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arXiv 最近完成扫描:2026-11-08 22:53 · 全站最近入库:2026-11-08 06:02各信源进度 →

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新论文 · v1arXiv:2611.06741

TailSteer: Trajectory-Tail Steering for Drift-Resistant Multi-turn Image Editing

Ruikang Li, Zixuan Chen, Jiarui Wu, Mingde Yao, Yiyuan Zhang, Yujin Wang, Hanming Deng, Lewei Lu 等 9 位作者

原文摘要

Strong single-turn editing performance does not guarantee reliable multi-turn interaction: as edited outputs are repeatedly reused, small unintended changes can accumulate into severe visual drift. This long-term drift is often mitigated through training on multi-turn data or cross-turn rollouts, potentially altering pretrained priors, or through specialized inference-time mechanisms that are difficult to scale to foundation models. We introduce TailSteer, a final-stage training framework that improves multi-turn robustness while retaining the generative and editing capabilities acquired through earlier training. TailSteer follows a simple principle: keep early denoising dynamics close to those of the base model and concentrate preservation corrections near the trajectory tail, where fine-grained deviations can be suppressed. These corrections are learned from the editor's own on-policy denoising rollouts, using unchanged source content as a preservation reference without requiring curated ground-truth editing pairs. Experiments across the FLUX, SenseNova, and Qwen families show that TailSteer substantially reduces cumulative drift over 15-20 editing turns while largely preserving base-model performance on extensive text-to-image and single-image editing benchmarks. These results demonstrate that long-horizon editing robustness can be unlocked in foundation models after TailSteer, rather than by relearning their existing capabilities.

cs.CV · cs.AI

新论文 · v1arXiv:2611.06475

Robocasa-Mem: Benchmarking Environment and Process Memory in Long-Horizon Mobile Manipulation

Sihang Chen, Chen Ye, Wei Chen, Xiaohan Lei, Zhipeng Tang, Sha Zhang, Yuan Zhang, Zixuan Chen 等 11 位作者

原文摘要

In the real world, mobile manipulation robots must perform complex object interactions and make multi-step decisions, often relying on task-relevant information that is no longer observable. However, existing benchmarks provide limited evaluation of such memory-dependent decision-making in mobile manipulation. To address this gap, we introduce RoboCasa-Mem, a new benchmark comprising nine mobile manipulation tasks that require agents to use interaction history at key decision points. Specifically, the tasks are grouped into two categories of memory: One is environment memory, which captures spatial locations, object attributes, and object relationships. The other is process memory, which captures single-task progress and multi-task scheduling. Particularly, we introduce Behavior-Conditioned Evaluation. For tasks with multiple valid execution paths, instead of fixing a single target or trajectory, the evaluator derives later task constraints from the robot's earlier actions. This allows us to evaluate whether later behavior is consistent with the robot's own interaction history while reducing shortcuts based on fixed target assignments. We provide 1,800 successful demonstrations for policy training. We also develop a baseline on our benchmark, namely Hierarchical Memory-Augmented Policy(HMAP). Its high-level planner uses structured entity and process memories to generate subtasks. Its low-level VLA controller uses subgoal-conditioned queries to incorporate VGGT-Omega geometry into action generation. Together, RoboCasa-Mem and HMAP baseline support systematic evaluation of memory-dependent behavior and the development of memory-aware mobile manipulation policies.

cs.RO

版本更新 · v2arXiv:2605.16897

Beyond Callbacks: A Developer-friendly Programming Paradigm for Network Simulation

Yuanyi Zhu, Zijian Li, Xin Ai, Zixuan Chen, Sen Liu, Yang Xu

原文摘要

Network simulation plays a crucial role in both networking research and industry. Existing commonly-used Discrete Event Simulations (DES) are based on the callback mechanism for discrete events. However, as network functions grow in complexity, callbacks reveal a fundamental structural limitation: a callback can only represent a single point in a blocking operation and cannot capture the full operation as a coherent whole. This forces developers to manually decompose sequential network logic into scattered callback fragments, leading to stack ripping, callback hell, and heavy development and debugging burdens. We propose CoDES (\textbf{Co}routine-based \textbf{DES}), a coroutine-based programming paradigm for network simulation that addresses this structural limitation. CoDES targets development productivity rather than execution performance. Realizing CoDES in existing DES simulators is non-trivial, as coroutine suspension must be coordinated with the event scheduler, introducing challenges in coroutine resource conflicts, operation-level computation requirements, compatibility with existing callback-based simulators, and overhead. We implement a CoDES-based framework in ns-3, address all four challenges, and release it as open source. We evaluate CoDES by implementing Message Passing Interface (MPI), High Precision Congestion Control (HPCC), and Routing Information Protocol (RIP) in ns-3, spanning the transport, congestion control, and routing layers. Compared with callback-based counterparts, CoDES reduces lines of code by up to 51.4% and nesting depth by up to 50%, with no accuracy loss and negligible runtime and memory overhead.

cs.NI · cs.PL