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新论文 · v1arXiv:2611.12512

Certifying the Error-Detection Value of Functional Dependencies without Ground Truth

Xiaolong Wan, Xixian Han

原文摘要

Functional dependencies are used to flag erroneous cells, but without error labels the value of these flags is unknown. Dependency strength cannot settle it, because identical data and flags can have positive value in one clean state and negative value in another. We treat this value as partially identified and certify a fixed detector when its value is positive in every clean state compatible with the observation under an error model and budget. The largest such budget is the certification radius. For a detector that flags departures from the unique mode of each class, the worst case reduces to a 0/1 knapsack over class flips, yielding sharp bounds on true positives and the exact radius in polynomial time. Allowing bounded legitimate exceptions in the clean data, we derive an exact threshold for the existence of a positive certificate and compute the radius with the same knapsack. Across five relations and 21,981 candidate dependencies, rules with nearly equal $g_3$ and flag rate can have certification margins differing tenfold. Error injection confirms sound certification and shows that, at equal error counts, changing the organization of errors reverses certification outcomes for every tested rule.

cs.DB

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01659

HuG: Learning Humanoid Whole-Body Affordance-Aware Grasping with Active Perception

Xuanbin Peng, Lai Wei, Yuze Zhai, Qingyuan Yu, Keyi Wang, Jianglong Ye, Xiaolong Wang

原文摘要

Acquiring objects in human environments is hard for humanoids: targets are partially occluded under egocentric viewpoints, and reaching them demands coordinated whole-body motion that keeps the target visible and reachable while the base stays stable. We present HuG, a framework for whole-body affordance-aware grasping with active perception that couples perception and action through a Perceive-Align-Grasp pipeline: belief-driven active perception resolves occlusion by treating viewpoint as an explicit decision variable; a point-cloud-conditioned affordance policy proposes whole-body grasps; and an affordance-aware alignment stage repositions the body to the most executable configuration. A key insight is that, on a floating base, kinematic validity is not enough: we curate training data with controller-in-the-loop dynamics simulation, rejecting 73% of kinematically valid grasps that would destabilize the deployment controller, so the policy learns kinodynamically feasible affordances. Trained entirely in simulation with zero real demonstrations, HuG attains 87.5% real-world success on a multi-level shelf task, generalizes to novel objects, and holds at least 73% success at every tested height. Beyond generalizing within its training distribution, the policy extrapolates spatially: at scale in simulation it succeeds at table heights well below any seen during training, indicating that kinodynamically filtered synthetic data grounds affordances in object geometry and whole-body feasibility rather than in memorized configurations.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36859

ActiveAlign: Aligning Egocentric Manipulation via Active Perception

Ri-Zhao Qiu, Bowen Wen, Yifeng Jiang, Chen Tessler, Eric Heiden, Xue Bin Peng, Xiaolong Wang, Stan Birchfield 等 9 位作者

原文摘要

Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which creates real2sim gaps due to imperfect observation. Inspired by how humans perceive actively through actions, we propose ActiveAlign, a framework that leverages active perception to align the Real2Sim2Real gap from interactions. ActiveAlign introduces two complementary modules: (i) ActiveAlign-Waving, which performs hand-eye calibration by exploiting active hand motions and differentiable rendering, and (ii) ActiveAlign-Touching, which refines object alignment through tactile feedback to achieve millimeter-level precision. Together, these capabilities enable strong real2sim alignment. We demonstrate that ActiveAlign-Waving can be used to curate simulation environments for open-sourced uncalibrated robot manipulation datasets, and demonstrate on a real Unitree G1 robot that ActiveAlign enables fine manipulation of millimeter-scale objects such as pressing buttons and moving sliders.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.547ACL Anthology · ACL 2026

Beyond "I Don’t Know": Evaluating LLM Self-Awareness in Discriminating Data and Model Uncertainty

Jingyi Ren, Ante Wang, Yunghwei Lai, Xiaolong Wang Tsinghua University, Linlu Gong, Weitao Li, Weizhi Ma Tsinghua University, Yang Liu

原文摘要

Reliable Large Language Models (LLMs) should abstain when confidence is insufficient. However, prior studies often treat refusal as a generic "I don’t know”, failing to distinguish input-level ambiguity (data uncertainty) from capability limitations (model uncertainty). This lack of distinction limits downstream action decisions like requesting clarification or invoking external tools.In this work, we introduce UA-Bench, a benchmark of over 3,500 questions drawn from six datasets spanning knowledge-intensive and reasoning-intensive tasks, designed to evaluate explicit uncertainty attribution.An evaluation of 18 frontier LLMs shows that even state-of-the-art models struggle to reliably discriminate between data uncertainty and model uncertainty, and that high answer accuracy does not necessarily imply strong uncertainty attribution ability.To narrow this gap, we propose a lightweight data synthesis and reinforcement learning strategy. Experiments on both Qwen3-4B-Instruct-2507 and Qwen3-8B in thinking mode show that the proposed method improves uncertainty attribution while preserving answer accuracy.Our code and data are publicly available now.

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.580ACL Anthology · ACL 2026

UR^2 : Unify RAG and Reasoning through Reinforcement Learning

Weitao Li, Boran Xiang, Xiaolong Wang Tsinghua University, Jingyi Ren, Ante Wang, Zhinan Gou Hebei University of Economics & Business, Weizhi Ma Tsinghua University, Yang Liu

原文摘要

Large Language Models (LLMs) have shown strong capabilities through two complementary paradigms: Retrieval-Augmented Generation (RAG) for knowledge grounding and Reinforcement Learning from Verifiable Rewards (RLVR) for complex reasoning. However, existing attempts to unify these paradigms remain narrow in scope, typically limited to open-domain QA with fixed retrieval settings, which constrains generalization to broader domains. To address this limitation, we propose UR^2 (Unified RAG and Reasoning), a general reinforcement learning framework that dynamically coordinates retrieval and reasoning. UR^2 introduces two key designs: a difficulty-aware curriculum that selectively invokes retrieval only for challenging instances, and a hybrid knowledge access strategy that combines domain-specific offline corpora with on-the-fly LLM-generated summaries. Together, these components mitigate the imbalance between retrieval and reasoning and improve robustness to noisy information. Experiments on open-domain QA, MMLU-Pro, medical, and mathematical reasoning tasks show that UR^2, built on Qwen-2.5-3/7B and LLaMA-3.1-8B, consistently outperforms existing RAG and RL baselines, and achieves performance comparable to GPT-4o-mini and GPT-4.1-mini on several benchmarks. We will release all code, models, and data.

cs.CL

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

新论文 · v1arXiv:2504.05298Google Research

基于测试时训练的一分钟视频生成

One-Minute Video Generation with Test-Time Training

Karan Dalal, Daniel Koceja, Gashon Hussein, Jiarui Xu, Yue Zhao, Youjin Song, Shihao Han, Ka Chun Cheung 等 15 位作者

AI 速读 基于摘要

将测试时训练（TTT）层加入预训练Transformer，以生成一分钟的复杂故事视频。

cs.CV

arXiv ↗PDF ↗
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Transformers today still struggle to generate one-minute videos because self-attention layers are inefficient for long context. Alternatives such as Mamba layers struggle with complex multi-scene stories because their hidden states are less expressive. We experiment with Test-Time Training (TTT) layers, whose hidden states themselves can be neural networks, therefore more expressive. Adding TTT layers into a pre-trained Transformer enables it to generate one-minute videos from text storyboards. For proof of concept, we curate a dataset based on Tom and Jerry cartoons. Compared to baselines such as Mamba~2, Gated DeltaNet, and sliding-window attention layers, TTT layers generate much more coherent videos that tell complex stories, leading by 34 Elo points in a human evaluation of 100 videos per method. Although promising, results still contain artifacts, likely due to the limited capability of the pre-trained 5B model. The efficiency of our implementation can also be improved. We have only experimented with one-minute videos due to resource constraints, but the approach can be extended to longer videos and more complex stories. Sample videos, code and annotations are available at: https://test-time-training.github.io/video-dit