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新论文 · v1arXiv:2611.13135

Which Successes Make Good References? Action-Sequence Alignment for Multi-Turn On-Policy Distillation

Mufei Li, Nikki Lijing Kuang, Zhuoer Wang, Samson Koelle, Jie Yuan, Manqing Mao, Hong Wang, Yanjun Lin 等 12 位作者

原文摘要

On-policy distillation (OPD) reduces train-inference distribution mismatch by supervising a student on its own trajectories. For multi-turn tool-use agents, conditioning the teacher on a validated same-task successful trajectory as a reference can provide useful hindsight, but different successes may reach incompatible interaction states and offer misleading supervision. We cast successful-reference selection as a free-target optimal transport problem, which reduces to assigning each failed trajectory its most compatible successful reference. Because latent state paths are hidden, we use action-sequence alignment as an observable proxy for compatibility and instantiate it with longest common subsequence (LCS), which identifies a shared ordered backbone of actions while allowing recoverable detours. This perspective makes trajectory compatibility the central criterion for reference selection in multi-turn OPD. Experiments on ALFWorld and the airline domain of $τ^3$-bench show that LCS is the only evaluated reference selector to improve over reference-free OPD on both ALFWorld overall scores and all three airline metrics. Without further optimization, the airline-trained models also transfer to the retail domain, where LCS improves all three metrics.

cs.LG · cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10547

HSGNav: Hypothesis Scene Graphs for Multi-Scale Lifelong Navigation under Object Relocation

Kaiyao Liao, Qingfeng Li, Chen Chen, Qing Sun, Ningbo Gu, Xiaoze Wu, Haochen Zhao, Ying Li 等 9 位作者

原文摘要

In real homes, assistive robots must repeatedly locate targets from large furniture to tiny tabletop items, as people move objects between household surfaces. Uniformly instantiating detections at different scales as 3D objects can be brittle for small on-surface items; without explicit object-state validation, stale entries may persist after scene changes. Our key insight is to separate persistent 3D furniture entities from revisable surface-object hypotheses, retaining their visual evidence without requiring independent object geometry. We formalize this design as the Hypothesis Scene Graph (HSG), which preserves small-object evidence and supports local revision without rebuilding the stable entity topology. Building on HSG, HSGNav uses this separation for multi-scale lifelong navigation: retrieval selects entity or hypothesis evidence according to target scale, exploration acquires additional surface observations, and verification confirms target presence or invalidates contradicted hypothesis records. Because existing lifelong benchmarks such as GOAT-Bench rarely require mid-episode memory invalidation or multi-scale search, we introduce FAROS-Bench (Find And Re-find Objects across Scales) for mid-episode relocation of surface objects and multi-scale find goals. Experiments show that HSGNav performs competitively on GOAT-Bench while substantially outperforming prior methods on FAROS-Bench.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2509.00031

End-to-End On-Device Quantization-Aware Training for LLMs at Inference Cost

Qitao Tan, Xiaoying Song, Ningxi Cheng, Guoming Li, Jun Liu, Lingzi Hong, Caiwen Ding, Jundong Li 等 14 位作者

原文摘要

Quantization reduces the deployment cost of large language models (LLMs). However, post-training quantization (PTQ) cannot fine-tune model parameters and often degrades accuracy in low-bit settings, while quantization-aware training (QAT) requires backpropagation and incurs high memory overhead. We propose ZeroQAT, a zeroth-order QAT framework supporting both weight and activation quantization. By using forward-only gradient estimation, ZeroQAT removes backpropagation and substantially reduces memory and computation while retaining end-to-end optimization benefits. We further introduce a lightweight variant of ZeroQAT for quantized fine-tuning, which freezes and pre-quantizes most parameters to further cut memory usage. Experiments show that ZeroQAT consistently outperforms representative PTQ and QAT baselines while requiring significantly less memory. For example, ZeroQAT enables fine-tuning of a 13B model at extremely low bit-widths (e.g., 2-4 bits) on a single 8GB GPU, and even allows fine-tuning a 6.7B model on a OnePlus 12 smartphone, demonstrating its practicality for end-to-end QAT on resource-limited edge devices.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2508.04903

RCR-Router: Efficient Role-Aware Context Routing for Multi-Agent LLM Systems with Structured Memory

Jun Liu, Zhenglun Kong, Changdi Yang, Fan Yang, Tianqi Li, Peiyan Dong, Joannah Nanjekye, Hao Tang 等 15 位作者

原文摘要

Large language model (LLM) agents are increasingly organized into multi-agent systems for complex reasoning and decision-making tasks. However, scaling such systems can substantially increase inference cost, especially when multiple agents repeatedly process overlapping or role-irrelevant context. Many existing multi-agent frameworks focus on orchestration and role specialization, but still rely on full-context sharing or static context routing, leading to redundant token consumption, increased runtime, and inefficient memory utilization. We present \emph{Role-Conditioned Context Routing (RCR)}, an execution-time layer that allocates role-relevant shared-memory items to agents under token budgets. Given a structured shared memory and a set of role-specialized agents, RCR selectively routes task-relevant memory items to each agent according to its role, optional task-stage metadata, and token budget. RCR integrates role-conditioned relevance scoring, token-budgeted memory selection, and iterative memory updates to reduce redundant context exposure during multi-agent execution. Experiments on multi-hop QA, embodied reasoning (ALFWorld), and web-based decision-making (WebShop) show that RCR reduces token usage by 35\% on average and runtime by 38\% on average relative to Full-Context, while maintaining or improving task performance.

cs.CL · cs.AI · cs.MA

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1016ACL Anthology · ACL 2026

MIRTH: Mutual-Information Reasoning with Temporal Hubs for Vision-Language-Action Agents

Hao Sun, Yu Song Ritsumeikan University, Teng Shiyu, Ziwei Niu, Yen-wei Chen Ritsumeikan University

原文摘要

VLA models have emerged as a powerful paradigm for transferring semantic knowledge from web-scale data to physical robotic control. However, current single-frame architectures suffer from intrinsic limitations: temporal myopia that discards historical dynamics, reasoning gaps between high-level instructions and low-level motor commands, and inference inefficiency due to autoregressive scalar decoding. In this work, we propose MIRTH, a unified framework designed to address these challenges. MIRTH augments a pretrained VLA backbone with three key innovations: (1) dual-scale temporal memory hubs that compress long-term scene evolution and short-term motion trends into compact embeddings; (2) latent reasoning tokens optimized via a mutual-information objective carving out a semantic plan space to align multimodal context with action trajectories; and (3) a parallel action decoding scheme that replaces autoregressive generation with vector-wise prediction to maximize control throughput. Extensive evaluations on the LIBERO simulation benchmark and a real-world LeRobot platform demonstrate that MIRTH achieves state-of-the-art performance and exhibiting emergent error recovery capabilities. We will release our code and collected datasets to facilitate reproducible research in embodied AI upon publication.

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.2007ACL Anthology · ACL 2026

EdgeFormer: Latency-Aware Collaborative Multi-Head Attention of Transformer Inference in Edge Networks

Yiming Yao Beijing University of Aeronautics and Astronautics, Jianwei Niu Beihang University, Bin Dai Beihang University, Tao Ren

原文摘要

Recent breakthroughs in Transformer-based large models, have driven widespread tasks, yet their reliance on centralized cloud deployment raises significant privacy risks due to sensitive data exposure. While edge-based collaborative inference offers a privacy-preserving alternative, existing methods face critical limitations: static model partitioning cannot adapt to dynamic edge resource fluctuations, and rigid multi-head attention handling overlooks semantic-critical prioritization and parallelism. We propose EdgeFormer, a latency-aware framework for distributed Transformer inference in resource-constrained edge networks. EdgeFormer dynamically allocates model blocks across devices via efficiency-storage trade-off optimization and introduces collaborative Multi-Head Attention (cMHA), which distributes semantic-critical attention heads across devices while pruning redundant ones under real-time constraints. We further develop LiScore, a composite metric integrating attention diversity and latency costs, alongside a similarity-based retrieval method to reduce recomputation overhead. Extensive experiments demonstrate that EdgeFormer achieves up to 2.01 \\times inference acceleration over state-of-the-art baselines with \\leq1.06% accuracy loss, maintaining robustness under varying edge conditions.

cs.CL

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