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版本更新 · v2arXiv:2610.06598

SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models

Xiaodong Wang, Tianle Li, Chuanxin Song, Junliang Xie, Zhanmi Zhong, Suiying Wu, Peixi Peng

原文摘要

Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulation predictions can misguide real-video generation. We present SimForcing, a simulation-guided framework that uses simulation both as a source of transferable motion knowledge and as a controllable reference for prediction. First, we transfer motion knowledge from a simulation teacher through latent-motion distillation, aligning temporal changes in latent space to internalize motion priors while mitigating the influence of appearance differences. Second, we introduce multi-block simulation conditioning with condition dropout to exploit predicted simulation trajectories without relying excessively on their accuracy. Our simulation-conditioning classifier-free guidance scheme unifies these two ideas by balancing predictions based on internalized motion knowledge with those additionally guided by simulation latents. The jointly trained student generates both simulation conditions and real-domain videos, requiring no additional world model at inference. On Bridge, SimForcing achieves the best PSNR, SSIM, LPIPS, and FVD among the compared methods without external embodied pretraining. Evaluation on InternData-A1 further supports its applicability across robot datasets. Moreover, using our trained world model to initialize a vision-language-action model improves LIBERO success, suggesting its utility for downstream policy learning. https://github.com/Wang-Xiaodong1899/SimForcing

cs.RO · cs.AI · cs.CV

版本更新 · v2arXiv:2611.00100

Optimality of the $D_4$ lattice quantizer

Tianle Liu

原文摘要

We prove that the root lattice $D_4$ uniquely minimizes the normalized second moment among four-dimensional lattices, up to similarity. The minimum is $13/(120\sqrt{2})$. The proof reduces the problem to polynomial inequalities on three secondary cones. We derive the second-moment formulas geometrically and give explicit polynomial certificates that can be checked by coefficient comparison. We also derive a lower bound for lattice quantizers in every dimension at least two from the number of Voronoi facets, using a comparison with circular cones and concavity in the solid angle. This bound strictly improves the sphere bound and recovers the hexagonal value in dimension two.

math.MG · cs.IT · math.CO

版本更新 · v4arXiv:2512.13399

Dual-Evolving Reinforcement Learning for Automated Reward Design

Sitao Cheng, Tianle Li, Xuhan Huang, Xunjian Yin, Difan Zou

原文摘要

Crafting effective reward signals remains a central challenge in reinforcement learning (RL) for complex reasoning. Existing methods for automated reward optimization search with a fixed proposer which never learns from its costly trials. We present Dual-Evolving Reinforcement Learning (DERL), a dual-training framework for autonomous discovery of reward structures. An outer-loop proposer composes a reward from task primitives, and an inner policy trains with this reward. The proposer itself learns by policy gradient from the validation performance of the inner policy. Thus, DERL utilizes past-trial feedback to shape its reward-proposal distribution, an empirical meta-gradient of task success. We validate DERL on embodied (ALFWorld), scientific (ScienceWorld), and mathematical (GSM8K, MATH) reasoning. On multi-turn agent benchmarks, DERL outperforms strong baselines, significantly on out-of-distribution tasks. In mathematics, DERL improves on the outcome reward where directly added primitives hurt. Further analyses under matched compute show that our proposer effectively captures the meta-gradient to discover useful reward signals.

cs.AI · cs.CL

版本更新 · v2arXiv:2602.06375

Difficulty-Estimated Policy Optimization

Yu Zhao, Fan Jiang, Tianle Liu, Bo Zeng, Xintong Wang, Jiaxuan Teng, Yu Liu, Yichao Du

原文摘要

Recent advancements in Large Reasoning Models (LRMs), exemplified by DeepSeek-R1, have underscored the potential of scaling inference-time compute through Group Relative Policy Optimization (GRPO). However, GRPO frequently suffers from gradient signal attenuation when encountering problems that are either too trivial or overly complex. In these scenarios, the disappearance of inter-group advantages makes the gradient signal susceptible to noise, thereby jeopardizing convergence stability. While variants like DAPO attempt to rectify gradient vanishing, they do not alleviate the substantial computational overhead incurred by exhaustive rollouts on low-utility samples. In this paper, we propose Difficulty-Estimated Policy Optimization (DEPO), a novel framework designed to optimize the efficiency and robustness of reasoning alignment. DEPO integrates an online Difficulty Estimator that dynamically assesses and filters training data before the rollout phase. This mechanism ensures that computational resources are prioritized for samples with high learning potential. Empirical results show that DEPO achieves approximately 1.86x faster rollouts than DAPO in the profiled configuration, while improving benchmark performance over GRPO at comparable training cost. Our approach significantly lowers the computational barrier for training high-performance reasoning models, offering a more sustainable path for reasoning scaling.

cs.AI

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.180ACL Anthology · ACL 2026

DMHM: Density-aware Manifold Learning and Hybrid Mahalanobis Energy for LLMs-generated Text Detection

Tianle Liu, Zhiliang Tian National University of Defense Technology, Zhen Huang National University of Defense Technology, Tianlun Liu National University of Defense Technology, Jingyuan Huang, Zhaoning Zhang National University of Defense Technology, Chengcheng Shao, Dongsheng Li National University of Defense Technology

原文摘要

As the text generated by large language models (LLMs) increasingly resembles human-written text (HWT), detecting LLM-generated text (LGT) is crucial to avoid malicious use of LGT. Recent research treats LGT detection as an out-of-distribution (OOD) detection problem and views HWT as the OOD. However, existing OOD detection methods assume that LGT is a single homogeneous distribution. In practice, LGT exhibits different characteristics under different generation conditions. Text from weaker LLMs tends to form distinct clusters and is easy to detect, whereas text from stronger models significantly overlaps with HWTs and is hard to detect. To address the issue, in this paper, we propose an LGT detection framework based on density-aware manifold learning and the construction of hybrid Mahalanobis energy. We apply density-aware manifold learning with Laplacian smoothness and density regularization in embedding space, amplifying differences between LGT and HWT. We further propose a density-adaptive hybrid Mahalanobis metric that combines global and local covariance via density weighting, enabling adaptation to the manifold-aware embedding space. Finally, based on the metric, we define the distribution energy as a measure of distribution discrepancy, and we employ energy learning and contrastive learning to separate distributions hierarchically, establishing a clear OOD decision boundary. Experiments show that our method outperforms strong 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.185ACL Anthology · ACL 2026

SDiaReward: Modeling and Benchmarking Spoken Dialogue Rewards with Modality and Colloquialness

Jingyu Lu, Yuhan Wang, Fan Zhuo, Xize Cheng, Changhao Pan, Xueyi Pu, Yifu Chen Zhejiang University, Chenyuhao Wen 等 10 位作者

原文摘要

The rapid evolution of end-to-end spoken dialogue systems demands transcending mere textual semantics to incorporate paralinguistic nuances and the spontaneous nature of human conversation. However, current methods struggle with two critical gaps: the modality gap, involving prosody and emotion, and the colloquialness gap, distinguishing written scripts from natural speech. To address these challenges, we introduce SDiaReward, an end-to-end multi-turn reward model trained on SDiaReward-Dataset, a novel collection of episode-level preference pairs explicitly targeting these gaps. It operates directly on full multi-turn speech episodes and is optimized with pairwise preference supervision, enabling joint assessment of modality and colloquialness in a single evaluator. We further establish ESDR-Bench, a stratified benchmark for robust episode-level evaluation. Experiments demonstrate that SDiaReward achieves state-of-the-art pairwise preference accuracy, significantly outperforming general-purpose audio LLMs. Further analysis suggests that SDiaReward captures relative conversational expressiveness beyond superficial synthesis cues, improving generalization across domains and recording conditions.

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.187ACL Anthology · ACL 2026

CTTA-T: Continual Test-Time Adaptation for Text Understanding via Teacher-Student with a Domain-aware and Generalized Teacher

Tianlun Liu National University of Defense Technology, Zhiliang Tian National University of Defense Technology, Zhen Huang National University of Defense Technology, Xingzhi Zhou Huawei Technologies Ltd., Wanlong Yu, Tianle Liu, Feng Liu National University of Defense Technology, Dongsheng Li National University of Defense Technology

原文摘要

Text understanding application often suffers from domain shifts. To handle testing domains, domain adaptation (DA) is trained to adapt to a fixed and observed testing domain; a more challenging paradigm, test-time adaptation (TTA), cannot access the testing domain during training and online adapts to the testing samples during testing, where the samples are from a fixed domain. We aim to explore a more practical and underexplored scenario, continual test-time adaptation (CTTA) for text understanding, which involves a sequence of testing (unobserved) domains in testing. Current CTTA methods struggle in reducing error accumulation over domains and enhancing generalization to handle unobserved domains: 1) Noise-filtering reduces accumulated errors but discards useful information, and 2) accumulating historical domains enhances generalization, but it is hard to achieve adaptive accumulation. In this paper, we propose a CTTA-T (continual test-time adaptation for text understanding) framework adaptable to evolving target domains: CTTA-T adopts a teacher-student framework, where the teacher is equipped with domain awareness and generalization for evolving domains. To improve teacher predictions, we propose a refine-then-filter based on dropout-driven consistency, which calibrates predictions and removes unreliable guidance. For the adaptation–generalization trade-off, we construct a domain-aware teacher by dynamically accumulating cross-domain semantics via incremental PCA, which continuously tracks domain shifts. Experiments show CTTA-T excels 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.459ACL Anthology · ACL 2026

VoxMind: An End-to-End Agentic Spoken Dialogue System

Tianle Liang, Yifu Chen Zhejiang University, Shengpeng Ji HY LLM Team, Yijun Chen, Zhiyang Jia, Jingyu Lu, Fan Zhuo, Xueyi Pu 等 10 位作者

原文摘要

Recent end-to-end spoken dialogue models enable natural interaction. However, as user demands become increasingly complex, models that rely solely on conversational abilities often struggle to cope. Incorporating agentic capabilities is therefore essential: by enabling tool use, these models can extend their knowledge boundaries and better solve real-world tasks. Yet, existing research has largely concentrated on core perception and generation, with comparatively limited exploration of such tool-augmented extensions. To bridge this gap, we present VoxMind, an integrated framework designed to equip end-to-end spoken dialogue models with comprehensive agentic abilities. Leveraging our curated 470-hour AgentChat dataset, we incorporate a “Think-before-Speak” mechanism, enabling the model to internalize structured reasoning as a critical prerequisite for planning and response generation. Furthermore, to mitigate latency bottlenecks caused by large-scale tool integration, we propose a Multi-Agent Dynamic Tool Management architecture. By asynchronously delegating retrieval tasks to an auxiliary agent aligned with the main model’s reasoning trajectory, this system effectively decouples inference latency from toolset size. Experimental results confirm that VoxMind achieves significant improvements in agent performance: compared with strong baselines, the task completion rate increases from 34.88% to 74.57%, outperforming Gemini-2.5-Pro on spoken agent tasks while preserving general conversational quality. The source code and associated data are publicly available at https://github.com/MM-Speech/VoxMind.

cs.CL · cs.AI · cs.MA

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.6ACL Anthology · ACL 2026

Dual-Axis Generative Reward Model Toward Semantic and Turn-taking Robustness in Interactive Spoken Dialogue Models

Yifu Chen Zhejiang University, Shengpeng Ji HY LLM Team, Zhengqing Liu, Qian Chen Alibaba Group, Wen Wang Alibaba Group, Ziqing Wang, Yangzhuo Li, Tianle Liang 等 9 位作者

原文摘要

Achieving seamless, human-like interaction remains a key challenge for full-duplex spoken dialogue models (SDMs). Reinforcement learning (RL) has substantially enhanced text- and vision-language models, while well-designed reward signals are crucial for the performance of RL. We consider RL a promising strategy to address the key challenge for SDMs. However, a fundamental barrier persists: prevailing automated metrics for assessing interaction quality rely on superficial proxies, such as behavioral statistics or timing-prediction accuracy, failing to provide reliable reward signals for RL. On the other hand, human evaluations, despite their richness, remain costly, inconsistent, and difficult to scale. We tackle this critical barrier by proposing a Dual-Axis Generative Reward Model, which is trained to understand complex interaction dynamics using a detailed taxonomy and an annotated dataset, produces a single score and, crucially, provides separate evaluations for semantic quality and interaction timing. Such dual outputs furnish precise diagnostic feedback for SDMs and deliver a dependable, instructive reward signal suitable for online reinforcement learning. Our model achieves state-of-the-art performance on interaction-quality assessment across a wide spectrum of datasets, spanning synthetic dialogues and complex real-world interactions.

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