Humanoid motion tracking has scaled to general policies that reproduce diverse human motion, but the resulting behavior is in free-space: the tracker knows where the body should be, not how it should interact with the environment. Other work makes the object part of the objective, yet abstracts that interaction to contact or geometry, which leaves the demanding cases under-explored. We argue that force is a natural command channel between motion imitation and object interaction, one that specifies not just where to make contact but how hard. We present Ctrl-F, a hierarchical motion-force framework that augments motion tracking with an explicit force command, a 3-D force at each designated contact body such as a hand or a foot. The hierarchical framework comprises: (1) A unified motion-force controller tracks the reference motion while applying the commanded force to the world. (2) A high-level force planner that issues a force command online based on object state and proprioception observations. In simulation and on hardware, Ctrl-F completes loco-manipulation that demands large, sustained interaction force and adjusts its command online as the load changes, both out of reach of a force-blind tracker. On hardware, Ctrl-F demonstrates hand-based dragging, pushing, and lifting, as well as foot-based kicking, successfully manipulating boxes weighing up to 20kg in pushing and kicking tasks where the force-blind baseline fails, while adapting online to additional loads introduced mid-task.
Purpose: Blended augmented reality (AR) overlays can provide ambiguous depth cues in which subsurface anatomy floats above the tissue surface. We investigate whether an interactive 3D cutaway visualization can improve robot-assisted target localization. Methods: We propose Virtual Box, an interactive 3D cutaway interface that allows users to independently manipulate the viewing perspective to inspect subsurface targets. In a controlled, counterbalanced within-subject tissue phantom study, 15 engineering students used Virtual Box and a depth-enhanced blended AR overlay to position a da Vinci instrument at virtual targets in a water tank. We used registered 3D transrectal ultrasound to measure 3D localization error and depth error. We also collected completion time and subjective ratings. Results: Virtual Box reduced mean 3D error from 12.92 to 4.96 mm (61.6% reduction) and depth error from 9.48 to 2.07 mm (78.2% reduction; both p < 0.001). Spatial understanding, depth perception, and confidence ratings were higher (all unadjusted p < 0.001), but completion time increased from 21.64 to 32.58 s (p = 0.008). Overall workload did not differ significantly. Conclusion: Virtual Box improved localization accuracy and perceived spatial understanding in this controlled task, with additional completion time, supporting further evaluation for surgical navigation.
Chumeng Liang, Linxuan Wang, Xinyu Peng, Huabin Liu, XiaoXu Guo, Yuxin Chen, Ge Liu, Guang Lin 等 10 位作者
Speculative decoding accelerates language model inference by verifying multiple draft tokens in a single target-model pass. Recent parallel drafters have achieved breakthrough performance in frontier production models, but their effectiveness deteriorates as the entropy of target distributions increases due to insufficient draft diversity. To overcome this bottleneck without sacrificing parallelism, we introduce UBTree, a parallel drafter that couples a Unigram proposer with a Bigram selector to construct drafting Trees. The unigram proposer is trained with the standard cross-entropy objective to generate candidate tokens independently for each position, while a lightweight bigram selector predicts transition scores between adjacent candidate pairs. Unlike the proposer, the selector is trained with a renormalized KL objective on high-temperature data. This tree-native training broadens the supervision beyond the greedy path, encouraging plausible alternative branches that improve the chance of accepting additional tokens during tree verification. Across seven standardized benchmarks with Qwen3-4B and Qwen3-8B, UBTree achieves an average speedup of $5.84$--$6.94\times$ over autoregressive decoding and outperforms DARTree in all 28 comparisons. Production-scale evaluation further demonstrates UBTree's advantage over frontier baselines such as DSpark.
While prompt engineering offers effective control over Text-to-Image (T2I) generation, it remains labor-intensive for large-scale production. We present PRISM-DUEL, a black-box framework that formalizes prompt optimization as Automatic Prompt Engineering (APE), motivated by advertising workflows requiring low-latency, diverse variants faithful to a human-designed ads. Since zero-shot LLMs are unreliable judges of image quality, PRISM-DUEL obtains label-free pairwise preferences and rationales from an LLM judge over pairs of generated images, then uses a dueling-bandit optimizer to optimize a prompt for generating controlled variations while matching the reference ad’s visual content. By iteratively steering the prompt distribution towards higher-quality generations and improving posterior calibration, PRISM-DUEL preserves visual similarity and semantic faithfulness while increasing diversity. Experiments on PartiPrompts and DreamBooth across Gemini 2.5 Flash Image, FLUX.1, and Qwen-Image show consistent gains over strong baselines in visual faithfulness and prompt interpretability.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表
Ming Wang Singapore Management University and Northeastern University, Shuang Wu Northeastern University, Bixuan Wang, Lu Lin, Yuxin Chen Central University of Finance and Economics, Xiaocui Yang Northeastern University, Daling Wang, Shi Feng Northeastern University, China 等 10 位作者
Self-report questionnaires remain the default tool for probing the psychological characteristics of Large Language Model (LLM) agents, yet classical instruments (BFI, BDI, MBTI, BSS) inherit three well-known threats under LLMs: contamination from training corpora, directional bias under social-desirability framing, and limited responsiveness to context beyond the item text. We ask whether a projective paradigm can be adapted into a usable psychometric tool for LLM agents. We introduce GenPT (Generative Projective Testing), which reformulates TAT, Rorschach, and SCT with newly generated stimuli and organises assessment as a three-stage pipeline (Behavior Collection \to Interpretation \to Diagnosis) grounded in SCORS-G and a Simplified Rorschach Analysis System. On personality traits (Big Five, MBTI) and mental-health risks (depression, suicide ideation), questionnaires exhibit systematic directional shifts under social-desirability framing, most strongly on suicide ideation, whereas GenPT’s collected behavioral patterns stay near the symmetric baseline; under a longitudinal counselling context, GenPT-based depression assessment shifts by roughly an order of magnitude more than its questionnaire counterpart. Questionnaires remain competitive on clean-persona trait tasks where items align lexically with the persona description. Overall, GenPT complements rather than replaces self-report when contamination resistance, bias asymmetry, and context sensitivity matter. Code and stimuli: https://github.com/sci-m-wang/GenPT.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表