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新论文 · v1arXiv:2611.16840

Kosmo-GFM: A Production-Ready Geometry Foundation Model

Sheng Tang, Shengzhe Wei, Tiancheng Chen, Wenhua Jin, Xinyang Lu, Tinghao Jiang, Shuoxuan Feng, Yupeng Liu 等 32 位作者

原文摘要

We present Kosmo-GFM, a scene reconstruction system that integrates a geometry foundation model (GFM), a pose optimization engine (PoseEngine), and reconstruction-derived supervision from KosmoWorld. GFM predicts camera parameters, depth, cross-view correspondences, and dynamic 3D points from images and videos. PoseEngine combines these predictions with geometric optimization to recover scene-level camera poses and geometry for downstream 3D and 4D Gaussian Splatting. KosmoWorld generates images and geometric supervision from reconstructed real-world scenes to improve GFM's geometric predictions. On the Sparse and Medium subsets of SpatialBench, GFM achieves the lowest absolute relative depth error and the highest relative-pose AUC at 5 degrees among the compared methods. It also achieves the lowest mean endpoint errors for dynamic points and scene flow across the five evaluated datasets. Across 34 scenes completed by all compared reconstruction systems, PoseEngine achieves the highest scene-averaged pose AUC at thresholds of 1, 3, and 5 degrees, with a cumulative runtime of 14.07 hours, approximately 20% of GLUEMAP's 69.67 hours. PoseEngine Flash provides a further accuracy-efficiency trade-off, with a measured mixed-precision runtime of 2.62 hours, approximately 4% of GLUEMAP's runtime. Separate scaling experiments show generally favorable trends with increased data, model computation, and training budgets. These results support the use of learned geometric priors within a scene-level reconstruction pipeline.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11337

OPSRL-SSP: Optimistic Posterior Sampling for Stochastic Shortest Path with Minimax-Optimal Regret

Yiming Xu, Xian Wei, Cheng Chen

原文摘要

We study online reinforcement learning for the stochastic shortest path (SSP) problem with unknown transition dynamics. Although existing posterior-sampling methods perform well empirically on SSPs, their regret guarantees do not achieve the minimax-optimal order. We address this limitation by proposing OPSRL-SSP, an optimistic posterior-sampling algorithm for the SSP setting. The algorithm operates in epochs and uses a logarithmic, time-dependent schedule for the number of posterior samples. To induce optimism, we augment the transition model with a pseudo-state assigned an optimistic boundary value. We establish a high-probability regret bound of $\tilde{O}(B_\star \sqrt{SAK} + B_\star S^2 A)$, where $B_\star$ is an upper bound on the expected cost of the optimal policy, $S$ and $A$ are the numbers of states and actions, respectively, and $K$ is the number of episodes. In addition, we extend the analysis to general zero-cost SSPs using a universal cost-perturbation argument. The leading term matches the minimax lower bound $Ω(B_\star \sqrt{SAK})$, thereby addressing the open problem raised by Jafarnia-Jahromi et al. [19] for posterior sampling in the SSP setting.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10660

Dynamics-Informed Action Learning for Goal-Conditioned Latent Planning

Yinuo Jiang, Guangzhi Wang, Yiran Wang, Junfu Pu, Cheng Cheng, Honghao Chen, Cheng Cheng, Ying Shan

原文摘要

Latent world models enable visual control by planning action sequences in compact representation spaces, but a gap remains between how latent dynamics are learned and how they are used for planning. First, teacher-forced training does not expose the dynamics model to the recursively predicted latent states encountered during planning. Second, sampling-based planners typically initialize action search from goal-agnostic proposals, without exploiting the action-conditioned dynamics learned by the world model. We introduce Dynamics-Informed Action Learning (DIAL) to bridge these two gaps. During training, rollout alignment exposes the forward model to its own autoregressive latent predictions, while multi-step inverse supervision trains a lightweight inverse dynamics head to infer actions from latent-state transitions. We further apply the inverse head to model-generated transitions with its parameters held fixed, encouraging predicted rollouts to retain action-relevant information. At test time, DIAL autoregressively couples the inverse and forward dynamics to construct a dynamics-informed action sequence toward the goal, which initializes the mean of the Cross-Entropy Method (CEM) proposal distribution. The subsequent CEM search then refines this initialization using the standard sampling and updating procedure. Experiments across four visual control benchmarks demonstrate that DIAL outperforms existing latent world models and planning baselines in both standard and long-horizon scenarios.

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v8arXiv:2509.24102

Pragmatic Inference for Improving Social Reasoning Generalization in Large Language Models

Guangliang Liu, Xi Chen, Bocheng Chen, Han Zi, Xitong Zhang, Yuda Chen, Kristen Johnson

原文摘要

Achieving social reasoning, including moral reasoning, cultural awareness, and politeness, is critical for the socially reliable deployment of large language models (LLMs). A key bottleneck is limited generalization: social situations that convey similar social implicatures can be expressed through highly diverse linguistic forms, creating an enormous space of possible situations and posing a substantial computational challenge even for LLMs. From a linguistic perspective, this challenge arises because social reasoning operates at the pragmatic level, requiring a pragmatic inference process to infer social implicatures from a given situation and its underlying social context. Although moral values such as moral foundations are generally considered as the representations of the social context, how to construct the corresponding pragmatic inference steps remains underexplored. Taking moral reasoning as an instance of social reasoning, this paper develops a pragmatic inference approach that enables LLMs to infer moral implicatures by (1) specifying the inferential steps through which LLMs derive moral implicatures from language, and (2) explicitly modeling the metapragmatic links among these inferential steps to bridge the pragmatic gaps between them and make such inferences learnable for LLMs. Experimental results demonstrate that our approach substantially improves LLMs' generalization in moral reasoning, highlighting the potential of pragmatic inference for future social reasoning research.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v7arXiv:2601.03079

Learning to Diagnose and Correct Moral Errors in Large Language Models

Bocheng Chen, Xi Chen, Han Zi, Haitao Mao, Zimo Qi, Xitong Zhang, Yuda Chen, Kristen Johnson 等 9 位作者

原文摘要

Enabling large language models (LLMs) to diagnose and correct moral errors is crucial not only for ensuring their reliable deployment but also for charting a pathway toward continuous improvement. Existing research has primarily followed two directions: fine-tuning LLMs on corpora of morally appropriate texts and developing carefully designed prompting strategies to promote moral behavior, including moral self-correction and self-improvement. However, both lines of work often remain brittle, relying heavily on shallow heuristics rather than enabling LLMs to reason about why and how a given moral discourse is morally (in)appropriate. In this paper, we address this challenge by developing pragmatic inference-driven approach that help LLMs learn to diagnose and correct moral errors. Pragmatic inference is the reasoning process through which implied meanings are derived, a central concept in linguistics. To improve the reasoning efficiency, our approach adapt the inference procedure according to the inferential load required by different moral discourses. Empirical results demonstrate that our method not only improves LLMs' ability to diagnose and correct moral errors, but also generalizes effectively across tasks without relying on shallow heuristics.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08664

ForPC: Force-Aware Whole-Body Control for Precise Humanoid Cart Pushing

ZhenYu Zou, Xing Liu, ShiChuang Wang, YunLong Dong, LiNan Deng, Feng Hua, Jun Wan, Cheng Cheng

原文摘要

Humanoid robots are expected to take over strenuous material handling in manufacturing, logistics, and healthcare, where operating existing wheeled carts would let them move heavy loads without modifying the workplace. However, humanoid cart pushing remains challenging because the bimanual grasp closes a force-coupled loop in which the contact wrenches that drive the cart also disturb the robot's balance, and payload changes alter the coupled dynamics. We propose ForPC, a force-aware whole-body control framework that regulates cart velocity through two-stage reinforcement learning. A locomotion prior is first trained under varied hand loads and upper-body postures to provide balance support. A force latent and a state latent are then inferred from onboard observations, without external force sensors, and fed to a residual policy that coordinates bounded arm, waist, and leg adjustments with base-velocity commands. Multi-objective rewards penalize bimanual internal opposition, grasp slip, and actuator saturation, encouraging the policy to apply contact force on demand without human demonstrations. Sim-to-sim experiments show that ForPC reduces cart-velocity RMSE by up to 68.2% relative to a locomotion-only baseline (Loco-only) and cross-track RMSE by up to 74.2% on the multi-bend route. Trained solely in simulation, the policy also transfers to a physical Unitree G1 without real-world training or fine-tuning and, with no payload-specific adjustment, pushes a cart carrying up to 30 kg at 0.5 m/s. These results suggest that humanoid robots could eventually replace humans for efficient material handling in daily life.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04894

VisSearch-Bench: Evaluating Long Horizon Visual Search in Multimodal Agents

ZhengXian Wu, Qianhao Nie, Zhuohong Chen, Junjie Gao, Yuyao Zhang, Yunyao Yu, Hangrui Xu, Cheng Cheng 等 13 位作者

原文摘要

Multimodal agents use web and image tools to answer questions beyond their internal knowledge. Some search tasks use images mainly to identify an initial entity, then rely on text retrieval. These tasks offer limited insight into how agents connect information across images, objects, and search steps. We therefore focus on visual context management. This involves organizing and using visual information and linking it to other findings during search. Visually intensive tasks require agents to combine object appearance, local details, or spatial relations with external information. We introduce VisSearch-Bench, with 204 human-written tasks across 7 main domains and 25 subdomains. It covers Set-wise Visual Search, Sequential Visual Search, Hybrid Wide-Deep Search, Competitive Visual Disambiguation, and Visual-Structure-Guided Search. Each task provides a reference answer, traceable evidence, and scoring rules. Accuracy measures complete task success, while Process Score measures the correctness and completeness of individual results and subquestion answers. Across 16 multimodal models, the best system fully solves only 26.47% of tasks, even with search tools. These results highlight the challenge of linking visual evidence with search results to produce complete answers.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02941

RouteREPA: Routed Representation Alignment for Just Image Transformers

Yi Tan, Beier Zhu, Sirui Chen, Cheng Chen, Xingyu Zhu, Yuan Zhou, Zhenshan Tan, Tianrun Chen 等 9 位作者

原文摘要

Representation alignment (REPA) is widely used to accelerate the training of latent-space diffusion transformers (DiTs). However, applying it to pixel-space models such as Just Image Transformers (JiT) is challenging. Our analysis reveals a pronounced representation conflict between discriminative alignment and pixel-space generation. Compared with its latent counterpart, JiT learns representations that are substantially less aligned with DINOv2. Applying REPA to JiT consistently reduces the reconstructability of its intermediate representations, whereas this effect is not observed in Latent JiT. We attribute this conflict to JiT directly reconstructing pixels, which requires its representations to hierarchically encode discriminative semantics and reconstruction-relevant visual information across network depths. To address these challenges, we propose Routed Representation Alignment (RouteREPA), which uses lightweight, representation-dependent routers to adaptively route task-oriented representations for alignment and generation. We further apply routing across multiple network depths to accommodate their depth-dependent representation requirements. Extensive experiments on ImageNet-1K at 256x256 resolution show that RouteREPA consistently improves JiT across model scales and training budgets, outperforming standard REPA. On JiT-H/16, RouteREPA further surpasses PixelREPA using only one-third of its training epochs without classifier-free guidance.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02921

Unlocking the Potential of Contrastive Regularization for Diffusion Transformer Training

Yi Tan, Beier Zhu, Sirui Chen, Yunzhe Lin, Yuan Zhou, Cheng Chen, Xingyu Zhu, Tianrun Chen 等 10 位作者

原文摘要

Representation regularization has emerged as an effective way to improve diffusion transformer training. Yet one of the most canonical regularizers--InfoNCE-style contrastive learning--remains largely underexplored in this setting. We naturally ask a question: can standard contrastive learning serve as an effective regularizer for diffusion transformers? Surprisingly, we find that naive InfoNCE regularization brings only marginal gains. Our analysis reveals that the objective is easily dominated by a shortcut: near-orthogonal noise components in diffusion inputs provide a bypass for enlarging negative-pair distances while weakening positive-pair alignment, especially at high noise levels. To unlock the benefit of contrastive regularization, we propose Clean Representation-ANchored Contrastive (CRAN) regularization. Specifically, CRAN anchors contrastive dispersion with clean-sample representation distances, transferring clean relational semantic structure to noisy diffusion representations to suppress the noise shortcut. Extensive experiments on ImageNet show that CRAN consistently improves diffusion transformer training across model scales and training budgets, outperforming internal feature-alignment and dispersive regularization baselines while matching external DINO-guided REPA. These results re-establish InfoNCE-based contrastive learning as an effective regularizer for diffusion training, once its noise-driven over-dispersion is properly constrained.

cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2510.01691

Can MLLMs Perceive and Describe Medical Image Quality Beyond Scores?

Jiyao Liu, Jinjie Wei, Wanying Qu, Chenglong Ma, Junzhi Ning, Yunheng Li, Ying Chen, Jiafan Zhang 等 19 位作者

原文摘要

Medical Image Quality Assessment (IQA) serves as a critical safety gate for clinical AI, yet existing approaches rely on scalar metrics that fail to capture the descriptive, expert-like evaluation process central to clinical practice. We introduce MedQ-Bench, a comprehensive benchmark for language-based medical IQA evaluation with MLLMs, establishing a perception--description paradigm across 5 imaging modalities and over 40 quality attributes. The benchmark comprises two complementary tasks: MedQ-Perception probes low-level visual attribute discrimination via 2,600 expert-annotated perceptual queries; MedQ-Description covers both no-reference and comparison description sub-tasks with 708 expert-annotated samples, evaluated through a four-dimensional judging protocol. Comprehensive evaluation of 23 state-of-the-art MLLMs reveals that current models exhibit only preliminary and unstable capabilities, and highlights the urgent need for targeted optimization of MLLMs in medical IQA. Project & Dataset: https://github.com/liujiyaoFDU/MedQ-Bench

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.40276

TaskFrame: Connecting Task-Level Planning with Frame-Level Control for Game Agents

Guangzhi Wang, Junfu Pu, Yiran Wang, Xingyilang Yin, Honghao Chen, Cheng Cheng, Lingen Li, Yinan Zhou 等 13 位作者

原文摘要

Building general game agents requires both high-level task reasoning and low-latency action control in rapidly changing visual environments. These capabilities favor models with substantially different computational profiles, making them difficult to realize within a single model. In this work, we present TaskFrame, a hierarchical planner-controller framework that connects task-level planning with frame-level keyboard-and-mouse control. A vision-language task planner decomposes a high-level goal into an ordered sequence of atomic instructions and is optimized through supervised learning and dependency-aware GRPO. The hidden states of special goal tokens that terminate each atomic instruction provide continuous goal embeddings that are cached and reused across control steps. A causal Transformer controller combines the embedding of the active goal with recent observations to predict discrete keyboard and mouse-button actions and continuous camera motion at every game step. We train the system in three stages: planner training, controller pretraining, and joint alignment. Experiments in Minecraft show that TaskFrame is competitive with general-purpose vision-language models on instruction decomposition, and that in closed-loop evaluation the agent achieves a higher combat success rate than the evaluated baselines.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.33478

MarineLife-16K: An Attribute-Rich Video-Text Dataset for Motion-Aware Marine Video Understanding

Quang-Trung Truong, Thanh-Nghia Nguyen, Phu-Phong Vo, Jaeyeon Kim, Cheng Chen, Jie Zhang, Binh-Son Hua, Duc Thanh Nguyen 等 10 位作者

原文摘要

Marine video understanding is crucial for a wide range of real-world applications. However, existing marine video datasets suffer from limitations, including the limited number of data samples, fine-grained text descriptions, and detailed visual attributes. To address these limitations, we introduce a large-scale, video-text dataset featuring rich, in-the-wild visual attributes tailored for complex marine environments. Our dataset comprises 2,000 video-text pairs annotated with 13 attributes covering up to four objects per scene, object visual/geometric properties, behaviors, environmental context, and camera motion, spanning diverse lighting conditions, times of day, and 7 countries. From these annotations, we generate 16,080 video-question pairs (12,080 multiple-choice, 4,000 open-ended). Furthermore, we benchmark both proprietary and open-source video-LLM models on video question answering and video captioning tasks. We find that (i) proprietary models often achieves superior performances; (ii) VLMs handle object motion well but struggle with complex camera motion; (iii) closed-source models struggle to perceive camera motion; and (iv) VLMs struggle to reason in static cameras.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36958

PailitaoMMSearch2.0 Technical Report: Scaling Generative Retrieval to Unified End-to-End Multimodal Search

Xiaohan Ye, Zihan Gong, Jingqian Zhao, Lianyu Du, Yunmeng Shu, Xu Chen, Zesheng Zhou, Renchun You 等 12 位作者

原文摘要

Generative retrieval models have been increasingly adopted in search and recommendation systems. However, industrial generative retrieval models are commonly specialized to a fixed online scenario: they learn from scenario-specific interactions, support a narrow set of query forms and retrieval objectives. We study how to remove these couplings and build a unified end-to-end multimodal search system for open-ended image--text queries, heterogeneous shopping intents, and online scenarios with different resource constraints. We present \textbf{PailitaoMMSearch}, which directly generates product Semantic IDs from a raw query image and free-form instruction and scales along three dimensions. \textbf{Data scaling} uses a reusable toolset that can be composed into intent- and lifecycle-specific workflows for cold-start synthesis, quality control, real-traffic refinement, and continuous data production. \textbf{Intent scaling} progressively equips one model with e-commerce product knowledge, multiple retrieval relations, and adjustable reasoning budgets through continual pre-training (CPT), mixed-budget supervised fine-tuning (SFT), and unified reinforcement learning (RL). The RL stage combines intent-balanced optimization and Sample--Beam rollouts aligned with multi-candidate serving. \textbf{Scenario scaling} exposes quality--cost operating points across model capacity and reasoning budget. The system is deployed in multimodal search applications on Taobao Pailitao. A controlled online A/B test reports statistically significant improvements, including item page views $\textbf{+17.90\%}$, transactions $\textbf{+27.04\%}$, and gross merchandise value $\textbf{+8.94\%}$.

cs.IR · cs.AI

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1007ACL Anthology · ACL 2026

Task-Aware LLM Routing with Multi-Level Task-Profile-Guided Data Synthesis for Cold-Start Scenarios

Hui Liu City University of Hong Kong, Bin Zou, Kecheng Chen City University of Hong Kong, Jie Liu City University of Hong Kong, Wenya Wang Nanyang Technological University, Haoliang Li City University of Hong Kong

原文摘要

Large language models (LLMs) exhibit substantial variability in performance and computational cost across tasks and queries, motivating routing systems that select models to meet user-specific cost–performance trade-offs. However, existing routers generalize poorly in cold-start scenarios where in-domain training data is unavailable. We address this limitation with a multi-level task-profile–guided data synthesis framework that constructs a hierarchical task taxonomy and produces diverse question–answer pairs to approximate the test-time query distribution. Building on this, we introduce TRouter, a task-type–aware router approach that models query-conditioned cost and performance via latent task-type variables, with prior regularization derived from the synthesized task taxonomy. This design enhances TRouter’s routing utility under both cold-start and in-domain settings. Across multiple benchmarks, we show that our synthesis framework alleviates cold-start issues and that TRouter delivers effective LLM routing.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.2172ACL Anthology · ACL 2026

Apertus: Democratizing Open and Compliant LLMs for Global Language Environments

Alejandro Hernández-Cano EPFL - EPF Lausanne, Alexander Hägele EPFL - EPF Lausanne, Allen Hao Huang EPFL - EPF Lausanne, Angelika Romanou, Antoni-Joan Solergibert, Barna Pásztor ETHZ - ETH Zurich, Bettina Messmer EPFL - EPF Lausanne, Dhia Garbaya 等 102 位作者

原文摘要

Open LLMs enable AI practitioners to control development costs by building on an existing foundation for downstream applications. While offering substantial promise, current models often fail to meet the needs of users needing open solutions aligned with responsible AI principles, including data compliance, transparency, and inclusivity. In this work, we present Apertus, a fully open suite of large language models (LLMs) designed to address responsibility shortcomings in today’s open model ecosystem, namely data responsibility and global representation. Unlike many prior models that release weights without reproducible data pipelines or regard for content-owner rights, Apertus models are pretrained exclusively on openly available data, retroactively respecting robots.txt exclusions and filtering for non-permissive, toxic, and personally identifiable content. To mitigate risks of data memorization, we also adopt the Goldfish objective during pretraining, strongly suppressing verbatim recall of data while retaining downstream task performance. Apertus also drastically expands multilingual coverage, training on 15T tokens from over approximately 1800 languages, with about 40% of pretraining data allocated to non-English content. Released at 8B and 70B scales, Apertus approaches state-of-the-art results among fully open models on multilingual benchmarks, rivaling or surpassing open-weight counterparts.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

版本更新 · v2arXiv:2410.04587Google Research

Hammer：通过函数掩码实现端侧语言模型的鲁棒函数调用

Hammer: Robust Function-Calling for On-Device Language Models via Function Masking

Qiqiang Lin, Muning Wen, Qiuying Peng, Guanyu Nie, Junwei Liao, Jun Wang, Xiaoyun Mo, Jiamu Zhou 等 12 位作者

AI 速读 基于摘要

提出 Hammer 系列端侧函数调用基础模型，通过增强数据集和函数掩码技术提升对无关函数的敏感性和跨基准泛化能力。

cs.LG · cs.AI · cs.SE

arXiv ↗PDF ↗
查看原文摘要

Large language models have demonstrated impressive value in performing as autonomous agents when equipped with external tools and API calls. Nonetheless, effectively harnessing their potential for executing complex tasks crucially relies on enhancements in their function calling capabilities. This paper identifies a critical gap in existing function calling models, where performance varies significantly across benchmarks, often due to being misled by specific naming conventions. To address such an issue, we introduce Hammer, a novel family of foundation models specifically engineered for on-device function calling. Hammer employs an augmented dataset that enhances models' sensitivity to irrelevant functions and incorporates function masking techniques to minimize misleading. Our empirical evaluations reveal that Hammer not only outperforms larger models but also demonstrates robust generalization across diverse benchmarks, achieving sota results. Our open source contributions include a specialized dataset for irrelevance detection, a tuning framework for enhanced generalization, and the Hammer models, establishing a new standard for function calling performance.