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arXiv 最近完成扫描:2026-11-16 01:34 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

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新论文 · v1arXiv:2611.14239

部分参与下满足一般方差条件的联邦平均算法研究

On Federated Averaging with Partial Participation under a General Variance Condition

Ziming Wang, Kun Huang, Karl Henrik Johansson, Shi Pu

AI 速读 基于摘要

在ABC方差条件下分析部分参与FedAvg的收敛性,给出不依赖有界梯度差异假设的有限时间平稳性界与几乎必然收敛结果。

math.OC · cs.DC · cs.LG

查看原文摘要

In this paper, we study the convergence of Federated Averaging (FedAvg) with partial participation under a general variance condition. In each communication round, the server samples $S$ of the $n$ clients uniformly at random without replacement. The stochastic gradients are assumed to satisfy the so-called ABC condition, which allows their variance to grow with the local objective gaps. For smooth nonconvex objectives, we establish a finite-time stationarity bound in terms of the heterogeneity measure $σ_f^\star:=f^\star-\frac{1}{n}\sum_{i=1}^n f_i^\star$ and the client sampling factor $I_S:=(n-S)/(n-1)$. Here, $f^\star$ and $f_i^\star$ denote the infima of the global average objective and client $i$'s local objective, respectively. The bound exhibits a linear speedup in the number of sampled clients $S$ and recovers the full-participation result when $S=n$. Under diminishing stepsizes, we further prove that the gradient norm converges to zero both in expectation and almost surely. Notably, compared with existing analyses of FedAvg with partial participation, our results require no additional data heterogeneity assumption such as bounded gradient dissimilarity (BGD), and the sampling-induced term in our bound is not amplified by the number of local updates at the leading order. The importance of removing the BGD assumption is illustrated by an example that is smooth and lower bounded but violates BGD, yet is covered by our analysis.

版本更新 · v2arXiv:2609.02542

World-Model-Augmented Visual Locomotion for Humanoids on Foothold-Constrained Terrain

Yuxi Liu, Lijun Han, Ziming Wang, Ao Zhang, Cong Yang, Wei Sui

原文摘要

Foothold-constrained terrain limits feasible footholds to sparse, discontinuous, or narrow support regions, as in gaps, stepping stones, stairs, and balance beams. In such settings, a single misplaced step can cause a fall. Reliable traversal therefore requires precise foot placement and anticipation of upcoming terrain. To address this challenge, we present World-Model-Augmented Visual Locomotion (WM-LOCO), which augments a visual locomotion policy with predictive context from a jointly trained world model. Given onboard depth observations and proprioception, a recurrent state-space model (RSSM) learns action-conditioned latent dynamics that predict future proprioceptive states, egocentric observations, and task rewards. The resulting recurrent feature is then fed into the proximal policy optimization (PPO) actor-critic, providing predictive context for anticipatory foot placement on foothold-constrained terrain. WM-LOCO achieves average success rates of 96.0% on gaps, 96.9% on stepping stones, 94.0% on stairs, and 92.1% on balance beams, outperforming the evaluated baselines while improving gait efficiency and smoothness. Furthermore, WM-LOCO achieves zero-shot sim-to-real transfer to a Unitree G1, with 92.5% success across these four terrain classes.

cs.RO

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1422ACL Anthology · ACL 2026

Mobile-R1: Towards Interactive Capability for VLM-Based Mobile Agent via Systematic Training

Jihao Gu, Qihang Ai, Yingyao Wang, Pi Bu Alibaba Group, Jingxuan Xing Alibaba Group, Yue Cao, Zekun Zhu Alibaba Group, Wei Jiang 等 14 位作者

原文摘要

Vision-language model-based mobile agents have gained the ability to understand complex instructions and mobile screenshots, benefiting from reinforcement learning paradigms like Group Relative Policy Optimization (GRPO). However, existing approaches centers on offline training or local action-level rewards often trap agents in local optima, hindering effective exploration and error correction with the environment. Crucially, we find that directly applying task-level rewards often leads to convergence difficulties due to the sparse nature of GUI interactions. To address these challenges, we present Mobile-R1, a systematic training recipe that bridges atomic action execution and strategic task completion. We propose a hierarchical curriculum consisting of three stages: (1) format alignment for reasoning structure, (2) on-policy exploration with verifiable action feedback to ground basic execution, and (3) multi-turn task-level training with realistic environment to unlock exploration and self-correction. This hierarchical strategy effectively bootstraps the agent, significantly enhancing its capability for exploration and self-correction (the “Eureka” moments). Furthermore, addressing the critical scarcity of diverse GUI data in non-English ecosystems, we contribute a comprehensive Chinese mobile dataset covering 28 applications with 24,521 high-quality manual annotations, and establish a rigorous benchmark with 500 trajectories. We will open source all resources, including the dataset, benchmark, model weight, and codes: https://mobile-r1.github.io/Mobile-R1/.

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