In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage 'grasp-then-plan' framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.
Reinforcement learning with verifiable rewards (RLVR) is widely used to improve the reasoning capability of language models, since model-generated answers can be easily verified by a rule-based verifier. In contrast, reinforcement learning from human feedback (RLHF) is mainly used to optimize open-ended conversation with a learned reward model, because such responses are not easy to verify. RLVR and RLHF are usually trained separately with their own domain data and training protocols. How gains transfer between these domains is unclear, partly because comparisons change both where a model is trained (the prompts) and what is rewarded (by a verifier or a reward model). We separate the two in a controlled study of RL on multiple base models that fixes the optimizer and the number of training prompts, and varies only the source domain of the prompts (math, multi-domain, chat, or mixtures) and the reward. We find that RLHF on open-ended prompts substantially improves conversational ability and also brings large gains in reasoning and coding, whereas RLVR improves reasoning but its gains in open-ended conversation plateau far below those of RLHF, suggesting that RL on open-ended prompts with a reward model can serve as an effective approach for generalizing across domains.
Yuheng Wang, Runde Yang, Lin Wu, Jie Zhang, Jingru Fan, Tianle Zhou, Ruoyu Fu, Huatao Li 等 12 位作者
The scalability of high-quality online education is hindered by the high costs and slow cycles of manual content creation.Despite advancements in video generation, current approaches often fail to ensure pedagogical structure and precise control due to their pixel-level, black-box nature.In this paper, we propose Generative Teaching, a novel paradigm shifting educators from manual creators to high-level directors who focus on pedagogical intents while agents handle the execution. To realize this vision, we introduce TeachMaster, a multi-agent framework that leverages code as an intermediate semantic medium. Unlike traditional video generation methods, TeachMaster orchestrates a collaborative team of agents, spanning planning, design, and rendering, to automate the production of interpretable, editable, and curriculum-ready educational videos. Experiments validate that TeachMaster significantly boosts production efficiency without compromising structural coherence or visual fidelity, slashing production costs to only 0.3% of traditional online course videos and providing a robust solution for scalable education.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表
Weikang Shi, Aldrich Yu Information Engineering, Chinese University of Hong Kong, Rongyao Fang The Chinese University of Hong Kong, Houxing Ren Beijing University of Aeronautics and Astronautics, Ke Wang The Chinese University of Hong Kong, Aojun Zhou, Changyao Tian, Xinyu Fu Huawei Technologies Ltd. 等 14 位作者
While Large Language Models (LLMs) have excelled in textual reasoning, they struggle with mathematical domains like geometry that intrinsically rely on visual aids. Existing approaches to Visual Chain-of-Thought (VCoT) are often limited by rigid external tools or fail to generate the high-fidelity, strategically-timed diagrams necessary for complex problem-solving. To bridge this gap, we introduce MathCanvas, a comprehensive framework designed to endow unified Large Multimodal Models (LMMs) with intrinsic VCoT capabilities for mathematics. Our approach consists of two phases. First, a Visual Manipulation stage pre-trains the model on a novel 15.2M-pair corpus, comprising 10M caption-to-diagram pairs (MathCanvas-Imagen) and 5.2M step-by-step editing trajectories (MathCanvas-Edit), to master diagram generation and editing. Second, a Strategic Visual-Aided Reasoning stage fine-tunes the model on MathCanvas-Instruct, a new 219K-example dataset of interleaved visual-textual reasoning paths, teaching it when and how to leverage visual aids. To facilitate rigorous evaluation, we introduce MathCanvas-Bench, a challenging benchmark with 3K problems that require models to produce interleaved visual-textual solutions. Our model, BAGEL-Canvas, trained under this framework, achieves an 86% relative improvement over strong LMM baselines on MathCanvas-Bench, demonstrating excellent generalization to other public math benchmarks. Our work provides a complete toolkit—framework, datasets, and benchmark—to unlock complex, human-like visual reasoning in LMMs.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Yu Fu University of California, Riverside, Chen Luo Amazon, Josef Valvoda Google, Xin Zhang, Xuejing Lei Amazon, Xiao Pan, Hui Liu Amazon, Yue Dong University of California, Riverside
Key-Value (KV) cache compression techniques have improved the efficiency of long-context summarization in Large Language Models (LLMs), but their impact on model hallucination remains underexplored. In this paper, we present the first systematic study of how KV cache compression affects hallucination in long-context summarization, demonstrating that aggressive compression can increase hallucination scores by up to 3.36× compared to the baseline. To mitigate this issue, we propose HalluKV, a decoding-phase strategy that selectively removes generated KV pairs from retrieval heads responsible for retrieving critical information from source context, thereby anchoring their attention on the preserved source information. Our approach maintains computational efficiency while significantly reducing hallucination across multiple models and datasets, achieving up to 5.48 average point reductions on Llama-3-8B-Instruct, enabling more trustworthy long-context summarization.
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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
Chain-of-Thought (CoT) has become a cornerstone of reasoning in large language models, yet its effectiveness is constrained by the limited expressiveness of discrete token sampling. Recent latent reasoning approaches attempt to alleviate this limitation by replacing discrete tokens with soft embeddings (probability-weighted mixtures of token embeddings) or hidden states, but they commonly suffer from two issues: (1) global activation injects perturbations into high-confidence steps, impairing reasoning stability; and (2) soft embeddings quickly collapse toward the highest-probability token, limiting exploration of alternative trajectories. To address these challenges, we propose SeLaR (Selective Latent Reasoning), a lightweight and training-free framework. SeLaR introduces an entropy-gated mechanism that activates soft embeddings only at low-confidence steps, while preserving discrete decoding at high-confidence steps. Additionally, we propose an entropy-aware contrastive regularization that pushes soft embeddings away from the highest-probability token’s direction, encouraging sustained exploration of multiple latent reasoning paths. Experiments on five reasoning benchmarks demonstrate that SeLaR consistently outperforms standard CoT and state-of-the-art training-free methods.
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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
Leyi Pan Tsinghua University, Shuchang Tao Alibaba Group, Yunpeng Zhai Alibaba Group, Zheyu Fu, Liancheng Fang University of Illinois at Chicago, Minghua He Peking University, Lingzhe Zhang, Zhaoyang Liu 等 11 位作者
Reinforcement learning (RL) is pivotal for enhancing the reasoning capabilities of diffusion large language models (dLLMs). However, existing dLLM policy optimization methods suffer from two critical reliability bottlenecks: (1) reward sparsity, arising from coarse or unverifiable signals that impede accurate advantage calculation; and (2) their probability estimates do not account for the gap to the unbiased expectation over all decoding orders, which are intractable to compute. To mitigate these issues, we propose d-TreeRPO, a reliable RL framework for dLLMs that leverages tree-structured rollouts and bottom-up advantage computation based on verifiable outcome rewards to provide fine-grained and verifiable step-wise reward signals. Furthermore, we provide a theoretical proof demonstrating that increasing prediction confidence effectively minimizes the gap between unbiased expected prediction probabilities and its single-step forward pass estimate. Guided by this analysis, we introduce a time-scheduled self-distillation loss during training that enhances prediction confidence in later training stages, thereby enabling more accurate probability estimation and better performance. Experiments demonstrate that d-TreeRPO outperforms existing baselines and achieves significant improvements across multiple reasoning benchmarks. Specifically, it achieves +86.2% on Sudoku, +51.6% on Countdown, +4.5% on GSM8K, and +5.3% on Math500 compared to the base model.
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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