In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage 'grasp-then-plan' framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.
Yichen Xu, Liangyu Chen Renmin University of China, Liang Zhang, Zihao Yue Renmin University of China, Jianzhe Ma Renmin University of China, Wenxuan Wang Renmin University of China, Qin Jin Renmin University of China
Charts are a universally adopted medium for data communication, yet existing chart understanding benchmarks are overwhelmingly English-centric, limiting their accessibility and relevance to global audiences. To address this limitation, we introduce PolyChartQA, the first large-scale multilingual benchmark for chart question answering, comprising 22,606 charts and 26,151 QA pairs across 10 diverse languages. PolyChartQA is constructed through a scalable pipeline that enables efficient multilingual chart generation via data translation and code reuse, supported by LLM-based translation and rigorous quality control. We systematically evaluate multilingual chart understanding with PolyChartQA on state-of-the-art LVLMs and reveal a significant performance gap between English and other languages, particularly low-resource ones. Additionally, we introduce a companion multilingual chart question answering training set, PolyChartQA-Train, on which fine-tuning LVLMs yields substantial gains in multilingual chart understanding across diverse model sizes and architectures. Together, our benchmark provides a foundation for developing globally inclusive vision-language models capable of understanding charts across diverse linguistic contexts. Codes and datasets are available on https://github.com/Road2Redemption/PolyChartQA.
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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
Ziheng Wang Renmin University of China, Zihao Yue Renmin University of China, Wenxuan Wang Renmin University of China, Qin Jin Renmin University of China
This paper explores attention attractors—tokens that draw significantly high attention—in large language models. We analyze them from three perspectives: (1) Functionality: We demonstrate their role in aggregating information from preceding contexts to facilitate future predictions. (2) Distribution: Through layer-wise and token-wise analysis, we reveal that attention attractors are widely distributed across layers but predominantly originate from low-semantic words like “_the”. (3) Mechanism: We demonstrate the correlation between attention weights allocated to tokens with their specific activation dimension values. We hope these findings provide new insights into the attention mechanisms of large language models and inspire further exploration. Code will be released at https://github.com/luyouqi233/AttentionAttractor.
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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