation, readiness and cleanup. Each sandbox is a Kubernetes pod with a small daemon mounted into the unmodified image. In a scale test, Sandman held 11,858 concurrent tiny sandboxes. Four production SWE-bench Verified training campaigns created 3.1 million sandboxes in October 2026. We report the design trade-offs and operational lessons from handling creation bursts, preparing task environments, reclaiming abandoned sandboxes, and running evaluation under controlled conditions. We will open-source Sandman's daemon, provider and pool.

cs.DC · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34688

From Speech Tokens to Stolen Voices: Attacker-Chosen-Text Speaker Impersonation via Representation Inversion

Ye Lu, Shen Wang, Runze Liu, Zhitao Ou, Haonan Huang, Yihan Yan, Fanghui Sun, Zhaoyang Zhang

原文摘要

Speech interaction systems have gradually evolved from traditional cascaded systems that use text as intermediate information to end-to-end speech language models that directly process speech representations. In some applications, the speech frontend runs on the user's device and sends speech representations to a remote server for inference, while the original audio remains local. However, these representations may still contain speaker identity information. If an attacker obtains them, it may use this information to imitate the user's voice, threatening their voice privacy. To investigate this risk, we propose \stia, a Speech Token Inversion Attack that generates speech with attacker-specified text in a victim's voice using a single short leaked representation, without access to the original audio or its transcript. Specifically, \stia converts discrete, continuous, or mixed speech representations into conditioning sequences and trains a conditional flow-matching speech generation model using pairs of different utterances from the same speaker in public speech datasets. The model combines speaker characteristics contained in the leaked representation with the specified text to generate speech in the victim's voice. Experiments show that, with a Moshi representation leak corresponding to 3 seconds of speech, \stia achieves an average CAM++ speaker cosine similarity of 0.78 and a target-text word error rate of 3.80\%. These results show that speech frontend representations reveal reusable speaker identity information and highlight the need to consider privacy risks when designing speech frontend representation methods.

cs.SD · cs.AI · cs.CR · cs.CV · cs.MM

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34186HF 社区推荐

HuGe: Scaling Humanoid Generalist Vision-Language-Action Models with Egocentric Experience

Yang Liu, Jiacheng Liu, Hengtao Li, Yuheng Huang, Zijian Yang, Ji Dai, Maoxin Wang, Yi Gao 等 17 位作者

原文摘要

Extending Vision-Language-Action models (VLAs) to humanoid robots requires coordinated whole-body control and diverse demonstrations that are costly to collect in real-world scenarios. Although egocentric human demonstrations provide a complementary source of task experience, differences in visual embodiment and missing robot proprioception complicate transfer to humanoid policies. To address these challenges, we introduce HuGe, a family of Humanoid Generalist VLAs pre-trained on over 2,000 hours of egocentric human and robot data. Specifically, HuGe employs three existing representative VLA architectures to predict latent motion tokens for a pretrained whole-body controller, together with hand-control signals. Based on this, we introduce a three-stage training pipeline that combines egocentric pre-training, humanoid adaptation, and downstream fine-tuning. To facilitate transfer across embodiments, we construct pseudo-proprioceptive states through simulation playback during pre-training and modify arm appearance in egocentric observations through re-rendering during downstream fine-tuning. With this pipeline, HuGe achieves the state-of-the-art on simulation benchmark HumanoidArena. Furthermore, real-world experiments on the Unitree G1 indicate that augmenting robot demonstrations with visually adapted egocentric demonstrations significantly increases success on a pick-and-drop task.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2403.05530Google Research

Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context

Gemini Team, Petko Georgiev, Ving Ian Lei, Ryan Burnell, Libin Bai, Anmol Gulati, Garrett Tanzer, Damien Vincent 等 1137 位作者

原文摘要

In this report, we introduce the Gemini 1.5 family of models, representing the next generation of highly compute-efficient multimodal models capable of recalling and reasoning over fine-grained information from millions of tokens of context, including multiple long documents and hours of video and audio. The family includes two new models: (1) an updated Gemini 1.5 Pro, which exceeds the February version on the great majority of capabilities and benchmarks; (2) Gemini 1.5 Flash, a more lightweight variant designed for efficiency with minimal regression in quality. Gemini 1.5 models achieve near-perfect recall on long-context retrieval tasks across modalities, improve the state-of-the-art in long-document QA, long-video QA and long-context ASR, and match or surpass Gemini 1.0 Ultra's state-of-the-art performance across a broad set of benchmarks. Studying the limits of Gemini 1.5's long-context ability, we find continued improvement in next-token prediction and near-perfect retrieval (>99%) up to at least 10M tokens, a generational leap over existing models such as Claude 3.0 (200k) and GPT-4 Turbo (128k). Finally, we highlight real-world use cases, such as Gemini 1.5 collaborating with professionals on completing their tasks achieving 26 to 75% time savings across 10 different job categories, as well as surprising new capabilities of large language models at the frontier; when given a grammar manual for Kalamang, a language with fewer than 200 speakers worldwide, the model learns to translate English to Kalamang at a similar level to a person who learned from the same content.

cs.CL · cs.AI

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arXiv ↗PDF ↗