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TRACE: Target-State Risk-Aligned Conditional Execution for Embodied Tracking

Mingyang Lyu, Gongce Cao, Yiyang Jia, Lu Jia, Erliang Lin, Yuhao Zhang, Yinqian Sun, Pin Lyu 等 10 位作者

Embodied visual tracking requires a robot to follow a language-specified person under occlusion, look-alike distractors, and ambiguous instructions. We show that improving tracking persistence can simultaneously increase safety violations. Using a compact 0.6B vision-language-action (VLA) tracker with a frozen backbone, we update only the planner head with proximal policy optimization (PPO). PPO improves success and following rates across all three EVT-Bench settings, but increases the collision rate on distracted tracking because episodes that previously ended in target loss can instead end in contact. We introduce TRACE, an execution-time target-state risk gate that preserves the learned policy and intervenes selectively. A lightweight risk head processes 84 cues, including candidate boxes, identity margins, a learned range-and-bearing probe, and the policy's commands. When the calibrated risk exceeds a threshold, TRACE rescales the translational component of the next waypoint while leaving yaw unchanged. The executed action is identical to PPO's on more than 98% of steps. In paired evaluations on identical episodes, TRACE reduces the distracted-tracking collision rate by 3.96 percentage points, while further improving success and following rates. Matched slowdown controls without target-state timing do not reproduce this improvement. Concurrent evaluation reproduces a collision reduction of 3.77 points, compared with 0.29 points for identical-arm null pairs, indicating that the effect exceeds evaluation variability. These results show that target-state-aware execution can recover the safety cost of policy post-training with minimal intervention.

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Think in Latent Thoughts: A New Paradigm for Gloss-Free Sign Language Translation

Yiyang Jiang, Li Zhang, Xiao-Yong Wei, Li Qing

Many SLT systems quietly assume that brief chunks of signing map directly to spoken-language words. That assumption breaks down because signers often create meaning on the fly using context, space, and movement. We revisit SLT and argue that it is mainly a cross-modal reasoning task, not just a straightforward video-to-text conversion. We thus introduce a reasoning-driven SLT framework that uses an ordered sequence of latent thoughts as an explicit middle layer between the video and the generated text. These latent thoughts gradually extract and organize meaning over time. On top of this, we use a plan-then-ground decoding method: the model first decides what it wants to say, and then looks back at the video to find the evidence. This separation improves coherence and faithfulness. We also built and released a new large-scale gloss-free SLT dataset with stronger context dependencies and more realistic meanings. Experiments across several benchmarks show consistent gains over existing gloss-free methods. Our code and data are available at https://github.com/fletcherjiang/SignThought.

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