A memory can be outdated for present-day reasoning yet indispensable for reconstructing the past. Relevance-based retrieval overlooks this tension: semantic relevance, evidence-grounded validity, and query-specific eligibility are distinct. We propose CALM, a conflict-aware lifecycle memory governance framework that decouples persistent memory preservation from query-time admission. CALM converts heterogeneous records into evidence-grounded memory cells, updates validity and lifecycle states using support, conflict, and dependency signals, and admits query-appropriate evidence through training-free or learned gating informed by temporal applicability. Across LongMemEval-S and LoCoMo with Qwen and GPT backbones, CALM outperforms state-of-the-art baselines, achieving the best overall accuracy. Compared with simple filtering and reranking, query-conditioned admission further improves evidence selection. Conflict-blocking and robustness analyses show CALM suppresses erroneous retrieved memories while retaining useful evidence. Historical-reconstruction experiments demonstrate that preserving superseded records supports accurate earlier-state reasoning without compromising current-state answers.
Most existing approaches rely on video or motion-capture data for reinforcement learning (RL) training; however, all of these methods require an upper-level module to generate reference trajectories in real time. In object carrying tasks, the humanoid can only lift objects from designated locations along the reference trajectory, resulting in poor spatial generalization. Moreover, existing policies can only be evaluated inside a motion-capture studio. To address these limitations, we propose \textbf{MOVER}, a multi-stage, Teacher-Assistant-Student, RL training framework for humanoid object carrying. We first collect data from videos and employ GENMO and GMR to retarget the video data, combining this with data augmentation techniques to generalize the data across objects of varying shapes and sizes. In the \textbf{first stage}, building upon the DeepMimic \cite{peng2018deepmimic} motion-training framework, we train the humanoid to transport objects from specified locations along designated trajectories. In the \textbf{second stage}, we relax the tracking of the reference motion and adjust the reward so that the humanoid learns to transport objects from different positions. In the \textbf{third stage}, we apply a Dagger-PPO distillation method to distill away the proprioceptive position observations and reference joint position of the humanoid. This allows the deployed policy to operate without relying on global position information from a motion-capture system; instead, the humanoid can directly perceive the object's pose from its onboard RGB-D camera to complete the carrying task. We design a series of simulation experiments to compare the success rates across stages (Stages 1 vs. 2) and before versus after distillation. We further transfer the policy to a real humanoid, successfully transporting objects at varying positions in a motion-capture-free setting.
Chengwen Zhang, Jianyang Wang, Chang Liu, Yukun Wang, Yuan Xu, Zhoutong Ye, Jie Cai, Chun Yu 等 9 位作者
Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal. Joint Action theory provides concepts for understanding this coordination, but how these concepts are instantiated and combined across empirical research remains fragmented. We conducted a systematic review following PRISMA 2020, identifying 83 empirical papers published between 2021 and 2026. Through theory-driven framework analysis, we organized the literature into nine constructs across three capacities: Representation, Prediction, and Integration. We analyze how these constructs are distributed and co-occur across studies, revealing where empirical evidence concentrates and where it is absent. By mapping empirical HRC research onto a unified Joint Action framework, this review offers a coherent overview of HRC studies, identifies gaps in current evidence, and provides guidelines for future research.
High-frequency control problems are often studied through time discretization, but refining the timestep $δ$ increases the discrete horizon $H=T/δ$ and can make standard finite-horizon regret guarantees deteriorate even when the physical horizon $T$ is fixed. We study episodic value-based reinforcement learning for Euler discretizations of controlled diffusions. The performance is measured as the cumulative regret over $K$ episodes relative to the optimal policy of the corresponding Euler model. Under stability and regularity conditions on value function gradients, Bellman residual derivatives, and fitted critics, we prove an $\mathcal{O}(\log K)$ regret bound with constants uniform in $δ$. For dynamics with drift linear in unknown parameters and unknown constant diffusion covariance, we verify localized versions of these conditions for a constrained, model-based controlled-diffusion fitted-$Q$ algorithm (CD-FQ) and obtain high-probability $\mathcal{O}(\log K\log\log K)$ regret for fixed and finite $T$, again with constants uniform in $δ$.
Mingyuan Xu, Zongqi Xia, Tianxi Cai, Doudou Zhou, Nian Si
Learning a common policy from multiple source environments requires accounting for cross-source heterogeneity, and the offline setting introduces an additional challenge of limited data coverage. We formulate this problem as a distributionally robust Markov decision process under a shared linear MDP representation with source-specific transition and reward components. The uncertainty set is constructed through feature-wise mixtures of these components, yielding a $d$-rectangular structure that captures cross-source heterogeneity and admits a robust Bellman recursion. Building on this formulation, we develop Group-Robust Pessimistic Value Iteration (GR-PEVI), an offline policy-learning algorithm that combines feature-wise worst-case aggregation with a data-dependent pessimism penalty. Under a robust partial coverage condition, we establish finite-sample suboptimality guarantees for GR-PEVI and extend the analysis to clustered sources, characterizing the trade-off between the statistical gain from pooling similar sources and the approximation error induced by within-cluster heterogeneity. Simulation studies demonstrate the effectiveness of GR-PEVI, with empirical behavior consistent with the theoretical analysis. We apply GR-PEVI to a multi-source electronic health record study of multiple sclerosis treatment decisions to illustrate its use in a clinical setting.
Vision-Language-Action (VLA) models combine multimodal perception with robotic control, demonstrating remarkable potential for generalizable manipulation. Yet, enhancing their execution typically relies on auxiliary sensory inputs (e.g., depth, 3D point clouds) or costly fine-tuning. Inspired by the insight that Feed-Forward Networks (FFNs) act as key-value memory, we propose Action-Entropy-Weighted and Attention-Guided Retrieval of Observation Evidence (AWARE), an effective, training-free, and plug-and-play module for VLAs. Specifically, AWARE tracks layer-wise uncertainty via an element-wise Action Entropy metric, and retrieves observation evidence into the element's FFN through associative memory lookup. Crucially, the retrieved features are weighted by instruction-guided cross-modal attention to isolate task-relevant observation cues, while injection strength is adaptively scaled by the element's entropy and relative network depth. This selectively channels observation evidence to high-entropy action dimensions and deep layers where grounding decays, while leaving converged representations intact. Across LIBERO, SIMPLER, CALVIN, and real-world robot manipulation, AWARE consistently improves diverse VLA architectures with minimal computational overhead, achieving the largest gains on long-horizon tasks without architectural changes or additional training. Project page: https://jiabingyang01.github.io/AWARE/.
Yixue Zhang, Kun Wu, Zhi Gao, Zhen Zhao, Pei Ren, Zhiyuan Xu, Fei Liao, Xinhua Wang 等 15 位作者
The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike large-scale web vision-language data, robotic data collection incurs prohibitive physical costs. The key challenge is thus not merely to collect more robot data, but to obtain informative training data that broadens behavioral coverage across objects, scenes, and skills. Yet automatically curating task proposals to maximize the utility of collected data remains under-explored. We introduce RoboGene, an agentic framework for generating diverse, informative manipulation tasks across single-arm, dual-arm, and mobile robots. RoboGene combines (1) diversity-driven sampling for broad task coverage, (2) agentic self-reflection for task-quality assessment, and (3) human-verified feedback memory for execution-grounded validation and continual refinement. Through quantitative analysis and large-scale real-world experiments, we collect 18k trajectories and introduce metrics for task feasibility and diversity. RoboGene significantly outperforms frontier foundation models, including GPT-4o and Gemini 2.5 Pro. VLA models trained on RoboGene-generated data achieve higher success rates and stronger generalization, highlighting the value of high-quality task generation. Project page: https://robogene-boost-vla.github.io/. Datasets: Hugging Face (https://huggingface.co/datasets/X-Humanoid/RoboGene) and ModelScope (https://modelscope.cn/datasets/X-Humanoid/RoboGene_tasks).
Zelin Tan University of Science and Technology of China, Hejia Geng University of Oxford, Xiaohang Yu Imperial College London, Mulei Zhang, Guancheng Wan WanFlow AI and Wuhan University, Yifan Zhou, Qiang He, Xiangyuan Xue The Chinese University of Hong Kong and Shanghai Artificial Intelligence Laboratory 等 17 位作者
While scaling laws for large language models (LLMs) during pre-training have been extensively studied, their behavior under reinforcement learning (RL) post-training remains largely unexplored. This paper investigates the scaling behavior of Large Language Model (LLM) reinforcement learning post-training, focusing on mathematical reasoning. Through experiments across the Qwen2.5 series (0.5B to 72B), we characterize how model scale, data, and compute interact. Our analysis yields four key findings: 1. Larger models consistently demonstrate superior compute and data efficiency. 2. The relationship between model performance and training resources follows a predictive power-law across both base and instruction-tuned models. 3. RL learning efficiency exhibits a latent saturation trend with increasing model scale. 4. In data-constrained regimes, performance is primarily driven by the total volume of training data rather than sample uniqueness. These results offer practical guidelines for scaling reasoning capabilities through reinforcement learning post-training.
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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
Yuhang Niu, Hongyuan Xu Nankai University, Ciyi Liu, Bofan Wei, Jiaqi Ye, Yanlong Wen Nankai University, Xiaojie Yuan Nankai University
Taxonomy Completion aims to automatically integrate new concepts into existing hierarchies. However, existing text-only methods suffer from a ”Sensory Gap”: they struggle to differentiate ambiguous definitions (e.g., Latte vs. Cappuccino) and miss visual grouping signals. Consequently, they often misinterpret lexical overlaps as hierarchical dependencies, leading to erroneous structural predictions. To bridge this, we propose VITC, a framework leveraging Visual Injection for Taxonomy Completion. By mapping synthesized images into intrinsic pseudo-tokens, we enable the text encoder to perform holistic structural reasoning. To address injection challenges, we introduce Adaptive Residual Fusion, which decouples magnitude from selection to prevent visual signals from being drowned out, and the Multimodal Guided Adaptive Reweighting strategy, which leverages cross-modal consensus (Mutual Rescue and Complementary Mining) to filter noise and identify hard negatives. Experiments on three datasets demonstrate that VITC achieves state-of-the-art performance, delivering an average absolute gain of over 19% in Hit@1. Code is available at https://github.com/nyh-a/VITC.
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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
Many applications of LLM-based text regression require predicting a full conditional distribution rather than a single point value. We study distributional regression under empirical-quantile supervision, where each input is paired with multiple observed quantile outcomes, and the target distribution is represented by a dense grid of quantiles. We address two key limitations of current approaches: the lack of local grounding for distribution estimates, and the reliance on shared representations that create an indirect bottleneck between inputs and quantile outputs. In this paper, we introduce Quantile Token Regression, which, to our knowledge, is the first work to insert dedicated quantile tokens into the input sequence, enabling direct input-output pathways for each quantile through self-attention. We further augment these quantile tokens with retrieval, incorporating semantically similar neighbor instances and their empirical distributions to ground predictions with local evidence from similar instances. We also provide the first theoretical analysis of loss functions for quantile regression, clarifying which distributional objectives each optimizes. Experiments on the Inside Airbnb and StackSample benchmark datasets with LLMs ranging from 1.7B to 14B parameters show that quantile tokens with neighbors consistently outperform baselines (\sim4 points lower MAPE and 2\times narrower prediction intervals), with especially large gains on smaller and more challenging datasets where quantile tokens produce substantially sharper and more accurate distributions.
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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