AI 速览：作者提出一个语言条件机器人绘画基准 BURGER，用可扩展的提示驱动流程生成绘画轨迹，并在仿真与真实环境中评估 VLA 模型的数据规模泛化与语言 grounding。
How effectively can vision-language-action (VLA) models learn diverse language-conditioned behaviors as training data scales? Investigating this question requires large and varied robot datasets, whose collection on physical robots remains costly. We introduce BURGER, a language-conditioned robotic drawing benchmark with a scalable, prompt-driven pipeline for generating continuous drawing trajectories, both in simulation and the real world. In BURGER, an agent starts from the same blank canvas and controls a robot arm to draw the object or spatial composition specified by language, while each instruction allows an open-ended variety of valid drawings and stroke orders. Using 28,200 simulated demonstrations spanning 282 drawing tasks, we evaluate five representative VLA models across data scales, language grounding, and multimodal behavior. BURGER supports fine-grained analysis of language grounding, spatial composition, and action generation, revealing distinct failure patterns across VLA models. Our experiments suggest that some VLA models can benefit from greater task diversity and demonstration scale, capture multimodal drawing behaviors, and generalize to unseen compositions of familiar objects. Finally, we deploy a trained policy on a Franka Panda arm, demonstrating the ability to draw reactively under human intervention. Project homepage and code can be found at https://siyingzhao.github.io/BURGER/.
AI 速览：TouchBridge 通过软硬件协同设计与触觉条件重定向，把人类演示直接转换为机器人训练数据，用于微调 VLA 模型完成接触丰富操作。
Human demonstrations offer an efficient and scalable source of data for dexterous robot manipulation, but differences in sensing and hand morphology complicate the transfer of contact-rich interactions. We present TouchBridge, a hardware--software co-designed framework for human-to-robot data transformation. A wearable human demonstration interface and a corresponding robot interface establish cross-embodiment correspondence in visual and fingertip tactile sensing. We introduce Tac-Retarget, a tactile-conditioned retargeting method that uses measured contact to align fingertip contact patches and preserve their spatial relations within and across hands. Unlike object-aware or simulation-based transfer pipelines, Tac-Retarget requires no object mesh, object-pose estimate, or physics simulation for retargeting, enabling direct and scalable conversion of human demonstrations into robot-domain training data. Combined with visual synthesis and camera-anchored action conversion, TouchBridge produces robot-domain demonstrations for fine-tuning a pretrained vision-language-action (VLA) model. Across four real-world contact-rich tasks, policies fine-tuned solely on TouchBridge-converted human demonstrations achieve a 72.5% average success rate, compared with 77.5% using an equal number of teleoperated robot demonstrations, while human demonstration collection is 7.0x faster. Under the same policy and training setup, Tac-Retarget outperforms DexPilot and UniDex by 25.0 and 42.5 percentage points, respectively.
Renzhe Xu, Haotian Wang, Xingxuan Zhang, Bo Li, Peng Cui
In this paper, we present the Proportional Payoff Allocation Game (PPA-Game), which characterizes situations where agents compete for divisible resources. In the PPA-game, agents select from available resources, and their payoffs are proportionately determined based on heterogeneous weights attributed to them. Such dynamics simulate content creators on online recommender systems like YouTube and TikTok, who compete for finite consumer attention, with content exposure reliant on inherent and distinct quality. We first conduct a game-theoretical analysis of the PPA-Game. While the PPA-Game does not always guarantee the existence of a pure Nash equilibrium (PNE), we identify prevalent scenarios ensuring its existence. Simulated experiments further prove that the cases where PNE does not exist rarely happen. Beyond analyzing static payoffs, we further discuss the agents' online learning about resource payoffs by integrating a multi-player multi-armed bandit framework. We propose an online algorithm facilitating each agent's maximization of cumulative payoffs over $T$ rounds. Theoretically, we establish that the regret of any agent is bounded by $O(\log^{1 + η} T)$ for any $η> 0$. Empirical results further validate the effectiveness of our online learning approach.
Social media enables cross-lingual communication, yet the meaning of user-generated content (UGC) is often distributed across text, images, and cultural knowledge, making translation challenging. Existing evaluations typically treat images as optional and assume textual information is sufficient, obscuring whether errors stem from missing visual evidence or inadequate cultural adaptation. We introduce \textbf{Culture-MMT}, a diagnostic benchmark for \textbf{distributed-evidence pragmatic reconstruction} in social-media translation. It contains 498 curated, de-identified UGC instances across 20 domains, categorized into Symbol, Visual, and Hybrid by their required evidence. We also develop a human-aligned domain-specific judge, Judger, and a controlled evaluation framework that systematically varies the evidence available to translators. Across 17 model configurations, real images improve performance by +0.280 on Visual and +0.197 on Hybrid, but only +0.050 on Symbol, while random images provide no comparable gains. Human-authored descriptions further show that jointly dependent cases remain more challenging even when visual facts are explicit. These results characterize culturally effective social-media translation as {meaning reconstruction from distributed evidence}, highlighting visual grounding and cultural-pragmatic adaptation as distinct model bottlenecks.
Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity signals for intuitive perception. We present ArrayTac, a closed-loop piezoelectric tactile platform that simultaneously renders these three tactile dimensions with continuous tunability on a 4 by 4 actuator array. Each unit integrates a three-stage micro-lever amplifier with end-effector Hall-effect feedback, enabling up to 5 mm displacement, an array refresh rate greater than 500 Hz, and a closed-loop bandwidth of 123 Hz. In psychophysical experiments, naive participants identified three-dimensional shapes and distinguished multiple stiffness and friction levels through touch alone without training. We further demonstrate image-to-touch rendering from an RGB image and remote palpation of a medical-grade breast tumor phantom across a distance of more than 1,000 km, in which all 11 participants correctly identified the number and type of tumors with a sub-centimeter mean localization error. Together, these results establish ArrayTac as a programmable multidimensional tactile rendering platform that bridges digital representations, physical environments, and human tactile perception, enabling intuitive tactile communication between humans and machines.
Zihao Yi, Zhenqing Ling Alibaba Group, Delong Zeng, Haohao Luo SUN YAT-SEN UNIVERSITY, Zhe Xu, Wei Liu, Jian Luan Xiaomi Corporation, Wanxia Cao 等 9 位作者
The performance of Large Language Models (LLMs) is significantly sensitive to the contextual position of information in the input. To investigate the mechanism behind this positional bias, our extensive experiments reveal a consistent phenomenon we term the attention basin: when presented with a sequence of structured items (e.g., retrieved documents or few-shot examples), models systematically assign higher attention to the items at the beginning and end of the sequence, while neglecting those in the middle. Crucially, our analysis further reveals that allocating higher attention to critical information is key to enhancing model performance. Based on these insights, we introduce Attention-Driven Reranking (AttnRank), a two-stage framework that (i) estimates a model’s intrinsic positional attention preferences using a small calibration set, and (ii) reorders retrieved documents or few-shot examples to align the most salient content with these high-attention positions. AttnRank is a model-agnostic, training-free, and plug-and-play method with minimal computational overhead. Experiments on multi-hop QA and few-shot in-context learning tasks demonstrate that AttnRank achieves substantial improvements across 10 large language models of varying architectures and scales, without modifying model parameters or training procedures.
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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
Zhejun Zhang Beijing University of Posts and Telecommunications, Wenqing Zhou Beijing University of Post and Telecommunications, Haozhe Xu, Lin Zhang Beijing University of Posts and Telecommunications, Lei Li Beijing University of Posts and Telecommunications
Brain-tuning enhances brain alignment and downstream performance by fine-tuning speech language models with neural recordings. However, previous work relies primarily on fMRI, whose temporal resolution integrates neural activity over seconds, blending distinct processing stages into a single supervision signal and precluding temporally targeted training. We introduce ECoG-tuning, which leverages electrocorticography’s millisecond precision to train speech language models. We design temporally targeted windows—a speech window capturing acoustic-phonetic encoding and a language window capturing higher-order linguistic processing—grounded in neuroscientific findings about temporal encoding hierarchies. Evaluating three models on the Podcast ECoG dataset, we find that ECoG-tuning significantly improves brain alignment over pretrained and distillation baselines. Notably, full spatiotemporal dynamics yield 7–17% higher alignment than time-averaged supervision across models, and language-window tuning produces larger gains in higher-order language regions, indicating that temporal precision provides additional training value. Moreover, ECoG-tuned models consistently improve or maintain downstream performance. Overall, our work provides initial evidence that electrophysiology is a viable brain-tuning modality, demonstrating how neuroscientific insights into processing hierarchies can inform principled model training strategies. Code is available at https://github.com/Mochizuki-BUPT/ECoG-Tuning-main.
尚无 AI 解读，展示原文摘要
cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表