Xihan Ma, Bo Zhang, Boxiong Li, Yuhan Bao, Ziyue Liu, Yucheng Wang
HoloBoxing presents a simple recipe for learning humanoid boxing by building on a pretrained whole-body controller. The recipe separates reusable motor skills from task decisions: a compact planner requests future body-point targets, while the frozen controller handles joint-level execution. A learned decoder maps 32-dimensional actions to structured target windows, and measured-state imitation initializes the planner before reinforcement learning. Task learning then refines interaction behavior while reusing the decoder and controller, avoiding the need to relearn whole-body control. This combination keeps task optimization focused on a compact upper policy and supplies an initial behavior before reward-driven exploration. Starting from that available controller, the recipe accounts for about seven minutes of additional training, including reused representation fitting and a single-GPU task run. This excludes controller pretraining, data preparation, evaluation, and search. Simulated boxing experiments and component controls evaluate the resulting behavior and the roles of imitation initialization and the target representation.
Long-video generators increasingly retrieve past visual observations to prevent identity drift. The intuition is compelling: more access to history should make future video more consistent. But an image can be faithful to the past and wrong for the present. Does visual memory always improve the generated story? We investigate this question through VMem-Bench, a two-track diagnostic study. Track-A measures which references are selected from 92 real films (16,548 segments), before generation and without generator confounds. Track-B compares four retrieval policies with no-memory and gold-informed last-seen controls on 30 causally generated stories (2,824 segments) using a shared generator. Retrieval increases entity recall from 0.559 to 0.628-0.693 and improves similarity to past appearances, but decreases precision from 0.977 to 0.915-0.938 and forbidden-entity avoidance from 0.968 to 0.845-0.898. It can also reinforce obsolete appearances after the story changes them. Conversely, high long-gap recall can arise without memory when the prompt itself supplies the appearance; an appearance-stripping analysis exposes this confound. These results distinguish historical fidelity from current-story correctness and show why retrieval relevance or final-video consistency alone does not establish memory utility.
Yucheng Wang Tsinghua University, Shen Yang Tsinghua University, Jifan Yu, Haoxuan Li Tsinghua University, Joy Jia Yin Lim, Daniel Zhang-Li, Huiqin Liu Tsinghua University, Tsinghua University, Lei Hou Tsinghua University 等 10 位作者
Knowing and teaching differ fundamentally: effective instruction requires transforming knowledge into forms learners can grasp. Large language models, when asked to generate lessons (a concrete form of teaching), produce content lacking pedagogical depth. We trace this failure to three decisions that expert teachers make: selecting content by recognizing each source’s instructional role, sequencing topics so foundations precede applications, and synthesizing components into a unified whole. To scaffold these decisions, we introduce TeachCraft, a framework with three agents: Explorer classifies sources by pedagogical intent to guide selection; Planner orders objectives from foundational to advanced; Generator produces lesson materials through a schema that ensures consistency across components. To evaluate this approach, we construct LessonBench, 40 expert-designed lessons paired with two to five heterogeneous source documents, on which TeachCraft achieves 67.8% win rate in human evaluation and 79.6% in LLM-based evaluation against eight baselines, with ablations confirming that each decision contributes independently to overall lesson quality.[Source code is available at https://anonymous.4open.science/r/TeachCraft-1672]
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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
Yuhao Wang Nanyang Technological University, Ruiyang Ren, Yucheng Wang, Xin Zhao Renmin University of China, Jing Liu Baidu, Hua Wu, Haifeng Wang Baidu
Long-form question answering (LFQA) requires open-ended long-form responses that synthesize coherent, factually grounded content from multi-source evidence. This makes reinforcement learning (RL) reward design critical. The reward must be verifiable for faithful grounding and stable optimization. However, many standard rewards assume a unique target with an exact-match notion of correctness, which fits short-form QA and math but breaks in LFQA. As a result, current RAG systems still lack verifiable reward mechanisms, yielding unstable feedback signals and suboptimal optimization outcomes. We propose RioRAG, a framework for reinforced verifiable informativeness optimization. First, it defines informativeness as a measurable and externally verifiable objective for RL. Second, RioRAG uses nugget-centric verification with cross-source checks to enable self-evolution of smaller LLMs and to provide denser, action-discriminative rewards that mitigate reward sparsity and stabilize optimization. This formulation avoids handcrafted supervision for the policy model and strong teacher-model distillation, relying instead on externally verifiable feedback. Experiments on LongFact and RAGChecker show that RioRAG achieves higher factual recall and faithfulness, establishing verifiable reward modeling as a foundation for trustworthy long-form RAG. Our codes are available at https://github.com/RUCAIBox/RioRAG.
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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