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新论文 · v1arXiv:2611.07513

Concertina: Embodying Manipulation and Cognition in One Diffusion Vision-Language Model

Chengcheng Wang, Wei He, Wenhao Li, Hongguang Li, Kai Han, Jianyuan Guo, Chang Xu

原文摘要

Most vision-language-action (VLA) policies decouple manipulation from cognition by bolting an external action mechanism onto a vision-language model (VLM)--either quantizing actions into discrete tokens whose errors bear no stable correspondence to physical displacements, or delegating continuous trajectory generation to a separate action expert whose gradients compete with or are blocked from updating the VLM backbone. We argue that manipulation and cognition should instead be embodied in the same model, shifting from a decoupled VLA to an Embodied Vision-Language Model (eVLM). We introduce Concertina, an eVLM that places continuous trajectory representation, blockwise generation, and physical-coordinate supervision directly on the computation and parameter path of a shared diffusion VLM backbone. Each control timestep is encoded as one continuous latent action token in the backbone hidden space, and the shared Transformer reconstructs temporally ordered action blocks via the same corrupt-and-reconstruct operator used for multimodal pretraining. Active action projections account for only 0.21% of parameters in the 4.46B model with zero separate action-generator layers, compared with 16.5%-35.1% dedicated action-expert capacity in representative continuous VLAs. Using our proposed Action Interface Audit, we confirm that cross-time trajectory coupling emerges in the middle and late layers of the shared backbone rather than at the action interfaces. On standard benchmarks, Concertina achieves 98.15% average success on regular LIBERO, 85.9% on the 10,030-task LIBERO-Plus benchmark, and 4.142 average completed chain length on CALVIN ABC-D. Code: https://github.com/lose4578/Concertina Hugging Face: https://huggingface.co/collections/Traly/concertina

cs.CV · cs.AI · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.03236

TACG: Trajectory-Aware Commit Gating for Diffusion Language Model Decoding

Chengcheng Wang, Tingzhang Luo, Wenhao Li, Jianyuan Guo, Chang Xu

原文摘要

Diffusion language models predict many masked positions at each denoising step, but their efficiency and output quality depend on which predictions enter the evolving context. Confidence is informative but incomplete for this decision: at matched confidence, proposals with different identity and support histories exhibit different one-step revision rates. We propose Trajectory-Aware Commit Gating (TACG), a training-free decoder that separates the current token proposal from the decision to commit it. TACG scores temporal support for the current proposal by contrasting its logits with an exponential moving average of earlier logits, requires the proposal identity to persist through a History Gate, and promotes a capped number of additional positions per step. The gate decides which positions to commit and when; every written token remains the contemporaneous base proposal. On complete four-task LLaDA evaluations under the stated single-seed protocol, measured task-specific operating points reach 51.02\% mean accuracy with 67.82 mean model evaluations, compared with 48.00\% and 76.59 for Native Confidence. Under a matched per-event commit-count replay, history-guided selection exceeds confidence ranking by 8.3 accuracy points at identical per-sample NFE. History-reference interventions alter commitment timing while preserving the base-proposal write rule. Experiments on Dream and LLaDA2-Mini characterize quality--cost behavior across backbones and generation lengths. The code is publicly available at https://github.com/Clarence-CV/TACG-DLLM.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06654

Compounding Physical RSI: Turning Execution Failure into Inherited Capability

Yixuan Yang, Qiang Chen, Run Shao, Shuwei Dong, Wenhao Li, Yunpeng Wang, Wenhan Fang, Haomiao Wu 等 34 位作者

原文摘要

Generalist robot policies are trained on static offline datasets, yet physical manipulation unfolds sequentially across stages. Because a weakness in a downstream stage remains unobservable until the policy passes earlier ones, each resolved bottleneck exposes the next hidden failure mode. This staged structure calls for Recursive Self-Improvement (RSI), in which a policy iteratively executes, diagnoses failures, and updates itself. Moreover, because task completion behaves like a product of stage-level pass rates, recursive gains can multiply across generations. In physical environments, three bottlenecks obstruct compounding: terminal execution feedback rarely localizes the stage that caused a failure, failed trajectories do not supply the corrective action, and updating shared parameters can degrade previously mastered skills. We propose Compounding Physical RSI, a self-evolving policy framework that turns execution failures into heritable capability. First, automated capability-gap assessment traces failed rollouts to the task stage where progression breaks down and formulates a structured improvement objective. Second, conditioned on this objective, our remedy stage curates validated, stage-relevant experience and refines the policy via behavior-regularized offline reinforcement learning, without requiring costly online rollouts at each optimization step. Third, to safeguard existing skills, our retention stage constructs weight-space candidates between the inherited reference policy and the refined policy, evaluates them across the task suite, and promotes the best candidate as the reference state for the next generation. Evaluated across all 42 tasks of the RoboDojo-Sim benchmark, CSU-AI-07 ranks first on the leaderboard with a three-seed mean Overall Score of 26.15 and Success Rate of 20.70%, outperforming the next-best entry by 5.92 points and 5.82 percentage points.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06477

Towards Early Warning of Real-World Vulnerabilities: An Evidence-Aware Decoupled Method for CVSS Vector Prediction Based on Unstructured Disclosures

Jianhong Ma, Wenhao Li, Xixing Li, Chenyu Yan, Haowen Chen

原文摘要

Early assessment of Common Vulnerability Scoring System (CVSS) vectors from Open Source Intelligence (OSINT) can reduce the delay between initial public disclosure and official National Vulnerability Database (NVD) scoring. Existing predictors, trained mainly on standardized late-stage descriptions, degrade on noisy and incomplete pre-NVD reports. We introduce PARSE, a vulnerability-disclosure lifecycle model, and VPre, an early assessment framework built on two-level Evidence-Aware Decoupling. Decoupling Level I, Security-Evidence Screening, separates security-relevant evidence from noisy early reports at the report and sentence levels. Decoupling Level II, Evidence-Matched Routing, decouples the prediction task of the eight CVSS metrics into a scattered-evidence class and an explicit-evidence class based on validation-set measurements, matching each with a targeted predictor: large-language-model reasoning for the former, lightweight supervised classification for the latter. On the 851-report held-out test split of the 5,581-report VPre-Bench, VPre achieves a mean absolute error of 0.7239 -- 44.7% below the reproduced BERT-Small-NVD early-transfer baseline; paired timestamps across the full benchmark show an average 38-day lead before official scoring (observed range 21-60 days). Under the 38:1 PARSE-Triage noise setting, STDU's report-level screening reaches 0.98 precision, 1.00 recall, and 0.99 F1. Controlled ablations support the contributions of both decoupling levels.

cs.CR

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.28569

ECHO: Efficient Cascade with Homogeneous Operators for Distillation-Guided 100K-Sequence Modeling

Wenhao Li, Qinglin Jia, Chenghou Jin, Zihong Xian, Jiezhou Ji, Yanzhi Liu, Zezheng Wang, Bo Chen 等 12 位作者

原文摘要

Modeling lifetime user behavior sequences is essential for capturing long-range preferences in industrial recommendation, yet sequences containing up to 100K interactions make target-aware ranking prohibitively expensive. Search-based methods that retrieve from raw sequences incur candidate-dependent costs that grow with sequence length, whereas latent compression methods reduce computation at the expense of item-level addressability. We propose ECHO (Efficient Cascade with Homogeneous Operators), a framework that balances efficiency and fine-grained retrieval by retaining a subset of original event records per user through a Distilled Selector (DS) and retrieving a smaller set of target-relevant records for each candidate through a Target-aware Fine-grained Retriever (TFR). DS is supervised by a candidate-aware full-history teacher via per-target distillation, enabling target-aware user-level selection without requiring full-history computation for every candidate. The retriever and target-attention scorer share the relevance parameters learned by the teacher, ensuring consistent relevance estimation throughout the cascade. At a sequence length of 100K, ECHO reduces online sequence-branch FLOPs by approximately 160 times compared with a representative end-to-end model. Three deployment optimizations, including common user inputs, compact record encoding, and key-side projection absorption, further reduce memory, storage, and data-movement overhead. Experiments on KuaiRand-1K and an industrial-scale short-video platform demonstrate relative GAUC improvements ranging from 0.113% to 1.520% over state-of-the-art baselines across multiple tasks. Furthermore, online A/B tests in two production scenarios, Kuaishou and Kuaishou Lite, show that ECHO improves app usage time by 0.240% and 0.373%, respectively.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.30238

SemMSA: Latent Semantic-Aided Robust Multimodal Sentiment Analysis with Incomplete Data

Wenhao Li, Zhibin Wu, Chong Xiao, Qiangchang Wang

原文摘要

Recent research on Multimodal Sentiment Analysis (MSA) has focused on learning from language, visual, and acoustic modalities with incomplete data to infer human sentiment. Most studies typically compensate for missing information by reconstructing modality features or designing complicated fusion mechanisms. However, these methods still suffer from spurious generation and noisy guidance due to the lack of high-level semantic grounding in partially observed multimodal evidence. To address these issues, we propose SemMSA, a latent semantic-aided framework that constructs rich sentiment-relevant semantics with LLMs, fully integrating with all modalities via anchor-free spectral alignment. It mainly consists of Cross-modal Semantic Refinement (CSR) and Cross-modal Spectral Alignment (CSA). Specifically, CSR first adaptively extracts visual and acoustic representations by corresponding adapters to form a unified multimodal prefix with language in the frozen LLM embedding space. It then iteratively produces continuous discriminative semantic states through a token-efficient latent refinement process without decoding explicit text. Next, CSA simultaneously aligns the refined semantics with all modalities by enhancing the dominant spectral component of their kernel Gram matrix. This captures global nonlinear dependencies among all representations without relying on a predefined anchor modality. In addition, an instance-level spectral separation constraint preserves cross-sample discriminability and mitigates representation collapse. Extensive experiments on SIMS, MOSI, and MOSEI benchmarks demonstrate that SemMSA achieves state-of-the-art performance.

cs.CL · cs.CV · cs.MM

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.27431

Tackling Multimodal Learning Challenges with Mixture-of-Expert: A Survey

Liangwei Nathan Zheng, Wenhao Liang, Wei Emma Zhang, Lin Yue, Weitong Chen

原文摘要

Mixture-of-Experts (MoE) presents a naturally compatible and scalable framework for multimodal learning, demonstrating strong adaptability across diverse modalities and tasks. Despite its growing success, a comprehensive and systematic review on the MoE metho addressing multimodal challenges remains lacking. Existing surveys tend to evaluate either multimodal learning or MoE independently from method taxonomy, overlooking the unique interplay between them. This survey fills that gap by answering a central question: \textit{How does MoE effectively resolve multimodal challenges?} We approach this from three key perspectives: (1) \textbf{MoE as an Efficient Multimodal Engine:} enabling scalable multimodal modeling by decoupling computational cost from parameter growth and mitigating modality redundancy through selective expert activation; (2) \textbf{MoE as a Multimodal Representation Learner:} integrating complementary multi-opinion expert knowledge to enrich alignment and interaction representations; and (3) \textbf{MoE as a Multimodal Adapter:} providing a modular and flexible mechanism to model imperfect data scenarios such as modality imbalance and missing modality. Through our extensive literature review, we identify critical research gaps, including interpretable routing, expert communication, modality integration, and lifelong multimodal learning. We position this survey as a foundation for future research toward interpretable and sustainable multimodal Mixture-of-Experts system.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.05891

Spatial Supervision Without Attribution Optimization: Improving Post-Hoc Class Activation Maps via Box-Guided Evidence Routing

Wenhao Liang, Liangwei Nathan Zheng, Lin Yue, Wei Emma Zhang, Mingyu Guo, Weitong Chen

原文摘要

Post-hoc class activation maps (CAMs) are a standard tool for inspecting the evidence behind an image classifier's predictions, yet nothing in ordinary training encourages these maps to be spatially appropriate. We study whether inexpensive spatial supervision can improve a classifier's own predicted-class Grad-CAM without ever optimizing an attribution map. Box-Guided Evidence Routing (BGER) trains a lightweight gate on the final feature map under box or mask supervision and routes classification through the gated features, while Grad-CAM is computed separately at the pre-gate representation, so the evaluated map never enters the training objective. With a BCE routing loss, BGER raises MaxBoxAccV2 from $0.584$ to $0.715$ on CUB-200-2011 and from $0.757$ to $0.832$ on Stanford Dogs at comparable accuracy. Matched controls attribute most of the ResNet-50 gain to the spatial supervision reshaping the backbone rather than to routing itself: when classification bypasses the gate, most of the improvement remains, and detaching gradients through the gate leaves the ResNet-50 result nearly unchanged. The same detachment preserves most of the gain in two DenseNet-121 chest X-ray settings but removes the apparent gain on Swin-T, and directly supervising the CAM reaches stronger localization at a larger accuracy cost. Overall, spatial supervision can improve separately evaluated post-hoc CAMs, but both the mechanism and the size of the benefit depend on the architecture and the evaluation setting.

cs.CV

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1122ACL Anthology · ACL 2026

ImCoref-CeS: An Improved Lightweight Pipeline for Coreference Resolution with LLM-based Checker-Splitter Refinement

Kangyang Luo Tsinghua University, Tsinghua University, Yuzhuo Bai, Shuzheng Si Tsinghua University, Cheng Gao, Zhitong Wang, Yingli Shen, Wenhao Li, Zhu Liu 等 12 位作者

原文摘要

Coreference Resolution (CR) is a critical task in Natural Language Processing (NLP). Current research faces a key dilemma: whether to further explore the potential of supervised neural methods based on small language models, whose detect-then-cluster pipeline still delivers top performance, or embrace the powerful capabilities of Large Language Models (LLMs). However, effectively combining their strengths remains underexplored. To this end, we propose ImCoref-CeS, a novel framework that integrates an enhanced supervised model with LLM-based reasoning. First, we present an improved CR method (ImCoref) to push the performance boundaries of the supervised neural method by introducing a lightweight bridging module to enhance long-text encoding capability, devising a biaffine scorer to comprehensively capture positional information, and invoking a hybrid mention regularization to improve training efficiency. Importantly, we employ an LLM acting as a multi-role Checker-Splitter agent to validate candidate mentions (filtering out invalid ones) and coreference results (splitting erroneous clusters) predicted by ImCoref. Extensive experiments demonstrate the effectiveness of ImCoref-CeS, which achieves superior performance compared to existing state-of-the-art (SOTA) methods.

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.1822ACL Anthology · ACL 2026

On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning

Di Wu, Jiaxin Fan tongji university, Chloe Gu, Guanbo Wang, Wei Yin, Wenhao Li Tongji University, Bo Jin Tongji University

原文摘要

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle in interactive environments. Reinforcement learning (RL) offers a natural way to address this limitation, yet online RL approaches suffer from costly interaction and sparse rewards in embodied settings. This paper introduces ORBIT, an On-policy Reinforcement fine-tuning (RFT) framework with offline rewards for EmBodIed Task Planning, that preserves the generalization benefits of RFT while addressing the challenges of costly interaction and sparse rewards, supported by solid theoretical guarantees. Our approach is evaluated on EmbodiedBench, a recent benchmark for interactive embodied tasks, covering both in-domain and out-of-domain scenarios. Experimental results show that ORBIT achieves SOTA performance on EB-ALFRED, outperforming all closed-source and online-RL-based methods, while being substantially more efficient in training speed and computational cost, remaining robust to sub-optimal expert trajectories, and exhibiting strong generalization to unseen environments. We released all code and data at https://github.com/mail-taii/Reinforced-Reasoning-for-Embodied-Planning.

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