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版本更新 · v3arXiv:2607.00033

Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration

Xinghao Zhu, Zixi Liu, Shalin Jain, Chenran Li, Milad Noori, Michael Andres Lin, Huihua Zhao, John Welsh 等 21 位作者

原文摘要

Dexterous robot manipulation can benefit from the abundance of human demonstrations, but transferring such demonstrations to robot policies remains challenging. We present Contact Wrench Guidance from Human Demonstration in Robotic Dexterous Manipulation (CHORD), a framework for long-horizon manipulation of rigid and articulated objects with reinforcement learning. The key idea is object-centric contact wrench space guidance: we represent human and robot motions by the forces and torques they can induce on the object, enabling similarity to be measured by the induced instantaneous motions. This guidance makes reinforcement learning more scalable for contact-rich dexterous manipulation. We further introduce a large-scale simulation benchmark with 4,739 bimanual dexterous manipulation tasks, constructed from motion-capture datasets and reconstructed in-house videos. Evaluated on 1,831 benchmark tasks, CHORD achieves an average success rate of 82.12%, demonstrating strong scalability. CHORD also generalizes to whole-body manipulation from hand-only and third-person demonstrations, achieving a 90.77% success rate, and the learned policies transfer to the real world in both open-loop and closed-loop settings.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.40613

TextSeal2：基于 Copula 混合与无记忆竞争的无失真大语言模型水印

TextSeal2: Distortion-Free LLM Watermarking with Copula Mixing and Memoryless Races

Tom Sander, Pierre Fernandez, Itai Gat, Haiming Bao, Jiaxin Shi, Jason Park, Valeriu Lacatusu, Sylvestre-Alvise Rebuffi 等 14 位作者

AI 速读 基于摘要

提出一种在推测解码下仍保持水印信号、不损失多样性且不增加可测推理延迟的无失真 LLM 水印方法。

cs.CR · cs.AI · cs.CL

arXiv ↗PDF ↗
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We present TextSeal2, a distortion-free watermark for large language models that keeps its signal under speculative decoding: tokens that replace rejected drafts remain watermarked with the same keys, and the acceptance rate is unchanged. It also preserves output diversity and adds no measurable inference latency. Its predecessor, TextSeal, restores diversity in the Gumbel-max scheme by routing each token to one of two keys via a coin flip. This is suboptimal because the detector averages the scores from both keys without knowing which key was used. TextSeal2 instead merges two or more keys into a single virtual key and couples it to fresh noise through AutoMark's Gaussian copula. Any number of keys, including publicly shared keys, can be merged this way without diluting detection. Under speculative decoding, TextSeal2 verifies keyed drafts with one more exponential race, run on the leftovers of the draft races. By memorylessness, this race reproduces block verification, so the output follows the target model exactly. We evaluate TextSeal2 on three LLMs. At equal output token diversity, TextSeal2 detects 8 to 22 percentage points more 100-token answers than TextSeal at a false-positive rate of $10^{-3}$, and is comparable to textGrain while requiring no post-logits optimization. Under speculative decoding, it detects 18 and 22 percentage points more 200-token answers than TextSeal and textGrain, respectively, at the same acceptance rate.

新论文 · v1arXiv:2610.37266

Watermark Basins: Black-Box Detection of Distilled LLMs

Hongyan Chang, Hady Elsahar, Tom Sander, Pierre Fernandez, Saeed Mahloujifar, Sylvestre-Alvise Rebuffi, Tomáš Souček, Tuan Tran 等 13 位作者

原文摘要

Proprietary language models and their reasoning traces are vulnerable to API-based distillation, where an adversary trains a student model on the teacher model's outputs. To obtain evidence of distillation, model providers can watermark the teacher's outputs, aiming to leave a radioactive signal in the student's outputs. Existing black-box detectors search for such radioactivity using token-level statistics of the suspect model's outputs. However, token-level signals are not always detectable, for instance when the distillation traces are sampled at a low temperature. In this work, we discover the watermark basin, a persistent signal that enables more reliable watermark detection: during fine-tuning, watermarked teacher traces embed a distinct, key-specific geometric signal in parameter space that lies orthogonal to the ordinary task-specific fine-tuning subspace. Building on this, we introduce Watermark Basin Alignment (WM-Basin), a black-box watermark detector that queries the suspect model through its API, without access to its weights or logits. WM-Basin maps generated text to gradient representations using a fixed clean probe model, projects out the ordinary fine-tuning task directions, and tests whether the residual gradient aligns with the watermark basin induced by the watermark key. We evaluate WM-Basin extensively across diverse teacher models and student architectures (from 135M to 8.2B parameters) distilled on mathematical reasoning. At a strict 0.1% false-positive rate, WM-Basin detects 79% of distilled models at n-gram=1 and 45% at n-gram=3, substantially improving over the state-of-the-art token-level baseline (29% and 1.3%, respectively). Because the watermark signal resides in a persistent basin, it survives post-distillation modifications including quantization, pruning, and reinforcement-learning post-training.

cs.CR · cs.CL · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-industry.129ACL Anthology · ACL 2026

RouteLMT: Learned Sample Routing for Hybrid LLM Translation Deployment

Yingfeng Luo, Hongyu Liu, DingYang Lin, Kaiyan Chang, Chenglong Wang, Bei Li, Quan Du, Tong Xiao 等 9 位作者

原文摘要

Large Language Models (LLMs) have achieved remarkable performance in Machine Translation (MT), but deploying them at scale remains prohibitively expensive. A widely adopted remedy is the hybrid system paradigm, which balances cost and quality by serving most requests with a small model and selectively routing a fraction to a large model. However, existing routing strategies often rely on heuristics, external predictors, or absolute quality estimation, which fail to capture whether the large model actually provides a worthwhile improvement over the small one. In this paper, we formulate routing as a budget allocation problem and identify marginal gain, i.e., the large model’s improvement over the small model, as the optimal signal for budgeted decisions. Building on this, we propose RouteLMT (routing for LLM-based MT), an efficient in-model router that predicts this expected gain by probing the small translator’s prompt-token representation, without requiring external models or hypothesis decoding. Extensive experiments demonstrate that our RouteLMT outperforms heuristics, quality/difficulty estimation baselines, achieving a superior quality–budget Pareto frontier. Furthermore, we analyze regression risks and show that a simple guarded variant can mitigate severe quality losses.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1153ACL Anthology · ACL 2026

NiuTrans.LMT: Toward Inclusive and Scalable Multilingual Machine Translation with LLMs

Yingfeng Luo Northeastern University, Ziqiang Xu, Yuxuan Ouyang, MuRun Yang, DingYang Lin, Kaiyan Chang Northeastern University, Tong Zheng, Bei Li Meituan 等 12 位作者

原文摘要

Large language models have significantly advanced Multilingual Machine Translation (MMT), yet scaling to many languages while keeping quality robust across directions remains challenging.In this paper, we identify a failure mode of multilingual supervised fine-tuning (SFT) on multi-way parallel data: when such data are reused symmetrically around a pivot language (e.g., English), performance on reverse directions (X \to pivot) can drop substantially.We term this phenomenon Directional Degeneration and attribute it to excessive many-to-one mappings, which encourage shortcut learning.We propose Strategic Downsampling (SD), a simple yet effective method to mitigate this degeneration.In addition, we introduce Parallel Multilingual Prompting (PMP), which augments translation instructions with an auxiliary parallel sentence to promote cross-lingual transfer during training and enables optional test-time enhancement when auxiliary translations are available. We further develop NiuTrans.LMT (Large-scale Multilingual Translation, abbreviated as LMT), a Chinese–English-centric suite of multilingual translation models spanning four sizes (0.6B/1.7B/4B/8B) and covering 60 languages and 234 directions.Comprehensive evaluations show that LMT is competitive among open-source MMT systems, and that our 4B LMT model performs on par with or better than substantially larger baselines. We release our models and project resources to support inclusive and scalable MMT.

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.1154ACL Anthology · ACL 2026

ChipSeek: Optimizing Verilog Generation via EDA-Integrated Reinforcement Learning

Zhirong Chen, Kaiyan Chang Institute of Computing Technology, CAS, Zhuolin Li Peking University, Cangyuan Li , Chinese Academy of Sciences, Xinyang He, Chujie Chen, Mengdi Wang, Haobo Xu 等 11 位作者

原文摘要

Large Language Models have emerged as powerful tools for automating Register-Transfer Level (RTL) code generation, yet they face critical limitations: existing approaches typically fail to simultaneously optimize functional correctness and hardware efficiency metrics such as Power, Performance, and Area (PPA). Methods relying on supervised fine-tuning commonly produce functionally correct but suboptimal designs due to the lack of inherent mechanisms for learning hardware optimization principles. Conversely, external post-processing techniques aiming to refine PPA performance after generation often suffer from inefficiency and do not improve the LLMs’ intrinsic capabilities.To overcome these challenges, we propose ChipSeek, a novel hierarchical reward based reinforcement learning framework designed to encourage LLMs to generate RTL code that is both functionally correct and optimized for PPA metrics. Our approach integrates direct feedback from EDA simulators and synthesis tools into a hierarchical reward mechanism, facilitating a nuanced understanding of hardware design trade-offs. Through Curriculum-Guided Dynamic Policy Optimization (CDPO), ChipSeek enhances the LLM’s ability to generate high-quality, optimized RTL code. Evaluations on standard benchmarks demonstrate ChipSeek’s superior performance, achieving state-of-the-art functional correctness and PPA performance. Furthermore, it excels in specific optimization tasks, consistently yielding highly efficient designs when individually targeting fine-grained optimization goals such as power, delay, and area. The artifact is open-source in https://github.com/rong-hash/chipseek.

cs.CL

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