Distributional metrics such as Fréchet Audio Distance cannot score individual music clips and correlate poorly with human judgments, while the only per-sample learned metric achieving high human correlation is closed-source. We introduce MUQ-EVAL, an open-source per-sample quality metric for AIgenerated music built by training lightweight prediction heads on frozen MuQ-310M features using MusicEval, a dataset of generated clips from 31 text-to-music systems with expert quality ratings. Our simplest model, frozen features with attention pooling and a two-layer MLP, achieves system-level SRCC = 0.957 and utterance-level SRCC = 0.838 with human mean opinion scores. A systematic ablation over training objectives and adaptation strategies shows that no addition meaningfully improves the frozen baseline, indicating that frozen MuQ representations already capture quality-relevant information. Encoder choice is the dominant design factor, outweighing all architectural and training decisions. LoRA-adapted models trained on as few as 150 clips already achieve usable correlation, enabling personalized quality evaluators from individual listener annotations. A controlled degradation analysis reveals selective sensitivity to signal-level artifacts but insensitivity to musical-structural distortions. Our metric, MUQ-EVAL, is fully open-source, outperforms existing open per-sample metrics, and runs in real time on a single consumer GPU. Code, model weights, and evaluation scripts are available at https://github.com/dgtql/MuQ-Eval.
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.
Hongyuan Lu, Zixuan Li, Zefan Zhang, Bowen Cao, Wai Lam The Chinese University of Hong Kong
While textual frequency has been validated as relevant to human cognition in reading speed, its relatedness to Large Language Models (LLMs) is seldom studied. We propose a novel research direction in terms of textual data frequency, which is an understudied topic. to the best of our knowledge. Our framework is composed of three units. First, this paper proposes Textual Frequency Law (TFL), which indicates that frequent textual data should be preferred for LLMs for both prompting and fine-tuning. Since many LLMs are closed-source in their training data, we propose using online resources to estimate the sentence-level frequency. We can then use an input paraphraser to paraphrase the input into a more frequent textual expression. Next, we propose Textual Frequency Distillation (TFD) by querying LLMs to conduct story completion by further extending the sentences in the datasets, and the resulting corpora are used to adjust the initial estimation. Finally, we propose Curriculum Textual Frequency Training (CTFT) that fine-tunes LLMs in an increasing order of sentence-level frequency. Experiments are conducted on our curated dataset Textual Frequency Paired Dataset (TFPD) on math reasoning and machine translation. Results indicate the effectiveness of our framework.
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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