Neel Jawale, Stephan Pleines, Soha Pouya, Yuke Zhu, Ajay Mandlekar, Caelan Garrett
Multi-arm robot platforms, including bimanual and humanoid robots, have the capability to complete tasks with lower cycle times than single-arm systems, but they are more difficult to safely control due to the presence of multi-arm constraints. The paradigm of training generalist robot policies from massive datasets is a promising approach to address general-purpose multi-arm manipulation, but the acquisition of large multi-arm manipulation datasets remains a bottleneck. Automated demonstration generation can alleviate this burden by synthesizing new demonstrations from a handful of source demonstrations, but existing algorithms ignore multi-arm constraints and as a result often induce unsafe and unsuccessful behaviors. We address this limitation by introducing ScheduleGen, an integrated planning & scheduling algorithm for multi-arm demonstration generation. We evaluate ScheduleGen on 28 simulation task variants, including seven externally authored RoboDojo tasks and settings inaccessible to prior systems; it achieves 79.6% mean data-generation success and trains policies with 65.5% mean success. ScheduleGen policies outperform those trained on a state-of-the-art data generation baseline, and achieve 50-80% success across eight real-world variants through zero-shot sim-to-real and real-to-sim-to-real transfer. Videos and more at: https://schedulegen.github.io/
Lirong Gao, Zewei Yu, Zhongrui Yin, Qi Zhang, Yuke Zhu Alibaba Group, Bo Zheng, Haobo Wang Zhejiang University, Junbo Zhao Zhejiang University 等 10 位作者
Tabular data is widely used in fields such as finance and healthcare. Traditional tree-based models are prevalent for tabular prediction tasks due to their ability to handle heterogeneous features. However, their heavy reliance on feature engineering limits both their generalizability and their human-readable interpretability. On the other hand, Large Language Models (LLMs) naturally provide intermediate reasoning steps, thus offering greater transparency in decision-making. Nevertheless, LLMs often fail to match the predictive performance of tree-based models on tabular data. To address these challenges, we propose a novel Logic-Graph-Enhanced LLM Reasoning (LogGER) framework that integrates the strengths of tree-based models and LLMs. Specifically, we reformulate the traditional decision tree as a human-readable logic graph, which explicitly models the causal relationships between features and targets. This logic graph is automatically constructed using LLMs based on data priors and serves as the foundation for LogGER. To fully leverage the logic graph, we further introduce a logic-graph-guided process supervision approach, which evaluates and enhances the quality of LLM’s intermediate reasoning steps using logic-graph-aided process reward. Extensive experiments demonstrate that LogGER consistently outperforms both tree-based models and state-of-the-art LLM methods on a variety of tabular prediction tasks, achieving superior accuracy and interpretability.
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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
Qiao Liang, Yuke Zhu Alibaba Group, Chao Ge Alibaba Group, Lei Yang Ant Group, Ying Shen Tongji University, Bo Zheng, Sheng Guo
Tool-integrated reasoning (TIR) enables LLM agents to solve tasks through planning, tool use, and iterative revision, but outcome-only reinforcement learning in this setting suffers from sparse, delayed rewards and weak step-level credit assignment. In long-horizon TIR trajectories, an early irrecoverable mistake can determine success or failure, making it crucial to localize the first irrecoverable step and leverage it for fine-grained credit assignment. We propose Error-Localized Policy Optimization (ELPO), which localizes the first irrecoverable step via binary-search rollout trees under a fixed rollout budget, converts the resulting tree into stable learning signals through hierarchical advantage attribution, and applies error-localized adaptive clipping to strengthen corrective updates on the critical step and its suffix. Across TIR benchmarks in math, science QA, and code execution, ELPO consistently outperforms strong Agentic RL baselines under comparable sampling budgets, with additional gains in Pass@K and Major@K scaling, rollout ranking quality, and tool-call efficiency. Our code is publicly released for reproducibility at https://anonymous.4open.science/r/ELPO-7C19.
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cs.CL · cs.AI
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表