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新论文 · v1arXiv:2611.11605

ScanDreamer: A Map-Grounded World Model for Quadrotor Navigation

Yunyi Gao, Yixing Shi, Yize Liu, Hai-Duong Tran, Nhat-Hoang P. Nguyen, Shuai Wang, Yi Deng, Shengming Liu 等 11 位作者

原文摘要

Quadrotors inspecting buildings and tunnels must navigate unknown clutter with a forward-facing depth camera whose limited field of view constrains scene understanding and collision-avoiding navigation. Recent world-model agents learn navigation through imagined experience (e.g., AirDreamer), but remain data-intensive and often lack explicit geometric memory and awareness of what the camera can observe. We propose ScanDreamer, a map-grounded world model that constructs an online 2D scan-memory map from depth images and vehicle pose. Our world model, actor, and critic are conditioned on this map, which also defines a geodesic progress reward. Moreover, a forward-cone penalty discourages horizontal motion outside the camera's viewing direction. During imagination, ScanDreamer propagates the quadrotor pose over a frozen map and derives progress and wall-contact signals from the mapped geometry. We train ScanDreamer for 0.8 million environment steps (5.5 h on one GPU) and evaluate it in NVIDIA Isaac Sim over 1560 episodes spanning unseen layouts and parameter ranges. Across three seeds (mean $\pm$ SD), ScanDreamer achieves 96.3 $\pm$ 0.3% success with 3.6 $\pm$ 0.3% collision, compared with 59.6 $\pm$ 3.0% success and 28.8 $\pm$ 2.8% collision for AirDreamer at the same online-interaction budget. Removing the forward-cone penalty increases collisions to 9.9 $\pm$ 3.1%. These results show that combining explicit map memory, map-grounded imagination, and perception-aware motion substantially improves navigation performance and data efficiency. The source code is available at https://github.com/WANGSHUAIzzzz/ScanDreamer.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10713

Quadratic Bezier Splatting with Structural Initialization for Efficient Painting Rendering

Jinfan Liu, Xuhan Zhan, Mengqin Zhao, Guangyi Deng, Wuze Zhang, Bingbing Ni

原文摘要

Stroke-based rendering is often optimized as a pixel-level reconstruction task. This over-reliance on global error reduction not only degrades strokes into fragmented curves due to a lack of structured planning, but also allows locally defective primitives to be concealed by overlapping layers. To address these issues, we introduce a model-guided framework for stroke-audited rendering. Our framework uses Quadratic Bezier Splatting to analytically model continuous curved strokes with efficient differentiable alpha compositing. Built on this renderer, a feedforward multi-scale stroke decoder provides a structural initialization with learned stroke-scale allocation, while test-time stroke optimization supplies the reconstruction capacity needed for high-fidelity refinement. We further propose a single-stroke audit mechanism that explicitly evaluates local stroke quality, preventing defective primitives from surviving optimization through layer-wise compensation. Compared with existing methods, our approach achieves coherent layouts, improves PSNR by up to 5.46 dB, yields a 16% more compact representation, and accelerates combined renderer forward and backward computation by a factor of 220.3.

cs.CV · cs.GR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37281

RPSD: Retrieval-Privileged On-Policy Self-Distillation with Optimal Transport

Dongyue Li, Zebang Cheng, Zhongyi Deng, Hongboxu, Yi Bin, Fei Ma

原文摘要

Sequential recommendation predicts a user's next interaction from historical behavior. Recent LLM-based methods recast this task as generative recommendation and increasingly adopt reinforcement learning such as GRPO for post-training. However, these methods suffer from two limitations, namely credit-blind optimization, where a sequence-level reward is shared across all generated tokens, and collaborative-blind supervision, where each training signal is derived from a single user and ignores behavioral patterns shared across similar users. To address both issues, we propose Retrieval-Privileged on-policy Self-Distillation (RPSD). For credit-blind optimization, we introduce on-policy self-distillation (OPSD), in which a teacher with privileged knowledge re-evaluates the student's on-policy response, and the token-level confidence difference between the student and teacher reshapes the shared sequence-level advantage into token-specific credit. However, the privileged knowledge in vanilla OPSD is still derived from a single user, leaving collaborative-blind supervision unresolved. We therefore ground the teacher in collaborative behavioral evidence from similar users. Specifically, we use temporally aware optimal transport (OT) to compare interaction trajectories across users by jointly considering item similarity and temporal structure, and further apply diversity-aware selection to retain complementary trajectories as privileged evidence. In this way, on-policy self-distillation provides fine-grained token-level credit, while OT enriches the teacher with structured cross-user evidence. To the best of our knowledge, this is the first work to bring on-policy self-distillation to sequential recommendation and to use cross-user behavior as its privileged signal. Extensive experiments across multiple real-world datasets demonstrate that RPSD achieves state-of-the-art performance.

cs.AI

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1378ACL Anthology · ACL 2026

Can LLMs Act as Historians? Evaluating Historical Research Capabilities of LLMs via the Chinese Imperial Examination

Lirong Gao, Zeqing Wang, Yuyan Cai, Jiayi Deng, Yanmei Gu Xi'an Jiaotong University, Yiming Zhang, Jia Zhou Zhejiang University, Yanfei Zhang Zhejiang University 等 9 位作者

原文摘要

While Large Language Models (LLMs) have increasingly assisted in historical tasks such as text processing, their capacity for professional-level historical reasoning remains underexplored. Existing benchmarks primarily assess basic knowledge breadth or lexical understanding, failing to capture the higher-order skills—such as evidentiary reasoning—that are central to historical research. To fill this gap, we introduce ProHist-Bench, a novel benchmark anchored in the Chinese Imperial Examination (Keju) system—a comprehensive microcosm of East Asian political, social, and intellectual history spanning over 1,300 years. Developed through deep interdisciplinary collaboration, ProHist-Bench features 400 challenging, expert-curated questions across eight dynasties, accompanied by 10,891 fine-grained evaluation rubrics. Through a rigorous evaluation of 18 LLMs, we reveal a significant proficiency gap: even state-of-the-art LLMs struggle with complex historical research questions. We hope ProHist-Bench will facilitate the development of domain-specific reasoning LLMs, advance computational historical research, and further uncover the untapped potential of LLMs. We release ProHist-Bench at https://github.com/inclusionAI/ABench/tree/main/ProHist-Bench.

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.972ACL Anthology · ACL 2026

LLMEval-Fair: A Large-Scale Longitudinal Study on Robust and Fair Evaluation of Large Language Models

Ming Zhang Fudan University, Yujiong Shen, Jingyi Deng, Yuhui Wang, Huayu Sha, Kexin Tan The University of Tokyo, The University of Tokyo and Fudan University, Qiyuan Peng, Yue Zhang ATOM INFINITE PTE. LTD. 等 22 位作者

原文摘要

Existing evaluation of Large Language Models (LLMs) on static benchmarks is vulnerable to data contamination and leaderboard overfitting, critical issues that obscure true model capabilities. To address this, we introduce LLMEval-Fair, a framework for dynamic evaluation of LLMs. LLMEval-Fair is built on a proprietary bank of 220k graduate-level questions, from which it dynamically samples unseen test sets for each evaluation run. Its automated pipeline ensures integrity via contamination-resistant data curation, a novel anti-cheating architecture, and a calibrated LLM-as-a-judge process achieving 90% agreement with human experts, complemented by a relative ranking system for fair comparison. An 30-month longitudinal study of nearly 60 leading models reveals a performance ceiling on knowledge memorization and exposes data contamination vulnerabilities undetectable by static benchmarks. The framework demonstrates exceptional robustness in ranking stability and consistency, providing strong empirical validation for the dynamic evaluation paradigm. LLMEval-Fair offers a robust and credible methodology for assessing the true capabilities of LLMs beyond leaderboard scores, promoting the development of more trustworthy evaluation standards.

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.974ACL Anthology · ACL 2026

Controllable LLM Reasoning via Sparse Autoencoder-Based Steering

Yi Fang, Wenjie Wang University of Science and Technology of China, Mingfeng Xue Sichuan University, Boyi Deng University of Science and Technology of China, Fengli Xu Tsinghua University, Tsinghua University, Dayiheng Liu Alibaba Group, Fuli Feng University of Science and Technology of China

原文摘要

Large Reasoning Models (LRMs) exhibit human-like cognitive reasoning strategies (e.g. backtracking, cross-verification) during reasoning process, which improves their performance on complex tasks. Currently, reasoning strategies are autonomously selected by LRMs themselves. However, such autonomous selection often produces inefficient or even erroneous reasoning paths. To make reasoning more reliable and flexible, it is important to develop methods for controlling reasoning strategies. Existing methods struggle to control fine-grained reasoning strategies due to conceptual entanglement in LRMs’ hidden states. To address this, we leverage Sparse Autoencoders (SAEs) to decompose strategy-entangled hidden states into a disentangled feature space. To identify the few strategy-specific features from the vast pool of SAE features, we propose SAE-Steering, an efficient two-stage feature identification pipeline. SAE-Steering first recalls features that amplify the logits of strategy-specific keywords, filtering out over 99% of features, and then ranks the remaining features by their control effectiveness. Using the identified strategy-specific features as control vectors, SAE-Steering outperforms existing methods by over 15% in control effectiveness. Furthermore, controlling reasoning strategies can redirect LRMs from erroneous paths to correct ones, achieving a 7% absolute accuracy improvement.

cs.CL

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