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统计口径与数据新鲜度

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版本更新 · v2arXiv:2610.08220

VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

Yutian Zhang, Xingrui Xiong, Siyuan Ma, Donghao Wang, Yang Li, Jiawen Wen, Jiaqi Zhai, Liwen Yang 等 16 位作者

原文摘要

Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB observations remains challenging. Existing approaches often rely on teleoperation or specialized devices equipped with additional sensing hardware, while directly using estimated visual odometry (VO) trajectories can introduce inconsistencies due to accumulated drift and imperfect motion supervision. We present the Visual-Odometry-Conditioned Mobile Manipulation Interface (VOMMI), a portable demonstration collection and learning framework that connects portable RGB demonstrations to vision-language-action (VLA) post-training through offline trajectory reconstruction and online visual-motion conditioning. VOMMI synchronizes body and hand views to capture navigation context and local object interactions without requiring human-robot kinematic correspondence calibration. R2-VO refines offline demonstration trajectories using sparse geometric anchors and produces causal local-motion tokens over multiple prediction horizons for online policy conditioning. An action-group residual adapter incorporates these tokens only into the base branch. Experiments use a 500-trajectory portable for each task, with 75 trajectories held out for RGB-VO evaluation, and 200 robot demonstrations as references. Our policy, post-trained only on portable demonstrations, achieves 18.2% lower base-velocity error than a policy trained with robot-collected demonstrations, while maintaining comparable end-effector translation accuracy. Offline reconstruction reduces absolute trajectory errors for the body and hand streams by 24.6% on average relative to the best evaluated baseline for each stream. The complete system improves the mean success rate by 8.3 percentage points over OpenPI 0.5 across three real-robot tasks.

cs.RO · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08713

ResServe: Accurate and Efficient FP4 LLM Inference with Residue Compensation

Shuo Rong, Ruibo Fan, Jiawen Wen, Xiaowen Chu

原文摘要

Block-scaled 4-bit floating-point (FP4) quantization reduces large language model inference costs but can degrade task quality. Higher-precision computation can mitigate this loss at the expense of some of the efficiency gains from FP4 inference. Narrow matrix computations common in decoding often leave spare hardware capacity for low-cost precision recovery. ResServe combines an FP4 activation base with an FP4-quantized residue representing information lost during quantization. It uses this spare capacity to compute the residue's contribution and combines results on-chip, avoiding extra result transfers. We apply this principle to linear layers and decode attention, while selective compensation limits added work when processing input prompts. On NVIDIA B200, compensated linear kernels using the NVFP4 format improve numerical precision while retaining latency close to uncompensated execution for the evaluated operations with few rows. In the evaluated NVFP4 inference configurations, ResServe adds at most 3.4% request-latency overhead over W4A4 and reduces request latency by 22.4-53.3% relative to W4A8. Across five models, code-generation accuracy improves over same-format uncompensated inference, with mean relative gains of 15.04% for NVFP4 and 53.57% for MXFP4.

cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04887

FourSight: Stable FP4 RL Post-Training via Sequence Filtering and Sparse Channel Compensation

Yining Wei, Tianyuan Wu, Gu Gong, Yuechen Tao, Yinghao Yu, Xiaowen Chu, Wei Wang

原文摘要

Reinforcement learning (RL) post-training increasingly targets low-bit deployment, with NVFP4 weight-and activation quantization (W4A4) becoming the state-of-the-practice format. However, integrating NVFP4 into RL degrades rollout quality and amplifies cross-engine training-inference mismatch (TIM), destabilizing training. We show that these failures are concentrated rather than uniform - severely mismatched tail tokens concentrate in a few outlier sequences, while policy weights remain largely intact and quantization error concentrates in a few high-variance activation channels. Guided by this, we present FourSight, an algorithm-system co-design with two targeted solutions: TIM-aware sequence filtering that excludes drifted trajectories from policy updates, and sparse precision compensation that keeps only top-variance channels in BF16 while retaining native NVFP4 elsewhere. We further design a fused SpliceGEMM kernel with specialized prefill and decode datapaths to minimize overhead. FourSight sustains near-BF16 accuracy and strong FP4 deployment quality across models and engines, while improving step-to-accuracy by 1.76-2.60x and staying within 2.3% of FP4 step time up to 120B-scale models.

cs.AI · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.446ACL Anthology · ACL 2026

FinKario: Event-Enhanced Automated Construction of Financial Knowledge Graph

Xiang Li The Hong Kong University of Science and Technology (Guangzhou), Penglei Sun, Wanyun Zhou, Zikai Wei, Yongqi Zhang The Hong Kong University of Science and Technology (Guangzhou), Xiaowen Chu Hong Kong University of Science and Technology (Guangzhou)

原文摘要

Individual investors are significantly outnumbered and disadvantaged in financial markets, overwhelmed by abundant information and lacking professional analysis. Equity research reports stand out as crucial resources, offering valuable insights. By leveraging these reports, large language models (LLMs) can enhance investors’ decision-making capabilities and strengthen financial analysis. However, two key challenges limit their effectiveness: (1) the rapid evolution of market events often outpaces the slow update cycles of existing knowledge bases, (2) the long-form and unstructured nature of financial reports further hinders timely and context-aware integration by LLMs. To address these challenges, we tackle both data and methodological aspects. First, we introduce the Event-Enhanced Automated Construction of Financial Knowledge Graph (FinKario), a dataset comprising over 305,360 entities, 210,328 relational triples, and 19 distinct relation types. FinKario automatically integrates real-time company fundamentals and market events through prompt-driven extraction guided by professional institutional templates, providing structured and accessible financial insights for LLMs. Additionally, we propose a Two-Stage, Graph-Based retrieval strategy (FinKario-RAG), optimizing the retrieval of evolving, large-scale financial knowledge to ensure efficient and precise data access. Extensive experiments show that FinKario with FinKario-RAG achieves superior stock trend prediction accuracy, outperforming financial LLMs by 18.81% and institutional strategies by 17.85% on average in backtesting. [Our code is available at https://github.com/Jackson906E/FinKario.]

cs.CL

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