General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands. We introduce InterTrack, the first behavior world model (BWM) for robust whole-body tracking with environment interaction. Its Transformer jointly predicts the next action, state, and behavior distribution, learning environment-conditioned dynamics. To scale interaction training data, an automatic annotation pipeline reconstructs 3D support geometry from retargeted motions. At deployment, the policy handles commands implausible in the current environment in a "best-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot, alongside object interaction, stable responses to missing supports, and robust recovery from falls.
AI Cosmos Team, Jinfeng Zhou, Yuxuan Chen, Fangming Chang, Mingyu Su, Yifan Zhu, Yuan Wang, Bo Zhang 等 35 位作者
Large language models (LLMs) can improve task performance during learning, yet these gains do not necessarily reflect learners' ability to thereafter apply the knowledge and skills independently. We present AI Cosmos, an agentic infrastructure for situated learning that organizes learning around two complementary principles: scenario-based participation and cumulative assets of practice. AI Cosmos organizes learners and role-specialized agents within learning scenarios that integrate task-relevant knowledge and, when needed, executable workbenches. An asset-memory loop preserves the processes and outcomes of practice as reusable assets with explicit provenance and dependencies. We evaluate scenario-based interaction through two preregistered randomized controlled studies examining the acquisition of legal reasoning and programming competence, holding the same underlying LLM across conditions. AI Cosmos achieves greater learning gains than a conventional LLM in legal reasoning and higher mastery of unseen programming problems than an LLM-as-Teacher baseline.
Xinyan Deng, Shoubin Dong South China University of Technology, Xiaorou Zheng
Integrating external medical knowledge into longitudinal electronic health record modeling is a prevailing paradigm to mitigate clinical data sparsity. However, existing approaches face a reliability-timeliness dilemma, struggling to balance the structural authority of static ontologies with the reasoning flexibility of large language models. Furthermore, most frameworks overlook the risk of relative negative transfer, where indiscriminately fusing task-irrelevant knowledge can introduce noise or even cause conflicts that weakens patient-specific signals. In this paper, we propose TrustKE, a Trustworthy Knowledge Enhancement framework. First, we construct a dual-layer knowledge graph that anchors dynamic, evidence-based chain-of-thought reasoning from medical literature within the stable structure of medical knowledge graph. Second, we introduce a task-adaptive knowledge selection mechanism that dynamically optimizes the graph, retaining only task-specific signals. Extensive experiments on MIMIC-III and MIMIC-IV across four clinical tasks show that TrustKE outperforms state-of-the-art baselines. Our analysis confirms that TrustKE effectively mitigates negative transfer while offering transparent reasoning for clinical decision-making.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表