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版本更新 · v3arXiv:2605.25437

Does Seeing More Mean Knowing More? Mono-Anchored Advantage Normalization for Multi-Source Visual Reasoning

Fanhu Zeng, Zhicong Luo, Zefan Wang, You Li, Chi Chen, Maosong Sun

原文摘要

Visual reasoning through reinforcement learning with verifiable rewards (RLVR) has achieved remarkable progress. However, when dealing with multi-source inputs, existing approaches tend to treat them as a mere accumulation of information, lacking explicit mechanisms to distinguish whether integrating additional sources yields information gain or introduces interference. Therefore, they struggle to effectively model dynamic interaction when integrating multiple sources, particularly when they differ significantly in physical properties and semantics, e.g., infrared and depth, leading to inferior performance to mono-source reasoning when a certain source holds the dominant signal. To address this issue, we propose MARS, a novel mono-anchored multi-source reasoning framework that models each visual modality as an independent information source. Specifically, by treating mono-source rewards as dynamic anchors, our method explicitly incorporates the information gain introduced by multi-source fusion into advantage normalization and adaptively emphasizes mutual promotion between sources while suppressing potential noise or conflicts during RLVR. From theoretical analysis, our method effectively quantifies information gain introduced by multi-source integration in gradient estimation, enabling consistent modality regulation. Empirical results also show impressive 3.2% and 4.9% performance gains on GRPO and DAPO across diverse datasets, confirming the effectiveness of our method. Code is available at https://github.com/AI9Stars/MARS.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.33070

PhaseBreak: Proactive Temporal Protection against Unauthorized Image-to-Video Animation

Jiashu Zhang, Xuanyou Li, Qixin Zhang

原文摘要

Image-to-Video (I2V) diffusion models can animate a single portrait or photograph, enabling shared images to be repurposed for motion synthesis without the subject's authorization. We study proactive visual protection against such use: before an image is released, its owner applies a bounded perturbation that preserves the sharing workflow but disrupts downstream motion generation. Existing spectral disruption objectives globally attenuate temporal representations and therefore provide limited control over subtle or spatially localized motion. Our key idea is that generated dynamics depend not only on temporal feature strength, but also on the order in which feature events occur. We propose PhaseBreak, a white-box spectral retiming protection method that matches intermediate denoiser features to a constrained temporal rearrangement of their clean counterparts. PhaseBreak operates along the true temporal axis and uses a subject-aware mask to confine the protective perturbation to the depicted subject. Evaluations on Stable Video Diffusion and DynamiCrafter show that protected images induce greater short-term motion variation and lower temporal regularity, impeding stable motion customization from the released image.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11216

Replay Fidelity in LLM Agent Evaluation: Randomness, Hidden State, and Test Oracles in AppWorld

You Liu, Quanchao Lu

原文摘要

Reproducibility in large language model (LLM) agent evaluation depends on replay fidelity: which parts of an execution trace are reconstructed, controlled, and compared. This matters for agent debugging, failure analysis, and counterfactual evaluation of stateful tool use. We audit all 71 unsuccessful executions in a fixed historical AppWorld corpus using 284 isolated fixed-code replay attempts. Reconstructed declared settings admit 42 cases under printed-output, pre-oracle database-delta, and native-verdict/test-count checks; resetting the random-number generator before each interaction admits 68. The 26-case gap contracts to four under database/oracle checks, with one endpoint unknown. Mechanism studies identify four materialized-state discrepancies despite matching outputs and verdicts. In one admitted endpoint pair, an identical API call yields matching responses but different row effects; common future Python RNG removes that deterministic difference in two paired repetitions. A separate JWT credential-equality program and alignment controls expose authentication/write differences, with missing repetitions retained. For all 10 affected post-oracle export cases, native export from retained output trackers restores the reference comparison without changing original cached contents. A purposeful 12-case BFCL pilot shows no discrepancy under its tested public-state, return, and verdict checks. We preserve resource censoring and infrastructure deviations. The contribution is a bounded empirical characterization of replay eligibility, hidden state, and test-oracle integration, without estimating debugger accuracy, repair gains, or method-ranking distortion.

cs.SE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07867

PlayGen2: Learning Real-Time Playable Worlds with Explicit 3D State

Jihai Zhang, Yuhan Zhou, Junyou Li, Deheng Ye, Qi Dou, Yu Cheng

原文摘要

Building a playable world requires more than generating plausible video: it demands responsive control, persistent spatial structure, and coherent interactions with dynamic entities. Using generated frames as the sole recurrent world representation ties these requirements to view-dependent appearance synthesis, making it difficult to maintain long-term spatial and temporal consistency in generation and interaction. We present PlayGen2, a real-time interactive world model that separates learned 3D state evolution from neural rendering. PlayGen2 maintains a persistent world memory comprising static geometry represented by a volumetric occupancy grid and identity-indexed 3D states for the player and other entities. Within a fixed-size local region, its world-state model jointly learns action-conditioned entity dynamics, geometry completion, and entity discovery, committing updates to a persistent world memory. A separate neural renderer synthesizes first-person observations from depth and semantic projections of the world state, without feeding generated images back into state prediction. Using Doom as a testbed, we demonstrate that the model successfully learns world dynamics including geometry-aware player motion and player--NPC interactions. The framework is computationally efficient, enabling the complete simulation and rendering pipeline to achieve approximately 160ms backend latency on a MacBook Pro with an M4 Pro chip. Beyond single-player interaction, we demonstrate zero-shot deployment on unseen Doom maps, multiplayer interaction through the composition of single-player models, and programmable gameplay through rule-based state interventions. These capabilities demonstrate the transferability and extensibility of the learned game-world model. Code and pretrained model weights are publicly available.

cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.34824

SPARTA: A Sparse Ternary LLM Accelerator with Adaptive Attention and Unified Datapath for Long-Context Edge Inference

Yanzhen Zhou, Zhengyu Han, Qunyou Liu, Zheyu Yan, Weihong Xu, Cheng Zhuo

原文摘要

LLMs on edge devices are constrained by limited memory and bandwidth. Although 1.58-bit ternary weights greatly reduce model storage, long-context inference is increasingly bottlenecked by KV-cache traffic and attention. Existing accelerators also use separate datapaths for ternary linear layers and attention, incurring hardware and execution overhead. We present SPARTA, a sparse ternary LLM accelerator for efficient long-context edge inference. SPARTA integrates: (1) a phase-aware sparse dataflow exploiting heterogeneous sparsity across compute-bound prefill and memory-bound decode; (2) a unified compute fabric mapping ternary SpMM/SpMV and bit-serial attention onto shared processing elements to exploit zero-weight and zero-bit sparsity; and (3) an adaptive two-stage attention engine combining page-level Top-k selection to reduce K-cache accesses with token-level Top-p pruning to reduce V-cache traffic. SPARTA reduces KV traffic by 4.1-4.8x over full attention and 1.3-1.5x over a state-of-the-art sparse-attention scheme, with task-dependent quality loss. Compared with NVIDIA Jetson AGX Orin, SPARTA achieves 3.9x higher generation throughput and 8.3x higher end-to-end energy efficiency on average; versus AMD Ryzen 7 9700X, the gains are 5.0x and 81.7x. It also delivers 1.6-12.0x higher throughput, 2.0-4.2x higher energy efficiency, and 1.3-51.4x higher area efficiency than FIGLUT, TeLLMe, and MCBP.

cs.AR · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06162

A Layered View of LLM Support in Underwater Robotics

Federico Celi, Leonardo Zacchini, Gabriele Ferri

原文摘要

This extended abstract discusses a specific and, in our experience, practically relevant role for large language models (LLMs) in underwater robotics. Our main premise is that, in underwater fielding missions, the immediate difficulty is often not the synthesis of new low-level control laws, but the operation of complex robotic systems under limited communications, partial observability, and expensive field time. In particular, a significant fraction of the effort during sea trials is devoted to fault diagnosis, telemetry interpretation, mission adjustment, and coordination across heterogeneous assets and operators. We argue that LLMs may be useful at this higher operational level, especially when grounded in structured vehicle state, alarms, logs, mission context, and existing planning or validation tools. At the same time, current limitations in grounding, consistency, and causal reasoning make these systems lack the predictability required to guarantee direct control, especially in real-world critical applications, although we do not exclude a future evolution in this direction. This viewpoint suggests a layered architecture in which conventional autonomy remains responsible for control, perception, estimation, and validated mission execution, whereas LLM-based modules serve as an additional support layer for debugging, operator interaction, constrained replanning support, orchestration, and post-mission analysis.

cs.RO · eess.SY

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2610.15884

RetryBench: Separating Retry Permission from Recovery Outcomes in GPT Tool Use

You Liu, Yue Liu, Quanchao Lu

原文摘要

LLM agents that call external tools must decide what to do when a tool call times out: retrying risks duplicate side effects, while not retrying can leave the task incomplete. We present RetryBench, an evaluation protocol for retry decisions and failure recovery in tool-using LLM agents. Each decision is scored on retry permission (is the retry justified by an idempotency-key guarantee or proof of non-execution?), settled effects (duplicates and omissions), and completion, by replaying it across all hidden execution worlds consistent with the observation. On four synthetic software-engineering tasks, we run two controlled prompt-sensitivity studies (1,728 decisions). Study 1 (idempotency-key descriptions): with the contract fixed, GPT-5.6 Luna reuses the valid idempotency key in 10/40 decisions when an extra key is described as a "Candidate recovery key" but in 39/40 when it is an "Alternative key string"; across three further phrasings per family the gap is 27/120 versus 113/120. GPT-5.6 Sol and Terra are at ceiling (40/40). Study 2 (action order): under underspecified lookup guarantees, retry rates are 17-27 points lower for GPT-5.6 Terra and GPT-5.4 when retry is listed first (option-order bias), mainly on two tasks; we make no claim about which behavior is better. Findings are limited to researcher-chosen phrasings, four tasks and unpinned model aliases. Code and all model responses are released.

cs.AI · cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03272

Diverse-Teacher On-Policy Distillation for Generative Recommendation

Zhipeng Yi, Xinyu Lin, Minxuan Shan, Zipeng Chen, Yujiao Zhao, Chuanyu Xu, Wenjie Wang

原文摘要

Generative recommendation generates the semantic ID (SID) of the next item from a user's interaction history. Existing training objectives mainly supervise target SID tokens, while on-policy distillation (OPD) provides denser supervision through a teacher's probability distribution over all tokens for more effective and efficient training. However, OPD can aggravate popularity bias: teacher feedback favors popular-item tokens, transferring this preference to the student, while student rollout favors popular items, leaving unpopular-item SID paths rarely generated and supervised. These two sources of bias reinforce each other and reduce recommendation diversity. We propose HERO, a diversity-aware OPD framework. Heterogeneous teacher distillation trains two teachers specializing in popular and unpopular items and routes each training sample to the teacher matching the popularity group of its ground-truth item. The student learns from the routed teacher's probability distribution along its own generated SIDs. Diversity-aware item rollout incorporates ground-truth SIDs of unpopular items into training, covering SID paths that the student rarely generates. Only the student is used for inference. Offline experiments on an industrial dataset and three public datasets further demonstrate its effectiveness, diversity, and robustness. Moreover, we deploy HERO in the "Guess What You Like" module on the 1688 homepage, where a 15-day online A/B test shows a 3.412% increase in gross merchandise value (GMV).

cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02922

An intelligent satellite must do nothing well

Fabrizio Pilone, Giordana Bucchioni

原文摘要

Autonomous inspection of a resident space object is usually posed as a contest between classical next-best-view planning and reinforcement learning. We argue that the choice of algorithm is the least informative of the design axes. An inspector spacecraft has no rest state: when it stops thrusting, orbital dynamics carry it along a natural trajectory that can be used to observe the target at no fuel cost. On a controlled ladder in which one design axis is varied at a time, fuel efficiency turns out to be set by three things: whether the agent is allowed to drift, whether its state records where drifting has taken it, and whether its planning horizon is long enough for the benefit to appear. Removing any one of them doubles the fuel bill or more. The algorithm still matters, but through what it can represent: a model-based agent whose learned world model ignores fuel spends several times more of it. Finally, no learned policy is safe by construction, and a control barrier function filter beneath the decision layer removed every keep-out-zone violation in two thousand evaluation episodes.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02539

Scientific Liquidity Agents: An Agent-Based Model of Knowledge Arbitrage in Scientific Communities

Koutian Wu, You Liu, Yue Liu, Zhiping Li, Ergan Shang

原文摘要

Scientific knowledge gains new uses when ideas, methods, and results move between research contexts. Understanding this process requires a model of both specialized knowledge production and the intermediary activities that connect it. We introduce Scientific Liquidity Agents (SLA), an agent-based model of knowledge arbitrage in scientific communities. SLA represents domain specialists and epistemic arbitrageurs within a shared environment of research problems, researcher interactions, and scientific artifacts. Individual decisions connect to collective state through a belief-desire-intention architecture, a prerequisite-based problem graph, a dynamic interaction network, and a persistent publication registry. The framework makes researcher roles and knowledge-transfer frictions explicit, providing a process-oriented account of scientific production and exchange. Two exploratory simulations with 10 and 18 agents produce 68 and 274 registered papers. In the smaller run, arbitrageurs take part in 16 of the 26 contact pairs that join this community into one connected component, while topical similarity alone splits it into seven. The same run yields three similarity edges, 26 contact pairs, and two coauthorship pairs, so measured community structure depends on what counts as a link. Paper production is abundant, but no recorded replication succeeds, which places the bottleneck in verification rather than production. Solved-problem sets correspond to the prerequisite reachability of the disciplines represented in each community. SLA makes knowledge liquidity, the movement and reuse of artifacts across domains, a quantity that agentic science can simulate and measure.

cs.MA · cs.AI · cs.SI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.10288Berkeley BAIR

TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning

Dayou Li, Hao Wang, Qianqian Yang, Zihao Zhu, Haoquan Fang, Ziyao Zeng, Yan Han, Zihan Wang 等 26 位作者

原文摘要

Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the contact and pressure that characterize physical interaction unrecorded. Recent visual-tactile datasets provide this missing supervision, but their synchronized tactile data remain far smaller in volume than human video. Moreover, the largest resources often merge recordings from different sensors or annotation procedures, which makes the effect of data scale difficult to isolate. We therefore introduce TouchScale, a 500-hour dataset of contact-rich human interaction recorded with a single unified wearable setup. Its approximately 2K predefined task descriptions span everyday activities and structured manipulation, and each recording temporally aligns egocentric RGB-D video with wrist RGB video and dense full-hand bimanual tactile measurements. Compared with prior tactile data, training on the full TouchScale raises zero-shot contact IoU on data from an unseen tactile sensor from 0.134 to 0.383. Pretraining a visual encoder on TouchScale also yields the highest action recognition accuracy on three benchmarks among the compared visual-tactile datasets. Used for visual-tactile mid-training of a robot policy, TouchScale improves the average real-world success rate across four contact-rich manipulation tasks from 22.5% to 57.5%. With the sensor and collection protocol held fixed, both zero-shot tactile prediction and robot success show an overall upward trend as more TouchScale data is used. These results suggest that human visual-tactile data collected at scale with consistent sensing benefits both perception and robot manipulation. We will publicly release TouchScale, including all synchronized visual-tactile recordings and reconstructed object models, to support future research on scalable visual-tactile learning.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39426

UGR: Unified Generative Ranking for Heterogeneous E-commerce Recommendation

Zonghe Shao, Huabin Chen, Sitong Lu, Fangmei Zhu, Yingcai Ma, Ge Fan, Jinguo Gao, Wei Shi 等 10 位作者

原文摘要

List-wise ranking in e-commerce recommendation must balance user utility and commercial value across organic content, ads, and candidates from other businesses, while modeling candidate interactions and sequential dependencies. Existing generative ranking methods typically learn from logged exposure sequences and operate on truncated candidate sets from a single business. Exposure-sequence learning may not fully exploit post-exposure feedback signals. Meanwhile, generative ranking over heterogeneous, multi-business candidates remains less explored, particularly when recommendation scores and advertising value must be jointly modeled under generalized second-price (GSP) auctions. We propose Unified Generative Ranking (UGR), which performs generative ranking over the full request-level multi-business heterogeneous candidate set, typically comprising around a thousand candidates in production, and directly generates multi-business ranking lists through candidate-aware autoregressive decoding. To go beyond exposure-sequence imitation, UGR introduces complementary feedback supervision through weighted supervised fine-tuning and permutation preference optimization, which respectively leverage observed post-exposure feedback and feedback-derived preferences among permutations. UGR uses a training-time advertising debiasing tower to model historical ad exposure effects and incorporates current ad value during serving while preserving the existing allocation and GSP pricing rules. Multi-value sequence retrieval produces candidate ranking lists, and the existing downstream evaluator selects the final list for exposure. Offline experiments demonstrate consistent gains in ranking quality, while online A/B tests on Taobao's Guess You Like recommendation service yield improvements of 1.76% in Core IPV, 3.29% in Transaction Volume, and 2.10% in GMV over the production baseline.

cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2602.16710Berkeley BAIR

EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castañeda, Fengyuan Hu 等 15 位作者

原文摘要

Human behavior is among the most scalable sources of data for learning physical intelligence, yet how to effectively leverage it for dexterous manipulation remains unclear. While prior work demonstrates human to robot transfer in constrained settings, it is unclear whether large scale human data can support fine grained, high degree of freedom dexterous manipulation. We present EgoScale, a human to dexterous manipulation transfer framework built on large scale egocentric human data. We train a Vision Language Action (VLA) model on over 20,854 hours of action labeled egocentric human video, more than 20 times larger than prior efforts, and uncover a log linear scaling law between human data scale and validation loss. This validation loss strongly correlates with downstream real robot performance, establishing large scale human data as a predictable supervision source. Beyond scale, we introduce a simple two stage transfer recipe: large scale human pretraining followed by lightweight aligned human robot mid training. This enables strong long horizon dexterous manipulation and one shot task adaptation with minimal robot supervision. Our final policy improves average success rate by 54% over a no pretraining baseline using a 22 DoF dexterous robotic hand, and transfers effectively to robots with lower DoF hands, indicating that large scale human motion provides a reusable, embodiment agnostic motor prior.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2402.05120Google Research

More Agents Is All You Need

Junyou Li, Qin Zhang, Yangbin Yu, Qiang Fu, Deheng Ye

原文摘要

We find that, simply via a sampling-and-voting method, the performance of large language models (LLMs) scales with the number of agents instantiated. Also, this method, termed as Agent Forest, is orthogonal to existing complicated methods to further enhance LLMs, while the degree of enhancement is correlated to the task difficulty. We conduct comprehensive experiments on a wide range of LLM benchmarks to verify the presence of our finding, and to study the properties that can facilitate its occurrence. Our code is publicly available at: https://github.com/MoreAgentsIsAllYouNeed/AgentForest

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗