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新论文 · v1arXiv:2611.16439

HALO: Human-Aligned Data Collection for WhoLe-body MObile Manipulation

Shuai Yang, Fangyi Xu, Yishu Shen, Kecheng Zheng, Yinghao Xu

原文摘要

Learning whole-body mobile manipulation requires demonstrations that coordinate bimanual actions with locomotion across extended workspaces. However, existing interfaces trade off direct robot control, perception and action alignment, and natural operator mobility, making such demonstrations difficult to collect. We introduce HALO, a human-aligned data collection system for whole-body mobile manipulation. The system aligns the operator's perception and action space with the robot while preserving direct physical feedback and natural locomotion. Operators guide the robot end-effectors through kinesthetic teaching and move a low-resistance platform without the deployed mobile base while performing bimanual manipulation. This interface enables more natural whole-body demonstrations, but the close human-robot coupling introduces discrepancies between the demonstration and deployment settings. We address these discrepancies with deployment-aligned demonstration processing, which calibrates and temporally aligns platform motion with the deployed base response and masks and inpaints demonstrator hands in recorded observations. Compared with Mobile ALOHA and VR teleoperation, HALO enables up to 2.9x faster demonstration collection while maintaining comparable or higher success rates. Policies trained with HALO perform precise manipulation tasks, including zip-tie fastening, and achieve a 73.3% success rate on a six-stage long-horizon mobile manipulation task involving repeated coordinated base and arm motion. Project page: https://robbyant-research.github.io/Lingbot-ALOHA/

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.12356

DForkTree: Accelerating Speculative Decoding with Fork-Aware Block Diffusion Draft Trees

Zhicheng Zheng, Cheng Zhang, Chenkai Tang, Tianxiang Zhao

原文摘要

Speculative decoding speeds up language models by having a lightweight drafter propose future tokens that the target model verifies in parallel. Block diffusion drafters such as DFlash predict an entire block in one forward pass, and DDTree builds draft trees directly from their per-position distributions. Each distribution implicitly assumes that the drafter's own greedy continuation is accepted, whereas a draft tree improves over a chain only on branches that leave this greedy path. Once a path forks, the drafter's top-1 accuracy drops from 89% to 18% and its top candidates often miss the true token. Re-running the drafter from the fork token largely restores its accuracy, showing that the errors stem from conditioning on an outdated prefix rather than from limited model capacity. In this paper, we introduce DForkTree, a training-free method that re-anchors each branch on its own tokens. It adjusts the drafter's scores with pointwise mutual information from target-generated n-grams, weighted more heavily after a fork, and a layer-wise GPU search recovers the exact optimal tree under these scores. On Qwen3.5-4B and 9B, DForkTree outperforms all baselines on every benchmark, by up to 41.5% over DFlash and 15.1% over DDTree, with average speedups of up to 4.75x over autoregressive decoding.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.14765

SynthCorp: A Platform for Creating Benchmarks for Data Agents

Jiani Zhang, Manav Garg, Eugenie Lai, Cheng Zhen, Eva Sharma, Yang Pan, Yaming Lin, Alon Halevy

原文摘要

Current benchmarks for LLM-driven data agents saturate quickly and cannot target specific capabilities. We present SynthCorp, a platform that creates customizable data estates and benchmarks by simulating how business events produce and modify corporate data over time. Each data estate combines relational databases, a document store, and a data catalog, paired with evaluation tasks and executable gold programs. First, given a scenario and target complexity dimensions, SynthCorp synthesizes reusable event types and compiles each into a program over predefined simulation primitives. Second, SynthCorp schedules event instances on a virtual calendar, interleaving routine and disruption events so that tables, documents, and catalog entries remain consistent. Third, SynthCorp executes the calendar to materialize the data estate and records every operation in a simulation log. Fourth, SynthCorp generates analytical tasks and derives verified gold programs from the log. We use SynthCorp to generate initial evaluation benchmarks comprising seven data estates (up to 1K operational tables) and 256 tasks across five domains. The data estates pass deterministic pipeline checks (such as foreign-key violations, undeclared writes, recurrence violations, and database execution failures) with a near-zero error rate, introduce cross-asset complexities, and cover all requested dimensions. Evaluating three models across four data-context settings shows that the benchmarks separate data contexts and model tiers. Auditing candidate queries against causal provenance in the simulation log verifies gold programs without manual annotation, including on multi-event composite tasks that expose reasoning failures in state-of-the-art agents. We hope the community uses SynthCorp to generate more challenging and useful data estates and benchmarks that foster the development of enterprise data agents.

cs.AI · cs.DB

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.12806

面向通用灵巧操作的异构触觉表征学习

Learning Heterogeneous Tactile Representation for General Dexterous Manipulation

Bing Han, Yichuan Peng, Haoyu Dong, Yuanmeng Hu, Yongyi Jia, Fangjing Wang, Kecheng Zheng, Yiming Zhang 等 19 位作者

AI 速读 基于摘要

提出触觉基础模型 LingBot-Touch，将压阻、磁性与视触觉等异构传感器数据统一表征，并以即插即用方式增强多种策略模型的灵巧操作能力。

cs.RO

arXiv ↗PDF ↗
查看原文摘要

Tactile sensing is an indispensable modality for contact-rich dexterous manipulation, a capability that hints at the ultimate frontiers of embodied intelligence. However, commercially available tactile sensors are still at a relatively early stage of development, with each type of sensor offering irreplaceable strengths alongside its own drawbacks. A key challenge is thus to free tactile understanding from sensor-specific physics, so that embodied models can effectively leverage heterogeneous tactile data. To this end, we develop LingBot-Touch, a tactile foundation model characterized by the following properties. (i) Our model yields a unified representation across different tactile sensors (i.e., piezoresistive, magnetic, and visuotactile sensors), and is easily extensible to new sensor types. (ii) The resulting tactile tokens are plug-and-play: they can be seamlessly integrated into policy models across paradigms, from diffusion policy to vision-language-action (VLA) models such as $π_{0.5}$ and LingBot-VLA, consistently enhancing manipulation dexterity. (iii) Extensive experiments, spanning simulation and real-robot deployments across multiple hardware platforms, demonstrate that our tactile representation substantially benefits complex manipulation tasks while maintaining strong computational efficiency. We believe the findings in this work demonstrate the potential of leveraging cross-sensor data to scale tactile learning, and offer encouraging insights for the design of future hardware and embodied models.

版本更新 · v4arXiv:2502.08942

Language in the Flow of Time: Time-Series-Paired Texts Weaved into a Unified Temporal Narrative

Zihao Li, Xiao Lin, Zhining Liu, Jiaru Zou, Ziwei Wu, Lecheng Zheng, Dongqi Fu, Yada Zhu 等 11 位作者

原文摘要

While many advances in time series models focus exclusively on numerical data, research on multimodal time series, particularly those involving contextual textual information, remains in its infancy. With recent progress in large language models and time series learning, we revisit the integration of paired texts with time series through the Platonic Representation Hypothesis, which posits that representations of different modalities converge to shared spaces. In this context, we identify that time-series-paired texts may naturally exhibit periodic properties that closely mirror those of the original time series. Building on this insight, we propose a novel framework, Texts as Time Series (TaTS), which considers the time-series-paired texts to be auxiliary variables of the time series. TaTS can be plugged into any existing numerical-only time series models and effectively enable them to handle time series data with paired texts. Through extensive experiments on both multimodal time series forecasting and imputation tasks across benchmark datasets with various existing time series models, we demonstrate that TaTS can enhance multimodal predictive performance without modifying model architectures. Our Code is available at https://github.com/iDEA-iSAIL-Lab-UIUC/TaTS.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.25459

BiDex-100: A Comprehensive Benchmark for Bimanual Dexterous Manipulation Across 100+ Simulation Tasks

Yong Wang, Kecheng Zheng, Xing Zhu, Chao Xu, Yujun Shen, Shengze Cai

原文摘要

Bimanual manipulation with dexterous hands has attracted growing attention in research on robotic action models. However, few studies have developed benchmarks specifically tailored for dexterous manipulation, leaving the dexterous manipulation capabilities of existing models insufficiently characterized. In this paper, we present BiDex-100, a simulation benchmark for bimanual dexterous manipulation that combines broad task coverage, multi-dimensional evaluation, and high-DoF hand embodiments. Concretely, the benchmark comprises 106 tasks organized along five capability axes: generalization, instruction following, limited demonstrations, long horizon, and memory. Each task is paired with an out-of-domain variant featuring controlled visual and spatial changes, allowing systematic assessment of robustness. In addition, the benchmark supports two embodiments and provides 8,080 success-validated teleoperated demonstrations, totaling 6.25 million frames. We evaluate seven recent Vision-Language-Action models under a unified protocol, establishing baselines for capability-specific performance, robustness, and data efficiency. The website is available at https://robbyant-research.github.io/BiDex-100/.

cs.RO · cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2604.21789

Compliance Moral Hazard and the Backfiring Mandate

Jian Ni, Lecheng Zheng, John R Birge

原文摘要

Competing firms that share a population of risky customers face a decentralized risk detection problem in which each firm holds fragmentary information whose aggregation would generate social value, but private incentives impede truthful sharing. We develop a dynamic mechanism design framework for this setting and identify three strategic frictions that distinguish it from classical mechanism design with decentralized information: compliance moral hazard, adversarial adaptation, and information destruction through intervention. A temporal value assignment (TVA) mechanism credits firms using a strictly proper scoring rule applied to discounted verified outcomes; under stated assumptions, TVA implements truthful posterior reporting as a Bayes--Nash equilibrium (uniquely optimal at each edge in large federations, with $O(1/m)$ shading in finite systems). A network Shapley characterization shows that under edge-additive coalition value, each firm's marginal contribution is proportional to its weighted cross-firm interaction degree, yielding a sharp prescription for coalition design that prioritizes inter-firm volume over firm size. Embedding TVA in a model of competition among firms, we establish a welfare ordering across four regulatory regimes (autarky, voluntary federation, mandated full sharing, TVA) and identify conditions under which information-sharing mandates without compatible incentive design reduce welfare below autarky: a ``backfiring mandate.'' We illustrate the framework on a 1.4M-transaction synthetic anti-money-laundering benchmark; the same machinery extends to platform fraud, cybersecurity threat intelligence, and supply chain risk detection.

cs.GT · cs.LG

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1487ACL Anthology · ACL 2026

InquireMobile: Teaching VLM-based Mobile Agent to Request Human Assistance via Reinforcement Fine-Tuning

Qihang Ai, Pi Bu Alibaba Group, Yue Cao, Yingyao Wang, Jihao Gu, Jingxuan Xing Alibaba Group, Zekun Zhu Alibaba Group, Wei Jiang 等 11 位作者

原文摘要

Recent advances in Vision-Language Models (VLMs) have enabled mobile agents to perceive and interact with real-world mobile environments based on human instructions. However, the current fully autonomous paradigm poses potential safety risks when model understanding or reasoning capabilities are insufficient. To address this challenge, we first introduce InquireBench, a comprehensive benchmark specifically designed to evaluate mobile agents’ capabilities in safe interaction and proactive inquiry with users, encompassing 5 categories and 22 sub-categories, where most existing VLM-based agents demonstrate near-zero performance. In this paper, we aim to develop an interactive system that actively seeks human confirmation at critical decision points. To achieve this, we propose InquireMobile, a novel model inspired by reinforcement learning, featuring a two-stage training strategy and an interactive pre-action reasoning mechanism. Finally, our model achieves an 46.8% improvement in inquiry success rate and the best overall success rate among existing baselines on InquireBench. The project page is available at https://bit-aqh.github.io/InquireMobile/homepage/.

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.588ACL Anthology · ACL 2026

Lightweight LLM Agent Memory with Small Language Models

Jiaquan Zhang, Chaoning Zhang University of Electronic Science and Technology of China, Shuxu Chen, Zhenzhen Huang, Pengcheng Zheng, Zhicheng Wang, Ping Guo Hong Kong Yuwin Technology Co., Ltd., Fan Mo University of Electronic Science and Technology of China 等 12 位作者

原文摘要

Although LLM agents can leverage tools for complex tasks, they still need memory to maintain cross-turn consistency and accumulate reusable information in long-horizon interactions. However, retrieval-based external memory systems incur low online overhead but suffer from unstable accuracy due to limited query construction and candidate filtering. In contrast, many systems use repeated large-model calls for online memory operations, improving accuracy but accumulating latency over long interactions. We propose LightMem, a lightweight memory system for better agent memory driven by Small Language Models (SLMs). LightMem modularizes memory retrieval, writing, and long-term consolidation, and separates online processing from offline consolidation to enable efficient memory invocation under bounded compute. We organize memory into short-term memory (STM) for immediate conversational context, mid-term memory (MTM) for reusable interaction summaries, and long-term memory (LTM) for consolidated knowledge, and uses user identifiers to support independent retrieval and incremental maintenance in multi-user settings. Online, LightMem operates under a fixed retrieval budget and selects memories via a two-stage procedure: vector-based coarse retrieval followed by semantic consistency re-ranking. Offline, it abstracts reusable interaction evidence and incrementally integrates it into LTM. Experiments show consistent gains across model scales, with an average F1 improvement of about 2.5 over A-MEM on LoCoMo, while achieving higher efficiency and low median latency (83 ms for retrieval and 581 ms end-to-end).

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-short.62ACL Anthology · ACL 2026

BioHiCL: Hierarchical Multi-Label Contrastive Learning for Biomedical Retrieval with MeSH Labels

Mengfei Lan, Lecheng Zheng, Halil Kilicoglu University of Illinois at Urbana-Champaign

原文摘要

Effective biomedical information retrieval requires modeling domain semantics and hierarchical relationships among biomedical texts. Existing biomedical generative retrievers built on coarse binary relevance signals, limiting their ability to capture semantic overlap. We propose BioHiCL - Biomedical Retrieval with Hierarchical Multi-Label Contrastive Learning, which leverages hierarchical MeSH annotations to provide structured supervision for multi-label contrastive learning. Our models, BioHiCL-Base (0.1B) and BioHiCL-Large (0.3B), achieve promising performance on biomedical retrieval, sentence similarity, and question answering tasks, while remaining computationally efficient for deployment.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 2: Short Papers) · 2026 · 正式发表