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新论文 · v1arXiv:2611.16009

JustRUA: A Controlled Study of GPT-6 Robot-Use Agents

Zefan Wang, Yufan Dang, Xuanwei Shi, Mingqi Gao, Cheng Yin, SikYuen Tam, Hanyu Liu, Yasheng Wang 等 12 位作者

原文摘要

GPT-6 Astra can drive a robot arm directly through a fixed harness, and scores of such robot-use agents on RoboDojo have risen quickly since. Reported systems differ in harness and test subset and often change several designs at once, so it is hard to tell which choices produce the gains. We take these designs apart and test them in one framework, along the harness around the model, the action interface, the reuse of experience and the scene geometry given to the model. A lean harness that keeps the full episode history and stops each motion early goes a long way. Reusing experience changes how the model acts but is not a free lunch, and scene geometry helps most, even when depth is predicted from RGB alone. JustRUA starts from the official L3 harness and keeps only what matters most. Even with no learned policy, self-improvement loop or task-specific tuning, this simple harness raises the score on the RoboDojo simulation benchmark substantially, from 29.7 to 50.3.

cs.RO · cs.AI

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首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1891ACL Anthology · ACL 2026

Knowledge-to-Verification: Exploring RLVR for LLMs in Knowledge-Intensive Domains

Zhonghang Yuan University of Science and Technology of China and Shanghai Artificial Intelligence Laboratory, Zhefan Wang Fudan University, Fang Hu Shanghai Innovation Institute and Fudan University, Zihong Chen, Jinzhe Li, Gang Li Fudan University, Jie Ying Shanghai Artificial Intelligence Laboratory, Huanjun Kong 等 10 位作者

原文摘要

Reinforcement learning with verifiable rewards (RLVR) has demonstrated promising potential to enhance the reasoning capabilities of large language models (LLMs) in domains such as mathematics and coding. However, its applications on knowledge-intensive domains have not been effectively explored due to the scarcity of high-quality verifiable data. Furthermore, current RLVR focuses solely on the correctness of final answers, leading to the limitations of flawed reasoning and sparse reward signals. In this work, we propose Knowledge-to-Verification (K2V), a framework that extends RLVR to knowledge-intensive domains through automated verifiable data synthesis, while enabling verification of the LLM’s reasoning process. Extensive experiments demonstrate that K2V enhances the reasoning of LLM in knowledge-intensive domains without significantly compromising the model’s general capabilities. This study also suggests that integrating automated data synthesis with reasoning verification is a promising direction to enhance model capabilities in these broader domains.

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.558ACL Anthology · ACL 2026

RouteMoA: Dynamic Routing without Pre-Inference Boosts Efficient Mixture-of-Agents

Jize Wang, Han Wu, Zhiyuan You, Yiming Song Shanghai Jiaotong University, Yijun Wang, Zifei Shan WeChat, Tencent, Yining Li Shanghai AI Laboratory, Songyang Zhang Shanghai Artificial Intelligence Laboratory 等 12 位作者

原文摘要

Mixture-of-Agents (MoA) improves LLM performance through layered collaboration, but its dense topology raises costs and latency. Existing methods employ LLM judges to filter responses, yet still require all models to perform inference before judging, failing to cut costs effectively. They also lack model selection criteria and struggle with large model pools, where full inference is costly and can exceed context limits. To address this, we propose RouteMoA, an efficient mixture-of-agents framework with dynamic routing. It employs a lightweight scorer to perform initial screening by predicting coarse-grained performance from the query, narrowing candidates to a high-potential subset without inference. A mixture of judges then refines these scores through lightweight self- and cross-assessment based on existing model outputs, providing posterior correction without additional inference. Finally, a model ranking mechanism selects models by balancing performance, cost, and latency. RouteMoA outperforms MoA across varying tasks and model pool sizes, reducing cost by 89.8% and latency by 63.6% in the large-scale model pool. Code is available at https://github.com/Jize-W/RouteMoA.

cs.CL

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