Haonan Ping, Jianshu Hu, Yimin Wang, Yi Zhu, Pai Liang, Qiyan Jin, Qirui Bao, Ying Qian 等 15 位作者
Long-horizon dexterous manipulation remains a fundamental challenge for robot learning, requiring the composition of multiple skills, precise bimanual coordination, generalizable visual understanding, and robust skill transitions. Yet existing manipulation benchmarks largely emphasize isolated skills or support only a limited range of end-effectors, making these capabilities difficult to evaluate systematically. We introduce DexArena, a benchmark designed to evaluate learning and generalization in long-horizon bimanual dexterous manipulation. DexArena features 10 long-horizon tasks and 30 stage-level tasks spanning diverse household and industrial scenarios. Each long-horizon task is composed of explicitly defined stages with physically grounded success conditions, enabling reliable evaluation of both intermediate progress and end-to-end task completion. A unified benchmark interface and verified human-teleoperated demonstrations enable testing different policy learning algorithms, with standardized simulation configurations, scene randomization, trajectory replay, and task-level evaluation. Through extensive baseline experiments, we identify substantial challenges in precise manipulation, generalization to scene variation, and skill composition. DexArena establishes a challenging and reproducible benchmark for developing robot learning methods that move toward generalizable long-horizon dexterous behavior.
JiYan Liu Qingdao University of Science and Technology, Youzheng Liu, Taihang Wang, Yimin Wang Qingdao University of Science and Technology, Ye Jiang Qingdao University of Science and Technology, Diana Maynard University of Sheffield
Protecting public figures from online abuse requires models that go beyond post-level classification to determine whether abuse is directed at a designated target, characterize the abuse intent, and extract textual evidence. We introduce a Target-Aware Multilingual Abuse (TAMA), benchmark of 9,386 X (Twitter) posts aimed at public figures, with aligned supervision for (i) tri-class target detection, (ii) 12-way fine-grained abuse type classification, and (iii) phrase-level abusive spans localization. To exploit the hierarchical coupling of these tasks, we propose Cascaded-MTL, a dependency-aware multi-task framework that conditions downstream predictions on upstream beliefs via three lightweight modules: Cross-Task Feature Fusion (CTF), Task-Adaptive Gating (TAG), and Label-Guided Span Detection (LGSD). Experiments across three multilingual encoders show that Cascaded-MTL consistently yields higher average F1 than single-task and standard multi-task training and delivers robust gains on type classification and span localization. The code and the dataset are released here: https://github.com/zgjiangtoby/CASCADED-MTL
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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