Monocular outdoor navigation requires robust camera motion estimation and a dense, navigable map, where 3D Gaussian Splatting SLAM serves this task through an explicit differentiable parameterization and closed-form projection. However, typically, the geometry is recovered by associating 2D pixels with 3D points, so a modular SLAM system absorbs tracking error into the map, leading to cascading degradation. To address these gaps, we present SG^2SLAM, which couples streaming spatial geometry with a ray-conditioned 3DGS kernel. Streaming spatial geometry replaces the per- frame cross-dimensional correspondence with a chunk-level metric prior that supervises tracking and mapping from one source. A ray-conditioned kernel extends each primitive with a viewing-direction subspace that senses the monocular camera viewpoints. The joint optimization over spatial geometry and poses ensures a globally consistent map and trajectory outcome. Experiments on the KITTI and Waymo Open datasets show that our SG^2SLAM surpasses the per-frame association baselines in the monocular outdoor navigation task. Code will be made publicly available upon acceptance.
Yixiao Zhou, Dongzhou Cheng, Zhiliang wu Nanyang Technological University, Yi Yang Zhejiang University, Yu Cheng Skywork AI and The Chinese University of Hong Kong, Hehe Fan Zhejiang University
Large Language Models (LLMs) often fail to utilize their latent reasoning capabilities due to a distributional mismatch between ambiguous human inquiries and the structured logic required for machine activation. Existing alignment methods either incur prohibitive O(N) costs by fine-tuning each model individually or rely on static prompts that fail to resolve query-level structural complexity. In this paper, we propose ReQueR (Reinforcement Query Refinement), a modular framework that treats reasoning elicitation as an inference-time alignment task. We train a specialized Refiner policy via Reinforcement Learning to rewrite raw queries into explicit logical decompositions, treating frozen LLMs as the environment. Rooted in the classical Zone of Proximal Development from educational psychology, we introduce the Adaptive Solver Hierarchy, a curriculum mechanism that stabilizes training by dynamically aligning environmental difficulty with the Refiner’s evolving competence. ReQueR yields consistent absolute gains of 1.3%–7.2% across diverse architectures and benchmarks, outperforming strong baselines by 2.1% on average. Crucially, it provides a promising paradigm for one-to-many inference-time reasoning elicitation, enabling a single Refiner trained on a small set of models to effectively unlock reasoning in diverse unseen Solvers. Code is available at https://github.com/newera-xiao/ReQueR.
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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