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.
Xinying Qian, Ying Zhang, Yu Zhao, Xubo Liu, Baohang Zhou, Jeff Z. Pan
Long-term memory enables Large Language Models (LLMs) to maintain coherent and personalized interactions across extended conversations. However, existing memory systems face two key challenges: (1) Information Entanglement, where heterogeneous information is mixed within coarse-grained memory units; and (2) Organizational Mismatch, where memory structures based primarily on semantic similarity may overlook other associations. To address these challenges, we propose ETAMem, a multi-view memory framework that decouples heterogeneous conversational information and aligns memory representations and organization with its distinct characteristics. Specifically, heterogeneous information parsing extracts atomic memory units and identifies affective information. View-specific memory structuring then organizes these units into three complementary hierarchical views: Event, Affect, and Time. ETAMem incrementally maintains memory structures with adaptively calibrated thresholds. For retrieval, entropy-based retrieval allocates query-specific budgets across views and performs hierarchical search within each view. Experiments on LoCoMo and LongMemEval-S demonstrate that ETAMem outperforms state-of-the-art baselines, achieving relative accuracy improvements of 12.46% and 7.96%, respectively, while maintaining competitive token efficiency. Further analyses demonstrate the complementary benefits of different memory views.
Ying Qian, Jianshu Hu, Han Fang, Shuguang Li, Yutong Ban
Learning robot policies from demonstrations is often limited by the cost of collecting diverse, high-quality expert data. While an appealing alternative is to expand a single successful demonstration into a diverse set of successful trajectories, existing augmentation methods typically rely on manually designed transformation rules or complex trajectory planning, requiring substantial task-specific engineering and human effort. We introduce OneDemo, a reinforcement learning framework that learns to edit a single successful demonstration for new task configurations. We formulate demonstration editing as a structured reinforcement learning problem, in which an editor learns, from sparse task-success rewards, both when to transition between object-centric trajectory segments and how to geometrically adapt each segment. The learned editor serves both as a task policy and as a reusable demonstration generator. Across 15 Meta-World tasks, OneDemo reaches a 92.7% success rate within 53.7k environment interactions on average. Across 9 DexMimicGen tasks, it generates successful demonstrations with a 98.4% average success rate, and BC-RNN policies trained on the generated data achieve 99.6% average success at matched dataset scale. These results show that learning to edit a single successful demonstration provides a structured and effective basis for both policy learning and scalable demonstration generation.
Xinying Qian, Ying Zhang Nankai University, Xuhui Sui, Yu Zhao Nankai University, Baohang Zhou Tiangong University, Jeff Z. Pan University of Edinburgh, University of Edinburgh
Temporal reasoning remains a critical challenge for large language models (LLMs), particularly when it requires encompassing relational dependencies and numerical constraints. Yet, existing benchmarks largely overlook the joint consideration of these two dimensions and primarily rely on single-task evaluation paradigms, making it difficult to assess whether correct answers reflect grounded reasoning or arise from superficial statistical recall. To address these gaps, we introduce TNR, a benchmark designed to evaluate both Temporal Numerical and Relational reasoning. We propose a bi-directional evaluation framework consisting of forward generation via Question Answering (QA) and backward verification via Fact Verification (FV). By measuring the alignment between QA and FV, we introduce a Consistency Rate to quantify the robustness of reasoning across these two directions. Experiments on a range of LLMs reveal notable discrepancies between QA and FV performance, particularly in numerical and interval-based tasks. Moreover, our bi-directional error analysis demonstrates that these inconsistencies often stem from heuristic shortcuts and statistical co-occurrences rather than grounded logical deduction, flaws that are frequently masked in standard single-task evaluations.
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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