让下一篇重要论文，不再错过。

新论文 · v1arXiv:2611.05615

更新于 2026-11-04

$\mathcal{C}^\infty$ Smooth Trajectory Planning with Application to Soft Robots

Reinhard M. Grassmann, Abdulaziz Y. Alkayas, Lingyun Chen, Sami Haddadin

原文摘要

High motion performance and avoiding structural vibrations rely on smooth trajectory planning. The smoothness requirement depends on the robot's complexity in terms of the number of degrees of freedom and system order due to the flexibility of the joints and links. For industrial robots, the smoothness requirements have been determined and subsequently taken into account. Although unknown for soft continuum robots, the exact smoothness requirement can potentially be much larger than previously considered ones such as $\mathbf{\mathcal{C}^4}$ for collaborative robots and $\mathbf{\mathcal{C}^5}$ for quadcopter drones. To address this gap, we introduce a $\mathbf{\mathcal{C}^\infty}$-smooth trajectory generator that respects defined kinematic limits and generates infinitely differentiable trajectories. The generated path addresses and generalizes to all smoothness requirements, where a transition between sequential states is needed. Therefore, all trajectories have continuous velocity, acceleration, jerk, snap, crackle, pop, etc. Of particular interest is the case of null boundary conditions, i.e., all derivatives at the start and end of the trajectory are equal to zero. We verified and evaluated our proposed approach in simulations and on hardware.

cs.RO

新论文 · v1arXiv:2610.37110

更新于 2026-10-27

A First-Step Bias Restores Lost Diversity in Diffusion Model Distillation

Wenwu Tang, Dong Wang, Yun Cheng, Olga Saukh

原文摘要

Distribution-matching distillation enables high-quality image generation in only a few denoising steps. However, distilled student models often map different initial noise samples to similar outputs under the same prompt. To locate where diversity is lost, we compare the teacher and student along the sampling trajectory. The largest measured reduction in the response to different initial noises occurs during the first, high-noise step. When we replace the first step with the teacher's corresponding trajectory and leave the final three student steps unchanged, most of the output diversity returns. This suggests that the first step is a key point for restoring diversity. Motivated by this finding, we introduce \emph{ReSeed}, a post-distillation method that adds a seed-response bias adapter only to the first student step and aligns its velocity with the teacher's first-interval secant velocity. All student weights and later denoising steps remain unchanged. We evaluate ReSeed on three text-to-image models (SD3-Medium, SD3.5-Medium, and FLUX.1-dev) and one text-to-video model (Wan2.1-T2V-1.3B). For a distilled 4-step FLUX.1-dev model, \emph{ReSeed} requires only $0.00196\%$ additional trainable parameters relative to the base model and is trained on 8,000 prompt--noise pairs, while keeping the distilled student fully frozen and requiring no target images, perceptual losses, or adversarial losses. It improves DINO diversity by $48.3\%$ while maintaining competitive visual quality. These results show that substantial diversity can be recovered through a lightweight, data-efficient tuning of only the first denoising step, without finetuning the full student model.

cs.CV · cs.AI

版本更新 · v2arXiv:2602.13444

更新于 2026-10-26

FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulation

Huajian Zeng, Lingyun Chen, Jiaqi Yang, Yuantai Zhang, Fan Shi, Peidong Liu, Xingxing Zuo

原文摘要

Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An embodiment-agnostic interaction representation that captures this structure would make manipulation behaviors easier to validate and transfer across robots. We propose FlowHOI, a two-stage flow-matching framework that generates semantically grounded, temporally coherent HOI sequences, comprising hand poses, object poses, and hand-object contact states, conditioned on an egocentric observation, a language instruction, and a 3D Gaussian splatting (3DGS) scene reconstruction. We decouple geometry-centric grasping from semantics-centric manipulation, conditioning the latter on compact 3D scene tokens and employing a motion-text alignment loss to semantically ground the generated interactions in both the physical scene layout and the language instruction. To address the scarcity of high-fidelity HOI supervision, we introduce a reconstruction pipeline that recovers aligned hand-object trajectories and meshes from large-scale egocentric videos, yielding an HOI prior for robust generation. Across the GRAB and HOT3D benchmarks, FlowHOI achieves the highest action recognition accuracy and a 1.7$\times$ higher physics simulation success rate than the strongest diffusion-based baseline, while delivering a 40$\times$ inference speedup. We further demonstrate real-robot execution on four dexterous manipulation tasks, illustrating the feasibility of retargeting generated HOI representations to real-robot execution pipelines.

cs.RO · cs.AI · cs.CV

版本更新 · v3arXiv:2610.26872

更新于 2026-10-26

Commanding at the Speed of Sound: Audio-Centric Referring Expression Segmentation for Aerial Scenes

Ziyun Chen, Yijun Wang, Chuanyi Zhang, Liang Yao, Yuexuan An, Xiang Gu, Wei Zhou, Fan Liu

原文摘要

Referring expression segmentation (RES) aims to localize targets at the pixel level guided by human instructions. However, current models predominantly follow a text-centric paradigm that treats discrete text as the primary interaction medium for these human instructions. This assumption is especially limiting in unmanned aerial vehicle (UAV) applications, where rapid response, hands-free operation, and natural communication are often critical. In this paper, we reconstruct UAV referring expression segmentation through an audio-centric perspective. Grounded in information theory, we demonstrate that raw audio provides a higher upper bound for extracting rich semantic features than transcribed text. To achieve this, we construct an audio-driven UAV referring expression segmentation benchmark named Aerial-AudioRES by augmenting VisDrone with synthesized speech, forming "audio-text-image-mask" quadruples. Specifically, we employ an ambiguity filtering mechanism to ensure referential uniqueness, and incorporate eight distinct timbres alongside 4 realistic noises to simulate authentic environments. To drive the paradigm shift from text-centric to audio-centric, we propose the end-to-end Audio-centric Referring Expression Segmentation Network (ARES-Net). Distinct from discrete text-visual matching, our approach learns to establish a direct soft alignment between continuous acoustic manifolds and multi-scale visual representations. Comprehensive experiments show that our method obtains a peak accuracy of 64.23% in oIoU and demonstrates robust generalization on a collected real-human test set. Furthermore, it significantly reduces total interaction latency to one-third of the text-based method. Our code is available at https://github.com/LemonGauss/ARES-Net.

cs.SD · eess.AS · eess.IV

新论文 · v1arXiv:2610.35368

更新于 2026-10-26

Shared-Factor-Conditioned Diffusion for Low-Rank Tensor Recovery

Zhengyun Cheng, Guanwen Zhang, Wei Zhou

原文摘要

Tensor recovery spans heterogeneous data structures and observation processes, calling for a representation that can adapt across modalities and tasks. We propose DiffTR, an unsupervised framework that unifies tensor completion, denoising, and hyperspectral super-resolution through coordinate-conditioned diffusion. Shared factors indexed by tensor coordinates condition a compact score network, and score matching jointly learns the factors and an implicit tensor representation from the available observations. Scalar and vector-valued outputs accommodate individual entries and entire tubes, enabling a common formulation for tabular tensors, images, and videos. The framework separates representation learning from task-specific observation modeling: reverse diffusion recovers missing values; estimation via Tweedie's formula, soft thresholding, and optional spatial consistency support mixed-noise denoising; and measurement-guided sampling transfers a prior learned from low-resolution hyperspectral observations to high-resolution reconstruction, followed by post-sampling refinement with data consistency and spectral subspace regularization. This separation makes the representation compatible with different corruption models and permits task-specific constraints to be incorporated within the same recovery framework. Experiments across multiple tensor modalities and recovery tasks demonstrate competitive reconstruction quality and the flexibility of a unified conditional generative representation. The code is available at https://github.com/CZY-Code/DiffTR

cs.CV · cs.AI

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1368ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Learning from Near-Misses: Error-Aware Contrastive Few-Shot Learning for NL2Formula

Zhihao Shuai, Yiyun Chen The Hong Kong University of Science and Technology, Maolin Ma, Yutong Chen, Hanjia Qiu, Jing Xu The Hong Kong University of Science and Technology (Guanzhou), Ziye Chen, Weikai Yang Hong Kong University of Science and Technology (Guangzhou)

原文摘要

Natural Language to Excel Formula (NL2Formula) translates user intent into executable spreadsheet formulas. However, current models often produce near-miss outputs—formulas that parse correctly yet fail at execution due to an incorrect function, operator, or reference. Through a systematic error analysis, we find that these errors repeatedly arise from a small set of structural decision points, motivating the need for typed error supervision rather than general error signals. To this end, we introduce an abstract syntax tree (AST)-based error taxonomy that organizes common error modes by the kind of decision that goes wrong in the parse tree. Building on this taxonomy, we propose Error-Aware Contrastive Few-Shot Learning (ECFL), an error-aware framework that unifies training and inference around typed error supervision. During offline training, ECFL mines near-miss errors, assigns error types under the taxonomy, and builds error-aware contrastive demonstrations for fine-tuning. During online inference, a lightweight predictor estimates likely error types and triggers targeted retrieval of contrastive demonstrations to guide single-pass decoding. Experiments show ECFL improves Exact Match (EM) by 6.4 points over supervised fine-tuning (SFT) and matches self-consistency (SC@5) accuracy at substantially lower inference cost.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1423ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

QuantumQA: Enhancing Scientific Reasoning via Physics-Consistent Dataset and Verification-Aware Reinforcement Learning

Songxin Qu, Tai-Ping Sun, Yun-Jie Wang University of Science and Technology of China, Huan-Yu Liu, Cheng Xue, Xiao-Fan Xu, Han Fang University of Science and Technology of China, Yang Yang Anhui University 等 11 位作者

原文摘要

Large language models (LLMs) show strong capabilities in general reasoning but typically lack reliability in scientific domains like quantum mechanics, which demand strict adherence to physical constraints. This limitation arises from the scarcity of verifiable training resources and the inadequacy of coarse feedback signals in standard alignment paradigms. To address the data challenge, we introduce QuantumQA, a large-scale dataset constructed via a task-adaptive strategy and a hybrid verification protocol that combines deterministic solvers with semantic auditing to guarantee scientific rigor. Building on this foundation, we propose the verification-aware reward model (VRM) tailored for Reinforcement Learning with Verifiable Rewards (RLVR), which employs an adaptive reward fusion (ARF) mechanism to dynamically integrate deterministic signals from a scientific execution suite (SES) with multidimensional semantic evaluations for precise supervision. Experimental results demonstrate that our method consistently outperforms baselines and general-purpose preference models. Notably, our optimized 8B model achieves performance competitive with proprietary models, validating that incorporating verifiable, rule-based feedback into the reinforcement learning loop offers a parameter-efficient alternative to pure scaling.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.356ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

SPPO: Sequence-Level PPO for Long-Horizon Reasoning Tasks

Tianyi Wang, Yixia Li, Long Li Infly Tech, Yibiao Chen, Shaohan Huang, Yun Chen Shanghai University of Finance and Economics, Peng Li Tsinghua University, Yang Liu 等 9 位作者

原文摘要

Proximal Policy Optimization (PPO) is central to aligning Large Language Models (LLMs) in reasoning tasks with verifiable rewards. However, standard token-level PPO struggles in this setting due to the instability of temporal credit assignment over long Chain-of-Thought (CoT) horizons and the prohibitive memory cost of the value model. While critic-free alternatives like GRPO mitigate these issues, they incur significant computational overhead by requiring multiple samples for baseline estimation, severely limiting training throughput. In this paper, we introduce Sequence-Level PPO (SPPO), a scalable algorithm that harmonizes the sample efficiency of PPO with the stability of outcome-based updates. SPPO reformulates the reasoning process as a Sequence-Level Contextual Bandit problem, employing a decoupled scalar value function to derive low-variance advantage signals without multi-sampling. Extensive experiments on mathematical benchmarks demonstrate that SPPO significantly surpasses standard PPO and matches the performance of computation-heavy group-based methods, offering a resource-efficient framework for aligning reasoning LLMs.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.358ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

GIFT: Guided Fine-Tuning and Transfer for Enhancing Instruction-Tuned Language Models

Zhiwen Ruan, Yichao Du, Jianjie Zheng Southern University of Science and Technology, Longyue Wang Alibaba Group, Yun Chen Shanghai University of Finance and Economics, Peng Li Tsinghua University, Jinsong Su Xiamen University, Yang Liu 等 9 位作者

原文摘要

Instruction-tuned large language models (LLMs) exhibit strong instruction-following and generalization abilities, enabled by expensive post-training pipelines. However, adapting them to specific downstream tasks remains challenging: direct fine-tuning often disrupts this delicate balance, while existing adapter-based transfer methods typically treat the instruction-tuned model as a passive target that only participates at the final merging stage. We propose GIFT (Guided Fine-Tuning and Transfer), a simple and efficient framework that incorporates instruction-level guidance into task adaptation. GIFT fine-tunes a low-rank adapter on the pretrained base model using token-level confidence signals derived from the instruction-tuned model. The learned adapter is then merged into the instruction-tuned model, yielding task-specialized models that preserve general instruction-following behavior. We evaluate GIFT on mathematical reasoning and knowledge-intensive benchmarks across multiple model families and scales. Results show that GIFT consistently outperforms direct fine-tuning and representative transfer-based baselines, while maintaining robust generalization and favorable test-time scaling behavior.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.407ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

VFA: Empowering Multilingual MLLMs via Vision-Free Adaptation

Yixia Li, Yaqing Shi, Zhiwen Ruan, Dongdong Zhang Research, Microsoft, Lingjie Jiang Peking University, Shaohan Huang, Yun Chen Shanghai University of Finance and Economics, Guanhua Chen Southern University of Science and Technology 等 9 位作者

原文摘要

Multimodal large language models have advanced rapidly, yet most remain English-centric, as scaling multilingual multimodal instruction tuning is limited by the scarcity and high cost of high-quality non-English image–text supervision. Although multilingual text data is abundant, naive textual fine-tuning can disrupt vision–language alignment and induce catastrophic forgetting. We propose Vision-Free Adaptation (VFA), a framework that decouples multilingual language enhancement from visual alignment by composing complementary task vectors over a shared LLM backbone. Specifically, we fine-tune a base LLM on multilingual text data to derive a multilingual task vector, which is then merged with the vision-aligned task vector of an MLLM. Experiments on five MLLMs across six multilingual multimodal benchmarks show consistent improvements while preserving both general multimodal and text-only capabilities. Moreover, VFA attains competitive performance with a fully multimodally trained model using less than 2% of the text data, demonstrating its efficiency and effectiveness.

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.486ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

InstructDiff: Domain-Adaptive Data Selection via Contrastive Entropy for Efficient LLM Fine-Tuning

Junyou Su, He Zhu, Xiao Luo University of Wisconsin - Madison, Liyu Zhang, Hong-Yu Zhou, Yun Chen Shanghai University of Finance and Economics, Peng Li Tsinghua University, Yang Liu 等 9 位作者

原文摘要

Supervised fine-tuning (SFT) is fundamental to adapting large language models, yet training on complete datasets incurs prohibitive costs with diminishing returns. Existing data selection methods suffer from severe domain specificity: techniques optimized for general instruction-following fail on reasoning tasks, and vice versa. We observe that measuring contrastive entropy between base models and minimally instruction-tuned calibrated models reveals a pattern—samples with the lowest contrastive entropy consistently yield optimal performance across domains, yet this principle manifests domain-adaptively: reasoning tasks favor entropy increase (cognitive expansion), while general tasks favor entropy decrease (cognitive compression). We introduce InstructDiff, a unified framework that operationalizes contrastive entropy as a domain-adaptive selection criterion through warmup calibration, bi-directional NLL filtering, and entropy-based ranking. Extensive experiments show that InstructDiff achieves 17% relative improvement over full data training on mathematical reasoning and 52% for general instruction-following, outperforming prior baselines while using only 10% of the data.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.890ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Modeling LLM Unlearning as an Asymmetric Two-Task Learning Problem

Zeguan Xiao Shanghai University of Finance and Economics, Siqing Li, Yong Wang, Xuetao Wei Southern University of Science and Technology, Jian Yang Beijing University of Aeronautics and Astronautics, Yun Chen Shanghai University of Finance and Economics, Guanhua Chen Southern University of Science and Technology

原文摘要

Machine unlearning for large language models (LLMs) aims to remove targeted knowledge while preserving general capability. In this paper, we recast LLM unlearning as an asymmetric two-task problem: retention is the primary objective and forgetting is an auxiliary. From this perspective, we propose a retention-prioritized gradient synthesis framework that decouples task-specific gradient extraction from conflict-aware combination. Instantiating the framework, we adapt established PCGrad to resolve gradient conflicts, and introduce SAGO, a novel retention-prioritized gradient synthesis method. Theoretically, both variants ensure non-negative cosine similarity with the retain gradient, while SAGO achieves strictly tighter alignment through constructive sign-constrained synthesis. Empirically, on WMDP Bio/Cyber and RWKU benchmarks, SAGO consistently pushes the Pareto frontier: e.g., on WMDP Bio (SimNPO+GD), recovery of target model MMLU performance progresses from 44.6% (naive) to 94.0% (+PCGrad) and further to 96.0% (+SAGO), while maintaining comparable forgetting strength. Our results show that re-shaping gradient geometry, rather than re-balancing losses, is the key to mitigating unlearning-retention trade-offs.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

版本更新 · v5arXiv:2403.05530Google Research

更新于 2024-12-17

Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context

Gemini Team, Petko Georgiev, Ving Ian Lei, Ryan Burnell, Libin Bai, Anmol Gulati, Garrett Tanzer, Damien Vincent 等 1137 位作者

原文摘要

In this report, we introduce the Gemini 1.5 family of models, representing the next generation of highly compute-efficient multimodal models capable of recalling and reasoning over fine-grained information from millions of tokens of context, including multiple long documents and hours of video and audio. The family includes two new models: (1) an updated Gemini 1.5 Pro, which exceeds the February version on the great majority of capabilities and benchmarks; (2) Gemini 1.5 Flash, a more lightweight variant designed for efficiency with minimal regression in quality. Gemini 1.5 models achieve near-perfect recall on long-context retrieval tasks across modalities, improve the state-of-the-art in long-document QA, long-video QA and long-context ASR, and match or surpass Gemini 1.0 Ultra's state-of-the-art performance across a broad set of benchmarks. Studying the limits of Gemini 1.5's long-context ability, we find continued improvement in next-token prediction and near-perfect retrieval (>99%) up to at least 10M tokens, a generational leap over existing models such as Claude 3.0 (200k) and GPT-4 Turbo (128k). Finally, we highlight real-world use cases, such as Gemini 1.5 collaborating with professionals on completing their tasks achieving 26 to 75% time savings across 10 different job categories, as well as surprising new capabilities of large language models at the frontier; when given a grammar manual for Kalamang, a language with fewer than 200 speakers worldwide, the model learns to translate English to Kalamang at a similar level to a person who learned from the same content.

cs.CL · cs.AI