Jiayi Luo, Yang Zhang, Liliang Chen, Nan Wang, Chen Gao, Boxiang Qiu, Zhuoxuan Li, Baorui Peng 等 16 位作者
Action-conditioned world models offer a scalable alternative to costly real-world interaction for improving robot policies. However, existing world-model-based methods largely treat world models as forward-only surrogates of the physical environment, leaving untapped a capability no physical environment affords: rewinding to past decision points to explore counterfactual futures. We introduce Rollback, a policy improvement paradigm that turns world models from passive simulators into counterfactual engines: it rolls back to critical decision points, branches into alternative actions, and contrasts their outcomes to attribute success to individual decisions. This concentrates imagination where it matters most and distills counterfactual outcomes into fine-grained, action-level supervision without a separately learned value model. We build a scalable training system that unifies distributed world-model search with asynchronous real-robot execution, forming a self-reinforcing cycle: real-world experience continually sharpens the world model, and a sharper world model in turn drives further policy improvement. We term the world-model side of this cycle test-time physics grounding, a capability that hand-built physics simulators lack: while the world model serves as the training environment, real transitions from the policy it trains correct its dynamics through a lightweight LoRA pipeline. Experiments on three challenging real-world tasks show that Rollback improves success rates over the strongest baseline by an absolute 10.67%, 11.11%, and 11.85% on block extraction, ball tossing, and tabletop curling, respectively, while achieving more stable improvement throughout training. Although initialized from teleoperated demonstrations far below human level, Rollback surpasses the average success rate of human players on both ball tossing and tabletop curling within 8 hours of training.
Weikang Shi, Aldrich Yu Information Engineering, Chinese University of Hong Kong, Rongyao Fang The Chinese University of Hong Kong, Houxing Ren Beijing University of Aeronautics and Astronautics, Ke Wang The Chinese University of Hong Kong, Aojun Zhou, Changyao Tian, Xinyu Fu Huawei Technologies Ltd. 等 14 位作者
While Large Language Models (LLMs) have excelled in textual reasoning, they struggle with mathematical domains like geometry that intrinsically rely on visual aids. Existing approaches to Visual Chain-of-Thought (VCoT) are often limited by rigid external tools or fail to generate the high-fidelity, strategically-timed diagrams necessary for complex problem-solving. To bridge this gap, we introduce MathCanvas, a comprehensive framework designed to endow unified Large Multimodal Models (LMMs) with intrinsic VCoT capabilities for mathematics. Our approach consists of two phases. First, a Visual Manipulation stage pre-trains the model on a novel 15.2M-pair corpus, comprising 10M caption-to-diagram pairs (MathCanvas-Imagen) and 5.2M step-by-step editing trajectories (MathCanvas-Edit), to master diagram generation and editing. Second, a Strategic Visual-Aided Reasoning stage fine-tunes the model on MathCanvas-Instruct, a new 219K-example dataset of interleaved visual-textual reasoning paths, teaching it when and how to leverage visual aids. To facilitate rigorous evaluation, we introduce MathCanvas-Bench, a challenging benchmark with 3K problems that require models to produce interleaved visual-textual solutions. Our model, BAGEL-Canvas, trained under this framework, achieves an 86% relative improvement over strong LMM baselines on MathCanvas-Bench, demonstrating excellent generalization to other public math benchmarks. Our work provides a complete toolkit—framework, datasets, and benchmark—to unlock complex, human-like visual reasoning in LMMs.
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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
Weisi Liu University of Memphis, Guangzeng Han University of Memphis, Xiaolei Huang University of Memphis
Time introduces fundamental challenges in model development and deployment: models are usually trained on historical data while deployed on future data where semantic distributions and domain knowledge may evolve. Unfortunately, existing studies either overlook temporal shifts or hardly capture rich shifting patterns of both semantic and knowledge. We develop Knowledge-driven Augmentation and Retrieval for Integrative Temporal Adaptation (KARITA) to capture diverse temporal shifts (e.g., uncertainty and feature shift), construct and integrate rich knowledge sources (e.g., medical ontology like MeSH), and leverage shifting insights for selecting-retrieval augmented learning. We evaluate KARITA on classification tasks across multiple domains, clinical, legal, and scientific corpora, demonstrating consistent improvements across all domain with temporal adaptation. Our results show that knowledge integration can be more critical and effective in temporal augmentation and learning.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表