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新论文 · v1arXiv:2611.16861

Visual Cipher Bench: Benchmarking LLM Agents on Long-Horizon Visual Reasoning

Deyao Hong, Jiayi Jiang, Yuchun Chen, Yixuan Shi, Wenyi Li, Zheng Jiang, Chengxing Xie, Mingyu Su 等 15 位作者

原文摘要

While language-model agents excel at long-horizon coding and terminal tasks, this success relies on two conditions: explicit text specifications and immediate execution feedback. However, neither condition holds in real-world problems where critical information exists only in images, leaving it unclear whether long-horizon capability transfers from text to visual reasoning. In such visual settings, because rules and clues resist text transcription and lack test-case feedback, agents must repeatedly inspect images, simulate spatial transformations, and autonomously cross-check clues. Despite this challenge, existing evaluations fail to capture such capability: visual reasoning benchmarks largely reduce tasks to single-turn, short-chain question answering, whereas agent benchmarks focus on text-based environments or interactive states that permit trial-and-error. To bridge this gap, we introduce Visual Cipher Bench, a collection of 40 original visual puzzles across four categories: spatial manipulation and simulation, logical constraints and planning, rule induction, and knowledge-based decoding. Each puzzle provides only one to three black-and-white line drawings and a minimal submission instruction, requiring agents to discover the underlying solving mechanism entirely from the images. Across 29 reasoning-effort configurations of eight frontier models, even the strongest model, GPT-6 Astra (max), achieves only 26.7% accuracy, while five of the eight models score below 1%. Yet on a ten-task subset, providing a single non-spoiler mechanism hint boosts accuracy from 7.8% to 55.6%. This sharp contrast shows that the primary bottleneck of current agents lies not in executing multi-step plans, but in autonomously discovering rules from visual evidence. Visual Cipher Bench thus provides a rigorous benchmark for measuring long-horizon visual reasoning in agents.

cs.CV

新论文 · v1arXiv:2611.16647

InertiaMPDD: Multimodal Personalized Depression Detection via Emotional Inertia-Inspired Dynamics Modeling

Changzeng Fu, Songyang Wang, Chang Gao, Xinyi Zhang, Peilin Li, Mo Meng, Jiarui Wu, Mingze Li 等 12 位作者

原文摘要

Multimodal depression screening estimates risk from speech, visual behavior and language. Current methods mainly predict labels, with limited evidence of departures from a non-depressed reference. Recording-level supervision also leaves fine-grained emotional dynamics unannotated. Motivated by emotional inertia, the persistence of affect, InertiaMPDD learns healthy next-state patterns using a world-model-inspired latent predictor. Using pretrained multimodal representations, it predicts from observed history and context. Reference deviation, residual decay rate and a Jacobian spectral descriptor form reference-derived emotional dynamics descriptors, evaluated as candidate proxy biomarkers for standalone screening and personalized decision correction. Across five cohorts from four datasets, fusion reaches 98.41% F1 on D-Vlog and 84.98% on LMVD. Standalone descriptors outperform fixed additive fusion on MPDD but discriminate weakly on AVEC2014. These findings distinguish reference informativeness from fusion benefit and reveal context-dependent utility.

cs.AI

新论文 · v1arXiv:2611.15013

Protecting Sensitive Knowledge Under LLM Unlearning: The Proxy Threat and a Superposition-Aware Defense

Jiayang Li, Tianqing Zhu, Longxiang Gao, Huajie Chen, Dayong Ye, Shang Wang, Huan Huo, Wanlei Zhou

原文摘要

Machine unlearning lets the owner of large language models (LLMs) remove specific entities from a trained model without retraining from scratch. Existing machine unlearning methods focus on removing the requested entities while maintaining utility. However, we observe that the representations of distinct entities in an LLM may overlap in shared parameter subspaces, a phenomenon known as knowledge superposition. Removing one entity may then affect other entities. This exposes a new security threat: legitimate unlearning requests can be exploited to remove sensitive entities that were never requested. This threat is unlike data poisoning or backdoor attacks. We define the attack as the Proxy Unlearning Attack (PUA), which selects removable proxy entities superposed with a sensitive target. The attack can even occur unintentionally, when benign users accidentally remove entities superposed with a sensitive one. In response, we propose Superposition-Aware Unlearning Protection (SAUP), a general defense framework that can be applied to unlearning requests to ensure a correct removal. SAUP performs in two stages. Before unlearning, it uses superposition detection to estimate which sensitive entities the request puts at risk. After unlearning, it decouples the shared representations and restores the affected entities, while keeping the requested entities suppressed. Our findings reveal that legitimate unlearning requests can be maliciously exploited through knowledge superposition. When dealing with unlearning requests, LLM providers need representation-level detection and recovery mechanisms to mitigate this threat and protect sensitive knowledge.

cs.CR

版本更新 · v2arXiv:2602.04851

Pose Distance Fields for Humanoid Robots

Yi Gu, Yukang Gao, Yangchen Zhou, Xingyu Chen, Yixiao Feng, Mingle Zhao, Yunyang Mo, Zhaorui Wang 等 10 位作者

原文摘要

Pose and motion priors play a crucial role in humanoid robotics. Although such priors have been widely studied in human motion recovery (HMR) domain with a range of models, their adoption for humanoid robots remains limited, largely due to the scarcity of high-quality humanoid motion data. In this work, we introduce Pose Distance Fields for Humanoid Robots (PDF-HR), a lightweight prior that represents the robot pose distribution as a continuous and differentiable manifold. Given an arbitrary pose, PDF-HR predicts its distance to a large corpus of retargeted robot poses, yielding a smooth measure of pose plausibility that is well suited for optimization and control. PDF-HR can be integrated as a reward shaping term, a regularizer, or a standalone plausibility scorer across diverse pipelines. We evaluate PDF-HR on various humanoid tasks, including single-trajectory motion tracking, general motion tracking, style-based motion mimicry, and general motion retargeting. Experiments show that this plug-and-play prior consistently and substantially strengthens strong baselines. Code and models are publicly available at https://gaoyukang33.github.io/PDF-HR.

cs.RO · cs.CV

新论文 · v1arXiv:2611.12856

WorkflowArena:面向基于大语言模型的多智能体系统的可执行工作流编排基准

WorkflowArena: Benchmarking Executable Workflow Orchestration in LLM-Based Multi-Agent Systems

Zheng Jiang, Fang Niu, Bo Peng, Houde Qian, Wenyi Li, Deyao Hong, Mingju Gao, Yizhe Chi 等 13 位作者

AI 速读 基于摘要

提出 WorkflowArena 基准,用 145 个长周期任务评估大模型多智能体系统自主编写并执行工作流编排的能力。

cs.CL · cs.SE

查看原文摘要

Large language model agents are increasingly deployed as multi-agent systems rather than as a standalone model operating within a single context. Recent agent harnesses allow the model to instantiate worker agents and to author the executable workflow that coordinates them, shifting the design of system structure from developers to the model at run time. The quality of this organization therefore constitutes a distinct capability, yet existing benchmarks either measure end-to-end task completion or evaluate coordination under structures specified in advance. We formalize this capability as workflow orchestration and introduce WorkflowArena, a benchmark of 145 long-horizon tasks spanning 8 professional domains, from software engineering and formal mathematics to legal analysis and 3D production. Each task specifies an initial workspace and an integrated deliverable composed of interdependent components, which is assessed by a hidden verifier. Agents determine autonomously whether and how to delegate, and all delegation is recorded, enabling joint evaluation of deliverable quality and the organization of the underlying work. Experiments with nine models show that no single configuration performs best across all domains and that systems exhibit distinct delegation strategies: at high effort, Claude models in Claude Code invoke workflows less frequently but with larger worker groups, whereas GPT models in Codex delegate more frequently in smaller units. When the executing model is held fixed on a challenging subset of tasks, workflows authored by Claude Opus 5.5 substantially improve weaker executors, indicating that workflow organization is itself a measurable determinant of task performance.

新论文 · v1arXiv:2611.12807

抑制并非擦除:LoRA 后门防御中子空间投影的机制分析与再激活边界

Suppression Is Not Erasure: Mechanistic Analysis and Reactivation Boundaries of Subspace Projection for LoRA Backdoor Defense

Junsheng Fu, Shuangshuang Gao

AI 速读 基于摘要

作者审计 LoRA 后门子空间投影防御,发现静态攻击成功率可降至 0%,但少量样本微调即可让后门强烈反弹,说明抑制不等于参数擦除。

cs.CR

查看原文摘要

Low-Rank Adaptation (LoRA) is the standard paradigm for customizing large language models, yet third-party LoRA adapters pose a supply-chain risk: modifying less than 1% of model parameters suffices to implant stealthy backdoors. Recent defenses project adapter weights onto estimated backdoor subspaces, reporting near-zero static Attack Success Rates (ASR). We audit subspace-projection defenses across four model scales (Qwen2.5-0.5B/1.5B/3B/7B) and three architectures (Qwen2.5, InternLM2.5, Spark). Constructively, module-wise rank-1 trigger-difference projection (k=1, alpha=1) reduces ASR from 60.4% to 0.0% on standard benchmarks and from 70.3% to 0.0% on a 1,000-sample uncontaminated suite (p = 3.055e-299, instruction-level p = 9.49e-16) in under 5 seconds end-to-end, and we prove via a spectral-gap bound why trigger-free calibration with benign polite suffixes aligns with u1(B) (median cosine 0.9048) and achieves 0.0% ASR without prior trigger knowledge. Our main contribution is a negative finding: static ASR reduction does not imply parameter erasure. Under 5-sample few-shot reactivation, every evaluated weight-editing defense rebounds (91.7%-100.0% ASR in 1 epoch for standard projections, Fine-Pruning, ANP, SVD truncation and Li & Kim's dual-end projection; 48.7% for our single-round dual variant), all reaching 100.0% by Epoch 2, with first-epoch loss up to 5.7x lower than training from scratch. Using an exact spectrum-preserving Haar orthogonal rotation control (Frobenius norm 10.0928 preserved to 1.70e-6) and N=1..6 cumulative Gram-Schmidt basis ablation, we decompose reactivation into residual trigger-difference coupling energy at Epoch 1 (Spearman rho = 0.986), base-model learnability at Epoch 2 (100%), and benign semantic direction conflict (41.7%).

新论文 · v1arXiv:2611.11905

On the Global Convergence of Stochastic Adam for Physics-Informed Neural Networks

Yihang Gao

原文摘要

The Adam optimizer is widely used to train neural networks with highly nonlinear and nonconvex objective functions. Remarkably, Adam often drives the empirical training loss nearly to zero. This phenomenon has been partially explained by neural tangent kernel (NTK) analyses of gradient descent (GD) and stochastic gradient descent (SGD). However, analyzing Adam presents additional challenges. Its first-moment momentum couples stochastic gradients across iterations, while its adaptive second-moment preconditioner depends on the same stochastic gradient used in the update. In this paper, we establish linear convergence guarantees for Adam in training sufficiently wide two-layer neural networks with either full-batch or minibatch gradients. For full-batch Adam, we construct a Lyapunov function to control the effect of historical momentum. For minibatch Adam, our analysis builds on an exact virtual-iterate representation, a conditional analysis of the dependence between stochastic gradients and adaptive preconditioners, and uniform concentration bounds for the second-moment estimates. We prove geometric decay of the empirical loss for full-batch Adam and geometric decay in restricted expectation on a high-probability event for minibatch Adam. Beyond regression, we extend our convergence analysis to physics-informed neural networks (PINNs) for solving the Poisson equation, where differential operators and separate sampling of interior and boundary points introduce additional challenges. We establish analogous global convergence guarantees for both deterministic and stochastic Adam under explicit conditions on network width and Adam's parameters, characterizing the effects of minibatch size on convergence. These results help bridge the gap between Adam's empirical success and its theoretical understanding, providing sharper convergence guarantees for PINNs than existing analyses.

cs.LG · math.NA · math.OC

版本更新 · v3arXiv:2605.14260

On the Burden of Achieving Fairness in Conformal Prediction

Ziang Gao, Pengqi Liu, Archer Yi Yang, Mouloud Belbahri, Jesse C. Cresswell, Masoud Asgharian

原文摘要

Conformal prediction is often calibrated with a single pooled threshold, but this can hide cross-group heterogeneity in score distributions and distort group-wise coverage. We study this phenomenon through the population score distributions underlying split conformal calibration. First, we derive a conservation law and lower bound showing that pooled calibration incurs irreducible group-wise coverage distortion at a scale set by cross-group quantile heterogeneity. Second, we demonstrate that the two leading fairness definitions for conformal prediction, Equalized Coverage and Equalized Set Size, are fundamentally in tension. Third, we quantify the cost of moving between policies which treat groups separately or pool them. Experiments on synthetic and real data confirm the same bidirectional trade-off after finite-sample calibration. Our results show that, for the policy families studied here, calibration choice does not remove cross-group heterogeneity; it determines whether the resulting distortion appears in the coverage or size dimension, providing a principled lens for analyzing fairness-oriented calibration choices in practice.

stat.ML · cs.LG

版本更新 · v5arXiv:2607.11976

LiteTopK: Exploiting the Curse of Dimensionality for a Fused Indexer-TopK Kernel in Long-Context Sparse Attention

Ziqi Yin, Jianyang Gao, Peiqi Yin, Jiangneng Li, Gao Cong

原文摘要

Indexer-TopK, which computes scores and selects the top-$k$ candidates, is a key primitive in long-context sparse attention for large language models, vector retrieval for recommendation systems, and vector databases. However, existing GPU-based Indexer-TopK kernels like DeepSeek Sparse Attention (DSA) typically separate scoring from selection and materialize the full score matrix in high-bandwidth memory. This strategy is inefficient for large score matrices, such as those encountered in long-context sparse attention, due to excessive global-memory traffic, costly synchronization, and prohibitive memory overhead. In this study, motivated by the curse of dimensionality, we observe that sparse attention scores exhibit a score concentration phenomenon, with scores falling within a narrow range. Based on this observation, we propose LiteTopK, a sample-filter-select framework that estimates query-data score ranges from a small subset of the data. It uses these estimates to filter scores as they are computed, materializes only the candidates that pass the filter, and selects from the surviving candidates. In particular, we develop two implementations of LiteTopK. The first uses a conservative threshold estimate, while the second pairs a predicted threshold with a fallback strategy. Building on LiteTopK, we further propose LiteDSA, which reuses overlapping key/value entries across neighboring queries to accelerate attention computation. We integrate LiteTopK into vLLM, SGLang, and Megatron-LM. Our evaluation on eight B200 GPUs demonstrates prefill speedups of up to 1.49$\times$ across GLM-5.2, DeepSeek-V4-Flash, and Hy-4-Preview at a context length of 1M tokens, without compromising model capabilities.

cs.LG

版本更新 · v3arXiv:2610.23002

Robotic Spatiotemporal Editing: A Unified Interface for Controllable Action Generation via Masked Action Reconstruction

Yanbang Li, Bu He, Yi Tian, Yu-Chiao Huang, Chenyu Zhang, Ruoqu Chen, Yuanzhe Liu, Yuxiang Gao 等 9 位作者

原文摘要

Generative policies can synthesize robot behaviors, yet controlling and editing them through diverse spatiotemporal references remains challenging. In the real world, human intent requires robot behaviors that satisfy constraints on where, when, and how actions are executed. Our key insight is that spatiotemporal control references, such as keypoints, flows, orientations, and keyposes, can be viewed as partial specifications of the same temporal Cartesian action space. We introduce the MAP (Masked Action Space) interface to unify these action references and formulate controllable manipulation as an action inpainting problem. Our Inpainting Policy (IP) reconstructs missing action dimensions of the end-effector, combining progress-guided alignment with multi-mask training supporting unseen action-constraint combinations. We further adopt a training-free RePaint variant that iteratively inpaints the action during denoising to reduce control error. On ManiSkill and LIBERO-10, our policy achieves average task success rates of 92.67% and 64.67%, respectively.Real-world experiments demonstrate spatiotemporal control with average positional and rotational errors of 44.3 mm and 7°, respectively, showing that our policy can use diverse references to guide executable robot behaviors.

cs.RO

新论文 · v1arXiv:2611.10967

BAT-WAM: Bridging Action and Touch in World-Action Models for Dexterous Hands

Dong Fang, Feixuan Huang, Yuanxin Zhong, Yuxiang Gao, Qi Song, Yunlong Wang, Xiaosong Jia, Yu-Gang Jiang

原文摘要

Dexterous manipulation with world action models (WAMs) relies on hand configuration and contact information, yet joint-state and whole-hand tactile observations may be partially or entirely missing. RGB images provide scene context and hand-object geometry but are insufficient to reliably recover these missing modalities. We further observe a correlation between hand state and tactile information. Motivated by this observation, we introduce BAT-WAM, a framework that bridges visual, joint-state, and tactile representations for WAMs. BAT-WAM learns separate codebooks and decoders for the tactile and action streams. An RGB-conditioned continuous latent bridge connects the two streams for bidirectional learning, while visual information serves as continuous context. Under the HTBench evaluation protocol, BAT-WAM reduces the root mean squared error (RMSE) of tactile reconstruction by 34.73% under fully masked conditions and 38.84% under partially masked conditions, relative to an image-conditioned HandTouch checkpoint. For future tactile prediction conditioned on target-time RGB and historical actions, it reduces mean RMSE by 85.56% relative to OpenWAM with HandTouch. Real-robot experiments further show that BAT-WAM consistently outperforms related WAM baselines in dexterous manipulation. Generalization experiments on unseen objects and scenes also demonstrate substantial improvements over baseline models. These findings support joint modeling of visual context, hand state, and touch as a representation approach for multimodal WAMs.

cs.RO

版本更新 · v2arXiv:2611.03601

DiabAgent: Toward Agentic Physiological Control

Chengxi Li, Shaoxuan Li, Deyao Hong, Qingle Liu, Yi Huang, Puheng Bian, Minzhi Xu, Lanyue Zhang 等 16 位作者

原文摘要

As pretraining scales, medical language models have advanced rapidly in clinical question answering. Their ability to achieve effective physiological control through sustained intervention still lacks systematic quantitative evaluation. Type 1 diabetes provides a concrete setting: impaired insulin secretion creates dependence on exogenous insulin, with dosing continually adjusted using information about meals, exercise, illness, and glucose measurements. We introduce DiabAgent, a research suite for agentic physiological control comprising the Agentic Physiological Control (APC) framework, the DiabetSim simulator, and the SweetBench benchmark. APC controls glucose through medical-device tools, using ongoing observations to infer individual states, accumulate personal experience, and choose treatment actions. We build DiabetSim to simulate different patients, events, and device conditions for scalable virtual testing and training. Using DiabetSim, we construct SweetBench by instantiating 32 scenario designs as 212 glucose-control tasks. With Claude Opus 5.5 and a fixed decision interval of one hour, APC achieves a COGI of 73.5, compared with 71.2 for the open-source closed-loop baseline OpenAPS. Ablations further show that individual adaptation and contextual information improve glucose control. Combining high-frequency rule-based control with lower-frequency agent decisions shows potential for balancing control performance and computational cost. Our work provides a framework, simulator, and evaluation foundation for agents to participate in human physiological control.

cs.AI · cs.CL

版本更新 · v2arXiv:2609.19134

ScienceIDE: Turning World's Scientific Codebase into Agent Learnable Environments

Hejia Geng, Zesen Huang, Haoyang Li, Wenbin Li, Koutian Wu, Zihan Zhou, Yuanbo Pang, Weihao Liu 等 63 位作者

原文摘要

Scientific code repositories encode decades of human knowledge in executable models, methods, and tools. Yet fragmented toolchains, implicit domain conventions, and specialized correctness criteria make this knowledge difficult to convert into reliable learning experience-a challenge we call the scientific experience bottleneck. We introduce ScienceIDE, infrastructure for turning the world's scientific code into programmable environments for scientific agents. Guided by expert-defined scientific cases and acceptance criteria, agents transform repositories into executable environments that support task generation, execution, and scientific verification. These environments provide a shared foundation for supervised fine-tuning, reinforcement learning, and evaluation. Using verified interaction trajectories, we train PhAI-IDE-72B/9B/4B. The model family shows gains in held-out scientific-code repair and across selected general-purpose benchmarks in code, reasoning, and knowledge, providing evidence of positive transfer from scientific experience to broader capabilities. ScienceIDE lays the foundation for an integrated workspace for agent learning and scientific practice, making humanity's scientific software a shared substrate for developing scientific intelligence. Code: https://github.com/aitofound/ScienceIDE

cs.CL · cs.CY

版本更新 · v3arXiv:2602.06643

HuMI: Humanoid Whole-Body Manipulation from Humanoid-Free Demonstrations

Ruiqian Nai, Boyuan Zheng, Junming Zhao, Haodong Zhu, Sicong Dai, Zunhao Chen, Yihang Hu, Yingdong Hu 等 11 位作者

原文摘要

Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated autonomous skills remain limited and are typically restricted to controlled environments. In this paper, we present the Humanoid Manipulation Interface (HuMI), a portable and efficient framework for learning diverse whole-body manipulation tasks across various environments. HuMI enables humanoid-free data collection by capturing rich whole-body motion using portable hardware. This data drives a hierarchical learning pipeline that translates human motions into dexterous and feasible humanoid skills. Extensive experiments across five whole-body tasks--including kneeling, squatting, tossing, walking, and bimanual manipulation--demonstrate that HuMI achieves a 3x increase in data collection efficiency compared to teleoperation and attains a 70% success rate in unseen environments.

cs.RO · cs.AI · cs.LG

新论文 · v1arXiv:2611.09017

Frontier3DBench: Benchmarking Coding Agents for 3D Creation across Objects, Scenes, and Interactive Open Worlds

Xinjie Lin, Qingle Liu, Wenyi Li, John Lam, Xiaoqiu Wang, Deyao Hong, Mingju Gao, Zheng Jiang 等 13 位作者

原文摘要

Coding agents combine visual understanding with program execution, offering a new route to automated 3D creation. By translating images and instructions into editable programs, they bring reconstruction, generation, and editing into a shared workflow. Yet existing benchmarks fragment evaluation across task scopes and protocols, leaving their capabilities across construction levels unclear. We propose Frontier3DBench, a unified benchmark of 145 tasks across 9 categories spanning object, scene, and interactive open-world creation, with joint evaluation of appearance, structure, and behavior. Experiments with 11 model-harness configurations reveal strengths that vary by level: GPT-6.1-sol leads the object and scene levels and achieves the highest overall score of 66.02/100, whereas GPT-6-astra leads interactive world construction. However, all configurations score lower on reference reconstruction than on text-driven generation in object and scene tasks. Producing plausible content thus remains easier than reproducing specified geometry, layouts, and visual details. Moreover, generated worlds average 83.08/100 on local mechanisms but only 20.82 on motion clearance and 30.26 on stateful workflows: individual mechanisms often function, whereas complete activities that require coordinated actions and persistent state remain difficult. These results identify reference fidelity and coordinated activity completion as central bottlenecks for coding agents in 3D creation.

cs.CV

版本更新 · v3arXiv:2603.24562

面向临床记录的可扩展复发感知基础模型:基于下次就诊预测

Scaling Recurrence-aware Foundation Models for Clinical Records via Next-Visit Prediction

Xiang Gao, Haresh Rengaraj Rajamohan, Weicheng Zhu, Shih-Lun Huang, Long Chen, Gabe Schulman, Huizhen Jin, Shengduo Li 等 13 位作者

AI 速读 基于摘要

提出 RAVEN,一种基于复发感知下次就诊事件预测的序列 EHR 生成式预训练策略,并在百万级个体数据上考察其零样本预测与缩放行为。

cs.LG

查看原文摘要

While large-scale pretraining has revolutionized language modeling, its potential remains underexplored in healthcare with structured electronic health records (EHRs). We present RAVEN, a novel generative pretraining strategy for sequential EHR data based on Recurrence-Aware next-Visit EveNt prediction. Leveraging a dataset of over one million unique individuals, our model learns to autoregressively generate tokenized clinical events for the next visit conditioned on patient history. We introduce regularization on predicting repeated events and highlight a key pitfall in EHR-based foundation model evaluations: repeated event tokens can inflate performance metrics when new onsets are not distinguished from subsequent occurrences. Furthermore, we empirically investigate the scaling behaviors in a data-constrained, compute-saturated regime, showing that simply increasing model size is suboptimal without commensurate increases in data volume. We evaluate our model via zero-shot prediction for forecasting the incidence of a diverse set of diseases, where it rivals fully fine-tuned representation-based Transformer models and outperforms both standard simulation-based next-token approaches and a prompted medical large language model baseline. Finally, without additional parameter updates, we show that RAVEN can generalize to an external patient cohort under lossy clinical code mappings and feature coverage gaps.

版本更新 · v2arXiv:2601.21471

Designing Service Systems from Textual Evidence

Ruicheng Ao, Hongyu Chen, Siyang Gao, Hanwei Li, David Simchi-Levi

原文摘要

In service system design, it is often the case that the main evidence of system performance appears in textual form, such as customer support transcripts, complaint narratives, and compliance review reports. With the increasing use of large language models (LLMs), these textual trajectories can be converted into low-cost proxy scores that support comparison and optimization of candidate service configurations. However, LLM-based evaluations can exhibit systematic bias and require human audits for correction. To this end, this research studies how to identify the best service configuration with high confidence while minimizing the use of expensive human audits. We formulate the problem as fixed-confidence best arm identification with an always-observed, potentially biased proxy and selectively acquired human-verified outcomes. Moreover, several configurations can run on one case. A human audit can provide a case label that scores all their outputs. We show that sharing this reference and deciding whether to audit after observing proxy scores can each strictly reduce asymptotic identification cost. The selected configurations determine the available proxy scores and verified outcomes, so the proposed algorithm allocates configuration evaluations and subsequent audits jointly. For a specified finite family of data-generating models containing the true law and distinguishing different best configurations, its expected cost asymptotically attains the information-theoretic lower bound. For audits of individual outputs, we develop prediction-powered confidence sequences valid under adaptive auditing and delayed feedback. Numerical experiments on synthetic examples and service datasets show that the proposed algorithms require substantially less human review while maintaining reliable selection.

cs.LG · math.OC · stat.ML

版本更新 · v4arXiv:2608.03227

PFM-HR: Pose Flow Matching for Humanoid Robots

Yukang Gao, Yi Gu, Yangchen Zhou, Xingyu Chen, Zhaorui Wang, Fanghai Zhang, Hanyang Cao, Zhengyang Shen 等 12 位作者

原文摘要

Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for policy-induced pose transitions. We present Pose Flow Matching for Humanoid Robots (PFM-HR), a reusable flow matching prior trained directly on large scale unordered pose data. PFM-HR introduces the Pose Geometry Score (PGS), which quantifies how joint coordinate changes during rollouts align with the local geometry of pose variation captured by the prior. Using PGS to modulate the tracking reward guides policy exploration toward structured pose changes while keeping the prior frozen across tracking tasks. Experiments demonstrate that PFM-HR improves both single motion and general motion tracking, especially for highly dynamic motions.

cs.RO

版本更新 · v2arXiv:2606.05800

SALT: When More Rollouts Don't Help in Group-Based Policy Optimization and How to Make Them Matter

Powei Chang, Jinpeng Zhang, Chaoqun Sun, MiniWell Tsao, Lianrui Li, Jianxiang Xiang, Chenyu Wang, Yukang Gao 等 9 位作者

原文摘要

Reinforcement learning with verifiable rewards (RLVR) often adopts GRPO-style group-relative updates, sampling multiple rollouts per prompt to construct normalized learning signals. However, merely increasing the number of rollouts does not reliably strengthen learning: under GRPO-style group normalization, per-rollout policy-gradient features can concentrate into a low-rank, signed geometry, causing substantial cancellation during aggregation and weakening the effective update. We address this failure mode with SALT, a Subspace-Adaptive geometry pLug-in componenT that uses sample-wise gradient geometry to reweight the coefficients of group-relative updates. SALT estimates a dominant shared subspace from the mini-batch Gram geometry, decomposes group-relative coefficients into shared and residual channels, and adaptively amplifies the residual channel when signed cancellation is severe. Across diverse reasoning-oriented RLVR benchmarks and model scales, SALT improves effective update geometry and performance without modifying the reward model or the rollout sampling procedure.

cs.LG

版本更新 · v2arXiv:2608.14207

MMUSV-Sim: A Maritime Simulation Platform for Multi-USV Cooperative Perception

Ziao Li, Jianxiong Ye, Biao Tang, Leping Zhang, Kun Zuo, Siyu Huang, Mengtang Li, Deyu Meng 等 9 位作者

原文摘要

Perception from a single unmanned surface vehicle (USV) is limited by sensing range, field of view, and occlusions caused by islands, port infrastructure, and nearby vessels. Multi-USV cooperative perception can alleviate these limitations by integrating complementary observations from distributed viewpoints. However, progress is constrained by the high cost of coordinated sea trials, the scarcity of multi-USV datasets, and the lack of integrated maritime simulation and evaluation tools. We present MMUSV-Sim, a perception-oriented maritime simulation and data-generation platform built on Unreal Engine 5 and Project AirSim. It supports configurable maritime scenarios, synchronized multimodal acquisition across multiple USVs, and consistent 3D annotations in a shared world frame. Using MMUSV-Sim, we construct MarU2U-200m, a synchronized multi-USV RGB--LiDAR dataset with 341 sequences and 14,385 scene frames. We establish a cooperative bird's-eye-view (BEV) vessel detection benchmark with LiDAR and RGB--LiDAR inputs. Experimental results show that Early Fusion improves LiDAR detection AP@0.5 from 64.26 to 81.46 compared with the single-USV baseline. RGB features further improve intermediate fusion, increasing AP@0.5 by up to 4.55 percentage points. LiDAR and RGB transfer experiments also show the value of the generated data as a pretraining source for real maritime detection. The project are available at https://github.com/lizaowo/MMUSV-Sim

cs.RO · cs.CV

新论文 · v1arXiv:2611.06168

Reasoning-Aware Cross-Modal Association Unlearning in Multimodal Large Reasoning Models

Xinghao Li, Chenchen Tan, Youyang Qu, Shujie Cui, Xingliang Yuan, Cunjian Chen, Chi Liu, Longxiang Gao

原文摘要

Multimodal large reasoning models (MLRMs) integrate visual inputs with textual and parametric knowledge, allowing sensitive information to be accessed through cross-modal associations during reasoning. This raises privacy concerns when a visual input should no longer provide access to such information. Machine unlearning can remove this influence without retraining the model from scratch. However, multimodal unlearning methods mainly target samples, concepts, or knowledge content, without separating the knowledge from the cross-modal association through which it is accessed. In reasoning models, target information may disappear from the final answer while remaining in intermediate reasoning, or be replaced by incorrect substitute knowledge. We therefore study cross-modal association unlearning, where the forget target is a designated visual-to-knowledge association: the model should suppress target-bearing behavior under the designated visual context while preserving access to the same knowledge in permitted contexts. We propose Visual-Keyed Counterfactual Rebinding (VKCR), a parameter-efficient framework for cross-modal association editing. VKCR first localizes the edit to a compact association-conditioned parameter subspace. It then reduces support for the designated target at task outputs and counterfactually rebinds the affected reasoning behavior by discouraging target-bearing or unsupported continuations while favoring valid non-sensitive alternatives. We further introduce CLEAR-R and MLLMU-R to evaluate target leakage, hallucinated reassociation, reasoning preservation, and modality-specific utility. Experiments show that VKCR substantially reduces image-conditioned target leakage and hallucinated reassociation, including across heterogeneous task formulations, while preserving non-sensitive visual reasoning and permitted text-only knowledge.

cs.CV · cs.AI

版本更新 · v2arXiv:2611.01560

让机器人使用智能体走向大众:一个配开放模型的统一测试框架

Democratizing Robot-Use Agents: A Unified Harness with Open Models

Jiarui Yuan, Yuxin Zuo, Xiaoyu Huang, Wenbo Zhang, Kwanyoung Park, Junlin Yang, Tianxiang Zhang, Ruoqu Chen 等 28 位作者

AI 速读 基于摘要

作者提出统一测试框架 uni-robot-agent,使开放权重模型可开展机器人使用智能体研究并支持后续训练,报告开箱即用的 Qwen3.8-Flash-Next 在 RoboDojo 上取得 31.39 分。

cs.RO

查看原文摘要

Robot-use Agents (RUAs) have shown promising zero-shot manipulation capabilities, but reliance on frontier, proprietary models limits research into further training. To democratize RUA research, we introduce uni-robot-agent, a unified harness for competitive open-weight robot use that supports further training. Without privileged inputs, an out-of-the-box Qwen3.8-Flash-Next achieves a RoboDojo Score of 31.39, surpassing the published GPT-6 Astra-RoboProbe result of 28.97 and many VLA/WAM baselines, and performs competitively on 19 real-world tasks. Our analysis across model generations, families, and sizes links effective robot use to four general capabilities, suggesting that future RUA training should develop them jointly.

新论文 · v1arXiv:2611.05150

What Sets the Serving Speed of Looped Language Models? Measurements and Optimizations Graded by Exactness

Dezhen Lu, Runguo Li, Zixiang Ni, Yuchen Tang, Xingquan Kong, Jiaxing Yang, Jiarui Guo, Lingxiang Gao

原文摘要

Looped language models apply one block of layers many times per token, so a serving engine pays every per-layer overhead once per loop; we measure serving for Ouro and Huginn-0125 in an open-source looped-model engine and grade our optimizations from bitwise-identical changes to those that require an accuracy check. At batch 1, fusing all loop submissions leaves Ouro throughput at 0.99x; the 5689 small kernels per token are the real cost, and fusing them behind rounding fences raises throughput 1.11-1.59x while 1014/1014 requests remain identical. An approximate fusion is no faster and misses a one-point GSM8K rule on 87 questions (61 and 62 correct versus 64), so we do not ship it. Huginn's released defaults avoid dead KV slots, reuse prefix-cache pages, and serve 1.77-3.16x faster than the base engine; Ouro reaches 1.65-2.15x and agent sessions 1.91-3.21x, while Huginn's noise and prefix-reuse changes stay within one point on all 1319 Huginn test questions; Huginn's packed prefill, -0.61 points on the same questions, meets that rule only on its point estimate. Position-keyed noise makes CPU cache reuse exact but still leaves 20 of 128 GPU full hits different, while loop fusion delays prefill admission and a 64-graph cache prevents eager fallbacks. Under prefill-decode disaggregation ExactLoop reaches up to 3.3x the base throughput with peer error handling disabled, and 3.1x in two of three runs with it enabled. Its transfer budget, sized to hold one request's KV in flight, cuts the commit tail from about one second under the earlier budget to 16 ms (base: 2.8 s), removing the polling rounds that the engine's interval would otherwise impose.

cs.DC

新论文 · v1arXiv:2611.05023

HiLo-WAM: Decoupling Long-Horizon Task Evolution and Local Dynamics in World Action Models

Xingyu Wang, Yanjiang Guo, Zhijing Ding, Jiaxin Fang, Zeyu Lai, Jiayu Dong, Weikang Wan, Jianyu Chen 等 10 位作者

原文摘要

World Action Models (WAMs) improve robotic manipulation by jointly modeling visual dynamics and robot actions. However, most existing WAMs model dense short-horizon visual dynamics, capturing local interactions but providing limited long-range task context. Extending prediction horizons increases uncertainty and computation while entangling task-level evolution with fine-grained local dynamics, obscuring their dependencies and distinct roles in action generation. We propose HiLo-WAM, which decouples long-horizon task evolution from local visual dynamics while jointly modeling their interaction with robot actions. A sparse long-horizon visual stream captures historical task context and future evolution, while a dense local dynamics visual stream models short-horizon robot-object interactions. The two streams operate at different temporal scales within a unified dual-DiT architecture and guide actions through structured cross-stream attention. Progressive inference further reduces unnecessary computation through stream-wise partial denoising, joint denoising, and dynamic skipping. Experiments demonstrate strong long-horizon manipulation performance: HiLo-WAM achieves a 93.70% average success rate on RoboTwin 2.0 and a 17.43 progress score on RoboDojo long-horizon tasks, with robust in-domain and OOD performance on the Fourier GR-3 robot. Ablations confirm the complementary contributions of long-horizon task evolution and local interaction dynamics, while temporal-scale analyses highlight the importance of balancing temporal coverage and resolution. Progressive inference further achieves a 2.93x speedup while improving performance.

cs.RO

新论文 · v1arXiv:2611.04921

PROSE: Preservation-Constrained Selective Editing for Guilty Bias in Legal Judgment Prediction

Yimeng Wang, Zeyuan Tian, Xinyu Wang, Danyang Gao, Chenglei Shen, Zhongxiang Sun, Lei La, Weijie Yu

原文摘要

Legal judgment prediction models may retain a guilty verdict after a legally decisive condition has been altered such that the specified charge is no longer established. We study this guilty bias via selective repair over matched charge-established and charge-not-established cases, where the unsupported verdict should change while its supported counterpart remains stable. We construct CAIL-MC, a legally reviewed dataset of 11,478 matched pairs covering 261 Chinese criminal charges. Held-out activation interventions show that contrasts learned from correctly resolved pairs transfer to false-guilty cases, but target-reaching interventions can also damage matched supported-guilty decisions. Motivated by this observation, we introduce PROSE, which reconstructs case-specific targets from a training-derived residual geometry, aligns them with a local margin-descent signal, attenuates supported-guilty-sensitive components, and realizes bounded targets through a preservation-regularized low-rank parameter update. Across Qwen3-8B and GLM4-9B, PROSE achieves stronger pairwise safe repair and evidence sensitivity, while preserving standard single-pass inference.

cs.CL

版本更新 · v2arXiv:2610.29455

Omnilingual-MsASR: Benchmarking Multimodal, Multilingual, Long-Form Multi-Speaker ASR of Omni Large Language Models

Yuan Ge, Pei Zhang, Xize Cheng, Lingzhou Mu, Mingyang Wang, Jin Xu, Baosong Yang, Shengxiang Gao 等 11 位作者

原文摘要

Omni-modal large language models (LLMs) have achieved remarkable progress in audio and video understanding. However, existing models struggle with long-form, multi-speaker videos, especially in understanding the entire video and recognizing who says what and when. To characterize the capability limit of current omni LLMs and guide future model development, we introduce Omnilingual-MsASR, a multilingual, multimodal benchmark for long-form Multi-speaker Automatic Speech Recognition (MsASR) covering six languages, recordings up to 30 minutes, and scenarios with up to 20 speakers. Omnilingual-MsASR provides parallel audio and video inputs to evaluate models' cross-modal consistency and their ability to exploit complementary cues across modalities. Extensive evaluations of leading omni-modal LLMs reveal substantial performance bottlenecks, while their tcpWERs frequently exceed 100%. These findings highlight fine-grained temporal localization, speaker disambiguation, and cross-modal synergy as key challenges for future omni-modal foundation models. Our work is available at https://github.com/QwenLM/Omnilingua-Bench/tree/main/Omnilingua-MSpeaker.

cs.CL

新论文 · v1arXiv:2611.04139

COSMIO: A Benchmark for Cross-Survey Modality Imputation

Dichang Zhang, Yixuan Shao, Jiaqi Deng, Jiali Cui, Haotian Yin, Yuanpeng Liu, Xiang Gao, Zhiqiang Lao 等 11 位作者

原文摘要

Large-scale astronomical surveys define a heterogeneous, partially observed multi-survey learning setting: each object is observed by only a subset of surveys, while survey observations differ in resolutions, wavelength coverage, noise characteristics, and footprints. This setting gives rise to a natural machine learning problem: given observations of an object in some surveys, how to infer its appearance in other surveys. We formalize this as the problem of cross-survey modality imputation and introduce COSMIO, a multi-survey benchmark of aligned observations obtained by forward-rendered shared astrophysical scenes across LSST, Euclid, and Roman under survey-specific instrument characteristics. The benchmark enables systematic evaluation of imputation across source-target survey combinations and missing-survey patterns. We evaluate a broad range of machine learning methods for imputation, which reveal a clear domain gap: methods developed for existing imputation settings transfer poorly to the survey setting. We identify rare-event imputation as a central challenge. This regime arises in the early stages of new surveys, when rare but scientifically valuable phenomena may be available only from prior surveys. We use strong gravitational lensing, where light from a background galaxy is gravitationally deflected by a foreground galaxy, as a representative rare-event setting. We evaluate model performance on zero-shot imputation of gravitational lenses and on downstream scientific tasks using the imputed lens observations. On our constructed evaluation set of galaxy-galaxy strong lenses, performance degrades under rare-event distribution shift, and this degradation further propagates to the downstream lens-detection task. Code: https://github.com/fw-ic/COSMIO.

astro-ph.IM · cs.CV

新论文 · v1arXiv:2611.03189

MoSoLoco: Monocular 3D Human Localization through Visual Latent Features and Social Context

Yasamin Borhani, Javad Khoramdel, Yang Gao, Po-Chien Luan, Alexandre Alahi

原文摘要

Estimating the metric 3D position of people from a monocular camera is important for robot navigation and motion prediction. Lightweight pose-based localizers are attractive for robotic hardware with limited computational resources because they operate on compact 2D keypoints. However, they typically discard the richer visual representations computed by the pose estimator. We introduce MoSoLoco, a per-frame monocular 3D human localizer that combines the pose detector's internal visual features with the detected 2D skeleton, without requiring an additional RGB or depth encoder. MoSoLoco can further incorporate sparse same-frame multi-person context to refine individual position estimates. Experiments on JRDB and NuScenes show that reusing pose-detector representations improves localization, reducing the best JRDB error by approximately 23 percent relative to the strongest evaluated keypoint-based baseline. A sparse social-interaction module incorporates nearby detections from the same image for further refinement. Controlled trajectory-forecasting experiments show downstream benefits, while the complete pipeline remains suitable for efficient Jetson AGX Xavier inference.

cs.CV · cs.RO

新论文 · v1arXiv:2611.03184

ACTOR: Action-Centered Temporal Organization for Literary Role-Playing Agents

Yuxiang Gao, Tianjie Ju, Zheng Wu, Zongru Wu, Hao Fei

原文摘要

Large language agents for literary role-playing are typically modeled around dialogue generation, leaving characters' non-dialogue behaviors and their dynamic evolution over story time underrepresented. In this paper, we propose ACTOR (Action-Centered Temporal Organization for Literary Role-Playing Agents), an automated framework for constructing such behavior trajectories from raw novel texts. ACTOR extracts dialogue and persona-relevant non-dialogue behaviors, represents each behavior using a Thought-Action-Observation structure, and organizes behavior trajectories according to the internal temporal order of the story. We build a behavior dataset from 143 diverse literary works. For each source behavior, we generate counterfactual behaviors that are contextually plausible yet inconsistent with the character's persona. We find that existing models struggle to reliably infer character-consistent actions from historical behaviors and evolving character states. Using these behavior pairs, we train models with Regularized Preference Optimization (RPO), which augments DPO with a negative log-likelihood loss on the source behavior to jointly optimize behavior preference and generation. We further design a four-way next-behavior selection task to evaluate the model's ability to faithfully mimic character actions. Across 17,560 evaluation instances, the model trained on ACTOR's preference pairs achieves substantially improved accuracy. This result demonstrates that structured, temporally organized supervision enables models to leverage character profiles and prior behaviors to infer subsequent actions, greatly advancing literary role-playing beyond mere dialogue imitation. Code and data are available at https://github.com/SilentStar233/ACTOR.

cs.CL

新论文 · v1arXiv:2611.02806

CARE: Contrastive Representation Learning with Environment-Invariance Regularization for Behavioural Intention Prediction

Shang Gao, Zhixin Huang, Franz Götz-Hahn, Konrad Doll, Bernhard Sick

原文摘要

Trajectory-based behavioural intention prediction faces environmental variation, and representations learned with a pooled contrastive objective may retain environment-specific regularities. We present CARE, a self-supervised trajectory-learning framework that couples temporally asymmetric contrastive views with an invariant-risk-minimisation (IRM)-style gradient penalty on environment-wise contrastive risks. Each input window yields an anchor, a partially masked positive view, and a temporally perturbed negative view. Masked reconstruction and observability-aware evidence consistency complement this objective by promoting temporal information retention under partial input. On an IMPTC-derived four-class intention task, CARE achieves 0.840 accuracy and 0.023 expected calibration error (ECE) under IID fine-tuning, and 0.806 accuracy with a Brier score of 0.308 on the reported held-out environment. Under frozen-encoder linear probing, reconstruction provides the largest individual held-out accuracy gain, whereas the complete objective yields the lowest held-out ECE (0.049) among tested variants. These results support the combined objective as a competitive representation-learning approach under the evaluated shift, while the IRM-style regulariser is not taken as evidence of formal invariance.

cs.LG