Scientific experiments are increasingly selected, executed and interpreted by learned systems that act through physical interfaces. Robot learning builds physical competence, whereas AI for science chooses which experiment to run, each reporting different endpoints. This review treats their interface as one problem, embodied AI for science, where the experiment itself is partially observed: specimen state, apparatus state and measurement processes are latent, actions are costly and irreversible, and missingness depends on execution and outcome. We organize the literature by three closures operating at distinct levels: operational closure (the experiment realized is the one intended), epistemic closure (the result updates beliefs or selects subsequent experiments) and evidential closure (the record supports a claim). We analyze workflows through a record-linked evidence cycle - Record, Diagnose, Calibrate, Confirm - as analytic functions with feedback. A taxonomy crosses these closures with six delegated decisions and five embodiment classes. Our formulation separates commanded, realized and observed conditions and models diagnosis with explicit resource, risk and sample-change costs. We compare experiment-selection methods by terminal decision, review perception, protocol compilation, visuomotor policies, world models, recovery and transfer by evidence emission requirements, and compare chemistry, materials, biology, microscopy and field workflows by what their records establish. An appendix provides an evidence map of 28 workflows (26 physical, two software-boundary), characterizing validation pathways and claim confirmation requirements. We propose evaluation that separates actions, valid experiments, campaigns and confirmed claims, framing open challenges as controlled comparisons with measurable failure conditions.
We present Xiaomi Auto World Model 2.0, a unified streaming causal world model for Physical AI. It models and generates causal physical evolution in the real world, and unifies heterogeneous conditioning inputs for view-consistent generation. The architecture integrates View-Temporal Attention (VTA) to capture cross-view spatial dependencies and temporal dynamics, together with Multi-view Rotary Position Encoding (RoPE) to encode positional relationships across views and time. WorldRec 2.0 reconstructs static and dynamic 3D Gaussians from multi-view, multi-temporal observations in a single forward pass and uses their renderings as explicit scene context to preserve geometry and appearance during long-horizon generation. Conditioning inputs are fused through VAE latent concatenation in a shared representation space. We incorporate Gated Linear Attention (GLA) into the temporal layers of VTA for efficient streaming inference, reducing computation and KV-cache memory during multi-view rollouts. A physical-interaction data pipeline covers diverse interactions and long-tailed events. From Pre-train onward, these data are combined with large-scale videos and heterogeneous visual modalities to learn visual, geometric, and dynamic priors. During Mid-train, training across diverse view configurations further improves the model's ability to capture how actions and object states shape subsequent scene evolution. After distillation-based Post-train, we apply the model to closed-loop simulation, closed-loop training, and World Action Model (WAM) applications. These applications generate physically consistent future states and support world-state prediction, policy learning, and action generation for Physical AI.
Embodied systems can update policies, world models, skills, and executable programs from deployment experience, allowing one interaction to benefit later tasks. When a system also revises and reuses its data-acquisition, feedback, or learning procedures, experience changes the process that produces capability, introducing recursive self-improvement. This paper surveys research in physical AI through the connection between persistent capability and its improvement process. We first explain the functional distinction between learner updates and improvers, then compare policy learning, imagined experience, memory and skill accumulation, and executable harnesses. These approaches connect to revisions of curricula, rewards, and research programs in different ways. Contact validity, recovery, retention, and resource costs determine whether the resulting gains accumulate during continued deployment. An L0-L3 rubric distinguishes task-local adaptation, persistent capability gain, inherited process revision, and verified improver gain. Representative benchmarks and within-study contrasts relate these distinctions to existing results. We further propose common-data and interactive comparisons that evaluate reference and revised improvers from shared learner starts, separating the use of experience from its acquisition. This perspective connects the diverse methods, physical operating conditions, and evaluation evidence, underpinning embodied RSI. A comprehensive list of studies in this survey is available at https://github.com/nkd-lkz/physical-ai-rsi-survey.
Diffusion models have achieved remarkable success in text-to-image generation, yet aligning their outputs with human preferences remains challenging. Diffusion-DPO learns from image preference pairs, but their global labels do not specify how supervision should be allocated across spatial locations and denoising timesteps. The semantic roles of prompt tokens are also not explicitly considered when assigning these local weights. To address these limitations, we propose Token-Oriented Preference Optimization (ToPO), which builds a token-conditioned spatial-temporal weighting map for each pair. A frozen reference denoiser obtains spatial and temporal weights from local noise-prediction error differences under shared noise, while preferred-branch cross-attention links spatial evidence to content tokens. The map reweights Diffusion-DPO and supports an auxiliary pixel-midpoint ordering loss. It requires neither local preference annotations nor a separately trained reward model. Extensive experiments across multiple preference and compositional evaluations show that ToPO achieves state-of-the-art performance among the compared methods with only 500 training updates, demonstrating the potential of token-conditioned preference allocation for high-quality diffusion alignment within a limited update budget.
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA, a recovery-driven policy optimization framework that assigns distinct roles to success, recovery, and failure trajectories. RePO-VLA first applies Recovery-Aware Initialization (RAI), slicing each corrective suffix into a new episode so corrective actions depend on the current adverse state rather than the preceding failure. It then learns a Progress-Aware Semantic Value Function (PAS-VF), aligning spatiotemporal trajectory features with instructions and successful references. The resulting labels salvage useful failure prefixes via reliability decay, while low-value labels mark drift and terminal breakdowns, teaching differences among nominal, failed, and corrective actions. The data engine turns adverse states into planner-generated or human-collected corrective rollouts, teaching recovery to the success manifold. Value-Conditioned Refinement (VCR) trains the policy to prefer high-progress actions. At deployment, a fixed high-value token biases actions toward the learned success manifold without online failure detectors or heuristic retries. We introduce the Failure-Recovery Benchmark (FRBench), with standardized error injection and recovery-focused evaluation. Across simulated and real-world bimanual tasks, RePO-VLA improves robustness, raising adversarial success from 20% to 75% on average and up to 80% in scaled real-world trials. Code and video results are available at https://1018weijia.github.io/RePO-VLA-Web/.
Recent advancements in text-guided 3D editing, particularly with 3D Gaussian Splatting (3DGS), have shown promise but still lag behind the flexibility of 2D editing tools. Existing methods face a critical trade-off between preserving multi-view consistency and allowing structural modifications. Image-based editors can also struggle to apply the intended edit to objects viewed from unusual angles. To address these limitations, we introduce VidEdit3D, a framework that reformulates 3D scene editing as a trajectory-based video editing task. By drawing a parallel between camera movement in static 3D scenes and temporal dynamics in video, we leverage the robust spatiotemporal priors of pre-trained Video Diffusion Models (VDMs) to encourage semantic and structural coherence across views. Specifically, we propose Trajectory-Guided Rendering (TGR) to select informative keyframes and construct smooth video clips aligned with VDM input requirements. To propagate edits from an anchor view to these clips, we develop Flow-Aligned Video Editing (FAVE), a training-free framework incorporating an Editing Consistency Guidance (ECG) mechanism. ECG contrasts source and edited image conditions at a shared latent state, using scheduled source-image amplification to strengthen adherence to the edited reference while maintaining original scene context. Finally, we introduce Region-Selective 3DGS Refinement (RS-GS) to strictly confine geometric and appearance updates to target primitives, reducing background attribute leakage. Experiments demonstrate stronger instruction alignment and better multi-view consistency than the baselines.
Yang Xiang, Yixin Ji Soochow University, Ruotao Xu, Dan Qiao Suzhou University, Zheming Yang ByteDance Inc., Juntao Li, Min Zhang Harbin Institute of Technology, Shenzhen and Harbin Institute of Technology
Large reasoning models (LRMs) have achieved remarkable performance in complex reasoning tasks, driven by their powerful inference-time scaling capability.However, LRMs often suffer from overthinking, which results in substantial computational redundancy and significantly reduces efficiency.Early-exit methods aim to mitigate this issue by terminating reasoning once sufficient evidence has been generated, yet existing approaches mostly rely on handcrafted or empirical indicators that are unreliable and impractical.In this work, we introduce Dynamic Thought Sufficiency in Reasoning (DTSR), a novel framework for efficient reasoning that enables the model to dynamically assess the sufficiency of its chain-of-thought (CoT) and determine the optimal point for early exit.Inspired by human metacognition, DTSR operates in two stages: (1) Reflection Signal Monitoring, which identifies reflection signals as potential cues for early exit, and (2) Thought Sufficiency Check, which evaluates whether the current CoT is sufficient to derive the final answer.Experimental results on the Qwen3 models show that DTSR reduces reasoning length by 28.9%–34.9% with minimal performance loss, effectively mitigating overthinking.We further discuss overconfidence in LRMs and self-evaluation paradigms, providing valuable insights for early-exit reasoning.
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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
He Geng, Yangmin Huang IFLYTEK CO.LTD., Lixian Lai Xunfei Healthcare, Qianyun Du IFLYTEK CO.LTD., Hui Chu, Zhiyang He Xunfei Healthcare Technology Co., Ltd., Jiaxue Hu IFLYTEK CO.LTD., Xiaodong Tao Xunfei Healthcare Co. Ltd
Aligning Large Language Models (LLMs) with high-stakes medical standards remains a significant challenge, primarily due to the dissonance between coarse-grained preference signals and the complex, multi-dimensional nature of clinical protocols. To bridge this gap, we introduce \textit{ProMedical}, a unified alignment framework grounded in fine-grained clinical criteria. We first construct \textit{ProMedical-Preference-50k}, a dataset generated via a human-in-the-loop pipeline that augments medical instructions with rigorous, physician-derived rubrics. Leveraging this corpus, we propose the Explicit Criteria Injection paradigm to train a multi-dimensional reward model. Unlike traditional scalar reward models, our approach explicitly disentangles safety constraints from general proficiency, enabling precise guidance during reinforcement learning. To rigorously validate this framework, we establish \textit{ProMedical-Bench}, a held-out evaluation suite anchored by double-blind expert adjudication. Empirical evaluations demonstrate that optimizing the Qwen3-8B base model via \textit{ProMedical-RM}-guided GRPO yields substantial gains, improving overall accuracy by 22.3% and safety compliance by 21.7%, effectively rivaling proprietary frontier models. Furthermore, the aligned policy generalizes robustly to external benchmarks, demonstrating performance comparable to state-of-the-art models on UltraMedical. We publicly release our datasets, reward models, and benchmarks to facilitate reproducible research in safety-aware medical alignment.
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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
Xinyi Wang, Wei Dai Wechat, Kyle Qiao, Ke Wang, Peng Chen, Gang Cao, Kang Qin, Zhongpu Wang WeChat 等 13 位作者
Automated interaction with graphical user interfaces (GUIs) is central to General Artificial Intelligence yet remains challenging within Super App ecosystems, characterized by non-standard rendering and absent accessibility metadata. While GUI agents often rely on explicit accessibility trees or static imitation, they are less explored for dynamic environments marked by sparse feedback and implicit visual cues. We present GUI0, a framework synergizing autonomous data synthesis with dual-agent co-evolution. GUI0 establishes a domain-aware foundation model via synthesized corpora and employs curriculum-driven reinforcement learning, where a curriculum agent generates boundary tasks to optimize an actor agent.Empirical results demonstrate three key advantages: (1) State-of-the-art performance on the SuperAPP benchmark, outperforming Gemini-2.5-Pro and Claude-4-Sonnet; (2) universal efficacy across diverse base models, consistently yielding substantial improvements on both Qwen2.5-VL and GUI-Owl variants; and (3) robust zero-shot generalization to standard GUIs (e.g., +62.7% on ScreenSpot Pro).
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cs.CL · cs.AI
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Yan Wang Yale University, Yitao Xu George Mason University, Nanhan Shen, Jinyan Su, Jimin Huang University of Manchester and The Fin AI, Zining Zhu Stevens Institute of Technology
Mixture of Experts models are widely assumed to achieve domain specialization through sparse routing. In this work, we question this assumption by introducing COMMITTEEAUDIT, a post hoc framework that analyzes routing behavior at the level of expert groups rather than individual experts. Across three representative models and the MMLU benchmark, we uncover a domain invariant Standing Committee. This is a compact coalition of routed experts that consistently captures the majority of routing mass across domains, layers, and routing budgets, even when architectures already include shared experts. Qualitative analysis further shows that Standing Committees anchor reasoning structure and syntax, while peripheral experts handle domain-specific knowledge. These findings reveal a strong structural bias toward centralized computation, suggesting that specialization in Mixture of Experts models is far less pervasive than commonly believed. Crucially, this inherent bias indicates that current training objectives, such as load-balancing losses that enforce uniform expert utilization, may be working against the model’s natural optimization path, thereby limiting training efficiency and performance.
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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