Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a critical scarcity of large-scale data. To resolve this, we curate high-quality 3D objects and supporting bases, proposing a scalable seed-and-filter strategy that bypasses sluggish scene-level optimization. This yields an unprecedented benchmark comprising over 2.6 million scenes and 0.4B scene-specific grasp ground truths, featuring diverse realistic layouts paired with rich semantic and geometric observations. Furthermore, we introduce the OmniDex model to overcome the grasp multimodality and last-millimeter precision errors plaguing current generative models. By coupling Soft Winner-Takes-All learning with human-inspired physical constraints during training, and utilizing physics-driven ranking, our approach achieves robust dexterous grasping without the latency of post-optimization. Experimental results show that OmniDex model achieves state-of-the-art performance and strong generalization across diverse scenes, views, and unseen objects.
Yirong Zeng, Yufei Liu Huawei Technologies Ltd. and Peking University, Xiao Ding, Yutai Hou Huawei Technologies Ltd., Yuxian Wang, Wu Ning Huawei Technologies Ltd., Haonan Song Huawei Technologies Ltd., Dandan Tu 等 12 位作者
Instruction Following (IF) is a core capability of LLMs, requiring strict adherence to diverse constraints, ranging from verifiable ones (e.g., output length) to unverifiable ones (e.g., tone). Reinforcement learning with verifiable rewards has emerged as a paradigm for IF tasks, leveraging LLM-as-a-judge to assess unverifiable constraints. However, we empirically find that this approach remains a significant bottleneck, suffering from severe reward hacking and higher computational overhead. In this work, we first analyze the generalization capabilities of unverifiable constraints and discover that specific constraints exhibit distinct, high-generalization patterns. Motivated by this, we propose TinyJudge, a framework that employs an ensemble of specialized tiny language models (e.g., 0.6B) to provide rewards for soft constraints. By distilling expertise from frontier models into these tiny models, it achieves high-precision, lightweight evaluation. Extensive evaluations across five benchmarks demonstrate that TinyJudge outperforms the baselines by ~10% in average performance and 12% in reward precision. Crucially, it also achieves a 3× speedup in total training time. Our work provides a scalable and robust path for aligning LLMs with unverifiable human instructions.
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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